CN109814598A - The public airway net design method in unmanned plane low latitude - Google Patents
The public airway net design method in unmanned plane low latitude Download PDFInfo
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Abstract
The invention discloses a kind of public airway net design methods in unmanned plane low latitude, belong to routeing technical field.Method includes obtaining unmanned plane low-latitude flying environmental data in planning region；Unmanned plane airport layout information is obtained according to the unmanned plane low-latitude flying environmental data, the unmanned plane airport layout information includes: the addressing website of multiple unmanned plane airports and the service range of each unmanned plane airport；A plurality of three-dimensional air route is obtained according to the unmanned plane airport layout information, the unmanned plane low-latitude flying environmental data and ant group algorithm；The public airway net in unmanned plane low latitude is formed according to a plurality of three-dimensional air route.The present invention realizes the building of the public airway net in unmanned plane low latitude through the above technical solution, and route searching is more efficient, time-consuming shorter when constructing air route.
Description
Technical field
The invention belongs to air vehicle technique field, in particular to a kind of public airway net design method in unmanned plane low latitude.
Background technique
The trajectory planning of unmanned plane depends on space-division method and Path Planning.Trajectory planning space divides at present
Unit decomposition is mainly used, refers to a kind of high efficiency method that unmanned plane during flying airspace environment is carried out to discretization expression, this method
Environment is divided into free location and barrier sections, environment is indicated using discrete method；The representation method of unit includes Voronoi
Figure method and Grid Method.Wherein Voronoi diagram constructs initial optional path collection or setting navigation nodes, is then selected by optimization algorithm
Suitable path is selected, defect is that navigation nodes position and determination of amount generally require to be deliberated repeatedly, the structure of Voronoi diagram
The optimization precision that precision determines track cost is built, to bursting problem event bad adaptability；And space division based on grid can
Effectively to solve the problems, such as this, the scope of application is wider.After building trajectory planning space, optimal boat is found using path search algorithm
Mark, wherein most widely used with heuritic approach, mainly include Artificial Potential Field Method, A* algorithm, Rapid-Exploring Random Tree Algorithm,
The simulating biology intelligent algorithms such as dijkstra's algorithm and the ant group algorithm risen in recent years, particle swarm algorithm and genetic algorithm.Ant colony
Algorithm success efficiently solves traveling salesman problem, having in terms of solving complicated optimum problem especially discrete optimization problems of device
Superiority, but that there is also convergence rates simultaneously is slow, is easy to the problems such as falling into local optimum.
Unmanned aerial vehicle flight path planning is different from the low latitude routeing of unmanned plane, and for the validity of airspace, trajectory planning is more
For disposable purposes, airspace validity is also terminated after the completion of task, and the airspace that public air route is related to is in a long time
It remains unchanged, can effectively improve and the specification low altitude airspace utilization of resources, managed convenient for unmanned plane traffic safety；From the space of planning
For object, trajectory planning towards be line, and public routeing towards be space body, be presented as that expression is single in the algorithm
It is first different；For planning space environment constituent element, trajectory planning only considered low latitude, landform and electromagnetic interference or bullet is led
Danger area, and public routeing also contemplates airspace policy and cellular network and densely populated area on this basis and influences,
It is contacted with mankind's activity more close；For service object, trajectory planning purpose is strong, mostly task orientation type, general to use
In the mapping, line walking the purpose of, and public routeing need to consider that more application purposes, versatility are stronger.Therefore the above nothing need to be based on
The characteristics of public air route in man-machine low latitude, propose a kind of public airway net design method in unmanned plane low latitude.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of public airway net design methods in unmanned plane low latitude comprising:
Obtain planning region in unmanned plane low-latitude flying environmental data, the unmanned plane low-latitude flying environmental data include: terrain data,
Low latitude climatic data, airspace policy data and low latitude mobile communication signal spatial distribution data；Flown according to the unmanned plane low latitude
Row environmental data obtains unmanned plane airport layout information, and the unmanned plane airport layout information includes: multiple unmanned plane airports
The service range of addressing website and each unmanned plane airport；It is low according to the unmanned plane airport layout information, the unmanned plane
Empty flight environment of vehicle data and ant group algorithm obtain a plurality of three-dimensional air route；It is public that unmanned plane low latitude is formed according to a plurality of three-dimensional air route
Airway net altogether.
In method as described above, it is preferable that described low according to the unmanned plane airport layout information, the unmanned plane
Empty flight environment of vehicle data and ant group algorithm obtain a plurality of three-dimensional air route, specifically include: according to the service of each unmanned plane airport
Range and preset air route level determine two unmanned plane airports in every that each air route level includes three-dimensional air route；
According to unmanned plane low-latitude flying environmental data in two unmanned plane airports in three-dimensional air route and corresponding planning region
Construct unmanned plane low-latitude flying environmental mathematics models；To the unmanned plane low-latitude flying environmental mathematics models being digitized pre-
If carrying out dropping cut slice in flying height, the digitized two-dimentional low latitude environmental mathematics mould in the pre-set flight height is obtained
Type；Two dimensional path search is carried out in the digitized two-dimentional low latitude environmental mathematics models based on ant group algorithm, obtains two dimension
Air route, wherein in the ant group algorithm, search space is by doing the slow of variable range with line between start node and terminal node
Punching is formed, and buffer distance is gradually increased until in described search space there is optimal air line solution from initial value with 1 step-size in search；Root
According to the two-dimentional air route and benchmark terrain data, a three-dimensional air route is obtained；Traverse each item three-dimensional air route of all air route levels
In two unmanned plane airports, obtain a plurality of three-dimensional air route.
In method as described above, it is preferable that described public according to a plurality of three-dimensional air route formation unmanned plane low latitude
Airway net specifically includes: different, same level air route height when unmanned plane is shaken hands according to the division height of different air route levels
The different and a plurality of three-dimensional air routes of different, same level air route unmanned plane priority level form the public air route in unmanned plane low latitude
Net.
In method as described above, it is preferable that described to obtain nobody according to the unmanned plane low-latitude flying environmental data
Machine airport layout information, specifically includes: utilizing the maximal covering location model according to the unmanned plane low-latitude flying environmental data, obtains
To initial unmanned plane airport layout information, the initial unmanned plane airport layout information includes: the initial of multiple unmanned plane airports
The initial service range of addressing website and each unmanned plane airport；Judge that the initial addressing website whether there is the friendship in air route
Fork conflict, if being judged as YES, optimizes the initial unmanned plane airport layout information, obtains the unmanned plane airport cloth
Office's information, otherwise using the initial unmanned plane airport layout information as unmanned plane airport layout information.
