CN-121999652-A - Airspace resource optimal allocation method and system for urban low-altitude flight

CN121999652ACN 121999652 ACN121999652 ACN 121999652ACN-121999652-A

Abstract

The invention relates to the technical field of aircraft flight control, in particular to an optimal allocation method and system of airspace resources for urban low-altitude flight. The method comprises the steps of sampling actual flight data of the aircraft in each grid unit and aerodynamic parameters of the aircraft in a historical period, obtaining wind resistance coefficient and voltage drop correction ratio, constructing a historical database, obtaining predicted load voltage according to working condition data of the grid units through which a planned route of the aircraft passes and similar working condition data in the corresponding historical database, determining voltage limited maximum speed, calculating the whole-course traffic delay time of the planned aircraft according to the voltage limited maximum speed, adjusting the actual take-off time slot of the planned aircraft by utilizing the whole-course traffic delay time, and sending the voltage limited maximum speed to the planned aircraft as a speed limiting instruction. The invention realizes personalized safety control of different aircrafts and dynamic optimization and safety allocation of airspace resources, and improves the passing efficiency of airspace.

Inventors

HONG JUNCHENG
ZHANG JUNSHEN
WANG YAMIN
Dou Ziyuan
CHEN YAHUI

Assignees

浙大启真未来城市科技(杭州)有限公司

Dates

Publication Date: 20260508
Application Date: 20260410

Claims (10)

