CN114219911A - Airspace gridding modeling method based on stereo subdivision frame - Google Patents
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Abstract
The disclosed spatial domain gridding modeling method based on a stereo-partition frame divides an spatial domain and carries out grid coding based on the stereo-partition frame and a spatial domain subdivision element; combining the plane dimensional grid and the height dimensional grid of the space domain space grid code to obtain a space domain space grid subdivision code of the space domain space subdivision volume element; and aggregating the airspace space subdivision elements into different airspace space elements, and establishing the airspace space management three-dimensional grid map model based on the airspace space elements. Aiming at the existing airspace management requirements, an airspace management grid graph model is constructed, an airspace digital coding system is established, a unified expression of airspace spatial data types is formed, the problems that the airspace capacity requirement is contradictory and outstanding, the fine modeling is difficult and the airspace planning method is complex are promoted to be solved, and effective support is provided for the intellectualization and the universality of the airspace grid modeling.
Description
Technical Field
The invention relates to the technical field of airspace management based on geospatial information subdivision organization, in particular to an airspace gridding modeling method based on a three-dimensional subdivision frame.
Background
The airspace is any area and space on the earth surface which can provide the flight of the civil aircraft, and the airspace and the territory of the country are jointly used as strategic resources of the economic and social development of the country, can provide various uses such as public transportation, military flight, civil aviation activities and the like, and has extremely important significance and value for the economic and political national defense. With the recent year-by-year expansion of air traffic network flow in China, how to more reasonably and effectively configure and utilize airspace resources, a scientific overall planning and planning is carried out on the airspace economic development, and the maximization of the airspace economic use benefit is particularly important. Through investigation and understanding of the space domain division method and the current space domain modeling situation, the current space domain modeling method mainly has the following defects: the space domain requires the spear shield to be prominent, the fine modeling is difficult, and the space domain planning method is complex.
The lack of a standardized modeling framework in the airspace leads to the conflicting prominence of the airspace capacity requirement. The requirement of the space domain is not contradictory to the available space domain, but rather, the space domain lacks a standardized digital framework to realize more effective space domain resource allocation. The current civil aircraft flies only in a restricted local area, and areas lacking information and description modes are all regarded as no-fly areas. Therefore, how to establish a set of uniform framework for the airspace and accommodate the information of each element of the airspace so as to serve the planning of the airspace is a basic problem to be solved by current research.
The current spatial domain division method cannot perform refined modeling on small-scale areas. According to the current research situation of the current airspace division method and the flight area division method, the airspace division method cannot organize the three-dimensional geographic position identification, the spatial environment data and the dynamic flight information according to a spatial mode for a long time due to the lack of structural description. The current modeling mode for the boundary can not meet the high dynamic change of the airspace in the future, and the problem of unified modeling expression of the airspace boundary and the interior needs to be solved urgently.
The space division is more complex under the current space modeling method. The spatial domain planning involves a large number of targets, is high in timeliness, has extremely high requirements on the calculation efficiency, and needs a unified model to support the efficient calculation of spatial domain related application. In the planning of the flight area, the description methods of both the discretization grid and the geometric boundary face two problems, namely the accuracy of area description and the planning efficiency, and the current planning methods cannot well solve the two problems.
Disclosure of Invention
The invention provides a space domain gridding modeling method based on a three-dimensional subdivision frame, which aims at the existing space domain management requirements, constructs a three-dimensional grid graph model for space domain management, establishes a space domain digital coding system, and forms a unified expression of space domain space data types, thereby promoting the solution of the problems of outstanding space domain capacity and demand contradiction, difficult fine modeling and complex space domain planning method, and providing effective support for realizing the intellectualization and universality of space domain gridding modeling.
According to an aspect of the disclosure, a spatial domain gridding modeling method based on a stereo-dissection frame is provided, the method comprising:
subdividing the airspace space and carrying out grid coding on the airspace space based on the stereo subdivision frame and the airspace space subdivision volume element;
combining the plane dimensional grid and the height dimensional grid of the space domain space grid code to obtain a space domain space grid subdivision code of the space domain space subdivision volume element;
and aggregating the airspace space subdivision elements into different airspace space elements, and establishing the airspace space management three-dimensional grid map model based on the airspace space elements.
