Method and device for determining minimum safety altitude of air route, and electronic equipment

Abstract

The application discloses a method and device for determining the minimum safety altitude of a flight path and electronic equipment. It relates to the field of data processing. The method comprises receiving a user-input sequence of waypoints, determining a region to be analyzed corresponding to the sequence of waypoints, determining whether a target region exists in the region to be analyzed according to a preset hierarchical data structure, and obtaining a result of the determination, wherein the preset hierarchical data structure is constructed in advance according to digital elevation model terrain data and a hierarchical aggregation algorithm, and the complexity of the terrain of the target region is greater than a preset threshold; if the result of the determination is that the target region exists in the region to be analyzed, the highest terrain point in the region to be analyzed is determined according to the data of the highest resolution level in the preset hierarchical data structure, and the minimum safety altitude corresponding to the sequence of waypoints is determined according to the elevation value of the highest terrain point and a preset safety threshold. The method solves the problem of low efficiency in related art that the minimum safety altitude is determined manually when planning a flight path.

Description

Technical Field

[0001] This application relates to the field of data processing, and more specifically, to a method, apparatus, and electronic equipment for determining the minimum safe altitude for air routes. Background Technology

[0002] In aviation operations, the minimum safe altitude is a crucial parameter for ensuring the safe flight of aircraft within a specific area. Currently, determining the minimum safe altitude during route planning primarily relies on manual work by flight experts, such as estimating it by referring to paper or electronic aeronautical charts and combining it with experience. This method is time-consuming, labor-intensive, inefficient, highly subjective, and difficult to trace and verify afterward.

[0003] There is currently no effective solution to the problem that relying on manual determination of the minimum safe altitude when planning routes in related technologies results in low efficiency. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, and electronic device for determining the minimum safe altitude of a flight route, in order to solve the problem of low efficiency in related technologies that rely on manual determination of the minimum safe altitude when planning flight routes.

[0005] To achieve the above objectives, according to one aspect of this application, a method for determining the minimum safe altitude of a flight path is provided. The method includes: receiving a sequence of waypoints input by a user; determining the region to be analyzed corresponding to the waypoint sequence; determining whether a target region exists within the region to be analyzed based on a preset hierarchical data structure, and obtaining a determination result, wherein the preset hierarchical data structure is pre-constructed based on digital elevation model terrain data and a hierarchical aggregation algorithm, and the terrain complexity of the target region is greater than a preset threshold; if the determination result indicates the existence of a target region within the region to be analyzed, determining the highest terrain point in the region to be analyzed based on the highest resolution layer data in the preset hierarchical data structure, and determining the minimum safe altitude corresponding to the waypoint sequence based on the elevation value of the highest terrain point and a preset safety threshold.

[0006] Furthermore, based on the preset hierarchical data structure, it is determined whether a target region exists in the region to be analyzed, and the determination results include: determining a set of target candidate high points from the region to be analyzed based on the data of the lowest resolution level in the preset hierarchical data structure; and determining whether a target region exists in the region to be analyzed based on the preset hierarchical data structure and the set of target candidate high points, and obtaining the determination results.

[0007] Furthermore, determining the target candidate high point set from the region to be analyzed based on the data of the lowest resolution level in the preset hierarchical data structure includes: dividing the region to be analyzed into multiple sub-regions based on the pixel size corresponding to the lowest resolution level in the preset hierarchical data structure; for each sub-region, traversing all pixels corresponding to that sub-region in the data of the lowest resolution level, and extracting at least one candidate high point in that sub-region; and determining the target candidate high point set from the candidate high points in all sub-regions based on the elevation value of each candidate high point.

[0008] Furthermore, based on the preset hierarchical data structure and the set of target candidate high points, it is determined whether a target region exists in the area to be analyzed. The determination results include: for each target candidate high point in the set of target candidate high points, the target candidate high point is located in the adjacent layer of the preset hierarchical data structure with a resolution higher than the lowest resolution layer; based on the position of each target candidate high point in the adjacent layer, the preset neighborhood corresponding to each target candidate high point is determined, and the elevation standard deviation of all pixels in the preset neighborhood is calculated; based on the comparison result of the elevation standard deviation and the preset standard deviation threshold, it is determined whether the preset neighborhood is a target region. If the preset neighborhood is a target region, the existence of a target region in the area to be analyzed is taken as the determination result.

[0009] Furthermore, based on the highest resolution level data in the preset hierarchical data structure, determining the highest terrain point in the area to be analyzed includes: mapping the target area to the highest resolution level, traversing all pixels corresponding to the target area in the highest resolution level data, and determining the highest elevation point in the target area; and determining the highest terrain point in the area to be analyzed based on the highest elevation point in the target area and candidate high points not identified as the target area.

[0010] Further, the preset hierarchical data structure is obtained through the following steps: acquiring digital elevation model terrain data in the target coordinate system, and using the digital elevation model terrain data as the highest resolution level data; using a hierarchical aggregation algorithm to aggregate the highest resolution level data level by level to obtain a preset number of levels of data, wherein the resolution of the preset number of levels decreases level by level; and generating the preset hierarchical data structure based on the highest resolution level data and the preset number of levels of data.

[0011] Furthermore, determining the region to be analyzed corresponding to the waypoint sequence includes: determining the route centerline based on the waypoint sequence; and determining the region to be analyzed based on the route centerline and the preset safety protection width.

