CN110134747B - Directional available airspace retrieval method and device based on resource labels and priorities - Google Patents
Directional available airspace retrieval method and device based on resource labels and priorities Download PDFInfo
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Abstract
The invention discloses a directional available airspace retrieval method and a device based on resource labels and priorities, wherein the method comprises the following steps: performing spatial domain resource gridding on a spatial domain, and then: step S1, adding resource labels for the gridded airspace resources; step S2, describing the use of the null; step S3, determining the current empty demand, and searching the available airspace by adopting an availability check method; the usability checking method comprises the following steps: and mapping the empty demand and the resource label, and determining whether the airspace resource meets the current empty demand or not according to the matching judgment of the current empty demand and the resource label. According to the method and the device, the available airspace of the current demand can be determined before the airspace planning is started, and adjustment caused by unavailability after the planning is avoided.
Description
Technical Field
The invention relates to the technical field of airspace management, in particular to a method and a device for searching available airspace in a certain direction based on resource labels and priorities.
Background
The data of the civil aviation bureau shows that the passenger traffic of China is 5.52 hundred million people times and is increased by 13 percent on year-by-year basis by 2017. In 2017, the total turnover of civil aviation passengers in China is 9512.8 hundred million kilometers, and the increase on year-by-year basis is 13.5%. The civil aviation transportation scale is continuous in the world in the thirteenth year in China.
By 2020, the volume of the general aviation industry in China is expected to be more than doubled than that of 2015, wherein the flight time is increased by 156.7%, the fleet scale is enlarged by 123.7%, the number of general integrations is enlarged by 66.7%, and the number of private flight licenses is increased by 105.8%.
In recent years, the field of civil unmanned aerial vehicles is developed at a high speed, and the number of unmanned aerial vehicles in China is millions at the end of 2016; unmanned aerial vehicle also should cause serious influence to civil aviation transportation aviation for its randomness of using when field wide application such as aerial photography, plant protection, electric power inspection, disaster rescue. In a double-flow airport and a channel in Sichuan in 5 months in 2017, unmanned aerial vehicles are found for many times, so that many airplanes are forced to land to an adjacent airport, many flights are delayed, and the loss reaches thousands of yuan. According to FAA statistics, more than 1000 events affecting flight of unmanned aerial vehicles are counted each year, and the events are in a trend of rising year by year.
With the continuous development of the fields of civil transportation aviation, general aviation and unmanned aerial vehicles, the requirement on the flexibility of the use of space resources is higher and higher. When temporary airspace is planned for temporary activities such as unmanned aerial vehicles, navigation and hot air balloons, how to quickly determine the available airspace range of each activity is of great significance to improving the planning efficiency of the temporary airspace, reducing adjustment after planning and reducing the use risk of the airspace.
At present, the civil aviation mainly divides fixed airway routes, fixed training airspace, temporary routes, temporary airspace and the like, the flexible use of the airspace is realized by opening and closing the temporary routes and the temporary airspace, the airspace planning cycle is long, the flexible activity guarantee capability for unmanned aerial vehicles, general aviation, hot air balloons and the like is limited, and the planning requirements of navigation and flexible use of the unmanned aerial vehicles to the airspace are difficult to meet. The patent 'device for airspace management and planning' solves the problem of airspace utilization from the direction of an airspace structure, and does not consider the problem of available airspace of different temporary airspace activities. The patent "an airspace management method and system" proposes an airspace management method for solving unmanned aerial vehicle airspace application and flight record, which only aims at application and record and cannot solve the usability problem of the application airspace.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, a directional available airspace retrieval method and a device based on resource labels and priorities are provided.
The technical scheme adopted by the invention is as follows:
a directional available airspace retrieval method based on resource labels and priorities is used for gridding airspace resources and then:
step S1, adding resource labels for the gridded airspace resources;
step S2, describing the use of the null;
step S3, determining the current empty demand, and searching the available airspace by adopting an availability check method; the usability checking method comprises the following steps: and mapping the empty demand and the resource label, and determining whether the airspace resource meets the current empty demand or not according to the matching judgment of the current empty demand and the resource label.
