CN116805455A - Multi-level airspace planning method based on spherical diamond discrete grid - Google Patents
Multi-level airspace planning method based on spherical diamond discrete grid Download PDFInfo
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Abstract
本发明公开了一种基于球面菱形离散格网的多层级空域规划方法，包括以下步骤：步骤1、在空域管理系统中，根据球面经纬度坐标系，结合正二十面体球面菱形离散格网，进行空域坐标信息由等经纬度坐标系向球面直角坐标系转换；步骤2、进行正二十面体菱形格网剖分；步骤3、建立空域坐标全球编码系统，对空域坐标点进行全球定位编码，完成基于球面菱形离散格网的多层级空域规划；步骤4、在空域管理系统中，依据步骤3中所述的全球定位编码，对所管辖空域内的飞行器进行管理。本方法可以有效解决空域模型在格网表征中存在的面积表征不一致，进而导致飞行间隔不一致，最终影响飞行安全的问题。
The invention discloses a multi-level airspace planning method based on a spherical rhombus discrete grid, which includes the following steps: Step 1. In the airspace management system, according to the spherical longitude and latitude coordinate system, combined with the regular icosahedral spherical rhombus discrete grid, The airspace coordinate information is converted from the equi-longitude and latitude coordinate system to the spherical rectangular coordinate system; Step 2, perform icosahedron rhombus grid segmentation; Step 3, establish a global coding system for airspace coordinates, conduct global positioning coding for airspace coordinate points, and complete the system based on Multi-level airspace planning of spherical diamond discrete grid; Step 4. In the airspace management system, manage the aircraft in the airspace under its jurisdiction based on the global positioning code described in Step 3. This method can effectively solve the problem of inconsistent area representation in the grid representation of the airspace model, which in turn leads to inconsistent flight intervals and ultimately affects flight safety.
Description
Technical Field
The application relates to a multi-level airspace planning method, in particular to a multi-level airspace planning method based on a spherical diamond discrete grid.
Background
The current research on the airspace characterization model in the airspace management system is mainly explored from the equal-theodolite grid model, and the research on the regular polyhedron grid model still has the defects. The dividing requirement of the airspace grid has unique requirements on shape, precision and coding mode, and the four main dividing schemes have advantages and disadvantages. The traditional airspace management system adopts equal longitude and latitude grids as a characterization system, but the equal longitude and latitude grids and the variable longitude and latitude grids have the defects that the grid area in high and low latitude areas is larger in deformation, and the grid area is degenerated from a rectangle to a triangle at two poles, so that the airspace characterization requirement is not met. Although the adaptive grid has strong flexibility, the grid is irregular in shape, recursive subdivision and coding are difficult to carry out, great difficulty is caused in calculation, and the adaptive grid is not suitable for airspace characterization.
Disclosure of Invention
The application aims to: aiming at the defects of the prior art, the application provides a multi-level airspace planning method based on a spherical diamond discrete grid.
In order to solve the technical problems, the application discloses a multi-level airspace planning method based on a spherical diamond discrete grid, which comprises the following steps:
step 1, in an airspace management system, according to a spherical longitude and latitude coordinate system, combining a regular icosahedron spherical diamond discrete grid to convert airspace coordinate information from an equal longitude and latitude coordinate system to a spherical rectangular coordinate system, specifically comprising the following steps:
step 1-1, establishing a coordinate conversion function, which specifically comprises the following steps:
the longitude and latitude coordinates and spherical rectangular coordinates conversion formula and the spherical rectangular coordinates to longitude and latitude coordinates conversion formula are as follows:
wherein, the longitude and latitude coordinates areLambda is longitude->The latitude is the latitude, the equatorial radius of the earth is R, and the corresponding spherical rectangular coordinates are C (X, Y, Z);
the conversion formula from spherical rectangular coordinates to longitude and latitude coordinates is as follows, except for the north pole and the south pole:
when X >0, y >0, λ is east longitude, λ=α,
when X <0, y >0, λ is east longitude, λ=α+90°,
when X >0, y <0, λ is the west warp, λ=α,
when X <0, y <0, λ is the western warp, λ=α+90°,
when Z is>At the time of 0, the temperature of the liquid,north latitude, ->
When Z is<At the time of 0, the temperature of the liquid,is of south latitude->
Wherein α and β are intermediate variables.
