3322 results about "Low altitude" patented technology

The invention discloses an unmanned aerial vehicle route planning and dynamic management and control method for an urban low-altitude airspace, and relates to the technical field of unmanned aerial vehicle route planning and dynamic management and control, and the method comprises the steps: dividing the low-altitude airspace into a basic flight layer, a buffer anti-collision layer and an emergency guarantee layer in the vertical direction; setting different air route grades and limitation rules in different areas in the horizontal direction; generating a basic airway network skeleton and performing structure optimization; obtaining the operation state and environment updating data of the unmanned aerial vehicle; semantic annotation is carried out on each leg and node in the basic airway network skeleton, and airspace regulations, supervision rules, flight limiting areas, temporary control areas and recommended flight corridor information are embedded into a semantic layer of the airway network; and inputting the basic airway network skeleton, the semantic annotation information and the real-time monitoring data into an urban low-altitude airspace management and decision-making platform. According to the invention, cooperative scheduling and avoidance among multiple unmanned aerial vehicles are realized, and the operation efficiency of an air route network and the cooperative work capability of the unmanned aerial vehicles are improved.

The invention provides a multi-level low-altitude air route network construction method in a complex urban environment, and relates to the technical field of low-altitude air route construction, and the method comprises the steps: building a low-altitude flight rule base; performing three-dimensional discretization on the urban space, and dividing the airspace into three-dimensional grids; designing a risk assessment function R; dividing a plurality of height layers, and distributing the height layers for different types of aircrafts; constructing a multi-stage air route network; constructing an airspace three-dimensional airway model; based on the airspace three-dimensional air route model, adopting a hybrid iterative algorithm to optimize the air route planning of each height layer; performing path smoothing on the discrete path points generated by the hybrid iterative algorithm by adopting a B spline curve, and performing flight performance verification on the smoothed path to obtain a continuous flight path; and generating a low-altitude air route network according to the continuous flight path. According to the method, the defects in the aspects of complex urban environment processing, multi-source data integration, multi-level airspace division, path optimization and the like in the prior art can be overcome, so that safe, efficient and flexible low-altitude flight management is realized.

The invention provides an unmanned aerial vehicle low-altitude intelligent traffic dynamic airspace management and control method and system, and relates to the technical field of intelligent control, and the method comprises the steps: taking an electronic fence geographic coordinate set as a monitoring reference boundary, fusing ADS-B data, meteorological information and an unmanned aerial vehicle equipment state, generating a real-time risk thermodynamic diagram, and outputting a grading alarm instruction; receiving a real-time risk thermodynamic diagram and a grading alarm instruction, and combining wind speed prediction and dynamic airspace occupation data; when the grading alarm instruction is triggered, executing the following operations: constructing a route feasible solution space by taking a no-fly zone and a high-risk zone in the risk thermodynamic diagram as constraint conditions; and iterating an evolutionary path population through selection, intersection and mutation operations of a genetic algorithm by taking the lowest energy consumption as an optimization target, so as to output a global final obstacle avoidance bypassing path, and issuing a route updating instruction to an unmanned aerial vehicle flight control system. According to the invention, the utilization of airspace resources is maximized on the premise of ensuring safety.

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 a low-altitude airspace management method and system based on data analysis, and relates to the technical field of air traffic management and low-altitude airspace planning, and the method comprises the steps: 1, multi-scale dynamic grid division: adjusting the grid granularity in real time according to the aircraft density and environment complexity, generating a multi-scale grid by adopting an optimized quadtree data structure, and carrying out the multi-scale dynamic grid division; boundary smoothing processing is carried out on boundary areas of the grids with different scales; 2, intelligent airspace layering: dynamically adjusting the thickness of a height layer according to a risk score, and setting a buffer layer to enhance the flight safety; and 3, intelligent semantic annotation: giving dynamic semantic information such as risk levels and traffic priorities to the grid units, embedding airspace control regulations and flight rules, and realizing multi-source data fusion and real-time updating of semantic information. According to the method, the problems of static division limitation, boundary problem, insufficient real-time performance and the like in the prior art are solved, and the airspace resource utilization rate and the flight safety are improved.

