CN106969769A - It is a kind of to consider multifactor Dijkstra air navigation aids - Google Patents
It is a kind of to consider multifactor Dijkstra air navigation aids Download PDFInfo
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- CN106969769A CN106969769A CN201710302831.8A CN201710302831A CN106969769A CN 106969769 A CN106969769 A CN 106969769A CN 201710302831 A CN201710302831 A CN 201710302831A CN 106969769 A CN106969769 A CN 106969769A
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- path
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- dijkstra
- user
- cost function
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
Consider multifactor Dijkstra air navigation aids the invention discloses a kind of, including calculate overall cost function step and obtain by assignment point step.Definition needs cost function of each factor considered between any two points first, then the different weight of the cost function that assigns each factor according to the real needs of user, summation is weighted to each cost function, total cost function between any two points can be obtained.Obtain after the cost function between any two points, by dijkstra's algorithm, the path for obtaining planning between 2 points returns to user.Meanwhile, if user is needed by setting the place specified for needing to pass through, method proposed by the present invention can carry out cutting to path, primal problem is converted into multiple Dijkstra problems and solved.Present invention occupancy resource in implementation process is few, workable.
Description
Technical field
The present invention considers multifactor path navigation problem, if desired for the time of consideration, oil consumption or needs by specifying ground
The situation of point, proposes a kind of multifactor Dijkstra air navigation aids of consideration, belongs to path navigation technical field.
Background technology
At present, Dijkstra is widely used in the various navigation system such as onboard navigation system.And current
Most of navigation system only considers beginning and end information, provides unified navigation information, have ignored user in personalized need
Ask.Such as, some users take notice of very much to the time-consuming of path, and it is less that other users then wish that the guidance path provided can have
Oil consumption, also has some users then to wish the place by some fixations.Existing navigation equipment can not usually consider user
The requirement of property, makes troubles to user when in use.
And can be collected with the information of increasing environmental factor, onboard navigation system can be made more human nature
Change and intelligent.It should also be satisfied, such as the factor such as time, oil consumption, should also be led in planning for the property requirements of user
Take into account during bit path.Therefore need it is a kind of consider multifactor Dijkstra air navigation aids, specifically, allow user first
Input needs the factor considered, and assigns different weights to the factor of each consideration, then calculates the cost between every 2 points
Function.The path of navigation is planned finally by dijkstra's algorithm, final path is then returned to user.
The content of the invention
Goal of the invention：Current navigation system is often only just navigated according to beginning and end, or is generally only considered
Some specific factor, have ignored user individual or more complicated demand, without universality.In view of the above-mentioned problems,
Consider multifactor Dijkstra air navigation aids the invention provides a kind of, specifically, map, beginning and end are inputted first
Data, define the cost for each environmental factor for needing to consider in navigation procedure, calculate every overall cost between 2 points；Connect
The setting that the fixation for needing to pass through is set；Solved after finally problem is returned using dijkstra's algorithm, output is most
Whole guidance path.
Technical scheme：It is a kind of to consider multifactor Dijkstra air navigation aids, including calculate overall cost function step and
Obtain and pass through assignment point path step；
It is described to calculate overall cost function step and be specially：
Step 100, the information of map, the i.e. positional information of each point and various environmental factors are inputted；
Step 101, each environmental factor considered as needed, the various environment for defining any two points on map are corresponding
Cost function：
cost(p1,p2)=exp (ratio) × min (p (thick | p1),p(thick|p2))
+exp(1-ratio)dist(p1,p2) (1)
Wherein p1、p2Represent any two points on map respectively, and p (thick | p1) represent p1It is the probability of thick ice, dist
(p1,p2) represent Euclidean distance between this 2 points.Exp (ratio) and exp (1-ratio) represent respectively ice thickness and 2 points
Between Euclidean distance shared different weight under sail.
