CN110967016A - Off-line planning method and device for aircraft route and computer equipment - Google Patents
Off-line planning method and device for aircraft route and computer equipment Download PDFInfo
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Abstract
The application relates to an off-line planning method and device for an aircraft route and computer equipment. The method comprises the following steps: the method comprises the steps of obtaining a target track, discretizing the target track to obtain a target point set, establishing an expansion area with the target point as the center for each target point in the target point set, selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route, determining constraint information of the initial route point in the initial route by respectively adopting an aircraft detection range and aircraft performance, calculating a cost value of each initial route point according to the constraint information to obtain a cost value of the initial route through superposition, updating the cost value of the initial route by adopting an iterative mode, and selecting the initial route with the minimum cost value as the aircraft route. By adopting the method, the air-borne route planning can be accurately carried out under the offline condition.
Description
Technical Field
The application relates to the technical field of aircraft route planning, in particular to an off-line aircraft route planning method, an off-line aircraft route planning device and computer equipment.
Background
When the airborne measuring platform detects the dynamic target, offline route planning is required. And performing off-line navigation information calculation by using the information such as the position and the speed of the carrier and the provided off-line target track, providing clear carrier route indication information, and assisting the carrier to fly as required, thereby completing target detection. The reasonable planning of the flight path of the airborne measuring platform is important for improving the detection whole-course coverage capacity, and the core objective of the method is to develop the flight path planning method under the complex constraint condition by considering the detection requirement, the detection capacity range of the measuring equipment, the flight performance of the airborne and other factors.
At present, when the air-borne aircraft route planning is carried out, the traditional route planning method cannot accurately carry out route planning according to a target track.
Disclosure of Invention
In view of the above, it is necessary to provide an off-line planning method, an off-line planning device and a computer apparatus for an onboard aircraft route, which can solve the problem of the accuracy of an off-line planning section of the onboard aircraft route.
An off-line planning method for an aircraft route, the method comprising:
acquiring a target track, and discretizing the target track to obtain a target point set;
establishing an expansion area with a target point as a center for each target point in the target point set;
selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route;
determining constraint information of an initial route point in the initial route by respectively adopting an aircraft detection range and aircraft performance;
calculating the cost value of each initial route point according to the constraint information, and thus overlapping to obtain the cost value of the initial route;
and updating the cost value of the initial route in an iterative mode, and selecting the initial route with the minimum cost value as the aircraft route.
In one embodiment, the method further comprises the following steps: and performing point taking operation on the target track according to a preset point taking interval and a preset yaw angle to obtain a target point set.
In one embodiment, the optimization algorithm is a particle swarm algorithm or a genetic algorithm; the expansion area is a square expansion area; further comprising: and establishing a square expansion area with the side length a and the target point as the center according to the detection performance of the carrier and the optimization algorithm.
In one embodiment, the constraint information includes probing constraint information; further comprising: acquiring a target coordinate of a target point in an airborne coordinate system; determining a measuring distance, a measuring azimuth angle and a measuring pitch angle corresponding to the target point according to the target coordinates; and respectively judging the comparison conditions of the measurement distance, the measurement azimuth angle and the measurement pitch angle with the detection constraint conditions according to the preset detection constraint conditions, and determining detection constraint information.
In one embodiment, the constraint information further includes performance constraint information; further comprising: acquiring a first coordinate point of the carrier at a first moment, a second coordinate point of the carrier at a second moment and a third coordinate point of the carrier at a third moment; calculating the average speed of the carrier from the second coordinate point to the third coordinate point according to the second coordinate point and the third coordinate point, and calculating the roll angle of the carrier according to the first coordinate point, the second coordinate point and the third coordinate point; and respectively judging the average speed and the roll angle and the performance constraint conditions according to the preset performance constraint conditions, and determining performance constraint information.
In one embodiment, the probing constraint information includes: distance constraint information, azimuth angle constraint information and pitch angle constraint information; the performance constraint information includes: speed constraint information and roll angle constraint information; further comprising: respectively calculating cost values corresponding to distance constraint information, azimuth angle constraint information, pitch angle constraint information, speed constraint information and roll angle constraint information of each initial waypoint; respectively setting cost weights corresponding to distance constraint information, azimuth angle constraint information, pitch angle constraint information, speed constraint information and roll angle constraint information, and weighting according to the cost weights to obtain a cost value corresponding to the initial route point; and accumulating the cost value of each initial route point in the initial route to obtain the cost value of the initial route.
