732 results about "Air space" patented technology

The invention belongs to the technical field of three-dimensional airspace management, and provides a three-dimensional airspace rasterizing management method and system based on multistage dynamic division, and the method comprises the steps: dividing height layers for a three-dimensional airspace, carrying out the rasterizing division of the three-dimensional airspace in each height layer, and carrying out the rasterizing division of the three-dimensional airspace; a live-action three-dimensional model of a three-dimensional airspace of a target area is constructed through multi-source data fusion, passable grids are marked, selection priority values of the passable grids are calculated through multi-source data fusion, when an aircraft is about to enter the three-dimensional airspace, route dynamic priority values of the grids are initialized, and a basic planning route of the aircraft is generated. Detecting the collision risk of the aircraft on the grids in the basic planning route, dynamically adjusting the route dynamic priority value, updating to obtain the actual planning route of the aircraft, monitoring the space between the aircrafts in the three-dimensional airspace in real time, and judging whether the collision risk exists between the aircrafts; and if there is a collision risk signal, triggering an aircraft obstacle avoidance and path re-planning strategy, and dynamically adjusting and updating the grid side length.

The invention provides a low-altitude airspace dynamic decision-making system based on a multi-modal large model, and relates to the technical field of low-altitude airspace traffic management.The low-altitude airspace dynamic decision-making system is characterized in that a first thermal disturbance coverage map, a second shear wind high-risk area map, a third turbulence risk drainage basin map and a fourth sudden obstacle prediction area map are generated by a map construction module; the aircraft can judge whether the aircraft enters the dangerous area in real time and assess the safety of the flight path according to the superposed risk value. When the superposition risk value # imgabs0 # of the flight path section passing through the jth area in the first original flight path of the ith aircraft is in a middle risk section, the system generates a first-level avoidance strategy, and the height, the speed and the course of the aircraft are adjusted; and when the superposed risk value # imgabs1 # is a high-risk section, the system generates a secondary avoidance strategy, and bypasses a high-risk area by remarkably increasing the flight height and reducing the speed.

The invention provides a region-level aviation flow prediction method based on Mamb-GCN, and belongs to the technical field of air traffic flow prediction, and the method comprises the steps: constructing a Mamb-GNC collaborative network model; historical flight path data of a target airspace is collected, the target airspace is divided into space grids, the number of aircrafts in each space grid is counted, and the time feature and the space feature of each aircraft are coded to construct a space-time tensor; constructing a dynamic adjacency matrix and a dynamic weight map based on the 8-neighborhood topology of the space grid; inputting the space-time tensor and the dynamic weight graph into a Mamba-GCN collaborative network model for training, and optimizing model parameters; and preprocessing the aviation trajectory data of the target airspace acquired in real time, and inputting the preprocessed aviation trajectory data into the trained Mamba-GCN collaborative network model to obtain an aviation flow prediction result. According to the method, the long-time dependence of the aviation flow in the time dimension and the grid correlation in the space dimension can be captured, and the prediction efficiency is high.

The invention discloses a dynamic planning method for an air route of an urban low-altitude unmanned aerial vehicle. The method comprises the following steps: firstly, constructing an urban low-altitude environment model based on an airspace rasterization technology, fusing multi-dimensional constraint factors such as geographic data, meteorological conditions and airspace control information through multi-source environment information, and accurately calibrating the position of a take-off and landing point; secondly, a dynamic grid availability evaluation model is established in combination with environmental constraints and a real-time airspace state, and the navigation feasibility of each grid unit is quantitatively analyzed; then, an improved A * algorithm is combined with a grid availability evaluation result to generate a global optimal initial route; finally, a rolling time domain optimization strategy is introduced, and uncertain factors such as sudden obstacles and airspace dynamic limitation are responded in real time through periodic non-flight route re-planning after the unmanned aerial vehicle takes off. Through collaborative fusion of static environment modeling and a dynamic optimization mechanism, the problem of real-time planning of the air route of the unmanned aerial vehicle in the urban low-altitude complex environment is effectively solved, and the environmental adaptability and task reliability of the system are remarkably improved.