Step 1-2, determining the position of a coordinate point, namely determining the middle point of the diamond grid subdivision as follows:
step 1-2-1, calculating the midpoint of the grid edge:
let O be the center of the earth, the radius of the earth be R, the point A and the point B be two vertexes of one side of the diamond unit respectively, and the longitude and latitude coordinates of the point A areSpherical rectangular coordinate is (X) 1 ，Y 1 ，Z 1 ) The longitude and latitude coordinates of the point B are +.> Spherical rectangular coordinate is (X) 2 ，Y 2 ，Z 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Arc->Is one lattice edge of diamond unit, M is arc +.>C is the midpoint of the connecting line of the AB point, and then the spherical large arc is divided to obtain the spherical rectangular coordinate of the point C:
obtaining the polar coordinates of the point C by the trigonometric function relation:
and (3) making:
the spherical rectangular coordinates of the point M thus obtained are:
wherein ,λ、And r is an intermediate variable;
step 1-2-2, calculating the side length of the diamond grid:
point A and point B are respectively two vertexes of one side of the diamond-shaped unit, and the longitude and latitude coordinates of point A areThe longitude and latitude coordinates of the point B are +.>Then arc->The length L of the (c) is calculated as follows:
wherein ,the length L of the grid is the side length of the diamond grid.
Step 2, performing regular icosahedron diamond grid subdivision, which specifically comprises the following steps:
step 2-1, designing a regular icosahedron diamond grid subdivision rule, namely determining subdivision levels, boundary point coordinates and diamond grid side lengths through calculation to obtain corresponding relations of grid scales of all levels, wherein the concrete method comprises the following steps:
the initial 10 diamonds are the 0 th level, the length of a single diamond edge is about 7061km according to the calculation of the spherical arc length, the length of the single diamond edge is about 7km when the single diamond edge is split to the 10 th level, and the minimum distance between non-adjacent diamond grids is a diamond grid interval, namely the vertical distance from the vertex to the opposite side of the diamond is about 6km; during conflict detection, the airspace is externally expanded by one layer, namely two surrounding layers are separated, and the minimum distance is 11.94km and is more than 10km;
and obtaining the regular icosahedron diamond grid subdivision level as 10 layers.
Step 2-2, determining a grid where the coordinate point is located, wherein the specific method comprises the following steps:
known boundary point P of rhombic lattice 1 ，P 2 ，P 3 ，P 4 The sphere center is an O point; connecting opposite side midpoints of the diamond grid to obtain midpoint coordinate M 1 ，M 2 ，M 3 ，M 4 The method comprises the steps of carrying out a first treatment on the surface of the Thereby dividing the diamond grid into four quadrants and solving the plane OM 1 M 3 Normal vectorAnd plane OM 2 M 4 Normal vector->Determining the quadrant in which the point is located according to the relation between the point and the plane; and performing quadtree subdivision on the diamond grid of the 1-10 layers, determining which quadrant of the diamond grid the P point is in by a normal vector method, and finally determining the grid position of the P point.
Step 3, establishing a space coordinate global coding system, performing global positioning coding on space domain coordinate points, and completing multi-level space planning based on spherical diamond discrete grids, wherein the specific method comprises the following steps:
step 3-1, filling by adopting a space filling curve, namely constructing a multi-level Hilbert curve, so that a low-level curve is formed by translating or rotating a high-level curve according to a corresponding rule under each split level of the space grid;
connecting opposite side midpoints of the rhombic grid to obtain four sub-rhombic shapes, setting the four sub-rhombic shapes as four quadrants respectively, filling the quadrants with Hilbert curves, and setting the four quadrants as four states respectively; and deducing the Hilbert coding and state transition modes of the sub-rhombus according to the Hilbert coding and state transition modes of the initial rhombus grid.
