数字低空空域栅格化的表征度量与最优标定

Characterization,Calculation and Optimal Calibration for Rasterization in Digital Low-Altitude Airspace System

低空飞行空间范围小、目标速度慢、环境要素杂,传统的经纬度表征方式无法满足智联环境下的低空精细管理要求,为此本文研究了数字低空空域栅格化的表征度量与最优标定问题。首先,从“点-线-面”视角构建了多维度低空空域结构要素量化表征规则,提出了低空空域多层级栅格量化表征方法;然后,通过判定不同空域栅格的“点-线-面”位置关系,提出了基于栅格交集矩阵的低空空域拓扑关系度量方法;最后,综合考虑低空无人机碰撞指数、低空栅格利用指数等优化目标,以及节点与栅格匹配约束、空间位置约束、无人机与无人机/障碍物安全约束等限制条件,建立了面向多维性能的低空空域栅格粒度最优标定模型。针对城市低空典型飞行任务场景对所提方法的有效性及优化效果进行了验证分析。实验结果表明,针对任意设定的低空空域和无人机飞行任务,在可接受的无人机碰撞指数和栅格利用指数下,所提方法可对数字低空栅格粒度进行最优配置,从根源上有效确保低空飞行活动的安全和高效。研究成果对于支撑数字低空空域精细化管理和异质飞行器融合运行具有一定的理论价值和应用意义。

Because of the small space range,slow target speed,and mixed environmental elements of low-altitude flight,the traditional latitude and longitude characterization cannot meet the requirements of low-altitude fine management in the Smartlink environment.Therefore the digital low-altitude airspace raster characterization metrics and optimal calibration problems are studied.Firstly,the quantitative characterization rules of multi-dimensional low-altitude airspace structural elements are constructed from the perspective of“point-line-plane”,the quantitative characterization method of multi-level raster in low-altitude airspace is proposed.Then,by determining the“point-line-plane”positional relationships of different airspace rasters,we propose a topological relationship metric of low-altitude airspace based on the raster intersection matrix.Finally,considering the optimization objectives of low-altitude unmanned aerial vehicle(UAV)collision index and low-altitude raster utilization index,as well as the node-raster matching constraints,spatial position constraints,and safety constraints of UAVs and UAVs/obstacles,we establish a multi-dimensional performance oriented optimal calibration model for the raster granularity of the low airspace,and evaluate the effectiveness and efficiency of the proposed method for the typical mission scenarios of the low airspace.The validity and optimization effect of the proposed method are verified and analyzed for typical urban low altitude flight scenarios.The experimental results show that the proposed method can optimally configure the digital low altitude raster granularity for any low-altitude airspace and UAV mission with acceptable UAV collision index and raster utilization index,so as to realize the safety and high efficiency of low altitude flight activities.The research results have certain theoretical value and application significance to support the fine management of digital low altitude airspace and the fusion operation of heterogeneous aircraft.