[0012] To achieve the above objectives, according to another aspect of this application, a device for determining the minimum safe altitude of a flight path is provided. The device includes: a first processing unit for receiving a sequence of waypoints input by a user and determining the region to be analyzed corresponding to the waypoint sequence; a second processing unit for determining whether a target region exists within the region to be analyzed based on a preset hierarchical data structure and obtaining a determination result, wherein the preset hierarchical data structure is pre-constructed based on digital elevation model terrain data and a hierarchical aggregation algorithm, and the terrain complexity of the target region is greater than a preset threshold; and a third processing unit for determining the highest terrain point in the region to be analyzed based on the highest resolution layer data in the preset hierarchical data structure if the determination result indicates the existence of a target region, and determining the minimum safe altitude corresponding to the waypoint sequence based on the elevation value of the highest terrain point and a preset safety threshold.

[0013] Furthermore, the second processing unit includes: a first determining subunit, used to determine a set of target candidate high points from the region to be analyzed based on the data of the lowest resolution level in the preset hierarchical data structure; and a second determining subunit, used to determine whether a target region exists in the region to be analyzed based on the preset hierarchical data structure and the set of target candidate high points, and to obtain a determination result.

[0014] Further, the first determining sub-unit includes: a first processing module, used to divide the region to be analyzed into multiple sub-regions based on the pixel size corresponding to the lowest resolution level in the preset hierarchical data structure; a second processing module, used to traverse all pixels corresponding to the sub-region in the data of the lowest resolution level for each sub-region and extract at least one candidate high point in the sub-region; and a third processing module, used to determine a set of target candidate high points from the candidate high points in all sub-regions based on the elevation value of each candidate high point.

[0015] Further, the second determining subunit includes: a fourth processing module, used to locate each target candidate high point in the target candidate high point set to an adjacent level in the preset hierarchical data structure with a resolution higher than the lowest resolution level; a fifth processing module, used to determine the preset neighborhood corresponding to each target candidate high point based on its position in the adjacent level, and calculate the elevation standard deviation of all pixels in the preset neighborhood; and a sixth processing module, used to determine whether the preset neighborhood is a target region based on the comparison result of the elevation standard deviation and the preset standard deviation threshold. If the preset neighborhood is a target region, the existence of a target region in the region to be analyzed is taken as the judgment result.

[0016] Furthermore, the third processing unit includes: a third determining subunit, used to map the target area to the highest resolution level, traverse all pixels corresponding to the target area in the data of the highest resolution level, and determine the highest elevation point in the target area; and a fourth determining subunit, used to determine the highest terrain point in the area to be analyzed based on the highest elevation point in the target area and candidate high points that have not been determined as the target area.

[0017] Furthermore, the device also includes the following units for obtaining a preset hierarchical data structure through the following steps: an acquisition unit for acquiring digital elevation model terrain data in the target coordinate system, and using the digital elevation model terrain data as the highest resolution level data; a fourth processing unit for performing hierarchical aggregation processing on the highest resolution level data level by level using a hierarchical aggregation algorithm to obtain a preset number of levels of data, wherein the resolution of the preset number of levels decreases level by level; and a fifth processing unit for generating a preset hierarchical data structure based on the highest resolution level data and the preset number of levels of data.

[0018] Furthermore, the first processing unit includes: a fifth determining subunit, used to determine the route centerline based on the waypoint sequence; and a sixth determining subunit, used to determine the area to be analyzed based on the route centerline and a preset safety protection width.

[0019] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the method for determining the minimum safe altitude of a flight route as described above.

[0020] According to another aspect of the present invention, a computer-readable storage medium is also provided, the storage medium storing a program, wherein, when the program is running, the device where the storage medium is located executes the method for determining the minimum safe altitude of the airway as described above.

[0021] In this embodiment, the following steps are employed: receiving a waypoint sequence input by a user, determining the region to be analyzed corresponding to the waypoint sequence; determining whether a target region exists within the region to be analyzed based on a preset hierarchical data structure, and obtaining a judgment result. The preset hierarchical data structure is pre-constructed based on digital elevation model terrain data and a hierarchical aggregation algorithm, and the terrain complexity of the target region is greater than a preset threshold. If the judgment result indicates the existence of a target region within the region to be analyzed, the highest terrain point in the region to be analyzed is determined based on the highest resolution layer data in the preset hierarchical data structure, and the minimum safe altitude corresponding to the waypoint sequence is determined based on the elevation value of the highest terrain point and a preset safety threshold. This solves the technical problem of low efficiency in related technologies where the minimum safe altitude is determined manually during route planning.

[0022] In this scheme, a pre-defined hierarchical data structure based on digital elevation model terrain data and hierarchical aggregation algorithm is constructed. Low-resolution hierarchical data is used for rapid scanning to identify target areas with terrain complexity greater than a preset threshold. When a target area exists, the highest terrain point is determined based on the highest resolution hierarchical data. This reduces the processing range of high-resolution data while ensuring the accuracy of the minimum safe altitude calculation, improving computational efficiency and reducing memory usage, thereby improving the efficiency of route planning. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0024] Figure 1 A hardware block diagram of a computer terminal for determining a method for implementing the minimum safe altitude of an airway is shown.

[0025] Figure 2 This is a flowchart of a method for determining the minimum safe altitude of a flight route according to an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of a system for determining the minimum safe altitude of a flight route according to an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of the data structure provided according to the embodiments of this application;

[0028] Figure 5 This is a schematic diagram of a device for determining the minimum safe altitude of a flight route according to an embodiment of this application;

[0029] Figure 6 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] It should be noted that the information collected in this application (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) are information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of this data all comply with relevant laws, regulations, and standards, and necessary measures have been taken to ensure compliance with public order and good morals. Corresponding access points are provided for users to choose whether to authorize or refuse. For example, interfaces are established between this system and relevant users or organizations, providing users with corresponding access points to choose whether to agree to or refuse automated decision-making results; if the user chooses to refuse, the process proceeds to the expert decision-making stage.

