CN112650274A - Standard unmanned aerial vehicle airspace visualization model based on three-dimensional grid - Google Patents
Standard unmanned aerial vehicle airspace visualization model based on three-dimensional grid Download PDFInfo
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Abstract
The invention discloses a three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model, which comprises a central control system, wherein the input end of the central control system is connected with the output end of a grid coding module, and the input end of the grid coding module is connected with the output end of a grid division module. This standard unmanned aerial vehicle airspace visual model based on three-dimensional grid, through designing a reasonable unmanned aerial vehicle airspace visual model, form less flight interval and airline deviation, not only can reduce the conflict between unmanned aerial vehicle aircraft each other, when guide unmanned aerial vehicle flight activity goes on in order, guarantee unmanned aerial vehicle flight activity safety, improve unmanned aerial vehicle isolation airspace utilization ratio, through constructing standard three-dimensional grid airspace model, establish a virtual isolation system for each unmanned aerial vehicle, when unmanned aerial vehicle in different grids is not disturbed, furthest utilizes limited airspace.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a three-dimensional grid-based standard unmanned aerial vehicle space visualization model.
Background
Unmanned aircraft, commonly known as: unmanned planes, unmanned aerial vehicles, unmanned combat aircrafts, and bee-type machines; the unmanned aerial vehicle can be divided into military and civil aspects according to the application field, the unmanned aerial vehicle is divided into a reconnaissance plane and a target plane, and the civil aspect, the unmanned aerial vehicle and the industry application are really just needed by the unmanned aerial vehicle; at present, the application in the fields of aerial photography, agriculture, plant protection, miniature autodyne, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news report, power patrol, disaster relief, movie shooting, romantic manufacturing and the like greatly expands the application of the unmanned aerial vehicle, developed countries actively expand the industrial application and develop the unmanned aerial vehicle technology, visual modeling is a method for organizing a thinking problem of a model by using a real idea, the model is useful for understanding the problem, communicating with everyone (client, industry expert, analyst, designer and the like) related to a project, simulating an enterprise flow, preparing documents, designing programs and a database, modeling promotes better understanding of requirements, clearer design and easier maintenance of a system, and the visual modeling is a process for describing the developed system in a graph mode, visual modeling allows you to present the necessary details of a complex problem, filtering unnecessary details, and it also provides a mechanism to view the developed system from a different perspective.
The general aviation industry of china has entered high-speed development phase, and the navigation aircraft especially unmanned aerial vehicle is the fast growth situation, and along with the increase of unmanned aerial vehicle and the sharp increase of unmanned aerial vehicle flight activity, air traffic flow must also constantly increase, has aggravated the burden of low latitude airspace flow management, for low latitude flight activity safety brings the hidden danger, has also reduced the utilization ratio in unmanned aerial vehicle flyable airspace.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a standard unmanned aerial vehicle airspace visualization model based on a three-dimensional grid, and solves the problems that the air traffic flow is continuously increased, the burden of low-altitude airspace flow management is increased, hidden dangers are brought to low-altitude flight activity safety, and the utilization rate of a flyable airspace of an unmanned aerial vehicle is reduced.
In order to achieve the purpose, the invention is realized by the following technical scheme: a three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model comprises a central control system, wherein the input end of the central control system is connected with the output end of a grid coding module, the input end of the grid coding module is connected with the output end of a grid dividing module, the input end of the grid dividing module is connected with the output end of a three-dimensional grid size establishing module, the input end of the central control system is connected with the output end of a flight plan range grid establishing module, the input end of the central control system is connected with the output end of a failure grid confirming module, the input end of the central control system is connected with the output end of a flight parameter data receiving module, the central control system is in bidirectional connection with a grid coordinate recording module, and the central control system is in bidirectional connection with a grid state recording module, the output end of the central control system is connected with the input end of the grid locking module, and the output end of the central control system is connected with the input end of the grid unlocking module.
Preferably, the grid coding module mainly comprises a navigable area type code, a high-level sequence number code and a transverse sequence number code.
Preferably, the central control system is in bidirectional connection with the large database, and the central control system is in bidirectional connection with the grid real-time monitoring module.
Preferably, the failure grid confirmation module includes a processing center, and an input end of the processing center is connected to an output end of the temporary flight forbidden zone range acquisition module.
Preferably, the output end of the processing center is connected with the input end of the failure grid setting module, and the input end of the processing center is connected with the output end of the result output module.
Preferably, the processing center is in bidirectional connection with the analysis module, and the output end of the analysis module is connected with the input end of the result output module.