In method as described above, it is preferable that in the ant group algorithm, heuristic function ηij(t):
Wherein, dijDistance between expression present node i and next node j,Next section after respectively normalizing
Point is with a distance from start node and terminal node, dOiThe distance between start node and present node i, dOEFor start node and end
Only euclidean distance between node pair, C and ρ are constant,Indicate the weight of distance between next node and start node, ρ expression starts
The path length threshold of incoming direction information, allowedkIndicate the node that ant can reach.
In method as described above, it is preferable that the method also includes: in the ant group algorithm, if by random letter
Random number rand < max (P that number generatesi), then next node is selected using roulette algorithm；If by described random
Random number rand=max (the P that function generatesi), then using the maximum node of transition probability as next node.
In method as described above, it is preferable that described to obtain three-dimensional according to the two-dimentional air route and benchmark terrain data
Air route specifically includes: judge next destination in the case where whether benchmark terrain data mesorelief height is greater than air route interfacial level with
The difference of minimum obstacle clearance nargin, if being judged as YES, next destination height is equal to the grid elevation average value within the scope of air route
The sum of with minimum obstacle clearance nargin, if being judged as NO, next destination height is equal to interfacial level under the air route.
In method as described above, it is preferable that if after being judged as NO, the method also includes: judge next
Destination in benchmark terrain data whether in massif range and current destination height whether be higher than massif range highest point and
Whether next destination height is less than the current destination height, if being judged as YES, described next destination height etc.
In the current destination height；If being judged as NO, next current destination height that gos to step is equal to the air route lower bound
Face height.
In method as described above, it is preferable that in two dimensional path search, carried out using first resolution, described the
One resolution ratio is lower than second resolution, and the second resolution is resolution ratio used by alpine terrain data；It is obtained described
After two-dimentional air route, it is described three-dimensional air route is obtained according to the two-dimentional air route and benchmark terrain data before, the method is also wrapped
It includes: judging whether the two adjacent destinations in two-dimentional air route are corresponding with mountain area, if being judged as YES, increase between the two adjacent destination
Several destinations.
In method as described above, it is preferable that two unmanned plane airports according to three-dimensional air route and
Unmanned plane low-latitude flying environmental data constructs unmanned plane low-latitude flying environmental mathematics models in corresponding planning region, specific to wrap
It includes: building unmanned plane low-latitude flying space initial model, the flight space in the initial model of unmanned plane low-latitude flying space
Lower interface determine that the upper interface of flight space is by low latitude mobile communication by the corresponding terrain data of two unmanned plane airports
Signal space distribution determines；To in the initial model of unmanned plane low-latitude flying space constrain unmanned plane safe flight element into
Row mathematical modeling is completed to construct the unmanned plane low-latitude flying environmental mathematics models, and the constraint unmanned plane safe flight is wanted
Element includes: that mountain peak constraint element, skyscraper constraint element, low latitude weather constraint element and the constraint of airspace policy restricted area are wanted
Element；Accordingly, in the ant group algorithm, the element with the constraint unmanned plane safe flight is judged in local search space
Whether it is lower than preset ratio threshold value with the ratio of the barrier of communication blind district constraint element characterization, if being judged as lower than preset ratio
Threshold value then adjusts step-size in search.
Technical solution provided in an embodiment of the present invention has the benefit that
Propose and how to construct the public airway net in unmanned plane low latitude, and when constructing air route route searching it is more efficient,
It is time-consuming shorter.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the public airway net design method in unmanned plane low latitude provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of search space provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram for obtaining two-dimentional air route method provided in an embodiment of the present invention；
Fig. 4 is a kind of flow diagram for obtaining three-dimensional air route method provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of flight path module provided in an embodiment of the present invention；
Fig. 6 is a kind of schematic diagram at air route interval provided in an embodiment of the present invention；
Fig. 7 is a kind of schematic diagram of flight interval provided in an embodiment of the present invention；
Fig. 8 is the schematic diagram of transition between a kind of different levels air route provided in an embodiment of the present invention；
Fig. 9 is the operation schematic diagram of unmanned plane airport and approach path and air route of leaving the theatre (at A) in Fig. 8.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Referring to Fig. 1, case study on implementation of the present invention provides a kind of public airway net design method in unmanned plane low latitude comprising such as
Lower step:
Step 101, unmanned plane low-latitude flying environmental data in planning region is obtained.
Wherein, unmanned plane low-latitude flying environmental data (or Path Planning for Unmanned Aircraft Vehicle basic database) is by influence unmanned plane
Safe flight element is constituted, and unmanned plane during flying and ground environment and mankind's activity are closely related, and therefore, influent factor mainly wraps
Include fundamental geological, low latitude weather, low latitude communication environment, airspace policy etc..Geo-spatial data mainly includes terrain data, water system
Distribution, road network distribution and population distribution data etc..Low latitude climatic data: unmanned plane is movable within the scope of troposphere, low latitude
Weather has important influence to its landing, operation and flight.The weather phenomenon being wherein affected mainly has wind shear, thunder
Cruelly, the weather phenomena such as low visibility caused by accumulated ice and mist, haze, sandstorm etc..Airspace policy data: mainly including government
Defined unmanned plane no-fly zone, restricted area and danger area, especially civil aviation airport obstacle limitation surface protection scope.Low latitude
Mobile communication signal spatial distribution data (or low latitude communication environment data) is indicated by mobile base station data: unmanned plane is logical
It crosses airborne link device and sends and receivees radio signal and communicated with land station, receive commander, the control of ground control station
System and assignment instructions, send itself posture information and inter-related task information etc..And while with unmanned plane industry high speed development,
UAV Communication link shows the development trend combined closely with cellular mobile communication technology, forms " networking unmanned plane ".Cause
This, it is most important to its safe flight to guarantee that unmanned plane is run in Cellular Networks coverage area.Case study on implementation of the present invention is according to shifting
Dynamic base station distribution data and its signal cover establish unmanned plane low-latitude flying cellular network environment.Planning region can be complete
Chinese range can also be somewhere range, such as North China, Central China, East China.
Step 102, unmanned plane airport layout information, unmanned plane airport cloth are obtained according to unmanned plane low-latitude flying environmental data
Office's information includes: the addressing website of multiple unmanned plane airports and the service range of each unmanned plane airport.