[0033] Example 1

[0034] According to an embodiment of this application, a method embodiment for determining the minimum safe altitude of a flight route is also provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] The method embodiment provided in Embodiment 1 of this application can be executed on a mobile terminal, computer terminal, or similar computing device. Figure 1 A hardware block diagram of a computer terminal (or mobile device) for determining a method to implement a minimum safe altitude for air routes is shown. Figure 1As shown, the computer terminal 10 (or mobile device) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0036] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or mobile device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0037] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method for determining the minimum safe altitude of a flight path in this embodiment of the application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned method for determining the minimum safe altitude of a flight path. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0038] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0039] The display may be a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or mobile device).

[0040] Under the aforementioned operating environment, this application provides the following: Figure 2 The method for determining the minimum safe altitude for the shown route. Figure 2 This is a flowchart of a method for determining the minimum safe altitude for a flight route according to Embodiment 1 of this application. The method for determining the minimum safe altitude for a flight route includes:

[0041] Step S201: Receive the waypoint sequence input by the user and determine the region to be analyzed corresponding to the waypoint sequence;

[0042] Step S202: Based on the preset hierarchical data structure, determine whether there is a target area in the area to be analyzed, and obtain the judgment result. The preset hierarchical data structure is constructed in advance based on the terrain data of the digital elevation model and the hierarchical aggregation algorithm. The terrain complexity of the target area is greater than the preset threshold.

[0043] Step S203: If the judgment result indicates that a target area exists in the area to be analyzed, then the highest terrain point in the area to be analyzed is determined based on the highest resolution level of the preset hierarchical data structure, and the lowest safe altitude corresponding to the waypoint sequence is determined based on the elevation value of the highest terrain point and the preset safety threshold.

[0044] Optionally, Figure 3 This is a schematic diagram of a system for determining the minimum safe altitude of a flight path according to an embodiment of this application, such as... Figure 3 As shown, the system includes a log recording module, a data verification module, a data pyramid module, a data storage module, a route verification module, a route buffer expansion module, a high-point lookup module, and a data structuring module. The working principle of each module is explained below with reference to specific embodiments.

[0045] Optionally, in the method for determining the minimum safe altitude of a flight route provided in this application embodiment, a preset hierarchical data structure is obtained through the following steps: acquiring digital elevation model terrain data in the target coordinate system, and using the digital elevation model terrain data as the highest resolution level data; using a hierarchical aggregation algorithm to aggregate the highest resolution level data level by level to obtain a preset number of levels of data, wherein the resolution of the preset number of levels decreases level by level; and generating a preset hierarchical data structure based on the highest resolution level data and the preset number of levels of data.

[0046] In an optional embodiment, the target coordinate system can be the WGS84 coordinate system. The system first acquires Digital Elevation Model (DEM) terrain data in the WGS84 coordinate system. For example, the system acquires the original DEM terrain data and determines whether the coordinate system used by the DEM terrain data is the WGS84 coordinate system. If the DEM terrain data is not in the WGS84 coordinate system, the system performs a coordinate system transformation on the original DEM terrain data to obtain the DEM terrain data in the WGS84 coordinate system. Optionally, the ASTER GDEM 30-meter resolution version data is used. The data verification module verifies the DEM terrain data and finds that the coordinate system used by the DEM terrain data is the WGS84 coordinate system, so no coordinate system transformation is required.

[0047] In an optional embodiment, after coordinate system verification, a multi-layered pyramid is constructed from the DEM terrain data to generate a pyramid resolution hierarchical structure (i.e., a preset hierarchical data structure). Optionally, the rules for generating the pyramid resolution hierarchical structure based on the DEM terrain data and the hierarchical aggregation algorithm are as follows:

[0048] DEM0: Original high-resolution layer (e.g., 30 meters);

[0049] DEM1: Medium resolution layer (e.g., 60 meters);

[0050] DEM2: Low-resolution layer (e.g., 120 meters).

[0051] Similarly, the spatial resolution is halved at each level. This structure supports rapid reading of terrain data at different resolutions, facilitating subsequent layered analysis.

[0052] In an alternative embodiment, Figure 4 This is a schematic diagram of the data structure provided according to the embodiments of this application, such as... Figure 4As shown, a four-layer pyramid is constructed using the data pyramid module. The bottom layer contains the original or coordinate-transformed DEM terrain data, and each layer above it is a summary of the precision of the layer below. Optionally, the DEM terrain data is used as the highest resolution layer (i.e., the bottom layer). Then, a hierarchical aggregation algorithm is used to aggregate the data at the highest resolution layer level by level, resulting in a preset number of layers (e.g., 3 layers). Finally, based on the data at the highest resolution layer and the preset number of layers, a preset hierarchical data structure is generated. For example:

[0053] Layer 0: The original 30-meter resolution data, which is the highest precision data. The final result needs to be reverted to this layer for confirmation.

[0054] Layer 1: Take the data from Layer 0, merge every 2x2 pixel blocks into a new pixel, and take the maximum value of the four pixels in the original layer. This gives a resolution of 60 meters.

[0055] Layer 2: Similarly, based on Layer 1, the maximum value is aggregated again in a 2x2 manner, and the resolution becomes 120 meters.

