CN109506654A - Low latitude Route planner and device, aircraft - Google Patents
Low latitude Route planner and device, aircraft Download PDFInfo
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- CN109506654A CN109506654A CN201811354332.4A CN201811354332A CN109506654A CN 109506654 A CN109506654 A CN 109506654A CN 201811354332 A CN201811354332 A CN 201811354332A CN 109506654 A CN109506654 A CN 109506654A
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Abstract
The invention discloses a kind of low latitude Route planner and devices, aircraft.Wherein, this method comprises: carrying out rasterizing modeling to flight range, the spatial model of flight range is obtained；Obtain the cost value of each grid in spatial model, wherein cost value is used to indicate the influence navigated by water in the space of corresponding grid to aircraft；The three-dimensional air route of flight range is planned according to the cost value of each grid.The present invention solves the planing method due to lacking the flight route for unmanned plane in the related technology, and the technical issues of cannot achieve the orderly flight of unmanned plane.
Description
Technical field
The present invention relates to electronic communication fields, in particular to a kind of low latitude Route planner and device, flight
Device.
Background technique
Push-button aircraft abbreviation unmanned plane is developed rapidly, nothing recent years as emerging sci-tech product
It is man-machine not only to obtain widespread adoption in fields such as fire-fighting, inspection, agricultural, logistics, equally also gradually received by common people.But
It is practical since unmanned plane owner is not familiar with related request as more and more unmanned planes also bring numerous problems
The flight of upper overwhelming majority unmanned plane is in " black winged state " (not deferring to the flight requirement of corresponding area).Unmanned plane is to airliner
The important Terminal Area Facilities such as field, military installations, Petroleum & Petrochemical Enterprises, nuclear power station bring unprecedented air-supported threat, to nobody
State key is also gradually mentioned in the flight supervision of machine to be solved the problems, such as.
But as unmanned plane of more and more unmanned planes in low-latitude flying, low latitude is more and more intensive, unmanned plane touches
Hitting risk becomes increasing.It allows unmanned plane orderly to fly, will solve the problems, such as this some effective, and be unmanned plane rule
Under the conditions of drawing air route and being then prior art, reach the embodiment that this target of orderly flying most has cost performance.How to nobody
The flight route of machine carries out planning and has become increasingly urgent problem.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of low latitude Route planner and devices, aircraft, at least to solve due to phase
Lack the planing method of the flight route for unmanned plane in the technology of pass, and the technology orderly flown that cannot achieve unmanned plane is asked
Topic.
According to an aspect of an embodiment of the present invention, a kind of low latitude Route planner is provided, comprising: to flight range
Rasterizing modeling is carried out, the spatial model of the flight range is obtained；Obtain the cost of each grid in the spatial model
Value, wherein the cost value is used to indicate the influence navigated by water in the space of corresponding grid to aircraft；According to each grid
The spatial position of lattice and cost value plan the three-dimensional air route of the flight range.
Further, rasterizing modeling is carried out to flight range, the spatial model for obtaining the flight range includes: to obtain
Three-dimensional map, wireless signal covering map and the specific identifier map of the flight range；Based on the three-dimensional map, wirelessly
Signal covers map and specific identifier map, is modeled, obtains primary spatial model；The primary spatial model is carried out
Rasterizing handles to obtain the spatial model.
Further, the cost value for obtaining each grid in the spatial model includes: according in the three-dimensional map
The environment characteristic parameters of each grid determine the environmental cost value of each grid；Cover ground according to the wireless signal
The traffic characterization parameters of each grid described in figure determine the communication cost value of each grid；And according to described specific
The special characteristic parameter of each grid described in mark map determines the specific cost value of each grid respectively；Based on described
Environmental cost value, communication cost value and the specific cost value of each grid determine the cost value of each grid.
Further, the cost value of each grid in the spatial model is obtained further include: according to phase in spatial model
The positional relationship of adjacent grid determines the transfer value value of the adjacent cells；It is environmental cost value based on each grid, logical
Credit worthiness, specific cost value and the transfer value value determine the cost value of each grid.
Further, determine that the communication cost value of the grid includes: basis according to the traffic characterization parameters of the grid
Position of the grid in wireless signal covering map, determines the messaging parameter of the grid；Joined according to the communication
Number determines the communication cost value of the grid.
Further, the three-dimensional air route of the flight range is planned according to the spatial position of each grid and cost value
It include: to be determined in the spatial model based on preset first algorithm according to the spatial position and cost value of each grid
By way of grid；The starting point, described by way of grid and the terminal of the flight range for connecting the flight range, obtains described
Three-dimensional air route.
Further, institute is determined according to the spatial position and cost value of each grid based on preset first algorithm
Stating in spatial model includes: the first starting grid and target grid in the connection spatial model by way of grid, obtains the
One straight line path set, wherein the first starting grid is one in the starting point and the terminal, the target grid
The distance between lattice and the first starting grid are less than pre-determined distance；It determines each first in the first straight line set of paths
The path cost value of straight line path, wherein the path cost value in the first straight line path is the first starting grid and institute
State distance and the first straight line path between target grid by way of grid cost value product；It is calculated based on preset second
Method determines the optimal first straight line path in the first straight line set of paths according to the cost value in the first straight line path, obtains
It is the three-dimensional air route by way of grid to target grid corresponding with the optimal first straight line path.
