CN-121980755-A - Unmanned aerial vehicle grid airspace construction method based on multiple attributes

CN121980755ACN 121980755 ACN121980755 ACN 121980755ACN-121980755-A

Abstract

The invention provides an unmanned aerial vehicle grid airspace construction method based on multiple attributes, which comprises the steps of 1, constructing an unmanned aerial vehicle integral grid airspace, quantitatively designing airspace structural parameters based on unmanned aerial vehicle technical parameters, 2, subdividing the unmanned aerial vehicle grid airspace into 3 sublayers based on the airspace structural parameters, calculating attribute parameter distribution in each sublayer to serve as grid characteristic evaluation indexes of the layer, 3, determining importance sequences of all attributes in the unmanned aerial vehicle grid airspace according to grid attribute index system evaluation standards, constructing a multiple attribute grid characteristic comprehensive evaluation model by adopting a combined weighting method, obtaining weight values of grid characteristic evaluation indexes of the 3 sublayers, and 4, conducting multilayer fusion to obtain the final unmanned aerial vehicle grid airspace, and assisting in decision airspace planning in an actual environment. The method provides theoretical basis for the airspace operation environment and the flight path planning of the unmanned aerial vehicle, and has practical significance.

Inventors

TIAN JING
LI CHONGCHONG
CHEN ZHE
GUO YECHENFENG
BAO DANWEN
CHEN FEIFEI
WANG JUNCHONG
TANG WENYI
LIU ZEYUAN
ZHANG YANG

Assignees

中国电子科技集团公司第二十八研究所

Dates

Publication Date: 20260505
Application Date: 20251222

Claims (10)

1. The unmanned aerial vehicle grid airspace construction method based on multiple attributes is characterized by comprising the following steps of: step 1, constructing an unmanned aerial vehicle integral grid airspace, and quantitatively designing airspace structural parameters based on unmanned aerial vehicle technical parameters; step 2, subdividing an unmanned aerial vehicle grid airspace into 3 sublayers based on airspace structural parameters, and calculating attribute parameter distribution in each sublayer to serve as grid characteristic evaluation indexes of the layer; step 3, determining an importance sequence of each attribute in the unmanned aerial vehicle grid space domain according to a grid attribute index system evaluation standard, and constructing a multi-attribute grid characteristic comprehensive evaluation model by adopting a combined weighting method to obtain weight values of grid characteristic evaluation indexes of 3 sublayers; and 4, carrying out multi-layer fusion based on the grid characteristic evaluation index and the weight value to obtain a final unmanned aerial vehicle grid airspace, wherein the final unmanned aerial vehicle grid airspace is used for assisting decision airspace planning in an actual environment.
2. The method for constructing a grid airspace of an unmanned aerial vehicle based on multiple attributes according to claim 1, wherein the airspace structural parameters in step 1 include: airspace range, airspace altitude limit, and grid granularity.
3. The unmanned aerial vehicle grid airspace construction method based on the multiple attributes, which is disclosed in claim 2, is characterized in that the airspace range is a square structure with a preset size, the airspace height limit is determined by the maximum low-altitude flight height limit and the unmanned aerial vehicle performance parameter together, and the grid granularity is an actual space equal-proportion scaling value.
4. A method for constructing a multi-attribute-based unmanned aerial vehicle grid airspace according to claim 3, wherein the subdividing the unmanned aerial vehicle grid airspace in step 2 into 3 sublayers includes: dividing an unmanned aerial vehicle grid airspace into a security risk sublayer, a noise sensitive sublayer and a privacy sensitive sublayer; The airspace range, airspace height limit and grid granularity of the 3 sublayers are the same.
5. The method for constructing the unmanned aerial vehicle grid airspace based on multiple attributes according to claim 4, wherein the calculating the attribute parameter distribution in each sub-layer in step 2 as the grid feature evaluation index of the layer includes: Step 2-1, constructing a risk assessment model to calculate a safety risk value, wherein the safety risk value is used as a grid characteristic evaluation index of a safety risk sub-layer; Step 2-2, constructing a noise sensitive model to calculate a noise sensitive value as a grid characteristic evaluation index of a noise sensitive sublayer; Step 2-3, adopting matrix Representing privacy sensitive sublayers, wherein elements of the matrix And the privacy sensitive value of the corresponding position is expressed and used as a grid characteristic evaluation index of the privacy sensitive sublayer.
6. The method for constructing a grid airspace of an unmanned aerial vehicle based on multiple attributes according to claim 5, wherein the constructing a risk assessment model in step 2-1 calculates a security risk value, comprising: calculating the position according to the influence range of the potential impact area, the probability of falling accidents of the unmanned aerial vehicle, the probability of collision of the unmanned aerial vehicle and ground personnel and the probability of casualties of the collided personnel Security risk value at site 。
7. The multi-attribute-based unmanned aerial vehicle grid airspace construction method according to claim 6, wherein in step 2-2, the construction of the noise sensitivity model to calculate the noise sensitivity value includes: calculating a position based on the functional sensitivity, the period sensitivity, and the density sensitivity Noise sensitivity value at 。
8. The method for constructing the unmanned aerial vehicle grid airspace based on multiple attributes according to claim 7, wherein the determining the importance sequence of each attribute in the unmanned aerial vehicle grid airspace according to the grid attribute index system evaluation criteria in the step 3 comprises the following steps: According to the preset evaluation standard, in the index set The most important grid evaluation index is selected as , wherein, Represent the first A number of indicators; Selecting the most important index from the remaining indexes as ; Repeating the steps until the last index to form an index importance sequence, wherein the index importance sequence is expressed as follows: ; Wherein, the Represent the first An important index.
9. The unmanned aerial vehicle grid airspace construction method based on multiple attributes according to claim 8, wherein the constructing the multiple attribute grid feature comprehensive evaluation model by adopting the combined weighting method in the step 3 comprises the following steps: Step 3-1, calculating subjective weight values of all grid evaluation indexes, and for any two indexes in the importance sequence of all the attributes in the unmanned aerial vehicle grid space domain And Calculating the relative importance degree of the indexes, and calculating the subjective weight value of each index according to the relative importance degree; step 3-2, calculating an objective weight value of each grid evaluation index, and calculating the objective weight value according to the characteristic proportion of the grid characteristic evaluation index; And 3-2, calculating a combination weight value according to the subjective weight value and the objective weight value of each grid evaluation index by adopting a combination weighting method.
10. The method for constructing the unmanned aerial vehicle grid airspace based on multiple attributes according to claim 9, wherein the step 4 of performing multi-layer fusion to obtain the final unmanned aerial vehicle grid airspace comprises the following steps: and constructing a multi-layer fusion calculation model according to the actual no-fly zone condition, and calculating the final unmanned aerial vehicle grid airspace attribute value.