Specifically, it is organic to refer to that the unmanned plane airport for possessing legal airspace and related service facility are constituted for unmanned plane airport
Whole, the hardware facility having includes but is not limited to: unmanned plane runway, unmanned plane hangar, unmanned plane assembly and adjustment area, navigation
Communications facility etc.；The software facility having includes but is not limited to: flight supervisory systems, blank pipe collaboration reporting chain etc..Unmanned plane
Airport is the hinge on unmanned plane low latitude air route and ground, can be used as landing point and the transfer place of unmanned plane, is unmanned plane
Safe flight provides safeguard.Unmanned plane airport location must the ken be open, communication conditions are good, hides without skyscraper or massif
Gear, and not within the scope of the policy restricted area of airspace.According to unmanned plane low-latitude flying environmental data, it is based on existing traffic above-ground pivot
Knob distribution, obtains unmanned plane airport layout information using the maximal covering location model, which includes: the initial of unmanned plane airport
The initial service range (preliminary service range) of addressing website (or prime selected site website) and unmanned plane airport.In application, root
According to the service range in air routes at different levels, fully consider that demographic factor, orographic factor etc. influence the space of unmanned plane safe flight factor
Characteristic distributions are distributed based on existing traffic above-ground hinge, using the maximal covering location model, select preliminary website as support nothing
The unmanned plane airport of man-machine airway traffic network.
The unmanned plane airport layout obtained using the maximal covering location model does not consider intersection conflict to the shadow of air route safety
It rings, there are flight safety hidden danger, are unable to satisfy the practical flight requirement of unmanned plane.Therefore, this method further includes addressing optimization step
It is rapid: unmanned plane airport layout is optimized, the algorithm of optimization such as: merging closes on unmanned aircraft airport, merges air route, is conllinear
Adjustment, poor efficiency air route adjust, without intersection, non-linear coefficient etc..That is, judging unmanned plane in unmanned plane airport layout
Between airport air route line whether there is intersection conflict, if be judged as in the presence of if successively execute addressing Optimization Steps and on the spot investigation and
Otherwise low latitude Network test step executes investigation on the spot and low latitude Network test step.
Investigation on the spot and low latitude Network test step: it after tentatively obtaining unmanned plane airport layout, needs to carry out site inspection
(or investigating on the spot), determines the specific addressing of unmanned plane airport.The condition that addressing need to meet is as follows:
Airspace condition: unmanned plane airport is not built in forbidden zone in the sky, and nobody is built in forbidden zone neighbouring area in the sky
The risk that unmanned plane swarms into restricted airspace is considered as when machine airport.
Geographical conditions: ground is open, and clear is blocked, and has sufficient space to build unmanned plane runway；It should fully consider ground
Matter defective sector, possible pond area, active fault area, mining area, environment and ecological preservation area, tourist attraction and cultural relics and historic sites
The influence of the factors such as protection zone；
Communication condition: meet unmanned plane safe flight communication link index；
Meteorological condition: it should fully consider that the bad weather conditions such as wind field, thunderstorm, accumulated ice, visibility pacify unmanned plane during flying
Umbra is rung；
Noise-sensitive region: it should fully consider whether aerospace activity area meets the requirement of neighboring area noise control index；
Land use: Ying Fuhe related land utilizes the requirement of policies and regulations；
Electromagnetic environment complexity, danger zone: space electromagnetic environment should be fully considered to airfield communication navigation activity and boat
Influence of the electromagnetic wave to ground sensitive installations caused by empty activity.
In view of low latitude communication environment to unmanned plane manage and safe flight importance, it should to airport region into
The low latitude coverage test of row Cellular Networks and operational trials, such as fence update, flying quality real-time report and flight management order
Receive etc., to ensure that unmanned plane airport meets safe flight communication link index (the Civil Aviation Administration of China, " low latitude of unmanned plane
Networking unmanned plane safe flight test report ", 2018.1).
Step 103, it is obtained according to unmanned plane airport layout information, unmanned plane low-latitude flying environmental data and ant group algorithm more
Item three-dimensional air route.
Specifically, which includes: to be determined each according to the service range of each unmanned plane airport and preset air route level
Two unmanned plane airports in every three-dimensional air route that air route level includes；According to two unmanned plane airports in a three-dimensional air route
Unmanned plane low-latitude flying environmental mathematics models are constructed with unmanned plane low-latitude flying environmental data in corresponding planning region；To through number
The unmanned plane low-latitude flying environmental mathematics models of word carry out dropping cut slice in pre-set flight height, obtain pre-set flight height
On digitized two-dimentional low latitude environmental mathematics models；Based on ant group algorithm in digitized two-dimentional low latitude environmental mathematics models
Two dimensional path search is carried out, obtains two-dimentional air route, wherein in ant group algorithm, search space is by with start node and terminal node
The buffering that line does variable range between point is formed, and buffer distance is gradually increased until that search is empty from initial value with 1 step-size in search
It is interior to have optimal air line solution；According to two-dimentional air route and benchmark terrain data, a three-dimensional air route is obtained；Traverse all air route levels
Each item three-dimensional air route in two unmanned plane airports, obtain a plurality of three-dimensional air route.
Wherein, unmanned plane low latitude air route refers in someone's aircraft minimum flight altitude hereinafter, planning has centainly in advance
Width specializes in the aerial channels of unmanned plane during flying.The route of unmanned plane practical flight is known as course line, the unmanned plane to fly down an airway
Its course line is exactly the center line in air route.The purpose for delimiting air route is maintenance and specification low latitude traffic order, improves low altitude airspace money
The utilization rate in source guarantees aviation and public safety.The present invention is divided into according to the positioning and service in unmanned plane low latitude air route
Level Four: backbone air route, trunk air route, branch line air route and end air route, i.e., preset air route level are 4 grades.
Wherein, when planning region is the whole of China's range, low latitude backbone air route is connection capital and each province, autonomous region, straight
The air route for having jurisdiction over the city provincial capital, connects the air route of major economic center, port station hinge, commodity production base and strategic area；Low latitude master
Dry air route refers to the provincial low latitude air route with the whole province's sexual politics, economic significance；Low latitude branch line air route refers to the low of join domain
Empty air route mainly carries contacting between unmanned aircraft airport and backbone/trunk air route；Low latitude end air route refers to connection branch line
To terminal user or a terminal user to another terminal user low latitude air route, mainly carry unmanned aircraft from branch line to
Logistics, food and drink such as deliver at the connection for terminal services point/stand, or are laid in complicated landform (such as mountain area, sparse population area region)
Low latitude air route.It can also be according to practical situations and the specific range of planning region, to low latitude backbone air route, low latitude trunk
The definition in air route, low latitude straight line air route and low latitude end air route is adaptively adjusted.
Classification name is carried out to air route in application, can combine with initial with number, such as: letter indicates air routes at different levels,
Backbone air route is GG, and trunk air route is ZG, and branch line air route is ZX, and end air route is MD；The number mark air route trend of third position,
If 3 indicate Bei Nan trend, 2 indicate east-west.