Preferably, the flight plan range grid establishing module comprises a flight plan range submitting module, and an output end of the flight plan range submitting module is connected with an input end of the airline crossing grid computing module.
Preferably, the output end of the route crossing grid computing module is connected with the input end of the grid serial number estimation module, and the output end of the route crossing grid computing module is connected with the input end of the grid time estimation module.
Preferably, the output end of the grid sequence number estimation module is connected with the input end of the conflict judgment module, and the output end of the grid time estimation module is connected with the input end of the conflict judgment module.
Preferably, the method for establishing the standard unmanned aerial vehicle airspace visualization model based on the three-dimensional grid specifically comprises the following steps:
s1, firstly, determining the size of a three-dimensional grid, setting the length L, the width W and the height H of the grid based on the unmanned aerial vehicle spacing standard, and determining the unique serial number of the grid by the principle that the distance between unmanned aerial vehicles in adjacent grids is not less than the specified unmanned aerial vehicle spacing standard, then creating the three-dimensional grid through a three-dimensional grid size creating module, dividing the created grid through a grid dividing module, dividing an unmanned aerial vehicle airworthiness area into grids according to the determined grid size, dividing the unmanned aerial vehicle airworthiness area into grids from low to high in sequence from left to right in the longitude and latitude direction, and temporarily ignoring the edge which is less than one space grid;
s2, establishing a unique three-dimensional grid code for each grid in the previous step, sequentially coding from left to right according to the longitude and latitude directions from low to high through a grid coding module, wherein the code adopts a standard coding format, and the coding comprises four code segments including a navigable region type code, a height layer sequence number code and a transverse sequence number code, and at least 51 decimal digital characters, for example, Y01H000001L00 x 01 represents a transverse first grid with the height layer sequence number of 1;
s3, a grid coordinate recording module is used for recording grid coordinates, a grid state recording module is used for recording grid states, eight vertex coordinates and center point coordinates of each grid are recorded, the initial states of all the grids are activated available states, information of a temporary flight forbidden region is obtained through a temporary flight forbidden region range obtaining module and is set by a local air traffic control department or a government agency due to safety requirements, the information is transmitted to a processing center, the processing center needs to analyze the temporary flight forbidden region range and the current three-dimensional grid through an analysis module, a result output module outputs a result, affected grids are judged, the state of the affected grids is set to be a failure state through a failure grid setting module, the failed grids do not allow the unmanned aerial vehicle to fly, and only the grids in the activated states allow the unmanned aerial vehicle to fly;
s4, in a flight plan range grid establishing module, a flight path crossing grid calculating module calculates the flight path crossing grid of the unmanned aerial vehicle through the flight plan range submitted by the user, a grid sequence number estimating module estimates the grid sequence number passed by the flight plan range of the unmanned aerial vehicle based on the flight plan and the planned range submitted by the user, a grid time estimating module estimates the time of the grid in which the flight plan range of the unmanned aerial vehicle is positioned, when different users submit flight plans, the conflict can be judged by a conflict judging module based on the grid, when the unmanned aerial vehicle flies, a system receives flight parameter data returned by a flight parameter data receiving module based on a data chain in real time, calculates the current grid, sets the grid to be in a locking state through a grid locking module, the grid in the locking state is not entered by other unmanned aerial vehicles temporarily, when the unmanned aerial vehicle leaves a certain grid in the flight, and when no other unmanned aerial vehicle enters, the grid unlocking module unlocks the grid, the grid in an unlocking state can be entered by the flight of other unmanned aerial vehicles, and meanwhile, the grid real-time monitoring module can monitor the whole three-dimensional grid.
Advantageous effects
The invention provides a three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model. Compared with the prior art, the method has the following beneficial effects: the standard unmanned aerial vehicle airspace visualization model based on the three-dimensional grid is characterized in that the input end of a central control system is connected with the output end of a grid coding module, the input end of the grid coding module is connected with the output end of a grid dividing module, the input end of the grid dividing module is connected with the output end of a three-dimensional grid size establishing module, the input end of the central control system is connected with the output end of a flight plan range grid establishing module, the input end of the central control system is connected with the output end of a failure grid confirming module, the input end of the central control system is connected with the output end of a flight parameter data receiving module, the central control system is in bidirectional connection with a grid coordinate recording module, the central control system is in bidirectional connection with a grid state recording module, and the output end of the central control system is connected with the, and the output of central control system is connected with the input of net unblock module, through designing a reasonable unmanned aerial vehicle airspace visual model, form less flight interval and air route deviation, not only can reduce the conflict between unmanned aerial vehicle aircraft each other, when the guide unmanned aerial vehicle flight activity goes on in order, guarantee unmanned aerial vehicle flight activity safety, improve unmanned aerial vehicle isolation airspace utilization ratio, through constructing standard three-dimensional net airspace model, establish a virtual isolation system for each unmanned aerial vehicle, when unmanned aerial vehicle in different grids is not disturbed, furthest utilizes limited airspace.
