CN111105123A - Multi-load route collaborative laying method and device, computer equipment and storage medium - Google Patents
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Abstract
The application relates to a method and a device for collaborative laying of multiple load routes, computer equipment and a storage medium. And designing a route by referring to parameters of a plurality of loads, so that the laid route is more in line with flight requirements. The method comprises the following steps: acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all loads; acquiring digital elevation terrain data of a remote sensing area, and calculating the width of a reference noodle strip based on parameters of each load according to the digital elevation terrain data and the flight height; screening out target loads according to the strip width of the reference surface of each load; calculating the width of a target strip according to the width of the reference surface strip of the target load; and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
Description
Technical Field
The application relates to the technical field of aerial remote sensing and computers, in particular to a method and a device for collaborative laying of a multi-load route, computer equipment and a storage medium.
Background
In the traditional aerial remote sensing operation, due to the limitation of an aircraft observation window and load capacity, the operation is complicated when the load is large in volume and weight, and when the general aerial remote sensing operation flies, only one load is loaded for remote sensing operation; with the application of large-scale comprehensive remote sensing airplanes and the development of load miniaturization and automation technology, various loads begin to be applied in cooperation with aerial remote sensing operation; when the traditional load aerial remote sensing operation is carried out, the air route design is carried out according to a single load, when the multi-load remote sensing operation exists, the air route design is carried out only according to one load as a main load by adopting parameters of the main load, and the laid air route is difficult to meet the flight requirements of each load and the subsequent remote sensing data fusion application requirements.
Disclosure of Invention
In order to solve the technical problem, the application provides a method and a device for collaborative laying of multiple load routes, computer equipment and a storage medium.
In a first aspect, the application provides a method for collaborative laying of multiple load routes, comprising:
acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all loads;
acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flight height;
screening out target loads according to the strip width of the reference surface of each load;
calculating the width of a target strip according to the width of the reference surface strip of the target load;
and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
In a second aspect, the present application provides a multi-loading route collaborative laying device, comprising:
the flying height calculating module is used for acquiring the flying requirements of all loads of the same flying platform and calculating the flying height according to the flying requirements of all loads;
the reference width calculation module is used for acquiring digital elevation topographic data of a remote sensing area and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flying height;
the load screening module is used for screening out target loads according to the width of the reference surface strips of each load;
the target width calculation module is used for calculating the width of a target strip according to the width of the reference surface strip of the target load;
and the air route laying module is used for generating a first target air route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all loads;
acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flight height;
screening out target loads according to the strip width of the reference surface of each load;
calculating the width of a target strip according to the width of the reference surface strip of the target load;
and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all loads;
acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flight height;
screening out target loads according to the strip width of the reference surface of each load;
calculating the width of a target strip according to the width of the reference surface strip of the target load;
and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
The method, the device, the computer equipment and the storage medium for the collaborative laying of the multiple loading routes comprise the following steps: acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all loads; acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flight height; screening out target loads according to the strip width of the reference surface of each load; calculating the width of a target strip according to the width of the reference surface strip of the target load; and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area. Unifying the flight heights according to flight requirements, calculating the reference strip widths of the multiple loads corresponding to the flight heights, screening out target loads according to the reference strip widths, determining the target reference strip widths according to the reference strip widths of the target loads, laying a route according to the target reference strip widths, and designing the route by referring to the parameters of the multiple loads, so that the laid route better meets the flight requirements and the subsequent remote sensing data fusion application requirements.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a diagram of an application environment of a method for collaborative laying of multiple loading routes in one embodiment;
FIG. 2 is a schematic flow chart illustrating a method for collaborative laying of multiple loading routes in one embodiment;
FIG. 3 is a schematic representation of a coordinated layout of multiple loading routes in one embodiment;
FIG. 4 is a schematic flow chart of a cooperative laying method of multiple loading routes in another embodiment;
FIG. 5 is a block diagram of a multi-loading route cooperative laying apparatus according to an embodiment;
FIG. 6 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 embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
FIG. 1 is a diagram of an application environment of a multi-loading route collaborative laying method in one embodiment. Referring to fig. 1, the multi-load course collaborative laying method is applied to a multi-load course collaborative laying system. The multi-loading route collaborative laying system comprises a terminal 110 and a server 120. The terminal 110 and the server 120 are connected through a network. The terminal 110 and the server 120 acquire flight requirements of each load of the same flight platform, and calculate flight heights according to the flight requirements of each load; acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flight height; screening out target loads according to the strip width of the reference surface of each load; calculating the width of a target strip according to the width of the reference surface strip of the target load; and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
The terminal 110 or the server 120 sends the laid route to the controller of the flight platform. The terminal 110 may be mounted on a flight platform, and the server 120 may be implemented by an independent server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in FIG. 2, a method of coordinated laying of multiple load routes is provided. The embodiment is mainly illustrated by applying the method to the terminal 110 (or the server 120) in fig. 1. Referring to fig. 2, the cooperative laying method of the multi-load route specifically comprises the following steps:
step S201, acquiring flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load.
