2332 results about "Low altitude" patented technology

The invention discloses a low-altitude integrated management system based on a grid digital twin model and an intelligent algorithm, and relates to the technical field of low-altitude aircrafts. The method comprises the following steps: multi-source sensing data fusion and grid coding are carried out, and an airspace environment space-time database is constructed; constructing an airspace environment space-time database to carry out three-dimensional subdivision on the airspace; generating a multi-scale grid twinborn body, and associating a corresponding attribute for each level of grid according to a management requirement; generating an airspace risk thermodynamic diagram in the future 5-30 minutes; establishing a grid state change triggering rule; and generating a multi-target optimal path set by taking the grid navigation cost as a weight. According to the invention, by combining the real-time operation data of the low-altitude aircraft, the meteorological environment and other data with the artificial intelligence algorithm and the navigation rule base, the airspace traffic flow is analyzed, the flight plan is optimized, the flight route is intelligently distributed, the automatic route setting of any two points is realized, and the response speed of the low-altitude flight service system and the processing capability of various flight data are improved.

The invention discloses an unmanned aerial vehicle low-altitude intelligent collaborative management system based on dynamic airspace gridding, and relates to the technical field of unmanned aerial vehicle management. Comprising the following steps: acquiring real-time environment information of a low-altitude airspace and operation state information of an unmanned aerial vehicle group; performing dynamic airspace gridding processing according to the real-time environment information to obtain a plurality of airspace grid units and airspace attribute information; according to the airspace grid units, the airspace attribute information and the operation state information of the unmanned aerial vehicle group, a cooperative flight path planning scheme is generated, and the technical key points are as follows: the information acquisition link provides comprehensive and accurate basic data, the dynamic airspace gridding processing realizes flexible adaptation of the airspace, and the cooperative path planning ensures efficient and ordered group flight. Flight control and dynamic adjustment guarantee smooth propulsion of tasks; all links support and promote each other, for example, a prediction result of the airspace state advanced judgment model can provide prospective guidance for path planning, and a deviation monitoring and adjusting mechanism can correct flight deviation in time.

The invention relates to a low-altitude logistics unmanned aerial vehicle path planning method, which comprises the following steps of 1, discretizing an urban low-altitude region into computable grid units, a dynamic-static obstacle classification modeling technology is combined to endow a static obstacle with a basic risk degree, a height attenuation factor is introduced to quantify the influence of a high-altitude obstacle on a low-altitude path, and a collision risk of a dynamic obstacle is dynamically evaluated through a time dimension risk degree prediction model; 2, based on an improved genetic algorithm, comprehensively considering flight time, height change, risk degree and dynamic risk cost through a multi-objective optimization objective function, and generating a globally optimal task allocation scheme; 3, generating a local optimal three-dimensional path considering meteorological conditions and dynamic obstacle influence by adopting an improved particle swarm algorithm; and 4, performing path planning to feed back actual flight time and energy consumption to task allocation for optimization.

The invention relates to the technical field of low-altitude aircraft navigation, and discloses a low-altitude aircraft track real-time planning method and system. The system comprises a flight situation awareness module, a track constraint calculation module, a real-time track planning module, a conflict prediction module and a track dynamic correction module. The flight situation sensing module generates a flight situation matrix through multi-source data fusion; a track constraint calculation module extracts static obstacle contours and dynamic obstacle tracks according to the static obstacle contours and the dynamic obstacle tracks, and generates a multi-dimensional track constraint set in combination with aircraft performance parameters; the real-time flight path planning module builds a three-dimensional flight path search domain by using an adaptive space division technology, and iteratively solves an optimal flight path sequence by using an intelligent search algorithm; the conflict prediction module combines the real-time dynamic obstacle trajectory to calculate the space-time proximity, and generates a conflict early warning map; and the track dynamic correction module re-draws an obstacle avoidance constraint area according to the map, and triggers local track correction. The system improves the comprehensiveness, real-time performance and safety of flight path planning, and guarantees the stable operation of the low-altitude aircraft.

