CN117935626B - Size-adaptive low-altitude airspace use conflict detection method and system - Google Patents
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Abstract
The invention discloses a size-adaptive low-altitude airspace use conflict detection method and a size-adaptive low-altitude airspace use conflict detection system, which belong to the field of airspace conflict detection and comprise the following steps: the airspace gridding modeling and the digital coding form a low-altitude airspace using coding system with a plurality of scale space grid codes for the same aircraft low-altitude airspace route; constructing an airspace using a conflict detection function, judging the conflict situation of the airspace occupied by different aircrafts in the space within the overlapping time period, and determining the conflict range of the airspace used by different aircrafts; designing a parallel airspace use conflict detection flow, synchronously detecting the aircraft route airspace use conflict situation of each scale space grid representation according to aircraft routes of different scale space grid coding representations, and finally synthesizing the aircraft airspace use conflict situation under each scale to form a final airspace use conflict detection result. The invention can effectively, synchronously and parallelly detect the conflict condition of the aircrafts with different sizes using the low-altitude airspace, and improve the conflict detection efficiency.
Description
Technical Field
The invention relates to the field of airspace management and control, in particular to a size-adaptive low-altitude airspace use conflict detection method and system.
Background
The airspace conflict detection is a key component for guaranteeing the safe operation of the airspace in China and orderly carrying out empty planning, and how to rapidly and accurately judge the conflict airspace of the airspace using plan is a key problem of future airspace collaborative planning.
The research on airspace conflict detection starts in the last 40-50 th century, a plurality of students at home and abroad have proposed various related models and algorithms, and at present, geometric floating point calculation is most widely used, namely whether airspace conflict exists or not is judged by crossing the edges of the airspace required by each airspace using plan.
Therefore, there is a need to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to: a first object of the present invention is to provide a size-adaptive low-altitude space domain usage collision detection method with high efficiency and high accuracy.
It is a second object of the present invention to provide a size-adaptive low-altitude space domain usage collision detection system.
The technical scheme is as follows: in order to achieve the above purpose, the invention discloses a size self-adaptive low-altitude airspace use conflict detection method, which comprises the following steps:
(1) The spatial grid modeling and digital coding are carried out, namely discretization processing is carried out on a given continuous low-altitude spatial domain, the continuous low-altitude spatial domain is divided into zero-clearance cube grid models with different scales, a multi-scale space grid model of the given low-altitude spatial domain is constructed, the given low-altitude spatial domain is divided into cube grids with different size side lengths, and the low-altitude spatial domain is divided into A dimension corresponding to the cube grid size ofMeter, each larger sized cube grid containsSmaller cubic grids of adjacent size; the cube grids of each scale can completely describe and set all low-altitude airspace, three-dimensional matrix sequential coding is carried out on the cube grids of each scale, coding and low-altitude airspace grid coding of one-to-one mapping of cube grids of different scales are formed, and a multi-scale low-altitude airspace discretization description mode is formed;
(2) The low-altitude airspace is characterized by using multi-scale rasterization, corresponding cube grid scales are adaptively selected according to the sizes of aircrafts in different low-altitude airspaces and the corresponding safety distances of the aircrafts, so that the low-altitude airspace route of the aircrafts is represented as cube grid matrix coding data of the scales, the cube grid matrix coding information is expanded to smaller scales according to the containing relations of different scale space grids, and the grid index coordinates describe the space occupied airspace range of the aircrafts represented by the different scale space grids, so that a low-altitude airspace using coding system of the same aircraft low-altitude airspace route with a plurality of scale space grid codes is formed;
(3) Constructing an airspace using conflict detection function, firstly judging the time overlapping condition of the aircraft in the low-altitude airspace by combining with aircraft route time information, and further judging the conflict condition of the airspace occupied by different aircraft in the overlapping time period on the basis of multi-scale three-dimensional grid matrix coding of the aircraft using airspace, thereby determining the conflict range of the airspace used by different aircraft;
(4) And designing a parallel airspace use conflict detection flow, based on a multi-scale space grid coding system used by the aircraft airspace, synchronously detecting the aircraft route airspace use conflict situation of each scale space grid representation aiming at the aircraft route of different scale space grid coding representation, and finally synthesizing the aircraft airspace use conflict situation under each scale to form a final airspace use conflict detection result.
Wherein the given continuous low-altitude space in the step (1) is a height ofA flight area below meter of a size above groundCubic meter continuous low-altitude airspace; dividing the low-altitude space domain intoA dimension of/>, for the above dimensionsCubic meter continuous low-altitude airspace, typically chosenThe corresponding cube grid sizes are/>, respectivelyRice,Rice,Rice,Rice,Rice,Rice andAnd (5) rice.
Preferably, the specific steps of the low-altitude space-domain grid coding which is formed by one-to-one mapping between coding and different-scale cube grids in the step (1) are as follows:
(1.1) constructing a multiscale spatial grid model of a given low-altitude airspace, dividing the low-altitude airspace into The corresponding cubic grid side length is/>, with the dimensionsRice, selecting Cartesian origin of coordinates as the vertex of the low-altitude airspace toThe low-altitude airspace cube grids divided by the individual scales can be indexed through three-dimensional coordinates, so that the aircraft route coordinates expressed by a geodetic coordinate system are converted into low-altitude airspace coordinates expressed by Cartesian coordinates;
(1.2) encoding the low-altitude airspace cube grids divided by different scales in a three-dimensional matrix form, wherein for a given low-altitude airspace, the three-dimensional matrix dimensions corresponding to the low-altitude airspace grids with different scales can be expressed as Encoding low-altitude space grid divided by different scales according to a three-dimensional matrix element index mode, wherein the cube grid corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinatesAnd (3) uniquely determining, and realizing matrix type low-altitude space domain discretization coding of different scales.
