CN110782708A - Unmanned aerial vehicle flight network modeling method based on low-altitude airspace limiting conditions - Google Patents

Unmanned aerial vehicle flight network modeling method based on low-altitude airspace limiting conditions Download PDF

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CN110782708A
CN110782708A CN201911057825.6A CN201911057825A CN110782708A CN 110782708 A CN110782708 A CN 110782708A CN 201911057825 A CN201911057825 A CN 201911057825A CN 110782708 A CN110782708 A CN 110782708A
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airspace
dem
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周龙
汤淼
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Nanjing Smart Aviation Research Institute Co Ltd
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    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
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    • G08G5/003—Flight plan management
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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Abstract

The invention belongs to the field of low-altitude airspace planning and management, and particularly discloses an unmanned aerial vehicle flight network modeling method based on low-altitude airspace limiting conditions, which is used for modeling and describing limiting factors of a low-altitude airspace, constructing a flight grid network of an unmanned aerial vehicle and providing technical support for an unmanned aerial vehicle flight path planning technology, an unmanned aerial vehicle conflict early warning and conflict avoiding technology. Firstly, a grid network of a terrain environment is constructed, the terrain environment is limited to be rasterized based on a digital elevation model, and an elevation solving method of any point in the grid network is established; and secondly, constructing an airspace restricted environment grid network, and establishing topological relations between a flight path and a restricted airspace, between a flight segment and the restricted airspace, and between the restricted airspace and the restricted airspace, so that the unmanned aerial vehicle flight network modeling is realized based on the low-altitude airspace restricted condition.

