CN112734346B

CN112734346B - Method, device and equipment for determining lane coverage and readable storage medium

Info

Publication number: CN112734346B
Application number: CN202110363438.6A
Authority: CN
Inventors: 毛一年; 夏华夏; 张邦彦; 黄金鑫; 眭泽智; 安培; 张继伟
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-04-02
Filing date: 2021-04-02
Publication date: 2021-09-28
Anticipated expiration: 2041-04-02
Also published as: CN112734346A

Abstract

The application discloses a method, a device and equipment for determining a route coverage range and a computer readable storage medium, and belongs to the technical field of airspace management. The method comprises the following steps: acquiring a reference flight path of a first aircraft, wherein the reference flight path comprises a plurality of waypoints and predicted arrival time of each waypoint; determining wind power information of each waypoint based on the position information of each waypoint and the predicted arrival time of each waypoint; determining a target area corresponding to each waypoint based on the position information of each waypoint and at least one of the wind power level and the wind power direction of each waypoint; and determining the coverage range of the reference flight route based on the target area corresponding to each waypoint. The method improves the utilization rate of the space, the first aircraft flies in the coverage range of the reference flight line, so that the range of the first aircraft which can fly is wider, the possibility of collision between the first aircraft and other aircraft can be reduced, and the flight safety factor of the first aircraft is further improved.

Description

Method, device and equipment for determining lane coverage and readable storage medium

Technical Field

The embodiment of the application relates to the technical field of airspace management, in particular to a method, a device and equipment for determining a lane coverage area and a readable storage medium.

Background

An aircraft, including but not limited to an Unmanned Aerial Vehicle (UAV), is an Unmanned aircraft that is operated using a radio remote control device and self-contained program control. As aircraft technology has matured, aircraft have become more widely available.

In the related art, before the aircraft takes off, a reasonable reference flight path needs to be planned for the aircraft in advance based on the starting geographic position and the ending geographic position of the aircraft, so that the aircraft can fly according to the reference flight path after taking off.

However, since the reference flight path is a line, the utilization rate of the space is low. And the conditions such as jolt and the like are easy to occur after the aircraft takes off, so that the actual flight paths of the aircraft after taking off cannot completely cover the reference flight path, the condition that the actual flight paths of the two aircraft are overlapped is easy to occur, the risk of collision of the two aircraft is high, and the flight safety factor of the aircraft is low. Therefore, a method for determining the flight line coverage is urgently needed, the flying range of the aircraft is widened, the risk of collision of the aircraft is reduced, and the flight safety factor of the aircraft is further improved.

Disclosure of Invention

The embodiment of the application provides a method, a device and equipment for determining a route coverage range and a readable storage medium, which can be used for solving the problems in the related art. The technical scheme is as follows.

In one aspect, an embodiment of the present application provides a method for determining a route coverage, where the method includes:

acquiring a reference flight path of a first aircraft, wherein the reference flight path comprises a plurality of waypoints and predicted arrival time of each waypoint, and the predicted arrival time is used for indicating the time of the first aircraft arriving at the waypoint when flying according to the reference flight path;

determining wind information for each waypoint based on the position information for each waypoint and the predicted arrival time for each waypoint, the wind information comprising at least one of a wind level and a wind direction;

determining a target area corresponding to each waypoint based on the position information of each waypoint and at least one of the wind power level and the wind power direction of each waypoint, wherein the target area is a three-dimensional area comprising a plurality of position points;

and determining the coverage range of the reference flight route based on the target area corresponding to each waypoint, wherein the coverage range of the reference flight route is used for indicating the flight range of the first aircraft.

In one possible implementation, the determining a target area corresponding to each waypoint based on the position information of each waypoint and at least one of the wind level and the wind direction of each waypoint includes:

acquiring at least one selectable area corresponding to each waypoint based on the position information of each waypoint;

and determining a target area corresponding to each waypoint in the at least one selectable area corresponding to each waypoint based on at least one of the wind power level and the wind direction of each waypoint.

In a possible implementation manner, the obtaining, based on the position information of each waypoint, at least one selectable area corresponding to each waypoint includes:

obtaining a first reference position point associated with a first waypoint, wherein the first reference position point is an offset point of the first waypoint under a reference wind power level and a reference wind power direction, the reference wind power level is any wind power level, the reference wind power direction is any wind power direction, and the first waypoint is any one of the waypoints;

and acquiring a selectable area corresponding to the first waypoint under the reference wind power level and the reference wind direction based on the position information of the first waypoint and the position information of the first reference position point.

In one possible implementation, the obtaining a selectable region corresponding to the first waypoint at the reference wind power level and the reference wind direction based on the position information of the first waypoint and the position information of the first reference position point includes:

determining an accuracy of each dimension under the reference wind level and the reference wind direction, the dimensions including a first dimension, a second dimension, and a third dimension, the first dimension, the second dimension, and the third dimension being dimensions of different directions;

acquiring a probability function of each dimension based on the position information of the first waypoint, the position information of the first reference position point and the precision of each dimension, wherein the probability function is used for determining a probability value of the precision of each dimension;

determining the precision with the probability value meeting the target requirement in the precision of each dimension as the target precision of each dimension based on the probability value of the precision of each dimension;

and acquiring a selectable area corresponding to the first waypoint under the reference wind power level and the reference wind direction based on the position information of the first waypoint and the target precision of each dimension.

In one possible implementation, the obtaining a selectable region corresponding to the first waypoint at the reference wind level and the reference wind direction based on the position information of the first waypoint and the target accuracy of each dimension includes:

determining a plurality of target location points based on the location information of the first waypoint and the target accuracy for each dimension;

determining a three-dimensional region of the plurality of target location points as a selectable region corresponding to the first waypoint at the reference wind level and the reference wind direction.

In a possible implementation manner, the obtaining the probability function of each dimension based on the position information of the first waypoint, the position information of the first reference position point, and the precision of each dimension includes:

determining mathematical expectations for the respective dimensions based on the position information for the first waypoint and the position information for the first reference location point;

determining a variance for each dimension based on the position information of the first reference position point and the mathematical expectation for the each dimension;

and acquiring a probability function of each dimension based on the precision of each dimension, the mathematical expectation of each dimension and the variance of each dimension.

In one possible implementation, after obtaining the selectable region corresponding to the first waypoint at the reference wind level and the reference wind direction based on the position information of the first waypoint and the position information of the first reference position point, the method further includes:

correspondingly storing the first waypoint, the reference wind level, the reference wind direction and the selectable region corresponding to the first waypoint under the reference wind level and the reference wind direction.