Furthermore, the specific steps of forming the multi-scale low-altitude space domain using coding system in the step (2) are as follows:
(2.1) when the adaptive-sized cube grid matrix is selected, the physical size of the aircraft is the following safety spacing The selected side length of the cube grid isOrdering from small to large for all aircraft sizesWhen the aircraft is in the flight path, a space grid with multiple scales can be selected to describe the aircraft flight path;
(2.2) to finally select Three-dimensional space grid as an example,If the aircrafts corresponding to the three scale space grids are respectively，Then byThe three scale characterized aircraft routes are a series of space grid coordinates, respectively expressed as:
：，，，……
：，，，……
：，，，……
(2.3) for the aircraft route represented by the larger scale grid, according to the inclusion relation of the space grid, mapping the aircraft route space grid coordinate represented by the larger scale to the aircraft route space grid coordinate represented by the smaller scale, wherein the specific mapping mode of any coordinate value is as follows:
，
In the middle of Expressed respectively asSpace grid coordinates of scale representationMapping toThe scale represents the space grid coordinate range, and the calculation mode is as follows:
(2.4) to ensure that the aircraft route represented by the larger scale grid can contain route information represented by the smaller scale grid, the multi-scale spatial grid coordinates of the aircraft route in step (2.2) can be updated as:
：，，，……
：，，，……
：，，，……
thereby forming an aircraft low-altitude airspace usage coding system characterized by a multi-scale grid.
Further, the specific construction steps of the hollow domain using the conflict detection function in the step (3) are as follows:
(3.1) aiming at the aircraft routes represented by the same scale space grids, directly judging whether space grid coordinates of overlapping parts of the time periods of the aircraft routes overlap or not, and judging the low-altitude airspace use conflict situation of the corresponding aircraft routes;
And (3.2) aiming at the aircraft routes corresponding to the grids in different scale spaces, and judging the low-altitude airspace use conflict situation of the corresponding aircraft route by judging the overlapping relation between the mapping of the route represented by the large scale grid in the small scale grid coordinates and the aircraft route coordinate represented by the corresponding small scale grid.
Preferably, the specific steps of the hollow domain conflict detection flow in the step (4) are as follows:
(4.1) developing at the same time 、、The collision detection is used by the airspace of the represented aircraft route sequence;
(4.2) on a scale of The expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atAndMapping on scale, judging/>, respectivelyAnd (3) with Route conflict conditions between each aircraft;
(4.3) on a scale of The expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atMapping on scale, judging/>, respectivelyAndRoute conflict conditions between each aircraft;
(4.4) on a scale of Expressed aircraft route sequence, direct judgmentCollision conditions of airlines between aircraft;
and (4.5) integrating the airspace utilization conflict detection results to realize low-altitude airspace utilization conflict detection of all aircraft routes.
The invention discloses a size self-adaptive low-altitude airspace use conflict detection system, which comprises:
The airspace grid coding module is used for airspace rasterization modeling and digital coding, namely discretizing a given continuous low-altitude airspace, dividing the continuous low-altitude airspace into zero-clearance cube grid models with different scales, constructing a multi-scale space grid model of the given low-altitude airspace, dividing the given low-altitude airspace into cube grids with different size side lengths, and dividing the low-altitude airspace into three cube grids with different sizes A dimension corresponding to the cube grid size ofMeter, each larger sized cube grid containsSmaller cubic grids of adjacent size; the cube grids of each scale can completely describe and set all low-altitude airspace, three-dimensional matrix sequential coding is carried out on the cube grids of each scale, coding and low-altitude airspace grid coding of one-to-one mapping of cube grids of different scales are formed, and a multi-scale low-altitude airspace discretization description mode is formed;
The multi-scale rasterization characterization module is used for performing multi-scale rasterization characterization on a low-altitude airspace, and adaptively selecting corresponding cube raster scales aiming at the sizes of aircrafts in different low-altitude airspaces and the corresponding safety distances of the aircrafts, so that the low-altitude airspace route of the aircrafts is represented as cube raster matrix coding data of the scales, and the cube raster matrix coding information is expanded to smaller scales according to the containing relations of different scale space grids, and the raster index coordinates describe the space occupied by the aircrafts represented by the different scale space grids, so that a low-altitude airspace using coding system with a plurality of scale space raster codes of the low-altitude airspace route of the same aircraft is formed;
the conflict detection function module is used for constructing a conflict detection function used in an airspace, firstly, judging the time overlapping condition of the aircraft in the low-altitude airspace by combining with aircraft route time information, and further judging the conflict condition of the airspace occupied by different aircraft in the overlapping time period on the basis of multi-scale three-dimensional grid matrix coding of the aircraft used airspace, so as to determine the conflict range of the airspace used by different aircraft;
the parallel airspace detection module is used for designing a parallel airspace utilization conflict detection flow, based on a multi-scale space grid coding system used by the aircraft airspace, synchronously detecting the aircraft route airspace utilization conflict situation of each scale space grid representation aiming at the aircraft route of different scale space grid coding representation, and finally synthesizing the aircraft airspace utilization conflict situation under each scale to form a final airspace utilization conflict detection result.