Description

Unmanned aerial vehicle flight network modeling method based on low-altitude airspace limiting conditions
Technical Field
The invention relates to the field of low-altitude airspace planning and management, in particular to an unmanned aerial vehicle flight network modeling method based on low-altitude airspace limiting conditions.
Background
With the reform and gradual opening of low-altitude airspace in China and the rapid development of technology, the application range of the unmanned aerial vehicle is more and more extensive, the unmanned aerial vehicle is spread all over the country and in various industries, the use demand of the low-altitude airspace is more and more vigorous, a series of safety problems of the low-altitude airspace are concerned, the limited low-altitude resources are fully utilized, and the safety of low-altitude flight is ensured to become an important subject to be solved urgently.
The low-altitude airspace is an activity space of various aircrafts, particularly unmanned aerial vehicles, is an objective condition closely related to the operation of the unmanned aerial vehicles, and how to model and describe the low-altitude airspace is of great significance to unmanned aerial vehicle situation monitoring, path planning, danger early warning and the like. At present, the modeling description of the low-altitude airspace is mainly to establish a two-dimensional plane model or a three-dimensional space model when solving the flight path planning problem, and the modeling description of the low-altitude airspace is not systematically carried out aiming at the limitations of airspace, terrain and the like.
Disclosure of Invention
In order to establish a complete and complete low-altitude operation environment of the unmanned aerial vehicle and practically and effectively describe the limitation of a low-altitude airspace and a terrain, the invention provides the unmanned aerial vehicle flight network modeling method based on the low-altitude airspace limitation condition, and provides theoretical support for the construction of an unmanned aerial vehicle management and control platform.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an unmanned aerial vehicle flight network modeling method based on low-altitude airspace limiting conditions firstly extracts operation environment characteristic data of a low-altitude airspace, including terrain environments, airspace environments (hereinafter referred to as limited airspace for short) such as a limited area, a dangerous area, a no-fly area, a clearance area and the like, and then respectively models and describes the terrain and the limited airspace, and comprises the following steps:
extracting feature elements of a terrain environment, and rasterizing the terrain environment based on a digital elevation model, namely dividing a space area into same square grid units;
converting the longitude and latitude heights of the grid vertex coordinates into three-dimensional space coordinates, namely converting the geodetic coordinate system into a world coordinate system;
Figure BSA0000193693850000021
the method comprises the following steps that N is the curvature radius of an earth ellipsoid prime circle, e is the first eccentricity of an ellipsoid ellipse, a is the earth major semiaxis, b is the minor semiaxis, a is 6378137 +/-2 (m), and b is 6356752.314 (m);
matching the elevation value of the grid network into the elevation value of the grid vertex based on the digital elevation model, and calculating the elevation value of any point in the grid network by using an elevation interpolation method, wherein the specific steps are as follows:
(1) judging the relation between the selected interpolation point K and the grid vertex;
(2) when the interpolation point K is on the grid boundary, calculating the elevation of the interpolation point by adopting a nearest neighbor interpolation method;
(3) and when the interpolation point K is in the grid boundary, calculating the elevation of the interpolation point by adopting a bilinear interpolation method.
Extracting the characteristic elements of the limited airspace environment, and establishing an airspace limited domain information database;
constructing a four-dimensional space element structure of a restricted airspace, and rasterizing the restricted airspace;
step six, constructing a topological network structure relationship between the flight path point and the restricted airspace, and specifically comprising the following steps:
(1) track point a i∈Ω jThe track point is in a limited airspace omega jInternal;
(2) track point
Figure BSA0000193693850000022
The track point is in a limited airspace omega jAnd (3) outside.
Step seven, constructing a topological network structure relationship between the flight segment and the restricted airspace, and specifically comprising the following steps:
(1) flight segment
Figure BSA0000193693850000023
The flight segment and the restricted airspace omega jAre not intersected;
(2) flight segment
Figure BSA0000193693850000032
The flight segment and the restricted airspace omega jAnd (4) intersecting.
Step eight, constructing a topological network structure relationship between a restricted airspace and a restricted airspace, and specifically comprising the following steps:
(1) restricted airspace
Figure BSA0000193693850000033
Airspace omega iSum space omega jAre not intersected;
(2) restricted airspace
Figure BSA0000193693850000034
Airspace omega iSum space omega jAnd (4) intersecting.
Further, the digital elevation model in the step one is a grid structure space data model formed by the elevation values of the divided regular grid points.
Further, the method for calculating the elevation of the interpolation point K by using the nearest neighbor interpolation method in the third step is as follows:
Figure BSA0000193693850000031
further, the method for calculating the elevation of the interpolation point K by using the bilinear interpolation method in the third step includes:
dem K＝dem A+(dem B-dem A)x K+(dem C-dem A)y K+(dem A-dem C+dem D-dem B)x Ky K
further, the four-dimensional space element in step five is a space region defining a horizontal boundary and a height boundary and an effective time range of the space region.
The invention has the following beneficial technical effects:
aiming at the problems of terrain limitation and airspace limitation in unmanned aerial vehicle flight path planning, an unmanned aerial vehicle flight network modeling method based on low-altitude airspace limitation conditions is established, the terrain environment limitation and airspace environment limitation can be systematically described, the limitation factors are subjected to three-dimensional rasterization, a topological structure among track points, track sections and limited airspaces is established, and support is provided for unmanned aerial vehicle flight path planning technology, unmanned aerial vehicle conflict early warning and conflict avoidance technology.
Drawings
FIG. 1 is a flow chart of a terrain and restricted airspace based modeling of an unmanned aerial vehicle flight network;
FIG. 2 is a diagram of a grid model with elevations;
FIG. 3 is a diagram of a four-dimensional space element structure of a restricted space domain;
FIG. 4 is a flow chart of the topological relationship construction of track points and restricted airspace;
FIG. 5 is a flow chart of the topological relation construction of the flight segment and the restricted airspace;
FIG. 6 is a flow chart of the construction of the topological relation between the restricted space domain and the restricted space domain.
Detailed Description
In order to make the purpose and technical solution of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical scheme of the invention is further described in detail by the following figures and embodiments:
as shown in fig. 1, the method for modeling the flight network of the unmanned aerial vehicle based on the low-altitude airspace restriction condition provided by the embodiment of the present invention includes the following steps:
analyzing characteristic elements of a low-altitude airspace operating environment, including terrain environment limitation and airspace environment limitation; the airspace environment data can be obtained from national navigation information book (NAIP);
secondly, extracting topographic environment characteristic elements from a geographic information system;
thirdly, as shown in fig. 2, rasterizing the terrain environment based on the digital elevation model, namely dividing the space area into the same square grid units;
extracting grid vertex coordinates according to the digital elevation model, and converting the longitude and latitude heights into three-dimensional space coordinates, namely converting the geodetic coordinate system into a world coordinate system;
Figure BSA0000193693850000051
the method comprises the following steps that N is the curvature radius of an earth ellipsoid prime circle, e is the first eccentricity of an ellipsoid ellipse, a is the earth major semiaxis, b is the minor semiaxis, a is 6378137 +/-2 (m), and b is 6356752.314 (m);
matching the elevation value of the grid network into the elevation value of the grid vertex based on the digital elevation model, and calculating the elevation value of any point in the grid network by using an elevation interpolation method:
(1) firstly, extracting coordinates A (x) of four vertexes of the grid i，y j，dem A)、B(x i，y j+1，dem B)、C(x i+1，y j，dem C)、D(x i+1，y j+1，dem D) Elevation values of dem A、dem B、dem C、dem D；
(2) When the interpolation point K is on the grid boundary, calculating the elevation dem of the interpolation point by adopting a nearest neighbor interpolation method K：
Figure BSA0000193693850000052
(3) When the interpolation point K is in the grid boundary, calculating the elevation dem of the interpolation point by using a bilinear interpolation method K：
dem K＝dem A+(dem B-dem A)x K+(dem C-dem A)y K+(dem A-dem C+dem D-dem B)x Ky K
Extracting the characteristic elements of the limited airspace environment, and establishing an airspace limited domain information database;
seventhly, as shown in fig. 3, constructing a four-dimensional space element structure of a restricted airspace, and rasterizing the restricted airspace;
step eight, as shown in fig. 4, constructing a topological network structure relationship between the track point and the restricted airspace, and specifically comprising the following steps:
(1) obtaining a track point a iCoordinate and restricted airspace Ω jData of where Ω j＝{a 1，a 2，...，a n}；
(2) Track point a i∈Ω jThe track point is in a limited airspace omega jInternal;
(3) track point
Figure BSA0000193693850000061
The track point is in a limited airspace omega jAnd (3) outside.
Step nine, as shown in fig. 5, a topological network structure relationship between the flight segment and the restricted airspace is constructed, and the specific steps are as follows:
(1) obtaining a leg A iData and restricted space omega jData wherein A i＝{a m，a m+1，...，a k}，Ω j＝{a 1，a 2，...，a n}；
(2) Flight segment
Figure BSA0000193693850000062
The flight segment and the restricted airspace omega jAre not intersected;
(3) flight segment
Figure BSA0000193693850000063
The flight segment and the restricted airspace omega jAnd (4) intersecting.
Step ten, as shown in fig. 6, constructing a topological network structure relationship between the restricted airspace and the restricted airspace, specifically comprising the following steps:
(1) obtaining a restricted airspace Ω iData and restricted space omega jData of where Ω i＝{a p，a p+1，...，a q}，Ω j＝{a 1，a 2，...，a n}；
(2) Restricted airspace
Figure BSA0000193693850000064
Airspace omega iSum space omega jAre not intersected;
(3) restricted airspace
Figure BSA0000193693850000065
Airspace omega iSum space omega jAnd (4) intersecting.
The invention establishes an unmanned aerial vehicle flight network modeling method based on low-altitude airspace restriction conditions, respectively performs three-dimensional rasterization on a terrain environment and a restricted airspace aiming at the problems of terrain restriction and airspace restriction in unmanned aerial vehicle flight path planning, constructs an elevation solving method aiming at any point in a grid network, and constructs a topological structure among track points, flight segments and the restricted airspace, thereby completing the modeling of the flight network restriction factors of the unmanned aerial vehicle.
The above embodiments are only for illustrating the technical idea of the present invention, and the scope of the present invention should not be limited thereby, and any modification made on the basis of the technical solution of the present invention is within the scope of the present invention.