[0056] Layer 3: Similarly, aggregate again to obtain top-level data with a resolution of 240 meters.

[0057] In an optional embodiment, after the data pyramid is constructed, the data storage module stores and efficiently manages the four layers of data, ensuring that data at a specified level and region can be quickly retrieved during subsequent queries.

[0058] Optionally, the user inputs a sequence of waypoints, which consists of a series of latitude and longitude coordinates representing the proposed flight route. The route verification module verifies the following in sequence:

[0059] Coordinate format and range verification: Check whether the latitude and longitude are within the valid range (latitude -90 to 90, longitude -180 to 180).

[0060] Route continuity check: Check if the distance between adjacent waypoints is too large, or if there are any duplicate points.

[0061] Route direction verification: Check if there is any obvious backtracking on the route.

[0062] Route point verification: At least 2 points are required to form a route.

[0063] Optionally, the verification issues can be displayed, and the user can be asked to confirm the route. After confirmation, the user can proceed to the next step, which is to determine the corresponding area to be analyzed based on the input waypoint sequence and the preset safety protection width (e.g., 25 kilometers on both sides of the route centerline).

[0064] Optionally, in the method for determining the minimum safe altitude of a flight path provided in this application embodiment, determining the region to be analyzed corresponding to the waypoint sequence includes: determining the flight path centerline based on the waypoint sequence; and determining the region to be analyzed based on the flight path centerline and a preset safety protection width.

[0065] In an optional embodiment, the route buffer expansion module determines the route centerline based on the waypoint sequence. For example, it determines a smooth route centerline through linear interpolation or spline curve fitting. Then, based on this route centerline and a preset safety protection width (e.g., 25 kilometers on each side of the route centerline), it determines the corresponding area to be analyzed. For example, the route centerline is shifted 25 kilometers to both sides and the ends are connected to form a strip-shaped buffer zone (i.e., the area to be analyzed) with a total width of 50 kilometers for terrain analysis.

[0066] Optionally, after determining the corresponding area to be analyzed, the system determines whether there is a high-risk area (i.e., target area) in the area to be analyzed based on the preset hierarchical data structure (i.e., pyramid resolution hierarchical structure). If the determination result is that there is a high-risk area in the area to be analyzed, the system determines the highest terrain point in the area to be analyzed based on the highest resolution data in the preset hierarchical data structure (i.e., data of level 0), and determines the minimum safe altitude corresponding to the waypoint sequence based on the elevation value and safety margin (i.e., preset safety threshold) of the highest terrain point. For example, the minimum safe altitude is obtained by summing the elevation value and safety margin of the highest terrain point.

[0067] In summary, by constructing a pre-defined hierarchical data structure based on digital elevation model terrain data and hierarchical aggregation algorithms, low-resolution hierarchical data is used for rapid scanning to identify target areas with terrain complexity exceeding a preset threshold. When a target area exists, the highest terrain point is determined based on the highest resolution hierarchical data. This approach ensures the accuracy of minimum safe altitude calculation while reducing the processing scope of high-resolution data, improving computational efficiency, and reducing memory usage, thereby enhancing the efficiency of route planning.

[0068] Optionally, in the method for determining the minimum safe altitude of a flight path provided in this application embodiment, determining whether a target region exists in the region to be analyzed based on a preset hierarchical data structure, and obtaining the determination result, includes: determining a set of target candidate high points from the region to be analyzed based on the data of the lowest resolution level in the preset hierarchical data structure; and determining whether a target region exists in the region to be analyzed based on the preset hierarchical data structure and the set of target candidate high points, and obtaining the determination result.

[0069] In an optional embodiment, the high point search module determines a set of target candidate high points from the region to be analyzed based on the data of the lowest resolution level (i.e., the data of the 3rd level) in the preset hierarchical data structure. For example, it performs a preliminary traversal of the region to be analyzed, extracts pixels with higher elevation values, and retains the top N (e.g., the top 5) pixels with the highest elevation values ​​to form a set of target candidate high points. Then, based on the preset hierarchical data structure and the set of target candidate high points, it determines whether there is a high-risk region in the region to be analyzed and obtains the judgment result.

[0070] By prioritizing the use of the lowest resolution data for a rapid global scan and locking only the top N elevation candidate points, the initial computational load and memory usage are reduced, thereby improving the overall computational efficiency of determining the minimum safe altitude for airways while ensuring that no potentially high-risk areas are overlooked.

[0071] Optionally, in the method for determining the minimum safe altitude of a flight path provided in this application embodiment, determining the set of target candidate high points from the region to be analyzed based on the data of the lowest resolution level in the preset hierarchical data structure includes: dividing the region to be analyzed into multiple sub-regions based on the pixel size corresponding to the lowest resolution level in the preset hierarchical data structure; for each sub-region, traversing all pixels corresponding to that sub-region in the data of the lowest resolution level, and extracting at least one candidate high point in that sub-region; and determining the set of target candidate high points from the candidate high points in all sub-regions based on the elevation value of each candidate high point.

[0072] In an optional embodiment, the high-point search module performs hierarchical scanning and high-point pre-screening: First, based on the pixel size (i.e., 240 meters) corresponding to the lowest resolution layer (i.e., layer 3) in the preset hierarchical data structure, the area to be analyzed is divided into multiple sub-regions. For each sub-region, all pixels corresponding to that sub-region in the lowest resolution layer data are traversed, and at least one candidate high point in that sub-region is extracted (e.g., the highest elevation point or the top preset number of candidate high points). Then, based on the elevation value of each candidate high point, a target candidate high-point set is determined from the candidate high points in all sub-regions. For example, the top 5 pixels with the highest elevation values ​​are selected as target candidate high points, thus obtaining the target candidate high-point set. Optionally, the output results include the candidate highest point cell index, as well as the geographical range and the corresponding elevation value.

