CN115810087A - Low-altitude space domain use conflict detection method based on multi-scale space grid - Google Patents
Low-altitude space domain use conflict detection method based on multi-scale space grid Download PDFInfo
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Abstract
The invention discloses a low-altitude airspace use conflict detection method based on a multi-scale spatial grid, which comprises the following steps of carrying out rasterization modeling and digital coding, and establishing the built-in attribute of the low-altitude airspace grid; aiming at different aircraft physical sizes and safety distances in a given low-altitude airspace, the space-time occupation characteristics of the airspace are digitally described by three-dimensional matrixes corresponding to different grid scales, and multi-scale rasterization representation of a traditional airspace use area is realized; the method comprises the steps of constructing a low-altitude airspace use conflict detection function based on a multi-scale airspace use three-dimensional grid matrix, fully utilizing space-time information expressed by different scales using airspace three-dimensional matrix codes, designing a hierarchical airspace conflict detection flow, and realizing conflict detection of airspaces used by aircrafts of different sizes. The method can simultaneously consider the spatial-temporal information of the airspace occupied by the low-altitude aircraft with different sizes, effectively detect the position and time of the low-altitude airspace use conflict, improve the airspace use conflict detection precision and reduce the false judgment rate.
Description
Technical Field
The invention relates to the field of airspace management and control, in particular to a low-altitude airspace use conflict detection method based on a multi-scale space grid.
Background
The airspace conflict detection is a key component for guaranteeing the safe operation of the airspace in China and orderly carrying out the airspace use plan, and how to quickly and accurately judge the conflict airspace of the airspace use plan is a key problem of the future airspace collaborative planning.
The research on the spatial domain conflict detection starts in the last 40-50 years, various correlation models and algorithms have been proposed by many scholars at home and abroad, geometric floating point calculation is most widely used at present, namely, whether spatial domain conflicts exist is judged by intersecting the edges of the spatial domain required by each spatial domain use plan, although the method can accurately calculate the spatial domain use plan conflicts and the range of the conflict spatial domain, the method has the problems of long calculation time, low efficiency and the like for large-scale spatial domain conflict detection.
There is therefore a need to solve the above problems.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a low-altitude spatial domain use conflict detection method based on a multi-scale spatial grid, which is efficient and high in precision.
The technical scheme is as follows: in order to achieve the above purpose, the invention discloses a low-altitude space domain use conflict detection method based on a multi-scale space grid, which comprises the following steps:
(1) Performing airspace rasterization modeling and digital coding, namely performing discretization processing on a given continuous low-altitude airspace, dividing the continuous airspace into gapless cube grid models with different scales, wherein a cube grid of each scale can completely describe all the given low-altitude airspaces, and performing three-dimensional matrix type sequential coding on the cube grids of each scale to form a multi-scale low-altitude airspace grid coding system with codes mapped with the cube grids of different scales one by one, so as to form a low-altitude airspace discretization description mode;
(2) The method comprises the steps that a low-altitude airspace is represented by multi-scale rasterization, the size of an aircraft in the low-altitude airspace and a corresponding safety distance of the aircraft are considered, a low-altitude airspace route of the aircraft is represented as cubic grid matrix coded data, grid index coordinates and corresponding grid matrix data respectively describe space and time information of an airspace occupied by the aircraft, and space-time information of the low-altitude airspace occupied by the aircraft is described by three-dimensional grid matrix elements with different scales;
(3) Constructing an airspace use conflict detection function, firstly judging the conflict situation of different aircraft use airspaces on the space based on the three-dimensional grid matrix description of the aircraft use airspace, and further considering the time conflict situation of the aircraft occupied in the airspace aiming at the airspace grid with conflict, thereby determining the space-time conflict range of the different aircraft use airspaces;
(4) Designing an airspace conflict detection flow, starting from a large-scale three-dimensional grid matrix on the basis of a multi-scale airspace use grid matrix, detecting the conflict situation of the different types of aircraft airspaces under the scale, and further detecting the conflict situation of the aircraft use airspace under a small-scale three-dimensional grid in a local conflict area aiming at the aircraft with conflicts.
Wherein, the given continuous low-altitude airspace in the step (1) is the altitude of
A flight zone below, the size being above ground
Left and right continuous low-altitude airspace.