Wherein, the given continuous low-altitude airspace in the airspace grid coding module refers to a flight area with the height of less than 1024 meters and the size of the flight area is above the groundCubic meter continuous low-altitude airspace; dividing the low-altitude space domain intoA dimension of/>, for the above dimensionsCubic meter continuous low-altitude airspace, typically chosenThe corresponding cube grid sizes are/>, respectivelyRice,Rice,Rice,Rice,Rice,Rice andRice;
The space domain grid coding module is used for forming a low-space domain grid code with one-to-one mapping of codes and different-scale cube grids, firstly constructing a multi-scale space grid model of a given low-space domain, and dividing the low-space domain into The corresponding cubic grid side length is/>, with the dimensionsRice, selecting Cartesian origin of coordinates as the vertex of the low-altitude airspace toThe low-altitude airspace cube grids divided by the individual scales can be indexed through three-dimensional coordinates, so that the aircraft route coordinates expressed by a geodetic coordinate system are converted into low-altitude airspace coordinates expressed by Cartesian coordinates;
encoding the low-altitude airspace cube grids divided by different scales in a three-dimensional matrix form, wherein for a given low-altitude airspace, the three-dimensional matrix dimensions corresponding to the low-altitude airspace grids with different scales can be expressed as Encoding low-altitude space grid divided by different scales according to a three-dimensional matrix element index mode, wherein the cube grid corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinatesAnd (3) uniquely determining, and realizing matrix type low-altitude space domain discretization coding of different scales.
Preferably, a multi-scale low-altitude airspace using coding system is formed in the multi-scale rasterization characterization module, when a cube grid matrix with self-adaptive size is selected, if the physical size of the aircraft is after considering the safety spacingThe selected side length of the cube grid isOrdering from small to large for all aircraft sizesWhen the aircraft is in the flight path, a space grid with multiple scales can be selected to describe the aircraft flight path;
To finally select Three-dimensional space grid as an example,If the aircrafts corresponding to the three scale space grids are respectively，Then byThe three scale characterized aircraft routes are a series of space grid coordinates, respectively expressed as:
：，，，……
：，，，……
：，，，……
For the aircraft route represented by the larger scale grid, according to the inclusion relation of the space grid, the aircraft route space grid coordinate represented by the larger scale can be mapped into the aircraft route space grid coordinate represented by the smaller scale, and the specific mapping mode of any coordinate value is as follows:
，
In the middle of Expressed respectively asSpace grid coordinates of scale representationMapping toThe scale represents the space grid coordinate range, and the calculation mode is as follows:
，
To ensure that the aircraft route represented by the larger scale grid can contain route information represented by the smaller scale grid, the multi-scale spatial grid coordinates of the aircraft route may be updated as:
：，，，……
：，，，……
：，，，……
thereby forming an aircraft low-altitude airspace usage coding system characterized by a multi-scale grid.
Furthermore, a space domain use conflict detection function is built in a conflict detection function building module, and firstly, for the aircraft routes represented by the same scale space grids, whether space grid coordinates of overlapping parts of the aircraft route time periods overlap or not is directly judged, so that the low-altitude space domain use conflict situation of the corresponding aircraft routes can be judged; aiming at the aircraft routes corresponding to different scale space grids, the low-altitude airspace use conflict situation of the corresponding aircraft route can be judged by judging the overlapping relation between the mapping of the route represented by the large scale grid in the small scale grid coordinates and the aircraft route coordinate represented by the corresponding small scale grid;
the method comprises the steps of performing space domain conflict detection in a parallel space domain detection module, and respectively developing the space domain conflict detection flows at the same time 、、The collision detection is used by the airspace of the represented aircraft route sequence; for the scaleThe expressed aircraft route sequence is judged firstThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atAndMapping on scale, judging/>, respectivelyAnd Route conflict conditions between each aircraft; for the scaleThe expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atMapping on scale, judging/>, respectivelyAndRoute conflict conditions between each aircraft; for the scaleExpressed aircraft route sequence, direct judgmentCollision conditions of airlines between aircraft; and the low-altitude airspace use conflict detection of all aircraft routes can be realized by integrating the airspace use conflict detection results.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages: the invention can simultaneously consider the space-time information of the airspace occupied by the low-altitude aircrafts with different sizes, effectively synchronously and parallelly detect the conflict situation of the low-altitude airspace used by the aircrafts with different sizes, improve the efficiency of detecting the conflict of the airspace used, and reduce the false judgment rate.
