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CN-122024529-A - Low-altitude public route planning method

CN122024529ACN 122024529 ACN122024529 ACN 122024529ACN-122024529-A

Abstract

The application relates to a low-altitude public route planning method, which relates to the technical field of airspace planning, and comprises the steps of obtaining multi-source data information of a target area, constructing a gridding three-dimensional airspace model, determining an initial route network scheme based on the gridding three-dimensional airspace model, flight demand prediction data and a network optimization algorithm, calculating the safety interval of each node of the initial route network, setting a backup path to obtain an integrated route planning scheme, determining a multi-scale operation rule set, carrying out simulation verification on the integrated route planning scheme based on the multi-scale operation rule set, obtaining operation performance indexes, and quantitatively evaluating to obtain an evaluation result. The adjustment scheme can be optimized based on the evaluation result, and the scene adaptation can be performed. And if the evaluation reaches the standard, generating an output planning result. The application achieves the technical effects of scientifically and reasonably evaluating, planning and optimizing the low-altitude route, generating a route network variant scheme suitable for different operation scenes and improving the operation safety and efficiency of the low-altitude route.

Inventors

  • QU WENQIU
  • JIANG YUEYUAN
  • JING GUIFEI

Assignees

  • 杭州市北京航空航天大学国际创新研究院(北京航空航天大学国际创新学院)

Dates

Publication Date
20260512
Application Date
20260410

Claims (10)