[0073] By using a sub-region division strategy based on the lowest resolution pixel size and a local high point extraction strategy, the amount of data traversal is reduced and invalid flat areas are filtered out while ensuring that no potentially dangerous terrain is missed, thereby improving the efficiency and targeting of candidate high point screening.

[0074] Optionally, in the method for determining the minimum safe altitude of a flight path provided in this application embodiment, the determination of whether a target region exists in the region to be analyzed is based on a preset hierarchical data structure and a set of target candidate high points, and the determination result includes: for each target candidate high point in the set of target candidate high points, locating the target candidate high point to an adjacent level in the preset hierarchical data structure with a resolution higher than the lowest resolution level; determining a preset neighborhood corresponding to each target candidate high point based on its position in the adjacent level, and calculating the elevation standard deviation of all pixels in the preset neighborhood; determining whether the preset neighborhood is a target region based on the comparison result between the elevation standard deviation and a preset standard deviation threshold, and if the preset neighborhood is a target region, then the existence of a target region in the region to be analyzed is taken as the determination result.

[0075] In an optional embodiment, the high-point search module performs multi-level analysis and risk area identification: First, a higher-resolution layer pre-screening is performed. That is, for each target candidate high point in the target candidate high-point set, the target candidate high point is located in the adjacent layer (i.e., the second layer) of the preset hierarchical data structure with a resolution higher than the lowest resolution layer. For example, the five target candidate high points are judged one by one, and the target candidate high point is located in the second layer. A 3x3 pixel neighborhood range (i.e., the preset neighborhood) is drawn with this point as the center, and the elevation standard deviation of all pixels in the small area is calculated. The elevation standard deviation is used to judge the terrain complexity of the area and divide it into flat areas, high-complexity areas, and high-risk areas. For example, based on the comparison result of the elevation standard deviation and the preset standard deviation threshold, it is determined whether the preset neighborhood is a high-risk area. If the preset neighborhood is a high-risk area, the existence of a high-risk area in the area to be analyzed is taken as the judgment result.

[0076] For example, preset standard deviation thresholds include a first standard deviation threshold (e.g., 30 meters) and a second standard deviation threshold (e.g., 100 meters). The comparison results mainly include the following situations:

[0077] Scenario A: Elevation standard deviation < 30 meters. This indicates very gentle terrain. It's necessary to compare the average elevation of this area with the elevation value of the third layer. If the average elevation is similar to the third layer elevation, the area is considered to have no dangerous terrain abrupt changes, and further detailed investigation is unnecessary. If the average elevation is significantly higher than the third layer elevation, it's believed that the lower-resolution layer may have smoothed out a peak. In this case, a detailed investigation phase is required, and the area is marked as a high-risk zone.

[0078] Scenario B: 30 meters ≤ standard deviation of elevation ≤ 100 meters. This indicates complex terrain, such as rolling hills. A determination cannot be made at the 120-meter level alone; it is necessary to switch to level 1 and repeat similar calculations in this area. If the terrain remains uneven in level 1, or higher suspicious points are found, then the area is marked as a high-risk area.

[0079] Scenario C: Elevation standard deviation > 100 meters. This indicates the presence of steep ridges or deep valleys. For this type of area, intermediate-level assessments are not conducted; the area is directly marked as a high-risk area and enters the detailed investigation phase.

[0080] By using a pyramid structure and sampling screening, the access scope of high-resolution DEMs is reduced, thus improving computational speed.

[0081] Optionally, in the method for determining the minimum safe altitude of a flight path provided in this application embodiment, determining the highest terrain point in the area to be analyzed based on the highest resolution layer data in the preset hierarchical data structure includes: mapping the target area to the highest resolution layer, traversing all pixels corresponding to the target area in the highest resolution layer data, and determining the highest elevation point in the target area; and determining the highest terrain point in the area to be analyzed based on the highest elevation point in the target area and candidate high points not identified as the target area.

[0082] In an optional embodiment, the high-point search module performs high-resolution detailed investigation: First, the high-risk area is mapped to the highest resolution level (i.e., level 0), and the corresponding high-resolution sub-regions, i.e., all pixels corresponding to the high-risk area, are traversed to find the highest elevation point in the high-risk area, obtain the highest actual terrain point, and record its precise latitude and longitude coordinates and elevation value. Then, the elevation values ​​that do not need detailed investigation (i.e., the elevation values ​​of candidate high points that have not been identified as high-risk areas) are summarized with the elevation values ​​of the highest points in the area found from the results of all detailed investigation areas, and the highest terrain point in the area to be analyzed is found from it. Finally, the maximum elevation value obtained from the detailed investigation is mapped back to the flight path position.

[0083] By conducting high-resolution detailed surveys in high-risk areas and integrating elevation data from unsurveyed candidate points, the calculation accuracy of the highest point of the terrain was ensured, the processing scope of high-resolution data was reduced, and computational efficiency was improved while ensuring safety.

[0084] In an optional embodiment, the data structuring module synthesizes and outputs the results, for example, compiling the final results into a report that includes the final minimum safe altitude, coordinates of the highest terrain point, altitude values, and corresponding flight path distances. Optionally, the report can be output in JSON or XML formats for easy integration into flight planning or alarm systems.