Drawings
FIG. 1 is a schematic block diagram of the architecture of the system of the present invention;
FIG. 2 is a block diagram of the structural principles of a failed grid validation module of the present invention;
fig. 3 is a schematic block diagram of the structure of the flight planning range grid establishing module according to the present invention.
In the figure: 1-a central control system, 2-a grid coding module, 3-a grid dividing module, 4-a three-dimensional grid size creating module, 5-a flight plan range grid establishing module, 51-a flight plan range submitting module, 52-a flight path crossing grid calculating module, 53-a grid sequence number estimating module, 54-a grid time estimating module, 55-a conflict judging module, 6-a failure grid confirming module, 61-a processing center, 62-a temporary flight forbidden region range acquiring module, 63-a failure grid setting module, 64-a result outputting module, 65-an analyzing module, 7-a flight parameter data receiving module, 8-a grid coordinate recording module, 9-a grid state recording module, 10-a grid locking module, a grid size establishing module, a flight plan range grid establishing module, a flight plan range determining module, a flight plan range submitting module, a, 11-a grid unlocking module, 12-a large database and 13-a grid real-time monitoring module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a standard unmanned aerial vehicle airspace visualization model based on three-dimensional grids comprises a central control system 1, wherein the input end of the central control system 1 is connected with the output end of a grid coding module 2, the input end of the grid coding module 2 is connected with the output end of a grid dividing module 3, the input end of the grid dividing module 3 is connected with the output end of a three-dimensional grid size creating module 4, the input end of the central control system 1 is connected with the output end of a flight plan range grid establishing module 5, the input end of the central control system 1 is connected with the output end of a failure grid confirming module 6, the input end of the central control system 1 is connected with the output end of a flight parameter data receiving module 7, the central control system 1 is bidirectionally connected with a grid coordinate recording module 8, and the central control system 1 is bidirectionally connected with a grid state recording module 9, the output of the central control system 1 is connected to the input of the grid lock module 10 and the output of the central control system 1 is connected to the input of the grid unlock module 11.
In the invention, the grid coding module 2 mainly comprises a seaworthy region type code, a high-level sequence number code and a transverse sequence number code.
In the invention, the central control system 1 is bidirectionally connected with the big database 12, and the central control system 1 is bidirectionally connected with the grid real-time monitoring module 13.
In the present invention, the failure mesh confirmation module 6 includes a processing center 61, an input end of the processing center 61 is connected to an output end of the temporary flight forbidden zone range acquisition module 62, and an output end of the processing center 61 is connected to an input end of the failure mesh setting module 63.
In the present invention, the input end of the processing center 61 is connected to the output end of the result output module 64, the processing center 61 is bidirectionally connected to the analysis module 65, and the output end of the analysis module 65 is connected to the input end of the result output module 64.
In the present invention, the flight plan range grid establishing module 5 includes a flight plan range submitting module 51, and an output end of the flight plan range submitting module 51 is connected to an input end of the airline crossing grid calculating module 52.
In the present invention, the output of the lane crossing grid calculation module 52 is connected to the input of the grid sequence number estimation module 53, and the output of the lane crossing grid calculation module 52 is connected to the input of the grid time estimation module 54.
In the present invention, the output terminal of the grid sequence number estimation module 53 is connected to the input terminal of the conflict judgment module 55, and the output terminal of the grid time estimation module 54 is connected to the input terminal of the conflict judgment module 55.