After having divided air route level, determine which each air route level includes further according to the service range of each unmanned plane airport
A little item three-dimensional air routes, so that it is determined that two unmanned plane airports in each three-dimensional air route, using two unmanned plane airports as
Unmanned plane low-latitude flying environment in the starting point and ending point in path and the corresponding planning region of two unmanned plane airports
Data members unmanned plane during flying environment preface model, specific as follows:
Firstly, building unmanned plane low-latitude flying space initial model: assuming that i-th of destination coordinate is (xi,yi,zi), then should
The mathematic(al) representation of low-latitude flying space initial model can are as follows:
Wherein, xiFor longitude, yiFor latitude, ziFor height, xmin、xmax、yminAnd ymaxIndicate planning space planar range,
The planning space planar range covers the addressing website of two unmanned plane airports, f1i(xi,yi) it is i-th of destination position
Benchmark Terrain Elevation, f2i(xi,yi) be i-th of destination position communication maximum height.
In the low-latitude flying space initial model, determine that the element of drone flying height range includes: benchmark landform
With the spatial distribution of mobile communication base station signal.Specifically, the lower interface of flight space is determined that benchmark landform is anti-by benchmark landform
The hypsography for reflecting routeing space directly affects the minimum safe altitude size in routeing space.Flight space it is upper
Interface is determined by the distribution of mobile communication base station signal space.
The mathematic(al) representation of benchmark landform is as follows:
Wherein, x and y is the point coordinate of benchmark relief model projection in the horizontal plane, and z is the corresponding elevation of horizontal millet cake
Value.A, b, c, d, e, g are constant coefficient, for controlling the benchmark hypsography in numerical map.Pass through the different constant coefficient of determination
Different benchmark geomorphic features is simulated, benchmark landform as unmanned plane during flying environment.
Therefore, the benchmark landform altimeter of i-th of destination position reaches formula are as follows:
Mobile communication base station signal cover (or spatial distribution) and signal propagation law, atural object block and environment electromagnetics
Radiate it is related, signal strength with leave antenna it is horizontal and vertical distance change show irregular variation.By reality
Test, mobile cellular net can satisfy the unmanned plane industrial application demand and 300 of 120 meters or less most scenes at present
Meter or less most areas unmanned plane safe flight service link index demand.With the development of mobile communication technology, such as
The commercial extension of 5G technology, can highly expand to 1000m or less.Therefore, research can be networked by mobile cellular and realize nobody
The air route of machine monitors in real time.Based on national cellular mobile communication networks, low latitude communication environment is constructed, carries out air route on this basis
Planning, to ensure real-time, highly reliable, the inexpensive UAV Communication link in air route.According to " radiation environment conservative management is led
Then electromagnetic radiation monitoring instrument and method " (HJ-T10.2-1996), single base station antenna radiated power density calculation formula is such as
Under:
According to power density and electric field strength relational expression:
Assuming that j-th of base station location is (Xj,Yj), the electric-field strength of j-th of position of available i-th of destination base station
Spend expression formula:
Wherein, P is antenna for base station transmission power (W), and G is bs antenna gain (multiple),
θ is the angle on vertical plane with antenna for base station axial direction,For the angle on horizontal plane with antenna for base station axial direction,θ1
It is Downtilt, H is j-th of antenna for base station terrain clearance (m), and the above parameter is constant；ziIt is the liftoff height of i-th of destination
It spends (m), R is horizontal distance (m) of i-th of destination from j-th of antenna for base station.
Assuming that i-th of destination position has n base station that can provide Communications service, then the field of i-th of destination position
By force are as follows:
The maximum communication height of i-th of destination position are as follows: EiWhen=C, ziValue, wherein C be base station field intensity meet
The minimum value of unmanned plane safe flight.
It is built secondly, carrying out mathematics to the element for constraining unmanned plane safe flight in the initial model of unmanned plane low-latitude flying space
Mould completes building unmanned plane low-latitude flying environmental mathematics models.
Specifically, after building unmanned plane low-latitude flying space initial model, to the flight space internal constraint nobody
The element of machine safe flight carries out mathematical modeling, to build unmanned plane low-latitude flying environmental mathematics models.It is main to constrain element
It include: mountain peak constraint element, skyscraper constraint element, low latitude weather constraint element and airspace policy restricted area constraint element.
Each constraint element mathematical model is as follows:
(1) mountain peak constrains element mathematical model: the flying height of unmanned plane is lower, earth's surface physical features especially massif pair
Its safe flight is most important, and prominent massif can be simulated by following formula, constructs the terrain environment of unmanned plane route searching
Model:
Z in formula1(x, y) is the elevation function on mountain peak, (xj,yj) be j-th of mountain peak centre coordinate, HjFor benchmark landform
Highly, a and b is attenuation of j-th of mountain peak along x-axis and y-axis direction respectively, controls the gradient.
(2) skyscraper constrains element mathematical model: skyscraper can be indicated with cylindrical body, mathematical model can table
It is shown as:
Wherein, z2(x, y) is the elevation function of skyscraper, (xj,yj) it is j-th of centre coordinate built, HjFor jth
The height of a skyscraper, R are the land occupation radius of the skyscraper.
(3) low latitude weather constrains element mathematical model: unmanned plane is movable within the scope of troposphere, and low latitude weather plays it
Drop, operation and flight have important influence, wherein the weather phenomenon being affected mainly has wind shear, thunderstorm, accumulated ice, and
Mist, haze, sandstorm etc. can lead to the weather phenomenon of low visibility.With the more of above-mentioned harsh weather when progress Path Planning for Unmanned Aircraft Vehicle
Send out Area distribution, the high-incidence area distribution of each climatic phenomenon such as in the latest 20 years, as reference.Research is sentenced using nearly cylindrical body
The coverage of disconnected atmospheric environment, mathematical model may be expressed as:
dij=(x-xj)2+(y-xj)2
Wherein, z3(x, y) is the height function in low latitude climatic effect region, and H is the routeing region height upper limit, (xj,
yj) j-th of low latitude climatic effect area centre coordinate, dijFor i-th of destination to the distance in j-th of climatic effect area, dminFor this
The core space in climatic effect area, the damage probability of unmanned plane is 1, d in the areamaxFor the maximum radius by atmospheric effect.
(4) policy restricted area in airspace constrains element mathematical model: the constraint of airspace policy restricted area is primarily referred to as various regions government
Unmanned plane no-fly zone, restricted area and the danger area etc. of department's publication, it is populous using being arranged by introducing low altitude airspace policy
The airspaces such as area policy restricted area come construct safety, orderly low-latitude flying environment.It airspace policy restricted area can be from dynamically
Manage fence data, " the civil aviation airport obstacle limitation surface protection scope number that airport plane range can be announced by civil aviaton
According to " determine, lower limit is earth's surface, does not set the upper limit.Other restricted area can be indicated by hemisphere model:
Wherein, z4(x, y) is the influence curved surface of j-th of restricted area, (xj,yj) be j-th of restricted area centre coordinate, R is
The land occupation radius of the restricted area.