  1. 1. A method of low-altitude public routing, comprising: Acquiring multi-source data information of a target area, and constructing a grid three-dimensional airspace model of the target area based on the multi-source data information, wherein the multi-source data information comprises multi-source geospatial data, airspace limit data, communication navigation monitoring CNS coverage data, meteorological data and flight demand prediction data, and grid units in the grid three-dimensional airspace model comprise flight states, terrain elevations, population exposure levels, CNS service quality and meteorological risk attributes, and the flight states are flyable states or non-flyable states; Determining an initial route network scheme based on the meshed three-dimensional airspace model, flight demand prediction data and a preset network optimization algorithm, wherein the initial route network scheme comprises an initial route network, the initial route network comprises a plurality of route nodes and route sections, each route section corresponds to a route grade respectively, and the initial route network represents a three-dimensional path with a multi-level structure of a trunk, branch lines and tail ends; Based on aircraft performance parameters and CNS performance constraints, calculating the safety interval of each airway node in the initial airway network, and based on network topology vulnerability analysis, setting a backup path in the initial airway network to obtain an integrated airway planning scheme; Determining a multi-scale operation rule set based on the integrated route planning scheme and the aircraft performance parameter, wherein the multi-scale operation rule set comprises a point scale rule, a line scale rule and a plane scale rule; based on the integrated route planning scheme, the multi-scale operation rule set and a preset simulation environment model, performing simulation verification on the integrated route planning scheme to obtain operation performance indexes of the integrated route planning scheme; And quantitatively evaluating the operation performance index of the integrated route planning scheme based on a preset evaluation index system to obtain an evaluation result so as to modify the integrated route planning scheme based on the evaluation result.
  2. 2. A method of low-altitude public routing as claimed in claim 1, further comprising: Based on the evaluation result, optimizing and adjusting the integrated route planning scheme to generate a target route planning scheme; And performing scene adaptation on the target route planning scheme based on preset optimization targets and scene parameters of different operation scenes to generate a route network variant scheme suitable for the different operation scenes.
  3. 3. The method of claim 1, wherein constructing the three-dimensional gridded airspace model of the target region based on the multi-source data information comprises: based on the multi-source geographic space data, the airspace limit data and a preset space geometric feature recognition algorithm, recognizing and extracting a three-dimensional geometric boundary of a static obstacle in the target area; identifying region boundaries for dynamic operational constraints based on the communication navigation monitoring CNS coverage data and the meteorological data; Determining a safety envelope buffer zone of the three-dimensional geometric boundary of the static obstacle based on the aircraft performance parameters and a spatial buffer analysis algorithm; determining a three-dimensional spatial dataset based on a three-dimensional geometric boundary of a static obstacle in the target region, a region boundary of a dynamic operation constraint, and a security envelope buffer; based on range definition of a target area and preset mesh subdivision parameters, regularly subdividing the target area through a three-dimensional mesh discretization algorithm to obtain a plurality of subdivision height layers; For each split height layer, removing occupied areas from grids of each layer based on a three-dimensional space data set and a space Boolean difference set operation to obtain an available airspace contour, and carrying out space continuity analysis on the available airspace contour based on a connected component analysis algorithm in graph theory to obtain a horizontal topology map of the height layer; based on the horizontal topological graph of each height layer and a spatial superposition analysis algorithm, sequentially comparing the available airspace contours of adjacent height layers, identifying an overlapping region of the adjacent height layers in the vertical projection direction, and taking the overlapping region as a vertical passing window; And determining a grid three-dimensional airspace model of the target region based on the horizontal topological graphs of all the altitude layers, the vertical passing window and a three-dimensional topological integration algorithm.
  4. 4. A method of low-altitude public routing as claimed in claim 3, wherein said determining an initial routing network plan based on said meshed three-dimensional airspace model, flight demand prediction data, and a predetermined network optimization algorithm comprises: identifying key nodes based on the flight demand prediction data, wherein the key nodes comprise a take-off and landing field, a logistics hub, an urban core functional area and an emergency guarantee point; Extracting available airspace channels and block airspace in each altitude layer based on the gridding three-dimensional airspace model and a connected component analysis algorithm in a graph theory to form an airspace topological graph; Calculating the connection demand intensity among the key nodes based on the predicted traffic flow, the airspace environment complexity and the node gravitation model among the key nodes; generating an initial three-dimensional route segment connected with a key node by using the airspace topological graph as a constraint and the connection demand intensity as a weight through a network optimization algorithm; clustering and merging the initial three-dimensional route segments based on a preset multi-level structure principle to form a route network skeleton, wherein a main route bears trans-regional high-speed traffic, a branch route is connected with main routes and important functional nodes of cities, and a terminal route is connected with a landing station and the branch route; Dividing the route grade for each route section based on four-dimensional quantitative analysis, wherein the four-dimensional degree comprises a connection demand intensity dimension among nodes, a predicted traffic flow dimension, a topology importance degree dimension of the route section in a network and a CNS technical support horizontal dimension of an airspace where the route section is located; And presetting a preliminary operation rule constraint and a safety interval reference value for each road section based on the road grade to form the initial road network scheme.
  5. 5. The method of claim 4, wherein generating an initial three-dimensional route segment for connecting key nodes using a network optimization algorithm comprises: Acquiring target areas and environment constraint information, wherein the environment constraint information comprises an obstacle set, a sensitive area, a weather risk area, airspace traffic data and preset aircraft power constraint; generating a pareto optimal solution set by adopting a multi-objective optimization algorithm based on the airspace topological graph, the environment constraint information, the predefined three-dimensional airway parameters and the pre-constructed multi-objective function; The pareto optimal solution set comprises a plurality of initial three-dimensional route segments, the pre-constructed multi-objective function characterizes a function of multi-objective minimization problems of an economical objective, a safety objective, an efficiency objective and an environment-friendly objective, and the multi-objective optimization algorithm is an improved non-dominant ordering genetic algorithm.