Further, further includes: further include crucial in the spatial model by way of grid, the key includes by way of grid
Advantage grid and/or inflection point grid, in which: the advantage grid is true according to the cost value of grid each in the flight range
Fixed, wherein the cost value of the advantage grid is less than or equal to default cost value threshold value；The inflection point grid is according to
The position of default inflection point is arranged in the spatial model in flight range.
Further, the three-dimensional air route of the flight range is planned according to the spatial position of each grid and cost value
Further include: the second starting grid and the target grid in the spatial model are connected, second straight line set of paths is obtained, wherein
The second starting grid is the starting point, the terminal and crucial one in grid, the target grid
The distance between described second starting grid is less than pre-determined distance；Determine in the second straight line set of paths that each second is straight
The path cost value of thread path, wherein the path cost value in the second straight line path be it is described second starting grid with it is described
Between target grid distance and the second straight line path by way of grid cost value product；Based on preset second algorithm
The optimal second straight line path in the second straight line set of paths is determined according to the path cost value in the second straight line path,
Obtaining target grid corresponding with the optimal second straight line path is the three-dimensional air route by way of grid.
Further, the second starting grid and the target grid in the spatial model are connected, second straight line path is obtained
Set includes: the advantage grid obtained in the spatial model, and the cost value of the advantage grid is less than or equal to default first
Cost value threshold value；Each advantage grid composition advantage network is connected by way of three-dimensional Wei Nuotu；Based on preset
Two algorithms determine the shortest path by the starting point to the terminal, and obtaining the advantage grid that the shortest path passes through is institute
Key is stated by way of grid.
Further, the three-dimensional air route of the flight range is planned according to the cost value of each grid further include: will
Whole inflection point grids in the spatial model connect two-by-two, obtain the third straight line in the spatial model between inflection point grid
Set of paths；Obtain the feasible path set in the third straight line path set, wherein feasible path set includes described
Feasible third straight line path in three straight line path set；Based on first algorithm in the feasible straight line path set
To from the starting point to the optimal three-dimensional air route the terminal.
According to another aspect of an embodiment of the present invention, a kind of low latitude routeing device is additionally provided, comprising: modeling is single
Member obtains the spatial model of the flight range for carrying out rasterizing modeling to flight range；Acquiring unit, for obtaining
The cost value of each grid in the spatial model, wherein the cost value is used to indicate to aircraft in corresponding grid
The influence navigated by water in space；Planning unit, for planning the three-dimensional of the flight range according to the cost value of each grid
Air route.
According to another aspect of an embodiment of the present invention, a kind of aircraft, including low latitude air route as described above are additionally provided
Device for planning.
According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, the storage medium includes storage
Program, wherein equipment where controlling the storage medium in described program operation executes low latitude air route as described above and advises
The method of drawing.
According to another aspect of an embodiment of the present invention, a kind of processor is additionally provided, the processor is used to run program,
Wherein, low latitude Route planner as described above is executed when described program is run.
In embodiments of the present invention, by the way of carrying out rasterizing to flight range and modeling to obtain spatial model, pass through
The cost value of each grid plans the three-dimensional air route of flight range in spatial model, reached to the flight route of unmanned plane into
The purpose of row three-dimensional routeing, to realize the technical effect that unmanned plane orderly flies, and then solves due to related skill
The technical issues of lacking the planing method of the flight route for unmanned plane in art, and cannot achieve the orderly flight of unmanned plane.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of schematic diagram of optional low latitude Route planner according to an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of optional spatial model according to an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram in optional logic state space according to an embodiment of the present invention；
Fig. 4 is the connection relationship diagram of one kind according to an embodiment of the present invention optional each grid and surrounding adjacent cells
Fig. 5 is a kind of schematic diagram of optional low latitude routeing device according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
Before introducing the technical solution in the present embodiment, the application scenarios to the present embodiment technical solution and elder generation first
Noun is closed to be illustrated:
Flight range refers to that unmanned plane and other aircraft wait the region of flight, and wherein flight range can pass through
It is artificial specified, wherein including flight starting point and terminal.It is also possible to only provide the terminal of flight starting point and flight simultaneously,
Flying height by unmanned plane and other aircraft etc. is determined.For example, the ceiling altitude of unmanned plane is 80 meters,
The height that can then determine flight range is 80 meters, and the length of flight range can be according to the distance between starting point and terminal
It is configured based on practical experience.Flight range can be square, cylindrical body etc..
Rasterizing: refer to that by corresponding model partition be multiple elements, refer to divide solid space in the present embodiment
For multiple small cubes, that is to say, that solid space is made of multiple grids.
Cost value: cost value is to a kind of quantized value of the operational configuration in specific region, for indicating have by number
The operational configuration of body region, (can refer to the expense routed in the communication technology, the expense the big, indicates that routing is poorer) cost value are got over
It is high then indicate that unairworthiness is got in corresponding region.
In the related art, path planning of the main routing algorithm primarily directed to plane, few road for considering three-dimensional
Diameter planning；Unmanned plane is along Route reform, and one of key factor is to maintain that communication link is unobstructed, but current path planning is simultaneously
This condition of radio honeycomb communication is not considered, therefore cannot achieve the accurate navigation of unmanned plane, and then realizes that unmanned plane orderly flies
Row.So the present invention proposes a kind of low latitude Route planner, it is intended to realize that unmanned plane orderly flies.
