CN109559567A - A kind of Double-level Reticulated is formatted airspace resource dynamical state management method and system - Google Patents
A kind of Double-level Reticulated is formatted airspace resource dynamical state management method and system Download PDFInfo
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Abstract
It formats airspace resource dynamical state management method and system the invention discloses a kind of Double-level Reticulated, which comprises define airspace resource status and airspace resource status jump condition；Based on the airspace that needs manage, generation includes the airspace resource double layer grid with the upper layer grid and bottom grid of mapping relations；The each upper layer grid and bottom grid of the airspace resource double layer grid show the airspace resource status in corresponding airspace；And the airspace resource status jump condition that is triggered with trigger event of airspace resource status that shows and change.Specific definition of the present invention airspace resource status and airspace resource status jump condition, Double-level Reticulated is carried out to airspace simultaneously to format, and mapping is established between double layer grid, realize the intuitive displaying of airspace resource status double layer grid, and thought is triggered using event, so that the airspace resource status jump condition that is triggered with trigger event of airspace resource status shown and change, to realize airspace resource dynamical state management.
Description
Technical Field
The invention relates to the technical field of airspace management, in particular to a dynamic state management method and a dynamic state management system for double-layer gridding airspace resources.
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.
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 hundreds of thousands 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 the air domain resources is higher and higher, how to effectively monitor the dynamic state of the air domain resources is important to guarantee the flight safety and promote the development of the fields of civil transportation aviation, general aviation and unmanned aerial vehicles.
At present, civil aviation mainly divides fixed airway routes, fixed training airspace, temporary routes, temporary airspace and the like, realizes flexible use of the airspace by opening and closing the temporary routes and the temporary airspace, has long updating period of the airspace state, has limited guarantee capability of flexible use of the general aviation airspace, has poor flexibility guarantee and management capability of use of unmanned aerial vehicle airspace, and is difficult to meet the requirements of navigation and flexible use and supervision of unmanned aerial vehicles to the airspace. Patent CN101582202B discloses an airspace management and planning device, which solves the airspace utilization problem from the airspace structural direction, and does not consider the airspace state management in the use process. Patent CN107085977A discloses an airspace management method, system and process, and proposes an airspace management method for solving the airspace application and flight record of unmanned aerial vehicles, which only aims at the application and record, but cannot solve the airspace state management problem in the airspace use process.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, a method and a system for managing the dynamic state of double-layer gridding airspace resources are provided.
The technical scheme adopted by the invention is as follows:
a dynamic state management method for double-layer gridding airspace resources comprises the following steps:
defining a space domain resource state and a space domain resource state transfer condition;
generating a space domain resource double-layer grid comprising an upper layer grid and a bottom layer grid which have a mapping relation based on a space domain needing to be managed; each upper layer grid and the bottom layer grid of the spatial domain resource double-layer grid show the spatial domain resource state of a corresponding spatial domain; and the displayed spatial domain resource state changes along with the spatial domain resource state transition condition triggered by the trigger event.
Further, the spatial resource states defined include: idle, plan, pre-active, risk, conflict, abort, end, reclaim.
Further, the spatial domain resource state transition conditions defined include: planning, about to start, start use, finding risk, finding conflict, conflict resolution, conflict demotion, abort instruction, unit retirement, complete recycle.
Further, the method for generating the spatial domain resource double-layer grid based on the spatial domain needing to be managed specifically comprises the following steps:
step 1.1, calculating a minimum rectangular bounding box of an airspace needing to be managed;
step 1.2, taking one vertex of the minimum rectangular bounding box as a starting point;
step 1.3, taking longitude translation points obtained by translating the starting points by the minimum distance each time as lines along the latitude direction, taking latitude translation points obtained by translating the starting points by the minimum distance each time as lines 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 each 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 each time as a line along the longitude direction, and taking all rectangles divided by the intersection points of the lines in the airspace needing to be managed as upper grids.