Step 102, the beginning and end of map is inputted
Step 103, according to the cost function of environment between the two of definition points, any two points are calculated in each generation environmentally
Valency；
Step 104, the corresponding weight of each environmental factor is set
Step 105, the corresponding cost of each environment between the weight set according to each environmental factor and 2 points, according to public affairs
Formula (1) calculates the overall cost between two points
The acquisition is specially by assignment point path step：
Step 200, according to the beginning and end of input, the substantially rectangular region that needs are used delimited out；
Step 201, input needs all settings passed through；
Step 202, according to longitude the setting passed through will be needed to sort；
Step 203, from the off, the setting that sequence is drained through according to longitude is sequentially passed through, until terminal, in each two point
Between, dijkstra's algorithm is called, the shortest path between the two points is obtained；
Step 204, the shortest path obtained successively is connected, obtains the final path for needing to export；
It is described delimit substantially rectangular region flow be：Find first beginning and end longitude and dimension maximum and
Minimum value, then by longitude and the corresponding maximum of latitude respectively plus a constant, equally, to precision and the minimum value of latitude
A constant is respectively subtracted, it is exactly the substantially rectangular region delimited out so to obtain the region that four numerical value are constituted.
The environmental factor that described various needs consider includes time, oil consumption, safe coefficient etc..
The step of generation recommendation paths, includes, and the parameter recommendation paths set according to user are found after reachable path,
It can be fed back to user；If user is dissatisfied to current path, parameter can be changed, guidance path is regenerated.
For example：In formula (1), if the ice-breaking capacity of ship is stronger, the generation of the thickness of ice to final boat trip
Valency influence is smaller, and the weight shared by the Section 1 of formula (1) should be reduced, and can now be reached by reducing ratio value
Arrive；If ship ice-breaking capacity is weaker, ratio value should be properly increased.Find after reachable path, can be carried out to user
Feedback；If user is dissatisfied to current path, parameter can be changed, guidance path is regenerated.
The described prompting in the absence of reachable path is specifically, if there is no reachable path, can point out user；If deposited
In reachable path, then reachable path can be exported.
Beneficial effect：Compared with prior art, the multifactor Dijkstra air navigation aids of consideration that the present invention is provided, can be with
The personalized customization of satisfaction, strong applicability.
Brief description of the drawings
Fig. 1 is the inventive method flow chart；
Fig. 2 is the workflow diagram that the present invention provides guidance path between any two points on map；
Fig. 3 is that the present invention reveals increase operation the workflow diagram for being classified as multiple dijkstra's algorithms.
Embodiment
With reference to specific embodiment, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention, after the present invention has been read, various equivalences of the those skilled in the art to the present invention
The modification of form falls within the application appended claims limited range.
As shown in Figure 1, it is considered to which multifactor Dijkstra air navigation aids, first user need to input map datum, i.e., defeated
Enter the positional information (step 10) of each point on map, and need each environmental variance of consideration.Then, user needs fixed
The corresponding cost function (step 11) of each environmental factor of justice, when defining the cost line number as shown in formula (1).Generation is defined
After valency function, user needs input beginning and end (step 12).In order to meet the individual demand of user, next, user
Can input setting (step 13), i.e. user needed during path planning by point.After user's input setting,
The corresponding specific cost (step 14) of each environmental factor can be calculated using formula (1).User can be according to the reality of oneself
Demand, the factor to different environment assigns different weights (step 15).So, the cost to varying environment factor is added
Power summation, can calculate the cost function (step 16) between any two points.Have after these Back ground Informations, just can plan and lead
Bit path (step 17).Next determine whether there is suitable path (step 18), if there is no suitable path, then
The result of prompting can be exported to user.If there is reachable path, user can be allowed to judge whether path is full to current path
Anticipate (step 19), if user is dissatisfied to current path, the weight of each environmental factor can be reset, regenerated
Need the path of planning；If user is satisfied with to current path, the path (step 20) of navigation is exported.
The workflow diagram of guidance path between calculating any two points as shown in Fig. 2 calculate this 2 points of longitude first
With the maximum and minimum value (step 21) of latitude, the maximum of longitude and latitude is then added a constant (step respectively
22) constant (step 23), is individually subtracted in the minimum value of longitude and latitude, so, a new rectangular area can be obtained
(step 24), dijkstra's algorithm is called in this new region, can be generated from a bar navigation path of origin-to-destination
(step 25).
The work course diagram that the path planning of increase setting is classified as multiple dijkstra's algorithms is as shown in Figure 3.First
All settings are ranked up (step 171) according to longitude.Next determine whether there is next setting (step
172), if there is next setting, then the guidance path worked as between the first two setting is calculated using dijkstra's algorithm
(step 173).After the guidance path that calculating finishes between all settings, between zequin and first setting
Guidance path (step 174), next calculates the guidance path (step 175) between last setting and terminal, finally,
From the off, all paths are connected (step 176) successively, exports final guidance path (step 177).