Preferably, the spatial domain rasterization coding of different scales in the step (1) specifically comprises the following steps:
(1.1) constructing a multi-scale space grid model of a given low-altitude airspace, dividing the given low-altitude airspace into cubic grids with different sizes and side lengths, realizing multi-scale gapless cubic grid modeling of a continuous low-altitude airspace, dividing the airspace into three scales, and respectively setting the sizes of the corresponding cubic grids to be three
、
And
，
the cubic grid of dimensions may include
An
Cubic grid of dimensions, likewise
The size of the cubic grid can be contained in
An
A cubic grid of dimensions; the original point of Cartesian coordinates is selected as the vertex of the low-altitude airspace, and the cubic grid of the low-altitude airspace divided by three scales can be indexed through three-dimensional coordinates, so that the flight path coordinates of the aircraft represented by a geodetic coordinate system are converted into Cartesian coordinatesLow-altitude airspace coordinates represented by coordinates;
(1.2) coding the low-altitude space domain cube grids divided by different scales in a three-dimensional matrix form, wherein for a given low-altitude space domain, the three-dimensional matrix dimensions corresponding to the low-altitude space domain grids divided by the three scales are respectively
，
，
Coding low-altitude space domain grids divided in different scales according to a three-dimensional matrix element index mode, wherein cubic grids in the low-altitude space domain three-dimensional grid division corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinates
And uniquely determining, and realizing matrix type low-altitude space domain discretization description.
Furthermore, the specific steps of using multi-scale rasterization characterization for the low-altitude airspace in the step (2) are as follows:
(2.1) when the rasterized representation aircraft occupies airspace, the physical sizes of different aircraft need to be considered, and meanwhile, the safety interval of the aircraft during normal flight needs to be considered, so that various aircraft are combined
Radius considered to take into account its physical dimensions and safety interval
The waypoint coordinate point of the aircraft is the center of the circumscribed sphere, and the waypoint represented in the geodetic coordinate system is converted into the waypoint space coordinate represented in the Cartesian coordinate system corresponding to the space grid through coordinate system conversion
And when the aircraft route point is represented in a rasterization manner, the distance between the grid edge and the aircraft route point is set
Is less than
The cubic grids are all regarded as space grids occupied by the air craft routes, wherein
Representing coordinates as
The grid of the space cube of (a),
representing spatial coordinates
The waypoints represented, for a scale of
（
) Low-altitude airspace grid of (1), grid occupied by course of aircraft
The following inequalities need to be satisfied:
in the formula (I), the compound is shown in the specification,
represent
Coordinate at scale of
The grid of the space cube of (a),
to represent
Cubic grid size at scale, if in course and occupied grid
The space coordinate of the nearest center waypoint is
Then grid
The corresponding time is the aircraft
The waypoint is located at
The time of (d);
(2.2) comparing the flight path data with low-altitude space grid matrixes of different scales based on a low-altitude space aircraft flight path data sequence, namely representing the flight path of the aircraft by using element coordinates and element numerical value sequences of a cubic grid matrix, representing the space grid occupied by the flight path of the aircraft by using the element coordinates of the grid matrix, representing the time of a flight path point of the aircraft to the space grid by using the element numerical value, and aiming at the problem that the flight path data sequence is used by using the space grid matrix
Scale-described low-altitude airspace aircraft represented by cubic grid matrix
Is represented as:
in the formula (I), the compound is shown in the specification,
representing aircraft
In that
The spatial grid coordinate at scale is
Is determined to be the first waypoint of (c),
representing the time corresponding to the waypoint;
representing aircraft
In that
The spatial grid coordinate at scale is
Of the second waypoint of (a) the first waypoint,
representing the time corresponding to the waypoint; by parity of reasoning, the aircraft can be driven
All represented in spatial grid coordinates and their corresponding times.