After building unmanned plane low-latitude flying environmental mathematics models, it is digitized, then in preset height
Dropping cut slice is carried out in pre-set flight height to the unmanned plane low-latitude flying environmental mathematics models being digitized, obtains default fly
Digitized two-dimentional low latitude environmental mathematics models in row height, the step are specific as follows:
Unmanned plane low-latitude flying environmental mathematics models are digitized first, method for digitizing can use grid
Method, the form of grid are cube, the length and air route equivalent width of cube.Pre-set flight height is obtained again.Practical application
When, digitlization can be realized based on technologies such as GIS drawing.The acquisition of pre-set flight height can obtain in the following manner: root
Be fitted to obtain air route elemental height according to benchmark terrain data, then calculate air route elemental height and unmanned plane minimum obstacle clearance nargin it
With to obtain pre-set flight height.Then dropping cut slice is carried out to digitized unmanned plane low-latitude flying environmental mathematics models,
Obtain two-dimentional low latitude environmental mathematics models of the unmanned plane in pre-set flight height.
After obtaining the digitized two-dimentional low latitude environmental mathematics models in pre-set flight height, based on ant group algorithm in number
Two dimensional path search is carried out in the two-dimentional low latitude environmental mathematics models of word, obtains two-dimentional air route, the step is specific as follows:
Based on ant group algorithm in digitized two-dimentional low latitude environmental mathematics models using two unmanned plane airports as
Start node and terminal node carry out two dimensional path search, obtain the corresponding two-dimentional air route of two unmanned plane airports
In traditional ant group algorithm, as search space expands, easily there is " multiple shot array " problem, search efficiency is caused to drop
It is low.Therefore, in this step, the search space of ant group algorithm is by doing variable range with line between start node and terminal node
Buffering is formed, so can reasonable command deployment space size, not only having met in search space has optimal path solution but also mentions as far as possible
Search efficiency is risen, the search space of formation is as shown in Figure 2.Buffer distance is gradually increased until from initial value with 1 step-size in search
There is optimal air line solution in search space.
In order to improve route searching efficiency, searched in search process using change step-size in search, i.e., according to local search space
The ratio-dependent step-size in search of interior barrier, when barrier ratio is lower than preset ratio threshold value in search space, adjustment search
Step-length, such as step-size in search with respect to before are elongated, such as: when barrier ratio is higher than 20% in search space, step-size in search is
1, if being lower than 5%, step-size in search 2.Barrier can be wanted with the element and communication blind district constraint of constraint unmanned plane safe flight
It usually characterizes, can also be characterized with the element of constraint unmanned plane safe flight, communication blind district constraint element and airport element.About
The element of beam unmanned plane safe flight may include airspace policy restricted area element, mountain peak constraint element, skyscraper constraint
Element, low latitude weather constrain element.Mountain peak constraint element and skyscraper constraint element can be collectively referred to as topographic(al) feature.Namely
It says, the potential risk of the elements affect unmanned plane during flying of quantization constraint unmanned plane safe flight calculates each space convenient for subsequent
The cost price weighted attribute values of grid, obtained result pass through the potential risk being subject to when each grid for unmanned plane, thus
The potential risk factor is taken into account when obtaining two-dimentional air route.It is calculated when quantization in order to simplify, communication blind district constraint element,
Skyscraper constraint element, airspace policy restricted area element and mountain peak constraint element etc. are converted into flight environment of vehicle
" barrier ", grid cost price are 1, and " forbidding flying into " principle is carried out in route searching；Atmospheric environment (i.e. low latitude weather
Constraint element) it is to count the data that take place frequently, therefore " warning is flown into " principle is followed in route searching, grid cost penalty values range
It is 0.2~0.8, closer from climatic event center, cost price is bigger；Other regions be in route searching can constituency
Domain, grid cost price are 0.
In ant group algorithm, next node is transferred to from present node and needs to calculate present node to all adjacent nodes
Transition probability, calculation formula are the prior art and as follows:
Wherein,It is ant from present node i point to the transition probability of next node j point, allowedkIndicate ant
The node that can be reached；α is pheromones heuristic greedy method, indicates importance journey of the pheromones to Path selection of path accumulation
Degree, τij(t) pheromone concentration of track section ij is indicated；β is desired heuristic factor, indicates a factor of heuristic to the important of Path selection
Property degree, ηij(t) it is heuristic function, indicates the inverse of distance between node i, j in the prior art, such method easily leads to ant
Ant seeks current shortest path and falls into local optimum.In embodiments of the present invention by next node and start node and terminal node
Connection between point introduces heuristic function in the prior art and so can effectively solve part to obtain improved heuristic function
Optimal problem, while improving efficiency of algorithm.Improved heuristic function calculation formula is as follows:
Wherein, dijDistance between expression present node i and next node j,Next section after respectively normalizing
Point is with a distance from start node and terminal node, dOiThe distance between start node and present node i, dOEFor start node and end
Only euclidean distance between node pair, C and ρ are constant,Indicate the weight of distance between next node and start node, ρ expression starts
The path length threshold of incoming direction information is in order to avoid ant is influenced by directional information too early in moving process and falls into
Enter local optimum, the two determines numerical value in practical application.allowedkIndicate the node that ant can reach.
In addition, the embodiment of the present invention is using following algorithm under in order to avoid Premature Convergence problem existing for ant group algorithm
One node is selected.The algorithm (or random roulette algorithm) based on roulette algorithm (or conventional roulette gambling algorithm) and
Greedy algorithm is improved, and conventional roulette gambling convergence speed of the algorithm can either be improved, and be can be avoided greedy algorithm and be easy to fall into
Enter the defect of local optimum.Specifically, if by random function (random function in matlab) generate random number rand <
max(Pi), then next node is selected using roulette method, the algorithm is equivalent to roulette algorithm and (or passes at this time
The roulette algorithm of system), it can be avoided local optimum trap；If the random number rand=max (P generated by random functioni),
Then select the maximum node of transition probability as next node, the algorithm is equivalent to greedy algorithm at this time, has faster convergence
Speed.In application, (generating) rand ∈ [0, max (P by matlab by the way that the equally distributed random number of obedience is addedi)] with
PiIt makes comparisons, screens set allowedkIt is middle by selection probability PiThe set of localized target point i more than or equal to rand, uses
Formula is as follows, finally filters out optimal partial target point using conventional roulette gambling algorithm.
Referring to Fig. 3, the detailed process of the step is as follows:
Sub-step 1): initialization search space according to barrier ratio-dependent step-size in search, and constructs adjacency matrix.
Sub-step 2): first generation ant m (m=1,2 ..., M) is put into initial position, and initial position is added to often
The taboo list of a ant, M indicate ant number.
Sub-step 3): the node that can be gone in next step is found, optional node set LJD is formed.Present node and termination
Whether euclidean distance between node pair is less than whether step-size in search or optional node set are empty set；If it is not, then executing sub-step 4), if
It is to execute sub-step 6).