In one embodiment, the method further comprises the following steps: and obtaining a cost average value of each cost weight value after multiple iterations, and updating the corresponding cost weight value according to the cost average value.
An off-line aircraft route planning apparatus, the apparatus comprising:
the initial route generation module is used for acquiring a target track and discretizing the target track to obtain a target point set; establishing an expansion area with a target point as a center for each target point in the target point set; selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route;
the cost calculation module is used for determining constraint information of the initial route point in the initial route by respectively adopting the detection range and the performance of the carrier; calculating the cost value of each initial route point according to the constraint information, and thus overlapping to obtain the cost value of the initial route;
and the iterative calculation module is used for updating the cost value of the initial route in an iterative mode, and selecting the initial route with the minimum cost value as the aircraft route.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a target track, and discretizing the target track to obtain a target point set;
establishing an expansion area with a target point as a center for each target point in the target point set;
selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route;
determining constraint information of an initial route point in the initial route by respectively adopting an aircraft detection range and aircraft performance;
calculating the cost value of each initial route point according to the constraint information, and thus overlapping to obtain the cost value of the initial route;
and updating the cost value of the initial route in an iterative mode, and selecting the initial route with the minimum cost value as the aircraft route.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a target track, and discretizing the target track to obtain a target point set;
establishing an expansion area with a target point as a center for each target point in the target point set;
selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route;
determining constraint information of an initial route point in the initial route by respectively adopting an aircraft detection range and aircraft performance;
calculating the cost value of each initial route point according to the constraint information, and thus overlapping to obtain the cost value of the initial route;
and updating the cost value of the initial route in an iterative mode, and selecting the initial route with the minimum cost value as the aircraft route.
According to the off-line planning method, the off-line planning device, the computer equipment and the storage medium for the aircraft airway, a target point set can be obtained by discretizing a target track, then, expansion is performed on each target point, an initial airway point is selected from an expansion area by adopting an optimization function so as to form an initial airway through connection, two modes of an aircraft detection range and an aircraft performance are adopted for constraint, so that a cost value of the current initial airway is judged, then, the initial airway is iterated, and the initial airway with the minimum cost value is selected as an aircraft detection airway. According to the embodiment of the invention, two constraint and optimization algorithm iteration modes are adopted, so that the accurate aircraft route can be obtained.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for offline aircraft route planning according to an embodiment;
FIG. 2 is a flowchart illustrating the step of determining probing constraint information in one embodiment;
FIG. 3 is a flow diagram that illustrates a methodology for computing performance constraint information in one embodiment;
FIG. 4 is a block diagram of an exemplary off-line on-board aircraft route planning apparatus;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The off-line planning method for the aircraft route can be applied to the following application environments. The carrier acquires the target track from the server, plans according to the target track in an off-line mode to obtain the air route of the carrier, and flies according to the air route of the carrier when executing the flight task.
In one embodiment, as shown in fig. 1, there is provided an off-line planning method for an aircraft route, which is described by taking the method as an example applied to an aircraft, and includes the following steps:
and 102, acquiring a target track, and discretizing the target track to obtain a target point set.
The target track refers to a track, and various parameters of the track, such as a scale, important detection points and the like, can be read from the target track.
The discretization refers to discretizing a continuous target track into a plurality of target points, wherein the target points are selected from the target track, and therefore the target point set stores information of the target track.
Specifically, the target trajectory may be acquired from a server through a network or an interface, and then discretized by a designated program to establish a target point set.
And 104, establishing an expansion area taking the target point as a center for each target point in the target point set.
The expansion area refers to an area with a certain area, the central point of the expansion area is a target point, and the carrier has certain detection performance, so that the carrier can fly in a certain range, and the target point can still be detected to complete a flight task.
Specifically, the shape of the expansion region needs to be selected according to an optimization algorithm, for example: the optimization algorithm adopts a particle swarm algorithm, the expansion area is a square expansion area, the size of the expansion area is determined according to the detection performance of the aircraft, and the distance from any point in the expansion area to a target point is ensured to be smaller than the maximum detection distance of the aircraft.
And 106, selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route.
The optimization algorithm may select a general optimization algorithm, such as: particle swarm algorithm, genetic algorithm and the like, wherein the optimization algorithm aims to select a target point from each expansion area as an airway point so as to ensure the optimal airway.