The invention relates to the field of unmanned aerial vehicle environment perception, in particular to a multi-mode environment perception method and system for a low-altitude medical unmanned aerial vehicle. The method comprises the following steps: collecting a multi-modal data stream, carrying out adaptive data optimization processing, and constructing a multi-modal fusion data set; performing environment multi-level obstacle identification and evaluation on the multi-modal fusion data set to generate a threat mapping environment map; multi-dimensional environment parameters are collected based on the unmanned aerial vehicle, wind field time-varying prediction and safe flight area calculation are performed based on the threat mapping environment map, and a flight area map is constructed; performing multi-position collision risk assessment based on the multi-modal fusion data set to generate collision risk coefficients of different positions; and carrying out safe flight constraint analysis on the flight area map according to the collision risk coefficient, and extracting an optimal flight path. According to the invention, in combination with real-time environment data, comprehensive flight path planning is provided, and the flight safety and task completion efficiency of the unmanned aerial vehicle are improved.

The invention relates to the field of airline planning, and discloses a digital twin system for low-altitude airline planning and a construction method, and the method comprises the steps: obtaining a spatial perception data set of a preset sensor in a target airspace, carrying out the fusion of the spatial perception data set, obtaining the fusion perception data, obtaining the historical flight hidden danger data of the target airspace, and obtaining the historical flight hidden danger data of the target airspace; performing multi-layer convolution on the fusion perception data by using the historical flight hidden danger data to obtain a risk analysis result, performing fuzzy fusion on preset risk factors, generating a dynamic obstacle risk field according to the risk factors after fuzzy fusion and the risk analysis result, performing flight simulation on the dynamic obstacle risk field, and obtaining a flight simulation result; and collecting flight simulation real-time data in the flight simulation process, generating an air route space cost map according to the flight simulation real-time data, and performing optimal path search on the air route space cost map to obtain a low-altitude air route scheme. In the face of airspace actual risks, the searching efficiency of the optimal path in low-altitude route planning is improved.

The present invention relates to a solar azimuth estimation method and system based on multi-channel feature enhancement and region-aware attention, belonging to the technical field of intelligent navigation for low-altitude economy unmanned systems. Aiming at the problem of decreased accuracy in solar azimuth estimation based on polarization images under complex cloud cover conditions, the present invention proposes a deep learning framework integrating multi-channel features and direction-aware attention. First, based on polarization light field information acquired by a division-of-focal-plane polarization camera, a three-channel composite input feature composed of a polarization intensity map, an adaptive threshold gradient map, and high-frequency residual edge information is constructed. Second, a ResNet backbone network embedded with a squeeze-and-excitation mechanism is adopted, and a direction-aware polarization attention module is introduced to achieve adaptive fusion of multi-scale features through luminance guidance, deep feature enhancement, and a gradient edge branch.

The invention relates to the technical field of low-altitude safety emergency, and discloses a low-altitude safety emergency system based on large model application. The system comprises a low-altitude situation awareness module which constructs a dynamic situation prediction model based on historical flight data, collects a low-altitude target track coordinate sequence, radar echoes and communication signal characteristics in real time, and outputs a theoretical security situation value. The multi-source data fusion analysis module performs three-dimensional difference analysis on theoretical and actually measured situation values, which relates to time domain trend deviation, space domain coverage offset and event sequence matching degree, and generates a target-level difference feature matrix; and the risk propagation path deduction module inputs the matrix into a geographic topology analysis network, generates a probability thermal distribution diagram of an abnormal risk propagation path in combination with airspace node communication parameters and a target position, and locates a risk influence area. And the intelligent disposal strategy generation module configures parameters according to the graph, starts high-frequency monitoring for a high-probability area, and performs communication disturbance test on an adjacent target.

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 discloses a low-altitude unmanned aerial vehicle trajectory tracking and monitoring method based on a 5G-A communication sensing integrated base station, and relates to the technical field of low-altitude traffic management and communication sensing fusion, and the method comprises the steps: firstly collecting multi-source data such as a communication sensing fusion signal, environment interference and unmanned aerial vehicle attributes, and carrying out the alignment and packaging of a unified timestamp and a coordinate system into a synchronous data frame; then, deep fusion and anti-interference processing are carried out on the data frames, noise is filtered out, and pure fusion data is generated; and furthermore, real-time track calculation and motion trend prediction are carried out on pure data by utilizing multi-base-station cooperative calculation and prediction. Based on this, through a multi-target feature recognition and clustering separation mechanism, independent individual trajectories are accurately stripped from a complex mixed data stream, and compliance verification and anomaly judgment are performed on the trajectories in combination with an airspace rule base. In this way, the problems of signal interference and multi-target aliasing in a complex environment can be effectively solved, and therefore high-precision global tracking of the low-altitude unmanned aerial vehicle and real-time monitoring of abnormal behaviors are achieved.