Further, the collision detection function in the step (3) is specifically constructed by the following steps:
(3.1) for different aircraft
Detecting whether the flight path sequences of different aircrafts contain the same cubic grid coordinate, namely, a certain element coordinate represented by a matrix exists in the flight path sequences of the two aircrafts at the same time
；
(3.2) the same grid matrix element coordinates exist in different aircraft
Then, whether the time difference value corresponding to the element coordinate of different aircraft route sequences meets the safety time interval or not is further judged
，
Determining two aircraft routes if the set parameters related to the space grid size are met
And
there is no conflict in the grid space between the grid spaces,
and
are respectively represented by
And
for two marked aircraft routes, collision detection function
Outputting 0, otherwise indicating that two aircraft routes conflict in the grid space, and outputting 1 as a function, wherein the function is expressed as follows:
，
in the formula (I), the compound is shown in the specification,
is shown in
The grid coordinates in the marked aircraft route are
The time corresponding to the point of the waypoint of,
is shown in
The grid coordinates in the marked aircraft route are
The waypoint of (a) corresponds to the time.
Preferably, the empty domain conflict detection process in the step (4) specifically comprises the following steps:
(4.1) first from the scale
Starting the expressed aircraft route sequence, judging whether the routes of different aircrafts have conflicts under the scale, and if the routes of different aircrafts do not have conflicts, indicating that the corresponding aircrafts do not have conflicts when being used in the current airspace;
(4.2) for on-scale
The space grid with conflict exists in the represented route sequence, and further judgment is carried out according to the scale
Judging whether the flight paths of different aircrafts have conflicts under the scale according to the flight paths of the represented aircrafts in the conflict grid, and if no conflict exists, indicating that no conflict exists when the corresponding aircraft is used in the current airspace;
(4.3) for on-scale
The space grid with conflict exists in the represented route sequence, and further judgment is carried out according to the scale
And judging whether the routes of different aircrafts in the scale conflict with each other according to the routes of the represented aircrafts in the conflict grid, if so, indicating that the corresponding aircraft does not conflict with the current airspace, otherwise, indicating that the corresponding aircraft conflicts with the current airspace.
Has the beneficial effects that: compared with the prior art, the invention has the following remarkable advantages: the method can simultaneously consider the space-time information of the airspace occupied by the low-altitude aircrafts with different sizes, effectively detect the position and time of the low-altitude airspace usage conflict, improve the detection precision of the airspace usage conflict and reduce the misjudgment rate.
Drawings
FIG. 1 is a schematic diagram of a medium and low altitude airspace multi-scale cube grid modeling according to the present invention;
FIG. 2 is a schematic diagram of matrix three-dimensional space grid coding according to the present invention;
FIG. 3 is a first two-dimensional plan view of a first encoded representation of an aircraft flight path according to the present invention;
FIG. 4 is a two-dimensional plane schematic view of a flight path code representation of an aircraft according to the present invention;
FIG. 5 is a schematic two-dimensional plane view of spatial domain usage collision detection at different scales according to the present invention;
FIG. 6 is a flow chart of the low-altitude spatial domain use collision detection based on multi-scale spatial grid modeling according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention relates to a low-altitude space domain use conflict detection method based on a multi-scale space grid, which comprises the following steps of:
(1) The spatial domain rasterization modeling and the digital coding are that the given continuous low-altitude spatial domain is discretized, and the continuous spatial domain is divided into gapless cubes with different scalesThe method comprises the steps that a volume grid model is adopted, cubic grids of all scales can completely describe all given low-altitude airspaces, three-dimensional matrix type sequential coding is carried out on the cubic grids of all scales, a multi-scale low-altitude airspace grid coding system with codes mapped with cubic grids of different scales one by one is formed, and a low-altitude airspace discretization description mode is formed; wherein a given continuous low altitude airspace is an altitude of
A flight zone below, the size being above ground
A left and right continuous low-altitude airspace;
the spatial domain rasterization coding of different scales comprises the following specific steps:
(1.1) constructing a multi-scale space grid model of a given low-altitude airspace, as shown in FIG. 1, for the ground size
