(超)低空空域已成为空域资源充分开发利用的重要组成部分并得到各国广泛关注,无人机活动是其重要形式并显现出巨大的社会经济前景。首先分析了(超)低空空域资源开发利用的时代背景和城市区域(超)低空空域无人机活动面临的挑战,并综述了国内外无人机活动的法律体系保障和通道划设研究进展;其次归纳总结了城市区域(超)低空空域无人机活动高度—密度规则、覆盖区规则和隔离区规则的存在形式及其优化方案;最后在构建无人机(群)空中网络的基础上,针对不同无人机活动类型对空中通道的需求,展望了从3D城市模型基础方法到最优函数地图方法的演进。研究认为:无人机活动通道划设中既包括高度—密度一般规则,也包括覆盖区、隔离区特殊规则,在3D城市模型基础上应用最优函数地图方法有助于最优活动通道的选择;依据城市区域地面建筑与居民实际情况确立的通道划设规则与方法对于(超)低空空域资源开发以及协调空地矛盾,乃至国家空域系统的实施都具有重要作用。

The exploitation of (ultra) low airspace resource has become an important component of optimizing the utilization of airspace and has received worldwide attention. It is the major form for UAV activity, which reveals great socioeconomic prospects. Firstly, the background of exploiting (ultra) low airspace resource and challenge for UAV activities were analyzed in regional areas. Then, legal rights for UAV activities and routes design in overseas and domestic research were reviewed. Second, the forms of regional rules for UAV activities in (ultra) low airspace were summarized, which included height-density rule, coverage area rule and isolation area of rule. Third, based on the air network of UAV(s) and aiming at the demand of aerial lanes for different requirements, the development from the method of 3D city model to the Cost-to-go was prospected. The findings are as follows: UAV activities’ aerial lanes design includes high-density as general rules and coverage area rule, isolation area rule as special rules. On the basis of 3D city model, improved method of Cost-to-go is applied to the choice of the optimal aerial lanes; based on ground buildings and residents’ actual conditions in regional area, the rules and methods are good for the (ultra) low airspace resources development and better solve the problem of UAV activities coordination. Furthermore, the rules and methods play an important role even in the implementation of the national airspace system.