In one possible implementation, the spatial space subdivision element is a quadrilateral discretization grid.
In one possible implementation, the spatial space subdivision element and the spatial space grid subdivision code are mapped one to one.
In one possible implementation, the spatial space elements include point elements, line elements, and domain elements.
In one possible implementation, the building the spatial domain space management stereo grid map model based on the spatial domain space elements includes:
and when the spatial domain space element is a point element, establishing the spatial domain space management three-dimensional grid graph model based on the spatial domain space grid subdivision code of the subdivision body element of the spatial position of the point element and the entity attribute of the point element.
In one possible implementation, the building the spatial domain space management stereo grid map model based on the spatial domain space elements includes:
and when the airspace space element is a line element, establishing the airspace space management three-dimensional grid graph model based on the airspace space grid subdivision codes of the subdivision elements of the plurality of sampling points of the line element and the filling bodies among the plurality of sampling points.
In one possible implementation, the building the spatial domain space management stereo grid map model based on the spatial domain space elements includes:
and when the spatial domain space element is a domain element, establishing the spatial domain space management three-dimensional grid graph model based on the subdivision elements of a plurality of sampling points of the boundary region of the domain element and the spatial domain space grid subdivision codes of the subdivision elements of the internal filling region.
In one possible implementation, the establishing the spatial domain space management stereogram model based on the spatial domain space mesh subdivision codes of the subdivision elements of the plurality of sampling points of the line element and the filling bodies among the plurality of sampling points includes:
p1: determining the line element end point P0And P1Dividing the space domain space grid of the subdivision element at the space position;
p2: selecting an endpoint P0As a starting endpoint, according to endpoint P0And P1Determines the magnitude of Δ x, Δ y, Δ z, and sets the direction in which the linear distance difference is the largest as the end point P0To endpoint P1A main direction of stepping;
p3: according to the grid coordinate of the current point, the endpoint P0To endpoint P1Calculating the main stepping direction and the stepping step length to obtain the grid coordinate of the advancing point;
p4: judging whether the current advancing point is coincided with the target voxel or not, if not, taking the advancing point as a new reference voxel, and repeating P1-P4 until the advancing point is coincided with the target voxel; if so, executing step P5;
p5: and filling all the forward points into the grid sequence of the line elements in sequence, and establishing the spatial domain space management three-dimensional grid graph model based on all the forward points.
In a possible implementation manner, the establishing the spatial domain space management stereo mesh map model based on the spatial domain space mesh subdivision codes of the subdivision elements of the plurality of sampling points of the boundary region of the domain element and the subdivision elements of the internal filling region includes:
dividing the voxel sequence based on the boundary mesh, and randomly selecting one point of an internal filling area as an initial node of a mesh filling algorithm, wherein the point is a seed point;
with the seed point as a center, recursively calling a flood filling algorithm to fill the grids in the four adjacent domains of the seed point;
if the current filling grid is not a boundary grid voxel sequence and the current grid is not an internal grid voxel sequence, filling the current filling grid into the internal grid voxel sequence of the domain elements, and calculating the grid coordinates of four adjacent domains of the current filling grid by using a grid displacement algorithm;
and recursively calling a grid filling and flood filling algorithm by taking the new four-adjacent-domain grid as the current grid until the internal grid of the domain element is completely filled, and establishing the spatial domain space management three-dimensional grid graph model based on spatial domain grid subdivision codes of subdivision elements of the boundary region and the internal filling region of the domain element.
In one possible implementation, the point elements include a navigation station, a positioning point, and a position report point, and the line elements include: the system comprises an airway route and a flight program, wherein the domain elements comprise a flight information area, a control area and a special airspace.