Further, in step 1.1, the method for calculating the minimum rectangular bounding box of the airspace to be managed includes: based on the vertex coordinates of the airspace to be managed, a rectangle formed by the intersection points of the latitude line of the north-most vertex coordinate, the latitude line of the south-most vertex coordinate, the longitude line of the west-most vertex coordinate and the longitude line of the east-most vertex coordinate is taken as a minimum rectangular bounding box.
Furthermore, each upper layer grid and each bottom layer grid of the spatial domain resource double-layer grid also show a grid name, a grid vertex coordinate set and the average altitude of a spatial domain corresponding to the upper layer grid and the bottom layer grid.
Further, the method for changing the displayed airspace resource state along with the triggering of the airspace resource state transition condition comprises the following steps:
step 2.1, acquiring a trigger event, and determining a grid corresponding to an airspace where the trigger event is located;
step 2.2, judging whether the grid corresponding to the airspace where the trigger event is located is a bottom grid or not; if yes, executing step 2.3; if yes, executing step 2.4;
step 2.3, changing the airspace resource state displayed by the bottom grid according to the airspace resource state transfer condition, and mapping and changing the corresponding airspace resource state displayed by the upper grid;
and 2.4, changing the airspace resource state displayed by the upper grid according to the airspace resource state transfer condition, and mapping and changing the corresponding airspace resource state displayed by the bottom grid.
Further, the mapping relationship of the airspace resource states displayed by the upper grid and the corresponding bottom grid is as follows:
when the same airspace resource state displayed by the bottom grid has no risk and conflict, the airspace resource state displayed by the upper grid is the airspace resource state with the largest number of the same airspace resource states displayed by the corresponding bottom grid;
when the same airspace resource state displayed by the bottom grid is at risk or in conflict, the airspace resource state displayed by the upper grid is at risk.
Further, the bottom grid and the upper grid are respectively a layer; each bottom grid and the upper grid show different spatial domain resource states by filling different colors.
A management system for dynamic state management of double-layer gridding airspace resources comprises:
the airspace resource state management unit is used for defining an airspace resource state and an airspace resource state transfer condition;
the spatial domain resource double-layer grid management unit is used for generating a spatial domain resource double-layer grid comprising an upper layer grid and a bottom layer grid which have a mapping relation based on a spatial domain needing to be managed; each upper layer grid and the bottom layer grid of the spatial domain resource double-layer grid show the spatial domain resource state of a corresponding spatial domain;
and the event triggering and processing unit is used for acquiring a triggering event and changing the airspace resource state transition conditions triggered by the airspace resource states displayed by the upper layer grid and the bottom layer grid.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention defines the airspace resource state and the airspace resource state transfer condition in detail, simultaneously carries out double-layer gridding on the airspace, establishes mapping between double-layer grids, realizes the visual display of the airspace resource state double-layer grids, and utilizes the event trigger thought to ensure that the displayed airspace resource state is changed along with the airspace resource state transfer condition triggered by the trigger event, thereby realizing the dynamic state management of the airspace resource.
2. According to the method, the airspace resource state in the region can be further visually and accurately displayed by combining layering and color distinguishing.
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 flow chart of a method for managing dynamic states of double-layer gridded airspace resources according to the present invention.
FIG. 2 is a spatial domain resource state transition condition diagram according to the present invention.
FIG. 3 is a flow chart of spatial grid formation according to the present invention.
FIG. 4 is a diagram illustrating the minimum bounding box of the airspace requiring management according to the present invention.
FIG. 5 is a schematic diagram of a spatial domain resource two-layer grid according to the present invention.
Fig. 6 is a diagram of a grid information storage relationship according to the present invention.
FIG. 7 is a flow chart of adapting the spatial domain resource status for a trigger event of the present invention.
FIG. 8 is a schematic diagram of a spatial resource bi-layer grid with fill colors according to the present invention.
