CN111461482A - Airspace dynamic management method and device - Google Patents
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Abstract
The specification provides a method and a device for airspace dynamic management, wherein the method comprises the following steps: obtaining evaluation factors of each sector in an airspace; calculating a strictly monotonous fitting main curve according to the evaluation factors; determining the complexity of each sector according to the fitted main curve and the evaluation factors of each sector; on the premise of ensuring that the complexity accumulated after combination is within the range of the threshold interval, combining the sectors with the complexity lower than the lower limit value of the threshold interval to form a new sector; repeatedly executing the steps until the complexity of at least a preset ratio or a preset number of sectors is in a threshold range; setting the current sector as a sector adjustment plan; and adjusting the sectors in the airspace according to the sector adjustment plan. The method and the device can realize the merging of the sectors with the complexity lower than the threshold interval, so that the complexity of each sector is consistent as much as possible. Sectors within the threshold interval are not adjusted so that the regulators of such sectors still handle the airspace they are familiar with.
Description
Technical Field
The invention relates to the technical field of aviation management and control, in particular to a dynamic management method and a dynamic management device for an airspace.
Background
In civil aviation control, each air traffic control area is divided into a number of sectors, and the aircraft in each sector is monitored and controlled by a corresponding controller. In order to avoid great difference of the management and control complexity in the sectors and great difference of workload of controllers, the air traffic control system needs to measure and calculate according to the management and control complexity of each sector, and when the management and control complexity of a plurality of sectors does not meet requirements, the sectors of the air traffic control area are reinitialized and divided. The re-divided sectors may differ significantly from the previous sector structure, requiring the controller to be re-familiar with the terrain and aircraft state within the sector; in addition, the current sector re-division needs to pass the experience of a controller and the state of the original sector, and the problem of unreasonable division can still be caused.
Disclosure of Invention
The present specification provides a new airspace dynamic management method and management apparatus, which only realizes the adjustment of partial sectors in the airspace.
In one aspect, the present specification provides a method for airspace dynamic management, including:
obtaining evaluation factors of each sector in an airspace; the evaluation factor comprises at least two unrelated evaluation indexes; the evaluation index is determined according to the running state of the aircraft in the sector and/or the running state of the aircraft entering the sector within preset time;
calculating a strictly monotonous fitting main curve according to the evaluation factors of each sector;
determining the complexity of each sector according to the fitted main curve and the evaluation factors of each sector;
on the premise of ensuring that the complexity accumulated after combination is within the range of the threshold interval, combining the sectors with the complexity lower than the lower limit value of the threshold interval to form a new sector;
repeatedly executing the steps until the complexity of at least a preset ratio or a preset number of sectors is within the threshold range; setting the current sector as a sector adjustment plan;
and adjusting the sectors in the airspace according to the sector adjustment plan.
Optionally, when merging the sectors with the complexity lower than the lower limit value of the threshold interval to form a new sector, the method further includes:
the sectors with the complexity higher than the upper limit value of the threshold interval are disassembled into element sectors; and the minimum sector preset in the metasector space.
Optionally, merging the sectors with the complexity lower than the lower limit value of the threshold interval to form a new sector, including:
combining sectors with complexity lower than the lower limit value of the threshold interval to form sectors to be evaluated;
and taking the sector to be evaluated as a new sector under the condition that the sector to be evaluated is a convex polygon.
Optionally, when the sector to be evaluated is a convex polygon, taking the sector to be evaluated as a new sector includes:
acquiring boundary points of each sector forming a sector to be evaluated;
determining boundary points of the sectors to be evaluated according to the topological relation of each sector forming the sectors to be evaluated;
and under the condition that other boundary points of the sector to be evaluated are determined to be on the same side of any two adjacent boundary points, taking the sector to be evaluated as a new sector.
Optionally, the method further includes: obtaining an evaluation factor of the virtual sector meeting reasonable working strength;
the obtaining of the strictly monotonous fitting main curve according to the evaluation factors of each sector includes: obtaining a strictly monotonous fitting main curve according to the evaluation factors of each sector and the evaluation factors of the virtual sectors meeting the reasonable working intensity;
determining the complexity of each sector according to the fitted main curve and the evaluation factors of each sector, and further comprising: determining the complexity of the virtual sector;
the range of the threshold interval is determined according to the complexity of the virtual sector.