The disclosed spatial domain gridding modeling method based on a stereo partition frame is characterized in that a spatial domain is partitioned and subjected to grid coding based on the stereo partition frame and a spatial domain partition voxel; combining the plane dimensional grid and the height dimensional grid of the space domain space grid code to obtain a space domain space grid subdivision code of the space domain space subdivision volume element; and aggregating the airspace space subdivision elements into different airspace space elements, and establishing the airspace space management three-dimensional grid map model based on the airspace space elements. Aiming at the existing airspace management requirements, an airspace management grid graph model is constructed, an airspace digital coding system is established, a unified expression of airspace spatial data types is formed, the problems that the airspace capacity requirement is contradictory and outstanding, the fine modeling is difficult and the airspace planning method is complex are promoted to be solved, and effective support is provided for realizing the intellectualization and the universality of the airspace grid modeling.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 shows a flow chart of a spatial domain meshing modeling method based on a stereo-dissection frame according to an embodiment of the present disclosure;
fig. 2 shows a schematic structural diagram of spatial-spatial mesh subdivision coding based on spatial-meshing modeling of a stereotomy frame according to an embodiment of the present disclosure;
FIG. 3 shows a modeling diagram of line elements for spatial meshing modeling based on a stereotactic frame according to an embodiment of the present disclosure;
FIG. 4 shows a flow chart of a spatial filling algorithm for a domain element based on spatial meshing modeling of a stereotactic frame according to an embodiment of the present disclosure;
fig. 5a and 5b respectively show filling modeling diagrams of domain elements of spatial domain meshing modeling based on a stereo-dissection frame according to an embodiment of the disclosure.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Fig. 1 shows a flowchart of a spatial domain meshing modeling method based on a stereo-dissection frame according to an embodiment of the present disclosure. The method can be used in links of airspace planning, airspace conflict detection and the like of surrounding space under the airspace space environment. As shown in fig. 1, the method may include:
step S1: and subdividing the airspace space and encoding the grids based on the three-dimensional subdivision frame and the airspace space subdivision volume element.
The subdivision frame can select GeoSOT-3D (global stereo subdivision reference grid system) as a scheme of space-domain environment gridding space-time modeling coding to establish the environment of a time-varying space-domain grid so as to establish an abstract environment model of a space domain. GeoSOT (geographic correlation subpartitioning grid with One dimension encoding on 2n-Tree based on 2n and integer One-dimensional array global longitude and latitude subdivision grids) is a multi-level global subdivision network with good inheritance to historical data, and is very suitable for airspace grid modeling. The spatial domain management grid graph model is a spatial domain digital grid framework which is constructed by taking a discretization grid as a basic unit of spatial domain expression. The design idea of the GeoSOT grid is consistent with that of spatial domain gridding modeling, and the GeoSOT grid is subjected to three times of geographic latitude and longitude expansion, namely, the earth is expanded to 512 degrees multiplied by 512 degrees, then 1 degree is expanded to 64 degrees, finally 1' is expanded to 64 degrees, and quartering processing is continuously performed, so that the integral and integral quadtree subdivision is realized. GeoSOT is a 32-layer global subdivision grid forming a multi-scale quad-tree quadrilateral grid up to the global plane (level 0) and down to the centimeter level (level 32).
The GeoSOT-3D adds height dimension information on the basis of the GeoSOT, and maps the height to 512 degrees corresponding to an airspace range from 5 kilometres high to the center of the earth, so that the GeoSOT-3D can be applied to the scientific research field needing elevation information such as unmanned aerial vehicle remote sensing flight. GeoSOT-3D also forms a hierarchical height net from level 0 to level 32 by introducing a height dimension. Consider that the airspace ranges from 0 meters to 50000 meters and that there are areas on the surface that are below 0 meters above sea level, such as the Chinese Turpan basin (-154.31 meters). In order to ensure the uniformity and the multiscale of the division, the coding support range is set to be-76800 meters to 76800 meters. Through a GeoSOT-3D global split frame, unified representation of spatial data types of airspace spaces can be formed.
Step S2: and combining the plane dimensional grid and the height dimensional grid of the spatial space grid code to obtain the spatial space grid subdivision code of the spatial space subdivision volume element.
