Method for urban ultra-low altitude airspace division and capacity calculation

A method for urban ultra-low altitude airspace division and capacity calculation, comprising:

• step 1:
• using an improved Voronoi method to divide airspace;
• wherein the step 1 comprises:
• improving a Voronoi method by adding dynamic balance weights thereto obtain the improved Voronoi method:
• P
• =
• {
• p
• 1
• ,
• p
• 2
• ,
• …
• ,
• p
• n
• }
• ;
• W
• =
• {
• w
• 1
• ,
• w
• 2
• ,
• …
• ,
• w
• n
• }
• ;
• where n represents a number of sub-airspaces after the dividing, and there is only one takeoff and landing point in each of the sub-airspaces;
• P represents a set of the takeoff and landing points of the respective sub-airspaces, pi represents an i-th takeoff and landing point;
• W represents a set of initial weights, wi represents an initial weight of the i-th takeoff and landing point, and wi=1, i=1, 2, . . . , n;
• d
• w
• (
• x
• ,
• p
• i
• )
• =
• (
• x
• 1
• -
• p
• i
• ⁢
• 1
• )
• 2
• +
• (
• x
• 2
• -
• p
• i
• ⁢
• 2
• )
• 2
• -
• w
• i
• ;
• where dw(x, pi) represents a weighted distance;
• for any point x within the airspace, finding pi minimizing dw(x, pi) to assign x to V(pi),
• where V(pi) represents an i-th sub-airspace where pi is located;
• x1 represents a horizontal coordinate of the point x, and x2 represents a vertical coordinate of the point x;
• pi1 represents a horizontal coordinate of the takeoff and landing point pi, and pi2 represents a vertical coordinate of the takeoff and landing point pi;
• A
• i
• =
• ∫
• V
• ⁡
• (
• p
• i
• )
• d
• ⁢
• A
• ;
• A
• ¯
• =
• 1
• n
• ⁢
• ∑
• i
• =
• 1
• n
• A
• i
• ;
• f
• i
• =
• A
• i
• A
• _
• ;
• W
• i
• ←
• w
• i
• ·
• f
• i
• ;
• where A represents a total area of the airspace;
• Ai represents an area of the i-th sub-airspace;
• and
• A
• ¯
• represents an average area of the sub-airspaces;
• fi represents a dynamic balance factor of the i-th sub-airspace;
• wi←wi·fi represents fi approaching 1 after several iterations;
• step 2:
• calculating a fundamental airspace capacity;
• step 3:
• acquiring urban building information data, calculating a population exposure risk index and a building impact factor;
• step 4:
• acquiring micro-meteorological data and communication signal data of urban buildings, calculating an average signal strength, a signal propagation path length, and a micro-scale meteorological impact factor;
• step 5:
• using an airspace model to calculate the urban ultra-low altitude airspace capacity based on the fundamental airspace capacity, the population exposure risk index, the building impact factor, the average signal strength, the signal propagation path length, and the micro-scale meteorological impact factor.