According to embodiments of the present invention, a kind of low latitude Route planner is provided, as shown in Figure 1, this method comprises:
S102 carries out rasterizing modeling to flight range, obtains the spatial model of flight range；
S104 obtains the cost value of each grid in spatial model, wherein cost value is for indicating to aircraft right
Answer the influence navigated by water in the space of grid；
S106, according to the spatial position of each grid and the three-dimensional air route of cost value planning flight range.
In the present embodiment, rasterizing modeling is carried out to flight range, i.e., by obtaining the three-dimensional map of flight range, base
It is modeled to obtain a solid space in the flight parameter of unmanned aerial vehicle, by carrying out rasterizing processing to solid space, then
The spatial model of available flight range, the spatial model are made of multiple grids.Preferably, the precision of grid can be with
It is determined according to the precision of three-dimensional map or wireless signal covering map.For example, being 10 meters × 10 meters in three-dimensional map precision
In the case of, the precision for dividing grid can be 10 meters × 10 meters × 10 meters, the corresponding solid space of flight range is divided into more
The grid cube of a 10 meters × 10 meters × 10 meters size specifications.Specific grid division may refer to Fig. 2, be by one in Fig. 2
The flight range of block square size is divided into multiple grids.It should be noted that in the present embodiment, the grid in spatial model
Lattice include but is not limited to be the identical grid of size specification, be also possible to the different grid such as size, shape, volume, it is above only
It is a kind of example, any influence will not be generated to the technical solution of the present embodiment.
It should be noted that the wireless network of flight range includes in the wireless signal covering map of flight range
But it is not limited to Cellular Networks, road WIFI network.It in the present embodiment, can also be with for the wireless signal covering map of flight range
It is other networks that communication quality and signal strength etc. can quantify, the above is only a kind of examples, to logical in the present embodiment
Communication network will not generate any restriction.
In actual application scenarios, can there are different building and forest zone etc. in flight range, in unmanned plane
It needs that building and trees are carried out evading detour in flight course, it is therefore desirable to indicated by cost value in corresponding grid
In navigation influence.For example, its cost value is arranged the grid that there is the building that can not be flown through in spatial model
For+∞.Therefore subsequent in the planning process in three-dimensional air route, it will not say that the grid is taken into account.Preferably, according to down toward
One of few characteristic parameter determines the cost value of corresponding grid: environment characteristic parameters, traffic characterization parameters, special characteristic parameter.
Wherein environment characteristic parameters are used to indicate the ambient condition in corresponding grid, such as have Barrien-free building and no-fly zone etc..
Traffic characterization parameters are then used to indicate the communications status in corresponding grid, such as believe dry noise ratio SINR and main serving cell ginseng
Examine signal strength RSRP.And special characteristic parameter then indicates other environmental factors, such as meteorology, whether there is or not airflow influences, Gu
Fixed building top (military architecture, school, government buildings etc.).
After the cost value for getting each grid, based on pre-set algorithm according to grid each in flight range
Spatial position and cost value plan the three-dimensional air route in flight range, such as shortest path first and it is pre-set its
His path search algorithm etc..Specifically, during planning the three-dimensional air route of the aircraft such as unmanned plane, while can also consider nothing
The factors such as the spatial model of the aerial mission of aircraft, aircraft performance and flight range, are then based on flight range
The spatial position of each grid and cost value plan the three-dimensional air route in flight range in spatial model.
It should be noted that carrying out rasterizing modeling in the present embodiment to flight range, obtaining the spatial mode of flight range
Type obtains the cost value of each grid in spatial model, wherein cost value is used to indicate to aircraft in the sky for corresponding to grid
Between middle navigation influence, according to the spatial position of each grid and cost value planning flight range three-dimensional air route.Reach
The purpose that three-dimensional routeing is carried out to the flight route of unmanned plane, is orderly flying, and then reach to realize unmanned plane
Guarantee unmanned plane during flying safety, the technical effect improved the user experience, and then solves due to lacking needle in the related technology
To the planing method of the flight route of unmanned plane, and the technical issues of cannot achieve the orderly flight of unmanned plane.
Optionally, in the present embodiment, rasterizing modeling is carried out to flight range, obtains the spatial model packet of flight range
It includes but is not limited to: obtaining the three-dimensional map, wireless signal covering map and specific identifier map of flight range；Based on dimensionally
Figure, wireless signal covering map and specific identifier map are modeled, and primary spatial model is obtained；To primary spatial model into
Row rasterizing handles to obtain spatial model.
Specifically, dimensionally by the middle flight range obtained of operators' (such as Google Maps etc.) such as digital map navigation
Scheme, the three-dimensional imaging specifically built in available flight range, while can also be by artificially importing the three of flight range
Dimension map optionally can also be the corresponding picture of flight range, the three-dimensional of corresponding flight range constructed by image recognition
Map.The wireless signal strength etc. of flight range is obtained by the wireless signal covering map of wireless carriers offer,
One is obtained by the mark that specific identifier map obtains the specific building in flight range to complete the modeling of flight range
Primary spatial model, i.e. a solid space.Based on the accuracy of map in the three-dimensional map got to primary spatial model into
The processing of row rasterizing, obtains the spatial model being made of multiple grids.