[0085] In an optional embodiment, the log recording module records the input parameters, key step parameters, decision basis, output results, etc. throughout the entire calculation process, and provides a query interface to ensure that the entire process is traceable and auditable.

[0086] Optionally, this solution can be applied to various scenarios such as aviation, highway route selection, power transmission line planning, and UAV flight path safety assessment. It is particularly effective in non-standard and emergency scenarios, quickly calculating the minimum safe altitude for any given two points or a route consisting of a series of waypoints, providing crucial safety information for dynamic decision-making throughout the flight.

[0087] The method for determining the minimum safe altitude for flight routes provided in this application includes the following steps: receiving a sequence of waypoints input by a user and determining the area to be analyzed corresponding to the waypoint sequence; determining whether a target area exists in the area to be analyzed based on a preset hierarchical data structure, and obtaining a judgment result. The preset hierarchical data structure is pre-constructed based on digital elevation model terrain data and a hierarchical aggregation algorithm, and the terrain complexity of the target area is greater than a preset threshold; if the judgment result indicates the existence of a target area in the area to be analyzed, then determining the highest terrain point in the area to be analyzed based on the highest resolution layer data in the preset hierarchical data structure, and determining the minimum safe altitude corresponding to the waypoint sequence based on the elevation value of the highest terrain point and the preset safety threshold. This method solves the technical problem of low efficiency in related technologies that rely on manual determination of the minimum safe altitude when planning flight routes.

[0088] In this scheme, a pre-defined hierarchical data structure based on digital elevation model terrain data and hierarchical aggregation algorithm is constructed. Low-resolution hierarchical data is used for rapid scanning to identify target areas with terrain complexity greater than a preset threshold. When a target area exists, the highest terrain point is determined based on the highest resolution hierarchical data. This reduces the processing range of high-resolution data while ensuring the accuracy of the minimum safe altitude calculation, improving computational efficiency and reducing memory usage, thereby improving the efficiency of route planning.

[0089] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0090] Example 2

[0091] This application also provides an apparatus for determining the minimum safe altitude of a flight route. It should be noted that this apparatus can be used to execute the method for determining the minimum safe altitude of a flight route provided in this application. The apparatus for determining the minimum safe altitude of a flight route provided in this application is described below.

[0092] According to an embodiment of this application, a device for determining the minimum safe altitude of a flight route is also provided for implementing the above-described method for determining the minimum safe altitude of a flight route, such as... Figure 5 As shown, the device includes: a first processing unit 501, a second processing unit 502, and a third processing unit 503.

[0093] The first processing unit 501 is used to receive the waypoint sequence input by the user and determine the region to be analyzed corresponding to the waypoint sequence;

[0094] The second processing unit 502 is used to determine whether a target area exists in the area to be analyzed based on a preset hierarchical data structure and to obtain a judgment result. The preset hierarchical data structure is constructed in advance based on the terrain data of the digital elevation model and the hierarchical aggregation algorithm. The terrain complexity of the target area is greater than a preset threshold.

[0095] The third processing unit 503 is used to determine the highest terrain point in the region to be analyzed based on the highest resolution level of the preset hierarchical data structure if the judgment result indicates that a target region exists in the region to be analyzed, and to determine the minimum safe altitude corresponding to the waypoint sequence based on the elevation value of the highest terrain point and the preset safety threshold.

[0096] The method for determining the minimum safe altitude of a flight path provided in this application embodiment receives a sequence of waypoints input by a user through a first processing unit 501 and determines the area to be analyzed corresponding to the waypoint sequence; a second processing unit 502 determines whether a target area exists in the area to be analyzed based on a preset hierarchical data structure and obtains a judgment result, wherein the preset hierarchical data structure is constructed in advance based on digital elevation model terrain data and hierarchical aggregation algorithm, and the terrain complexity of the target area is greater than a preset threshold; if the judgment result indicates that a target area exists in the area to be analyzed, the third processing unit 503 determines the highest terrain point in the area to be analyzed based on the highest resolution layer data in the preset hierarchical data structure, and determines the minimum safe altitude corresponding to the waypoint sequence based on the elevation value of the highest terrain point and the preset safety threshold.

[0097] Optionally, in the route minimum safe altitude determination device provided in this application embodiment, the second processing unit includes: a first determination subunit, used to determine a set of target candidate high points from the region to be analyzed based on the data of the lowest resolution level in the preset hierarchical data structure; and a second determination subunit, used to determine whether a target region exists in the region to be analyzed based on the preset hierarchical data structure and the set of target candidate high points, and obtain a determination result.

[0098] Optionally, in the route minimum safe altitude determination device provided in this application embodiment, the first determination subunit includes: a first processing module, used to divide the area to be analyzed into multiple sub-regions according to the pixel size corresponding to the lowest resolution level in the preset hierarchical data structure; a second processing module, used to traverse all pixels corresponding to the sub-region in the data of the lowest resolution level for each sub-region, and extract at least one candidate high point in the sub-region; and a third processing module, used to determine a target candidate high point set from the candidate high points in all sub-regions according to the elevation value of each candidate high point.