Step 3-2, performing spatial encoding on the target point, wherein the specific method comprises the following steps:
the coding representation of the target point consists of the following parts:
the first part, diamond code: level 0 of subdivision;
second part, region bit code: level 1-3 of subdivision; dividing a grid quadtree, realizing filling of a grid space by a Hilbert curve, and converting binary codes into Hilbert codes;
third part, coordinate code: 4 th-10 th level of subdivision; the grid quadtree is split, filling of grid space is achieved through a Hilbert curve, binary codes are converted into Hilbert codes, and the Hilbert codes are converted into plane coordinates.
And 4, managing the aircrafts in the administered air space according to the global positioning code in the step 3 in the air space management system.
The beneficial effects are that:
according to the space domain division reality, the minimum deformation of the spherical diamond-shaped discrete grid can be realized in the global representation by combining the spherical diamond-shaped discrete grid, and a global space domain representation model based on the regular icosahedron spherical diamond-shaped grid is established. The method provided by the application can effectively solve the problems that the area representation of the airspace model in the grid representation is inconsistent in the traditional airspace management system, so that the flight interval is inconsistent and the flight safety is finally influenced.
Drawings
The foregoing and/or other advantages of the application will become more apparent from the following detailed description of the application when taken in conjunction with the accompanying drawings and detailed description.
Fig. 1 is a schematic diagram of the overall architecture of the present application.
FIG. 2 is a schematic diagram of the midpoint of a grid edge in accordance with an embodiment of the present application.
Fig. 3 is a graph of the spatial plane normal vector versus point position.
Fig. 4 is a low order Hilbert Qu Xianxiang high order mapping scheme of an embodiment of the present application.
Fig. 5 is a schematic diagram of coordinate transformation according to an embodiment of the present application.
Fig. 6 is a schematic diagram of a state transition pattern for each quadrant of the Hilbert curve.
Fig. 7 is a schematic diagram of the initial diamond position number of a regular icosahedron.
Detailed Description
The application improves the airspace planning method in the traditional airspace management system. The application discloses a multi-level airspace planning method based on a spherical diamond discrete grid, which avoids the problem of larger deformation of a longitude and latitude grid in a high latitude area by adopting a grid system taking the longitude and latitude grid as a subdivision, and comprises the following steps:
step 1, in an airspace management system, according to a spherical longitude and latitude coordinate system, combining a regular icosahedron spherical diamond discrete grid to realize airspace coordinate conversion, wherein the airspace coordinate conversion comprises a coordinate conversion function and a grid midpoint calculation method;
step 2, determining the scale of the subdivision hierarchy and the position of the coordinate point;
step 3, establishing a space coordinate global coding system, wherein the space coordinate global coding system comprises a Hilbert filling curve and a coding rule;
in the present application, the coordinate transformation function described in step 1 includes:
longitude and latitude coordinates and spherical rectangular coordinates conversion formula:
wherein, the longitude and latitude coordinates G (longitude and latitude), the radius R of the earth equator and the corresponding spherical rectangular coordinates are C (X, Y and Z).
Spherical rectangular coordinates are converted into longitude and latitude coordinates according to the formula:
since the trigonometric function can be one-to-many in the range of 0-360 degrees, multiple solutions can be generated when the three-dimensional spherical rectangular coordinate is converted to longitude and latitude, and therefore, the specific coordinate needs to be determined according to the positive and negative of the three-dimensional spherical rectangular coordinate during conversion. The conversion relationship is as follows, except for the north pole and the south pole:
when X >0, y >0, λ is east longitude, λ=α,
when X <0, y >0, λ is east longitude, λ=α+90°,
when X >0, y <0, λ is the west warp, λ=α,
when X <0, y <0, λ is the western warp, λ=α+90°,
when Z is>At the time of 0, the temperature of the liquid,north latitude, ->
When Z is<At the time of 0, the temperature of the liquid,is of south latitude->
In the application, the determination mode of the middle points of the diamond grid subdivision is as described in the step 1:
1) Calculation of the midpoint of the sides of a grid
As shown in FIG. 2, O is the center of the earth, the arc AB is one side of the diamond-shaped cell, and M is the arcC is +.>Midpoint of the point connection, then->Therefore(s)>The coordinates of the point M can thus be obtained.
