CN107515003A - A kind of method for planning the aircraft patrolling power transmission lines line of flight - Google Patents
A kind of method for planning the aircraft patrolling power transmission lines line of flight Download PDFInfo
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- CN107515003A CN107515003A CN201710591552.8A CN201710591552A CN107515003A CN 107515003 A CN107515003 A CN 107515003A CN 201710591552 A CN201710591552 A CN 201710591552A CN 107515003 A CN107515003 A CN 107515003A
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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
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
Abstract
The invention discloses a kind of method for planning the aircraft patrolling power transmission lines line of flight, this method includes S1, the line pole tower and site information that need to make an inspection tour batch is imported into Satellite Map GIS Software, form transmission line of electricity path, and inspection flight panoramic information is added on the basis of transmission line of electricity path, establish machine line walking road panoramic information path；S2, each interim landing point, the administrative flight destination of each interim landing point are determined on the panoramic information path of machine line walking road；S3, each point of landing temporarily determined using GA optimizing algorithms to step S2, each interim administrative flight destination of landing point are analyzed, and are prompted auxiliary operation to choose each interim landing point, the administrative flight destination of each point of landing temporarily and are formed course line；S4, course line trend, the performance indications parameter of landing point position and aircraft in step S3 show that estimated flight takes most short, online rate highest flight path.By the way that the optimal tour line of flight can be obtained with this method, operating efficiency is patrolled with raising machine.
Description
Technical field
The present invention relates to flight course planning, and in particular to a kind of method for planning the aircraft patrolling power transmission lines line of flight.
Background technology
Helicopter line walking is the new General Aviation Flight business of one of domestic rising in recent years, is the characteristics of such flight
The setting of helicopter landing point is more, simultaneously because transmission line of electricity is densely distributed and moves towards complicated so that the line of flight and destination are various.
With reference to traditional common aviation flight flight course planning method, i.e., related whole destinations are first combed out, and record coordinate, in plane drawing
Upper planning plane right-angle coordinate, destination is marked, course line is generated by connecting destination.This kind of method is applied navigates in helicopter line walking
In terms of line chart planning planning, destination be present and comb the problem of workload is big, and Hand drawing is cumbersome, efficiency is low, further need exist for
Course line destination is carried out to check to eliminate error or mistake.
The content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of achievable helicopter line walking course line
The method that efficiently planning, raising machine patrol operating efficiency
To achieve the above object, the technical scheme is that：
A kind of method for planning the aircraft patrolling power transmission lines line of flight, methods described comprise the following steps：
S1, the line pole tower and site information that need to make an inspection tour batch imported into Satellite Map GIS Software, form transmission line of electricity path, and
Inspection flight panoramic information is added on the basis of transmission line of electricity path, establishes machine line walking road panoramic information path；
S2, each interim landing point, the administrative flight destination of each interim landing point are determined on the panoramic information path of machine line walking road；
S3, each interim landing point, the administrative flight destination of each interim landing point determined using GA optimizing algorithms to step S2
Analyzed, prompt auxiliary operation to choose each interim landing point, the administrative flight destination of each point of landing temporarily and form course line, realize
Transmission line of electricity and landing point, the interactive visual of flight destination；
S4, course line trend, the performance indications parameter of landing point position and aircraft in step S3 draw estimated fly
Row takes most short, online rate highest flight path.