Further, the resource tag includes:
(1) geographic labeling: terrain tags, elevation tags, and building tags;
(2) weather tag: weather tags, visibility tags, and wind intensity tags;
(3) and (3) space domain state labeling: a time tag, a height tag, and a status tag.
Further, the air demand includes an aircraft type and an activity demand; aircraft type determines geographic requirements; the activity requirement determines a status requirement; the aircraft type and the campaign requirements together determine the meteorological requirements.
Further, step S3 is specifically:
s3.1, determining the current empty demand, and taking the core position of the current empty demand as an initial area; the starting region is included in an available resource list;
s3.2, selecting an area from the available resource list, acquiring a peripheral area of the area, and bringing the peripheral area into the list to be processed;
s3.3, judging whether the peripheral area in the list to be processed meets the current empty demand by adopting an availability checking method, and bringing the peripheral area meeting the current empty demand into an available resource list;
and step S3.4, updating the selected area according to the available resource list.
Further, the basic rule for obtaining the peripheral area of a certain area is as follows:
(1) the obtained peripheral area is an area which is close to the periphery of the current area;
(2) the obtained peripheral area is not listed as special areas such as military activity areas, forbidden areas and the like;
(3) the acquired peripheral region is not in the available resource list.
Further, when the current empty demand takes a plurality of core positions as a starting area, the available airspace retrieval is carried out by adopting a method of combining breadth-first traversal and availability check.
Further, when the peripheral region is obtained in step S3.2, the peripheral region is increased with a direction weight based on the distance ratio according to the navigation direction, and whether the peripheral region is brought into the to-be-processed list is determined by using the direction weight; the conditions for the peripheral region to be included in the to-be-processed list are as follows: (S/L) × Q > K; wherein S is the distance from the center of the peripheral area to the axis of the sailing direction; l is the distance from the center of the peripheral region to the core position; q is a peripheral region direction weight coefficient; k is a direction weight threshold.
Further, when available airspace retrieval is carried out on a plurality of current empty demands at the same time, priorities are set for the current empty demands, and the available airspace retrieval is carried out on the current empty demands according to the priorities.
Further, a time period control mode is adopted to reflect the priority of the current empty demand: the higher priority nulled demand has a smaller interval per available spatial domain search, and the lower priority nulled demand has a larger interval per available spatial domain search.
A directional available airspace search device based on resource labels and priorities comprises:
the airspace resource management module is used for adding resource labels to airspace resources;
the airspace demand management module is used for describing the empty demand;
the airspace availability check module is used for mapping the empty demand and the resource label, searching the available airspace and providing availability check for the available airspace search module;
and the available airspace retrieval module is used for performing available airspace retrieval on the current empty demand.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the method, the available airspace of the current demand can be determined before the airspace planning is started, and adjustment caused by unavailability after the planning is avoided;
2. the method can determine the available airspace according to the navigation direction of the specific task of the aircraft, and avoid the waste caused by allocating unused resources to the current demand;
3. the method and the device can determine the available airspace according to the priority, and ensure that the high-priority requirement preferentially obtains the guarantee of airspace resources.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the spatial domain search method of the present invention.
FIG. 2 is a block diagram of a resource tag of the present invention.
FIG. 3 is a block diagram depicting the use of empty requirements of the present invention.
FIG. 4 is a flow chart of the available spatial domain search of the present invention.
FIG. 5 is a spatial domain resource availability check diagram of the present invention.
FIG. 6 is a schematic diagram of the spatial domain search available for a single core location and multiple core locations of the present invention.
FIG. 7 is a schematic diagram of the present invention for searching available spatial domain with directional weighting.
FIG. 8 is a diagram illustrating the present invention of available spatial domain with priority.