The method comprises the steps of dividing a given low-altitude airspace into cubic grids with different sizes and side lengths, realizing multi-scale zero-gap cubic grid modeling of a continuous low-altitude airspace, dividing the airspace into three scales, wherein the sizes of the corresponding cubic grids are respectively
、
And
，
the size of the cubic grid can be contained in
An
Cubic grid of dimensions, likewise
The cubic grid of dimensions may include
An
A cubic grid of dimensions; selecting a Cartesian coordinate origin as a vertex of a low-altitude airspace, and indexing a low-altitude airspace cube grid divided by three scales through three-dimensional coordinates as shown in FIG. 1, so that the flight path coordinates of an aircraft represented by a geodetic coordinate system can be converted into low-altitude airspace coordinates represented by Cartesian coordinates;
(1.2) coding the cubic grids of the low-altitude airspace divided by different scales in a three-dimensional matrix form, wherein the specific coding mode is as shown in figure 2, and aiming at a given low-altitude airspace, the cubic grids of the low-altitude airspace are coded in order to
、
、
The three-dimensional matrix dimensions corresponding to the three-scale low-altitude spatial grid are respectively
，
，
Coding low-altitude space domain grids divided in different scales according to a three-dimensional matrix element index mode, wherein cubic grids in the low-altitude space domain three-dimensional grid division corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinates
The method comprises the steps of determining uniquely, and realizing matrix type low-altitude space domain discretization description;
(2) The method comprises the steps that a low-altitude airspace represents by using multi-scale rasterization, the size of an aircraft in the low-altitude airspace and a corresponding safety distance of the aircraft are comprehensively considered, a low-altitude airspace route of the aircraft is represented as cubic grid matrix coded data, grid index coordinates and corresponding grid matrix data respectively describe space and time information of an airspace occupied by the aircraft, and therefore space-time information of the aircraft occupying the low-altitude airspace is described by three-dimensional grid matrix elements with different scales;
the method comprises the following specific steps of using multi-scale rasterization characterization in a low-altitude airspace:
(2.1) when the rasterized representation aircraft occupies airspace, the physical sizes of different aircraft need to be considered, and meanwhile, the safety interval of the aircraft during normal flight needs to be considered, so that various aircraft are combined
Radius considered to take into account its physical dimensions and safety interval
The envelope sphere of the envelope sphere, the course coordinate point is the sphere center of the envelope sphere, the flight path point of the aircraft expressed by a geodetic coordinate system is converted into an airspace coordinate point expressed by a Cartesian coordinate system in the corresponding low-altitude airspace, and the space grid occupation condition is judged by calculating the distance between the airspace coordinate point and the center point of the nearby grid; converting aircraft waypoints represented in a geodetic coordinate system into waypoint spatial coordinates represented in a Cartesian coordinate system corresponding to a spatial grid by coordinate system conversion
And when the aircraft route point is represented in a rasterization manner, the distance between the grid edge and the aircraft route point is set
Is less than
The cubic grids are all regarded as space grids occupied by the air craft routes, wherein
Representing coordinates as
The grid of the space cube of (a),
representing spatial coordinates
The waypoints represented, for a scale of
（
) The low-altitude airspace grid and the aircraft
Grid of course occupancy
The following inequalities need to be satisfied:
in the formula (I), the compound is shown in the specification,
to represent
Coordinate under scale of
The grid of the space cube of (a),
to represent
Cubic grid size at scale, if course and occupied grid
The spatial coordinates of the waypoint closest to the center are
Then grid
The corresponding time is the aircraft
The waypoint is located at
The time of (d);
determining the space grid occupancy, as shown in FIG. 3, which is a two-dimensional plan view of a space grid
And
two grids and flight route points
Are respectively at a distance of
And
wherein the distance
，
Thus, therefore, it is
Occupying a grid for the flight path of the aircraft, and
do not belong to the aircraft track occupancy grid;
determining the time parameter of the flight path of the aircraft stored in the occupancy grid, as shown in FIG. 4, which is a two-dimensional plan view, for example, a space grid
Belonging to aircraft route points at the same time
、
、
Occupancy grid of (2), grid
With aircraft waypoints
、
、
Are respectively at a distance of
、
、
Wherein
Shortest, therefore, grid
The time information expressed in the method is the waypoint