It should be noted that formatting in treatment process in actual primary space grating, the size of grid is simultaneously revocable, can
To be configured according to actual experience.For example, can correspond to a specific building carries out rasterizing processing, i.e., building corresponds to
The corresponding grid in space, cost value is set as+∞, wherein the corresponding grid volume of the building can be significantly greater than it
His grid.
Optionally, the cost value for obtaining each grid in spatial model includes but is not limited to: according to each in three-dimensional map
The environment characteristic parameters of a grid determine the environmental cost value of each grid；Each grid in map is covered according to wireless signal
Traffic characterization parameters determine the communication cost value of each grid；And the specific spy according to grid each in specific identifier map
Sign parameter determines the specific cost value of each grid respectively；Environmental cost value, communication cost value and spy based on each grid
Determine the cost value that cost value determines each grid.
Specifically, flight range rasterizing models: flight environment of vehicle division being modeled as cubic lattice, the grid divided here
Lattice size can be then based on different characteristic parameters and be determined corresponding cost value respectively with on-fixed size, specific as follows:
1) environment characteristic parameters model: all grids that cannot be flown into of unmanned plane, cost value are all assigned a value of+∞.Exist in this way
This grid would not be entered in subsequent path searching algorithm.The grid that cannot be flown into including but not limited to wherein includes: building
Object, trees, massif etc., and the no-fly zone being artificially arranged.Its input is mainly: 3D map, no-fly chorography etc..
2) traffic characterization parameters model: spacing wireless signal communication constraints within the scope of the flight range that will acquire into
Row modeling, marks in grid.For example, indicated using cost value, then communication cost value be range [1 ,+∞)；
3) special characteristic parameter model: obtained by specific identifier map with the building of specific identifier and other can
To influence the mark of aircraft navigation factor, such as government overhead, school overhead, airflow influence can be modeled as cost value,
Then specific cost value be range [1 ,+∞).
Wherein, the cost value of all characteristic parameters merges into a cost by following formula finally in the form of multiplication
It is worth the cost value as grid:
The cost value of the grid=environmental cost value * specific cost value of communication cost value * (1)
Optionally, in the present embodiment, the cost value for obtaining each grid in spatial model further includes but is not limited to: root
The transfer value value of adjacent cells is determined according to the positional relationship of adjacent cells in spatial model；Environmental cost based on each grid
Value, communication cost value, specific cost value and transfer value value determine the cost value of each grid.Transfer value value refers to nothing
The influence that the man-machine environment displacement situation for needing to consider in flight course navigates by water unmanned plane.
In actual application scenarios, due to the type of unmanned plane during flying device be divided into rotor wing unmanned aerial vehicle and fixed-wing nobody
Machine, wherein fixed-wing unmanned plane during flying speed is fast, but cannot achieve and take off vertically and hover, therefore in actual three-dimensional boat
During circuit planning, it is also necessary to consider the positional relationship in flight range spatial model between adjacent cells, such as vertical
The upward two adjacent grids of histogram, in the lesser situation in space, fixed-wing unmanned plane can not navigate in vertical direction
Row, therefore can be arranged in the planning process in three-dimensional air route for when the adjacent cells in the vertical direction of preplanning grid
Transfer value value is+∞, and it is+∞, the downward adjacent cells in air route direction that the upward adjacent cells in air route direction, which also can be set,
It is 1.Therefore, in the present embodiment, the range of transfer value value be [1 ,+∞).
Optionally, in the present embodiment, according to the traffic characterization parameters of grid determine grid communication cost value include but
It is not limited to: according to position of the grid in wireless signal covering map, determining the messaging parameter of grid；It is determined according to messaging parameter
The communication cost value of grid.It as a kind of perferred technical scheme, can be according to position of the grid in wireless signal covering map
It sets, determines the dry noise ratio of the letter of grid and signal strength；According to the dry noise of letter than determining that the grid of grid is handled up with signal strength
Rate；The communication cost value of grid is determined based on grid throughput.
Specifically, being mainly the requirement to the cellular signal strength in grid according to the communication requirement of unmanned plane, comprising: letter
Dry noise ratio (SINR) and main serving cell reference signal strength (RSRP).Such as: for 1080p Image Real-time Transmission nobody
Demand of the machine to traffic rate is 8Mbps, is 30Kbps for the traffic rate demand for being only monitoring unmanned plane position.In reality
In the application scenarios on border, SINR value and RSRP value in each grid, each grid can be provided by covering map by cellular signal
The SINR value and RSRP value of lattice carry out calculation of capacity, can obtain the wireless communication rate " grid throughput " of grid support,
Obtain throughput grating map.The cost function that communication factors can be provided by grid throughput and demand throughput is corresponding to close
System, referring specifically to table 1.
Table 1
| Calculate function | Cost value |
| Demand throughput * 150% < grid throughput | 1 |
| Demand 100% < grid of throughput * throughput < demand throughput * 150% | 1.2 |
| Demand 80% < grid of throughput * throughput < demand throughput * 100% | 2 |
| Demand 50% < grid of throughput * throughput < demand throughput * 80% | 10 |
| Grid throughput < demand throughput * 50% | +∞ |
Optionally, in the present embodiment, according to the spatial position of each grid and the three-dimensional of cost value planning flight range
Air route includes but is not limited to: determining spatial mode according to the spatial position and cost value of each grid based on preset first algorithm
In type by way of grid；It connects the starting point of flight range, by way of the terminal of grid and flight range, obtains three-dimensional air route.?