Fig. 9 is a block diagram of a structure of a usable spatial domain searching apparatus according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention, i.e., the described embodiments are merely a subset of the embodiments of the invention and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The features and properties of the present invention are described in further detail below with reference to examples.
Example 1
The directional available airspace retrieval method based on the resource label and the priority provided by the embodiment, as shown in fig. 1, includes:
1. adding resource labels to gridded spatial domain resources
The spatial domain resource is gridded, and the gridding method can adopt the invention patent CN 109559567A applied before, and specifically comprises the following steps: calculating a minimum rectangular bounding box of an airspace needing to be managed; taking one vertex of the minimum rectangular bounding box as a starting point; taking a longitude translation point obtained after the starting point translates by the minimum distance each time as a line along the latitude direction, taking a latitude translation point obtained after the starting point translates by the minimum distance each time as a line along the longitude direction, and taking all rectangles of which the intersection points are divided in a space domain needing to be managed as bottom grids; and taking a longitude translation point obtained by translating the starting point by 3 times of the minimum distance every time as a line along the latitude direction, taking a latitude translation point obtained by translating the starting point by 3 times of the minimum distance every time as a line along the longitude direction, and taking all rectangles divided from the intersection points of the lines in the airspace needing to be managed as upper grids.
Adding a resource label for the gridded airspace resource; as shown in fig. 2, the resource tag includes:
(1) geographic labeling: terrain tags, elevation tags, and building tags;
terrain labeling: describing the main terrain conditions of the ground in an airspace area, such as plains, hills, mountains, plateaus, islands, oceans, lakes, river banks, gobi and the like;
altitude labeling: describing an altitude range of the ground in an airspace region, using minimum altitude and maximum altitude data;
building labeling: describing the maximum height of the artificial building in the airspace area;
(2) weather tag: weather tags, visibility tags, and wind intensity tags;
a weather tag: describing current main weather conditions of an airspace area, including rain, snow, sunny weather, fog, cloudy weather and the like;
visibility label: describing the visual visibility distance of human eyes in an airspace area;
wind strength label: describing the magnitude of wind power in an airspace region;
(3) and (3) space domain state labeling: time labels, altitude labels and airspace state labels;
time labeling: if the current airspace is planned to be used, giving a time range of planned use of the airspace;
height labeling: if the current airspace is planned to be used, giving a height range which is planned to be used by the airspace;
a state label: the current airspace is in a state including planned use, upcoming use, in use, idle, etc.
In practical applications, the resource tag of the present invention can be replaced by other classification methods or defined as other nouns.
2. Describing the empty demand
The empty demand is the airspace use demand, and the description of the empty demand is that the empty demand is mapped on a resource label so as to judge whether the airspace resource meets the empty demand in available airspace retrieval. As shown in fig. 3, the air demand includes aircraft type and activity demand;
the aircraft type determines the geographic requirements, such as the lowest flying height, the highest flying height, the applicable altitude and the terrain environment of the aircraft;
the activity requirement determines the status requirement, relating to specific tasks of the aircraft activity, such as core position, time range and space range of the airspace;
the type of aircraft and the activity requirements together determine meteorological requirements such as allowable weather, minimum visibility distance, maximum wind level, etc.
3. Available spatial domain retrieval: determining the current empty demand, and performing available airspace retrieval by adopting an availability checking method; the usability checking method comprises the following steps: and mapping the empty demand and the resource label, and determining whether the airspace resource meets the current empty demand or not according to the matching judgment of the current empty demand and the resource label.
In particular, as shown in figure 4,
A. determining a current empty demand, and taking a core position of the current empty demand as an initial area; the starting region includes a list of available resources;
B. selecting an area from the available resource list, acquiring a peripheral area of the area, and bringing the peripheral area into the list to be processed; the basic rule for obtaining the peripheral area of a certain area is as follows:
(1) the obtained peripheral area is an area which is close to the periphery of the current area;
(2) the obtained peripheral area is not listed as special areas such as military activity areas, forbidden areas and the like;
(3) the acquired peripheral region is not in the available resource list.