1. The method for optimally distributing airspace resources for urban low-altitude flight is characterized by comprising the following steps of: acquiring actual flight data, electric bus data and aerodynamic parameters of the sampled aircraft in a flat flight cruising stage in the flight executing process; Based on the actual flight data of the sampling aircraft in each grid cell in the historical period and the aerodynamic parameters of the aircraft, the wind resistance coefficient and the voltage sag correction ratio of the sampling aircraft passing through each grid cell are obtained; According to the working condition data of the grid cells passed by the planning route of the planning aircraft and the similar working condition data in the corresponding historical database, obtaining the predicted load voltage of the planning aircraft in the corresponding grid cells; And adjusting the actual take-off time slot of the planned aircraft by utilizing the whole-course traffic delay time length, and issuing the voltage-limited maximum speed as a speed limiting instruction to the planned aircraft.
2. The method for optimizing allocation of airspace resources for low-altitude flight in city according to claim 1, wherein the obtaining of the wind resistance coefficient and the voltage drop correction ratio when the sampling aircraft passes through each grid cell comprises: The electrical bus data comprises a battery open-circuit voltage, a battery internal resistance, a measured bus voltage and a measured bus current; determining a power component of the sampling aircraft which overcomes gravity to do work based on actual flight data of the sampling aircraft when the candidate unit flies, determining actual mechanical thrust by utilizing the power component and the mass of the sampling aircraft based on an energy conservation law, and obtaining theoretical reference thrust based on aerodynamic parameters of the sampling aircraft and the actual flight data; Determining the ratio of the actual mechanical thrust to the theoretical reference thrust as a wind resistance coefficient when the sampling aircraft passes through the candidate unit; according to ohm's law, obtaining linear resistance voltage drop according to the internal resistance of the battery and the actually measured bus current; Combining linear resistive voltage drop and total voltage drop of battery open-circuit voltage and measured bus voltage to obtain voltage drop correction ratio when the sampling aircraft passes through the candidate unit; The candidate cell is any grid cell.
3. The method for optimizing allocation of airspace resources for low-altitude flight in city according to claim 2, wherein the constructing a historical database of each grid cell using the wind resistance coefficient, the voltage sag correction ratio and the electric bus data in the historical period comprises: And generating a history characteristic record of the candidate unit by using the wind resistance coefficient, the actually measured bus current, the internal resistance of the battery and the voltage drop correction ratio of each sampling aircraft passing through the candidate unit in the history period, wherein all the history characteristic records of the candidate unit form a history database of the candidate unit.
4. The method for optimizing allocation of airspace resources for low-altitude flight in city according to claim 3, wherein the step of obtaining the predicted load voltage of the planned aircraft in the corresponding grid cell according to the operating condition data of the grid cell passed by the planned route of the planned aircraft and the similar operating condition data in the corresponding historical database comprises the steps of: For candidate units: The method comprises the steps of constructing a power balance equation according to the effective mechanical power of a battery corresponding to a planned aircraft and the propulsion power required for overcoming the air resistance, solving a reference theoretical load current by utilizing the power balance equation, wherein the effective mechanical power is determined based on the comprehensive efficiency of a power system, the open-circuit voltage of the battery, the internal resistance of the battery and the reference theoretical load current; calculating the linear resistive voltage drop of the planned aircraft under the reference theoretical load current; constructing a query feature vector by using the current wind resistance coefficient of the candidate unit, the reference theoretical load current of the planned aircraft and the internal resistance of the battery of the planned aircraft, wherein the current wind resistance coefficient of the candidate unit is the average value of all wind resistance coefficients when the aircraft passes through the candidate unit in a historical database; calculating the statistical distance between the query feature vector and the corresponding feature vector in each corresponding historical feature record in a historical database of the candidate unit; Weighting the voltage drop correction ratio of the similar working condition sample by using the statistical distance to obtain a predicted voltage correction ratio of the planned aircraft in the candidate unit; And correcting the linear resistive voltage drop by utilizing the predicted voltage correction proportion, and combining the corrected linear resistive voltage drop and the planned aircraft battery open-circuit voltage to obtain the predicted load voltage of the planned aircraft in the candidate unit.
5. The method for optimizing allocation of airspace resources for low-altitude flight in city according to claim 4, wherein said correcting the linear resistive voltage drop by using the predicted voltage correction ratio, and combining the corrected linear resistive voltage drop with the planned open-circuit voltage of the battery of the aircraft, obtaining the predicted load voltage of the planned aircraft in the candidate unit, comprises: Correcting the predicted voltage by the product of the proportional and linear resistive voltage drops to obtain corrected linear resistive voltage drops; And taking the difference value between the battery open-circuit voltage of the planned aircraft and the corrected linear resistive voltage drop as the predicted load voltage of the planned aircraft in the candidate unit.
6. The method for optimizing allocation of airspace resources for low-altitude flight in a city of claim 5, wherein determining the voltage-limited maximum speed corresponding to the grid cell based on the predicted load voltage comprises: calculating the sum of the low-voltage protection threshold value and a preset safety voltage allowance; if the predicted load voltage is greater than the sum, taking the preset cruising speed as the voltage limited maximum speed; And if the predicted load voltage is smaller than or equal to the sum value, calculating the maximum safe current based on the predicted voltage correction ratio, the battery internal resistance and the allowed maximum safe voltage drop, and solving the voltage limited maximum speed according to the maximum safe current and the current windage coefficient of the candidate unit by the power balance equation.
7. The method for optimizing allocation of airspace resources for low-altitude flight in city according to claim 1, wherein calculating a planned whole journey delay time of the aircraft according to the voltage-limited maximum speed comprises: Calculating local delay time generated in each grid cell due to speed limitation according to the geometric path length, the preset cruising speed and the voltage limited maximum speed of each grid cell aiming at each grid cell on the planned route; and summing the local delay time of all grid cells on the planned route to obtain the whole-course traffic delay time.
8. The optimal allocation method for airspace resources for low-altitude flight in city according to claim 1, further comprising the step of fusing judgment before adjusting the actual take-off time slot of the planned aircraft: And if the whole-journey passing delay time exceeds a preset maximum allowable delay threshold or the voltage-limited maximum speed of any grid unit is zero, rejecting to plan the current flight plan of the aircraft.
9. The method for optimizing allocation of airspace resources for low-altitude flight in city according to claim 1, wherein said adjusting the actual take-off time slot of the planned aircraft by using the full-journey traffic delay time length comprises: adding the whole-course traffic delay time length to a preset buffer time to obtain a total adjustment time; And postponing the reference departure time slot of the original plan of the planned aircraft for the total adjustment time to obtain an adjusted actual departure time slot.
10. An optimized allocation system for airspace resources for urban low-altitude flight for performing the method of claim 1, the system comprising: The data acquisition module is used for acquiring actual flight data, electric bus data and aerodynamic parameters of the sampling aircraft in a flat flight cruising stage in the flight executing process; The system comprises a historical database construction module, a wind resistance coefficient and voltage sag correction proportion generation module and a power bus data generation module, wherein the historical database construction module is used for acquiring the actual flight data of a sampled aircraft in each grid unit and the aerodynamic parameters of the aircraft in a historical period and acquiring the wind resistance coefficient and the voltage sag correction proportion of the sampled aircraft when the sampled aircraft passes through each grid unit; The maximum speed determining module is used for obtaining the predicted load voltage of the planning aircraft in the corresponding grid unit according to the working condition data of the grid unit through which the planning route of the planning aircraft passes and the similar working condition data in the corresponding historical database; and the adjustment module is used for calculating the whole-course traffic delay time length of the planned aircraft according to the voltage-limited maximum speed, adjusting the actual take-off time slot of the planned aircraft by utilizing the whole-course traffic delay time length, and issuing the voltage-limited maximum speed as a speed limiting instruction to the planned aircraft.