FIG. 9 is a block diagram of the dynamic state management system of the dual-layer gridding airspace resource of 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 method for managing the dynamic state of the double-layer gridding airspace resource provided by the embodiment, as shown in fig. 1, includes:
defining a space domain resource state and a space domain resource state transfer condition;
generating a space domain resource double-layer grid comprising an upper layer grid and a bottom layer grid which have a mapping relation based on a space domain needing to be managed; each upper layer grid and the bottom layer grid of the spatial domain resource double-layer grid show the spatial domain resource state of a corresponding spatial domain; and the displayed spatial domain resource state changes along with the spatial domain resource state transition condition triggered by the trigger event.
Further, the defined spatial resource states include: idle, plan, pre-active, risk, conflict, abort, end, reclaim. In particular, the amount of the solvent to be used,
idle: the current airspace has no unit to use, and no unit plans to use the airspace within a foreseeable period of time;
planning: the current airspace has no unit to use, but a unit plan is to use the airspace within a foreseeable period of time;
pre-activation: the current airspace has no unit to use, and the current airspace is about to be used by a certain unit according to a plan;
activating: units are using current airspace resources;
risk: the space utilization units in the current airspace have mutual influence, or the space between the current airspace and the adjacent airspace used by other units does not meet the safety standard;
conflict: the space domain conflict exists among the space utilization units in the current space domain, or the space domain resources are needed by a plurality of incompatible space domain requirements;
and (3) stopping: the influences of adjustment, environment change and the like are planned, the use of the space domain resources by the current unit is ended in advance, and the space domain is withdrawn by the current empty unit;
and (4) ending: the airspace is used up according to the plan, and the airspace does not have an immediate subsequent use plan, and the current airspace is withdrawn in a single-level mode;
and (3) recovering: the spatial domain use is stopped or ended, the relevant spatial domain is also withdrawn by using the spatial unit, and the spatial domain resource enters a recovery state.
Further, the defined spatial domain resource state transition conditions include: planning, about to start, start use, finding risk, finding conflict, conflict resolution, conflict demotion, abort instruction, unit retirement, complete recycle. The corresponding relation between the airspace resource state and the airspace resource state transfer condition is shown as a table I;
table one, a corresponding relationship table of airspace resource state-airspace resource state transition conditions:
as can be seen from table one, and with reference to fig. 2, the relationship between the spatial domain resource state and the spatial domain resource state transition condition is as follows:
idle > plan: and after the idle airspace use plan is formulated, the idle airspace is converted into a planning state.
Plan > Pre-activation: the airspace in the planning state enters a pre-activation state ten minutes before the latest airspace use plan starting time, and the pre-activation state is a prompt state, so that peripheral units know that the airspace is about to be used by a unit.
Preactivation > activation: the airspace in the pre-activation state enters the activation state at the latest airspace use plan starting time point, and other units in the activation state need to coordinate with the empty units when needing to temporarily pass through the airspace.
Activation > suspension: and the airspace in the activated state enters the suspended state after receiving the instruction for suspending use and waits for the withdrawal of the empty units.
Activation > end: and the airspace in the activated state enters the ending state after the current plan execution ending time is reached, and the idle unit is waited to withdraw.
Activation > risk: and if the space domain of the activation state is used together by multiple units or the space between the space domain of the activation state and the adjacent unit does not meet the safety standard, the space domain of the activation state enters a risk state.
Activation > conflict: and the activation state airspace enters a conflict state if incompatible airspace use modes exist or the environment and enemy seriously threaten the activation state airspace.
Risk > conflict: the airspace status is changed from risk to conflict when the degree of risk brought by the common use of the risk multiple units or the degree of the interval with the adjacent units not meeting the safety standard exceeds the acceptable range.
Risk > end: and the airspace in the risk state enters an ending state after reaching the current plan execution ending time, and waits for the evacuation of the empty units.
Conflict > abort: when the conflict situation of the conflict state airspace is treated, if the use of the current airspace is determined to be stopped, the system enters a stop state and waits for the empty unit to be withdrawn.
Conflict > risk: when dealing with a collision situation in the collision state airspace, if the risk is selected to be accepted or the risk level is reduced by the handling, the airspace state changes from collision to risk.