  6. 6. The method of claim 1, wherein the calculating the safe interval of each route node in the initial route network based on the aircraft performance parameter and the CNS performance constraint, and setting the backup path in the initial route network based on the network topology vulnerability analysis, to obtain the integrated route planning scheme comprises: Based on the performance parameters of the aircraft, constructing a three-dimensional safety envelope model of the aircraft, wherein the three-dimensional safety envelope model comprises static physical characteristics, dynamic attitude tolerance and control execution precision of the aircraft; determining a composition of a voyage safety interval based on the three-dimensional safety envelope model and the CNS performance constraint, the composition of the voyage safety interval comprising a safety zone, a positioning error zone, and a protection buffer zone; respectively calculating the horizontal safety interval and the vertical safety interval of the safety zone, the positioning error zone and the protection buffer zone of each airway node to obtain a basic safety interval; For the channel nodes corresponding to a specific scene in an initial channel network, performing adjustment, increment and correction on basic safety intervals corresponding to the channel nodes to obtain the safety intervals of the channel nodes in the initial channel network, wherein the specific scene comprises a channel import, separation and crossing node conflict area, a CNS performance degradation area with complex electromagnetic environment or serious signal shielding, and an area with large aircraft wake influence or needing to meet minimum obstacle clearance; Carrying out topology vulnerability analysis on the initial airway network, and identifying and removing edges with network connectivity smaller than a set connectivity or nodes with a distance larger than a set distance to obtain a topology vulnerability analysis result; Superposing a topological vulnerability analysis result and a geographic risk map, identifying a target road section, and taking the target road section as the highest priority area of a backup path, wherein the target road section represents a road section with the risk degree larger than a set risk threshold; Setting a backup path on the target road section based on a preset redundancy setting principle, wherein the redundancy setting principle comprises a key coverage principle, a path independent principle and a capacity matching principle; and taking the initial route network which is subjected to safe interval calculation and backup path setting as the integrated route planning scheme.
  7. 7. A low-altitude public routing method in accordance with claim 6, wherein said determining a set of multi-scale operational rules based on said integrated routing scheme and said aircraft performance parameters comprises: determining aircraft residence time limit and traffic prioritization rules at each waynode based on the three-dimensional security envelope model and a security interval in the integrated rout plan; Determining a point scale rule based on the three-dimensional security envelope model, the security interval of each route node and the aircraft residence time limit and traffic priority ordering rule at each route node; Determining a route import and export rule based on the safety interval of each route node, wherein the route import and export rule characterizes an import and export angle, a speed limit and a communication handshake protocol for stipulating that an aircraft enters or leaves a main route and a branch route; Determining a cruising collision avoidance rule of the airway based on the three-dimensional safety envelope model, wherein the cruising collision avoidance rule characterizes a priority rule and an autonomous obstacle avoidance responsibility division under the scene of same-direction following, opposite-direction meeting and cross-meeting; determining a steering rule of an intersection of the airlines based on the safety interval of each airliner node, wherein the steering rule comprises a steering track design and a time slot allocation scheme; determining a line scale rule based on the route afflux and departure rule, the route cruising collision avoidance rule and the route intersection steering rule; Determining a height conversion corridor rule, a three-dimensional intersection rule, a landing field operation rule and a flow control area rule based on a route network skeleton and a safety interval in the integrated route planning scheme; Determining a face scale rule based on the altitude conversion corridor rule, the stereo intersection rule, the landing field operation rule and the flow control zone rule; and performing multi-scale rule coupling and logic consistency check on the point scale rule, the line scale rule and the plane scale rule, and determining the multi-scale operation rule set.
  8. 8. The method according to claim 1, wherein the performing simulation verification on the integrated routing scheme based on the integrated routing scheme, the multiscale operation rule set and a preset simulation environment model to obtain an operation performance index of the integrated routing scheme includes: s701, constructing a high-fidelity simulation environment model, wherein the high-fidelity simulation environment model comprises an imported high-precision three-dimensional city model, no-fly zone data, a CNS signal quality distribution map, and configured extreme meteorological parameters, CNS performance degradation parameters and high-density flow peak parameters; S702, loading the integrated route planning scheme and the multi-scale operation rule set in the high-fidelity simulation environment model; s703, randomly selecting a group of parameters from a plurality of simulation scene parameter sets, and loading the parameters into the high-fidelity simulation environment model; S704, based on simulation environment parameters of the current iteration, performing single-flight-segment safety envelope verification simulation, simulating a single machine to fly along a given flight path, counting the flight path deviation distance under the disturbance condition, and verifying whether the aircraft safety envelope invades an obstacle protection area or a no-fly area to obtain a first simulation result of the current iteration; S705, based on simulation environment parameters of the current iteration, performing dynamic conflict detection simulation, simulating a multi-machine interaction scene at a route intersection node and a main route, monitoring actual distances among aircrafts, and evaluating space-time overhead in a conflict detection and release process to obtain a second simulation result of the current iteration; s706, performing fault injection and robustness verification simulation based on simulation environment parameters of the current iteration, simulating communication interruption and aircraft emergency obstacle avoidance emergency, verifying the validity of an emergency program and the sufficiency of a route interval buffer zone, and obtaining a third simulation result of the current iteration; S707, based on the Monte Carlo method, executing steps S703 to S706 until the current iteration number reaches the set iteration number, counting collision probability at a safety interval based on a first simulation result, a second simulation result and a third simulation result of each iteration, and identifying conflict hot spot areas in the airway network to obtain a counting result; s708, calculating operation performance indexes of the integrated route planning scheme based on the statistical result, wherein the operation performance indexes comprise route connectivity, network nonlinearity coefficient, node saturation, safety redundancy, emergency coverage rate and communication coverage rate.
  9. 9. The method for planning a low-altitude public route according to claim 8, wherein the quantitatively evaluating the operation performance index of the integrated route planning scheme based on a preset evaluation index system to obtain an evaluation result comprises: Calculating actual values of various indexes in a preset evaluation index system based on the operation performance indexes, wherein the evaluation index system comprises a network structure, capacity performance, safety redundancy, emergency management and environment communication; forced safety compliance inspection is carried out on the integrated route planning scheme, wherein the inspection comprises airspace compliance inspection, obstacle exceeding safety inspection, system robustness inspection and environment constraint inspection; If the integrated routing scheme does not accord with any examination, judging that the evaluation result of the integrated routing scheme is unqualified; If the integrated route planning scheme passes the mandatory safety compliance examination, determining the weight of each index in the evaluation index system based on an expert consultation method, and carrying out self-adaptive adjustment on the weight of each index based on different planning scenes; calculating the score of each index based on the actual value, the weight and the preset scoring standard of each index, and calculating the comprehensive score of the integrated route planning scheme by adopting a weighted summation method; and determining the evaluation grade of the integrated route planning scheme based on the comprehensive score and a preset grade judgment standard to obtain an evaluation result.
  10. 10. A method of low-altitude public routing as claimed in claim 1, further comprising: And if the evaluation result of the integrated route planning scheme reaches the set evaluation requirement, generating and outputting a planning result, wherein the planning result comprises a planning report, a drawing set and a data set.