Description

Airspace resource optimal allocation method and system for urban low-altitude flight Technical Field The invention relates to the technical field of aircraft flight control, in particular to an optimal allocation method and system of airspace resources for urban low-altitude flight. Background With the development of urban air traffic, electric vertical take-off and landing aircrafts increasingly normalize the way flight in urban high-density building groups. Unlike open airspace, urban canyon environments have complex and uneven airflow fields, and localized areas often experience intense turbulence or gusts. In actual operation, in order to maintain attitude stability and track maintenance in turbulence, the aircraft motor system requires high frequency power adjustment, resulting in severe pulse-like fluctuations in battery output power. For the existing electric aircraft, the terminal voltage of the power battery is not only influenced by the average load, but also extremely sensitive to the high-frequency pulse load. Particularly, in the aging (internal resistance increase) or low-power state of the battery, severe power fluctuation is very easy to cause the terminal voltage of the battery to drop to the low-voltage protection threshold value of the flight control system instantaneously. In the prior art, the airspace resource allocation or flow control method is generally used for performing static scheduling only based on the nominal cruising speed of the aircraft, or performing simple cruising estimation only according to the residual electric quantity of the battery. These methods ignore the nonlinear coupling relationship between turbulence characteristics and aircraft battery health for a particular geographic environment. In actual flight, without prejudging such a voltage drop risk, the aircraft may be forced to suddenly slow down or even hover by triggering low voltage protection while flying through a turbulent flow region. The unexpected air deceleration behavior can instantaneously destroy the originally tight queue interval, thereby causing the risk of chain congestion or avoidance of the subsequent aircraft, and seriously reducing the passing efficiency and safety of an airspace. Disclosure of Invention In order to solve the problem that the existing airspace resource allocation method for urban low-altitude flight does not consider the dynamic influence of urban low-altitude complex airflow environment on the battery voltage of an electric aircraft, which causes the flight safety caused by unexpected voltage drop, the invention aims to provide the airspace resource optimal allocation method and system for urban low-altitude flight, and the adopted technical scheme is as follows: in a first aspect, the present invention provides a method for optimizing and allocating airspace resources for urban low-altitude flight, which includes the following steps: acquiring actual flight data, electric bus data and aerodynamic parameters of the sampled aircraft in a flat flight cruising stage in the flight executing process; Based on the actual flight data of the sampling aircraft in each grid cell in the historical period and the aerodynamic parameters of the aircraft, the wind resistance coefficient and the voltage sag correction ratio of the sampling aircraft passing through each grid cell are obtained; According to the working condition data of the grid cells passed by the planning route of the planning aircraft and the similar working condition data in the corresponding historical database, obtaining the predicted load voltage of the planning aircraft in the corresponding grid cells; And adjusting the actual take-off time slot of the planned aircraft by utilizing the whole-course traffic delay time length, and issuing the voltage-limited maximum speed as a speed limiting instruction to the planned aircraft. Preferably, the acquiring of the wind resistance coefficient and the voltage sag correction ratio when the sampling aircraft passes through each grid unit includes: The electrical bus data comprises a battery open-circuit voltage, a battery internal resistance, a measured bus voltage and a measured bus current; determining a power component of the sampling aircraft which overcomes gravity to do work based on actual flight data of the sampling aircraft when the candidate unit flies, determining actual mechanical thrust by utilizing the power component and the mass of the sampling aircraft based on an energy conservation law, and obtaining theoretical reference thrust based on aerodynamic parameters of the sampling aircraft and the actual flight data; Determining the ratio of the actual mechanical thrust to the theoretical reference thrust as a wind resistance coefficient when the sampling aircraft passes through the candidate unit; according to ohm's law, obtaining linear resistance voltage drop according to the internal resistance of the battery and the actually measured bus current; Combining