The invention relates to the field of low-altitude airspace monitoring, and relates to a low-altitude monitoring system based on multi-source heterogeneous perception fusion and rule engine driving, which comprises a perception access layer used for completing data standardization and protocol adaptation and realizing data stream release through message middleware; the processing calculation layer is used for generating a structured alarm event; the application support layer is used for three-dimensional visual interactive display of target situation data and alarm events, unified access of multiple types of sensors such as radar, photoelectricity, radio frequency, ADS-B and meteorological sensors is realized through a plug-in protocol adapter, and target state estimation and track smoothing are realized by combining space-time registration and extended Kalman filtering. The limitation that an existing system can only process a single data source or simple superposition is overcome, and the target recognition precision and the track continuity are remarkably improved.

The invention relates to the technical field of risk prediction, in particular to a collision risk prediction method of a low-altitude aircraft in high-density flight in a complex environment, which comprises the following steps: acquiring a point cloud through a three-dimensional laser radar, clustering to generate an obstacle trajectory, matching the trajectory to identify a disturbance characteristic segment, calculating a deviation angle by combining a path vector to generate a disturbance frequency graph, and calculating the collision risk of the low-altitude aircraft. And extracting a parameter modeling dynamic safety interval, and fusing multiple factors to evaluate a collision risk level. According to the method, obstacle trajectory topology is constructed through combination of three-dimensional laser radar point cloud time window division and density clustering, sudden change features are identified through trajectory similarity matching, a Gaussian kernel dynamic safety envelope is generated through combination of course offset statistics and included angle operation, and a self-matching threshold value is established through normalization parameters and radial basis weighting. The method improves the high-density flight collision prediction precision, enhances the weather and obstacle heterogeneity matching capability, reduces the misjudgment early warning delay, and achieves the multi-variable flight situation collaborative analysis.

The invention provides a navigation airport low-altitude meteorological intelligent management system based on multi-source meteorological data fusion, and the system comprises a three-dimensional grid monitoring network which is used for achieving the three-dimensional scanning and dynamic perception of an airspace meteorological environment through real-time collection of meteorological detection data; the data fusion system is used for carrying out assimilation processing on the collected real-time detection data and multi-source forecast data to generate a high-resolution three-dimensional gridding meteorological field covering an airport airspace range; the dynamic safety research and judgment module is used for researching and judging the influence of the current and future meteorological conditions of the airspace on the flight safety of each aircraft type in real time; and the management system establishment module is used for visually displaying the influence degree of the current meteorological condition on the flight through a visual chart by establishing a flight management system. According to the invention, a comprehensive meteorological safety protection system is constructed through an innovative system of intelligent perception, data fusion and decision pre-judgment, so that the problem of insufficient low-altitude meteorological service capability of an existing navigation airport is solved.

The invention discloses a low-altitude logistics unmanned aerial vehicle path planning method and system, and relates to the technical field of unmanned aerial vehicle logistics transportation, and the method comprises the steps: firstly, carrying out the optimization through calculating a preliminary path and combining the terrain and weather information; a sensor is used for detecting and dynamically avoiding obstacles; secondly, data transmission between the unmanned aerial vehicle and the ground control center is achieved, and the ground control center carries out monitoring, control and data processing. According to the low-altitude logistics unmanned aerial vehicle path planning system, efficient path planning is realized through multi-module cooperation. According to the invention, the flight safety, path planning accuracy and energy utilization efficiency of the unmanned aerial vehicle can be improved, the operation cost is reduced, and the system adapts to complex environmental conditions.

The invention provides a vortex aircraft detection signal processing method and system based on optical fiber sensing. The method comprises the following steps: firstly, acquiring an original micro-vibration signal; secondly, performing environment self-adaptive cooperative processing on the original micro-vibration signal to generate a self-adaptive micro-vibration signal; converting the generated self-adaptive micro-vibration signal into a spatio-temporal evolution sequence based on eddy current physical characteristics; then analyzing the spatio-temporal evolution sequence to output a type discrimination result of the vortex aircraft; and finally, generating a customized detection report based on the type discrimination result. According to the technical scheme provided by the invention, the detection and identification capability of a low-altitude low-speed small target in a complex environment is improved, and reliable detection and identification of the vortex aircraft in the complex environment are also realized.