Drawings
FIG. 1 is a schematic view of a medium-low spatial domain multi-scale cube grid of the present invention;
FIG. 2 is a schematic diagram of a matrix three-dimensional space grid coding according to the present invention;
FIG. 3 is a flow chart of the low-altitude space domain utilization conflict detection in 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 described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1: the invention discloses a size self-adaptive low-altitude airspace use conflict detection method, which comprises the following steps:
(1) The spatial grid modeling and digital coding are carried out, namely discretization processing is carried out on a given continuous low-altitude spatial domain, the continuous low-altitude spatial domain is divided into zero-clearance cube grid models with different scales, a multi-scale space grid model of the given low-altitude spatial domain is constructed, the given low-altitude spatial domain is divided into cube grids with different size side lengths, and the low-altitude spatial domain is divided into A dimension corresponding to the cube grid size ofMeter, each larger sized cube grid containsSmaller cubic grids of adjacent size; the cube grids of each scale can completely describe and set all low-altitude airspace, three-dimensional matrix sequential coding is carried out on the cube grids of each scale, coding and low-altitude airspace grid coding of one-to-one mapping of cube grids of different scales are formed, and a multi-scale low-altitude airspace discretization description mode is formed;
the given continuous low-altitude space in the step (1) refers to a flight area with the height of less than 1024 meters and the size of the flight area is above the ground Cubic meter continuous low-altitude airspace;
Dividing low-altitude space into A dimension of/>, for the above dimensionsCubic meter continuous low-altitude airspace, typically chosenThe corresponding cube grid sizes are/>, respectivelyRice,Rice,Rice,Rice,Rice,Rice andRice;
The specific steps of the low-altitude space-domain grid coding which is formed by one-to-one mapping of codes and different-scale cube grids in the step (1) are as follows:
(1.1) constructing a multiscale spatial grid model of a given low-altitude airspace, dividing the low-altitude airspace into The corresponding cubic grid side length is/>, with the dimensionsRice, selecting Cartesian origin of coordinates as the vertex of the low-altitude airspace toThe low-altitude airspace cube grids divided by the individual scales can be indexed through three-dimensional coordinates, so that the aircraft route coordinates expressed by a geodetic coordinate system are converted into low-altitude airspace coordinates expressed by Cartesian coordinates, and the low-altitude airspace cube grids are shown in FIG. 1;
(1.2) encoding the low-altitude airspace cube grids divided by different scales in a three-dimensional matrix form, wherein for a given low-altitude airspace, the three-dimensional matrix dimensions corresponding to the low-altitude airspace grids with different scales can be expressed as Encoding low-altitude space grid divided by different scales according to a three-dimensional matrix element index mode, wherein the cube grid corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinatesUniquely determining, and realizing matrix type low-altitude space domain discretization coding of different scales;
(2) The low-altitude airspace is characterized by using multi-scale rasterization, corresponding cube grid scales are adaptively selected according to the sizes of aircrafts in different low-altitude airspaces and the corresponding safety distances of the aircrafts, so that the low-altitude airspace route of the aircrafts is represented as cube grid matrix coding data of the scales, the cube grid matrix coding information is expanded to smaller scales according to the containing relations of different scale space grids, and the grid index coordinates describe the space occupied airspace range of the aircrafts represented by the different scale space grids, so that a low-altitude airspace using coding system of the same aircraft low-altitude airspace route with a plurality of scale space grid codes is formed;
the specific steps for forming the multi-scale low-altitude space domain using coding system in the step (2) are as follows:
(2.1) when the adaptive-sized cube grid matrix is selected, the physical size of the aircraft is the following safety spacing The selected side length of the cube grid isOrdering from small to large for all aircraft sizesWhen the aircraft is in the flight path, a space grid with multiple scales can be selected to describe the aircraft flight path;
(2.2) to finally select Three-dimensional space grid as an example,If the aircrafts corresponding to the three scale space grids are respectively，Then byThe three scale characterized aircraft routes are a series of space grid coordinates, respectively expressed as:
：，，，……
：，，，……
：，，，……
(2.3) for the aircraft route represented by the larger scale grid, according to the inclusion relation of the space grid, mapping the aircraft route space grid coordinate represented by the larger scale to the aircraft route space grid coordinate represented by the smaller scale, wherein the specific mapping mode of any coordinate value is as follows:
In the middle of Expressed respectively asSpace grid coordinates of scale representationMapping toThe scale represents the space grid coordinate range, and the calculation mode is as follows:
(2.4) to ensure that the aircraft route represented by the larger scale grid can contain route information represented by the smaller scale grid, the multi-scale spatial grid coordinates of the aircraft route in step (2.2) can be updated as:
：，，，……
：，，，……
：，，，……
Thereby forming an aircraft low-altitude airspace using coding system represented by a multi-scale grid;
(3) Constructing an airspace using conflict detection function, firstly judging the time overlapping condition of the aircraft in the low-altitude airspace by combining with aircraft route time information, and further judging the conflict condition of the airspace occupied by different aircraft in the overlapping time period on the basis of multi-scale three-dimensional grid matrix coding of the aircraft using airspace, thereby determining the conflict range of the airspace used by different aircraft;
The specific construction steps of the hollow domain using the conflict detection function in the step (3) are as follows:
(3.1) aiming at the aircraft routes represented by the same scale space grids, directly judging whether space grid coordinates of overlapping parts of the time periods of the aircraft routes overlap or not, and judging the low-altitude airspace use conflict situation of the corresponding aircraft routes;
(3.2) aiming at the aircraft routes corresponding to the grids in different scale spaces, judging the low-altitude airspace use conflict situation of the corresponding aircraft route by judging the overlapping relation between the mapping of the route represented by the large scale grid in the small scale grid coordinates and the aircraft route coordinate represented by the corresponding small scale grid;
(4) Designing a parallel airspace use conflict detection flow, as shown in fig. 3, based on a multi-scale space grid coding system used by an aircraft airspace, synchronously detecting the use conflict situation of the aircraft route airspace represented by each scale space grid aiming at the aircraft route represented by different scale space grid codes, and finally synthesizing the use conflict situation of the aircraft airspace under each scale to form a final airspace use conflict detection result;
The hollow domain conflict detection flow in the step (4) specifically comprises the following steps:
(4.1) developing at the same time 、、The collision detection is used by the airspace of the represented aircraft route sequence;
(4.2) on a scale of The expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atAndMapping on scale, judging/>, respectivelyAnd (3) with Route conflict conditions between each aircraft;
(4.3) on a scale of The expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atMapping on scale, judging/>, respectivelyAndRoute conflict conditions between each aircraft;
(4.4) on a scale of Expressed aircraft route sequence, direct judgmentCollision conditions of airlines between aircraft;
and (4.5) integrating the airspace utilization conflict detection results to realize low-altitude airspace utilization conflict detection of all aircraft routes.