Conflict > activate: when dealing with the conflict situation of the conflict state airspace, if the conflict is released or the risk is eliminated, the airspace state is changed from conflict to activation.
Suspension > planning: and (4) stopping the state airspace, and entering a planning state if a new airspace use plan is to be executed after the current empty unit is removed from the airspace.
Abort > recovery: and after the current empty unit is withdrawn from the airspace, if no new empty space usage plan is to be executed, the airspace enters a recovery state and waits for resource recovery processing.
And (4) finishing planning: and (4) ending the state airspace, and entering a planning state if a new airspace use plan is to be executed after the current empty unit is removed from the airspace.
End > recovery: and (4) ending the state airspace, and after the current empty unit is withdrawn from the airspace, if no new empty domain use plan is to be executed, entering a recovery state and waiting for resource recovery processing.
Reclaim > idle: and after the resource information is updated and confirmed, the recovery state airspace enters an idle state from the recovery state to wait for a further use plan.
Further, the method for generating the spatial domain resource double-layer grid based on the spatial domain needing to be managed, as shown in fig. 3, specifically includes:
step 1.1, calculating a minimum rectangular bounding box of an airspace needing to be managed; specifically, as shown in fig. 4, based on the vertex coordinates of the airspace (P1, P2, …, P5) to be managed, a rectangle surrounded by intersections of the north-most vertex coordinate latitude line B1B2, the south-most vertex coordinate latitude line B3B4, the west-most vertex coordinate longitude line B1B4, and the east-most vertex coordinate longitude line B2B3 is taken as a minimum rectangle bounding box;
step 1.2, taking one vertex of the minimum rectangular bounding box as a starting point; as shown in FIG. 4, point B1, the local plane coordinate system is established with the east as the positive X-axis direction, the north as the positive Y-axis direction, and the start point as the origin, and the coordinates of the start point are (lat)0，lon0) Conversion to radians is represented as (α)0，β0)。
Translating the starting point to the east along the longitude direction by a distance r, wherein the coordinates of the translated point are as follows:
X＝r*cos0＝r
Y＝r*sin0＝0
let the radius of the earth be R, then the included angle between the starting point and the translated point to the geocenter is:
then, the radian coordinates corresponding to the translated points are:
α1＝arcsin(cosγ×sinα0)
β1＝β0+atn2(r×sinγ,r×cosα0×cosγ)
and converting the radian in the radian coordinates (α) corresponding to the translated point into a degree, namely the longitude and latitude coordinates.
Similarly, the radian coordinates corresponding to the point where the starting point is translated by the distance r along the latitude direction are as follows:
α2＝arcsin(cosγ×sinα0-sinγ×cosα0)
β2＝β0+atn2(0,r×cosα0×cosγ+r×sinα0sinγ)
step 1.3, as shown in fig. 5, taking a longitude translation point obtained by translating the starting point by the minimum distance each time as a line along the latitude direction, taking a latitude translation point obtained by translating the starting point by the minimum distance each time as a line along the longitude direction, and taking all rectangles of the intersection points of the lines, which are divided in the airspace 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. The intersection point of each upper layer grid and the bottom layer grid is a grid vertex coordinate set, and the specific coordinate can be calculated according to the coordinate calculation mode in the step 1.2. In the above gridding process, the distance may be used as a reference and the longitude and latitude may be used instead.
Furthermore, each upper layer grid and each bottom layer grid of the spatial domain resource double-layer grid also show a grid name, a grid vertex coordinate set and the average altitude of a spatial domain corresponding to the upper layer grid and the bottom layer grid. For convenience of use and retrieval, the grid names, the spatial resource states, the grid vertex coordinate sets, and the average elevations of the spatial domains corresponding to the upper grid and the lower grid are stored by using HashMap in a key-value manner, as shown in FIG. 6.