The invention discloses a low-altitude three-dimensional wind field inversion method and system based on a single wind measurement laser radar, relates to the technical field of radar detection, and solves the technical problems that a traditional wind measurement laser radar cannot directly obtain a velocity vector, data missing of a key area is caused by a blocking effect, and detection nodes are not uniform. The method specifically comprises the following steps: S1, executing a multi-elevation-angle body scanning detection mode and a wind profile detection mode by using a wind measurement laser radar, and obtaining radial wind speed data of a target area; s2, quality control is carried out on the radial wind speed, isolated abnormal points are eliminated, and isolated data missing points are filled; s3, carrying out blocking correction on a single scanning surface by using a smooth spline interpolation method; s4, after the radial wind speed is corrected based on the wind profile, an initial background three-dimensional wind field is obtained; and high-precision wind field inversion of a wind field in a three-dimensional space can be realized by using the radial wind speed of multi-layer body scanning of a single wind measurement laser radar.

The invention provides a construction method of an urban low-altitude wind field digital twinning system, which comprises the following steps: constructing an urban basic road network skeleton and performing region division, generating a building block model with real textures by using oblique photography data, and forming an urban three-dimensional space geometric model library; capturing atmospheric information in real time through a radar to generate high-resolution three-dimensional wind field scanning data covering a target area; processing detection data of the laser wind finding radar, performing simulation calculation on a wind field in combination with an urban three-dimensional space geometric model, and generating sub-meter gridding dynamic wind field data of an urban low-altitude area; and performing three-dimensional reduction and vivid representation on the obtained dynamic wind field data by using a visual rendering technology to form an interactive urban low-altitude wind field digital twin system. By integrating multi-scale modeling, laser wind finding radar, wind field simulation and visual rendering technologies, real-time monitoring, dynamic simulation and visual display of an urban low-altitude three-dimensional wind field are achieved, and low-altitude flight safety and operation efficiency are improved.

The invention relates to the technical field of unmanned aerial vehicles, and discloses a low-altitude unmanned aerial vehicle conflict detection method and system based on trajectory prediction, a terminal and a storage medium, and the method comprises the steps: obtaining space-time flow trajectory data of an unmanned aerial vehicle, carrying out the preprocessing of the space-time flow trajectory data, and obtaining target space-time flow trajectory data; performing behavior characteristic division on the target space-time flow trajectory data according to a preset division rule to obtain behavior characteristic constraint information; fusing the target space-time flow trajectory data and the behavior feature constraint information to obtain a space-time fusion input sequence, and inputting the space-time fusion input sequence into a mixed trajectory prediction neural network model for prediction to obtain a plurality of trajectory prediction points; and establishing a plurality of three-dimensional mixed bounding box models according to the plurality of trajectory prediction points, and performing conflict detection on the plurality of three-dimensional mixed bounding box models to obtain a conflict detection result. According to the method, collision conflicts of the multiple unmanned aerial vehicles are detected according to the tracks of the unmanned aerial vehicles, and accurate detection of collision of the unmanned aerial vehicles is realized.

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 discloses a multi-mode communication module oriented to deep integration of a low-altitude aircraft and a ground network and a networking and dynamic switching method thereof, relates to the technical field of low-altitude aircraft communication, and discloses a networking and dynamic switching method of the multi-mode communication module oriented to deep integration of the low-altitude aircraft and the ground network and the multi-mode communication module. Through dynamic threshold calculation, a pre-switching prediction model and an FPGA hard trigger mechanism, intelligent communication resource allocation based on the real-time state and environment change of the aircraft is realized, and dual-mode switching is quickly triggered when the link quality is reduced or a blind area is predicted to be entered. The problems that a traditional communication mode is poor in stability and low in switching efficiency in a complex low-altitude environment are effectively solved, the communication reliability can be improved, and the data transmission continuity can be guaranteed.

Disclosed in the present invention are a low-altitude air route risk map construction method and system based on hexagonal grid cells. The method comprises: on the basis of management and control requirements for different types of airspace, forming low-altitude airspace three-dimensional hexagonal hierarchical grids by means of multi-scale partitioning of an airspace horizontal plane and multi-scale partitioning of an airspace vertical plane; constructing an unmanned aerial vehicle flight risk assessment indicator system for the low-altitude airspace three-dimensional hexagonal hierarchical grids, and after optimization, constructing an unmanned aerial vehicle operational risk assessment model based on a dynamic Bayesian network, so as to generate multi-scale grid risk values; and combining the multi-scale grid risk values with geographic location information of a region, designing a hexagonal grid code index, and generating a dynamic multi-scale low-altitude air route three-dimensional hexagonal risk map. The present invention can improve the accuracy and real-time performance of unmanned aerial vehicle flight risk assessment of grids, quickly obtain low-risk grids of an unmanned aerial vehicle in a target region, and improve the safety of air route planning.