And step 108, determining constraint information of the initial route point in the initial route by respectively adopting the detection range and the performance of the aircraft.
The detection range refers to the inherent detection attribute of the aircraft, the detection constraint condition of the aircraft can be determined according to the detection attribute of the aircraft, and similarly, the performance of the aircraft refers to the inherent performance of the aircraft, and the performance constraint condition of the aircraft can be determined according to the performance of the aircraft. By the two constraint conditions, the aircraft can fly according to the performance of the aircraft and the air route in the detection range when the flight mission is executed, and the flight mission is completed.
And step 110, calculating the cost value of each initial route point according to the constraint information, and thus overlapping to obtain the cost value of the initial route.
The cost value is a measurement index, and different indexes are given according to the comparison result of the waypoints and the constraint conditions, so that the waypoints are measured, and further the aerial route of the aircraft is measured.
And 112, updating the cost value of the initial route in an iterative mode, and selecting the initial route with the minimum cost value as the aircraft route.
And selecting an initial route point by adopting an optimization algorithm, and then performing iterative computation, wherein the initial route with the minimum cost value is selected as the aircraft route because iteration can be converged.
According to the off-line planning method for the aircraft airway, a target point set can be obtained by discretizing a target track, then expansion is carried out on each target point, an initial airway point is selected from an expansion area by adopting an optimization function so as to be connected to form an initial airway, two modes of an aircraft detection range and an aircraft performance are adopted for restraining, so that a cost value of the current initial airway is judged, then iteration is carried out on the initial airway, and the initial airway with the minimum cost value is selected as the aircraft airway. According to the embodiment of the invention, two constraint and optimization algorithm iteration modes are adopted, so that the accurate aircraft route can be obtained.
For convenience of description, each physical parameter is defined by a letter as follows:
defining a target trajectory (x)p，yp，zp) The maximum speed of the constraint condition of the performance of the carrier is VmaxMinimum velocity VminThe maximum roll angle is gammamax(ii) a The maximum angular orientation of the airborne detection equipment is
At a minimum angular orientation of
Maximum angular pitch of
Minimum angular pitch of
Maximum tracking distance RmaxThe minimum tracking distance is Rmin. According to the target track information, the carrier performance constraint and the detection condition of the carrier detection equipment, the coordinate (x) of an airway point in the carrier airway is obtained through planningi，yi，zi) Velocity ViHeading angle thetaiDistance r between machine eyesiAzimuth of the machine eye
Pitching angle of machine eye
Transverse rolling angle gamma of eyesi。
In one embodiment, when discretizing, the specific steps may be: and performing point taking operation on the target track according to a preset point taking interval and a preset yaw angle to obtain a target point set.
Specifically, in the program processing, the target trajectory (x) is setp，yp，zp) At intervals dt (unit: kilometer), adjacent point taking yaw angle is greater than thetap(unit: degree) versus target trajectory (x)p，yp，zp) And (3) carrying out point taking to obtain a discretization result as follows:
in another embodiment, for some keypoints, it must be included in the set of target points, noted as:
by
And
two parts determine a set of target points.
In one embodiment, the particle swarm algorithm and the aircraft performance need to be considered for determining the expansion region, if the particle swarm algorithm or the genetic algorithm is selected by the optimization algorithm, the expansion region needs to be set as a square expansion region, and then, when the expansion region is established, the specific steps are as follows: and establishing a square expansion area with the side length a and the target point as the center according to the detection performance of the carrier and an optimization algorithm. By means of the detection performance of the loader, the side length of the square can be determined.
In one embodiment, an initial waypoint may be selected in each of the areas of expansion using an optimization algorithm, which is expressed as:
in one embodiment, the constraint information includes probe constraint information, and the probe constraint information is obtained by probing constraint conditions, as shown in fig. 2, a schematic flowchart of the step of determining the probe constraint information is provided, and the specific steps are as follows:
And 204, determining the measurement distance, the measurement azimuth angle and the measurement pitch angle corresponding to the target point according to the target coordinate.
And step 206, respectively judging the comparison conditions of the measurement distance, the measurement azimuth angle and the measurement pitch angle with the detection constraint conditions according to the preset detection constraint conditions, and determining detection constraint information.