It, can be according to pre- in the case where getting in the corresponding spatial model of flight range the spatial position of each grid and cost value
If the first algorithm come obtain in three-dimensional air route by way of grid, thus obtain three-dimensional air route.Wherein, in the present embodiment, with
Under be to be illustrated for A* algorithm to the first algorithm obtained in three-dimensional air route:
A* algorithm is a path search process, wherein and it is to be investigated based on preset distance to each node, it is right
Path scans for.Two tables: OPEN and CLOSED are set in path search process.OPEN table save all generated and not
The node of investigation records the node accessed in CLOSED table.Having a step in the algorithm is according to cost value estimation function weight
Arrange OPEN table.Each step in this way in circulation only considers the node of (i.e. cost value is minimum) in the best state in OPEN table.Such as Fig. 3 institute
The logic state space shown is A~T there are node, wherein the number after each node is the cost value by way of the node, such as
Digital " 5 " illustrate the cost value by way of node A in " A5 " of node A.Specific search process is as follows:
1) original state:
OPEN=[A5]；CLOSED=[]；
2) it estimates A5, obtains all child nodes, and be put into OPEN table；
OPEN=[B4, C4, D6]；CLOSED=[A5]
3) it estimates B4, obtains all child nodes, and be put into OPEN table；
OPEN=[C4, E5, F5, D6]；CLOSED=[B4, A5]
4) C4 is estimated；All child nodes are obtained, and are put into OPEN table；
OPEN=[H3, G4, E5, F5, D6]；CLOSED=[C4, B4, A5]
5) it estimates H3, obtains all child nodes, and be put into OPEN table；
OPEN=[O2, P3, G4, E5, F5, D6]；CLOSED=[H3, C4, B4, A5]
6) it estimates O2, obtains all child nodes, and be put into OPEN table；
OPEN=[P3, G4, E5, F5, D6]；CLOSED=[O2, H3, C4, B4, A5]
7) it estimates P3, has been solved.
By above-mentioned A* algorithm, in the case where being a step by pre-determined distance, searching route is available correspondingly optimal
Path A > C > H > P.
On the basis of above-mentioned A* algorithm, by the distance of each step of setting, such as it is two grids that distance, which can be set,
It is available to originate grid (beginning or end of flight range) with first as starting point, it carries out A* algorithm and obtains arrival target grid
By way of grid.Thus, it is possible to based on, by way of grid, three-dimensional air route is thus obtained in the three-dimensional air route of the first algorithm acquisition.
Optionally, in the present embodiment, the spatial position based on preset first algorithm according to each grid and cost
Value determines that in spatial model include: the first starting grid and target grid in connection space model by way of grid, obtains the
One straight line path set, wherein the first starting grid is one in starting point and terminal, target grid and the first starting grid
The distance between be less than pre-determined distance；Determine the path cost value in each first straight line path in first straight line set of paths,
In, the path cost value in first straight line path be between the first starting grid and target grid distance and first straight line path by way of
Grid cost value product；First straight line road is determined according to the cost value in first straight line path based on preset second algorithm
Optimal first straight line path in diameter set obtains the way that target grid corresponding with optimal first straight line path is three-dimensional air route
Through grid.
In the case that the first algorithm in the above-described embodiments is A* algorithm, A* algorithm is actually a kind of flat based on two dimension
The path search algorithm in face, in the present embodiment, spatial model are a kind of three-dimensional space, it is therefore desirable to the first above-mentioned algorithm
Correspondingly adjust, it is as a result, in the present embodiment, each in A* algorithm influencing the cost value of grid in a manner of product
The distance of step calculates: for example, in A* algorithm each step pitch from path cost value be equal to a distance from actual coordinate and target grid generation
The product of value.And the distance of each step in three-dimensional A* algorithm can be configured based on practical experience, herein without appointing
What is limited, it is hereby achieved that three-dimensional A* algorithm, i.e., preset second algorithm, by the available three-dimensional air route of the second algorithm
By way of grid.
Optionally, in the present embodiment, further includes: further include crucial in spatial model by way of grid, key is by way of grid
Including advantage grid and/or inflection point grid, in which: advantage grid is determined according to the cost value of grid each in flight range
, wherein the cost value of advantage grid is less than or equal to default cost value threshold value；Inflection point grid is preset according in flight range
What the position of inflection point was arranged in spatial model, wherein at least one default inflection point respectively corresponds an at least inflection point grid.
In specific application scenarios, in flight range there are meet specified conditions and it is pre-set it is crucial by way of
Point, i.e., the key in spatial model need to lead in the planning process in three-dimensional air route comprising the key transit point by way of grid
It crosses the second preset algorithm and obtains transit point in the starting point of flight range, terminal and crucial transit point.
Specifically, determining flight range after the cost value of each grid in the spatial model that flight range has been determined
In advantage grid, the cost value of advantage grid is less than or equal to default cost value threshold value 2, i.e., cost value be 1 or 1.2 grid
For advantage grid.Communication cost value can also be obtained according to traffic characterization parameters to carry out the planning in three-dimensional air route simultaneously, for example,
It finds out intra-area communication advantage grid: the grid that throughput is greater than a certain thresholding is found out in throughput grating map, as demand gulps down
Spit rate * 200% < grid throughput.