In a possible implementation manner, the multiple waypoints are continuously distributed on the reference flight path, and the coverage area of the reference flight path is an envelope formed by the target areas corresponding to the respective waypoints.

In a possible implementation manner, after determining the coverage of the reference flight path based on the target area corresponding to each waypoint, the method further includes:

and sending the coverage range of the reference flight path to the first aircraft, and flying by the first aircraft according to the coverage range of the reference flight path.

and in response to detecting that the coverage range of the reference flight path of the second aircraft is overlapped with the coverage range of the reference flight path of the first aircraft, sending a notification message to the second aircraft, wherein the notification message is used for notifying the second aircraft to re-plan the reference flight path.

In another aspect, an embodiment of the present application provides an apparatus for determining a route coverage, where the apparatus includes:

the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a reference flight path of a first aircraft, the reference flight path comprises a plurality of waypoints and predicted arrival time of each waypoint, and the predicted arrival time is used for indicating the time when the first aircraft arrives at the waypoint when flying according to the reference flight path;

a determining module for determining wind information for each waypoint based on the position information for each waypoint and the predicted arrival time for each waypoint, the wind information comprising at least one of a wind level and a wind direction;

the determining module is further configured to determine a target region corresponding to each waypoint based on the position information of each waypoint and at least one of the wind power level and the wind power direction of each waypoint, where the target region is a three-dimensional region including a plurality of position points;

the determining module is further configured to determine a coverage area of the reference flight path based on the target area corresponding to each waypoint, where the coverage area of the reference flight path is used to indicate a flyable range of the first aircraft.

In a possible implementation manner, the obtaining module is configured to obtain at least one selectable area corresponding to each waypoint based on the position information of each waypoint;

the determining module is used for determining a target area corresponding to each waypoint in at least one selectable area corresponding to each waypoint based on at least one of the wind power level and the wind power direction of each waypoint.

In a possible implementation manner, the obtaining module is configured to obtain a first reference position point associated with a first waypoint, where the first reference position point is an offset point of the first waypoint under a reference wind power level and a reference wind power direction, the reference wind power level is any wind power level, the reference wind power direction is any wind power direction, and the first waypoint is any one of the waypoints;

In a possible implementation, the obtaining module is configured to determine the precision of each dimension under the reference wind level and the reference wind direction, where the dimensions include a first dimension, a second dimension, and a third dimension, and the first dimension, the second dimension, and the third dimension are dimensions in different directions;

In a possible implementation manner, the obtaining module is configured to determine a plurality of target location points based on the location information of the first waypoint and the target accuracy of each dimension;

In a possible implementation manner, the obtaining module is configured to determine the mathematical expectation of each dimension based on the position information of the first waypoint and the position information of the first reference position point;

In one possible implementation, the apparatus further includes:

the storage module is used for correspondingly storing the first waypoint, the reference wind power level, the reference wind direction and a selectable area corresponding to the first waypoint under the reference wind power level and the reference wind direction.

In one possible implementation, the apparatus further includes:

and the sending module is used for sending the coverage range of the reference flight line to the first aircraft, and the first aircraft flies according to the coverage range of the reference flight line.

In a possible implementation manner, the sending module is further configured to send a notification message to the second aircraft in response to detecting that the coverage of the reference flight path of the second aircraft overlaps with the coverage of the reference flight path of the first aircraft, where the notification message is used to notify the second aircraft to re-plan the reference flight path.

In another aspect, an embodiment of the present application provides a computer device, where the computer device includes a processor and a memory, where the memory stores at least one program code, and the at least one program code is loaded and executed by the processor, so as to enable the computer device to implement any one of the above-mentioned methods for determining lane coverage.

In another aspect, a computer-readable storage medium is provided, in which at least one program code is stored, the at least one program code being loaded and executed by a processor to cause a computer device to implement any of the above-mentioned lane coverage determination methods.

In another aspect, a computer program or a computer program product is provided, in which at least one computer instruction is stored, the at least one computer instruction being loaded and executed by a processor, so as to enable a computer device to implement any of the above methods for determining lane coverage.

The technical scheme provided by the embodiment of the application at least has the following beneficial effects:

according to the technical scheme provided by the embodiment of the application, after the reference flight route is planned for the first aircraft, the target area corresponding to each waypoint is obtained according to the wind power information of each waypoint in the reference flight route, and the coverage area of the reference flight route is determined by using the target area corresponding to each waypoint, so that the reference flight route is not only a line with low space utilization rate any more, and the space utilization rate is improved. Moreover, the first aircraft can fly in the coverage range of the reference flight line, so that the range of the first aircraft which can fly is wider, the possibility of collision between the first aircraft and other aircraft can be reduced to a certain extent, and the flight safety factor of the first aircraft is further improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of an implementation environment of a method for determining a route coverage provided by an embodiment of the present application;

FIG. 2 is a flow chart of a method for determining lane coverage provided by an embodiment of the present application;

FIG. 3 is a schematic view of a reference flight path provided by an embodiment of the present application;

FIG. 4 is a schematic view of an alternative area corresponding to a first waypoint at a reference wind speed and a reference wind direction provided by an embodiment of the application;

FIG. 5 is a schematic view of a coverage area of a reference flight path provided by an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a lane coverage determining apparatus provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a server according to an embodiment of the present application.

Based on the above implementation environment, the embodiment of the present application provides a method for determining an airline coverage, which is exemplified by a flowchart of the method for determining an airline coverage provided in the embodiment of the present application shown in fig. 2, and the method can be executed by the computer device 101 in fig. 1. As shown in fig. 2, the method includes the following steps.

In step 201, a reference flight path for a first aircraft is acquired, the reference flight path including a plurality of waypoints and predicted arrival times for the respective waypoints.

In an exemplary embodiment of the present application, the computer device needs to plan a reasonable reference flight path for the first aircraft based on the starting and ending geographic locations of the first aircraft before the first aircraft takes off, so that the first aircraft can fly along the reference flight path after taking off. The reference flight path includes a plurality of waypoints that are points of position traversed by the first aircraft during flight. When planning the reference flight path, the predicted arrival time is set for each waypoint, and the predicted arrival time is the time for the first aircraft to arrive at each waypoint when flying according to the reference flight path.