Optionally, the strictly monotonic fitting main curve is a third-order bezier curve;
the obtaining of the strictly monotonous fitting main curve according to the evaluation factors of each sector includes:
initializing and iterating the middle control point of the third-order Bezier curve until the score value determined according to the distance between each evaluation factor and the Bezier curve is minimum;
and taking the finally determined third-order Bezier curve as the fitting main curve.
Optionally, an ant colony algorithm is adopted, and on the premise that the complexity accumulated after merging is within the range of the threshold interval, the sector with the complexity lower than the lower limit value of the threshold interval is merged with the adjacent sector to form a new sector.
In another aspect, the present specification provides an airspace dynamic management apparatus, including:
the evaluation factor acquisition module is used for acquiring the evaluation factors of all sectors in the airspace; the evaluation factor comprises at least two unrelated evaluation indexes; the evaluation index is determined according to the running state of the aircraft in the sector and/or the running state of the aircraft entering the sector within preset time;
the fitting curve calculation module is used for calculating a strictly monotonous fitting main curve according to the evaluation factors of all the sectors;
the complexity calculation module is used for determining the complexity of each sector according to the fitted main curve and the evaluation factors of each sector;
the sector adjusting module is used for merging the sectors with the complexity lower than the lower limit value of the threshold interval to form a new sector on the premise of ensuring that the complexity accumulated after merging is within the range of the threshold interval;
the adjustment plan determining module is used for setting the current sector as a sector adjustment plan when at least the preset ratio or the complexity of the preset number of sectors is within the threshold range after the cyclic calculation of the modules for multiple times;
and the adjustment execution module is used for adjusting the sectors in the airspace according to the sector adjustment plan.
Optionally, the sector adjusting module is further configured to: the sectors with the complexity higher than the upper limit value of the threshold interval are disassembled into element sectors; and the minimum sector preset in the metasector space.
Optionally, the evaluation factor obtaining module is further configured to obtain an evaluation factor of a virtual sector that meets reasonable working strength;
the fitting curve calculation module obtains a strictly monotonous fitting main curve according to the evaluation factors of all the sectors and the evaluation factors of the virtual sectors meeting the reasonable working intensity;
the complexity calculating module is further configured to determine the complexity of the virtual sector;
the range of the threshold interval is determined according to the complexity of the virtual sector.
According to the airspace sector management method and the management device provided by the specification, the complexity of each sector is determined by fitting the main curve, and when the complexity of some sectors is lower than the lower limit value of the threshold interval, the sectors are combined subsequently until the complexity of the sectors is within the range of the threshold interval. Sectors within the threshold interval are not adjusted, thus still allowing regulators of such sectors to still deal with the airspace with which they are familiar. In addition, the airspace sector management method and apparatus provided in this specification can implement merging of sectors whose complexity is lower than a threshold interval, implement sector adjustment, and make the complexity of each sector as consistent as possible.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a method for spatial domain dynamic management according to an embodiment;
FIG. 2 is a schematic structural diagram of an airspace dynamic management apparatus according to an embodiment;
wherein: the method comprises the following steps of 11-an evaluation factor acquisition module, 12-a fitting curve calculation module, 13-a complexity calculation module, 14-a sector adjustment module, 15-an adjustment plan determination module and 16-an adjustment execution module.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Embodiments of the present description provide methods and apparatus for implementing spatial sector adjustment. Before describing the embodiments of the present specification, a brief description will be given of the division of spatial domain sectors.
In order to facilitate the management and control of an airspace, the aviation management system divides the controlled airspace into a plurality of element sectors, and the element sectors are inseparable minimum sectors; in the airspace management, adjacent meta-sectors may be composed as sectors managed by an airspace manager. When the complexity of the sector changes due to flight planning, weather conditions and the like, the sector needs to be adjusted correspondingly; the complexity of the aforementioned sectors is determined based on the operating conditions of the aircraft that occur in a certain sector and that will enter the sector in the future for some time.
Fig. 1 is a method for spatial domain dynamic management according to an embodiment. As shown in fig. 1, the method provided by the present embodiment includes steps S101-S106.
S101: and obtaining the evaluation factors of each sector in the airspace.