The invention discloses a low-altitude aircraft take-off and landing platform site selection optimization method. The method comprises the steps that real-time dynamic data and static GIS data including urban traffic flow data, meteorological data, landform data, environment data and POI data are acquired; constructing an urban three-dimensional digital model according to the static GIS data, and constructing a digital twin model according to the three-dimensional digital model and the real-time dynamic data; constructing environment constraint conditions and safety constraint conditions of candidate take-off and landing platform positions in the digital twin model; performing multi-objective optimization on the digital twin model through a particle swarm optimization algorithm, and generating an optimal candidate take-off and landing platform site selection scheme set meeting environment constraint conditions and safety constraint conditions; and dynamically updating the digital twin model according to real-time data feedback, and dynamically adjusting the site selection scheme of the take-off and landing platform. According to the method, the virtual city model is constructed through the digital twin, an accurate simulation environment and real-time feedback are provided for site selection optimization, and the accuracy and feasibility of a site selection scheme are improved.

The embodiment of the invention provides an airspace fine management method and device based on acceptable risks, and a risk assessment model is constructed by creatively adopting a grid airspace division mode and fusing ground attributes, historical accidents, meteorological environments and aircraft activity multi-source data. The self-adaptive adjustment of the risk tolerance threshold is realized through a deep reinforcement learning method, and a differentiated regional access standard is established. And through combination of task grading evaluation and a risk early warning mechanism, accurate evaluation of the operation safety of the unmanned aerial vehicle is realized. A multi-objective optimization algorithm is adopted to carry out route planning, cooperative management and control are realized in cooperation with an emergency avoidance strategy, and a prevention and control mechanism is continuously optimized through risk traceability analysis. According to the method, the defects of the traditional technology in the aspects of fine management, risk assessment, collaborative management and control and the like are effectively overcome, and the safety and efficiency of urban low-altitude airspace management are remarkably improved.

The invention belongs to the technical field of unmanned aerial vehicle intelligent navigation, and discloses a low-altitude economic unmanned aerial vehicle data processing method and system based on a large model, and the method comprises the steps: calculating the scene adaptation weight of multi-modal data through a dynamic attention mechanism based on a space-time alignment feature package, and carrying out the fusion to generate a multi-modal joint feature matrix; based on the multi-modal joint feature matrix, constructing a three-dimensional topological model of an urban airspace, predicting a dynamic obstacle trajectory in combination with a space-time diagram neural network, and generating a hierarchical navigation instruction set; the unmanned aerial vehicle executes a flight instruction according to the hierarchical navigation instruction set, and generates a flight state monitoring log by collecting data in flight of the unmanned aerial vehicle in real time; according to the method, the multi-modal joint feature matrix is generated through environment parameter driving weight distribution, and the complex scene sensing precision is remarkably improved.

The invention relates to the field of low-altitude economy, in particular to a server communication optimization method and system based on low-altitude economy. The method comprises the following steps: monitoring an unmanned aerial vehicle communication relay node in a low-altitude field; carrying out node space position positioning calculation on the unmanned aerial vehicle communication relay nodes one by one, carrying out distributed relay topology fitting, and constructing a low-altitude relay communication network; collecting low-altitude real-time interaction information based on a low-altitude relay communication network; performing communication link bandwidth calculation on the low-altitude real-time interaction information, performing dynamic communication protocol modulation, and constructing a dynamic low-altitude adaptive communication protocol; identifying real-time communication state parameters of the relay nodes based on the low-altitude relay communication network; performing inter-node communication channel identification on the real-time communication state parameters of the relay nodes, performing optimal channel scheduling decision, and constructing an optimal channel scheduling strategy; current user communication data of the ground server is monitored. According to the invention, low-delay and high-efficiency server communication optimization is realized.