In one possible implementation, the predicted arrival time of each waypoint is determined by: determining a takeoff time of the first aircraft; acquiring the flight speed of a first aircraft; determining a distance between each waypoint and a starting geographic location of the first aircraft; the method includes determining a first time required for the first aircraft to reach each waypoint from a starting geographic location based on a distance between each waypoint and the starting geographic location of the first aircraft and a flight speed of the first aircraft, and determining an estimated arrival time corresponding to each waypoint based on a departure time of the first aircraft and the first time required for the first aircraft to reach each waypoint from the starting geographic location.

Illustratively, the takeoff time of the first aircraft is 9:25, the flight speed of the first aircraft is 50 m/min, the distance between the starting geographic position of the first aircraft and the first waypoint is 250 m, the first time required for the first aircraft to reach the first waypoint from the starting geographic position is 5 min based on the flight speed of the first aircraft and the distance between the starting geographic position of the first aircraft and the first waypoint, and the first time required for the first aircraft to reach the first waypoint from the starting geographic position is added on the basis of the takeoff time of the first aircraft, i.e., the estimated arrival time of the first waypoint is 9: 30. The determination process of the estimated arrival time of the other waypoints in the reference flight route is consistent with the determination process of the estimated arrival time of the first waypoint, and is not described in detail herein.

It should be noted that a plurality of waypoints are continuously distributed on the reference flight path, the reference flight path may be a straight line, a broken line, or a curve, and the shape of the reference flight path is not defined in the embodiment of the present application.

Fig. 3 is a schematic view of a reference flight path provided in an embodiment of the present application, in fig. 3, a curve is the reference flight path of the first aircraft, black dots are waypoints included in the reference flight path, such as the first waypoint to the tenth waypoint in fig. 3, an estimated arrival time of the first waypoint is 9:30, that is, an estimated arrival time of the first aircraft at the first waypoint after takeoff is 9:30, and estimated arrival times of other waypoints are detailed in fig. 3 and will not be described again.

In step 202, wind information for each waypoint is determined based on the position information for each waypoint and the expected arrival time for each waypoint, the wind information including at least one of a wind level and a wind direction.

In one possible implementation, the computer device does not take into account the actual flight conditions of the first aircraft, such as the weather conditions of the first aircraft when actually flying, when planning the reference flight path for the first aircraft based on the starting and ending geographic locations of the first aircraft. Because the volume of the first aircraft is small, when the first aircraft flies in windy weather, the wind power can influence the flight of the first aircraft, so that the actual flight path of the first aircraft deviates from the planned reference flight path, and further the flight safety of the first aircraft is hidden. Therefore, it is necessary to determine the coverage of the reference flight path of the first aircraft based on the weather conditions of the first aircraft when actually flying and the reference flight path of the first aircraft, i.e., to widen the flyable range of the first aircraft.

In one possible implementation, there may be two implementations described below for determining wind information for each waypoint.

The first implementation mode is that wind power information of each waypoint at the time corresponding to the predicted arrival time is determined based on the wind power detection station.

In one possible implementation, a wind power detection station is arranged near each waypoint and is used for detecting wind power information of the waypoint at each time point in real time. And predicting wind power information of the waypoint at the time point corresponding to the predicted arrival time on the current day of flight of the first aircraft based on the wind power information of the waypoint at the time point corresponding to the predicted arrival time in the historical time period.

Illustratively, the flight date of the first aircraft is 2021, 3 and 24 days, the predicted arrival time of the first waypoint of the first aircraft is 2021, 3, 24 and 9:30, wind power information of the first waypoint at the time point of 9:30 in the historical time period is acquired, and wind power information of the first waypoint at the time point of 9:30 in the 3 and 24 days of 2021, based on the wind power information of the first waypoint at the time point of 9:30 in the historical time period, is predicted, that is, wind power information of the first waypoint at the predicted arrival time corresponding to the first waypoint is obtained.

For example, based on the wind information for the first waypoint at the 9:30 time point during the historical time period, the wind information for the first waypoint at the 9:30 time point on the day of flight of the first aircraft is predicted to be: wind class 1, in the wind direction.

It should be noted that the time length of the historical time period may be any value, for example, the time length of the historical time period is 3 days, and for example, the time length of the historical time period is 10 days.

It should be further noted that, the above-mentioned process of predicting the wind power information corresponding to the first waypoint at the predicted arrival time of the first waypoint only according to the wind power detection station arranged near the first waypoint refers to that the determination process of the wind power information corresponding to the predicted arrival time of other waypoints in the flight route is similar to the determination process of the wind power information corresponding to the predicted arrival time of the first waypoint, and is not repeated herein.

And secondly, determining the wind power information of each waypoint at the predicted arrival time based on the wind power information returned by the reference aircraft in flight.

In one possible implementation, the reference aircraft in flight may pass through the waypoints involved in step 201, and the reference aircraft in flight returns to the computer device wind information for that waypoint at the current time each time it passes through a waypoint during flight. After receiving the wind power information of the current moment of the waypoint returned by the reference aircraft in flight, the computer equipment predicts the wind power information of the waypoint at the predicted arrival time based on the wind power information of the current moment of the waypoint, namely obtains the wind power information of the waypoint at the predicted arrival time.

Illustratively, the reference aircraft in flight passes a second waypoint in the reference flight path, and returns to the computer device wind information for the second waypoint at the current time: and 2, in the wind power level, in the wind power direction, after the computer equipment receives the wind power information of the second route returned by the reference aircraft in flight at the current moment, predicting the wind power information of the second waypoint at the predicted arrival time based on the wind power information as follows: wind class 1, wind direction down.

It should be noted that any one of the above implementations may be selected to determine the wind power information of each waypoint at the corresponding predicted arrival time, which is not limited in the embodiment of the present application.

A table of wind information at corresponding predicted arrival times for ten waypoints included in a reference flight path provided by embodiments of the present application is shown in table one below.

As shown in table one, the wind power information of the first waypoint at the corresponding predicted arrival time is that the wind power level is 1 level, and the wind power direction is upward; the wind power information of the second waypoint at the corresponding predicted arrival time is that the wind power level is 1 level, and the wind power direction is downward; the wind power information of the third waypoint at the corresponding predicted arrival time is that the wind power level is 2, and the wind power direction is left; the wind power information of the fourth waypoint at the corresponding predicted arrival time is that the wind power level is 1 level, and the wind power direction is right. The wind power information of other waypoints at the corresponding predicted arrival time is the wind power level and the wind power direction as shown in the first table, and the description is omitted here.

In step 203, a target area corresponding to each waypoint is determined based on the position information of each waypoint and at least one of the wind level and the wind direction of each waypoint.