2) Calculation of side length of diamond grid
The known point A, B is two vertexes of one side of the diamond unit, and the longitude and latitude coordinates of the point A areThe longitude and latitude coordinates of the point B are +.>The length formula of the arc AB is as follows:
in the application, the step 2 of obtaining the corresponding relation of the grid scale of each level includes:
the coordinates of the subdivision level, the boundary points and the side length of the diamond grid are determined through calculation, and the corresponding relation of the scale of each level is shown in table 1:
table 1 correspondence between each level and scale
The initial 10 diamonds are the 0 th level, the length of a single diamond edge is about 7061km according to a spherical arc length calculation formula, the length of the single diamond edge is about 7km when the single diamond edge is split to the 10 th level, and the minimum distance between non-adjacent diamond grids is a diamond grid interval, namely the vertical distance from the top of each diamond to the opposite side is about 6km. During collision detection, the airspace is expanded by one layer, namely two surrounding layers are separated, and the minimum distance is 11.94km and is more than 10km.
Therefore, the division is performed to the 10 th level, the minimum safe interval distance of the airspace is just met, the deformation of the grid due to the fact that the grid is deformed in different latitude areas is avoided, the precision condition required by the use of the airspace characterization grid is met, and the division is stopped.
In the application, the method for determining the grid position of the target point in the step 2 comprises the following steps:
as shown in fig. 3, the three-dimensional coordinates P of the boundary point are known 1 ，P 2 ，P 3 ，P 4 And the spherical center is an O point. Connecting the opposite side midpoints of the diamond-shaped grid to obtainMidpoint coordinates M 1 ，M 2 ，M 3 ，M 4 . Dividing the grid into four quadrants and solving a plane OM 1 M 3 Normal vectorAnd plane OM 2 M 4 Normal vector->The quadrant in which the point is located is determined according to the relation between the point and the plane. And setting the initial Hilbert state as a state, and determining the Hilbert state of the next level according to the quadrant transfer mode. And sequentially carrying out hierarchy subdivision until the 10 th hierarchy.
In the application, the global positioning coding method for the space domain coordinate point in the step 3 comprises the following steps:
the description of the spatial locations of the cells of the air-domain grid needs to be achieved by means of geocoding. The Hilbert curve has proven to be a space filling curve that best maintains local adjacency of space points by constructing the multi-level Hilbert curve such that at each subdivision level, the space grid can be formed by translating or rotating the high-level curve with corresponding rules.
Four sub-diamonds are obtained by connecting the opposite side midpoints of the diamond grid, the four sub-diamonds are respectively set as quadrants 0, 1, 2 and 3, quadrants are filled by Hilbert curves, and four states of a, b, c and d are respectively set, as shown in fig. 6, and the state transition mode of each quadrant of the Hilbert curves is adopted. The Hilbert coding and state transition modes of the sub-rhombus can be deduced according to the Hilbert coding and state transition modes of the initial rhombus grid.
The coding rule described in step 3: i.e. the representation of the target point consists of the following parts:
(1) The first part, diamond code: level 0 of subdivision. Table 2 gives the latitude and longitude coordinates of the initial diamond vertices. The subsequent algorithm does not involve the conversion of the decimal serial number of the 0 th level into binary, so that decimal 0-9 is used for representing the serial number of the initial diamond, the initial diamond where the target point is positioned is conveniently and quickly positioned, as shown in fig. 7, the serial number is the serial number of the initial diamond position of the regular icosahedron, and the longitude and latitude coordinates of the vertex of the specific initial diamond are shown in table 2;
TABLE 2 longitude and latitude coordinates of initial diamond vertices
(2) Second part, region bit code: split 1-3 levels. Dividing a grid quadtree, realizing filling of a grid space by a Hilbert curve, and converting binary codes into Hilbert codes;
(3) Third part, coordinate code: 4 th-10 th level of dissection. The grid quadtree is split, filling of grid space is achieved through a Hilbert curve, binary codes are converted into Hilbert codes, and the Hilbert codes are converted into (x, y) coordinates.