Specifically, the target coordinates of the target point are
According to the performance of the carrier, the detection constraint conditions are as follows:
φmin≤φi≤φmax
Rmin≤ri≤Rmax
the data (k, j, i) table is used for recording constraint information, k represents iteration times, j represents judgment content, i represents the ith route point of the aircraft, and the detection constraint information is specifically judged as follows:
the measurement distance calculation formula is as follows:
if riWithin the constraint range, data (k, 1, i) ═ 0.
If ri＜Rmin，data(k，1，i)＝1。
If ri>Rmax，data(k，1，i)＝2。
The calculation formula of the measurement azimuth angle is as follows:
if phiiWithin the constraint range, data (k, 2, i) ═ 0.
If phii＜φmin，data(k，2，i)＝1。
If phii＞φmax，data(k，2，i)＝2。
The calculation formula for measuring the pitch angle is as follows:
if it is
Within the constraint range, data (k, 3, i) ═ 0.
If it is
data(k，3，i)＝1。
If it is
data(k，3，i)＝2。
In another embodiment, the constraint information further includes performance constraint information, and as shown in fig. 3, an exemplary flowchart of the step of calculating the performance constraint information is provided, and the specific steps are as follows:
In the time sequence, the first time < the second time < the third time, the second time is the current time, the first time is the previous time, and the third time is the next time.
And 304, calculating the average speed of the carrier from the second coordinate point to the third coordinate point according to the second coordinate point and the third coordinate point, and calculating the roll angle of the carrier according to the first coordinate point, the second coordinate point and the third coordinate point.
Since each coordinate contains time information, the average speed can be calculated.
And step 306, respectively judging the average speed, the roll angle and the performance constraint condition according to the preset performance constraint condition, and determining performance constraint information.
Specifically, the method comprises the following steps. According to the performance of the carrier, the performance constraint conditions are as follows:
γi≤γmax
Vmin≤Vi≤Vmax
the calculation formula of the speed of the carrier is as follows:
if ViWithin the constraint range, data (k, 4, i) ═ 0;
if Vi＜Vmin，data(k，4，i)＝1；
If Vi＞Vmax，data(k，4，i)＝2。
Under the condition of unchanged flying height, according to the second coordinate point (x) of the current carrier pointi，yiZ), first coordinate point (x)i-1，yi-1Z) and a third coordinate point (x)i+1，yi+1Z) to obtain the turning radius of the carrier, and then obtaining the speed V of the carrier at the current moment according to the mathematical relation between the turning radius and the roll angleiObtaining the transverse roll angle gamma of the carrier at the current momentiThe concrete formula is as follows:
wherein g is the gravity acceleration of the corresponding position of the carrier.
If gamma isiWithin the constraint range, data (k, 5, i) is 0, otherwise data (k, 5, i) is 1.
In one embodiment, the probing constraint information includes: distance constraint information, azimuth angle constraint information and pitch angle constraint information; the performance constraint information includes: the step of calculating the cost value of the speed constraint information and the roll angle constraint information comprises the following steps: respectively calculating cost values corresponding to distance constraint information, azimuth angle constraint information, pitch angle constraint information, speed constraint information and roll angle constraint information of each initial route point, respectively setting cost weights corresponding to the distance constraint information, the azimuth angle constraint information, the pitch angle constraint information, the speed constraint information and the roll angle constraint information, and weighting according to the cost weights to obtain the cost values corresponding to the initial route points; and accumulating the cost value of each initial route point in the initial route to obtain the cost value of the initial route.
Specifically, the cost value corresponding to the distance constraint information is calculated as follows:
if data (k, 1, i) is 0, f (x)ir)＝b；
If data (k, 1, i) is 1,
if data (k, 1, i) is 2,
data(k，1，i)＝1。
the cost value corresponding to the azimuth angle constraint information is calculated as follows:
if data (k, 2, i) is 0,
if data (k, 2, i) is 1,
if data (k, 2, i) is 2,
data(k，2，i)＝1。
calculating the cost value corresponding to the pitch angle constraint information as follows:
if data (k, 3, i) is 0,
if data (k, 3, i) is 1,
if data (k, 3, i) is 2,
data(k，3，i)＝1。
the cost value corresponding to the speed constraint information is calculated as follows:
if data (k, 4, i) is 0, f (x)iV)＝b；
If data (k, 4, i) is 1,
if data (k, 4, i) is 2,
data(k，4，i)＝1。
the cost value corresponding to the roll angle constraint information is calculated as follows:
if data (k, 5, i) is 0, f (x)iγ)＝b；
If data (k, 5, i) is 1,
in the formula, b and c are weighted values and can be flexibly configured according to requirements; k is the optimization algebra.