Example 2: the invention discloses a size self-adaptive low-altitude airspace use conflict detection system, which comprises:
The airspace grid coding module is used for airspace rasterization modeling and digital coding, namely discretizing a given continuous low-altitude airspace, dividing the continuous low-altitude airspace into zero-clearance cube grid models with different scales, constructing a multi-scale space grid model of the given low-altitude airspace, dividing the given low-altitude airspace into cube grids with different size side lengths, and dividing the low-altitude airspace into three cube grids with different sizes A dimension corresponding to the cube grid size ofMeter, each larger sized cube grid containsSmaller cubic grids of adjacent size; the cube grids of each scale can completely describe and set all low-altitude airspace, three-dimensional matrix sequential coding is carried out on the cube grids of each scale, coding and low-altitude airspace grid coding of one-to-one mapping of cube grids of different scales are formed, and a multi-scale low-altitude airspace discretization description mode is formed;
Wherein, the given continuous low-altitude airspace in the airspace grid coding module refers to a flight area with the height of less than 1024 meters and the size of the flight area is above the ground Cubic meter continuous low-altitude airspace; dividing the low-altitude space domain intoA dimension of/>, for the above dimensionsCubic meter continuous low-altitude airspace, typically chosenThe corresponding cube grid sizes are/>, respectivelyRice,Rice,Rice,Rice,Rice,Rice andRice;
The space domain grid coding module is used for forming a low-space domain grid code with one-to-one mapping of codes and different-scale cube grids, firstly constructing a multi-scale space grid model of a given low-space domain, and dividing the low-space domain into The corresponding cubic grid side length is/>, with the dimensionsRice, selecting Cartesian origin of coordinates as the vertex of the low-altitude airspace toThe low-altitude airspace cube grids divided by the individual scales can be indexed through three-dimensional coordinates, so that the aircraft route coordinates expressed by a geodetic coordinate system are converted into low-altitude airspace coordinates expressed by Cartesian coordinates;
encoding the low-altitude airspace cube grids divided by different scales in a three-dimensional matrix form, wherein for a given low-altitude airspace, the three-dimensional matrix dimensions corresponding to the low-altitude airspace grids with different scales can be expressed as Encoding low-altitude space grid divided by different scales according to a three-dimensional matrix element index mode, wherein the cube grid corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinatesAnd (3) uniquely determining, and realizing matrix type low-altitude space domain discretization coding of different scales.
The multi-scale rasterization characterization module is used for performing multi-scale rasterization characterization on a low-altitude airspace, and adaptively selecting corresponding cube raster scales aiming at the sizes of aircrafts in different low-altitude airspaces and the corresponding safety distances of the aircrafts, so that the low-altitude airspace route of the aircrafts is represented as cube raster matrix coding data of the scales, and the cube raster matrix coding information is expanded to smaller scales according to the containing relations of different scale space grids, and the raster index coordinates describe the space occupied by the aircrafts represented by the different scale space grids, so that a low-altitude airspace using coding system with a plurality of scale space raster codes of the low-altitude airspace route of the same aircraft is formed;
Forming a multi-scale low-altitude airspace using coding system in a multi-scale gridding representation module, when a cube grid matrix with self-adaptive size is selected, if the physical size of an aircraft is the following after the safety spacing is considered The selected side length of the cube grid isOrdering from small to large for all aircraft sizesWhen the aircraft is in the flight path, a space grid with multiple scales can be selected to describe the aircraft flight path;
To finally select Three-dimensional space grid as an example,If the aircrafts corresponding to the three scale space grids are respectively，Then byThe three scale characterized aircraft routes are a series of space grid coordinates, respectively expressed as:
：，，，……
：，，，……
：，，，……
For the aircraft route represented by the larger scale grid, according to the inclusion relation of the space grid, the aircraft route space grid coordinate represented by the larger scale can be mapped into the aircraft route space grid coordinate represented by the smaller scale, and the specific mapping mode of any coordinate value is as follows:
，
In the middle of Expressed respectively asSpace grid coordinates of scale representationMapping toThe scale represents the space grid coordinate range, and the calculation mode is as follows: /(I)
，
To ensure that the aircraft route represented by the larger scale grid can contain route information represented by the smaller scale grid, the multi-scale spatial grid coordinates of the aircraft route may be updated as:
：，，，……
：，，，……
：，，，……
thereby forming an aircraft low-altitude airspace usage coding system characterized by a multi-scale grid.