It should be noted that the evaluation factor of a sector includes at least two uncorrelated evaluation indicators, each of which may be determined based on the operating state of the aircraft within the sector and the operating state of the aircraft entering the sector for a future period of time.
According to practical management and control experience, the evaluation indexes which can be used as evaluation factors comprise the number of aircrafts in a sector, the density of aircrafts in a sector, the horizontal proximity of aircrafts, the vertical proximity of aircrafts, the deviation of ground speed of aircrafts, the average handling speed of aircrafts, the number of aircraft pairs crossed by flight tracks, a mixed coefficient of level flight/climb/descent aircrafts, a heading disorder degree, a low-speed disorder degree, an aircraft separation coefficient, an aircraft convergence coefficient, a separation change sensitivity coefficient, a convergence change sensitivity coefficient, a separation change tardive coefficient, a convergence change tardive coefficient, an aircraft-to-collision perception coefficient keeping vertical intervals, an aircraft-to-collision perception coefficient not keeping vertical intervals and the space capacity of an airspace sector.
In the above evaluation indexes, some evaluation indexes have a large influence on the complexity of the sector, and some evaluation indexes have a small influence on the complexity of the sector; in practical application, corresponding evaluation indexes can be selected according to the precision grade required to be achieved; for example, since most civil aircraft travel speeds are within a certain range, speed-related parameters such as variance of the aircraft ground speed may not be considered.
In addition, there may be a correlation between the above-mentioned evaluation indexes, and in the data preparation process, it may also be determined that some evaluation indexes are autovariate evaluation indexes by using a corresponding algorithm such as a genetic algorithm, some evaluation indexes are dependent variable evaluation indexes, and only the autovariate evaluation indexes are used to form the evaluation factors.
In a specific application, the number of aircraft and the climbing and descending of the aircraft are main factors influencing the workload of a controller, so that the number of aircraft in the current time period, the number of aircraft in a climbing/descending state in a sector and the number of aircraft entering the sector in a future period of time can be used as evaluation indexes to form evaluation factors of each sector.
S102: and calculating a strictly monotonous fitting main curve according to the evaluation factors of each sector.
S103: and determining the complexity of each sector according to the fitted main curve and the evaluation factors of each sector.
The strictly monotonous fitting main curve mentioned in step S102 is a main curve which can fit the distribution of the evaluation factors of the respective sectors to the maximum extent and has a strictly monotonously increasing or decreasing characteristic.
Correspondingly, the perpendicular point of the evaluation factor of each sector on the fitted main curve can reflect the complexity state of each sector. The relative position relationship of different vertical points on the fitting main curve can reflect the difference of the complexity of different sectors.
In steps S102 and S103, an unsupervised ranking concept is actually adopted, the complexity of each sector is ranked by using monotonicity of a fitted main curve with strict monotonicity, and the complexity of each sector is reflected at a perpendicular point of the fitted main curve by using each sector evaluation factor.
In a specific application of the embodiments of the present description, a cubic bezier curve is used as the strictly monotonic fitting main curve. From the related patent literature, bezier curves are known to have linear and non-linear containment, smoothness, scale invariance and translation invariance. The strict monotonicity of the Bezier curve can be realized by reasonably controlling the middle control point of the Bezier curve, so that the Bezier curve can be used as a main curve for realizing sector complexity sequencing.
Referring to the related tool books, the formula of the K-th order Bezier curve is
s∈[0,1]Wherein p isrIs the control point of the bezier curve,
is a Bernstein polynomial.
Accordingly, in the case where the fitting main curve is a cubic bezier curve, the formula of the fitting main weight is f(s) -PMz.
α being of various dimensionsData monotonicity index, 1 represents that the numerical value of the dimension is larger and the sample score is higher, and-1 represents that the numerical value of the dimension is smaller and the sample score is lower. p is a radical of1,p2Two sample points are selected from the normalized sample data as initial values immediately after initialization.
Z＝(z1,z2,…,zn) Wherein
s＝(s1,s2,…,sn)，si∈[0,1]And i is 1,2, … … n, and n is the number of evaluation indexes in the evaluation factors.
It should be noted that, in order to adapt to the range determined by the control point in the cubic bezier curve, in the embodiment of the present specification, before calculating a strictly monotonic fitted main curve by actually using the evaluation factor, the simplification processing is performed on each evaluation index in the evaluation factor.