Optionally, in the present embodiment, according to the spatial position of each grid and the three-dimensional of cost value planning flight range
Air route further includes but is not limited to: the second starting grid and target grid in connection space model obtain second straight line path set
It closes, wherein the second starting grid is starting point, terminal and crucial one in grid, and target grid and second originates grid
The distance between lattice are less than pre-determined distance；Determine the path cost value in each second straight line path in second straight line set of paths,
Wherein, the path cost value in second straight line path is distance and second straight line path way between the second starting grid and target grid
The product of the cost value of the grid of warp；Second is determined according to the path cost value in second straight line path based on preset second algorithm
Optimal second straight line path in straight line path set obtains target grid corresponding with optimal second straight line path as three-dimensional boat
Road by way of grid.
Specifically, the default corresponding inflection point grid of inflection point is determined in the case where including multiple default inflection points in flight range,
Its inflection point grid is added between beginning and end according to sequence of positions.For example, starting point is S, terminal T, inflection point grid is
P1, p2 ... ..., pn, then three-dimensional navigation route searching sequence are as follows: wherein there is crucial transit point P1, P2, P3, P4, for flight
The starting point in region, crucial transit point, flight range terminal in each section of air route separate independent planning, such as be divided into S~
Then the multistages such as P1, P1~P2, P2~P3, P3~P4, P4~T air route is calculated for above-mentioned each section of air route application three-dimensional A*
Method.
As a kind of preferably technical solution, for multistage air route among the above, wherein can be with base in each section of air route
Communication advantage transit point is determined in communication element and other elements, is then carried out the thinner air route of precision again and is divided.For example,
Communication advantage point is connected based on communication advantage point set (scatterplot) is found two-by-two based on above-mentioned air route P1~P2, is used
A* algorithm finds a shortest path p1-s1-s2-s3-p2, and communication advantage point is considered as transit point, passes through three-dimensional A* algorithm
P1-s1, s1-s2, s2-s3, s3-p2 are planned respectively in each section of air route.It is hereby achieved that the way in flight range three-dimensional air route
Through grid.
Optionally, in the present embodiment, the second starting grid and target grid in connection space model, it is straight to obtain second
Thread path set includes but is not limited to: obtaining the advantage grid in spatial model, the cost value of advantage grid is less than or equal to pre-
If the first generation is worth threshold value；Each advantage grid composition advantage network is connected by way of three-dimensional Wei Nuotu；Based on preset
Second algorithm determines the shortest path for passing through origin-to-destination, and obtaining the advantage grid of shortest path process is key by way of grid
Lattice.
In the present embodiment, inflection point is pre-set, and unmanned plane needs the location point passed through.That is, inflection point
The position of grid is determining.And for advantage grid, in actual application process, be can not be determined by cost value it is excellent
The spatial position of gesture grid, therefore in the present embodiment, regard key as a three-dimensional coordinate point by way of grid, is tieed up with three-dimensional
The method of promise figure connects advantage grid, forms advantage network.According to above-mentioned A* algorithm, found out in advantage network from
Origin-to-destination is needed by shortest path, and the advantage grid that wherein shortest path passes through is exactly key by way of grid, is then led to
Key is crossed by way of grid in the spatial position of advantage network and the sequence in shortest path, by shortest path in advantage network
The key obtained is added in spatial model by way of grid, be then based on three-dimensional A* algorithm determine from the starting point of flight range by way of
Key reaches the three-dimensional air route of flight range terminal by way of grid (including advantage grid obtained above and inflection point grid).
Specifically, the default corresponding inflection point grid of inflection point is determined in the case where including multiple default inflection points in flight range,
Its inflection point grid is added between the beginning and end of flight range according to sequence of positions.For example, starting point be S, terminal T,
Inflection point grid is p1, p2 ... ..., pn, then the route searching sequence in three-dimensional air route are as follows:
S->p1->p2->……pn->T
Respectively to each of these section, using 3 d grid A* algorithm, the specific steps are as follows:
S1, using the coordinate points of 3 d grid as the retrieval node of three-dimensional A* algorithm；
S2, some grid and adjacent grid have connection relationship, here adjacent, the total top including coplanar adjacent, total side
Point is adjacent, also may include second layer adjacent area, the adjacent area N.This is depending on computation complexity, as shown in figure 4, being each grid
With the connection relationship diagram of adjacent cells around；
S3, the distance that cost value influences each step of A* algorithm in a manner of multiplying calculate: each step pitch is sat from cost=reality
Subject distance * target grid cost value.
S4, find optimal three-dimensional air route it is final the result is that output among origin-to-destination by way of all grids
Coordinate, wherein the three-dimensional air route is by way of all inflection point grids.
Optionally, in the present embodiment, the three-dimensional air route for planning flight range according to the cost value of each grid further includes
But it is not limited to: whole inflection point grids in spatial model is connected two-by-two, obtain the third in spatial model between inflection point grid
Straight line path set；Obtain the feasible path set in third straight line path set, wherein feasible path set includes that third is straight
Feasible third straight line path in thread path set.
In the present embodiment, inflection point be think the unmanned plane of setting need deflecting fly and by way of point, and actual
In application scenarios, some inflection points are necessarily, it is therefore desirable to the crucial inflection point grid in grid in three-dimensional air route into
The optimization of row air route.Specifically, the method that this step can be combined using probability graph and three-dimensional A* algorithm, to above-mentioned steps S1-S4
The air route of middle searching optimizes, it is therefore an objective to reduce unnecessary deflecting flight.