The invention relates to the technical field of aviation, in particular to a low-altitude flight micrometeorological intelligent decision-making system based on multi-source sensing and AI fusion, and aims at solving the problems of difficulty in local disturbance identification, insufficient meteorological data granularity, weak flight task adaptation and the like in urban and complex terrain low-altitude flight scenes. According to the system, multi-dimensional meteorological data such as wind speed, wind direction, temperature and humidity are acquired through cooperation of fixed nodes and an air-based unmanned aerial vehicle, a risk area is dynamically identified in combination with a disturbance index model, and meteorological perception with minute-level and hectometer-level resolution is realized. The system supports intelligent perception scheduling, edge AI processing and multi-link communication transmission based on task characteristics, has task adaptability evaluation, flight path optimization, risk early warning and closed-loop learning capabilities, is suitable for scenes such as low-altitude airspace management, flight examination and approval, urban air traffic and the like, and remarkably improves the safety and intelligent level of low-altitude operation.

The invention relates to a low-altitude flight dynamic safety guarantee method and system based on airspace gridding, and relates to the technical field of low-altitude airspace management, and the method comprises the steps: constructing a gridding airspace; on the basis of the gridding airspace, labeling network attributes for each grid unit in real time and evaluating a low-altitude safety state; according to network attributes, extracting a grid center point of an airspace grid which is evaluated to be in a low-risk range as a safe flight point, and dividing the gridding airspace into a plurality of safe triangular grids; and according to the predicted trajectory of the aircraft, selecting a candidate point with the lowest risk cost from adjacent triangles of the safety triangular mesh, and introducing a risk cost function to dynamically adjust the distribution of flight path points. According to the invention, the flight path of the aircraft group can be dynamically adjusted according to the environment change, and the stability and safety of cluster task execution are improved.

The invention relates to flight path planning of aircrafts, in particular to a collaborative flight path planning method and system for a low-altitude multi-aircraft mixed take-off and landing field, and the method comprises the steps: carrying out the three-dimensional subdivision of an airspace based on a Beidou grid code, and carrying out the real-time mapping of an airspace state of a three-dimensional grid unit; dividing the three-dimensional grid units according to the grid state; constructing a geometric track generation rule, and eliminating a track crossing risk; introducing a time dimension on the basis of a three-dimensional space, carrying out four-dimensional space-time conflict detection on all tracks, and carrying out conflict resolution according to a four-dimensional space-time conflict detection result; a double-queue dynamic scheduling mechanism is constructed, and the aircraft is guided to land safely through queue separation and polling distribution; according to the technical scheme provided by the invention, the defects that the avoidance path of the low-priority aircraft is difficult to reasonably plan and the flight safety of the aircraft in the take-off and landing stage cannot be effectively guaranteed in the prior art can be effectively overcome.

The invention provides a low-altitude economic area traffic control optimization method and system, and relates to the technical field of traffic control, and the method comprises the steps: carrying out the spatial division of a low-altitude economic area, generating a multi-layer air corridor topological structure, and mapping the traffic flow data to each layer of air corridor; according to the air corridor capacity constraint of each layer, drawing up a first flight control condition; according to the same-layer air corridor safety distance constraint, a second flight control condition is drawn up; and performing traffic scheduling control in the low-altitude economic area by using the first flight control condition and the second flight control condition. The technical problem that the traffic management and control efficiency of the low-altitude economic area is low due to the fact that the traffic density of the low-altitude economic airspace is increased and airspace resources are difficult to distribute effectively in the prior art is solved, and the traffic management and control efficiency of the low-altitude economic area is improved by comprehensively considering the capacity constraint of the airspace corridors and the safety distance constraint between the airspace corridors on the same layer. And the traffic control efficiency of the low-altitude economic area is improved.