The method for naming the grid name comprises the following steps:
the naming method of the grid name of the upper grid comprises the following steps: the grid name of each upper grid is formed by a line mark, a list and a combination; the north to the south is marked with 0 to N numbers, and the west to the east is marked with A to Z letters; for example, the grid name of the upper grid as the first row and the second column is 0B;
the method for naming the grid name of the bottom grid comprises the following steps: and respectively adding numbers 1-9 to mark after the grid names of the corresponding upper-layer grids from left to right and from top to bottom.
Grid name (m, n) of the upper grid corresponding to the bottom grid in the ith row and the jth column:
wherein,andfor rounding operation, i is 0-2, and j is 0-2;
the sequence number num of the bottom grid corresponding to the upper grid is as follows:
num＝1+(i％3)×3+(j％3)
wherein,% is the remainder operation. For example, the mesh name of the bottom layer mesh in row 3 and column 3, i being 2 and j being 2, corresponds to the mesh in the top layer mesh in row 1 and column 1, with the serial number 9 being 0a 9.
Furthermore, each time a defined trigger event occurs, a state change process is triggered, and according to the grid level where the changed grid is located, state change mapping is performed on the grid of another layer. Specifically, as shown in fig. 7, the method for changing the airspace resource state along with the triggering of the airspace resource state transition condition includes:
step 2.1, acquiring a trigger event, and determining a grid corresponding to an airspace where the trigger event is located;
step 2.2, judging whether the grid corresponding to the airspace where the trigger event is located is a bottom grid or not; if yes, executing step 2.3; if yes, executing step 2.4;
step 2.3, changing the airspace resource state displayed by the bottom grid according to the airspace resource state transfer condition, and mapping and changing the corresponding airspace resource state displayed by the upper grid;
and 2.4, changing the airspace resource state displayed by the upper grid according to the airspace resource state transfer condition, and mapping and changing the corresponding airspace resource state displayed by the bottom grid.
Further, the mapping relationship of the airspace resource states displayed by the upper grid and the corresponding bottom grid is as follows:
when the same airspace resource state displayed by the bottom grid has no risk and conflict, the airspace resource state displayed by the upper grid is the airspace resource state with the largest number of the same airspace resource states displayed by the corresponding bottom grid;
when the same airspace resource state displayed by the bottom grid is at risk or in conflict, the airspace resource state displayed by the upper grid is at risk.
Further, as shown in fig. 8, due to the overlapping of the double-layer grid on the actual area, when displaying the empty resource status, a layered display mode is adopted: the bottom layer grid and the upper layer grid are respectively a layer; each bottom grid and the upper grid show different spatial domain resource states by filling different colors, and the filled colors are changed along with the transition of the spatial domain resource states.
Example 2
On the basis of the method for managing the dynamic state of the double-layer gridded airspace resource provided in embodiment 1, the present embodiment provides a system for managing the dynamic state of the double-layer gridded airspace resource, which includes:
the airspace resource state management unit is used for defining an airspace resource state and an airspace resource state transfer condition;
the spatial domain resource double-layer grid management unit is used for generating a spatial domain resource double-layer grid comprising an upper layer grid and a bottom layer grid which have a mapping relation based on a spatial domain needing to be managed; each upper layer grid and the bottom layer grid of the spatial domain resource double-layer grid show the spatial domain resource state of a corresponding spatial domain;
and the event triggering and processing unit is used for acquiring a triggering event and changing the airspace resource state transition conditions triggered by the airspace resource states displayed by the upper layer grid and the bottom layer grid.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the above-described two-layer gridding airspace resource dynamic state management system and the specific working process of each functional unit thereof may refer to the corresponding process in the foregoing method embodiment, 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 (10)
1. A dynamic state management method for double-layer gridding airspace resources is characterized by comprising the following steps:
defining a space domain resource state and a space domain resource state transfer condition;
generating a spatial domain resource double-layer grid comprising an upper layer grid and a bottom layer grid which have a mapping relation based on a spatial domain needing to be managed; each upper layer grid and the bottom layer grid of the spatial domain resource double-layer grid show the spatial domain resource state of a corresponding spatial domain; and the displayed spatial domain resource state changes along with the spatial domain resource state transition condition triggered by the trigger event.
