The invention discloses a dynamic geofence planning method for an unmanned aerial vehicle based on low-altitude airspace gridding. The method comprises the following steps: carrying out the flexible flight path prediction of the flight plan of the unmanned aerial vehicle based on the randomness of an actual flight path of the unmanned aerial vehicle; performing dynamic geofence longitudinal lengthdimension design based on a flexible flight path prediction result of the unmanned aerial vehicle; preprocessing historical flight path data in a target airspace range, and performing uniform gridding processing and numbering on airspace; defining key indexes influencing low-altitude airspace complexity, and performing clustering analysis on airspace grids by adopting a kernel Kmean clustering method to obtain a grading measurement result of the low-altitude airspace complexity; and based on the low-altitude airspace grid complexity, conducting dynamic geofence transverse range planning. Thecomplete dynamic geofence planning method for the unmanned aerial vehicle is provided for the first time and applied to low-altitude airspace air traffic management, the utilization rate of the low-altitude airspace is effectively increased, and the problem of resource shortage of the low-altitude airspace is solved.
本发明公开了一种基于低空空域网格化的无人机动态地理围栏规划方法,包括考虑无人机实际航迹随机性特性,对无人机飞行计划进行柔性航迹预测;结合无人机柔性航迹预测结果,进行动态地理围栏纵向长度尺寸设计;对目标空域范围内的历史航迹数据进行预处理,并对空域进行均匀网格化处理与编号;定义影响低空空域复杂性的关键指标,采用核K‑均值聚类方法对空域网格进行聚类分析实现低空空域复杂性分级度量结果;结合低空空域网格复杂度,进行动态地理围栏动态地理围栏横向范围规划。本方法首次提出一套完整的无人机动态地理围栏规划方法并将其运用到低空空域空中交通管理中,有效提高低空空域的利用率,有利于缓解低空空域资源紧张问题。
Dynamic geofence planning method for unmanned aerial vehicle based on airspace gridding
一种基于空域网格化的无人机动态地理围栏规划方法
2020-12-22
Patent
Electronic Resource
Chinese
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