Sub-step 4): calculate the state transition probability of optional node.When calculating heuristic function, estimating for A* algorithm has been merged
Valence function is introduced between present node and terminal node and is contacted, with Optimizing Search.
Sub-step 5): utilize random roulette method selection next node (to_visit).
Sub-step 6): update ant position node and taboo list.
Sub-step 7): record path and its length.
Sub-step 8): it repeats sub-step (2)-sub-step (7), until all ants of the first generation have traversed；
Sub-step 9): update pheromones；
Sub-step 10): it repeats sub-step (2)-sub-step (9), until traversing all algebra, K the number of iterations；
Sub-step 11): obtain optimal path.It needs to calculate path length herein and its cost price attribute value is (following public
Formula), comprehensively consider the potential risk that path length and unmanned plane fly on this path, obtains optimal path.Path cost generation
Valence attribute value calculating process such as following formula:
wi=max (wCommunication,wRestricted area,wAirport,wLandform,wWeather)
In formula, W is path cost cost attribute value, wiIt is the cost price attribute value of i-th of node on path, N is road
Number of nodes on diameter, wCommunication,wRestricted area,wAirport,wLandform,wWeatherRespectively indicate communication blind district, restricted area, airport, landform and weather etc.
All kinds of grid cost price attribute values.
It should be noted that the term " node " in the embodiment of the present invention is the call in path search process, " destination "
Be route searching result to the end when call.
When practical application, it can be based on GeoSOT-3D earth mesh generation technology, such as select CGC2000 earth coordinates
In system the reference ellipsoid centre of sphere as the subdivision spheroid centre of sphere by longitude, latitude, it is high extend to respectively -256 °~256 °, -256 °~
256 ° and 0 °~512 °, 512 ° × 512 ° × 512 ° of space is formed, and carries out Octree recurrence subdivision, shape in three dimensions
At down toward earth center, on away from earth's surface 5000km high-altitude, greatly to entire terrestrial space, the as low as 0-32 of Centimeter Level body block
Grade subdivision frame.Meanwhile in order to carry out high-efficiency tissue and management to spatial data, use binary system according to Z sequence coding orders for
The spatial position of any integrated block of each level assigns unique encodings, convenient for the convenient index of subsequent air route search.
On the basis of two-dimentional air route, the elevation information (i.e. air route point height) of each way point is obtained, and then obtain three
Way point coordinate is tieed up, to obtain three-dimensional air route, the step is referring to fig. 4, specific as follows:
The process for obtaining destination elevation is as follows: judging whether next destination is greater than in benchmark terrain data mesorelief height
The difference of interfacial level and minimum obstacle clearance nargin under air route, if being judged as YES, next destination height is equal within the scope of air route
Grid elevation average value and the sum of minimum obstacle clearance nargin, if being judged as NO, it is high that next destination height is equal to interface under air route
Degree.In other words: destination elevation Terrain Elevation and unmanned plane minimum obstacle clearance where interface elemental height under air route and destination is abundant
Degree is common to be determined.It is climbed if next destination Terrain Elevation is greater than interfacial level and minimum obstacle clearance nargin difference, unmanned plane under air route
It rises, next destination height is equal to the sum of Terrain Elevation and minimum obstacle clearance nargin；Conversely, then unmanned plane pitch angle is constant, edge is worked as
Preceding height continues to fly, i.e., next destination height is equal to current destination height.
In order to safely cross over massif, unmanned plane needs climbing flight, when crossing highest point, continues to keep present level
Flight, therefore, if after being judged as NO, this method further include: judge that next destination is in benchmark terrain data
It is no in massif range and current destination height whether is higher than the highest point of massif range and whether next destination height is less than
Current destination height, if being judged as YES, next destination height is equal to current destination height；That is: when crossing highest
When point, next destination height and current destination height are compared and analyzed, if next destination height is high lower than current destination
Degree, then next destination height is equal to current destination height.The step belongs to the step of correction to destination elevation.In other implementations
In example, next destination height and current destination height can also be compared after obtaining destination elevation.
For unmanned plane when by different terrain environment, route searching is different to the resolution requirement of digital environment, such as flat
Original area's orographic factor has little effect, and only considers other natures or man-made features element, lower to resolution requirement, and works as
When unmanned plane is by mountain area, orographic factor influence is very big, at this moment very high to resolution requirement；But with the increase of resolution ratio,
Efficiency of algorithm can reduce, therefore in two dimensional path search, be carried out using first resolution, which is lower than second point
Resolution, second resolution are resolution ratio used by alpine terrain data, and first resolution is adopted by plains region terrain data
Resolution ratio.After obtaining two-dimentional air route, before obtaining three-dimensional air route according to two-dimentional air route and benchmark terrain data, we
Method further include: judge whether the two adjacent destinations in two-dimentional air route corresponding with mountain area, if being judged as YES, the two adjacent destination it
Between increase several destinations.That is: first taking relatively low resolution ratio (i.e. first resolution) to carry out two-dimentional air route and search
Rope, then be based on accurately graphic data (i.e. second resolution) for mountain area and two-dimentional destination data are encrypted, that is, exist
Increase several equidistant destinations between two adjacent destinations, reduces adjacent destination spacing.In other words, according to Terrain resolution to two dimension
The two of air route are adjacent, and destination is encrypted.The step belongs to the step of two-dimentional way point is encrypted.
According to the preparation method in aforementioned one three-dimensional air route, two in each item three-dimensional air route of all air route levels are traversed
Unmanned plane airport obtains a plurality of three-dimensional air route.
After obtaining a plurality of three-dimensional air route, unmanned plane air route also needs to meet the power of unmanned plane other than security requirement
Learn the mobility restriction on the parameters such as rate of turn and the maximum angle of climb, maximum dive angle.Wherein, dynamics turning requires air route to take up an official post
The curvature anticipated on a little is necessarily less than the accessible maximum curvature of unmanned plane, and in three-dimensional space, fly able path passes through song
Rate and torsion determine, for unmanned plane, the curvature in path is equivalent to yawrate turning, and torsion is equivalent to roll angle speed
Rate rolling.The maximum angle of climb, maximum dive angle are the unmanned plane maximum angles that single persistently climbs and dives in vertical direction,
Angle is excessive to will lead to unmanned plane stall.Therefore, it in order to meet the Dynamic Constraints of unmanned plane, is turned according to the maximum of unmanned plane
Angle, maximum roll angle and the maximum angle of climb optimize three-dimensional air route.
After three-dimensional air route optimization, this method further include: simulated flight step and actual flying test step.