For the cubic Bezier curve, after initialization is completed, iterative updating can be performed on the control point P, a sample score s is calculated according to the distance from each evaluation point to the main curve and the distance from the falling point on the main curve to the end point of the main curve, and the following formula is adopted
Calculate the control point for the next iteration, where D is the problem preset condition, is (MZ)(t))(MZ(t))TThe L2 norm value of each column of (a) is a diagonal matrix of diagonal elements, γ(t)Is to ensure P(t)Converged scalar values, usually in the form of a Matrix (MZ)(t))(MZ(t))TThe inverse of the average of the maximum eigenvalue and minimum eigenvalue of (2). After a plurality of iterations, the distance sum of all the sample points to the main curve reaches the maximumAfter a small value, the fitted master curve can be determined.
And then, making a perpendicular line to the fitting main curve by using the evaluation factors of each sector, finding out corresponding points on the fitting curve, and determining the complexity of each sector according to the positions of the corresponding points on the fitting main curve.
In other embodiments of the present disclosure, the fitted main curve may be other fitted main curves that can satisfy strict monotony, such as a polynomial curve.
S104: and on the premise of ensuring that the accumulated complexity after combination is within the range of the threshold interval, combining the sectors with the complexity equal to the lower limit value of the threshold interval to form a new sector.
The threshold interval is a reasonable sector complexity interval, which includes a lower threshold interval value and an upper threshold interval value.
In this embodiment of the present description, sectors with complexity lower than the lower limit of the threshold interval are merged with adjacent sectors to form a new sector, and an ant colony algorithm may be adopted to gradually merge with adjacent sectors from one sector until the complexity of the merged sector is within the threshold interval.
The specific process of using the ant colony algorithm may be as follows: for each period, calculating the probability that the adjacent sector j is selected from a sector i with complexity lower than the lower limit value of the threshold interval each time
η in the above formulaijRepresenting heuristic information, ηijThe method is a complexity estimation value after the sectors are combined at present and is considered as a result of the prior addition and summation of the complexity of the combined sectors in an estimation stage, T (i, j) is the pheromone after a certain cycle, and α and β are pheromone important factors and heuristic information factors respectively.
In each cycle, T (i, j) ═ 1-rho T (i, j) + DeltaT (i, j), where rho is the volatilization rate of pheromone, and DeltaT (i, j) ═ Lij/∑Lik)(1-Sj/∑Sk)，Lij/∑LikRepresents node i to the nextThe ratio of the distance of node j to the sum of the distances from node i to all the selectable nodes selected next, 1-Sj/∑ SkRepresenting the probability 1 minus the complexity of node j versus the next total selectable node complexity score. And when all cycles of the period are completed, selecting the sector with the front probability in the adjacent sectors until the accumulated complexity is within the range of the threshold interval.
Of course, other methods, such as other optimal solution algorithms, may be used in the embodiments of the present disclosure until all possible sectors located at the lower limit of the threshold interval are merged.
In addition, it should be noted that, in the present embodiment, not all sectors located at the lower limit value of the threshold interval are necessarily merged with other sectors.
S105: the foregoing steps S101 to S104 are repeatedly performed until at least the preset ratio or the complexity of the preset number of sectors is within the threshold range, and the sector at this time is set as the sector adjustment plan.
It should be noted that the complexity of the sector in step S105 refers to the complexity mentioned in step S103. The aforementioned preset ratio or the preset number is set in advance according to empirical data.
S106: and adjusting the sectors of the airspace according to the sector adjustment plan.
According to the foregoing analysis, the spatial domain dynamic management method provided in the embodiment of the present specification determines the complexity of each sector by fitting a main curve, and when the complexity of some sectors is lower than the lower limit value of the threshold interval, the sectors are subsequently merged until the complexity of the sectors is within the range of the threshold interval. Sectors within the threshold interval are not adjusted, thus still allowing regulators of such sectors to still deal with the airspace with which they are familiar; that is, the airspace dynamic management method provided in the embodiments of the present specification can merge sectors whose complexity is lower than the threshold interval, and adjust the sectors, so that the complexity of each sector is as consistent as possible.
