近年来，全球各国积极布局低空领域，鼓励低空飞行器的商业化应用。然而，低空空域的开放和大规模无人机的应用带来了空域管理、冲突管控和飞行安全等诸多挑战。作为保障空中交通安全高效发展的核心，构建一套软硬件协同一体化的低空空域无人系统交通管理（Unmanned aerial system Traffic Management, UTM）框架，是目前首要被攻关的难题。本文首先回顾了低空经济的国内外发展现状，指出了未来低空经济的发展方向，着重阐述了当前各国开展低空空域UTM系统框架研究的迫切性。然后，从典型应用场景出发，探讨了低空空域UTM系统的共性关键技术的研究进展及面临的主要挑战，特别强调了作为低空空域管理的突破口，UTM系统框架具有重要的研究价值。随后，本文创新性地提出了一套低空空域UTM系统框架，重点阐述了“分类、分域、分层”的多层次空域划分与优先级管理理念：基于分类思想，按照优先级的顺序在不同高度层部署不同应用场景；基于分域思想，先依据使用频率等因素确定区域中心，再结合传统八卦图设计思想规划区域航线；基于分层思想，将八卦图主航线与环路的交点作为枢纽，连接不同层的枢纽作为起降通道，打造低空空域立体交通航线网络。最后，本文尝试针对低空空域UTM系统的主要技术瓶颈给出了解决思路，即通过构建基于5G和低轨卫星的通信网络、结合多智能体系统分布式架构打造动态飞行计划与实时调度系统、引入人工智能算法设计高效且合理的自主协同及避障策略等方式，协调大量无人机的飞行任务，实现安全、智能、高效的低空空域交通管理。
In recent years, countries worldwide have actively developed the low-altitude economy, promoting the commercializa-tion of low-altitude aircraft. However, the opening of low-altitude airspace and the large-scale application of Unmanned Aerial Vehicles (UAVs) have introduced significant challenges in airspace management, conflict resolution, and flight safety. In order to ensure the safe and efficient development of air traffic, a framework of Unmanned aerial system Traffic Management (UTM), involving both software and hardware coordination, should have the top priority for re-search and development. Firstly, the current status of the low-altitude economy both domestically and internationally is reviewed, and the future development directions of the low-altitude economy are also summarized. Therein, the urgent need for various countries to promote the research on the system framework of UTM in low-altitude airspace is em-phasized in further. Then, the research progress and main challenges of key common technologies for UTM system in low-altitude airspace are discussed. As a breakthrough for low-altitude airspace management, the significant research value of the UTM system framework is highlighted. Subsequently, the system framework of UTM in low-altitude air-space is innovatively proposed on the basis of a design concept of "classification, domain division, and stratification", meaning multi-level airspace segmentation and priority management. Based on classification, different application scenarios are deployed at various altitude layers according to priority. For domain division, the area center is first de-termined by usage frequency and other factors, then route planning is designed using the traditional Bagua diagram concept. With regard to stratification, the intersection points of main routes and loops in the Bagua diagram are desig-nated as hubs, and the connection between hubs at different layers serves as takeoff and landing corridors, creating a three-dimensional low-altitude air traffic network. Furthermore, the solutions for the major technical bottlenecks of UTM are addressed, including to build a communication network based on 5G and low-Earth orbit satellites, to devel-op dynamic flight planning and real-time scheduling systems using multi-agent distributed architecture, and to intro-duce artificial intelligence algorithms for designing efficient and reasonable autonomous coordination and obstacle avoidance strategies. These approaches aim to efficiently coordinate the flight tasks of large numbers of UAVs, ensur-ing safe, intelligent, and efficient low-altitude airspace traffic management.
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