[0099] Optionally, in the route minimum safe altitude determination device provided in this application embodiment, the second determination subunit includes: a fourth processing module, used to locate each target candidate high point in the target candidate high point set to an adjacent level in a preset hierarchical data structure with a resolution higher than the lowest resolution level; a fifth processing module, used to determine a preset neighborhood corresponding to each target candidate high point based on its position in the adjacent level, and calculate the elevation standard deviation of all pixels in the preset neighborhood; and a sixth processing module, used to determine whether the preset neighborhood is a target area based on the comparison result between the elevation standard deviation and a preset standard deviation threshold, and if the preset neighborhood is a target area, then the existence of a target area in the area to be analyzed is taken as the determination result.

[0100] Optionally, in the route minimum safe altitude determination device provided in this application embodiment, the third processing unit includes: a third determination subunit, used to map the target area to the highest resolution level, traverse all pixels corresponding to the target area in the data of the highest resolution level, and determine the highest elevation point in the target area; and a fourth determination subunit, used to determine the highest terrain point in the area to be analyzed based on the highest elevation point in the target area and candidate high points not determined as the target area.

[0101] Optionally, in the route minimum safe altitude determination device provided in this application embodiment, the device further includes the following units, used to obtain a preset hierarchical data structure through the following steps: an acquisition unit, used to acquire digital elevation model terrain data in the target coordinate system, and use the digital elevation model terrain data as the highest resolution level data; a fourth processing unit, used to perform hierarchical aggregation processing on the highest resolution level data level by level using a hierarchical aggregation algorithm to obtain a preset number of levels of data, wherein the resolution of the preset number of levels decreases level by level; and a fifth processing unit, used to generate a preset hierarchical data structure based on the highest resolution level data and the preset number of levels of data.

[0102] Optionally, in the route minimum safe altitude determination device provided in this application embodiment, the first processing unit includes: a fifth determination subunit, used to determine the route centerline based on the waypoint sequence; and a sixth determination subunit, used to determine the area to be analyzed based on the route centerline and a preset safety protection width.

[0103] It should be noted that the first processing unit 501, the second processing unit 502, and the third processing unit 503 mentioned above correspond to steps S201 to S203 in Embodiment 1. The three units and their corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in Embodiment 1. It should be noted that the above modules or units can be hardware or software components stored in memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n). The above units can also be part of a device and run in the computer terminal 10 provided in Embodiment 1.

[0104] Example 3

[0105] Embodiments of this application may provide an electronic device. Figure 6 This is a structural block diagram of an electronic device according to an embodiment of this application. Figure 6 As shown, the electronic device may include: one or more ( Figure 6 (Only one is shown) Processor 602, memory 604, memory controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display.

[0106] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the methods and apparatus in the embodiments of this application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby implementing the above-described methods. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0107] The processor can access information and applications stored in the memory via a transmission device to execute the following steps: receiving a waypoint sequence input by the user and determining the area to be analyzed corresponding to the waypoint sequence; determining whether a target area exists in the area to be analyzed based on a preset hierarchical data structure, and obtaining a judgment result, wherein the preset hierarchical data structure is pre-constructed based on digital elevation model terrain data and hierarchical aggregation algorithms, and the terrain complexity of the target area is greater than a preset threshold; if the judgment result indicates that a target area exists in the area to be analyzed, determining the highest terrain point in the area to be analyzed based on the highest resolution level data in the preset hierarchical data structure, and determining the minimum safe altitude corresponding to the waypoint sequence based on the elevation value of the highest terrain point and a preset safety threshold.

[0108] The processor can call the information and application program stored in the memory through the transmission device to perform the following steps: determine the set of target candidate high points from the region to be analyzed based on the data of the lowest resolution level in the preset hierarchical data structure; determine whether the target region exists in the region to be analyzed based on the preset hierarchical data structure and the set of target candidate high points, and obtain the judgment result.

[0109] The processor can call the information and application program stored in the memory through the transmission device to perform the following steps: divide the region to be analyzed into multiple sub-regions according to the pixel size corresponding to the lowest resolution level in the preset hierarchical data structure; for each sub-region, traverse all pixels corresponding to the sub-region in the data of the lowest resolution level and extract at least one candidate high point in the sub-region; determine the target candidate high point set from the candidate high points in all sub-regions according to the elevation value of each candidate high point.

[0110] The processor can invoke the information and application program stored in the memory through the transmission device to perform the following steps: For each target candidate high point in the target candidate high point set, locate the target candidate high point to the adjacent level in the preset hierarchical data structure with a resolution higher than the lowest resolution level; determine the preset neighborhood corresponding to each target candidate high point based on its position in the adjacent level, and calculate the elevation standard deviation of all pixels in the preset neighborhood; determine whether the preset neighborhood is the target area based on the comparison result between the elevation standard deviation and the preset standard deviation threshold; if the preset neighborhood is the target area, then the existence of the target area in the area to be analyzed is taken as the judgment result.

[0111] The processor can access the information and application programs stored in the memory via the transmission device to perform the following steps: mapping the target area to the highest resolution level, traversing all pixels corresponding to the target area in the data of the highest resolution level, and determining the highest elevation point in the target area; based on the highest elevation point in the target area and candidate high points not identified as the target area, determining the highest terrain point in the area to be analyzed.

[0112] The processor can access the information and application programs stored in the memory via the transmission device to perform the following steps: acquire digital elevation model terrain data in the target coordinate system, and use the digital elevation model terrain data as the highest resolution level data; use a hierarchical aggregation algorithm to aggregate the highest resolution level data level by level to obtain a preset number of levels of data, wherein the resolution of the preset number of levels decreases step by step; generate a preset hierarchical data structure based on the highest resolution level data and the preset number of levels of data.