The cost of each initial route point is the sum of the performance constraint costs of each aircraft and the detection equipment, namely:
in the formula, w1、w2、w3、w4、w5Is a weight value.
The cost value of the initial route is the sum of the cost values of all the initial route points, namely:
in one embodiment, as the iterative computation amount of the optimization algorithm increases, problems such as slow convergence rate, low planning efficiency, local optimization and the like easily occur at a later stage, the optimization algorithm cannot better evaluate the current route problem, and in order to improve the planning efficiency, the cost weight needs to be dynamically adjusted, and the method specifically includes the following steps: and obtaining the cost average value of each cost weight value after multiple iterations, and updating the corresponding cost weight value according to the cost average value.
Specifically, after N-L is more than or equal to 0 optimization iteration, the data table N-L to N intermediate carrier performance and equipment constraint judgment condition are counted, and w is adjusted through analysis1、w2、w3、w4、w5The weight value enables the weight value to better optimize the position coordinates of the carrier, and the weight value is calculated as follows:
therefore, after the cost weight value is updated, the cost value of the initial waypoint is:
it should be understood that although the various steps in the flow charts of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided an off-line planning apparatus for an aircraft route, including: an initial route generation module 402, a cost calculation module 404, and an iteration calculation module 406, wherein:
an initial route generation module 402, configured to obtain a target trajectory, discretize the target trajectory, and obtain a target point set; establishing an expansion area with a target point as a center for each target point in the target point set; selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route;
a cost calculation module 404, configured to determine constraint information of an initial route point in the initial route by using an onboard detection range and onboard performance, respectively; calculating the cost value of each initial route point according to the constraint information, and thus overlapping to obtain the cost value of the initial route;
and the iterative computation module 406 is configured to update the cost value of the initial route in an iterative manner, and select the initial route with the smallest cost value as the aircraft route.
In one embodiment, the initial route generation module 402 is further configured to perform a point taking operation on the target trajectory according to a preset point taking interval and a preset yaw angle, so as to obtain a target point set.
In one embodiment, the optimization algorithm is a particle swarm algorithm or a genetic algorithm; the expansion area is a square expansion area; the initial route generation module 402 is further configured to establish a square expansion area with a side length of a and taking the target point as a center according to the detection performance of the aircraft and the optimization algorithm.
In one embodiment, the constraint information includes probing constraint information; the cost calculation module 404 is further configured to obtain a target coordinate of the target point in the onboard coordinate system; determining a measuring distance, a measuring azimuth angle and a measuring pitch angle corresponding to the target point according to the target coordinates; and respectively judging the comparison conditions of the measurement distance, the measurement azimuth angle and the measurement pitch angle with the detection constraint conditions according to the preset detection constraint conditions, and determining detection constraint information.
In one embodiment, the constraint information further includes performance constraint information; the cost calculation module 404 is further configured to obtain a first coordinate point of the carrier at a first time, a second coordinate point of the carrier at a second time, and a third coordinate point of the carrier at a third time; calculating the average speed of the carrier from the second coordinate point to the third coordinate point according to the second coordinate point and the third coordinate point, and calculating the roll angle of the carrier according to the first coordinate point, the second coordinate point and the third coordinate point; and respectively judging the average speed and the roll angle and the performance constraint conditions according to the preset performance constraint conditions, and determining performance constraint information.
In one embodiment, the probing constraint information includes: distance constraint information, azimuth angle constraint information and pitch angle constraint information; the performance constraint information includes: speed constraint information and roll angle constraint information; the cost calculation module 404 is further configured to calculate a cost value corresponding to distance constraint information, azimuth constraint information, pitch constraint information, speed constraint information, and roll constraint information of each initial waypoint respectively; respectively setting cost weights corresponding to distance constraint information, azimuth angle constraint information, pitch angle constraint information, speed constraint information and roll angle constraint information, and weighting according to the cost weights to obtain a cost value corresponding to the initial route point; and accumulating the cost value of each initial route point in the initial route to obtain the cost value of the initial route.