Description

Low-altitude public route planning method Technical Field The invention relates to the technical field of airspace planning and evaluation, in particular to a low-altitude public route planning method. Background With urban development and technological progress, low-altitude aircrafts such as unmanned aircrafts and electric vertical take-off and landing aircrafts (eVTOL) are increasingly used in cities and suburbs. Urban low-altitude public route planning is important for guaranteeing safe and efficient operation of low-altitude aircrafts. At present, the existing low-altitude route planning method focuses on two-dimensional plane route planning or simply utilizes the existing geographic corridor, and lacks of fine modeling and analysis on the three-dimensional space of the city. However, the conventional approaches of the prior art suffer from significant drawbacks. Firstly, the prior art is often focused on geometric layout, and the integration with digital supervision rules is ignored, so that a planning scheme cannot be directly used for airspace management, flow scheduling and emergency response. The third, the evaluation subjectivity of the planning scheme is strong, a set of multi-dimensional quantization index systems which cover network structure, capacity performance, safety redundancy and the like are lacked, and objective comparison and iterative optimization of the advantages and disadvantages of different schemes are difficult. Disclosure of Invention The invention aims to solve at least one technical problem by providing a low-altitude public route planning method. The technical scheme for solving the technical problems is as follows: the application provides a low-altitude public route planning method, which adopts the following technical scheme: A method of low-altitude public routing, comprising: Acquiring multi-source data information of a target area, and constructing a grid three-dimensional airspace model of the target area based on the multi-source data information, wherein the multi-source data information comprises multi-source geospatial data, airspace limit data, communication navigation monitoring CNS coverage data, meteorological data and flight demand prediction data, and grid units in the grid three-dimensional airspace model comprise flight states, terrain elevations, population exposure levels, CNS service quality and meteorological risk attributes, and the flight states are flyable states or non-flyable states; Determining an initial route network scheme based on the meshed three-dimensional airspace model, flight demand prediction data and a preset network optimization algorithm, wherein the initial route network scheme comprises an initial route network, the initial route network comprises a plurality of route nodes and route sections, each route section corresponds to a route grade respectively, and the initial route network represents a three-dimensional path with a multi-level structure of a trunk, branch lines and tail ends; Based on aircraft performance parameters and CNS performance constraints, calculating the safety interval of each airway node in the initial airway network, and based on network topology vulnerability analysis, setting a backup path in the initial airway network to obtain an integrated airway planning scheme; Determining a multi-scale operation rule set based on the integrated route planning scheme and the aircraft performance parameter, wherein the multi-scale operation rule set comprises a point scale rule, a line scale rule and a plane scale rule; based on the integrated route planning scheme, the multi-scale operation rule set and a preset simulation environment model, performing simulation verification on the integrated route planning scheme to obtain operation performance indexes of the integrated route planning scheme; And quantitatively evaluating the operation performance index of the integrated route planning scheme based on a preset evaluation index system to obtain an evaluation result so as to modify the integrated route planning scheme based on the evaluation result. The method has the advantages that a grid three-dimensional airspace model is built by acquiring multi-source data information, the geographic, meteorological and other conditions of a target area and airspace availability can be accurately reflected, an initial airway network scheme is determined based on the model, flight demand prediction data and a network optimization algorithm, a three-dimensional path which meets requirements and has a multi-level structure can be obtained, a safety interval is calculated, a backup path is set to obtain an integrated airway planning scheme, flight safety can be guaranteed, network reliability is improved, a multi-scale operation rule set can be determined to standardize aircraft flight, simulation verification is conducted on the integrated airway planning scheme to obtain operation performance indexes, scheme problems can be fou