Finally, the improved multi-level airspace planning method based on the spherical diamond discrete grid is applied to a grid system taking longitude and latitude grids as subdivision in a traditional airspace management computer software system, and finally, the aircraft in the airspace is managed in a positioning navigation mode and the like according to the planned airspace range, so that the problem that the longitude and latitude grids of the airspace management system are large in deformation in high-latitude areas is avoided.
Examples:
the application is described in further detail below with reference to the drawings and examples.
As shown in fig. 1, a multi-level airspace planning method based on spherical diamond discrete grids specifically comprises the following steps:
step 1, in the airspace management system, the known airspace midpoint A, B is respectively two vertexes of one side of a diamond unit, and the longitude and latitude coordinates of the point A are as followsThe longitude and latitude coordinates of the point B are +.>Is determined by arc length formula +.>
As shown in fig. 2, the lattice edge midpoint is calculated from the longitude and latitude coordinates.
O is the sphere center of the earth, the radius of the earth is R, the point A and the point B are respectively two vertexes of one side of the diamond-shaped unit, and the longitude and latitude coordinates of the point A areSpherical rectangular coordinate is (X) 1 ，Y 1 ，Z 1 ) The longitude and latitude coordinates of the point B are +.> Spherical rectangular coordinate is (X) 2 ，Y 2 ，Z 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Arc->Is one lattice edge of diamond unit, M is arc +.>C is the midpoint of the connecting line of the AB point, and then the spherical large arc is divided to obtain the spherical rectangular coordinate of the point C:
obtaining the polar coordinates of the point C by the trigonometric function relation:
and (3) making:
the spherical rectangular coordinates of the point M thus obtained are:
wherein ,λ、And r is an intermediate variable;
in step 2, as shown in fig. 4, in the case of the mth hierarchy, where the current state is a, when the point P is located in the quadrant numbered with the binary value 11 (i.e. the sub-diamond number 3), the state at the next hierarchy is b can be deduced from the state transition table. Taking the numbered binary value 11 as the coding of m level, and continuing the coding and the subdivision of m+1 level under the condition that the current state is b on the basis, so as to obtain the coding 1111 of m+1 level. Along with continuous subdivision of the grid space, the side length of the diamond grid where the target point is located is shorter and shorter until subdivision conditions are met.
Step 3, as shown in fig. 5, taking latitude and longitude coordinates [117.97,21.60] as an example, firstly determining that the diamond number of the point is 1, and dividing the grid to the 10 th level to obtain 1-3 level binary codes 100011,4-10 level binary codes 11010010100110. Performing coding conversion according to the method to obtain a global unique representation mode and a positioning code of the target point: diamond code, zone bit code, coordinate code ].
Taking a random airspace A as an example, knowing longitude and latitude coordinates of four points of the airspace, and obtaining a corresponding positioning code after coordinate coding by adopting the method, as shown in a table 3:
TABLE 3 latitude and longitude coordinates and global positioning code correspondence of airspace A
Finally, according to the global positioning code, guiding and positioning management is carried out on the aircrafts in the air space governed by the air space management system.
In a specific implementation, the present application provides a computer storage medium and a corresponding data processing unit, where the computer storage medium is capable of storing a computer program, where the computer program when executed by the data processing unit may operate the summary of the multi-level airspace planning method based on a spherical diamond discrete grid and some or all steps in each embodiment provided by the present application. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random-access memory (random access memory, RAM), or the like.
It will be apparent to those skilled in the art that the technical solutions in the embodiments of the present application may be implemented by means of a computer program and its corresponding general hardware platform. Based on such understanding, the technical solutions in the embodiments of the present application may be embodied essentially or in the form of a computer program, i.e. a software product, which may be stored in a storage medium, and include several instructions to cause a device (which may be a personal computer, a server, a single-chip microcomputer, MUU or a network device, etc.) including a data processing unit to perform the methods described in the embodiments or some parts of the embodiments of the present application.