The target area is in a three-dimensional convex hull form, and the three-dimensional convex hull is a three-dimensional area comprising a plurality of position points.

In one possible implementation, based on the position information of each waypoint and at least one of the wind level and the wind direction of each waypoint, determining the target area corresponding to each waypoint is as follows: acquiring at least one selectable area corresponding to each waypoint based on the position information of each waypoint; a target area for each waypoint is determined in the at least one selectable area corresponding to each waypoint based on at least one of a wind level and a wind direction for each waypoint.

And the wind power information corresponding to each selectable area is different.

In a possible implementation manner, the determination process of the selectable area corresponding to each waypoint in the reference flight route is consistent, and in order to describe the determination process of the selectable area corresponding to each waypoint more clearly, the embodiment of the application is only described by taking the determination process of the selectable area corresponding to the first waypoint in the reference flight route under the reference wind power level and the reference wind power direction as an example. The first waypoint is any one waypoint in a reference flight path, the reference wind power level is any wind power level, and the reference wind power direction is any wind power direction. The process is as follows: acquiring a first reference position point associated with the first waypoint, wherein the first reference position point is an offset point of the first waypoint in a reference wind power level and a reference wind power direction, and the first waypoint and the first reference position point are three-dimensional position points; and acquiring a selectable area corresponding to the first waypoint under the reference wind power level and the reference wind power direction based on the position information of the first waypoint and the position information of the first reference position point.

In a possible implementation manner, based on the position information of the first waypoint and the position information of the first reference position point, the process of obtaining the selectable region corresponding to the first waypoint in the reference wind power level and the reference wind power direction includes: determining the precision of each dimension under the reference wind level and the reference wind direction, wherein the dimensions comprise a first dimension, a second dimension and a third dimension, and the first dimension, the second dimension and the third dimension are dimensions in different directions; acquiring a probability function of each dimension based on the position information of the first waypoint, the position information of the first reference position point and the precision of each dimension, wherein the probability function is used for determining the probability value of the precision of each dimension; determining the precision with the probability value meeting the target requirement in the precision of each dimension as the target precision of each dimension based on the probability value of the precision of each dimension; and acquiring a selectable area corresponding to the first waypoint in the reference wind power level and the reference wind power direction based on the position information of the first waypoint and the target precision of each dimension.

In one possible implementation, the user presets the accuracy of each dimension in the computer device. The number of precisions in each dimension is plural. For example, the accuracy of the first dimension is any one of 3, 4, and 6, the accuracy of the second dimension is any one of 2, 5, and 7, and the accuracy of the third dimension is any one of 1, 2, and 6. Of course, the precision of each dimension may also be other values, which is not limited in the embodiment of the present application.

In one possible implementation manner, based on the position information of the first waypoint, the position information of the first reference point, and the precision of each dimension, the probability function of each dimension is obtained in the following two manners.

And a first mode, based on the position information of the first waypoint, the position information of the first reference position point and the precision of each dimension, acquiring a probability function of each dimension in a normal distribution mode.

In one possible implementation, the mathematical expectations of the dimensions are determined based on the position information of the first waypoint and the position information of the first reference location point; determining a variance of each dimension based on the position information of the first reference position point and the mathematical expectation of each dimension; and acquiring a probability function of each dimension based on the precision of each dimension, the mathematical expectation of each dimension and the variance of each dimension.

In a possible implementation manner, since the dimension of the position information of the first waypoint is three-dimensional, that is, the expression form of the position information of the first waypoint is (X, Y, Z), where X is a value of a first dimension in the position information of the first waypoint, Y is a value of a second dimension in the position information of the first waypoint, and Z is a value of a third dimension in the position information of the first waypoint. The dimensionality of the position information of the first reference position point is also three-dimensional, the expression form of the position information of the first reference position point is (x, y, z), wherein x is a value of a first dimensionality in the position information of the first reference position point, y is a value of a second dimensionality in the position information of the first reference position point, and z is a value of a third dimensionality in the position information of the first reference position point.

Determining the mathematical expectation for each dimension based on the position information for the first waypoint and the position information for the first reference location point comprises the following processes: and determining the mathematical expectation of the first dimension based on the value of the first dimension of the first waypoint and the value of the first dimension of the first reference position point. And determining the mathematical expectation of the second dimension based on the value of the second dimension of the first waypoint and the value of the second dimension of the first reference position point. And determining the mathematical expectation of the third dimension based on the value of the third dimension of the first waypoint and the value of the third dimension of the first reference position point.

In one possible implementation, based on the value of the first dimension of the first waypoint and the value of the first dimension of the first reference location point, the mathematical expectation of the first dimension is determined according to the following formula (1)

：

In the above formula (1), X is a value of the first dimension of the first waypoint,

is the value of the first dimension of the first reference location point,

is the value of the first dimension of the second first reference location point,

the value of the first dimension of the nth first reference position point is obtained, and n is the number of the first reference position points.

Based on the value of the second dimension of the first waypoint and the value of the second dimension of the first reference position point, the mathematical expectation of the second dimension is determined according to the following formula (2)

：

In the above formula (2), Y is the value of the second dimension of the first waypoint,

is the value of the second dimension of the first reference location point,

is the value of the second dimension of the second first reference location point,

the value of the second dimension of the nth first reference position point is obtained, and n is the number of the first reference position points.

Based on the value of the third dimension of the first waypoint and the value of the third dimension of the first reference position point, the mathematical expectation of the third dimension is determined according to the following formula (3)

：

In the above formula (3), Z is the value of the third dimension of the first waypoint,

is taken as the value of the third dimension of the first reference position point,

is taken in the third dimension of the second first reference location point,

and taking the value of the third dimension of the nth first reference position point, wherein n is the number of the first reference position points.

In one possible implementation, after determining the mathematical expectation of each dimension, the process of determining the variance of each dimension is: determining a variance of the first dimension based on a value of the first dimension of the first reference location point and a mathematical expectation of the first dimension; determining a variance of the second dimension based on a value of the second dimension of the first reference location point and a mathematical expectation of the second dimension; determining a variance of the third dimension based on the value of the third dimension of the first reference location point and the mathematical expectation of the third dimension.

Based on the value of the first dimension of the first reference position point and the mathematical expectation of the first dimension, the variance of the first dimension is determined according to the following formula (4)

：

In the above-mentioned formula (4),

is the value of the first dimension of the first reference location point,

for the mathematical expectation of the first dimension,

and taking the value of the first dimension of the nth first reference position point.