The conflict detection function module is used for constructing a conflict detection function used in an airspace, firstly, judging the time overlapping condition of the aircraft in the low-altitude airspace by combining with aircraft route time information, and further judging the conflict condition of the airspace occupied by different aircraft in the overlapping time period on the basis of multi-scale three-dimensional grid matrix coding of the aircraft used airspace, so as to determine the conflict range of the airspace used by different aircraft;
The method comprises the steps of constructing an airspace utilization conflict detection function in a conflict detection function constructing module, firstly, directly judging whether space grid coordinates of overlapping parts of a time period of an aircraft route are overlapped or not according to the aircraft routes represented by the same scale space grid, and judging the low-altitude airspace utilization conflict situation of the corresponding aircraft route; aiming at the aircraft routes corresponding to different scale space grids, the low-altitude airspace use conflict situation of the corresponding aircraft route can be judged by judging the overlapping relation between the mapping of the route represented by the large scale grid in the small scale grid coordinates and the aircraft route coordinate represented by the corresponding small scale grid;
the parallel airspace detection module is used for designing a parallel airspace utilization conflict detection flow, based on a multi-scale space grid coding system used by the aircraft airspace, synchronously detecting the aircraft route airspace utilization conflict situation of each scale space grid representation aiming at the aircraft route of different scale space grid coding representation, and finally synthesizing the aircraft airspace utilization conflict situation under each scale to form a final airspace utilization conflict detection result.
The method comprises the steps of performing space domain conflict detection in a parallel space domain detection module, and respectively developing the space domain conflict detection flows at the same time、、The collision detection is used by the airspace of the represented aircraft route sequence; for the scaleThe expressed aircraft route sequence is judged firstThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atAndMapping on scale, judging/>, respectivelyAnd Route conflict conditions between each aircraft; for the scaleThe expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atMapping on scale, judging/>, respectivelyAndRoute conflict conditions between each aircraft; for the scaleExpressed aircraft route sequence, direct judgmentCollision conditions of airlines between aircraft; and the low-altitude airspace use conflict detection of all aircraft routes can be realized by integrating the airspace use conflict detection results. /(I)
Claims (5)
1. The size-adaptive low-altitude airspace use conflict detection method is characterized by comprising the following steps of:
(1) The spatial grid modeling and digital coding are carried out, namely discretization processing is carried out on a given continuous low-altitude spatial domain, the continuous low-altitude spatial domain is divided into zero-clearance cube grid models with different scales, a multi-scale space grid model of the given low-altitude spatial domain is constructed, the given low-altitude spatial domain is divided into cube grids with different size side lengths, and the low-altitude spatial domain is divided into A dimension corresponding to the cube grid size ofMeter, each larger sized cube grid containsSmaller cubic grids of adjacent size; the cube grids of each scale can completely describe and set all low-altitude airspace, three-dimensional matrix sequential coding is carried out on the cube grids of each scale, coding and low-altitude airspace grid coding of one-to-one mapping of cube grids of different scales are formed, and a multi-scale low-altitude airspace discretization description mode is formed;
(2) The low-altitude airspace is characterized by using multi-scale rasterization, corresponding cube grid scales are adaptively selected according to the sizes of aircrafts in different low-altitude airspaces and the corresponding safety distances of the aircrafts, so that the low-altitude airspace route of the aircrafts is represented as cube grid matrix coding data of the scales, the cube grid matrix coding information is expanded to smaller scales according to the containing relations of different scale space grids, and the grid index coordinates describe the space occupied airspace range of the aircrafts represented by the different scale space grids, so that a low-altitude airspace using coding system of the same aircraft low-altitude airspace route with a plurality of scale space grid codes is formed;
the specific steps for forming the multi-scale low-altitude space domain using coding system in the step (2) are as follows:
(2.1) when the adaptive-sized cube grid matrix is selected, the physical size of the aircraft is the following safety spacing The selected side length of the cube grid isOrdering from small to large for all aircraft sizesWhen the aircraft is in the flight path, a space grid with multiple scales can be selected to describe the aircraft flight path;
(2.2) to finally select Three-dimensional space grid as an example,If the aircrafts corresponding to the three scale space grids are respectively，Then byThe three scale characterized aircraft routes are a series of space grid coordinates, respectively expressed as:
：，，，……