Based on the airspace dynamic management method provided by the foregoing embodiment, other embodiments of the present invention are improved correspondingly. In the foregoing embodiment, the threshold interval is a constant interval, and the lower limit value and the upper limit value are artificially set; in other embodiments, the threshold interval may also be a variable interval. The threshold value section is a variable section, and means that the threshold value section is not set in advance but is determined by another method.
In a specific application of the embodiments of the present specification, in order to more objectively determine the complexity of each finally determined sector, the present specification employs a variable threshold interval. Specifically, in step S101, the evaluation factors of the virtual sectors that satisfy the reasonable working strength are obtained while the evaluation factors of the sectors are obtained (the virtual sector is a non-real sector set according to the normal working strength, and certainly in practical applications, the evaluation factors of some real sectors may be similar to the evaluation factors of the virtual sectors); subsequently, in step S102, obtaining a strictly monotonous fitted main curve according to the evaluation factor of each sector specifically includes: obtaining a strict fitting main curve according to the evaluation factors of each sector and the evaluation factors of the virtual sectors meeting the reasonable working intensity; correspondingly, when determining the complexity of each sector according to the fitted main curve and the evaluation factor of each sector in step S103, the method further includes determining the complexity of the virtual sector according to the fitted main curve and the evaluation factor of the virtual sector. Correspondingly, the range of the threshold interval is determined according to the complexity of the virtual sector, that is, the complexity of two reasonable virtual sectors is used as the lower limit value and the upper limit value of the threshold interval.
It can be expected that the virtual sector with reasonable working strength is adopted to determine the threshold interval, so that the complexity of finally determining the sector can be determined more objectively subsequently, and the working strength of each sector is more reasonable.
The foregoing embodiment only considers the problem that the complexity is below and in the threshold interval, but in practical application, there may be a problem that the complexity of the sector is above the threshold interval; while complexity above the threshold interval makes policers for certain sectors too heavy. To solve the foregoing problems, the present embodiment solves the problems by: in step S105, the method includes, in addition to merging a sector having a complexity lower than the lower limit of the threshold interval with an adjacent sector to form a new sector: the sectors with the complexity higher than the upper limit value of the threshold interval are disassembled into element sectors; subsequently, in the process of performing the loop of steps S101 to S104, the sectors split into the meta-sectors may be merged with other sectors to form new sectors again.
In practical application, in order to ensure that the aircraft does not enter a certain sector again after flying out of the sector, each sector should be set to be a convex polygon. In order to meet the practical application requirement, in this embodiment, the step of merging sectors with complexity lower than the lower limit of the threshold interval to form a new sector includes: combining sectors with complexity lower than the lower limit of the threshold interval to form sectors to be evaluated; and under the condition that the sector to be evaluated is a convex polygon, taking the sector to be evaluated as a new sector.
In specific application, the methods for determining whether the sector to be evaluated is a convex polygon include the following methods.
1. Acquiring boundary points of each sector forming a sector to be evaluated;
determining boundary points of the sectors to be evaluated according to the topological relation of each sector forming the sectors to be evaluated;
and under the condition that other boundary points of the sector to be evaluated are determined to be on the same side of any two adjacent boundary points, taking the sector to be evaluated as a convex polygon.
2. Boundary points of each sector forming the sector to be evaluated are obtained.
And determining the boundary point of the sector to be evaluated according to the topological relation of each sector forming the sector to be evaluated.
Optionally a boundary point (label A)i) Selecting a boundary point (mark A) spaced from the boundary pointi+2) Find AiAi+2The expression of (c) is kx + b.
Calculating di＝∏(kxi+b-yi)。
If d isiAnd when the evaluation value is more than or equal to 0, taking the sector to be evaluated as a convex polygon.
In addition to providing the aforementioned airspace management method, an embodiment of the present specification further provides an airspace dynamic management apparatus. Since the management device and the airspace dynamic management method adopt the same inventive concept, only the structure of the airspace adjustment device is analyzed hereinafter, and the corresponding technical effects can be seen from the foregoing description.
Fig. 2 is a schematic structural diagram of a spatial domain dynamic management apparatus according to an embodiment. As shown in fig. 2, the airspace dynamic management apparatus includes an evaluation factor obtaining module 11, a fitting curve calculating module 12, a complexity calculating module 13, a sector adjusting module 14, an adjustment plan determining module 15, and an adjustment executing module 16.