Fig. 2 shows a schematic structural diagram of spatial-spatial mesh subdivision coding based on spatial-mesh modeling of a stereolithography frame according to an embodiment of the present disclosure.
The spatial domain space subdivision element can be a quadrilateral discretization grid, and a reference air force space box code and a Beidou grid code form a spatial domain space subdivision code (spatial domain management three-dimensional grid code) by combining a spatial domain grid plane dimension code with a height dimension code.
As shown in fig. 2, gray codes represent plane dimension grid coding information and height dimension grid coding information, AH is used for analyzing the plane dimension grid coding information and the height dimension grid coding information, and since the flying distance of an aircraft is generally 150m or 300m in the application in the field of airspace management, the minimum subdivision unit is inconsistent with the plane dimension, and the plane dimension grid coding information and the height dimension grid coding information are decoupled through a mode of a suffix code.
Step S3: aggregating the airspace space subdivision elements into different airspace space elements, and establishing the airspace space management three-dimensional grid map model based on the airspace space elements
The modeling of the airspace management three-dimensional grid graph model (airspace gridding modeling based on the three-dimensional subdivision frame) adopts the thought of a space finite element, and a space object is formed by the aggregation of airspace space subdivision elements. Within the set of subdivision elements, each element is identified by a spatial domain management mesh subdivision code. Each spatial grid describes state information in the current space, and spatial elements can be changed into attributes in the spatial grid.
In the spatial domain management three-dimensional grid graph model, various spatial domain elements can be represented into a group of ordered subdivision code sets, and each mesh code is an element in all mesh subdivision code sets in a subdivision space. In the subdivision space, subdivision elements and subdivision codes are mapped one by one, and the codes are unique. The attribute information of the spatial domain elements can be inherited by the spatial domain grids and recorded according to the subdivision elements, and the attributes belonging to different spatial domain element objects can become different attributes of the grids, such as spatial domain environment, positions, storage information and the like.
The logical modeling of the spatial domain management three-dimensional grid graph model is the mapping of spatial domain elements in a grid space. According to the original description method of different spatial domain elements, the spatial domain elements can be roughly divided into: point elements, line elements, and field elements.
In one example, when the spatial domain space element is a point element, a spatial domain space management stereo grid map model is established based on a spatial domain space grid division code of a division element at a spatial position of the point element and entity attributes of the point element.
For example, the point elements in the spatial space can be divided into navigation stations, positioning points, and position report points, which have only spatial position attributes and no other spatial geometry attributes. Modeling of a point element requires recording the subdivision voxel coding at its spatial location and its entity attributes. The spatial domain point element can be identified by longitude, latitude and height values of the spatial position and grid codes indicated by grid levels, and can be converted with a subdivision element SU of the spatial domain point element under a subdivision level layer. In spatial domain management applications, the scale of point elements often depends on the actual task, for example: flight hazard points, shot point projections, etc. in military applications. Different mapping levels need to be selected according to the actual application.
In one example, when the spatial space element is a line element, the spatial space management stereogram model is established based on a spatial space mesh subdivision code of a subdivision element of a plurality of sampling points of the line element and a filler between the plurality of sampling points.
For example, the line elements of airspace space may be divided into airway routes and flight procedures. The line elements of the space are composed of a plurality of sampling points, so the line elements are composed of sets formed by subdivision elements of the sampling points and filling elements among the sampling points, and the attributes of the line elements are the attributes of the set of the subdivision elements. In the actual line element modeling process, such as a navigation path, the filling between sampling points needs to be determined according to the application requirements and the filling algorithm. When processing line elements, due to the limitation of sampling precision, when a sampling point is given, a connecting line between any sampling points is considered to be a straight line. Based on the design, a grid-based DDA algorithm is designed.
Fig. 3 shows a modeling diagram of line elements of spatial meshing modeling based on a stereo-dissection frame according to an embodiment of the disclosure.