The invention provides an identity authentication and access control method and device for a low-altitude aircraft, and the method comprises the steps: obtaining environment data, equipment state data and a historical authentication log of the low-altitude aircraft, and obtaining collection data; inputting the collected data into an AI decision engine, and generating an authentication factor combination through a pre-trained deep reinforcement learning model to obtain a main factor and a standby factor; performing identity authentication of the aircraft by using the main factor, and when the matching degree of the identity authentication of the main factor is in a preset interval, triggering a standby factor to perform secondary identity authentication to obtain an authentication result; and an access token is generated according to the authentication result and the risk assessment model, and the aircraft performs access control according to the access token. The invention relates to the field of low-altitude security management and control, and solves the technical problems that the identity authentication security of a low-altitude aircraft is insufficient and the low-altitude aircraft cannot dynamically adapt to a complex airspace environment in the prior art.

The invention provides an unmanned aerial vehicle intrusion real-time interception method and system based on an airspace electronic fence. The method comprises the steps of firstly obtaining real-time flight monitoring data of an unmanned aerial vehicle in a target airspace, then analyzing predefined airspace electronic fence configuration information to generate a virtual boundary constraint set, and then combining three-dimensional space coordinates and the virtual boundary constraint set to judge whether the unmanned aerial vehicle invades a no-fly zone or not. When it is judged that the unmanned aerial vehicle invades the no-fly zone, a collaborative interception instruction sequence is generated, finally, the collaborative interception instruction sequence is sent to the unmanned aerial vehicle through a radio frequency communication link, the unmanned aerial vehicle is driven to execute flight path correction, and real-time interception of the unmanned aerial vehicle is completed; according to the technical scheme, the real-time performance and safety of sensitive airspace protection are improved, meanwhile, the risk of mistakenly intercepting legal aircrafts is avoided, and non-lethal precise expelling is completed on the premise of completely eradicating the crash risk.

The invention discloses an intelligent examination and approval decision-making system and method for a heterogeneous aircraft based on a dynamic performance envelope, belongs to the technical field of heterogeneous aircrafts, and ensures that the aircraft safely and efficiently executes tasks by performing compliance verification, feasibility evaluation and task priority improvement by utilizing dynamically adjusted three-level hierarchical decision-making tree nodes. By constructing a four-dimensional dynamic airspace map superposed with multiple attributes in real time, the system can accurately perform path planning and conflict detection, evaluate aircraft conflict risks and dynamically adjust decision priorities, and when conflicts cannot be resolved, the system can re-plan paths according to aircraft performance envelopes or implement forced avoidance or delimit temporary isolation areas, so that the conflict resolution efficiency is improved. Therefore, task interruption and safety accidents are effectively avoided, and speed and precision bottlenecks in traditional manual examination and approval and path planning are solved.

The invention provides a multi-node collaborative airspace control method and device for urban low-altitude traffic. The method comprises the following steps: acquiring sensing data of a real-time sensing system of an urban low-altitude aircraft body and an urban airspace infrastructure; assigning task scheduling sorting, and determining a local congestion coefficient and a path starting and ending point pair of a current aircraft assignment task; constructing a path cost function to optimize the initial spline path, and generating a path control point sequence and a path total cost; generating a final path of the aircraft during actual execution based on dynamic path adjustment of distributed cooperative control; and mapping the final path to the urban airspace, generating a complete scheduling sequence of the aircraft in the urban airspace, and sending the complete scheduling sequence to an aircraft control system for execution. Under the background that the urban low-altitude airspace is increasingly complex, cooperation among the aircrafts can be guaranteed, the utilization efficiency of airspace resources is improved, meanwhile, flight safety is guaranteed, and therefore a foundation is laid for intelligent development of a low-altitude traffic system.

The invention belongs to the field of unmanned aerial vehicle emergency control systems, and relates to a risk identification and emergency method when an unmanned aerial vehicle flies in an airspace adjacent to an expressway, and the method comprises the steps: obtaining the balance state of the unmanned aerial vehicle through constructing a six-degree-of-freedom dynamic model and incorporating environmental factors and control intentions; dynamically comparing the balance state with real-time data to obtain a state deviation, deducing the fault probability of the unmanned aerial vehicle according to the state deviation, and realizing sensitive early warning of possible faults of the unmanned aerial vehicle; besides, the method constructs a double-layer linkage framework of an electromagnetic safety boundary and a physical safety boundary, realizes safety risk identification in combination with a fault probability, and ensures that a safety area between the unmanned aerial vehicle and a motorcade on a highway can be represented by a risk value along with speed, motorcade density and interference intensity; the fault probability of the unmanned aerial vehicle flying in the air is considered, when the fault probability is larger than a preset threshold value, the out-of-control state of the unmanned aerial vehicle is judged, a corresponding control strategy is adopted, and the flight safety of the unmanned aerial vehicle during partial or comprehensive out-of-control is guaranteed.