The evaluation factor acquisition module 11 is configured to acquire evaluation factors of each sector in an airspace; the evaluation factor comprises at least two unrelated evaluation indexes; the evaluation index is determined according to the running state of the aircraft in the sector and/or the running state of the aircraft entering the sector within preset time;
the fitting curve calculation module 12 calculates a strictly monotonous fitting main curve according to the evaluation factor of each sector;
the complexity calculating module 13 is configured to determine the complexity of each sector according to the fitted main curve and the evaluation factor of each sector;
the sector adjusting module 14 is configured to combine sectors with complexity lower than a lower limit value of a threshold interval to form a new sector on the premise that it is ensured that the complexity accumulated after combination is within the range of the threshold interval;
the adjustment plan determining module 15 is configured to set, as a sector adjustment plan, a sector at a time when at least a preset ratio or complexity of a preset number of sectors is within the threshold range after the cyclic calculation of the foregoing module for multiple times;
the adjustment execution module 16 is configured to adjust the sectors in the airspace according to the sector adjustment plan.
In a specific application, the sector adjusting module 14 is further configured to: the sectors with the complexity higher than the upper limit value of the threshold interval are disassembled into element sectors; and the minimum sector preset in the metasector space.
In a specific application, the evaluation factor obtaining module 11 is further configured to obtain an evaluation factor of a virtual sector that meets reasonable working strength; the fitting curve calculation module 12: obtaining a strictly monotonous fitting main curve according to the evaluation factors of each sector and the evaluation factors of the virtual sectors meeting the reasonable working intensity; the complexity calculating module 13 is further configured to determine the complexity of the virtual sector; the range of the threshold interval is determined according to the complexity of the virtual sector.
In a specific application, the sector adjusting module 14 specifically includes: merging sectors with complexity lower than the lower limit value of the threshold interval to form a new sector, wherein the merging process comprises the following steps: combining sectors with complexity lower than the lower limit value of the threshold interval to form sectors to be evaluated; and taking the sector to be evaluated as a new sector under the condition that the sector to be evaluated is a convex polygon.
In one application, the method for determining whether the sector to be evaluated is a convex polygon comprises the following steps: acquiring boundary points of each sector forming a sector to be evaluated; determining boundary points of the sectors to be evaluated according to the topological relation of each sector forming the sectors to be evaluated; and under the condition that other boundary points of the sector to be evaluated are on the same side of any two adjacent boundary points, determining that the sector to be evaluated is convex deformation.
In one application, the strictly monotonic fitting master curve is a third order bezier curve;
the step of the fitted curve calculation module 12 determining the final fitted master curve comprises: initializing and iterating the middle control point of the third-order Bezier curve until the score value determined according to the distance between each evaluation factor and the Bezier curve is minimum;
and taking the finally determined third-order Bezier curve as the fitting main curve.
In one application, the sector adjusting module 14 employs an ant colony algorithm, and combines a sector with a complexity lower than the lower limit of the threshold interval with an adjacent sector to form a new sector on the premise that the complexity accumulated after combination is within the range of the threshold interval.
In addition to providing the aforementioned airspace dynamic management method and apparatus, an embodiment of the present specification further provides a storage medium, in which a program code for implementing the aforementioned management method is stored, and when the program code is loaded by an electronic device, the aforementioned airspace dynamic management method is executed.
The embodiment of the specification also provides electronic equipment. The electronic equipment comprises a memory and a processor, wherein the memory stores program codes for realizing the management method in a storage medium, and the processor executes the airspace dynamic management method after loading the codes in the memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention.
Claims (10)
1. A method for dynamically managing airspace, comprising:
obtaining evaluation factors of each sector in an airspace; the evaluation factor comprises at least two unrelated evaluation indexes; the evaluation index is determined according to the running state of the aircraft in the sector and/or the running state of the aircraft entering the sector within preset time;
calculating a strictly monotonous fitting main curve according to the evaluation factors of each sector;
determining the complexity of each sector according to the fitted main curve and the evaluation factors of each sector;
on the premise of ensuring that the complexity accumulated after combination is within the range of the threshold interval, combining the sectors with the complexity lower than the lower limit value of the threshold interval to form a new sector;
repeatedly executing the steps until the complexity of at least a preset ratio or a preset number of sectors is within the threshold range; setting the current sector as a sector adjustment plan;
and adjusting the sectors in the airspace according to the sector adjustment plan.