The corresponding time;
(2.2) comparing the air route data with the low-altitude space domain grid matrix of different scales based on the air route data sequence of the low-altitude space domain aircraft, namely, representing the aircraft by using the element coordinates and the element numerical value sequence of the cubic grid matrixThe element coordinate of the grid matrix represents the airspace grid occupied by the aircraft route, the numerical value of the element represents the time of the aircraft route point reaching the airspace grid, and the specific coordinate point and the time represented in the grid are determined by the step (2.1) aiming at the situation that the time represented by the grid is used
Scale-described low-altitude airspace aircraft represented by cubic grid matrix
The course sequence of (a) is represented as:
in the formula (I), the compound is shown in the specification,
representing aircraft
In that
The spatial grid coordinate at scale is
Is determined to be the first waypoint of (c),
representing the time corresponding to the waypoint;
representing aircraft
In that
Spatial grid coordinates at scale
Is the second waypoint of the flight path,
representing the time corresponding to the waypoint; by parity of reasoning, the aircraft can be divided into two parts
The flight path sequence is expressed by space grid coordinates and corresponding time;
(3) Constructing an airspace use conflict detection function, firstly judging the conflict situation of different aircraft use airspaces on the space based on the three-dimensional grid matrix description of the aircraft use airspace, and further considering the time conflict situation of the aircraft occupied in the airspace aiming at the airspace grid with conflict, thereby determining the space-time conflict range of the different aircraft use airspaces;
the conflict detection function is specifically constructed by the following steps:
(3.1) for different aircraft
Detecting whether the flight path sequences of different aircrafts contain the same cubic grid coordinate, namely, a certain element coordinate represented by a matrix exists in the flight path sequences of the two aircrafts at the same time
If the same cube grid coordinate exists, the fact that the corresponding aircraft air route conflicts at the grid is indicated;
(3.2) when the same grid matrix element coordinates exist in different aircraft
Then, whether the time difference value corresponding to the element coordinate of different aircraft route sequences meets the safety time interval or not is further judged
，
Determining two aircraft routes if a set parameter related to the space grid size is satisfied
And
there is no conflict in the grid space between the grid spaces,
and
are respectively shown in
And
for two marked aircraft routes, collision detection function
Outputting 0, otherwise indicating that two aircraft routes conflict in the grid space, and outputting 1 as a function, wherein the function is expressed as follows:
in the formula (I), the compound is shown in the specification,
is shown in
The grid coordinates in the marked aircraft route are
The time corresponding to the point of the waypoint of,
is shown in
The grid coordinates in the marked aircraft route are
Time corresponding to the waypoint of (1);
(4) Designing an airspace conflict detection process, starting from a large-scale three-dimensional grid matrix on the basis of a multi-scale airspace use grid matrix, detecting conflict situations of different types of aircraft airspaces under the scale, and further detecting the conflict situations of the aircraft use airspace under a small-scale three-dimensional grid in a local conflict area aiming at the aircraft with conflicts, wherein the conflict situations are shown in figure 5;
the airspace conflict detection process specifically comprises the following steps:
(4.1) when the aircraft route conflict is detected, the detection flow is as shown in FIG. 6, firstly, the order of the orders is
Starting the expressed aircraft route sequence, judging whether the routes of different aircrafts have conflicts under the scale, and if the routes of different aircrafts do not have conflicts, indicating that the corresponding aircrafts do not have conflicts when being used in the current airspace;
(4.2) for on-scale
The spatial grid of the expressed flight path sequence with conflict is further judged according to the scale
Judging whether the represented flight paths of the aircrafts in the conflict grid have conflicts or not, if not, indicating that the corresponding aircrafts are used in the current airspace without conflicts;
(4.3) for on-scale
The space grid with conflict exists in the represented route sequence, and further judgment is carried out according to the scale
And judging whether conflicts exist in the routes of different aircrafts under the scale according to the represented routes of the aircrafts in the conflict grid, if no conflict exists, indicating that no conflict exists in the use of the corresponding aircraft in the current airspace, otherwise, indicating that a conflict exists in the use of the corresponding aircraft in the current airspace.