C. Judging whether the peripheral area in the list to be processed meets the current empty demand by adopting an availability checking method, and bringing the peripheral area meeting the current empty demand into an available resource list; the mapping and judgment relationship between the air demand and the resource label is shown in fig. 5, and according to the geography, weather, state and the like of the airspace resource, whether the current air demand is met is judged, if the current air demand is met, the current air demand is available, and if the current air demand is not met, the current air demand is unavailable.
D. The selected region is updated according to the list of available resources.
In a preferred embodiment, when the current empty demand starts from a plurality of core locations, the available airspace search is performed by using a method combining breadth-first traversal and availability check, where the breadth-first traversal method is a method in the prior art and traverses each core location, so that the available airspace search of each core location is consistent with the process of available airspace search of a single core location, as shown in fig. 6. The traversal in the spatial domain retrieval can also be realized by adopting other undirected graph traversal modes.
In a preferred embodiment, when the peripheral region is obtained, a direction weight based on a distance ratio is added to the peripheral region according to the navigation direction, and as shown in fig. 7, the direction weight is used to determine whether to bring the peripheral region into a list to be processed, so as to avoid bringing an airspace region that does not use much activity demand into an available airspace list, and reasonably use airspace resources; the conditions for the peripheral region to be included in the to-be-processed list are as follows: (S/L) × Q > K; wherein S is the distance from the center of the peripheral area to the axis of the sailing direction; l is the distance from the center of the peripheral region to the core position; q is a peripheral area direction weight coefficient, the weight coefficient is inversely proportional to the maximum allowable distance deviation, and the weight coefficient depends on the application field; and K is a direction weight threshold value and is set according to the specific idle requirement in practical application.
In a preferred embodiment, when available airspace retrieval is performed on a plurality of current empty demands simultaneously, priorities are set for the plurality of current empty demands, and the available airspace retrieval is performed on the plurality of current empty demands according to the priorities. The competition of priorities may be implemented using a simultaneous selection decision instead of traversal speed. Preferably, the present invention adopts a time period control mode to embody the priority of the current empty demand: the higher priority nulled demand has a smaller interval per available spatial domain search, and the lower priority nulled demand has a larger interval per available spatial domain search. The process of searching the available airspace based on the priority is shown in fig. 8, where the high-priority airspace demand obtains more available airspace under the condition of limited resources, and the high-priority airspace meets the available airspace demand faster under the condition of unlimited resources.
Based on the above available airspace search method, the present invention further provides a directional available airspace search device based on resource labels and priorities, as shown in fig. 9, including:
the airspace resource management module is used for adding resource labels to airspace resources;
the airspace demand management module is used for describing the empty demand;
the airspace availability check module is used for mapping the empty demand and the resource label, searching the available airspace and providing availability check for the available airspace search module;
and the available airspace retrieval module is used for performing available airspace retrieval on the current empty demand.
It is clear to those skilled in the art that, for convenience and simplicity of description, the above-described directional available airspace search apparatus based on resource labels and priorities and the specific working processes of each functional unit thereof may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A directional available airspace retrieval method based on resource labels and priorities is characterized in that the airspace is subjected to airspace resource gridding, and then:
step S1, adding resource labels for the gridded airspace resources;
step S2, describing the use of the null;
step S3, determining the current empty demand, and searching the available airspace by adopting an availability check method; the usability checking method comprises the following steps: mapping the empty demand and the resource label, and determining whether the airspace resource meets the current empty demand or not through the matching judgment of the current empty demand and the resource label;
step S3 specifically includes:
s3.1, determining the current empty demand, and taking the core position of the current empty demand as an initial area; the starting region is included in an available resource list;
s3.2, selecting an area from the available resource list, acquiring a peripheral area of the area, and bringing the peripheral area into the list to be processed;
s3.3, judging whether the peripheral area in the list to be processed meets the current empty demand by adopting an availability checking method, and bringing the peripheral area meeting the current empty demand into an available resource list;
s3.4, updating the selected area according to the available resource list;
step S3.2, when the peripheral area is obtained, increasing the direction weight based on the distance ratio for the peripheral area according to the navigation direction, and judging whether the peripheral area is brought into the list to be processed or not by using the direction weight; the conditions for the peripheral region to be included in the to-be-processed list are as follows: (S/L) × Q > K; wherein S is the distance from the center of the peripheral area to the axis of the sailing direction; l is the distance from the center of the peripheral region to the core position; q is a peripheral region direction weight coefficient; k is a direction weight threshold;
when available airspace retrieval is carried out on a plurality of current empty demands at the same time, priorities are set for the current empty demands, and the available airspace retrieval is carried out on the current empty demands according to the priorities.