S31, among the terminal exported according to step S4 in above-described embodiment by way of the coordinate lines of all grids turn
Point grid；
S32 connects all inflection point grids two-by-two, forms a straight line path set；
S33 deletes infeasible straight line path in straight line path set, forms feasible path set, infeasible road
Diameter includes the grid for being higher than a certain thresholding across grid cost value.
S34 uses three-dimensional A* algorithm in feasible path set, selects an optimal path of origin-to-destination, the road
Diameter is then the three-dimensional air route of optimization.
Through the embodiment of the present invention, rasterizing modeling is carried out to flight range, obtains the spatial model of flight range, obtained
The cost value of each grid in spatial model, wherein cost value is used to indicate to aircraft in the space Air China for corresponding to grid
Capable influence, according to the spatial position of each grid and the three-dimensional air route of cost value planning flight range.Reach to nobody
The flight route of machine carries out the purpose of three-dimensional routeing, to realize the technical effect that unmanned plane orderly flies, and then solves
It has determined due to lacking the planing method of the flight route for unmanned plane in the related technology, and cannot achieve the orderly of unmanned plane and fly
Capable technical problem.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because
According to the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, and related actions and modules is not necessarily of the invention
It is necessary.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation
The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much
In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing
The part that technology contributes can be embodied in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate
Machine, server or network equipment etc.) execute method described in each embodiment of the present invention.
Embodiment 2
According to embodiments of the present invention, a kind of low latitude air route rule for implementing above-mentioned low latitude Route planner are additionally provided
Device is drawn, as shown in figure 5, the device includes:
1) modeling unit 50 obtain the spatial model of the flight range for carrying out rasterizing modeling to flight range；
2) acquiring unit 52, for obtaining the cost value of each grid in the spatial model, wherein the cost value
Influence for indicating to navigate by water aircraft in the space of corresponding grid；
3) planning unit 54, for planning the flight range according to the spatial position and cost value of each grid
Three-dimensional air route.
Optionally, the specific example in the present embodiment can be with reference to example described in above-described embodiment 1, the present embodiment
Details are not described herein.
According to embodiments of the present invention, a kind of aircraft, including routeing device in low latitude as described above are additionally provided.
Embodiment 3
According to embodiments of the present invention, a kind of storage medium is additionally provided, the storage medium includes the program of storage,
In, equipment where controlling the storage medium in described program operation executes low latitude Route planner as described above.
Optionally, in the present embodiment, storage medium is arranged to store the program code for executing following steps:
S1 carries out rasterizing modeling to flight range, obtains the spatial model of the flight range；
S2 obtains the cost value of each grid in the spatial model, wherein the cost value is for indicating to flight
The influence that device navigates by water in the space of corresponding grid；
S3 plans the three-dimensional air route of the flight range according to the spatial position of each grid and cost value.
Optionally, the specific example in the present embodiment can be with reference to example described in above-described embodiment 1, the present embodiment
Details are not described herein.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or
The various media that can store program code such as CD.
Embodiment 4
The embodiments of the present invention also provide a kind of processor, the processor is for running program, wherein the journey
Low latitude Route planner as described above is executed when sort run.
Optionally, in the present embodiment, processor is arranged to be used for executing the program code of following steps:
S1 carries out rasterizing modeling to flight range, obtains the spatial model of the flight range；
S2 obtains the cost value of each grid in the spatial model, wherein the cost value is for indicating to flight
The influence that device navigates by water in the space of corresponding grid；
S3 plans the three-dimensional air route of the flight range according to the spatial position of each grid and cost value.
Optionally, the specific example in the present embodiment can be with reference to example described in above-described embodiment 1, the present embodiment
Details are not described herein.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
If the integrated unit in above-described embodiment is realized in the form of SFU software functional unit and as independent product
When selling or using, it can store in above-mentioned computer-readable storage medium.Based on this understanding, skill of the invention
Substantially all or part of the part that contributes to existing technology or the technical solution can be with soft in other words for art scheme
The form of part product embodies, which is stored in a storage medium, including some instructions are used so that one
Platform or multiple stage computers equipment (can be personal computer, server or network equipment etc.) execute each embodiment institute of the present invention
State all or part of the steps of method.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed client, it can be by others side
Formula is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, and only one
Kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
It is desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed it is mutual it
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (15)
1. a kind of low latitude Route planner characterized by comprising
Rasterizing modeling is carried out to flight range, obtains the spatial model of the flight range；
Obtain the cost value of each grid in the spatial model, wherein the cost value is for indicating to aircraft right
Answer the influence navigated by water in the space of grid；
The three-dimensional air route of the flight range is planned according to the spatial position of each grid and cost value.
2. obtaining described fly the method according to claim 1, wherein carrying out rasterizing modeling to flight range
The spatial model in row region includes:
Obtain the three-dimensional map, wireless signal covering map and specific identifier map of the flight range；
Based on the three-dimensional map, wireless signal covering map and specific identifier map, is modeled, obtain primary spatial mode
Type；
Rasterizing is carried out to the primary spatial model to handle to obtain the spatial model.