Generate air route after, first it is carried out system emulation flight come verify air route fly and safety, mainly wrap
Include following steps:
(1) outdoor scene three-dimensional data is obtained and is modeled.Air route region is counted using UAV flight's ordinary optical camera
Three-dimensional modeling is carried out according to acquisition, and by points cloud processing, obtains the outdoor scene three-dimensional environment for surveying area.
(2) UAV system models.UAV system module includes drone body kinetic model, navigation, engine
And the functional modules such as control, reach the real-time resolving of unmanned plane during flying parameter.
(3) atmospheric environment models.Including atmosphere data simulation and atmospheric perturbation simulation.Atmosphere data simulation mainly includes big
Temperature degree, pressure and density etc., atmospheric perturbation simulation mainly include wind field.
It after simulated flight reaches qualification, is flown on the spot to air route formation zone, the way point of generation is imported into nothing
Man-machine winged control, unmanned plane verify the reasonability and safety in air route according to set Route reform.
It should be noted that the result obtained through ant group algorithm is course line, then line forms space centered on the course line
Body, the shape of space body can be cylindrical body, can also be other shapes, the present embodiment is to this without limiting.Due to ground
The factors such as navigational facility, air traffic control, aerial mission and landform influence, and a course line is usually by starting point, curved point, terminal etc.
Way point is constituted, and therefore, referring to Fig. 5, course line is made of a plurality of line segment (segment).The expression of course line (segment) in three dimensions
It is determined with the factors such as starting point O and terminating point E, course angle a and height H are located through.
Course line={ starting point, terminal, course angle, height }
Air route={ starting point, terminal, course angle, height, air route width }
Air route minimum safe altitude is proposed to ensure safe flight in air route of unmanned aircraft, by unmanned boat
Pocket control relevant regulations, the performance constraints of unmanned aircraft, task restriction and flight environment of vehicle etc. determine.The safety of aircraft flies
Row height is equal to the sum of maximum absolute altitude within the scope of air route, minimum obstacle clearance nargin, and maximum absolute altitude refers to atural object highest elevation, minimum
Obstacle clearance nargin refers to the minimum vertical interval for guaranteeing to should ensure that when aircraft surmounts an obstacle, and influence factor includes that may cause height
Meteorological condition, instrument error and unmanned aircraft performance of deviation etc..
Referring to Fig. 6~7, air route interval D refers to the distance between two adjacent course lines；Flight interval L is that aircraft is based on
The distance in time or space is divided into horizontal interval and perpendicular separation Lz, wherein horizontal interval is divided into lateral spacing L againxBetween longitudinal direction
Every Ly.If guaranteeing the flight safety of aircraft, air route interval have to be larger than flight laterally security interval and air route width W it
With.Therefore, air route interval is determined by the flight safety interval of unmanned aircraft.The many because being known as of flight interval are influenced, mainly
Include: 1) unmanned plane itself influence.Communication, navigation, monitoring performance and its intervention capacity (the airborne collision avoidance ability of UAV system
With control ability) very crucial effect is all played to flight safety interval；2) natural environment influence.Natural environment is to unmanned plane
Flight safety has very important influence, for example accumulated ice will lead to the pneumatic property variation of wing, and wind shear will affect unmanned plane
Flight attitude, rain and snow will affect flight visibility, causes UAV system failure etc.；3) air route structure and traffic flow are close
Degree.The increase of air route structure complexity and traffic current density will lead to the increase of unmanned plane during flying risk of collision, therefore, in certain a period of time
Between put the unmanned plane quantity in some airspace and should be controlled.It air route interval can be by using aircraft collision model theory as base
Plinth, in air route, system laterally, longitudinally, is vertically studied to progress risk collision modeling respectively.
Based on the existing low altitude airspace open policy and low altitude airspace type, UAV Communication demand and air route rule are comprehensively considered
Environmental constraint is drawn, the present embodiment tentatively defines the spatial altitude of routeing.
Provided according to " push-button aircraft flight management interim regulations (exposure draft) ": light-duty unmanned plane is without criticizing
It will definitely be to fly in very high 120 meters or less airspaces；" low altitude airspace uses administrative provisions " is by 1000m hereinafter defined as low latitude sky
Domain is divided into control zone (containing VFR route), report airspace and monitoring airspace three categories.In order to ensured it is man-machine and nobody
The flight safety of machine, low latitude air route should delineate in control zone；" low latitude networking unmanned plane safe flight test report " is pointed out:
Based on the cellular mobile communication networks (4G/5G technology) in the whole nation, current mobile cellular net can satisfy 120 meters or less the overwhelming majority
The unmanned plane safe flight service link index of the unmanned plane industrial application demand of scene, 300 meters or less most areas needs
It asks and 1000 meters of communication all standings below.
Comprehensively consider above-mentioned requirements, is respectively the lower limit of unmanned plane low altitude high speed routeing with very high 120m and 1000m
And limit level, the planning of unmanned plane backbone, trunk and branch line air route is carried out in this altitude range, end air route is as low speed
Air route, altitude range, hereinafter, to minimum safe altitude in region, undertake fade function between air route and landing point in 120m, solution
Certainly community air route etc. " last one kilometer " problem.
Step 104, the public airway net in unmanned plane low latitude is formed according to a plurality of three-dimensional air route.
It is different layers to construct safe and efficient airway traffic network after obtaining the public airway net in unmanned plane low latitude
Different planning altitude ranges is arranged in grade air route, such as: according to the Major Function and feature in air routes at different levels, fitting winged unmanned plane type
Difference will lead to minimum safe height difference, therefore be routeing altitude ranges at different levels according to minimum safe height.
When air route reticular density is sufficiently large, same level air route will appear cross-cutting issue, it is contemplated that unmanned plane during flying feature, boat
Road, which intersects, easily leads to unmanned plane collision accident, and the safe flight and management to air route bring greater risk, therefore, by peer
The priority ranking of different flight level and air route is arranged to solve air route cross-cutting issue in other air route, specific as follows: 1) excellent
First grade principle: in terms of time, i.e. the unmanned plane of priority higher-class type preferentially passes through crosspoint, as emergency disaster relief nobody
Machine.2) flying height is layered: from spatially considering, i.e., when unmanned plane is shaken hands, calling another height layer, temporarily to avoid conflict.
That is different, same level air route height difference, same level when unmanned plane is shaken hands according to the division height of different air route levels
The unmanned plane priority level difference in air route and a plurality of three-dimensional air route form the public airway net in unmanned plane low latitude.
Referring to Fig. 8~9, the transition in unmanned plane air route between different levels passes through unmanned plane airport and its airspace, boat of marching into the arena
Road, air route realization of leaving the theatre, detailed process is as follows: starting point O → approach path → branch line/trunk air route airport ZG1 → branch line/trunk
Air route → backbone air route airport GG1 → backbone air route → backbone air route airport GG2 → branch line/trunk air route → branch line/trunk boat
Road airport ZG2 → air route of leaving the theatre → terminal E.