The invention discloses a centimeter-level positioning and control system for a low-altitude unmanned aerial vehicle, relates to the technical field of high-precision positioning, and solves the problems that firstly, centimeter-level positioning precision is difficult to realize; secondly, a safe flight path is difficult to generate and adjust in a complex environment; thirdly, it is difficult to optimize the global optimal path by comprehensively considering multiple factors such as energy consumption, obstacles and geo-fences; and finally, the technical problem that it is difficult to generate a control instruction and execute the control instruction under centimeter-level positioning in combination with the obstacle avoidance sensitivity, the hovering stability coefficient and real-time environment perception is solved. According to the invention, centimeter-level real-time positioning is realized through multi-source sensor fusion and Kalman filtering; constructing a geofence and a three-dimensional obstacle avoidance path, and combining obstacle detection to prevent boundary-crossing collision; path planning is optimized by utilizing machine learning and risk assessment, so that the unmanned aerial vehicle dynamically adapts to a complex environment; and optimizing a low-altitude flight control strategy through positioning error compensation and control strategy optimization.

The invention belongs to the technical field of meteorological safety, and discloses a circum-Bohai sea low-altitude meteorological safety engine artificial intelligence algorithm based on historical reanalysis and multi-mode data. The low-altitude meteorological safety engine artificial intelligence algorithm comprises the following modules: a meteorological variable reconstruction and extraction module, an extreme event identification module, a model training module, a mode fusion module and a safety engine construction module. The low-altitude meteorological safety engine artificial intelligence algorithm of the Bohai Sea has the following advantages: (1) data fusion and timeliness improvement are realized; (2) the low-altitude small-scale extreme weather identification precision is improved; (3) performing multi-dimensional meteorological risk assessment system and standardized grading; and (4) performing dynamic adaptive optimization and real-time adjustment.

The invention discloses an intelligent obstacle avoidance system and method for a low-altitude aircraft. Efficient obstacle avoidance is realized by fusing an improved attention mechanism and a binocular vision sensing multi-dimensional analysis model. In the system, a binocular vision perception unit collects double-path images and establishes motion association, a feature enhancement attention unit performs dynamic weighting according to image features, and a multi-dimensional analysis processing unit constructs a three-dimensional feature space to accurately recognize obstacles. The path planning decision-making unit combines the aircraft state and a safety threshold value, an optimal obstacle avoidance path is screened through heuristic search and cost evaluation, and the motion control instruction generation unit converts the path into a posture and speed control instruction to drive obstacle avoidance. According to the invention, the defects of the traditional technology in obstacle identification and path planning are overcome, dynamic or hidden obstacles can be accurately identified in a complex environment, the obstacle avoidance path is efficiently planned, and the operation safety and reliability of the low-altitude aircraft are improved.

The invention relates to the technical field of flight risk monitoring, in particular to an unmanned aerial vehicle low-altitude risk monitoring method and system based on a dynamic optimization algorithm. Acquiring flight state data of the unmanned aerial vehicle and multi-dimensional risk factor data of a current low-altitude environment; constructing a risk assessment model, assessing the flight state data and the multi-dimensional risk factor data of the unmanned aerial vehicle through the risk assessment model, and obtaining a comprehensive risk index; taking the comprehensive risk index as input, and generating an optimal monitoring strategy through a dynamic optimization algorithm; and carrying out unmanned aerial vehicle low-altitude risk monitoring according to the optimal monitoring strategy, obtaining a low-altitude risk monitoring result, carrying out iterative optimization on the optimal monitoring strategy according to the low-altitude risk monitoring result, and continuing to carry out low-altitude risk monitoring. And the safety, economy and sustainability of low-altitude risk monitoring of the unmanned aerial vehicle are improved.