The invention provides a low-altitude space path planning method and system, and relates to the technical field of low-altitude space management and path planning, and the method comprises the steps: S1, dividing a target airspace into a plurality of levels of three-dimensional voxels, and generating a unified-level three-dimensional code for each voxel; s2, voxelizing a task starting point, a task ending point and constraint elements based on unified hierarchical three-dimensional coding to generate a confinement three-dimensional corridor so as to limit a subsequent search space; s3, in the confinement three-dimensional corridor, hierarchical path search from the coarse hierarchy to the target hierarchy is executed, and a discrete path is output; s4, when the dynamic change of the environment is detected, performing increment re-planning on the basis of the discrete path, and updating the affected local path; and S5, smooth processing and safety verification are carried out on the discrete path or the updated path, and a final continuous flight path is generated. According to the invention, the real-time performance, the safety and the verifiability of the low-altitude flight task path can be realized.

The invention relates to the technical field of unmanned aerial vehicle path planning, in particular to a multi-aerial vehicle cooperative path planning method, system and device in a city and a storage medium. Comprising an information acquisition module, a path generation module, a clustering updating module and an optimal judgment module. According to the method, the initial position, the target position and the obstacle information of each unmanned aerial vehicle are acquired, an urban low-altitude airspace task scene is defined, the MP-GWO algorithm is utilized to generate a multi-aerial-vehicle cooperative initial path, differential penalty coefficients are set for different types of no-fly zones, a K-means clustering mechanism is embedded into a GWO main cycle, and the multi-aerial-vehicle cooperative initial path is obtained. According to the method, parallel sub-populations are divided according to a multi-target fitness vector, each sub-population independently executes an alpha, beta and delta guide updating strategy, a triple termination judgment mechanism integrating fixed iteration times, a convergence threshold value and elite stagnation is adopted, a current optimal planning path is output, efficient optimization of the path in a complex urban environment is achieved, and the path optimization efficiency is improved. The method is suitable for urban low-altitude airspace multi-unmanned aerial vehicle cooperative tasks.

The invention provides a low-airspace public route construction method, device and equipment, and relates to the technical field of aircraft airspace route planning. The method comprises the following steps: determining a plurality of target candidate nodes corresponding to a city based on ground traffic topological characteristics of the city corresponding to a low airspace and spatial distribution characteristics of low-risk ground features; performing triangulation on the plurality of target candidate nodes to obtain an initial edge set; wherein the initial edge set comprises a plurality of initial edges; performing sparse processing on the plurality of initial edges based on a greedy tensor graph algorithm, and determining a plurality of target edges from the plurality of initial edges; wherein the length of the shortest path between the two nodes of the target edge is greater than the greedy tensor coefficient times of the Euclidean distance between the two nodes; and constructing a low-airspace public route based on the plurality of target edges. By adopting the technical scheme provided by the invention, the utilization efficiency and safety of the low airspace can be effectively improved by constructing the unified low airspace public route.

The invention discloses a low-altitude airspace planning method and system based on a micro-terminal area, and relates to the field of low-altitude airspace planning, and the method comprises the steps: generating a corresponding take-off and landing area for a low-altitude take-off and landing point or a take-off and landing field, and generating a take-off and landing hub area for an adjacent take-off and landing point or a take-off and landing field, so as to construct the micro-terminal area of the low-altitude airspace; constructing a risk area, and forming a restricted area of the low-altitude airline network together with the control area and the no-fly area; on the basis of the restricted area, generating alternative intermediate points connected with the take-off and landing points or the take-off and landing fields; based on the data of the alternative intermediate points and the data of the micro-terminal area, constructing an initial low-altitude airline network connected with all the points; calculating a weight corresponding to each side line in the initial low-altitude airline network, and optimizing the initial low-altitude airline network based on a weighted network; and removing redundant intermediate points based on the optimized network, constructing access points of the airline network and each micro-terminal area, and generating a final low-altitude airline network. According to the invention, a more reliable technical basis is provided for low-altitude route network planning.