In conclusion the embodiment of the present invention has the beneficial effect that:
Propose and how to construct the public airway net in unmanned plane low latitude, and when constructing air route route searching it is more efficient,
It is time-consuming shorter.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, in all respects are merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (10)
1. a kind of public airway net design method in unmanned plane low latitude, which is characterized in that the described method includes:
Unmanned plane low-latitude flying environmental data in planning region is obtained, the unmanned plane low-latitude flying environmental data includes: landform
Data, low latitude climatic data, airspace policy data and low latitude mobile communication signal spatial distribution data；
Unmanned plane airport layout information, the unmanned plane airport layout letter are obtained according to the unmanned plane low-latitude flying environmental data
Breath includes: the addressing website of multiple unmanned plane airports and the service range of each unmanned plane airport；
A plurality of three are obtained according to the unmanned plane airport layout information, the unmanned plane low-latitude flying environmental data and ant group algorithm
Tie up air route；
The public airway net in unmanned plane low latitude is formed according to a plurality of three-dimensional air route.
2. the method according to claim 1, wherein it is described according to the unmanned plane airport layout information, it is described
Unmanned plane low-latitude flying environmental data and ant group algorithm obtain a plurality of three-dimensional air route, specifically include:
Every that each air route level includes is determined according to the service range of each unmanned plane airport and preset air route level
Two unmanned plane airports in three-dimensional air route；
According to unmanned plane low-latitude flying environment in two unmanned plane airports in three-dimensional air route and corresponding planning region
Data construct unmanned plane low-latitude flying environmental mathematics models；
Dropping cut slice is carried out in pre-set flight height to the unmanned plane low-latitude flying environmental mathematics models being digitized, is obtained
Digitized two-dimentional low latitude environmental mathematics models on to the pre-set flight height；
Two dimensional path search is carried out in the digitized two-dimentional low latitude environmental mathematics models based on ant group algorithm, obtains two dimension
Air route, wherein in the ant group algorithm, search space is by doing the slow of variable range with line between start node and terminal node
Punching is formed, and buffer distance is gradually increased until in described search space there is optimal air line solution from initial value with 1 step-size in search；
According to the two-dimentional air route and benchmark terrain data, a three-dimensional air route is obtained；
Two unmanned plane airports in each item three-dimensional air route of all air route levels are traversed, a plurality of three-dimensional air route is obtained.
3. according to the method described in claim 2, it is characterized in that, described low according to a plurality of three-dimensional air route formation unmanned plane
Empty public airway net, specifically includes:
Different, same level air route height difference, same layer when unmanned plane is shaken hands according to the division height of different air route levels
The unmanned plane priority level difference in grade air route and a plurality of three-dimensional air route form the public airway net in unmanned plane low latitude.
4. the method according to claim 1, wherein described obtain according to the unmanned plane low-latitude flying environmental data
To unmanned plane airport layout information, specifically include:
The maximal covering location model is utilized according to the unmanned plane low-latitude flying environmental data, obtains initial unmanned plane airport layout
Information, the initial unmanned plane airport layout information include: multiple unmanned plane airports initial addressing website and it is each it is described nobody
The initial service range of machine airport；
Judge that the initial addressing website whether there is the intersection conflict in air route, if being judged as YES, to the initial unmanned plane
Airport layout information optimizes, and obtains the unmanned plane airport layout information, is otherwise laid out the initial unmanned plane airport
Information is as unmanned plane airport layout information.
5. according to the method described in claim 2, it is characterized in that,
In the ant group algorithm, heuristic function ηij(t):
Wherein, dijDistance between expression present node i and next node j,Respectively normalize after next node from
The distance of start node and terminal node, doiThe distance between start node and present node i, doEFor start node and terminal node
Distance between point, C and ρ are constant,Indicate the weight of distance between next node and start node, ρ expression starts to introduce
The path length threshold of directional information, allowedkIndicate the node that ant can reach.
6. according to the method described in claim 5, it is characterized in that, the method also includes:
In the ant group algorithm, if the random number rand < max (P generated by random functioni), then using roulette algorithm under
One node is selected；If the random number rand=max (P generated by the random functioni), then it is transition probability is maximum
Node is as next node.
7. according to the method described in claim 2, it is characterized in that, described obtain according to the two-dimentional air route and benchmark terrain data
To three-dimensional air route, specifically include:
Judge that next destination interfacial level and minimum obstacle clearance in the case where whether benchmark terrain data mesorelief height is greater than air route are abundant
The difference of degree, if being judged as YES, next destination height is equal to grid elevation average value and minimum obstacle clearance within the scope of air route
The sum of nargin, if being judged as NO, next destination height is equal to interfacial level under the air route.
If 8. the method according to the description of claim 7 is characterized in that after being judged as NO, the method also includes:
Judge whether next destination is in massif range in benchmark terrain data and whether current destination height is higher than massif
The highest point of range and whether next destination height is less than the current destination height, if being judged as YES, under described
One destination height is equal to the current destination height；
If being judged as NO, next current destination height that gos to step is equal to interfacial level under the air route.
9. according to the method described in claim 2, it is characterized in that, two dimensional path search when, carried out using first resolution,
The first resolution is lower than second resolution, and the second resolution is resolution ratio used by alpine terrain data；
It is described obtain two-dimentional air route after, it is described according to the two-dimentional air route and benchmark terrain data obtain three-dimensional air route it
Before, the method also includes:
Judge whether the two adjacent destinations in two-dimentional air route are corresponding with mountain area, if being judged as YES, increase between the two adjacent destination
Add several destinations.
10. according to the method described in claim 2, it is characterized in that, described two according to a three-dimensional air route it is described nobody
Unmanned plane low-latitude flying environmental data constructs unmanned plane low-latitude flying environmental mathematics models in machine airport and corresponding planning region,
It specifically includes:
Construct unmanned plane low-latitude flying space initial model, the flight space in the initial model of unmanned plane low-latitude flying space
Lower interface determine that the upper interface of flight space is by low latitude mobile communication by the corresponding terrain data of two unmanned plane airports
Signal space distribution determines；
Mathematical modeling is carried out to the element for constraining unmanned plane safe flight in the initial model of unmanned plane low-latitude flying space, it is complete
At constructing the unmanned plane low-latitude flying environmental mathematics models, the element of the constraint unmanned plane safe flight include: mountain peak about
Shu Yaosu, skyscraper constraint element, low latitude weather constraint element and airspace policy restricted area constrain element；
Accordingly, in the ant group algorithm, judge to be wanted with the constraint unmanned plane safe flight in local search space
Whether the ratio of element and the barrier of communication blind district constraint element characterization is lower than preset ratio threshold value, if being judged as lower than default ratio
Example threshold value, then adjust step-size in search.
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