The invention discloses an AI video low-altitude target identification and real-time tracking method based on deep learning, and the method comprises the following steps: S1, collecting and processing data, and constructing a standardized data set; s2, separating a foreground low-altitude target, and generating foreground image data; s3, calculating an inter-frame motion field by using a Farneback optical flow method to obtain optical flow features, and extracting convolution features; s4, fusing the optical flow features and the convolution features; s5, inputting the fusion features into a multi-scale optical flow sensing network, calculating optical flow features of different scales, and inputting the optical flow features into a mixed attention module to generate enhanced tracking features; s6, inputting the enhanced tracking features into an anomaly detection module to generate an anomaly detection result; s7, inputting the abnormal detection result into a dynamic optical flow compensation module to generate a compensated tracking result; and S8, inputting the compensated tracking result into a space-time multi-layer feedback optimization module, and optimizing optical flow parameters and a tracking window. According to the invention, deep learning, an optical flow method and the like are adopted to realize real-time identification and tracking of a low-altitude target.

The invention discloses a low-altitude unmanned aerial vehicle flight statistical system, and relates to the technical field of air traffic management. A flight statistical system of a low-altitude unmanned aerial vehicle comprises a multi-source sensing fusion module, a twin airspace modeling module, a behavior portrait modeling module, a non-cooperative target recognition module, a flight statistical analysis module and a self-adaptive scheduling module. According to the invention, a three-dimensional twin airspace model of a monitoring area is constructed based on high-precision map data, a building three-dimensional model and flight information, and space mapping and collision risk analysis of a flight path are carried out, so that real restoration of the flight path and environment collision prediction are realized; the behavior feature vector is generated and the random forest algorithm is adopted to carry out classification modeling, and the behavior portrait of the unmanned aerial vehicle is constructed, so that accurate identification and classification of the behavior pattern of the unmanned aerial vehicle are realized.

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, which relates to the technical field of unmanned aerial vehicle detection and countering, discloses a thunder-magnetic fusion linkage unmanned aerial vehicle detection countering system comprising a low-altitude radar module, an omnidirectional electromagnetic detection module, a dual-light detection tracking module, an information fusion module, a positioning tracking module and a countering module. The unmanned aerial vehicle detection countering system is complete in function and covers a detection means from target search, discovery, identification and confirmation of the unmanned aerial vehicle to positioning and tracking, a strike means from electromagnetic suppression interference and navigation deception and finally evaluation and confirmation of a target countering effect, and a detection countering closed-loop system of the whole process of'detection, control, strike and evaluation 'is achieved; the advantages of the low-altitude radar, the omnidirectional electromagnetic detection device and the dual-light detection tracking device are fully exerted, the defects of each single-machine device are made up, the target discovery accuracy of the unmanned aerial vehicle is greatly improved, and the false alarm rate is reduced.

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 unmanned aerial vehicle track control, in particular to an unmanned aerial vehicle track control method and system. The method comprises the following steps: firstly, acquiring flight braking parameters and distribution task data of an unmanned aerial vehicle, and extracting low-altitude distribution meteorological condition feature data; then, flight state simulation is carried out based on flight braking parameters and task data, simulation quantification is carried out on flight attitude instability in combination with meteorological conditions, and then trajectory avoidance behavior control learning is carried out; and finally, constructing a trajectory control model by applying a strategy gradient algorithm, and sending the trajectory control model to an unmanned aerial vehicle control center to execute trajectory control. According to the invention, the unmanned aerial vehicle trajectory control technology is optimized, so that the unmanned aerial vehicle trajectory control technology is more perfect.

The embodiment of the invention provides a flight plan conflict detection method, device and equipment based on a low-altitude airspace grid, and is applied to the technical field of air traffic control. The method comprises the steps of constructing a low-altitude airspace grid set, planning a flight plan, dividing an airline flight stage into a plurality of flight segments, obtaining a space-time occupation grid set corresponding to each flight segment based on the flight speed and obtained flight target physical parameters, and combining to obtain a space-time occupation grid set of the airline flight stage. Based on the space-time occupancy range and the low-altitude airspace grid set, constructing a space-time occupancy grid set corresponding to other flight stages; the flight plan space-time occupation grid set is obtained through merging and compared with the historical space-time occupation grid set, if conflicts exist, conflict information is generated, and the flight plan is re-planned according to the conflict information, so that path overlapping and conflicts between tasks are effectively avoided, the turnover rate and the utilization rate of a low-altitude airspace are increased, and the flight planning efficiency is improved. And the dense flight requirement of the low-altitude unmanned aerial vehicle is met.