Suppose that the space-space line element consists of two points P in space0(x0,y0,z0)，P1(x1,y1,z1) The specific modeling method is as follows:
p1: determining the line element end point P0And P1And (3) dividing the space domain space grid of the subdivision volume element at the spatial position. For example, using the sampling points to determine the spatial positions of the line element endpoints, performing the meshing of the line element endpoints, and selecting an appropriate mesh level according to the specific task requirement to determine the mesh code of the endpoint, as shown in fig. 3, the black mesh identifies the endpoint P0The gray grid identifies the endpoint P1。
P2: selecting an endpoint P0As a starting endpoint, according to endpoint P0And P1Determines the magnitude of Δ x, Δ y, Δ z, and sets the direction in which the linear distance difference is the largest as the end point P0To endpoint P1Main direction of stepping. For example, if Δ x>Δy>Delta z, if the difference between the distances of the weft straight lines between the two points is the maximum, selecting the weft direction as the stepping main direction, and recording the direction as xflag to be 1, yflag to be 0 and zflag to be 0; if Δ y>Δx>When the difference between the distances of the two points from the straight line to the warp direction is maximum, selecting the warp direction as the main direction of stepping, and recording the directions as xflag to be 0, yflag to be 1 and zflag to be 0; if Δ z is>Δy>Δ x, indicating the elevation between two pointsAnd if the distance difference of the straight lines is maximum, selecting the high direction as the main direction of the stepping, and recording the direction as xflag to be 0, yflag to be 0 and zflag to be 1.
P3: according to the grid coordinate of the current point, the endpoint P0To endpoint P1And calculating the main stepping direction and the stepping step length to obtain the grid coordinate of the advancing point. For example, if the step b is advancedcCurrent point (x)i，yi，zi) Has a network coordinate of (CodeL)i，CodeBi，CodeHi) Reading the main direction of the current step, calculating the main direction point (x)i+1，
yi+1，zi+1) The grid coordinates of (a) are: (CodeL)i+xflagⅹbc，CodeBi+yflagⅹbc，CodeHi+cflag ⅹbc)。
P4: judging whether the current advancing point is coincided with the target voxel or not, if not, taking the advancing point as a new reference voxel, and repeating P2-P3 until the advancing point is coincided with the target voxel; if so, step P5 is performed. For example, if the current point is used as a new reference voxel and the current voxel is not coincident with the target voxel, the voxel is updated to be a new reference voxel, and the steps P2-P3 are performed again, as shown in the gray grid of FIG. 3; until it coincides with the target voxel. If so, step P5 is continued.
P5: and filling all the forward points into the grid sequence of the line elements in sequence, and establishing the spatial domain space management three-dimensional grid graph model based on all the forward points. All newly generated points are inserted into the grid sequence of the line elements in sequence, and if a new line element is modeled, a new line element subdivision voxel sequence is generated from the reference point at the moment.
In one example, when the spatial domain space element is a domain element, the spatial domain management stereo mesh map model is established based on the subdivision elements of the plurality of sampling points of the boundary region of the domain element and the spatial domain mesh subdivision codes of the subdivision elements of the internally filled region.
The domain elements of the airspace space can be divided into a flight information area, a control area, a special airspace and the like, and the elements only record the boundary points of the domain under the current airspace management system. The grid framework is divided into a boundary region and an internal region, namely, the grid framework is composed of subdivision voxels formed by boundary sampling points and subdivision voxels formed by an internal filling region and is uniformly represented by a coding set. The domain elements consist of a boundary grid set and an internal grid set; the boundary grid set is generated by line elements formed by sampling points, and the internal grid set is formed by an internal filling grid set of a closed set. The grid modeling of the domain elements is established on the basis of the boundary line element modeling, and the method designs a flooding filling algorithm based on grids and carries out gridding expression on the interior of the domain. The basic principle of the flooding algorithm is to start from a central point, and expand and fill to peripheral grid coordinate points until the boundary of a grid set. The real range of the airspace is not a simple curved surface or an envelope surface, but is calculated by human planning or through the result of actual detection of the sensor. Taking the grid boundary set as an input, and obtaining an output result as a coding set of the space domain after grid discretization under a given condition.