The invention discloses an unmanned aerial vehicle channel management method, platform and device under low-altitude economy, and relates to the technical field of unmanned aerial vehicle navigation and path planning, and the method comprises the steps: determining a preset airspace range, dividing a height layer and longitude and latitude grid units, and constructing a three-dimensional airspace resource map; distributing state label generation mapping; receiving a flight task; performing conflict detection and mediation to generate a target decision in combination with the atlas and the mapping; and executing channel management according to the decision to realize low-altitude unmanned aerial vehicle channel management. The technical problem that a traditional unmanned aerial vehicle channel management mode lacks a low-altitude airspace three-dimensional refined modeling, dynamic conflict detection and priority scheduling mechanism in a low-altitude economic scene is solved, and refined management, real-time conflict avoidance and differentiated resource scheduling of a low-altitude unmanned aerial vehicle channel are achieved. And thus, the airspace utilization efficiency and the flight safety are improved.

The invention discloses a boundary grid node-oriented shipborne unmanned aerial vehicle delivery scheduling method and system, and relates to the technical field of shipborne unmanned aerial vehicle path optimization, and the method comprises the steps: carrying out the systematic grid division of a boundary region based on a geographic coordinate system and marine environment constraints, and constructing a boundary grid node set; mapping attribution is carried out based on boundary grid nodes, and path feasibility is evaluated; and according to an evaluation result, screening and scheduling candidate tasks, generating a corresponding time window, constructing an optimal path, and completing dynamic scheduling and path planning of multiple tasks through time, space and platform constraint linkage. By constructing a task space mapping structure, an airspace schedulability scoring mechanism and a path multi-dimensional cost evaluation model, dynamic, efficient and safe scheduling of the shipborne unmanned aerial vehicle in a boundary sea area is realized, the task matching precision, the path feasibility and the system robustness are remarkably improved, and the method has high intelligent cooperation capability and environmental adaptability.

The invention discloses a vertical take-off and landing airport air traffic collaborative management method and system. The method comprises the following steps: constructing an airport air model integrating a physical environment, an airspace structure, a natural environment, an aircraft state and observation information; receiving observation information in real time to drive model synchronization; performing prospective multi-dimensional conflict prediction based on the synchronous model and eVTOL dynamics; on the basis of the prediction result, generating a cooperative regulation strategy when multiple constraint conditions are met; converting the strategy into an instruction, issuing the instruction through a security data link, and verifying an execution effect based on observation information to realize closed-loop control; according to the method, the air traffic environment of the vertical take-off and landing airport is systematically and digitally reconstructed through the quintuple model, unified representation of the operating environment and the traffic subject is achieved, the problem of heterogeneous information fusion is solved, the airspace utilization efficiency and safety under high-density operation can be remarkably improved, and the method is suitable for large-scale popularization and application. And the method has strong adaptive capacity to dynamic changes such as wind power disturbance and emergency conditions.

The invention relates to three-dimensional traffic navigation, in particular to a three-dimensional traffic navigation system based on space-time grid coding, which comprises a low-altitude path planning module for planning an optimal flight path for an aircraft in a low-altitude airspace based on a four-dimensional space-time grid coding model and adjusting the path in real time in combination with dynamic environmental factors; the airspace conflict detection module is used for carrying out conflict detection on aircrafts in a low-altitude airspace, judging whether conflicts exist or not and finding potential conflicts in time; the path collaborative planning module is used for carrying out collaborative path planning on the multiple aircrafts with conflicts in the low-altitude airspace and solving the problem of conflicts among the multiple aircrafts; the cross-modal traffic coordination module is used for integrating ground and low-altitude traffic systems, realizing seamless connection and efficient coordination of an optimal ground path and an optimal flight path, and providing an integrated three-dimensional traffic navigation scheme; the method can overcome the defects that in the prior art, path planning efficiency is low, airspace conflicts are difficult to accurately detect, and a cross-modal traffic cooperation mechanism is lacked.