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 technical field of data management, in particular to a low-altitude economic flight data management method and system based on edge computing, and the system comprises edge computing nodes deployed on an aircraft and a ground base station, a sensor for collecting multi-source data, a module for preprocessing the data, and an annular data queue caching mechanism. The system comprises a composite biological feature code generation module, a distributed storage edge node, an abnormal fluctuation feature extraction module, an equipment health state and trend analysis and calculation module, a virtual power supply manager, a main power supply, a standby power supply, an abnormal behavior monitoring module and a defense strategy library. After preprocessing and caching, feature codes are generated and encrypted distributed storage is carried out, dynamic resource adjustment is realized through state evaluation and a digital twinning and optimization algorithm, a neural network is utilized to manage a power supply, data security is guaranteed in combination with abnormal monitoring, and a whole-process management system is formed.

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.

A method and system for protecting low-altitude airspace against unauthorized unmanned aerial vehicles by using a base station having communication and jamming functions. The present invention relates to the field of communications, unmanned aerial vehicles, and security supervision, and specifically to a method and system for managing unmanned aerial vehicles to protect low-altitude safety by using a wireless communication network base station to provide low-altitude wireless signal coverage comprising communication signals and jamming signals. "Low altitude, slow speed, and small size" unmanned aerial vehicles have become the main users of low-altitude airspace in China, but the safety supervision on the flight of unmanned aerial vehicles in low-altitude airspace is difficult to implement. By means of the present invention, the function of a jamming signal generator is integrated into a base station (base station having communication and jamming functions), and the effective coverage of communication / jamming signals in restricted areas can be realized in a cost-effective manner through wide deployment of base station network systems, imparting the restricted areas with a significant electromagnetic signal characteristic, thereby effectively preventing the intrusion of unauthorized unmanned aerial vehicles. In addition, the management and control of authorized networked unmanned aerial vehicles is implemented through networking and communication, providing technical means for the electronic management of unmanned aerial vehicles in low-altitude airspace.

The invention provides a low-altitude industry chain information intelligent cooperation and airspace management platform based on federal learning. Through cluster ad hoc network and decentralized federated learning, the method is divided into three stages of data acquisition, data preprocessing and analysis application, low-altitude scene data communication of dynamic topology and static topology is realized, and the efficient communication requirement in a low-altitude operation scene is met. According to the system, differential data transmission strategies are adopted, optimization design is carried out on a single machine, a co-task cluster, a cooperative cluster and a non-cooperative cluster, and the communication efficiency and the resource utilization rate are improved. In the data preprocessing stage, federated learning aggregation of multi-source data fusion, data anonymization and decentralization is combined, and data privacy protection and safe sharing of three parties of industry, university and research are ensured. In the analysis and application stage, low-altitude aircraft task scheduling, airspace flow control and environmental condition evaluation are realized through aircraft analysis, airspace analysis, environmental analysis and digital twinborn technologies.

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 invention discloses an unmanned aerial vehicle low-altitude route intelligent planning and cooperation system and method based on multi-source perception and edge calculation, and relates to the technical field of unmanned aerial vehicle route planning. Comprising a multi-source data sensing module, a data processing module, a planning execution module and a feedback monitoring module, and the multi-source data sensing module is used for acquiring meteorological data and airborne data and generating an initial data set; the data processing module is used for generating an environment model and inputting the initial data set into the environment model to obtain physical prediction data and obstacle information data; the planning execution module is used for generating a planning path according to the physical prediction data and the obstacle information data and controlling the unmanned aerial vehicle group to fly; and the feedback monitoring module is used for monitoring the flight state of the unmanned aerial vehicle group in real time and feeding data back to the ground control unit. According to the invention, the flight safety, efficiency and cooperative capability of the unmanned aerial vehicle group are improved.