Fig. 4 shows a flow chart of a spatial filling algorithm for a domain element based on spatial meshing modeling of a stereo-dissection frame according to an embodiment of the disclosure.
As shown in fig. 4, this problem can be essentially translated into a mesh discretization problem of irregular polyhedrons, i.e., a seed filling problem. The modeling algorithm of the domain elements provided by the method mainly researches a method for carrying out gridding modeling expression on various airspaces. The space domain boundary is used as the input of the algorithm, and the space domain space determined by the boundary is used as the output of the algorithm. The flooding filling algorithm for the mesh is as follows:
fig. 5a and 5b respectively show filling modeling diagrams of domain elements of spatial domain meshing modeling based on a stereo-dissection frame according to an embodiment of the disclosure.
And dividing the voxel sequence based on the boundary mesh, and randomly selecting one point of the internal filling region as an initial node of a mesh filling algorithm, wherein the point is a seed point. For example, a voxel sequence is subdivided based on a boundary mesh, and internal random mesh seed points are designated as starting nodes of a mesh filling algorithm. As shown in fig. 5a, the conditions to be satisfied by the mesh seed points are longitude and latitude codes of the internal seed mesh, and need to be inside the subdivision voxel sequence and located at the same height layer as the boundary subdivision voxel sequence.
And recursively calling a flood filling algorithm to fill the grids in the four adjacent domains of the seed point by taking the seed point as a center. For example, the idea of flood filling is utilized to fill the grid, and a filling algorithm is invoked in the four adjacent domains of the grid. As shown in fig. 5b, the filling algorithm requires that the currently filled mesh does not belong to the boundary mesh and that each mesh voxel in the internal voxel mesh sequence only appears once.
And if the current filling grid is not the boundary grid voxel sequence and the current grid is not the internal grid voxel sequence, filling the current filling grid into the internal grid voxel sequence of the domain elements, and calculating the grid coordinates of four adjacent domains of the current filling grid by utilizing a grid displacement algorithm. Judging whether the current grid is a boundary grid voxel sequence or an internal grid voxel sequence, if so, continuing the algorithm; otherwise, the algorithm is ended. Filling the current grid into the internal grid voxel sequence, and calculating four-adjacent-domain grid (CodeL) by using grid displacement algorithmi-1，CodeBi，CodeHi)，(CodeLi+1，CodeBi，CodeHi)，(CodeLi， CodeBi-1，CodeHi)，(CodeLi+1，CodeBi，CodeHi)。
And recursively calling a grid filling and flood filling algorithm by taking the new four-adjacent-domain grid as the current grid until the internal grid of the domain element is completely filled, and establishing the spatial domain space management three-dimensional grid graph model based on spatial domain grid subdivision codes of subdivision elements of the boundary region and the internal filling region of the domain element.
The disclosed spatial domain gridding modeling method based on a stereo partition frame is characterized in that a spatial domain is partitioned and subjected to grid coding based on the stereo partition frame and a spatial domain partition voxel; combining the plane dimensional grid and the height dimensional grid of the space domain space grid code to obtain a space domain space grid subdivision code of the space domain space subdivision volume element; and aggregating the airspace space subdivision elements into different airspace space elements, and establishing the airspace space management three-dimensional grid map model based on the airspace space elements. Aiming at the existing airspace management requirements, an airspace management grid graph model is constructed, an airspace digital coding system is established, a unified expression of airspace spatial data types is formed, the problems that the airspace capacity requirement is contradictory and outstanding, the fine modeling is difficult and the airspace planning method is complex are promoted to be solved, and effective support is provided for realizing the intellectualization and the universality of the airspace grid modeling.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A spatial domain gridding modeling method based on a stereo dissection frame is characterized by comprising the following steps:
subdividing the airspace space and carrying out grid coding on the airspace space based on the stereo subdivision frame and the airspace space subdivision volume element;
combining the plane dimensional grid and the height dimensional grid of the space domain space grid code to obtain a space domain space grid subdivision code of the space domain space subdivision volume element;
and aggregating the airspace space subdivision elements into different airspace space elements, and establishing the airspace space management three-dimensional grid map model based on the airspace space elements.