Each interim landing point, the administrative flight destination of each point of landing temporarily that the GA optimizing algorithms determine to step S2 are carried out
The process of analysis is：
Step 1：Chromosome constructs
Chromosome, which represents, treats routing, and uses dynamic chromosome length, records the length of first particle of chromosome
Degree, the end points sum of the length of the particle contained by course line, the particle after first particle of chromosome represent course line rail successively
Mark section extreme coordinates, and there is no invalid particle；
Step 2：Establish fitness function
The index in course line is converted to the fitness in optimizing environment by fitness function, if chromosome i fitness
For Fiti, corresponding course line desired value is qi, and n is total chromosome number in colony, and qmax, qmin are maximum, minimum index in colony
Value, base is chromosome reference index value, s is that all chromosomes add up desired value in colony, then has：
Fiti=qmax-qi+base+s (1)
In formula (1), as s=0, then qmax ≠ qmin；Or, as s=qmax, then qmax=qmin；
Base=(qmax-qmin)/n (2)
Pc=(Fitmax-Fitavg)/Fit (3)
In formula (3), (Fitmax-Fitavg)<Fit；Or,
As Pc=1, then (Fit max-Fitavg) >=Fit
Pm=0.4 × (Fitmax-Fit)/(Fitmax-Fitavg) (4)
In formula (4), Pc=(Fitmax-Fitavg)/Fit；Or,
As Pm=0.4, then (Fitmax-Fit) >=(Fitmax-Fitavg)；
In formula (3), (4), Fitmax, Fitavg are respectively certain for the maximum adaptation degree and average fitness in chromosome；
Fit is the fitness for the chromosome that will be intersected or made a variation, and Pc is crossover probability, Pm is mutation probability.
Also include in the step S3, will form airline generation using Computer Aided Design Platform completely flies boat
Line full figure, and will be by transmission line of electricity geography information and the information layered display of the line of flight.
Also include in step sl, division mark is carried out according to Different Ground scoping unit to the transmission line of electricity path；
The inspection flight panoramic information includes each spatial domain scoping unit scope, flight difficult region and no-fly zone information.
In step s 2, the interim landing point is not higher than 35km away from the covering nearest space length of transmission line of electricity, away from covering
The farthest space length of transmission line of electricity is no more than 80km, and the air line distance of two adjacent landing points is no more than 150km.
In step s 4, it is described to show that the estimated mode for flying time-consuming most short, online rate highest flight path is：According to
Course line trend, landing point position, aeroplane performance index parameter obtain the permutation and combination of a variety of flight plans, by every kind of arrangement group
Conjunction mode is pressed less than aircraft range as a kind of alternative flight plan to the patrol flight path under every kind of alternative flight plan
Condition carries out Dynamic Programming, finds out estimated flight and takes most short, online rate highest flight path as final flight plan.
In step sl, the shaft tower and the site information batch in the form of latitude and longitude coordinates are imported in Satellite Map GIS Software.
The Satellite Map GIS Software is Google Earth softwares
Compared with prior art, its advantage is the present invention：
By that can obtain the optimal tour line of flight with this method, while this method considers machine and patrols flight
The factors such as characteristic, transmission line of electricity arrangement trend and spatial domain control, make an inspection tour mission requirements optimization formulation according to different helicopters and draw
Optimal patrol flight scheme, reduce the subjective participation of personnel, shorten decision-making period, improve operating efficiency, reduce machine
Operating cost is patrolled, also technical support is provided for flight inspection work while maximum economic benefit is realized.
Brief description of the drawings
Fig. 1 is the flow chart of the method for the planning aircraft patrolling power transmission lines line of flight provided in an embodiment of the present invention.
Embodiment
Present disclosure is described in further details with reference to the accompanying drawings and detailed description.
Embodiment：
As shown in fig.1, the method for the planning aircraft patrolling power transmission lines line of flight that the present embodiment provides specifically includes
Following steps：
S1, by the line pole tower and site information that need to make an inspection tour, batch imports Google Earth softwares in the form of latitude and longitude coordinates
In, software batchization processing generation transmission line of electricity path, and then complete transmission line of electricity path profile is formed, to transmission line of electricity path
Figure carries out division mark (being made a distinction according to color) according to Different Ground scoping unit, continues in Google Earth softwares
The information such as interior addition each spatial domain scoping unit scope, flight difficult region and no-fly zone, the machine line walking road panoramic information of foundation,
The machine of realization patrols line of flight planning and draws being completely covered for information needed.