2. The method of claim 1, wherein the resource labels comprise:
(1) geographic labeling: terrain tags, elevation tags, and building tags;
(2) weather tag: weather tags, visibility tags, and wind intensity tags;
(3) and (3) space domain state labeling: a time tag, a height tag, and a status tag.
3. The method of claim 1, wherein the airspace search request comprises an aircraft type and an activity request; aircraft type determines geographic requirements; the activity requirement determines a status requirement; the aircraft type and the campaign requirements together determine the meteorological requirements.
4. The method of claim 1, wherein the basic rule for obtaining the surrounding area of a certain area is:
(1) the obtained peripheral area is an area which is close to the periphery of the current area;
(2) the obtained peripheral area is not listed as a special area of a military activity area or a forbidden area;
(3) the acquired peripheral region is not in the available resource list.
5. The method of claim 1, wherein when the current demand is started from a plurality of core locations, the method of breadth-first traversal combined with availability check is used to search the available airspace.
6. The directional available airspace retrieval method based on resource labels and priorities as claimed in claim 5, wherein a time period control mode is adopted to embody the priority of the current empty demand: the higher priority nulled demand has a smaller interval per available spatial domain search, and the lower priority nulled demand has a larger interval per available spatial domain search.
7. A directional available airspace search device based on resource labels and priorities is characterized by comprising:
the airspace resource management module is used for adding resource labels to airspace resources;
the airspace demand management module is used for describing the empty demand;
the airspace availability check module is used for mapping the empty demand and the resource label, searching available airspace and providing availability check for the available airspace search module;
the available airspace retrieval module is used for retrieving the available airspace according to the current empty demand; the method for searching the available airspace for the current airspace requirement comprises the following steps:
s3.1, determining the current empty demand, and taking the core position of the current empty demand as an initial area; the starting region is included in an available resource list;
s3.2, selecting an area from the available resource list, acquiring a peripheral area of the area, and bringing the peripheral area into the list to be processed;
s3.3, judging whether the peripheral area in the list to be processed meets the current empty demand by adopting an availability checking method, and bringing the peripheral area meeting the current empty demand into an available resource list;
s3.4, updating the selected area according to the available resource list;
step S3.2, when the peripheral area is obtained, increasing the direction weight based on the distance ratio for the peripheral area according to the navigation direction, and judging whether the peripheral area is brought into the list to be processed or not by using the direction weight; the conditions for the peripheral region to be included in the to-be-processed list are as follows: (S/L) × Q > K; wherein S is the distance from the center of the peripheral area to the axis of the sailing direction; l is the distance from the center of the peripheral region to the core position; q is a peripheral region direction weight coefficient; k is a direction weight threshold;
when available airspace retrieval is carried out on a plurality of current empty demands at the same time, priorities are set for the current empty demands, and the available airspace retrieval is carried out on the current empty demands according to the priorities.
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| CN114141061B (en) * | 2021-11-30 | 2024-04-12 | 中航空管系统装备有限公司 | Airspace operation monitoring method based on discretized grid and application thereof |
| CN115829356B (en) * | 2023-01-31 | 2023-05-16 | 中国电子科技集团公司第二十八研究所 | Land battlefield airspace demand self-adaptive control method based on battlefield grid |
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