The invention relates to a dynamic planning method, device and equipment for a low-altitude route of an unmanned aerial vehicle and a medium. The method comprises the following steps: acquiring real-time dynamic environment change data and obstacle distribution information of a low-altitude flight area, constructing a preliminary data set, and generating an initial flight path; according to the initial flight path, predicting energy consumption data, and if the energy consumption data exceeds a threshold value, performing optimization to obtain an optimized path; performing risk assessment quantification, combining a safety margin adjustment mechanism to obtain a safety index, and if the safety index is lower than a threshold value, performing safety distance adjustment to generate a safety path; monitoring flight conditions, generating a condition monitoring update report, acquiring new obstacle position information, and generating a dynamic obstacle avoidance path; and generating an execution instruction set of the unmanned aerial vehicle according to the dynamic obstacle avoidance path. By adopting the method, the dynamic environment real-time adaptability of the unmanned aerial vehicle can be improved, and the route meeting the task requirement can be planned in time when the unmanned aerial vehicle faces sudden obstacles or environment changes.

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 provides a low-altitude airspace collaborative management method and system based on digital twinning, and the method comprises the steps: analyzing the maneuvering characteristics and flight envelope characteristic parameters of an aircraft based on the obtained real-time state data of the aircraft, and calculating the maneuvering characteristics and flight envelope characteristic parameters of the aircraft by using kinematics and dynamics models, describing motion laws of different aircrafts; real-time flight data of the aircraft are combined, the motion track and attitude change of the aircraft are synchronized in real time in a virtual environment through a digital twin technology, the dynamic behavior of the aircraft is accurately reproduced, and a high-fidelity digital model is provided for flight conflict detection and flight path prediction; a multi-level and multi-granularity digital twin model is constructed according to the difference of the motion characteristics of the aircrafts, and the digital twin model comprises an airspace structure model of a macroscopic level, an aircraft group behavior model of a mesoscopic level and a single aircraft dynamic model of a microscopic level.

The invention relates to the field of unmanned aerial vehicle identification, in particular to a low-altitude target identification method and system based on reinforcement learning multi-modal fusion, and the method comprises the following steps: 1, constructing a multi-source data fusion architecture; step 2, carrying out feature alignment based on Transform; 3, reinforcing a learning training mechanism; and step 4, a lightweight deployment scheme. Compared with the prior art, the method has the following advantages that the recognition performance breaks through that the model recognition accuracy rate is 92.4% (industry average 68%), and the false alarm rate is reduced to 0.7% (5.2% in the traditional technology); dynamic environment adaptation: through dynamic weight adjustment, the recognition stability in an electromagnetic interference scene is improved by three times; the hardware cost is reduced to 30 thousand yuan / node (the traditional system is greater than or equal to 20 thousand yuan) by a lightweight model; technical extensibility: a three-dimensional feature matrix architecture can be compatible with novel sensors such as quantum radar and the like; the reinforcement learning framework can be migrated to civil scenes such as low-altitude logistics supervision and the like.

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 relates to the field of unmanned aerial vehicle monitoring, in particular to a low-altitude unmanned aerial vehicle flight monitoring method and system. A low-altitude unmanned aerial vehicle flight monitoring system comprises an obstacle sensing module, a confidence coefficient calculation module, a risk assessment module, an obstacle avoidance distance adjustment module and a flight mode switching module. According to the invention, by quantifying the rainfall interference index, the visibility index, the illumination intensity index, the obstacle complex index and the electromagnetic interference index, the confidence coefficient weight of the millimeter wave radar, the visual sensor and other multi-element sensing equipment is calculated in real time, so that the limitation of traditional fixed priority fusion is broken through; the optimal sensor data can be automatically selected as an obstacle avoidance decision basis according to actual environmental conditions, misjudgment or delayed response caused by sensor conflicts is avoided, the obstacle avoidance decision precision is improved, and the method is particularly suitable for high-reliability flight in complex environments such as urban canyons.