S2, each interim landing point, the administrative flight destination of each interim landing point are determined on the panoramic information path of machine line walking road；
Specifically, each interim landing point, the administrative flight destination of each interim landing point can be determined by following principle：
On the basis of existing helicopter and unmanned plane performance parameter, landing point and the space of transmission line of electricity and steel tower are set
Criterion distance, the space length standard of adjacent landing point, landing point choose technical standard；Establish destination and standard, landing point are set
Cover length for heading standard；Using above-mentioned standard as constraints, each interim landing point, each interim landing point are determined for controlling
Administrative flight destination and course line.In addition, found by the research of inventor, when interim landing point is away from covering transmission line of electricity most near-space
Between distance be not higher than 35km, away from covering the farthest space length of transmission line of electricity be no more than 80km, the space of two adjacent landing points is straight
When linear distance is no more than 150km, helicopter or unmanned plane under the premise that security is guaranteed, can press close to circuit week to greatest extent
Region In Yanbian, realize and efficiently make an inspection tour.
S3, each interim landing point, the administrative flight destination of each interim landing point determined using GA optimizing algorithms to step S2
Further optimization analysis is carried out, specifically, GA optimizing algorithms optimization analysis process is：
Step 1：Chromosome constructs
Chromosome, which represents, treats routing, and uses dynamic chromosome length, records the length of first particle of chromosome
Degree, the end points sum of the length of the particle contained by course line, the particle after first particle of chromosome represent flight path section successively
Extreme coordinates, and there is no invalid particle；
Step 2：Establish fitness function
The index in course line is converted to the fitness in optimizing environment by fitness function, if chromosome i fitness
For Fiti, corresponding course line desired value is qi, and n is total chromosome number in colony, and qmax, qmin are maximum, minimum index in colony
Value, base is chromosome reference index value, s is that all chromosomes add up desired value in colony, then has：
Fiti=qmax-qi+base+s (1)
In formula (1), as s=0, then qmax ≠ qmin；Or, as s=qmax, then qmax=qmin；
Base=(qmax-qmin)/n (2)
Pc=(Fitmax-Fitavg)/Fit (3)
In formula (3), (Fitmax-Fitavg)<Fit；Or,
As Pc=1, then (Fit max-Fitavg) >=Fit
Pm=0.4 × (Fitmax-Fit)/(Fitmax-Fitavg) (4)
In formula (4), Pc=(Fitmax-Fitavg)/Fit；Or,
As Pm=0.4, then (Fitmax-Fit) >=(Fitmax-Fitavg)；
In formula (3), (4), Fitmax, Fitavg are respectively certain for the maximum adaptation degree and average fitness in chromosome；
Fit is the fitness for the chromosome that will be intersected or made a variation, and Pc is crossover probability, Pm is mutation probability.
From above formula, when near convergence in population to locally optimal solution (Fitmax-Fitavg is smaller), Pm increases, increase
Add population diversity；And when population in solution space compared with it is scattered when (Fitmax-Fitavg is larger), then Pc increase, make it as early as possible
Optimal solution is found, in addition, the chromosome larger to fitness, Pc and Pm are smaller, and this can protect defect individual；Otherwise Pc and
Pm is larger, so as to constantly update the individual of low fitness, in this way, due to chromosome represent be to treat routing, pass through above formula
Optimizing can obtain optimal course line, each interim so as to prompt auxiliary operation to be chosen in Google Earth softwares
Landing point, the administrative flight destination of each point of landing temporarily simultaneously form course line, realize the interaction of transmission line of electricity and landing point, flight destination
Visualization.Simultaneously on the basis of place on line moves towards figure, every transmission line of electricity can be gone sight-seeing in advance, can be very clear
The trend of grasp circuit and the geography information on periphery of Chu, operation flight can be patrolled for machine and provides pre- winged experience.
At the same time it can also which based on Computer Aided Design Platform, the landing point after optimization, flight destination coordinate are turned
CAD two-dimensional coordinates point is turned to, CAD is imported according to multi-section-line order batch, generates complete line of flight full figure.Develop CAD diagram
Layer function, by transmission line of electricity geography information and the information layered display of the line of flight, it can be patrolled and appointed according to the different machines assigned every year
Business, landing point and the affiliated line of flight are carried out to screen displaying and output, reach simple, practical, intuitively effect.