2. The method of claim 1, wherein the defined spatial domain resource state comprises: idle, plan, pre-active, risk, conflict, abort, end, reclaim.
3. The method according to claim 2, wherein the spatial domain resource state transition condition defined comprises: planning, about to start, start use, finding risk, finding conflict, conflict resolution, conflict demotion, abort instruction, unit retirement, complete recycle.
4. The method for managing the dynamic state of the double-layered gridded spatial domain resource according to claim 1, wherein the method for generating the spatial domain resource double-layered grid based on the spatial domain to be managed specifically comprises:
step 1.1, calculating a minimum rectangular bounding box of an airspace needing to be managed;
step 1.2, taking one vertex of the minimum rectangular bounding box as a starting point;
step 1.3, taking longitude translation points obtained by translating the starting points by the minimum distance each time as lines along the latitude direction, taking latitude translation points obtained by translating the starting points by the minimum distance each time as lines 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 each 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 each time as a line along the longitude direction, and taking all rectangles of which the intersection points of the lines are divided in the airspace needing to be managed as upper grids.
5. The method for managing the dynamic state of the double-layer gridded airspace resource according to claim 4, wherein in step 1.1, the method for calculating the minimum rectangular bounding box of the airspace to be managed comprises: and taking a rectangle formed by the intersection points of the latitude line of the north-most vertex coordinate, the latitude line of the south-most vertex coordinate, the longitude line of the west-most vertex coordinate and the longitude line of the east-most vertex coordinate as a minimum rectangle bounding box on the basis of the vertex coordinates of the airspace to be managed.
6. The method according to claim 1, wherein each of the upper layer grid and the bottom layer grid of the spatial domain resource double-layer grid further exhibits a grid name, a grid vertex coordinate set, and an average altitude of a spatial domain corresponding to the upper layer grid and the bottom layer grid.
7. The method for managing the dynamic state of a double-layer gridded airspace resource according to claim 1, wherein the method for changing the displayed airspace resource state along with the triggering of the airspace resource state transition condition is as follows:
step 2.1, acquiring a trigger event, and determining a grid corresponding to an airspace where the trigger event is located;
step 2.2, judging whether the grid corresponding to the airspace where the trigger event is located is a bottom grid or not; if yes, executing step 2.3; if yes, executing step 2.4;
step 2.3, changing the airspace resource state displayed by the bottom grid according to the airspace resource state transfer condition, and mapping and changing the corresponding airspace resource state displayed by the upper grid;
and 2.4, changing the airspace resource state displayed by the upper grid according to the airspace resource state transfer condition, and mapping and changing the corresponding airspace resource state displayed by the bottom grid.
8. The method according to claim 7, wherein the mapping relationship between the spatial domain resource states displayed by the upper grid and the corresponding bottom grid is:
when the same airspace resource state displayed by the bottom grid has no risk and conflict, the airspace resource state displayed by the upper grid is the airspace resource state with the largest number of the same airspace resource states displayed by the corresponding bottom grid;
when the same airspace resource state displayed by the bottom grid is at risk or in conflict, the airspace resource state displayed by the upper grid is at risk.
9. The method according to claim 1, wherein the bottom grid and the top grid are layers respectively; and each bottom grid and the upper grid show different spatial domain resource states by filling different colors.
10. A management system of the double-layered gridded airspace resource dynamic state management method according to any one of claims 1-9, comprising:
the airspace resource state management unit is used for defining an airspace resource state and an airspace resource state transfer condition; the spatial domain resource double-layer grid management unit is used for generating a spatial domain resource double-layer grid comprising an upper layer grid and a bottom layer grid which have a mapping relation based on a spatial domain needing to be managed; each upper layer grid and the bottom layer grid of the spatial domain resource double-layer grid show the spatial domain resource state of a corresponding spatial domain;
and the event triggering and processing unit is used for acquiring a triggering event and changing the airspace resource state transition conditions triggered by the airspace resource states displayed by the upper layer grid and the bottom layer grid.
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