Based on the value of the second dimension of the first reference position point and the mathematical expectation of the second dimension, the variance of the second dimension is determined according to the following formula (5)

：

In the above-mentioned formula (5),

is the value of the second dimension of the first reference location point,

for the mathematical expectation of the second dimension,

and taking the value of the second dimension of the nth first reference position point.

Based on the value of the third dimension of the first reference position point and the mathematical expectation of the third dimension, the variance of the third dimension is determined according to the following formula (4)

：

In the above-mentioned formula (6),

for the mathematical expectation of the third dimension,

is taken in the third dimension of the second first reference location point,

and taking the value of the third dimension of the nth first reference position point.

In a possible implementation manner, after determining the variance of each dimension, based on the mathematical expectation of each dimension, the variance of each dimension, and the precision of each dimension, the process of obtaining the probability function of each dimension is as follows: a probability function for the first dimension is obtained based on the precision of the first dimension, the mathematical expectation of the first dimension, and the variance of the first dimension. A probability function for the second dimension is obtained based on the accuracy of the second dimension, the mathematical expectation of the second dimension, and the variance of the second dimension. A probability function for the third dimension is obtained based on the precision of the third dimension, the mathematical expectation of the third dimension, and the variance of the third dimension.

It should be noted that the acquisition processes of the probability function of the first dimension, the probability function of the second dimension, and the probability function of the third dimension are similar, and only the acquisition process of the probability function of the first dimension is taken as an example for description here. Based on the accuracy of the first dimension, the mathematical expectation of the first dimension, and the variance of the first dimension, a probability function for the first dimension is obtained according to the following equation (7)

：

In the above-mentioned formula (7),

in the form of a circumferential ratio,

is the variance in the first dimension and is,

for the mathematical expectation of the first dimension, e is the base of the natural logarithm, and a is the preset precision of the first dimension.

Illustratively, the precision of the first dimension is 3, and the probability of the first dimension with the precision of 3 is 90% obtained through the probability function.

And secondly, acquiring a probability function of each dimension based on the position information of the first waypoint, the position information of the first reference position point and the precision of each dimension.

In a possible implementation manner, the process of acquiring the probability function of the first dimension is the same as the process of acquiring the probability function of the second dimension and the process of acquiring the probability function of the third dimension, and only the process of acquiring the probability function of the first dimension is taken as an example for explanation. Based on the value of the first dimension of the first waypoint, the value of the first dimension of the first reference position point and the precision of the first dimension, the probability function of the first dimension is obtained according to the following formula (8)

：

In the formula (8), a is the preset accuracy of the first dimension, X is the difference between the value of the first dimension of the first waypoint and the value of the first dimension of the first reference point, a is the number of the first reference position points in which the difference between the value of the first dimension of the first reference position points and the value of the first dimension of the waypoint is smaller than the accuracy of the first dimension, and n is the total number of the first reference position points.

Illustratively, the accuracy of the first dimension is 3 and the number of first reference position points associated with the first waypoint is 10. The difference value between the first dimension of the first reference position point and the first dimension of the first waypoint is 2, the difference value between the first dimension of the second first reference position point and the first dimension of the first waypoint is 3, the difference value between the first dimension of the third first reference position point and the first dimension of the first waypoint is 4, the difference value between the first dimension of the fourth first reference position point and the first dimension of the first waypoint is 5, the difference value between the first dimension of the fifth first reference position point and the first dimension of the first waypoint is 1, the difference value between the first dimension of the sixth first reference position point and the first dimension of the first waypoint is 2, and the difference value between the first dimension of the seventh first reference position point and the first dimension of the first waypoint is 2The difference value between the first dimension of the first reference position point and the first dimension of the first waypoint is 3, the difference value between the first dimension of the eighth first reference position point and the first dimension of the first waypoint is 4, the difference value between the first dimension of the ninth first reference position point and the first dimension of the first waypoint is 2, the difference value between the first dimension of the tenth first reference position point and the first dimension of the first waypoint is 1, and based on the difference value between the value of the first dimension of each first reference position point and the value of the first dimension of the first waypoint and the above formula (8), the probability value when the accuracy of the first dimension is 3 is determined to be the probability value

。

It should be noted that the probability calculation process for other accuracies of each dimension is consistent with the probability calculation process for the accuracy of the first dimension being 3, and details are not repeated here.

It should be further noted that any one of the above manners may be selected to determine the probability function of each dimension, which is not limited in the embodiment of the present application.

In a possible implementation manner, after the probability function of each dimension is determined, the probability function of each dimension is solved to obtain the probability value of the precision of each dimension. And determining the precision with the probability value meeting the target requirement in the precision of each dimension as the target precision of each dimension. For example, the accuracy with the maximum probability value in the accuracy of each dimension is determined as the target accuracy of each dimension.

Illustratively, the accuracy of the first dimension is 3, 4, 6, wherein the probability value obtained based on the probability function is 70% when the accuracy of the first dimension is 3, the probability value obtained based on the probability function is 50% when the accuracy of the first dimension is 4, and the probability value obtained based on the probability function is 60% when the accuracy of the first dimension is 6. Since the probability value is the largest when the accuracy of the first dimension is 3, the accuracy of 3 is determined as the target accuracy of the first dimension.

In a possible implementation manner, after the target accuracy of each dimension is determined, based on the position information of the first waypoint and the target accuracy of each dimension, the process of determining the selectable region corresponding to the first waypoint under the reference wind power level and the reference wind direction is as follows: determining a plurality of target position points based on the position information of the first waypoint and the target precision of each dimension; and determining a three-dimensional area formed by the target position points as a selectable area corresponding to the first waypoint under the reference wind power level and the reference wind direction.

Fig. 4 is a schematic diagram illustrating an optional area corresponding to a first waypoint at a reference wind power level and a reference wind direction according to an embodiment of the present disclosure, where in fig. 4, black dots are represented as waypoints, gray dots are represented as target position points determined based on position information of the first waypoint and target accuracy of each dimension, and a shaded area composed of black lines is represented as the optional area corresponding to the first waypoint at the reference wind power level and the reference wind direction.

In one possible implementation, after the selectable region corresponding to the first waypoint under the reference wind level and the reference wind condition is determined, the target position points included in the selectable region are stored in the storage space of the computer device. And adding a code to the selectable region, and correspondingly storing the code, the reference wind power level, the reference wind direction and the first waypoint of the selectable region in a storage space of the computer device, so that the selectable region corresponding to the first waypoint can be determined directly according to the wind power level, the wind power direction and the first waypoint.