[0113] The processor can access the information and application programs stored in the memory via the transmission device to perform the following steps: determine the centerline of the route based on the waypoint sequence; determine the area to be analyzed based on the centerline of the route and the preset safety protection width.

[0114] Those skilled in the art will understand that Figure 6 The structure shown is for illustrative purposes only. Electronic devices can also be smartphones, tablets, handheld computers, mobile internet devices (MIDs), PADs, and other terminal devices. Figure 6 This does not limit the structure of the aforementioned electronic device. For example, electronic devices may also include components that are more... Figure 6 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 6 The different configurations shown.

[0115] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0116] Example 4

[0117] Embodiments of this application also provide a computer-readable storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the method for determining the minimum safe altitude of a flight path provided in Embodiment 1.

[0118] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0119] This application also provides a computer program product, which, when executed on a data processing device, is suitable for performing the steps of a method for determining the minimum safe altitude of a flight route.

[0120] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0121] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0122] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0123] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0124] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0125] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0126] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for determining the minimum safe altitude for a flight route, characterized in that, include: Receive a sequence of waypoints input by the user and determine the region to be analyzed corresponding to the waypoint sequence; Based on a preset hierarchical data structure, it is determined whether a target area exists in the area to be analyzed, and a judgment result is obtained. The preset hierarchical data structure is constructed in advance based on digital elevation model terrain data and hierarchical aggregation algorithm, and the terrain complexity of the target area is greater than a preset threshold. If the determination result indicates that the target area exists in the area to be analyzed, then the highest terrain point in the area to be analyzed is determined based on the highest resolution level data in the preset hierarchical data structure, and the minimum safe altitude corresponding to the waypoint sequence is determined based on the elevation value of the highest terrain point and the preset safety threshold.

2. The method according to claim 1, characterized in that, Based on a preset hierarchical data structure, it is determined whether a target region exists in the region to be analyzed, and the determination results include: Based on the data of the lowest resolution level in the preset hierarchical data structure, a set of target candidate high points is determined from the region to be analyzed; Based on the preset hierarchical data structure and the set of target candidate high points, it is determined whether a target region exists in the region to be analyzed, and the determination result is obtained.

3. The method according to claim 2, characterized in that, Based on the data of the lowest resolution level in the preset hierarchical data structure, the set of target candidate high points is determined from the region to be analyzed, including: Based on the pixel size corresponding to the lowest resolution level in the preset hierarchical data structure, the region to be analyzed is divided into multiple sub-regions. For each sub-region, iterate through all pixels corresponding to that sub-region in the data of the lowest resolution level, and extract at least one candidate high point in that sub-region; Based on the elevation value of each candidate high point, the target candidate high point set is determined from the candidate high points in all sub-regions.

4. The method according to claim 2, characterized in that, Based on the preset hierarchical data structure and the target candidate high point set, it is determined whether a target region exists in the region to be analyzed, and the determination result includes: For each target candidate high point in the set of target candidate high points, the target candidate high point is located in the adjacent level of the preset hierarchical data structure whose resolution is higher than the lowest resolution level; Based on the position of each target candidate high point in the adjacent level, a preset neighborhood corresponding to each target candidate high point is determined, and the elevation standard deviation of all pixels in the preset neighborhood is calculated. Based on the comparison between the elevation standard deviation and the preset standard deviation threshold, it is determined whether the preset neighborhood is the target region. If the preset neighborhood is the target region, the existence of the target region in the region to be analyzed is taken as the determination result.

5. The method according to claim 1, characterized in that, Based on the highest resolution level of the preset hierarchical data structure, the highest terrain point in the area to be analyzed is determined as follows: Map the target region to the highest resolution level, traverse all pixels corresponding to the target region in the data of the highest resolution level, and determine the highest elevation point in the target region. The highest topographic point in the area to be analyzed is determined based on the highest elevation point in the target area and the candidate high points that are not identified as part of the target area.

6. The method according to claim 1, characterized in that, The preset hierarchical data structure is obtained through the following steps: Obtain digital elevation model terrain data in the target coordinate system, and use the digital elevation model terrain data as the data of the highest resolution level; The hierarchical aggregation algorithm is used to aggregate the data at the highest resolution level step by step to obtain a preset number of data levels, wherein the resolution of the preset number of levels decreases step by step. Based on the data at the highest resolution level and the data at the preset number of levels, the preset level data structure is generated.

7. The method according to claim 1, characterized in that, Determining the region to be analyzed corresponding to the waypoint sequence includes: The centerline of the route is determined based on the waypoint sequence; The area to be analyzed is determined based on the centerline of the flight path and the preset safety protection width.

8. A device for determining the minimum safe altitude of a flight route, characterized in that, include: The first processing unit is used to receive a waypoint sequence input by the user and determine the region to be analyzed corresponding to the waypoint sequence; The second processing unit is used to determine whether a target area exists in the area to be analyzed based on a preset hierarchical data structure, and to obtain a judgment result. The preset hierarchical data structure is constructed in advance based on digital elevation model terrain data and hierarchical aggregation algorithm, and the terrain complexity of the target area is greater than a preset threshold. The third processing unit is used to determine the highest terrain point in the region to be analyzed based on the highest resolution level of the preset hierarchical data structure if the judgment result indicates that the target region exists in the region to be analyzed, and to determine the minimum safe altitude corresponding to the waypoint sequence based on the elevation value of the highest terrain point and the preset safety threshold.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the computer-readable storage medium is located to perform the method for determining the minimum safe altitude of an airway as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, executes the method for determining the minimum safe altitude of a flight path as described in any one of claims 1 to 7.

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