The invention belongs to the technical field of intelligent unmanned systems and edge intelligent reasoning, and discloses an unmanned aerial vehicle emergency inspection system integrating low-altitude communication and edge calculation. The system is composed of a link state monitoring and scoring module, a reasoning calculation migration and model loading module, a task graph modeling and dynamic segmentation module, a multi-unmanned aerial vehicle task collaboration and trajectory continuation module, a flight state fusion and path adjustment module, a redundancy criterion driven fault-tolerant control module and a result consistency verification and data caching module. According to the method, the communication link scoring function fusing the packet loss rate, the bandwidth, the time delay and the signal-to-noise ratio is constructed, the comprehensive quality evaluation of different low-altitude communication links is realized, and the reasoning model switching and task migration strategy is driven by the scoring result, so that the communication adaptation capability of the system in a complex, dynamic or emergent scene is remarkably improved, and the system performance is improved. Compared with an existing communication mechanism depending on a fixed link or a preset priority.

The invention discloses a low-altitude wind field prediction method and system based on a space-time diagram convolutional network, and relates to the technical field of weather forecast and wind energy utilization, and the method comprises the steps: collecting wind field observation data and physical field data of all nodes of a target region, a dynamic space-time diagram is constructed based on a flow function-vorticity theory through a dynamic diagram construction module; extracting spatial information through a graph attention network to obtain a spatial feature tensor; the spatial feature tensor and the physical field data are processed by a PhysFusion-TransTCN encoder to obtain the deep spatial and temporal features of the wind field; performing hierarchical feature aggregation on the wind field deep spatial-temporal features through an output module to obtain a wind field prediction result of the target area; a wind field physical mechanism is deeply fused, multi-scale spatial-temporal feature fusion is realized, and prediction result precision and physical rationality are ensured.

The invention discloses a self-adaptive 4D Gaussian splashing high-precision three-dimensional reconstruction system and method, and belongs to the technical field of computer graphic processing. The invention aims to realize high-precision automatic registration of multi-source heterogeneous data and improve the calculation efficiency. The method comprises the following steps: collecting multi-source heterogeneous data; constructing a multi-modal fusion registration method, which comprises the following steps: combining satellite image data and low-altitude oblique photography data to realize spatial distribution geometric coarse registration, fusing low-altitude laser radar point cloud data and ground acquisition vehicle laser radar point cloud data to realize luminosity fine registration, establishing semantic features to assist registration, and obtaining registered multi-source data; initializing a 4D Gaussian primitive and executing adaptive splashing reconstruction to obtain an optimized 4D Gaussian splashing model; designing a cloud edge cooperative computing architecture oriented to 4D Gaussian splash reconstruction, and performing distributed parallel processing on the obtained optimized 4D Gaussian splash model; and executing quality evaluation and adaptive optimization, and outputting a final adaptive 4D Gaussian splash model.

The invention discloses an intelligent traffic control method and system in a low-altitude economic environment, and relates to the technical field of intelligent traffic systems, and the method comprises the steps: collecting low-altitude aircraft and ground traffic spatio-temporal data through a multi-modal sensor network, and generating a multi-source heterogeneous data set; constructing a dynamic traffic situation map through spatio-temporal feature fusion; performing three-dimensional path planning to generate a three-dimensional guiding strategy; detecting conflicts and correcting strategies according to a preset rule base, and outputting an instruction set to distribute real-time traffic flow. The technical problem that in the low-altitude economic environment, a traditional traffic management and control method is difficult to meet the cross-domain cooperation requirement of the low-altitude aircraft and the ground traffic is solved, and the technical effects of three-dimensional cooperative management and control of the low-altitude aircraft and the ground traffic and further guaranteeing safe and efficient operation of the traffic in the low-altitude economic environment are achieved.

The invention discloses a low-altitude airway flow field sensitive area dynamic identification optimization method based on set simulation, and the method comprises the steps: building a low-altitude flow field preprocessing data base with consistent time and space based on Beidou subdivision grids and multi-source heterogeneous data fusion; constructing a low-altitude airspace digital twinning environment based on the data; based on the low-altitude airspace digital twin environment and the cellular automaton-fluid coupling model, generating a diversified flow field evolution scene covering extreme weather and equipment faults; based on a set simulation result, extracting a high-conflict probability region through a spatio-temporal clustering algorithm and quantifying region risk features; generating an air route planning scheme meeting security constraints through a multi-objective evolutionary algorithm based on the quantitative regional risk features; on the basis of a low-altitude airspace digital twin environment and an air route planning scheme, verifying the feasibility of the air route planning scheme through historical data playback and virtual-real fusion test; and according to a verification feedback result, carrying out dynamic feedback optimization on the low-altitude air route flow field sensitive area identification and air route planning scheme.