The invention discloses a method for establishing a three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model, which specifically comprises the following steps:
s1, firstly, determining the size of a three-dimensional grid, setting the length L, the width W and the height H of the grid based on the unmanned aerial vehicle spacing standard, and determining that the distance between unmanned aerial vehicles in adjacent grids is not less than the specified unmanned aerial vehicle spacing standard, then creating the three-dimensional grid through a three-dimensional grid size creating module 4, dividing the created grid through a grid dividing module 3, determining the unique serial number of the grid, dividing the unmanned aerial vehicle airworthiness area into grids according to the determined grid size, dividing the grids from left to right in sequence according to the longitude and latitude direction from low to high according to the height layer, wherein the edge is less than one spatial grid and can be ignored temporarily;
s2, determining a unique three-dimensional grid code for each grid in the previous step, sequentially coding from left to right according to the longitude and latitude directions from low to high through a grid coding module 2, wherein the code adopts a standard coding format, 3 bits are coded in a navigable area type, an indication bit is Y, 6 bits are coded in a height layer sequence number, the indication bit is H, 32 bits are coded in a transverse sequence number, the coding can be automatically increased, the indication bit is L, and the indication bit is formed by at least 51 decimal digital characters in four code segments, such as Y01H000001L00 x 01, which represents a transverse first grid with the height layer sequence number of 1;
s3, a grid coordinate recording module 8 is used for recording grid coordinates, a grid state recording module 9 is used for recording grid states, eight vertex coordinates and center point coordinates of each grid are recorded, the initial states of all the grids are activated available states, information of a temporary flight forbidden region planned by a local air traffic control department or a government organization due to safety requirements is acquired through a temporary flight forbidden region range acquisition module 62 and transmitted to a processing center 61, the processing center 61 needs to analyze the temporary flight forbidden region range and a current three-dimensional grid through an analysis module 65, a result output module 64 outputs a result and judges affected grids, the state of the affected grids is set to be a failure state through a failure grid setting module 63, the failed grids do not allow the unmanned aerial vehicle to fly, and the unmanned aerial vehicle is allowed to fly only through the grids in the activated state;
s4, in the flight plan range grid establishing module 5, the flight path crossing grid calculating module 52 calculates the flight path crossing grid of the unmanned aerial vehicle through the flight plan range submitted by the user, the grid sequence number estimating module 53 estimates the grid sequence number passed by the flight plan range of the unmanned aerial vehicle based on the flight plan and the planned range submitted by the user, the grid time estimating module 54 estimates the time of the grid where the flight plan range of the unmanned aerial vehicle is located, when different users submit flight plans, the conflict can be judged by the conflict judging module 55 based on the grid, when the unmanned aerial vehicle flies, the system receives flight parameter data returned by the flight parameter data receiving module 7 based on the data chain in real time, calculates the current grid, the grid is set to be in a locking state through the grid locking module 10, the grid in the locking state is not entered by other unmanned aerial vehicles temporarily, when the unmanned aerial vehicle flies out of a certain grid, and when no other unmanned aerial vehicle enters, the grid unlocking module 11 unlocks the grid, the grid in an unlocking state can be flown by other unmanned aerial vehicles to enter, and meanwhile, the grid real-time monitoring module 13 monitors the whole three-dimensional grid.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a standard unmanned aerial vehicle airspace visualization model based on three-dimensional grid, includes central control system (1), its characterized in that: the input end of the central control system (1) is connected with the output end of the grid coding module (2), the input end of the grid coding module (2) is connected with the output end of the grid dividing module (3), the input end of the grid dividing module (3) is connected with the output end of the three-dimensional grid size establishing module (4), the input end of the central control system (1) is connected with the output end of the flight plan range grid establishing module (5), the input end of the central control system (1) is connected with the output end of the failure grid confirming module (6), the input end of the central control system (1) is connected with the output end of the flight parameter data receiving module (7), the central control system (1) is in bidirectional connection with the grid coordinate recording module (8), and the central control system (1) is in bidirectional connection with the grid state recording module (9), the output end of the central control system (1) is connected with the input end of the grid locking module (10), and the output end of the central control system (1) is connected with the input end of the grid unlocking module (11).
2. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to claim 1, wherein: the grid coding module (2) mainly comprises a navigable area type code, a high-level sequence number code and a transverse sequence number code.
3. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to claim 1, wherein: the central control system (1) is in bidirectional connection with the big database (12), and the central control system (1) is in bidirectional connection with the grid real-time monitoring module (13).
4. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to claim 1, wherein: the failure grid confirmation module (6) comprises a processing center (61), and the input end of the processing center (61) is connected with the output end of the temporary flight forbidden zone range acquisition module (62).
5. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to claim 4, wherein: the output of the processing center (61) is connected to the input of the failure grid setting module (63), and the input of the processing center (61) is connected to the output of the result output module (64).
6. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to claim 4, wherein: the processing center (61) is in bidirectional connection with the analysis module (65), and the output end of the analysis module (65) is connected with the input end of the result output module (64).
7. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to claim 1, wherein: the flight plan range grid establishing module (5) comprises a flight plan range submitting module (51), and the output end of the flight plan range submitting module (51) is connected with the input end of the route crossing grid computing module (52).
8. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to claim 7, wherein: the output end of the route crossing grid computing module (52) is connected with the input end of the grid serial number estimation module (53), and the output end of the route crossing grid computing module (52) is connected with the input end of the grid time estimation module (54).
9. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to claim 1, wherein: the output end of the grid serial number estimation module (53) is connected with the input end of the conflict judgment module (55), and the output end of the grid time estimation module (54) is connected with the input end of the conflict judgment module (55).
10. The three-dimensional grid-based standard unmanned aerial vehicle airspace visualization model according to any one of claims 1-9, wherein: the establishing method specifically comprises the following steps:
s1, firstly, determining the size of a three-dimensional grid, setting the length L, the width W and the height H of the grid based on the unmanned aerial vehicle spacing standard, and setting the length L, the width W and the height H of the grid based on the unmanned aerial vehicle spacing standard, wherein the principle is that the distance between unmanned aerial vehicles in adjacent grids is not less than the specified unmanned aerial vehicle spacing standard, then, the three-dimensional grid is created through a three-dimensional grid size creation module (4), then, the created grid is divided through a grid division module (3), the unique grid serial number is determined, the unmanned aerial vehicle airworthiness area is divided into grids according to the determined grid size, the unmanned aerial vehicle airworthiness area is divided according to the height layer from the low to;
s2, determining a unique three-dimensional grid code for each grid in the previous step, sequentially coding from left to right according to the longitude and latitude directions from low to high through a grid coding module (2), wherein the codes adopt a standard coding format, a navigability region type code (3 bits, an indication bit is Y), a height layer sequence number code (6 bits, an indication bit is H) and a transverse sequence number code (32 bits, which can be automatically increased and an indication bit is L) are formed by at least 51 decimal digital characters in total, and for example, Y01H000001L00 x 01 represents a transverse first grid with a height layer sequence number of 1;
s3, using a grid coordinate recording module (8) to record grid coordinates, using a grid state recording module (9) to record grid states, recording eight vertex coordinates and center point coordinates of each grid, wherein the initial states of all grids are activation available states, the information of the temporary flight forbidden zone is arranged by the local air traffic control department or government organization according to the safety requirement is obtained by a temporary flight forbidden zone range obtaining module (62), and transmits the information to a processing center (61), the processing center (61) needs to analyze the temporary flight forbidden zone range and the current three-dimensional grid through an analysis module (65), a result output module (64) outputs a result and judges the affected grid, the state of the unmanned aerial vehicle is set to be a failure state through a failure grid setting module (63), the unmanned aerial vehicle is not allowed to fly by the failure grid, and the unmanned aerial vehicle is allowed to fly only by the grid in an activation state;
s4, in a flight plan range grid establishing module (5), a flight path crossing grid calculating module (52) calculates a flight path crossing grid of the unmanned aerial vehicle through a flight plan range submitted by a user, a grid sequence number estimating module (53) estimates grid sequence numbers passed by the flight plan range of the unmanned aerial vehicle based on the flight plan and the plan range submitted by the user, a grid time estimating module (54) estimates the time of the grid in which the flight plan range of the unmanned aerial vehicle is located, when different users submit flight plans, conflicts can be judged by a conflict judging module (55) based on the grids, when the unmanned aerial vehicle flies, a system receives flight parameter data returned by a flight parameter data receiving module (7) in real time based on a data chain, calculates the grid in which the unmanned aerial vehicle is currently located, the grid is set to be in a locking state through a grid locking module (10), and the grid in the locked state is not entered by other unmanned aerial, when quitting from a certain grid in the flight of the unmanned aerial vehicle and when other unmanned aerial vehicles do not enter, the grid unlocking module (11) unlocks the grid, the grid in an unlocking state can be entered by the flight of other unmanned aerial vehicles, and meanwhile, the grid real-time monitoring module (13) can monitor the whole three-dimensional grid.
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| CN114282796A (en) * | 2021-12-21 | 2022-04-05 | 中国人民解放军93209部队 | Method for calculating collision risk probability by airplane safety envelope based on airspace grid |
| CN114355978A (en) * | 2022-01-06 | 2022-04-15 | 北京大唐永盛科技发展有限公司 | Unmanned aerial vehicle low-altitude flight management method |
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