S4, further depth optimization is carried out to the line of flight, and the course line in step S3 is moved towards, landing point position
Put and the performance indications parameter of aircraft show that estimated flight takes most short, online rate highest flight path.Wherein, depth
The principle of optimization is：
Consider helicopter and unmanned plane performance parameter, machine patrol line speed, empty rapidly degree, per sortie flight duration etc.
Factor, the optimal selection standard of each landing point flight plan is established, including machine patrols online rate optimization criteria, the optimal mark of Sortie
The constraints such as standard, fuel consumption optimization criteria, heading optimization criteria.
Constraints is as follows：Single rack time machine patrols online rate >=85%, meets machine and patrols online rate index request；The landing point flies
Row sortie takes minimum number (containing the transition of line walking band), reduces flight operating cost；Single rack time line walking Fuel Oil Remaining optimum value, remaining oil
Measure it is very few flight safety risk be present, Fuel Oil Remaining, which is crossed, can at most increase helicopter flight load, influence flight economy.According to
Flight lucifuge is accustomed to, and inspection environmental requirement, and general morning flight trend is from east to west, flight in afternoon trend is from western past
East.
And show that the mode that estimated flight takes most short, online rate highest flight path is：Moved towards according to course line, landing
Point position, aeroplane performance index parameter obtain the permutation and combination of a variety of flight plans, using every kind of permutation and combination method as one
The alternative flight plan of kind, Mobile state is entered by the condition less than aircraft range to the patrol flight path under every kind of alternative flight plan
Planning, find out estimated flight and take most short, online rate highest flight path as final flight plan.
From the foregoing, by the way that the optimal tour line of flight can be obtained with this method, while this method synthesis is examined
Worry machine patrols the factors such as the characteristic of flight, transmission line of electricity arrangement trend and spatial domain control, and mission requirements are maked an inspection tour according to different helicopters
Optimization formulation draws optimal patrol flight scheme, reduces the subjective participation of personnel, shortens decision-making period, improves work effect
Rate, the machine of reducing patrol operating cost, and also technical support is provided for flight inspection work while maximum economic benefit is realized.
The different machines plan of patrolling of a landing point and affiliated transmission line of electricity is set forth below, to illustrate that this method was being applied
Effect in journey.
Table 1：Transmission line of electricity overview
Table 2：Existing conventional alternative flight plan
Table 3：Pass through the alternative flight plan one for using method provided by the invention to obtain
Table 4：Pass through the alternative flight plan two for using method provided by the invention to obtain
Alternative machine patrols the contrast and optimization of flight plan：
The alternative flight plan contrast of 5 three sets of table
Pass through the comparative analysis of three sets of alternative flight plans above, it can be deduced that：Existing conventional flight plan is time-consuming most
Long, sky flies distance farthest, and Sortie is most；By with method provided by the invention and the alternative flight plan one that obtains more
Time-consuming to shorten more than 8 hours for optimization, the winged distance of sky reduces more than 1300 kilometers, and flight reduces 4 sorties；Cross utilization
Method provided by the invention and the alternative flight plan two that obtains are the scheme that optimizes, take most short, and sky flies closest, flies
Row sortie is also minimum.
It follows that by the method with the present invention, the online rate index of helicopter line walking is remarkably improved, it is and existing
The online rate index that other machines patrol operation 49% is compared, and patrolling online rate using each landing point machine after the method for the present invention can reach
More than 85%, patrol job task performance for raising machine and lay the foundation.
Above-described embodiment is in the art the purpose is to be to allow simply to illustrate that the technical concepts and features of the present invention
Those of ordinary skill can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent change or modification made according to the essence of present invention, should all covers within the scope of the present invention.
Claims (8)
- A kind of 1. method for planning the aircraft patrolling power transmission lines line of flight, it is characterised in that methods described comprises the following steps：S1, the line pole tower and site information that need to make an inspection tour batch imported into Satellite Map GIS Software, form transmission line of electricity path, and defeated Inspection flight panoramic information is added on the basis of electric line path, establishes machine line walking road panoramic information path；S2, each interim landing point, the administrative flight destination of each interim landing point are determined on the panoramic information path of machine line walking road；S3, each interim landing point determined using GA optimizing algorithms to step S2, each interim administrative flight destination of landing point are carried out Analysis, prompt auxiliary operation to choose each interim landing point, the administrative flight destination of each point of landing temporarily and form course line, realize transmission of electricity Circuit and landing point, the interactive visual of flight destination；S4, course line trend, the performance indications parameter of landing point position and aircraft in step S3 draw estimated flight consumption When most short, online rate highest flight path.