The second table below shows a table of the correspondence relationship between the first waypoint, the wind power level, the wind direction and the code of the optional area provided by the embodiment of the present application.

In the second table, when the waypoint is the first waypoint, the wind power level is 1 level, and the wind power direction is upward, the code of the corresponding selectable region is 001; the navigation point is a first navigation point, the wind power level is 1 level, and when the wind power direction is downward, the code of the corresponding selectable region is 002; when the waypoint is a first waypoint, the wind power level is 1 level, and the wind power direction is left, the code of the corresponding selectable region is 003; the waypoint is the first waypoint, the wind power level is 1 level, and when the wind power direction is right, the code of the corresponding selectable region is 004. The wind power level is other levels, and when the wind power direction is other directions, the codes of the corresponding selectable regions are shown in the second table, which is not described herein again.

It should be noted that the second table only includes the selectable regions of the first waypoint at different wind power levels and different wind directions, and the determination process of the selectable regions of other waypoints at different wind power levels and different wind directions is consistent with the determination process of the selectable regions of the first waypoint at the reference wind power levels and the reference wind directions, and is not described herein again. After the selectable regions of other waypoints at different wind power levels and different wind power directions are determined, the selectable regions of other waypoints at different wind power levels and different wind power directions can be correspondingly stored with the waypoints, and the storage process is consistent with the storage process of the first waypoint, and is not repeated herein.

In a possible implementation manner, after the selectable region of the first waypoint is determined, based on at least one of the wind power level and the wind power direction of the first waypoint, the process of determining the target region corresponding to the first waypoint is as follows: a selectable region corresponding to at least one of a wind level and a wind direction of the first waypoint is determined as a target region corresponding to the first waypoint.

Illustratively, the waypoint is a first waypoint, the wind power information of the first waypoint is that the wind power level is 1, the wind power direction is left, and the selectable region coded as 003 is determined as the target region corresponding to the first waypoint based on the wind power information of the first waypoint and the correspondence shown in the second table.

For another example, the waypoint is the first waypoint, the wind power information of the first waypoint is the wind power level 1, the selectable regions of the first waypoint are determined to be 001, 002, 003 and 004 based on the wind power information of the first waypoint in the correspondence relationship shown in the above table two, and any one of the selectable regions is set as the target region of the first waypoint, for example, the selectable region encoded as 002 is determined as the target region corresponding to the first waypoint.

It should be noted that, the determining process of the target area corresponding to only the first waypoint, the determining process of the target area corresponding to the other waypoints in the reference flight route, and the determining process of the target area corresponding to the first waypoint are the same, and are not described herein again.

In step 204, based on the target area corresponding to each waypoint, a coverage of a reference flight path is determined, the coverage of the reference flight path being used to indicate the range of flight available for the first aircraft.

In a possible implementation manner, based on the target area corresponding to each waypoint determined in step 203, an area formed by the target areas corresponding to each waypoint is determined as the coverage area of the reference flight path. And the coverage range of the reference flight route is an envelope formed by the target areas corresponding to the various waypoints. Fig. 5 is a schematic view of a coverage area of a reference flight route according to an embodiment of the present application, where 501 in fig. 5 is a schematic view of a target area corresponding to each waypoint, 502 in fig. 5 is a schematic view of obtaining the coverage area of the reference flight route based on the target area corresponding to each waypoint, and an area within a gray outline in 502 in fig. 5 is the coverage area of the reference flight route.

In a possible implementation manner, after the coverage range of the reference flight path of the first aircraft is determined, the coverage range of the reference flight path of the first aircraft can be further sent to the first aircraft to inform the first aircraft of the flyable range of the first aircraft, so that the first aircraft flies within the coverage range of the reference flight path.

In a possible implementation manner, after the computer device determines the coverage of the reference flight path of the first aircraft, it may further detect whether the coverage of the reference flight path of the first aircraft overlaps with the coverage of the reference flight path of the second aircraft. And in response to the coverage range of the reference flight path of the first aircraft and the coverage range of the reference flight path of the second aircraft overlapping, sending a notification message to the second aircraft, wherein the notification message is used for notifying the second aircraft to re-plan the reference flight path.

According to the method, after the reference flight route is planned for the first aircraft, the target area corresponding to each waypoint is obtained according to the wind power information of each waypoint in the reference flight route, and the coverage area of the reference flight route is determined by using the target area corresponding to each waypoint, so that the reference flight route is not only a line with low space utilization rate any more, and the space utilization rate is improved. Moreover, the first aircraft can fly in the coverage range of the reference flight line, so that the range of the first aircraft which can fly is wider, the possibility of collision between the first aircraft and other aircraft can be reduced to a certain extent, and the flight safety factor of the first aircraft is further improved.

Fig. 6 is a schematic structural diagram of an apparatus for determining a route coverage provided in an embodiment of the present application, and as shown in fig. 6, the apparatus includes the following modules:

the acquiring module 601 is configured to acquire a reference flight path of the first aircraft, where the reference flight path includes multiple waypoints and predicted arrival time of each waypoint, and the predicted arrival time is used to indicate time when the first aircraft arrives at the waypoint when flying according to the reference flight path;

a determining module 602, configured to determine wind information for each waypoint based on the position information for each waypoint and the expected arrival time for each waypoint, the wind information including at least one of a wind level and a wind direction;

the determining module 602 is further configured to determine a target region corresponding to each waypoint based on the position information of each waypoint and at least one of the wind power level and the wind direction of each waypoint, where the target region is a three-dimensional region including a plurality of position points;

the determining module 602 is further configured to determine a coverage of a reference flight path based on the target area corresponding to each waypoint, where the coverage of the reference flight path is used to indicate a flyable range of the first aircraft.

In a possible implementation manner, the obtaining module 601 is configured to obtain at least one selectable area corresponding to each waypoint based on the position information of each waypoint;

a determining module 602, configured to determine a target area corresponding to each waypoint in the at least one selectable area corresponding to each waypoint based on at least one of a wind level and a wind direction of each waypoint.

In a possible implementation manner, the obtaining module 601 is configured to obtain a first reference position point associated with a first waypoint, where the first reference position point is an offset point of the first waypoint in a reference wind power level and a reference wind power direction, the reference wind power level is any wind power level, the reference wind power direction is any wind power direction, and the first waypoint is any one of the waypoints; and acquiring a selectable area corresponding to the first waypoint under the reference wind power level and the reference wind power direction based on the position information of the first waypoint and the position information of the first reference position point.