Claims (6)
1. A low-altitude space domain use conflict detection method based on a multi-scale space grid is characterized by comprising the following steps:
(1) Performing airspace rasterization modeling and digital coding, namely performing discretization processing on a given continuous low-altitude airspace, dividing the continuous airspace into gapless cube grid models with different scales, wherein a cube grid of each scale can completely describe all the given low-altitude airspaces, and performing three-dimensional matrix type sequential coding on the cube grids of each scale to form a multi-scale low-altitude airspace grid coding system with codes mapped with the cube grids of different scales one by one, so as to form a low-altitude airspace discretization description mode;
(2) The method comprises the steps that a low-altitude airspace represents by using multi-scale rasterization, the size of an aircraft in the low-altitude airspace and a corresponding safety distance of the aircraft are considered, a low-altitude airspace route of the aircraft is represented as cubic grid matrix coded data, grid index coordinates and corresponding grid matrix data respectively describe space and time information of an airspace occupied by the aircraft, and space-time information of the aircraft occupying the low-altitude airspace is described by three-dimensional grid matrix elements with different scales;
(3) Constructing an airspace use conflict detection function, firstly judging the conflict situation of different aircraft use airspaces on the space based on the three-dimensional grid matrix description of the aircraft use airspace, and further considering the time conflict situation of the aircraft occupied in the airspace aiming at the airspace grid with conflict, thereby determining the space-time conflict range of the different aircraft use airspaces;
(4) Designing an airspace conflict detection process, starting from a large-scale three-dimensional grid matrix on the basis of a multi-scale airspace use grid matrix, detecting the conflict situation of the use of different types of aircraft airspaces under the scale, and further detecting the conflict situation of the use airspace of the aircraft under a small-scale three-dimensional grid in a local conflict region aiming at the aircraft with conflict.
2. The method for detecting the usage of the low-altitude space domain based on the multi-scale space grid according to claim 1, wherein: the given continuous low-altitude airspace in the step (1) is the altitude of
Flight area below, sized above ground
Left and right continuous low-altitude airspace.
3. The method for detecting the conflict of the use of the low-altitude space based on the multi-scale space grid as claimed in claim 2, wherein: the spatial domain rasterization coding of different scales in the step (1) specifically comprises the following steps:
(1.1) constructing a multi-scale space grid model of a given low-altitude airspace, dividing the given low-altitude airspace into cubic grids with different sizes and side lengths, realizing multi-scale gapless cubic grid modeling of a continuous low-altitude airspace, dividing the airspace into three scales, and respectively setting the sizes of the corresponding cubic grids to be three
、
And
，
the cubic grid of dimensions may include
An
Cubic grid of dimensions, likewise
The size of the cubic grid can be contained in
An
A cubic grid of dimensions; selecting a Cartesian coordinate origin as a vertex of a low-altitude airspace, and indexing a low-altitude airspace cube grid divided by three scales through three-dimensional coordinates to convert aircraft route coordinates represented by a geodetic coordinate system into low-altitude airspace coordinates represented by the Cartesian coordinates;
(1.2) coding the low-altitude space domain cube grids divided by different scales in a three-dimensional matrix form, wherein for a given low-altitude space domain, the three-dimensional matrix dimensions corresponding to the low-altitude space domain grids divided by the three scales are respectively
，
，
Coding low-altitude space domain grids divided in different scales according to a three-dimensional matrix element index mode, wherein cubic grids in the low-altitude space domain three-dimensional grid division corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinates
And uniquely determining to realize matrix type low-altitude space domain discretization description.