Example embodiments are directed to generating an optimized network of flight paths and an operations volume around each of these flight paths. A network system creates a source network of paths, whereby the source network comprises a set of possible paths between two locations. The network system assigns a cost for traversing each edge of each path of the source network and aggregates the cost for traversing each edge of each path to obtain a cost for each path of the source network. Based on the cost for each path, the network system identifies a path having the lowest cost, whereby the path having the lowest cost is the optimized route between the two locations. The network system then generates an operations volume for the optimized route. The operations volume represents airspace surrounding the optimized route. The operations volume is transmitted to a further system for use.

The invention relates to the technical field of flight management, and provides an airspace division method and device, electronic equipment and a computer readable storage medium, and the method comprises the steps: determining airspace data corresponding to airspace division in response to an airspace division instruction, and the airspace division instruction comprises an airspace use purpose; dividing the airspace data according to an airspace use purpose to obtain an airspace division result; wherein the airspace division result comprises a first result set and a second result set, the first result set comprises the three-dimensional geometrical shapes corresponding to the airspace data, and the second result set comprises the relationship between the three-dimensional geometrical shapes corresponding to the airspace data. According to the embodiment of the invention, an airspace division standard is provided by dividing the airspace into the set of the general three-dimensional geometrical shapes and giving the position relationship among the general three-dimensional geometrical shapes, so that the interoperability of airspace management is improved, the airspace management and planning work is simplified, and the airspace division efficiency is improved.

The invention relates to the technical field of low-altitude operation and maintenance management, and discloses a digital twinning-based low-altitude takeoff and landing field infrastructure full-process operation and maintenance system, which comprises a real-time digital twinning construction module, a digital twinning construction module, a low-altitude takeoff and landing field infrastructure full-process operation and maintenance module and a digital twinning construction module, an airspace conflict detection module; an intelligent route planning module; a control instruction generation and execution module; and a data driving optimization module. By integrating multi-source data, updating the digital twin model in real time, carrying out airspace conflict detection and optimizing flight path planning, the path and scheduling time slot of the aircraft can be dynamically adjusted, the aircraft efficiency and the resource utilization rate are maximized, meanwhile, real-time feedback and continuous optimization are provided, and the flight path planning efficiency is improved. And the operation and maintenance intelligence and automation level of the low-altitude take-off and landing field is remarkably improved.

The invention relates to the field of low-altitude communication network planning methods, in particular to a 5G three-dimensional coverage and capacity planning design method for low-altitude economy, which comprises the following steps: performing airspace range limitation and application scene division on a target airspace, establishing a mobile model of a low-altitude terminal, and providing dynamic input for simulation; the method comprises the following steps: establishing a dual-frequency heterogeneous network, and determining base station addresses covering targets at different heights and meeting different signal station spacing; performing three-dimensional coverage and quality simulation on the established dual-frequency heterogeneous network, performing network KPI evaluation on the simulation until the standard is reached, and outputting a network deployment planning scheme; deploying according to a network deployment planning scheme, predicting low-altitude service flow, and adjusting a beam direction and a PRB reservation ratio to realize on-demand allocation of resources; and carrying out actual measurement on the deployed network, collecting an air measurement index, comparing a comparison deviation between the air measurement index and a simulation result, and carrying out fine adjustment on the network according to the comparison deviation. According to the invention, diversified communication requirements are met, and the success rate of terminal access is improved.