：，，，……
：，，，……
(2.3) for the aircraft route represented by the larger scale grid, according to the inclusion relation of the space grid, mapping the aircraft route space grid coordinate represented by the larger scale to the aircraft route space grid coordinate represented by the smaller scale, wherein the specific mapping mode of any coordinate value is as follows:
，
In the middle of Expressed respectively asSpace grid coordinates of scale representationMapping toThe scale represents the space grid coordinate range, and the calculation mode is as follows:
，
(2.4) to ensure that the aircraft route represented by the larger scale grid can contain route information represented by the smaller scale grid, the multi-scale spatial grid coordinates of the aircraft route in step (2.2) can be updated as:
：，，，……
：，，，……
：，，，……
Thereby forming an aircraft low-altitude airspace using coding system represented by a multi-scale grid;
(3) Constructing an airspace using conflict detection function, firstly judging the time overlapping condition of the aircraft in the low-altitude airspace by combining with aircraft route time information, and further judging the conflict condition of the airspace occupied by different aircraft in the overlapping time period on the basis of multi-scale three-dimensional grid matrix coding of the aircraft using airspace, thereby determining the conflict range of the airspace used by different aircraft;
the specific construction steps of the hollow domain using the conflict detection function in the step (3) are as follows:
(3.1) aiming at the aircraft routes represented by the same scale space grids, directly judging whether space grid coordinates of overlapping parts of the time periods of the aircraft routes overlap or not, and judging the low-altitude airspace use conflict situation of the corresponding aircraft routes;
(3.2) aiming at the aircraft routes corresponding to the grids in different scale spaces, judging the low-altitude airspace use conflict situation of the corresponding aircraft route by judging the overlapping relation between the mapping of the route represented by the large scale grid in the small scale grid coordinates and the aircraft route coordinate represented by the corresponding small scale grid;
(4) Designing a parallel airspace use conflict detection flow, based on a multi-scale space grid coding system used by an aircraft airspace, synchronously detecting the aircraft route airspace use conflict situation of each scale space grid representation aiming at aircraft routes of different scale space grid coding representations, and finally synthesizing the aircraft airspace use conflict situation under each scale to form a final airspace use conflict detection result;
the hollow domain conflict detection flow in the step (4) specifically comprises the following steps:
(4.1) developing at the same time 、、The collision detection is used by the airspace of the represented aircraft route sequence;
(4.2) on a scale of The expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atAndMapping on scale, judging/>, respectivelyAndAndRoute conflict conditions between each aircraft;
(4.3) on a scale of The expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atMapping on scale, judging/>, respectivelyAndRoute conflict conditions between each aircraft;
(4.4) on a scale of Expressed aircraft route sequence, direct judgmentCollision conditions of airlines between aircraft;
and (4.5) integrating the airspace utilization conflict detection results to realize low-altitude airspace utilization conflict detection of all aircraft routes.
2. The method for detecting collision between low-altitude airspace and adaptive to size as claimed in claim 1, wherein the given continuous low-altitude airspace in step (1) is a flight region with a height of 1024 meters or less and a size above groundCubic meter continuous low-altitude airspace; dividing the low-altitude space domain intoA dimension ofCubic meter continuous low-altitude airspace, typically chosenThe corresponding cube grid sizes are/>, respectivelyRice,Rice,Rice,Rice,Rice,Rice andAnd (5) rice.
3. The method for detecting the collision between the low-altitude space domain and the use space domain in a size-adaptive manner according to claim 2, wherein the specific steps of the low-altitude space domain grid coding with one-to-one mapping between the constituent codes and the different-scale cube grids in the step (1) are as follows:
(1.1) constructing a multiscale spatial grid model of a given low-altitude airspace, dividing the low-altitude airspace into The corresponding cubic grid side length is/>, with the dimensionsRice, selecting Cartesian origin of coordinates as the vertex of the low-altitude airspace toThe low-altitude airspace cube grids divided by the individual scales can be indexed through three-dimensional coordinates, so that the aircraft route coordinates expressed by a geodetic coordinate system are converted into low-altitude airspace coordinates expressed by Cartesian coordinates;
(1.2) encoding the low-altitude airspace cube grids divided by different scales in a three-dimensional matrix form, wherein for a given low-altitude airspace, the three-dimensional matrix dimensions corresponding to the low-altitude airspace grids with different scales can be expressed as Encoding low-altitude space grid divided by different scales according to a three-dimensional matrix element index mode, wherein the cube grid corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinatesAnd (3) uniquely determining, and realizing matrix type low-altitude space domain discretization coding of different scales.