Description

Unmanned aerial vehicle grid airspace construction method based on multiple attributes Technical Field The invention relates to an unmanned aerial vehicle grid airspace construction method, in particular to an unmanned aerial vehicle grid airspace construction method based on multiple attributes. Background This section provides merely background information related to the present disclosure and is not necessarily prior art. Along with the increasing demands of cities on low-altitude operation and the gradual opening of low-altitude airspace, how to scientifically and reasonably design a low-altitude airspace structure so as to enable the low-altitude airspace structure to meet the safe and efficient operation of an unmanned aerial vehicle is regarded as an important research direction. Under the background, the grid airspace shows unique advantages by utilizing three-dimensional space resources, namely the grid airspace divides the low-altitude airspace into a plurality of grid units, each unit can contain a plurality of characteristic attributes which influence the operation of the unmanned aerial vehicle, and the characteristic attributes can be used as important reference basis in the steps of scheduling, path planning and the like of the unmanned aerial vehicle. At present, the exploration of a low-altitude airspace by related research is still in a preliminary design stage. Therefore, the unmanned aerial vehicle grid airspace construction method is researched, and theoretical and technical support can be provided for rationalization and operation scheduling of airspace. At present, related researches on a low-altitude airspace are mainly conducted on the basis of the overall airspace structural design and the unmanned aerial vehicle track planning based on the simple airspace design, researches on the grid airspace division of the unmanned aerial vehicle stay at a theoretical construction level, and multi-dimensional attribute consideration is conducted on the grid airspace so as to couple the lack of method support for the actual running condition of the unmanned aerial vehicle. For the research of the low-altitude airspace, the low-altitude airspace is used as a basic environment for the operation of the unmanned aerial vehicle, simple three-dimensional grid division is carried out or only safety risk attributes are used as single consideration factors, the actual operation requirement of the unmanned aerial vehicle and the influence generated by the operation of the unmanned aerial vehicle are not considered, and a scientific, multi-dimensional and detailed unmanned aerial vehicle grid airspace construction method is not formed. It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art. Disclosure of Invention The invention aims to solve the technical problem of providing an unmanned aerial vehicle grid airspace construction method based on multiple attributes aiming at the defects of the prior art. In order to solve the technical problems, the invention discloses an unmanned aerial vehicle grid airspace construction method based on multiple attributes, which comprises the following steps: step 1, constructing an unmanned aerial vehicle integral grid airspace, and quantitatively designing airspace structural parameters based on unmanned aerial vehicle technical parameters; step 2, subdividing an unmanned aerial vehicle grid airspace into 3 sublayers based on airspace structural parameters, and calculating attribute parameter distribution in each sublayer to serve as grid characteristic evaluation indexes of the layer; step 3, determining an importance sequence of each attribute in the unmanned aerial vehicle grid space domain according to a grid attribute index system evaluation standard, and constructing a multi-attribute grid characteristic comprehensive evaluation model by adopting a combined weighting method to obtain weight values of grid characteristic evaluation indexes of 3 sublayers; and 4, carrying out multi-layer fusion based on the grid characteristic evaluation index and the weight value to obtain a final unmanned aerial vehicle grid airspace, wherein the final unmanned aerial vehicle grid airspace is used for assisting decision airspace planning in an actual environment. Further, the spatial domain structure parameters described in step 1 include: airspace range, airspace height limit, grid granularity, wherein, The airspace range is a square structure with a preset size, the airspace height limit is determined by the maximum low-altitude flight height limit and the unmanned aerial vehicle performance parameter, and the grid granularity is an actual space equal-proportion scaling value. Further, in the step 2, the subdivision of the unmanned aerial vehicle grid airspace in