The embodiment of the invention provides a low-altitude airspace performance measurement method and device. The method comprises the following steps: establishing an airspace performance index system; the method comprises the following steps: extracting an airspace operation data set and an airspace management data set based on an airspace performance index system, defining quality evaluation dimensions, constructing a judgment matrix by adopting a scale method to evaluate the credibility weight of each quality evaluation dimension, calculating the comprehensive credibility weight of each data source under each quality evaluation dimension, and calculating the credibility of each data source; fusing the airspace operation data set and the airspace management data set according to the comprehensive credibility weight, and determining a corresponding multi-source fusion data set; according to the multi-source fusion data set, constructing an airspace dynamic simulation environment, in the simulation environment, calculating airspace capacity performance according to a dynamic capacity calculation model, calculating airspace safety performance according to a conflict detection model, and establishing a service quality comprehensive evaluation index to evaluate airspace efficiency performance. And determining the comprehensive performance of the airspace by integrating the capacity performance, the safety performance and the efficiency performance. The low-altitude airspace management method and device can improve the efficiency of low-altitude airspace management.

A low-altitude passable map generation method based on multi-source environmental factors comprises the steps that firstly, a low-altitude airspace is divided into three-dimensional grid units serving as basic space units for environmental factor modeling and passability calculation; performing hierarchical expression on multi-source environmental factors such as meteorology, communication, navigation, monitoring, buildings, terrains, underlying surface personnel and buildings, airspace properties, airspace flow, electromagnetism and the like in each grid unit; setting a passable threshold value of each environmental factor according to different types of low-altitude aircrafts, and judging whether the grid is passable for each type of aircrafts based on the actual grade of each environmental factor in the current grid; and superposing the trafficability judgment results of the grids under all environmental factors, and generating a low-altitude trafficability map reflecting the overall trafficability. According to the method, the passability under various environmental factors is judged, the passable map of the low-altitude aircraft is constructed through superposition, and the method is suitable for passable map generation under the complex and changeable low-altitude flight environment.

The invention relates to an unmanned aerial vehicle track optimization method, system and device in an urban high-density airspace and a medium, and the method comprises the steps: dynamically dividing the urban airspace into space-time four-dimensional grid units of different scales according to the vertical height and the time axis based on the real-time airspace traffic density and environmental conditions; establishing a guide vector field pointing to a target position in each four-dimensional grid unit, and when an obstacle and / or a flight conflict is detected, generating a local disturbance vector and dynamically correcting the guide vector field in real time so as to autonomously generate a candidate flight trajectory; and calculating the energy consumption of the candidate flight path based on an unmanned aerial vehicle dynamics model and an environment model, and selecting a path with the lowest total energy consumption as a final flight path under the condition of meeting safety constraints and task time requirements. Compared with the prior art, in a complex dynamic environment of an urban high-density airspace, unification of real-time efficient planning of the flight path of the unmanned aerial vehicle, safe obstacle avoidance and low-energy-consumption optimization is realized.

The invention discloses a fleet formation flight implementation method and device, equipment, a medium and a product, and belongs to the technical field of aeronautical communication. The method comprises the following steps: establishing an air-ground interconnection communication link to realize real-time data interaction between a ground control unit and a plurality of flying civil aircrafts and between the plurality of civil aircrafts; based on an air-ground interconnection communication link, an airborne ad hoc network with a leading aircraft as a core is constructed, and an information interaction network in the formation is formed. Acquiring formation flight environment data; determining a safe area of formation flight based on the formation flight environment data, and calculating the maximum number of aircrafts in the formation and the relative positions of the aircrafts in the formation; and issuing the maximum number, the relative position and the flight decision information to each airplane in the formation through the airborne ad hoc network so as to execute formation flight. According to the embodiment of the invention, the real-time performance and accuracy of communication between the fleet can be effectively improved, and the airspace operation efficiency and flight safety are improved through the formation flight of the fleet.

The invention relates to the technical field of hovercar oil coolers, in particular to a hovercar oil cooler multi-physics field cooperative control method based on reinforcement learning. A three-dimensional continuous action space (fin opening, magnetofluid flow velocity and phase change material activation proportion) is designed in combination with a reinforcement learning algorithm, and collaborative optimization of magnetofluid heat conduction, phase change material heat storage and air heat dissipation is realized in control of the oil cooler of the hovercar for the first time. According to the design, the limitation of traditional single physical field control is broken through, the thermal management efficiency of the system in cross-airspace and multi-working-condition scenes is remarkably improved, and meanwhile energy consumption is saved and the service life of equipment is prolonged.