4. A size-adaptive low-altitude space domain usage collision detection system, comprising:
The airspace grid coding module is used for airspace rasterization modeling and digital coding, namely discretizing a given continuous low-altitude airspace, dividing the continuous low-altitude airspace into zero-clearance cube grid models with different scales, constructing a multi-scale space grid model of the given low-altitude airspace, dividing the given low-altitude airspace into cube grids with different size side lengths, and dividing the low-altitude airspace into three cube grids with different sizes A dimension corresponding to the cube grid size ofMeter, each larger sized cube grid containsSmaller cubic grids of adjacent size; the cube grids of each scale can completely describe and set all low-altitude airspace, three-dimensional matrix sequential coding is carried out on the cube grids of each scale, coding and low-altitude airspace grid coding of one-to-one mapping of cube grids of different scales are formed, and a multi-scale low-altitude airspace discretization description mode is formed;
The multi-scale rasterization characterization module is used for performing multi-scale rasterization characterization on a low-altitude airspace, and adaptively selecting corresponding cube raster scales aiming at the sizes of aircrafts in different low-altitude airspaces and the corresponding safety distances of the aircrafts, so that the low-altitude airspace route of the aircrafts is represented as cube raster matrix coding data of the scales, and the cube raster matrix coding information is expanded to smaller scales according to the containing relations of different scale space grids, and the raster index coordinates describe the space occupied by the aircrafts represented by the different scale space grids, so that a low-altitude airspace using coding system with a plurality of scale space raster codes of the low-altitude airspace route of the same aircraft is formed;
The multi-scale low-altitude airspace using coding system is formed in the multi-scale gridding representation module, when a cube grid matrix with self-adaptive size is selected, if the physical size of the aircraft after the safety spacing is considered is as follows The selected side length of the cube grid isOrdering from small to large for all aircraft sizesWhen the aircraft is in the flight path, a space grid with multiple scales can be selected to describe the aircraft flight path;
To finally select Three-dimensional space grid as an example,If the aircrafts corresponding to the three scale space grids are respectively，Then byThe three scale characterized aircraft routes are a series of space grid coordinates, respectively expressed as:
：，，，……
：，，，……
：，，，……
For the aircraft route represented by the larger scale grid, according to the inclusion relation of the space grid, the aircraft route space grid coordinate represented by the larger scale can be mapped into the aircraft route space grid coordinate represented by the smaller scale, and the specific mapping mode of any coordinate value is as follows:
，
In the middle of Expressed respectively asSpace grid coordinates of scale representationMapping toThe scale represents the space grid coordinate range, and the calculation mode is as follows:
，
To ensure that the aircraft route represented by the larger scale grid can contain route information represented by the smaller scale grid, the multi-scale spatial grid coordinates of the aircraft route may be updated as:
：，，，……
：，，，……
：，，，……
Thereby forming an aircraft low-altitude airspace using coding system represented by a multi-scale grid;
the conflict detection function module is used for constructing a conflict detection function used in an airspace, firstly, judging the time overlapping condition of the aircraft in the low-altitude airspace by combining with aircraft route time information, and further judging the conflict condition of the airspace occupied by different aircraft in the overlapping time period on the basis of multi-scale three-dimensional grid matrix coding of the aircraft used airspace, so as to determine the conflict range of the airspace used by different aircraft;
the method comprises the steps that a space utilization conflict detection function is built in a conflict detection function building module, firstly, for aircraft routes represented by space grids of the same scale, whether space grid coordinates of overlapping parts of time periods of the aircraft routes overlap or not is directly judged, and then the low-altitude space utilization conflict situation of the corresponding aircraft routes can be judged; aiming at the aircraft routes corresponding to different scale space grids, the low-altitude airspace use conflict situation of the corresponding aircraft route can be judged by judging the overlapping relation between the mapping of the route represented by the large scale grid in the small scale grid coordinates and the aircraft route coordinate represented by the corresponding small scale grid;
The parallel airspace detection module is used for designing a parallel airspace utilization conflict detection flow, based on a multi-scale space grid coding system used by the aircraft airspace, synchronously detecting the aircraft route airspace utilization conflict situation of each scale space grid representation aiming at the aircraft route represented by the different scale space grid codes, and finally synthesizing the aircraft airspace utilization conflict situation under each scale to form a final airspace utilization conflict detection result;
the method comprises the steps of performing space domain conflict detection in a parallel space domain detection module, and respectively developing the space domain conflict detection flows at the same time 、、The collision detection is used by the airspace of the represented aircraft route sequence; for the scaleThe expressed aircraft route sequence is judged firstThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atAndMapping on scale, judging/>, respectivelyAnd Route conflict conditions between each aircraft; for the scaleThe expressed aircraft route sequence is judgedThe collision situation of the routes between the aircrafts is then combined with the aircraft route coordinates atMapping on scale, judging/>, respectivelyAndRoute conflict conditions between each aircraft; for the scaleExpressed aircraft route sequence, direct judgmentCollision conditions of airlines between aircraft; and the low-altitude airspace use conflict detection of all aircraft routes can be realized by integrating the airspace use conflict detection results.
5. The adaptive size low-altitude space usage collision detection system according to claim 4, wherein said space-domain trellis encoding module is configured to give a given continuous low-altitude space of a flight area with a height of 1024 meters or less and a size of above groundCubic meter continuous low-altitude airspace; dividing the low-altitude space domain intoA dimension of/>, for the above dimensionsCubic meter continuous low-altitude airspace, typically chosenThe corresponding cube grid sizes are/>, respectivelyRice,Rice,Rice,Rice,Rice,Rice andRice;
The space domain grid coding module is used for forming a low-space domain grid code with one-to-one mapping of codes and different-scale cube grids, firstly constructing a multi-scale space grid model of a given low-space domain, and dividing the low-space domain into The corresponding cubic grid side length is/>, with the dimensionsRice, selecting Cartesian origin of coordinates as the vertex of the low-altitude airspace toThe low-altitude airspace cube grids divided by the individual scales can be indexed through three-dimensional coordinates, so that the aircraft route coordinates expressed by a geodetic coordinate system are converted into low-altitude airspace coordinates expressed by Cartesian coordinates;
encoding the low-altitude airspace cube grids divided by different scales in a three-dimensional matrix form, wherein for a given low-altitude airspace, the three-dimensional matrix dimensions corresponding to the low-altitude airspace grids with different scales can be expressed as Encoding low-altitude space grid divided by different scales according to a three-dimensional matrix element index mode, wherein the cube grid corresponding to each scale can be obtained by corresponding three-dimensional matrix element coordinatesAnd (3) uniquely determining, and realizing matrix type low-altitude space domain discretization coding of different scales.
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