2. The method for managing according to claim 1, wherein, while merging sectors with complexity lower than a lower limit of a threshold interval to form a new sector, the method further comprises:
the sectors with the complexity higher than the upper limit value of the threshold interval are disassembled into element sectors; the metasector is a minimum sector preset in an airspace.
3. The method according to claim 1 or 2, wherein merging sectors with complexity lower than the lower limit of the threshold interval to form a new sector comprises:
combining sectors with complexity lower than the lower limit value of the threshold interval to form sectors to be evaluated;
and taking the sector to be evaluated as a new sector under the condition that the sector to be evaluated is a convex polygon.
4. The method according to claim 3, wherein in a case where the sector to be evaluated is a convex polygon, taking the sector to be evaluated as a new sector comprises:
acquiring boundary points of each sector forming a sector to be evaluated;
determining boundary points of the sectors to be evaluated according to the topological relation of each sector forming the sectors to be evaluated;
and under the condition that other boundary points of the sector to be evaluated are determined to be on the same side of any two adjacent boundary points, taking the sector to be evaluated as a new sector.
5. The management method according to claim 1,
further comprising: obtaining an evaluation factor of the virtual sector meeting reasonable working strength;
the obtaining of the strictly monotonous fitting main curve according to the evaluation factors of each sector includes: obtaining a strictly monotonous fitting main curve according to the evaluation factors of each sector and the evaluation factors of the virtual sectors meeting the reasonable working intensity;
determining the complexity of each sector according to the fitted main curve and the evaluation factors of each sector, and further comprising: determining the complexity of the virtual sector;
the range of the threshold interval is determined according to the complexity of the virtual sector.
6. The management method according to claim 1 or 2, characterized in that said strictly monotonic fitting main curve is a third order bezier curve;
the obtaining of the strictly monotonous fitting main curve according to the evaluation factors of each sector includes:
initializing and iterating the middle control point of the third-order Bezier curve until the score value determined according to the distance between each evaluation factor and the Bezier curve is minimum;
and taking the finally determined third-order Bezier curve as the fitting main curve.
7. The management method according to claim 1 or 2, wherein an ant colony algorithm is adopted, and on the premise that the complexity accumulated after the merging is within the range of the threshold interval, the sector with the complexity lower than the lower limit value of the threshold interval is merged with the adjacent sector to form a new sector.
8. An airspace dynamic management device, comprising:
the evaluation factor acquisition module is used for acquiring the evaluation factors of all sectors in the airspace; the evaluation factor comprises at least two unrelated evaluation indexes; the evaluation index is determined according to the running state of the aircraft in the sector and/or the running state of the aircraft entering the sector within preset time;
the fitting curve calculation module is used for calculating a strictly monotonous fitting main curve according to the evaluation factors of all the sectors;
the complexity calculation module is used for determining the complexity of each sector according to the fitted main curve and the evaluation factors of each sector;
the sector adjusting module is used for merging the sectors with the complexity lower than the lower limit value of the threshold interval to form a new sector on the premise of ensuring that the complexity accumulated after merging is within the range of the threshold interval;
the adjustment plan determining module is used for setting the current sector as a sector adjustment plan when at least the preset ratio or the complexity of the preset number of sectors is within the threshold range after the cyclic calculation of the modules for multiple times;
and the adjustment execution module is used for adjusting the sectors in the airspace according to the sector adjustment plan.
9. The management apparatus according to claim 8,
the sector adjustment module is further configured to: the sectors with the complexity higher than the upper limit value of the threshold interval are disassembled into element sectors; the metasector is a minimum sector preset in an airspace.
10. The management apparatus according to claim 8,
the evaluation factor acquisition module is also used for acquiring the evaluation factors of the virtual sectors meeting the reasonable working intensity;
the fitting curve calculation module obtains a strictly monotonous fitting main curve according to the evaluation factors of all the sectors and the evaluation factors of the virtual sectors meeting the reasonable working intensity;
the complexity calculating module is further configured to determine the complexity of the virtual sector;
the range of the threshold interval is determined according to the complexity of the virtual sector.
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