Claims (5)

1. An unmanned aerial vehicle flight network modeling method based on low-altitude airspace limitation conditions is characterized in that the low-altitude airspace limitation conditions comprise terrain environment limitation, airspace environment limitation of a limitation area, a danger area, a no-fly area, a clearance area and the like. The unmanned aerial vehicle flight network modeling method based on the low-altitude airspace limiting condition comprises the following steps:
extracting feature elements of a terrain environment, and rasterizing the terrain environment based on a digital elevation model, namely dividing a space area into same square grid units;
converting the longitude and latitude heights of the grid vertex coordinates into three-dimensional space coordinates, namely converting the geodetic coordinate system into a world coordinate system;
matching the elevation value of the grid network into the elevation value of the grid vertex based on a digital elevation model, and calculating the elevation value of any point in the grid network by utilizing an elevation interpolation method;
extracting the characteristic elements of the limited airspace environment, and establishing an airspace limited domain information database;
constructing a four-dimensional space element structure of a restricted airspace, and rasterizing the restricted airspace;
step six, constructing a topological network structure relationship between the flight path point and the restricted airspace;
constructing a topological network structure relationship between the flight segment and the restricted airspace;
and step eight, constructing a topological network structure relationship between the restricted airspace and the restricted airspace.
2. The method of claim 1, wherein the step of matching the elevation values of the digital elevation model to the elevation values of the grid vertices and calculating the elevation value of any point in the grid using an elevation interpolation method comprises the steps of:
(1) firstly, extracting coordinates A (x) of four vertexes of the grid i，y j，dem A)、B(x i，y j+1，dem B)、C(x i+1，y j，dem C)、D(x i+1，y j+1，dem D) Elevation values of dem A、dem B、dem C、dem D；
(2) When the interpolation point K is on the grid boundary, calculating the elevation dem of the interpolation point by adopting a nearest neighbor interpolation method K：
Figure FSA0000193693840000021
(3) When the interpolation point K is in the grid boundary, calculating the elevation dem of the interpolation point by using a bilinear interpolation method K：dem K＝dem A+(dem B-dem A)x K+(dem C-dem A)y K+(dem A-dem C+dem D-dem B)x Ky K
3. The method for constructing the topological network structure relationship between the track point and the restricted airspace according to claim 1, which comprises the following steps:
(1) obtaining a track point a iCoordinate and restricted airspace Ω jData of where Ω j＝{a 1，a 2，...，a n}；
(2) Track point a i∈Ω jThe track point is limitedSystem airspace omega jInternal;
(3) track point
Figure FSA0000193693840000022
The track point is in a limited airspace omega jAnd (3) outside.
4. The method for constructing the topological network structure relationship between the flight legs and the restricted airspace according to claim 1, which comprises the following specific steps:
(1) obtaining a leg A iData and restricted space omega jData wherein A i＝{a m，a m+1，...，a k)，Ω j＝{a 1，a 2，...，a n}；
(2) Flight segment
Figure FSA0000193693840000023
The flight segment and the restricted airspace omega jAre not intersected;
(3) flight segment The flight segment and the restricted airspace omega jAnd (4) intersecting.
5. The method for constructing the topological network structure relationship between the restricted airspace and the restricted airspace according to claim 1, which comprises the following specific steps:
(1) obtaining a restricted airspace Ω iData and restricted space omega jData of where Ω i＝{a p，a p+1，...，a q}，Ω j＝{a 1，a 2，...，a n}；
(2) Restricted airspace Airspace omega iSum space omega jAre not intersected;
(3) restricted airspace Airspace omega iSum space omega jAnd (4) intersecting.
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Application publication date: 20200211