3. according to the method described in claim 2, it is characterized in that, obtaining the cost value of each grid in the spatial model
Include:
The environment characteristic parameters of each grid according to the three-dimensional map determine the environmental cost value of each grid；
The logical of each grid is determined according to the traffic characterization parameters that the wireless signal covers each grid described in map
Credit worthiness；
Determine the spy of each grid respectively according to the special characteristic parameter of each grid described in the specific identifier map
Determine cost value；
The generation of each grid is determined based on the environmental cost value, communication cost value and specific cost value of each grid
Value.
4. according to the method described in claim 3, it is characterized in that, obtaining the cost value of each grid in the spatial model
Further include:
The transfer value value of the adjacent cells is determined according to the positional relationship of adjacent cells in spatial model；
It is determined based on the environmental cost value of each grid, communication cost value, specific cost value and the transfer value value
The cost value of each grid.
5. the method according to claim 3 or 4, which is characterized in that determine institute according to the traffic characterization parameters of the grid
The communication cost value for stating grid includes:
According to position of the grid in wireless signal covering map, the messaging parameter of the grid is determined；
The communication cost value of the grid is determined according to the messaging parameter.
6. the method according to claim 1, wherein being advised according to the spatial position of each grid and cost value
The three-dimensional air route for drawing the flight range includes:
It is determined in the spatial model based on preset first algorithm according to the spatial position and cost value of each grid
By way of grid；
The starting point, described by way of grid and the terminal of the flight range for connecting the flight range, obtains the three-dimensional boat
Road.
7. according to the method described in claim 6, it is characterized in that, based on preset first algorithm according to each grid
Spatial position and cost value determine in the spatial model
The first starting grid and the target grid in the spatial model are connected, obtains first straight line set of paths, wherein described
First starting grid is one in the starting point and the terminal, between the target grid and the first starting grid
Distance be less than pre-determined distance；
Determine the path cost value in each first straight line path in the first straight line set of paths, wherein the first straight line
The path cost value in path is distance and first straight line path way between the first starting grid and the target grid
The product of the cost value of the grid of warp；
It is determined in the first straight line set of paths based on preset second algorithm according to the cost value in the first straight line path
Optimal first straight line path, obtain the way that target grid corresponding with the optimal first straight line path is the three-dimensional air route
Through grid.
8. according to the method described in claim 6, it is characterized by further comprising:
It further include crucial in the spatial model by way of grid, the key includes advantage grid and/or inflection point grid by way of grid
Lattice, in which:
The advantage grid is determined according to the cost value of grid each in the flight range, wherein the advantage grid
Cost value be less than or equal to the default first generation and be worth threshold value；
The inflection point grid is arranged in the spatial model according to the position for presetting inflection point in the flight range.
9. according to the method described in claim 8, it is characterized in that, being advised according to the spatial position of each grid and cost value
Draw the three-dimensional air route of the flight range further include:
The second starting grid and the target grid in the spatial model are connected, obtains second straight line set of paths, wherein described
Second starting grid is the starting point, the terminal and crucial one in grid, the target grid and institute
The distance between second starting grid is stated less than pre-determined distance；
Determine the path cost value in each second straight line path in the second straight line set of paths, wherein the second straight line
The path cost value in path is distance and second straight line path way between the second starting grid and the target grid
The product of the cost value of the grid of warp；
The second straight line path set is determined according to the path cost value in the second straight line path based on preset second algorithm
Optimal second straight line path in conjunction, obtaining target grid corresponding with the optimal second straight line path is the three-dimensional air route
By way of grid.
10. according to the method described in claim 9, it is characterized in that, connect in the spatial model second starting grid with
Target grid, obtaining second straight line set of paths includes:
The advantage grid in the spatial model is obtained, the cost value of the advantage grid is less than or equal to default first cost value
Threshold value；
Each advantage grid composition advantage network is connected by way of three-dimensional Wei Nuotu；
The shortest path by the starting point to the terminal is determined based on preset second algorithm, obtains the shortest path warp
The advantage grid crossed is the key by way of grid.
11. according to the method described in claim 8, planning the three-dimensional of the flight range according to the cost value of each grid
Air route further include:
Whole inflection point grids in the spatial model are connected two-by-two, obtain in the spatial model between inflection point grid
Three straight line path set；
Obtain the feasible path set in the third straight line path set, wherein feasible path set includes that the third is straight
Feasible third straight line path in thread path set；
Obtained in the feasible straight line path set based on first algorithm from the starting point to the terminal most
Excellent three-dimensional air route.
12. a kind of low latitude routeing device characterized by comprising
Modeling unit obtains the spatial model of the flight range for carrying out rasterizing modeling to flight range；
Acquiring unit, for obtaining the cost value of each grid in the spatial model, wherein the cost value is for indicating
The influence that aircraft is navigated by water in the space of corresponding grid；
Planning unit plans the three-dimensional boat of the flight range for the spatial position and cost value according to each grid
Road.
13. a kind of aircraft, which is characterized in that including routeing device in low latitude as claimed in claim 12.
14. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require any one of 1 to 11 described in low latitude Route planner.
15. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 11 described in low latitude Route planner.
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| WO2024098415A1 (en) * | 2022-11-11 | 2024-05-16 | 广东省科学院智能制造研究所 | Communication network coverage edge detection method, system and platform based on 5g-network-connected unmanned aerial vehicle |
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