The application provides a thought and a method for a multi-level airspace planning method based on a spherical diamond-shaped discrete grid, and particularly provides a method and a plurality of ways for realizing the technical scheme, wherein the method and the way are only the preferred embodiments of the application, and it should be pointed out that a plurality of improvements and modifications can be made by one of ordinary skill in the art without departing from the principle of the application, and the improvements and the modifications are also regarded as the protection scope of the application. The components not explicitly described in this embodiment can be implemented by using the prior art.
Claims (10)
1. The multi-level airspace planning method based on the spherical diamond discrete grid is characterized by comprising the following steps of:
step 1, in an airspace management system, converting airspace coordinate information from a longitude and latitude coordinate system to a spherical rectangular coordinate system according to a spherical longitude and latitude coordinate system by combining a regular icosahedron spherical diamond discrete grid;
step 2, performing regular icosahedron diamond grid subdivision;
step 3, establishing a space coordinate global coding system, and performing global positioning coding on space coordinate points to complete multi-level space planning based on spherical diamond discrete grids;
and 4, managing the aircrafts in the administered air space according to the global positioning code in the step 3 in the air space management system.
2. The multi-level airspace planning method based on the spherical diamond-shaped discrete grid according to claim 1, wherein the step 1 of converting airspace coordinate information from an equal longitude and latitude coordinate system to a spherical rectangular coordinate system specifically comprises:
step 1-1, establishing a coordinate conversion function;
and step 1-2, determining the position of the coordinate point.
3. The multi-level airspace planning method based on the spherical diamond-shaped discrete grid according to claim 2, wherein the establishing a coordinate transformation function in the step 1-1 specifically includes:
the longitude and latitude coordinates and spherical rectangular coordinates conversion formula and the spherical rectangular coordinates to longitude and latitude coordinates conversion formula are as follows:
wherein, the longitude and latitude coordinates areLambda is longitude->The latitude is the latitude, the equatorial radius of the earth is R, and the corresponding spherical rectangular coordinates are C (X, Y, Z);
the conversion formula from spherical rectangular coordinates to longitude and latitude coordinates is as follows, except for the north pole and the south pole:
when X >0, y >0, λ is east longitude, λ=α,
when X <0, y >0, λ is east longitude, λ=α+90°,
when X >0, y <0, λ is the west warp, λ=α,
when X <0, y <0, λ is the western warp, λ=α+90°,
when Z is>At the time of 0, the temperature of the liquid,north latitude, ->
When Z is<At the time of 0, the temperature of the liquid,is of south latitude->
Wherein α and β are intermediate variables.
4. The multi-level airspace planning method based on the spherical diamond-shaped discrete grid according to claim 3, wherein the determining coordinate point positions in the step 1-2, namely determining the mid-points of the diamond-shaped grid subdivision, are as follows:
step 1-2-1, calculating the midpoint of the grid edge:
let O be the center of the earth, the radius of the earth be R, the point A and the point B be two vertexes of one side of the diamond unit respectively, and the longitude and latitude coordinates of the point A areSpherical rectangular coordinate is (X) 1 ，Y 1 ，Z 1 ) The longitude and latitude coordinates of the point B are +.> Spherical rectangular coordinate is (X) 2 ，Y 2 ，Z 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Arc->One side of the diamond unitM is arc->C is the midpoint of the connecting line of the AB point, and then the spherical large arc is divided to obtain the spherical rectangular coordinate of the point C:
obtaining the polar coordinates of the point C by the trigonometric function relation:
and (3) making:
the spherical rectangular coordinates of the point M thus obtained are:
wherein ,λ、And r is an intermediate variable;
step 1-2-2, calculating the side length of the diamond grid:
point A and Point B are diamond-shaped units one respectivelyTwo vertexes of the strip edge, and longitude and latitude coordinates of the point A are as followsThe longitude and latitude coordinates of the point B are +.>Then arc->The length L of the (c) is calculated as follows:
wherein ,the length L of the grid is the side length of the diamond grid.