- 2. the method for the planning aircraft patrolling power transmission lines line of flight as claimed in claim 1, it is characterised in that the GA is sought The process that each interim landing point that excellent algorithm determines to step S2, each interim administrative flight destination of landing point are analyzed is：Step 1：Chromosome constructsChromosome, which represents, treats routing, and uses dynamic chromosome length, records the length of first particle of chromosome, should The length of particle is that the end points contained by course line is total, and the particle after first particle of chromosome represents course line orbit segment end successively Point coordinates, and there is no invalid particle；Step 2：Establish fitness functionThe index in course line is converted to the fitness in optimizing environment by fitness function, if chromosome i fitness is Fiti, corresponding course line desired value are qi, and n is total chromosome number in colony, and qmax, qmin are maximum, minimum desired value in colony, Base is chromosome reference index value, s is that all chromosomes add up desired value in colony；Then have：Fiti=qmax-qi+base+s (1)In formula (1), as s=0, then qmax ≠ qmin；Or, as s=qmax, then qmax=qmin；Base=(qmax-qmin)/n (2)Pc=(Fitmax-Fitavg)/Fit (3)In formula (3), (Fitmax-Fitavg)<Fit；Or,As Pc=1, then (Fitmax-Fitavg) >=FitPm=0.4 × (Fitmax-Fit)/(Fitmax-Fitavg) (4)In formula (4), Pc=(Fitmax-Fitavg)/Fit；Or,As Pm=0.4, then (Fitmax-Fit) >=(Fitmax-Fitavg)；In formula (3), (4), Fitmax, Fitavg are respectively certain for the maximum adaptation degree and average fitness in chromosome；Fit is The fitness of chromosome that will be intersected or made a variation；Pc is crossover probability, Pm is mutation probability.
- 3. the method for the described planning aircraft patrolling power transmission lines line of flight as claimed in claim 1, it is characterised in that Also include in the step S3, the complete line of flight full figure of airline generation will be formed using Computer Aided Design Platform, and Will be by transmission line of electricity geography information and the information layered display of the line of flight.
- 4. the method for the planning aircraft patrolling power transmission lines line of flight as claimed in claim 1, it is characterised in that in step S1 In also include, division mark is carried out according to Different Ground scoping unit to the transmission line of electricity path；The inspection flight panorama Information includes each spatial domain scoping unit scope, flight difficult region and no-fly zone information.
- 5. the method for the planning aircraft patrolling power transmission lines line of flight as claimed in claim 1, it is characterised in that in step S2 In, the interim landing point is not higher than 35km away from the covering nearest space length of transmission line of electricity, away from the farthest space of covering transmission line of electricity Distance is no more than 80km, and the air line distance of two adjacent landing points is no more than 150km.
- 6. the method for the planning aircraft patrolling power transmission lines line of flight as claimed in claim 1, it is characterised in that in step S4 In, it is described to show that the estimated mode for flying time-consuming most short, online rate highest flight path is：Moved towards according to course line, landing point Position, aeroplane performance index parameter obtain the permutation and combination of a variety of flight plans, using every kind of permutation and combination method as one kind Alternative flight plan, Mobile state rule are entered by the condition less than aircraft range to the patrol flight path under every kind of alternative flight plan Draw, find out estimated flight and take most short, online rate highest flight path as final flight plan.
- 7. the method for the planning aircraft patrolling power transmission lines line of flight as claimed in claim 1, it is characterised in that in step S1 In, the shaft tower and the site information batch in the form of latitude and longitude coordinates are imported in Satellite Map GIS Software.
- 8. the method for the planning aircraft patrolling power transmission lines line of flight as described in claim 1 or 7, it is characterised in that described Satellite Map GIS Software is Google Earth softwares.
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