Claims (5)
1. a kind of consider multifactor Dijkstra air navigation aids, it is characterised in that：Including calculate overall cost function step and
Obtain and pass through assignment point path step；
It is described to calculate concretely comprising the following steps for overall cost function：
Step 100, the information of map, the i.e. positional information of each point and various environmental factors are inputted；
Step 101, each environmental factor considered as needed, defines the corresponding cost of various environment of any two points on map
Function：
cost(p1,p2)=exp (ratio) × min (p (thick | p1),p(thick|p2))
+exp(1-ratio)dist(p1,p2) (1)
Wherein p1、p2Represent any two points on map respectively, and p (thick | p1) represent p1It is the probability of thick ice, dist (p1,p2)
Represent the Euclidean distance between this 2 points.Exp (ratio) and exp (1-ratio) represent the thickness of ice and the Europe of point-to-point transmission respectively
Formula is apart from shared different weight under sail.
Step 102, the beginning and end of map is inputted；
Step 103, according to the cost function of environment between the two of definition points, any two points are calculated in each cost environmentally；
Step 104, the corresponding weight of each environmental factor is set；
Step 105, the corresponding cost of each environment between the weight set according to each environmental factor and 2 points, according to formula
(1) the overall cost between two points is calculated；
Obtain concretely comprising the following steps by assignment path：
Step 200, according to the beginning and end of input, the substantially rectangular region that needs are used delimited out；
Step 201, input needs all settings passed through；
Step 202, according to longitude the setting passed through will be needed to sort；
Step 203, from the off, the setting that sequence is drained through according to longitude is sequentially passed through, until terminal, for being arranged according to longitude
Adjacent two point after sequence, calls dijkstra's algorithm, obtains the shortest path between the two points；
Step 204, the shortest path obtained successively is connected, obtains the final path for needing to export.
2. multifactor Dijkstra air navigation aids are considered as claimed in claim 1, it is characterised in that：The delimitation substantially square
The flow in shape region is：The longitude of beginning and end and the maximum of dimension and minimum value are found first, then by longitude and latitude
Corresponding maximum is spent respectively plus a constant, equally, a constant is also respectively subtracted to precision and the minimum value of latitude, it is such to obtain
The region constituted to four numerical value is exactly the substantially rectangular region delimited out.
3. multifactor Dijkstra air navigation aids are considered as claimed in claim 1, it is characterised in that：Need the environment considered
Including time, oil consumption, safe coefficient etc..
4. multifactor Dijkstra air navigation aids are considered as claimed in claim 1, it is characterised in that：Set according to user
Parameter recommendation paths, find after reachable path, can be fed back to user；, can be with if user is dissatisfied to current path
Parameter is changed, guidance path is regenerated.
5. multifactor Dijkstra navigation algorithms are considered as claimed in claim 1, it is characterised in that：If there is no reachable
Path, can point out user；If there is reachable path, then reachable path can be exported.
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Cited By (4)
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| CN108038576A (en) * | 2017-12-20 | 2018-05-15 | 中国地质大学（武汉） | Based on the logistics distribution routing resource and system for improving dijkstra's algorithm |
| CN108256669A (en) * | 2017-12-20 | 2018-07-06 | 中国地质大学（武汉） | A kind of scenic spot routing resource and system based on improvement dijkstra's algorithm |
| WO2021035759A1 (en) * | 2019-08-31 | 2021-03-04 | 华为技术有限公司 | Route planning method and apparatus |
| CN112697160A (en) * | 2020-12-03 | 2021-04-23 | 文诚恒远(天津)供应链管理服务有限公司 | Navigation path recommendation method and device and electronic equipment |
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| CN108038576A (en) * | 2017-12-20 | 2018-05-15 | 中国地质大学（武汉） | Based on the logistics distribution routing resource and system for improving dijkstra's algorithm |
| CN108256669A (en) * | 2017-12-20 | 2018-07-06 | 中国地质大学（武汉） | A kind of scenic spot routing resource and system based on improvement dijkstra's algorithm |
| WO2021035759A1 (en) * | 2019-08-31 | 2021-03-04 | 华为技术有限公司 | Route planning method and apparatus |
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Application publication date: 20170721 |
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