5. The multi-level airspace planning method based on the spherical diamond-shaped discrete grid according to claim 4, wherein the performing regular icosahedron diamond-shaped grid subdivision in step 2 specifically comprises:
step 2-1, designing a regular icosahedron diamond grid subdivision rule;
and 2-2, determining a grid where the coordinate points are located.
6. The multi-level airspace planning method based on the spherical diamond discrete grid according to claim 5, wherein the design of the regular icosahedron diamond grid subdivision rule in step 2-1 is that subdivision levels, boundary point coordinates and diamond grid side lengths are determined through calculation to obtain corresponding relations of grid scales of all levels, and the method specifically comprises the following steps:
the initial 10 diamonds are the 0 th level, the length of a single diamond edge is about 7061km according to the calculation of the spherical arc length, the length of the single diamond edge is about 7km when the single diamond edge is split to the 10 th level, and the minimum distance between non-adjacent diamond grids is a diamond grid interval, namely the vertical distance from the vertex to the opposite side of the diamond is about 6km; during conflict detection, the airspace is externally expanded by one layer, namely two surrounding layers are separated, and the minimum distance is 11.94km and is more than 10km;
and obtaining the regular icosahedron diamond grid subdivision level as 10 layers.
7. The multi-level airspace planning method based on the spherical diamond-shaped discrete grid of claim 6, wherein the grid where the determined coordinate point in step 2-2 is located comprises the following steps:
known boundary point P of rhombic lattice 1 ，P 2 ，P 3 ，P 4 The sphere center is an O point; connecting opposite side midpoints of the diamond grid to obtain midpoint coordinate M 1 ，M 2 ，M 3 ，M 4 The method comprises the steps of carrying out a first treatment on the surface of the Thereby dividing the diamond grid into four quadrants and solving the plane OM 1 M 3 Normal vectorAnd plane OM 2 M 4 Normal vector->Determining the quadrant in which the point is located according to the relation between the point and the plane; and performing quadtree subdivision on the diamond grid of the 1-10 layers, determining which quadrant of the diamond grid the P point is in by a normal vector method, and finally determining the grid position of the P point.
8. The multi-level airspace planning method based on the spherical diamond-shaped discrete grid of claim 7, which is characterized in that the global positioning coding is performed on the space domain coordinate points in the step 3, and the specific method comprises the following steps:
step 3-1, filling by using a space filling curve;
and 3-2, performing spatial encoding on the target point.
9. The multi-level airspace planning method based on the spherical diamond-shaped discrete grid according to claim 8, wherein the filling is performed by adopting a space filling curve in the step 3-1, namely, by constructing a multi-level Hilbert curve, so that the low-level curve is formed by translating or rotating a high-level curve according to a corresponding rule under each subdivision level of the airspace grid;
connecting opposite side midpoints of the rhombic grid to obtain four sub-rhombic shapes, setting the four sub-rhombic shapes as four quadrants respectively, filling the quadrants with Hilbert curves, and setting the four quadrants as four states respectively; and deducing the Hilbert coding and state transition modes of the sub-rhombus according to the Hilbert coding and state transition modes of the initial rhombus grid.
10. The multi-level spatial planning method based on spherical diamond discrete grids according to claim 9, wherein the spatial encoding of the target points in step 3-2 comprises the following steps:
the coding representation of the target point consists of the following parts:
the first part, diamond code: level 0 of subdivision;
second part, region bit code: level 1-3 of subdivision; dividing a grid quadtree, realizing filling of a grid space by a Hilbert curve, and converting binary codes into Hilbert codes;
third part, coordinate code: 4 th-10 th level of subdivision; the grid quadtree is split, filling of grid space is achieved through a Hilbert curve, binary codes are converted into Hilbert codes, and the Hilbert codes are converted into plane coordinates.
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