In a possible implementation manner, the obtaining module 601 is configured to determine the precision of each dimension under the reference wind level and the reference wind direction, where the dimensions include a first dimension, a second dimension, and a third dimension, and the first dimension, the second dimension, and the third dimension are dimensions in different directions; acquiring a probability function of each dimension based on the position information of the first waypoint, the position information of the first reference position point and the precision of each dimension, wherein the probability function is used for determining the probability value of the precision of each dimension; determining the precision with the probability value meeting the target requirement in the precision of each dimension as the target precision of each dimension based on the probability value of the precision of each dimension; and acquiring a selectable area corresponding to the first waypoint in the reference wind power level and the reference wind power direction based on the position information of the first waypoint and the target precision of each dimension.

In a possible implementation manner, the obtaining module 601 is configured to determine a plurality of target location points based on the location information of the first waypoint and the target accuracy of each dimension; and determining a three-dimensional area formed by the target position points as a selectable area corresponding to the first waypoint under the reference wind power level and the reference wind direction.

In a possible implementation manner, the obtaining module 601 is configured to determine mathematical expectations of each dimension based on the position information of the first waypoint and the position information of the first reference position point; determining a variance of each dimension based on the position information of the first reference position point and the mathematical expectation of each dimension; and acquiring a probability function of each dimension based on the precision of each dimension, the mathematical expectation of each dimension and the variance of each dimension.

In one possible implementation, the apparatus further includes:

and the storage module is used for correspondingly storing the first waypoint, the reference wind power level, the reference wind power direction and the selectable area corresponding to the first waypoint under the reference wind power level and the reference wind power direction.

In one possible implementation manner, the plurality of waypoints are continuously distributed on the reference flight path, and the coverage area of the reference flight path is an envelope formed by the target area corresponding to each waypoint.

In one possible implementation, the apparatus further includes:

and the sending module is used for sending the coverage range of the reference flight route to the first aircraft, and the first aircraft flies according to the coverage range of the reference flight route.

In a possible implementation manner, the sending module is further configured to send a notification message to the second aircraft in response to detecting that the coverage area of the reference flight path of the second aircraft overlaps with the coverage area of the reference flight path of the first aircraft, where the notification message is used for notifying the second aircraft to re-plan the reference flight path.

After a reference flight route is planned for a first aircraft, a target area corresponding to each waypoint is obtained according to wind power information of each waypoint in the reference flight route, and the coverage area of the reference flight route is determined by using the target area corresponding to each waypoint, so that the reference flight route is not only a line with low space utilization rate any more, and the space utilization rate is improved. Moreover, the first aircraft can fly in the coverage range of the reference flight line, so that the range of the first aircraft which can fly is wider, the possibility of collision between the first aircraft and other aircraft can be reduced to a certain extent, and the flight safety factor of the first aircraft is further improved.

It should be understood that, when the above-mentioned apparatus is provided to implement its functions, it is only illustrated by the division of the above-mentioned functional modules, and in practical applications, the above-mentioned functions may be distributed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.

When the computer device is an electronic device, fig. 7 shows a block diagram of an electronic device 700 provided in an exemplary embodiment of the present application. The electronic device 700 may be a portable mobile terminal, such as: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion video Experts compression standard Audio Layer 3), an MP4 player (Moving Picture Experts Group Audio Layer IV, motion video Experts compression standard Audio Layer 4), a notebook computer, or a desktop computer. The electronic device 700 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, and so forth.

In general, the electronic device 700 includes: a processor 701 and a memory 702.

The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit) which is responsible for rendering and drawing the content required to be displayed by the display screen. In some embodiments, the processor 701 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

Memory 702 may include one or more computer-readable storage media, which may be non-transitory. Memory 702 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 702 is used to store at least one instruction for execution by processor 701 to implement the method of determining lane coverage provided by method embodiments herein.

In some embodiments, the electronic device 700 may further optionally include: a peripheral interface 703 and at least one peripheral. The processor 701, the memory 702, and the peripheral interface 703 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 704, a display screen 705, a camera assembly 706, an audio circuit 707, a positioning component 708, and a power source 709.

The peripheral interface 703 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 701 and the memory 702. In some embodiments, processor 701, memory 702, and peripheral interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 704 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 704 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 704 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 704 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 704 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 705 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 705 is a touch display screen, the display screen 705 also has the ability to capture touch signals on or over the surface of the display screen 705. The touch signal may be input to the processor 701 as a control signal for processing. At this point, the display 705 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 705 may be one, disposed on the front panel of the electronic device 700; in other embodiments, the number of the display screens 705 may be at least two, and the at least two display screens are respectively disposed on different surfaces of the electronic device 700 or are in a folding design; in other embodiments, the display 705 may be a flexible display disposed on a curved surface or on a folded surface of the electronic device 700. Even more, the display 705 may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The Display 705 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.

The camera assembly 706 is used to capture images or video. Optionally, camera assembly 706 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 706 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuitry 707 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 701 for processing or inputting the electric signals to the radio frequency circuit 704 to realize voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and disposed at different locations of the electronic device 700. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 701 or the radio frequency circuit 704 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 707 may also include a headphone jack.

The positioning component 708 is operable to locate a current geographic Location of the electronic device 700 to implement a navigation or LBS (Location Based Service). The Positioning component 708 can be a Positioning component based on the Global Positioning System (GPS) in the united states, the beidou System in china, or the galileo System in russia.

The power supply 709 is used to supply power to various components in the electronic device 700. The power source 709 may be alternating current, direct current, disposable batteries, or rechargeable batteries. When the power source 709 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the electronic device 700 also includes one or more sensors 710. The one or more sensors 710 include, but are not limited to: acceleration sensor 711, gyro sensor 712, pressure sensor 713, fingerprint sensor 714, optical sensor 715, and proximity sensor 716.

The acceleration sensor 711 may detect the magnitude of acceleration in three coordinate axes of a coordinate system established with the electronic device 700. For example, the acceleration sensor 711 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 701 may control the display screen 705 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 711. The acceleration sensor 711 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 712 may detect a body direction and a rotation angle of the electronic device 700, and the gyro sensor 712 may cooperate with the acceleration sensor 711 to acquire a 3D motion of the user with respect to the electronic device 700. From the data collected by the gyro sensor 712, the processor 701 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

Pressure sensors 713 may be disposed on a side bezel of electronic device 700 and/or underlying display screen 705. When the pressure sensor 713 is disposed on a side frame of the electronic device 700, a user holding signal of the electronic device 700 may be detected, and the processor 701 may perform left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 713. When the pressure sensor 713 is disposed at a lower layer of the display screen 705, the processor 701 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 705. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

The fingerprint sensor 714 is used for collecting a fingerprint of a user, and the processor 701 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 714, or the fingerprint sensor 714 identifies the identity of the user according to the collected fingerprint. When the user identity is identified as a trusted identity, the processor 701 authorizes the user to perform relevant sensitive operations, including unlocking a screen, viewing encrypted information, downloading software, paying, changing settings, and the like. The fingerprint sensor 714 may be disposed on the front, back, or side of the electronic device 700. When a physical button or vendor Logo is provided on the electronic device 700, the fingerprint sensor 714 may be integrated with the physical button or vendor Logo.