In one embodiment, the cost calculating module 404 is further configured to obtain a cost average of each cost weight after multiple iterations, and update the corresponding cost weight according to the cost average.
For specific limitations of the off-line aircraft route planning device, reference may be made to the above limitations of the off-line aircraft route planning method, which are not described herein again. All or part of each module in the off-line planning device for the aircraft route can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for offline planning of an on-board aircraft route. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the method in the above embodiments when the processor executes the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method in the above-mentioned embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An off-line planning method for an aircraft route, the method comprising:
acquiring a target track, and discretizing the target track to obtain a target point set;
establishing an expansion area with a target point as a center for each target point in the target point set;
selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route;
determining constraint information of an initial route point in the initial route by respectively adopting an aircraft detection range and aircraft performance;
calculating the cost value of each initial route point according to the constraint information, and thus overlapping to obtain the cost value of the initial route;
and updating the cost value of the initial route in an iterative mode, and selecting the initial route with the minimum cost value as the aircraft route.
2. The method of claim 1, wherein discretizing the target trajectory to obtain a set of target points comprises:
and performing point taking operation on the target track according to a preset point taking interval and a preset yaw angle to obtain a target point set.
3. The method of claim 1, wherein the optimization algorithm is a particle swarm algorithm or a genetic algorithm; the expansion area is a square expansion area;
establishing an expansion area with the target point as the center for each target point in the target point set, wherein the expansion area comprises the following steps:
and establishing a square expansion area with the side length a and the target point as the center according to the detection performance of the carrier and the optimization algorithm.
4. The method according to any one of claims 1 to 3, wherein the constraint information includes sounding constraint information;
the determining the constraint information of the initial route point in the initial route by adopting the airborne detection range comprises the following steps:
acquiring a target coordinate of a target point in an airborne coordinate system;
determining a measuring distance, a measuring azimuth angle and a measuring pitch angle corresponding to the target point according to the target coordinates;
and respectively judging the comparison conditions of the measurement distance, the measurement azimuth angle and the measurement pitch angle with the detection constraint conditions according to the preset detection constraint conditions, and determining detection constraint information.
5. The method according to claim 4, wherein the constraint information further includes performance constraint information;
the determining the constraint information of the initial route point in the initial route by adopting the aircraft performance comprises the following steps:
acquiring a first coordinate point of the carrier at a first moment, a second coordinate point of the carrier at a second moment and a third coordinate point of the carrier at a third moment;
calculating the average speed of the carrier from the second coordinate point to the third coordinate point according to the second coordinate point and the third coordinate point, and calculating the roll angle of the carrier according to the first coordinate point, the second coordinate point and the third coordinate point;
and respectively judging the average speed and the roll angle and the performance constraint conditions according to the preset performance constraint conditions, and determining performance constraint information.
6. The method of claim 5, wherein the probing restriction information comprises: distance constraint information, azimuth angle constraint information and pitch angle constraint information; the performance constraint information includes: speed constraint information and roll angle constraint information;
calculating the cost value of each initial route point according to the constraint information, so as to obtain the cost value of the initial route by superposition, wherein the method comprises the following steps:
respectively calculating cost values corresponding to distance constraint information, azimuth angle constraint information, pitch angle constraint information, speed constraint information and roll angle constraint information of each initial waypoint;
respectively setting cost weights corresponding to distance constraint information, azimuth angle constraint information, pitch angle constraint information, speed constraint information and roll angle constraint information, and weighting according to the cost weights to obtain a cost value corresponding to the initial route point;
and accumulating the cost value of each initial route point in the initial route to obtain the cost value of the initial route.
7. The method of claim 6, further comprising:
and obtaining a cost average value of each cost weight value after multiple iterations, and updating the corresponding cost weight value according to the cost average value.
8. An off-line aircraft route planning apparatus, comprising:
the initial route generation module is used for acquiring a target track and discretizing the target track to obtain a target point set; establishing an expansion area with a target point as a center for each target point in the target point set; selecting an initial route point in each expansion area according to a preset optimization algorithm to generate an initial route;
the cost calculation module is used for determining constraint information of the initial route point in the initial route by respectively adopting the detection range and the performance of the carrier; calculating the cost value of each initial route point according to the constraint information, and thus overlapping to obtain the cost value of the initial route;
and the iterative calculation module is used for updating the cost value of the initial route in an iterative mode, and selecting the initial route with the minimum cost value as the aircraft route.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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