4. The method for detecting the usage of the low-altitude space domain based on the multi-scale space grid according to claim 3, wherein: the specific steps of using multi-scale rasterization characterization for the low-altitude airspace in the step (2) are as follows:
(2.1) when the aircraft occupies airspace in a rasterization representation mode, the physical sizes of different aircraft need to be considered, and meanwhile, the safety interval of the aircraft in normal flight needs to be considered, so that various aircraft can be used
Radius considered to take into account its physical dimensions and safety interval
The waypoint coordinate point of the aircraft is the center of the circumscribed sphere, and the waypoint represented in the geodetic coordinate system is converted into the waypoint space coordinate represented in the Cartesian coordinate system corresponding to the space grid through coordinate system conversion
And when the aircraft route point is represented in a rasterization mode, the distance between the grid edge and the aircraft route point is set
Is less than
The cubic grids are all regarded as space grids occupied by the air craft routes, wherein
Representing coordinates as
The grid of the space cube of (a),
representing spatial coordinates
The waypoints represented, for a scale of
（
) Low-altitude airspace grid of (1), grid occupied by course of aircraft
The following inequalities need to be satisfied:
in the formula (I), the compound is shown in the specification,
represent
Coordinate under scale of
The grid of the space cube of (a),
represent
Cubic grid size at scale, if course and occupied grid
The spatial coordinates of the waypoint closest to the center are
Then grid
The corresponding time is the aircraft
The waypoint is located at
The time of (d);
(2.2) comparing the flight path data with low-altitude space domain grid matrixes of different scales based on the airspace flight path data sequence of the low-altitude space domain aircraft, namely, representing the flight path of the aircraft by using element coordinates and element numerical value sequences of a cubic grid matrix, representing the airspace grid occupied by the flight path of the aircraft by using the element coordinates of the grid matrix, representing the time of the flight path point of the aircraft to the airspace grid by using the numerical value of the element, and aiming at the situation that the flight path point of the aircraft reaches the airspace grid by using the numerical value of the element
Scale-described low-altitude airspace aircraft represented by cubic grid matrix
Is represented as:
in the formula (I), the compound is shown in the specification,
representing aircraft
In that
Spatial grid coordinate at scale of
Is determined to be the first waypoint of (c),
representing the time corresponding to the waypoint;
representing aircraft
In that
The spatial grid coordinate at scale is
Of the second waypoint of (a) is,
representing the time corresponding to the waypoint; by parity of reasoning, the aircraft can be divided into two parts
All represented in spatial grid coordinates and their corresponding times.
5. The method for detecting the usage of the low-altitude space domain based on the multi-scale space grid as claimed in claim 4, wherein: the collision detection function in the step (3) is specifically constructed by the following steps:
(3.1) for different aircraft
Detecting whether the flight path sequences of different aircrafts contain the same cubic grid coordinate, namely, a certain element coordinate represented by a matrix exists in the flight path sequences of the two aircrafts at the same time
；
(3.2) the same grid matrix element coordinates exist in different aircraft
Then, whether the time difference value corresponding to the element coordinate of different aircraft route sequences meets the safety time interval or not is further judged
，
Determining two aircraft routes if the set parameters related to the space grid size are met
And
there is no conflict in the grid space between the grid spaces,
and
are respectively shown in
And
for two marked aircraft routes, collision detection function
Outputting 0, otherwise, indicating that two aircraft routes conflict in the grid space, and outputting 1 by the function, wherein the function is represented as follows:
，
in the formula (I), the compound is shown in the specification,
is shown in
The grid coordinates in the marked aircraft route are
The time corresponding to the point of the waypoint of,
is shown in
The grid coordinates in the marked aircraft route are
The waypoint of (a) corresponds to the time.
6. The method for detecting the usage of the low-altitude space domain based on the multi-scale space grid according to claim 5, wherein: the empty domain conflict detection process in the step (4) specifically comprises the following steps:
(4.1) first from the scale
Starting the expressed aircraft route sequence, judging whether the routes of different aircrafts have conflicts under the scale, and if the routes of different aircrafts do not have conflicts, indicating that the corresponding aircrafts do not have conflicts when being used in the current airspace;
(4.2) for on-scale
The spatial grid of the expressed flight path sequence with conflict is further judged according to the scale
Judging whether the represented flight paths of the aircrafts in the conflict grid have conflicts or not, if not, indicating that the corresponding aircrafts are used in the current airspace without conflicts;
(4.3) needleTo the scale
The spatial grid of the expressed flight path sequence with conflict is further judged according to the scale
And judging whether conflicts exist in the routes of different aircrafts under the scale according to the represented routes of the aircrafts in the conflict grid, if no conflict exists, indicating that no conflict exists in the use of the corresponding aircraft in the current airspace, otherwise, indicating that a conflict exists in the use of the corresponding aircraft in the current airspace.
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| CN117935626A (en) * | 2024-03-25 | 2024-04-26 | 中国电子科技集团公司第二十八研究所 | Size-adaptive low-altitude airspace use conflict detection method and system |
| CN117933675A (en) * | 2024-03-25 | 2024-04-26 | 中国电子科技集团公司第二十八研究所 | Rapid airspace regulating and controlling method and system based on grid divide and conquer |
| CN117935626B (en) * | 2024-03-25 | 2024-05-28 | 中国电子科技集团公司第二十八研究所 | Size-adaptive low-altitude airspace use conflict detection method and system |
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