The optical sensor 715 is used to collect the ambient light intensity. In one embodiment, the processor 701 may control the display brightness of the display screen 705 based on the ambient light intensity collected by the optical sensor 715. Specifically, when the ambient light intensity is high, the display brightness of the display screen 705 is increased; when the ambient light intensity is low, the display brightness of the display screen 705 is adjusted down. In another embodiment, processor 701 may also dynamically adjust the shooting parameters of camera assembly 706 based on the ambient light intensity collected by optical sensor 715.

A proximity sensor 716, also referred to as a distance sensor, is typically disposed on the front panel of the electronic device 700. The proximity sensor 716 is used to capture the distance between the user and the front of the electronic device 700. In one embodiment, the processor 701 controls the display screen 705 to switch from the bright screen state to the dark screen state when the proximity sensor 716 detects that the distance between the user and the front surface of the electronic device 700 is gradually decreased; when the proximity sensor 716 detects that the distance between the user and the front surface of the electronic device 700 is gradually increased, the processor 701 controls the display screen 705 to switch from the breath screen state to the bright screen state.

Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the electronic device 700 and may include more or fewer components than those shown, or combine certain components, or employ a different arrangement of components.

When the computer device is a server, fig. 8 is a schematic structural diagram of the server provided in the embodiments of the present application, and the server 800 may generate a relatively large difference due to a difference in configuration or performance, and may include one or more processors (CPUs) 801 and one or more memories 802, where at least one program code is stored in the one or more memories 802, and is loaded and executed by the one or more processors 801 to implement the method for determining the lane coverage provided by the various method embodiments. Of course, the server 800 may also have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input and output, and the server 800 may also include other components for implementing the functions of the device, which are not described herein again.

In an exemplary embodiment, a computer readable storage medium is also provided, in which at least one program code is stored, the at least one program code being loaded and executed by a processor to cause a computer device to implement any of the above-mentioned lane coverage determination methods.

Alternatively, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, a computer program or a computer program product is also provided, in which at least one computer instruction is stored, which is loaded and executed by a processor to cause a computer device to implement any of the above-mentioned lane coverage determination methods.

It should be understood that reference to "a plurality" herein means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

The above description is only exemplary of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for determining route coverage, the method comprising:

acquiring a reference flight path of a first aircraft, wherein the reference flight path comprises a plurality of waypoints and predicted arrival time of each waypoint, the waypoints are continuously distributed on the reference flight path, and the predicted arrival time is used for indicating the time of the first aircraft arriving at the waypoints when flying according to the reference flight path;

acquiring at least one selectable region corresponding to each waypoint based on the position information of each waypoint, and determining a target region corresponding to each waypoint in at least one selectable region corresponding to each waypoint based on at least one of the wind power level and the wind power direction of each waypoint, wherein the target region is in the form of a three-dimensional convex hull, and the three-dimensional convex hull is a three-dimensional region comprising a plurality of position points;

and determining the coverage range of the reference flight route based on the target area corresponding to each waypoint, wherein the coverage range of the reference flight route is an envelope formed by the target area corresponding to each waypoint, and the coverage range of the reference flight route is used for indicating the flyable range of the first aircraft.

2. The method according to claim 1, wherein the obtaining at least one selectable area corresponding to each waypoint based on the location information of each waypoint comprises:

3. The method of claim 2, wherein the obtaining a selectable region corresponding to the first waypoint at the reference wind level and the reference wind direction based on the position information for the first waypoint and the position information for the first reference location point comprises:

4. The method of claim 3, wherein the obtaining a selectable region corresponding to the first waypoint at the reference wind level and the reference wind direction based on the position information of the first waypoint and the target accuracy for each dimension comprises:

5. The method of claim 3, wherein obtaining the probability function for each dimension based on the position information of the first waypoint, the position information of the first reference position point and the precision of the each dimension comprises:

6. The method of any of claims 2 to 5, wherein after obtaining the selectable region corresponding to the first waypoint at the reference wind level and the reference wind direction based on the position information of the first waypoint and the position information of the first reference location point, the method further comprises:

7. The method of any one of claims 1 to 5, wherein after determining the coverage of the reference flight path based on the target area corresponding to the respective waypoint, the method further comprises:

8. The method of any one of claims 1 to 5, wherein after determining the coverage of the reference flight path based on the target area corresponding to the respective waypoint, the method further comprises:

9. An apparatus for determining route coverage, the apparatus comprising:

the acquiring module is used for acquiring a reference flight path of a first aircraft, wherein the reference flight path comprises a plurality of waypoints and predicted arrival time of each waypoint, the waypoints are continuously distributed on the reference flight path, and the predicted arrival time is used for indicating the time of the first aircraft arriving at the waypoints when the first aircraft flies according to the reference flight path;

the obtaining module is further configured to obtain at least one selectable area corresponding to each waypoint based on the position information of each waypoint;

the determining module is further configured to determine a target region corresponding to each waypoint in at least one selectable region corresponding to each waypoint based on at least one of a wind power level and a wind power direction of each waypoint, wherein the target region is in the form of a three-dimensional convex hull, and the three-dimensional convex hull is a three-dimensional region including a plurality of position points;

the determining module is further configured to determine a coverage area of the reference flight path based on the target area corresponding to each waypoint, where the coverage area of the reference flight path is an envelope formed by the target area corresponding to each waypoint, and the coverage area of the reference flight path is used to indicate a flyable range of the first aircraft.

10. A computer device comprising a processor and a memory, said memory having stored therein at least one program code, said at least one program code being loaded into and executed by said processor, to cause said computer device to implement the lane coverage determination method of any of claims 1 to 8.

11. A computer-readable storage medium having at least one program code stored therein, the at least one program code being loaded and executed by a processor to cause a computer device to implement the lane coverage determination method according to any one of claims 1 to 8.