2. The spatial grid modeling method of claim 1, wherein the spatial space subdivision element is a quadrilateral discretization grid.
3. The spatial grid modeling method of claim 1, wherein the spatial grid partitioning voxel is in a one-to-one mapping to the spatial grid partitioning code.
4. The spatial grid modeling method according to claim 1, wherein the spatial space elements include a point element, a line element, and a domain element.
5. The spatial grid modeling method according to claim 4, wherein said building the spatial management stereogram model based on the spatial elements comprises:
and when the spatial domain space element is a point element, establishing the spatial domain space management three-dimensional grid graph model based on the spatial domain space grid subdivision code of the subdivision element of the spatial position of the point element and the entity attribute of the point element.
6. The spatial grid modeling method according to claim 4, wherein said building the spatial management stereogram model based on the spatial elements comprises:
and when the spatial domain space element is a line element, establishing the spatial domain space management three-dimensional grid graph model based on the spatial domain space grid subdivision codes of subdivision elements of a plurality of sampling points of the line element and the filling bodies among the plurality of sampling points.
7. The spatial grid modeling method according to claim 4, wherein said building the spatial management stereogram model based on the spatial elements comprises:
and when the spatial domain space element is a domain element, establishing the spatial domain space management three-dimensional grid graph model based on the subdivision elements of a plurality of sampling points in the boundary region of the domain element and the spatial domain space grid subdivision codes of the subdivision elements in the internal filling region.
8. The spatial domain gridding modeling method according to claim 6, wherein the establishing the spatial domain spatial management stereogram model based on the spatial domain grid subdivision code of the subdivision element of the plurality of sampling points of the line element and the filler among the plurality of sampling points comprises:
p1: determining the line element end point P0And P1The spatial domain space grid subdivision of the subdivision volume element at the spatial position is carried out;
p2: selecting an endpoint P0As a starting endpoint, according to endpoint P0And P1Determines the magnitude of Δ x, Δ y, Δ z, and sets the direction in which the linear distance difference is the largest as the end point P0To endpoint P1A main direction of stepping;
p3: according to the grid coordinate of the current point, the endpoint P0To endpoint P1Calculating the main stepping direction and the stepping step length to obtain the grid coordinate of the advancing point;
p4: judging whether the current advancing point is coincided with the target voxel or not, if not, taking the advancing point as a new reference voxel, and repeating P1-P4 until the advancing point is coincided with the target voxel; if so, executing step P5;
p5: and filling all the forward points into the grid sequence of the line elements in sequence, and establishing the spatial domain space management three-dimensional grid graph model based on all the forward points.
9. The spatial domain gridding modeling method according to claim 7, wherein the spatial domain management stereo gridding map model is established based on the spatial domain gridding partitioning codes of the partition voxels of the plurality of sampling points of the boundary region of the domain element and the partition voxels of the internally filled region, and comprises:
dividing the voxel sequence based on the boundary mesh, and randomly selecting one point of an internal filling area as an initial node of a mesh filling algorithm, wherein the point is a seed point;
with the seed point as a center, recursively calling a flood filling algorithm to fill the grids in the four adjacent domains of the seed point;
if the current filling grid is not a boundary grid voxel sequence and the current grid is not an internal grid voxel sequence, filling the current filling grid into the internal grid voxel sequence of the domain elements, and calculating the grid coordinates of four adjacent domains of the current filling grid by using a grid displacement algorithm;
and recursively calling a grid filling and flood filling algorithm by taking the new four-adjacent-domain grid as the current grid until the internal grid of the domain element is completely filled, and establishing the spatial domain space management three-dimensional grid graph model based on spatial domain grid subdivision codes of subdivision elements of the boundary region and the internal filling region of the domain element.
10. The spatial domain gridding modeling method according to claim 4, wherein the point elements include a navigation stage, a positioning point and a position report point, and the line elements include: the system comprises an airway route and a flight program, wherein the domain elements comprise a flight information area, a control area and a special airspace.
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