In particular, a flying platform refers to an aircraft platform for performing flying tasks. The load refers to an imaging sensor for aerial remote sensing operation, and common imaging modes of the aerial remote sensing load comprise a lower view array imaging sensor, a lower view push-broom imaging sensor, a lower view sweep imaging sensor, a side view imaging sensor and the like. The above-described imaging methods can be classified into two broad categories, namely, a downward-looking category and a side-looking category. Flight requirements refer to flight mission requirements carried by each load, wherein flight requirements include flight altitude, flight area, image resolution, image overlap, and the like. The flying height can be directly set, or the resolution of the image corresponding to each load can be set, and the flying height of each load is calculated according to the resolution of each load. And counting the flying heights of the loads, and determining the flying heights according to the counting result. If the average value of the flying heights of the loads is taken as the flying height, the flying height of the load with the minimum difference value with the average value can be selected as the flying height, and the flying height can be determined according to the priority level in the flying requirements.
In one embodiment, a first load is screened out from the plurality of loads according to flight requirements, and a first flight altitude corresponding to the first load is used as the flight altitude.
Specifically, the first load is a target load determined according to flight requirements, and the determination of the load may be determined according to a priority level of the flight requirements of the load, or according to the flight altitude of each load, or may be determined according to both the priority level of the flight requirements of each load and the flight altitude. And taking the first flying height corresponding to the first load as the flying height of the flying platform.
In one embodiment, determining the altitude of flight based on a priority level in flight demand includes: and when the flight requirements of the loads correspond to different priority levels, selecting the flight height of the load with the highest priority level in the priority levels as the flight height of the flight platform. And if the priority levels of the plurality of loads are all the highest priority levels, calculating the average value of the flight heights of the plurality of loads with the highest priority levels as the flight height, and the like.
And S202, acquiring digital elevation terrain data of a remote sensing area, and calculating the strip width of the datum plane of each load according to the digital elevation terrain data and the flight height.
Specifically, the remote sensing area refers to an area corresponding to a flight mission of the flight platform. Digital elevation terrain data is a type of physical ground map data that represents the elevation of the ground in the form of an array of ordered values. The reference noodle strip width refers to the strip width on a reference surface, wherein the reference surface is a reference plane determined according to digital elevation topographic data, and the reference noodle strip width of each load on the reference surface is calculated according to the imaging mode, the flying height and the reference surface of each load.
And step S203, screening out target loads according to the reference surface strip width of each load.
Specifically, since there are a plurality of loads, it is necessary to select one load from the reference noodle strip widths of the respective loads and use the selected load as the target load. The screening rule of the reference noodle belt width can be customized, for example, screening can be performed according to the value of the reference noodle belt width, and the reference noodle belt width and the flight task can be selected together.
In one embodiment, from the reference noodle strip widths of the respective loads, a load having the narrowest reference noodle strip width is selected as the target load.
Specifically, the load corresponding to the reference noodle strip width that is the smallest value among the reference noodle strip widths is the load corresponding to the reference noodle strip width, and the load with the narrowest reference noodle strip width is set as the target load.
And step S204, calculating the width of the target strip according to the width of the reference surface strip of the target load.
Specifically, the target strip width refers to the strip width of the laying route. The target strip width is calculated according to the reference surface strip width of the target load, for example, the reference strip width of the target load can be directly used as the target strip width, or the strip width obtained by adjusting the reference surface strip width of the target load according to a preset mode can be used as the target strip width. The preset adjustment mode can be customized, for example, a value obtained by subtracting or adding a preset value from the width of the reference surface strip of the target load is used as the width of the target strip.
In one embodiment, after step S203, the method further includes: calculating a difference value between the width of the reference noodle belt of the first load and the width of the reference noodle belt of the target load, and judging whether the difference value is smaller than a preset difference threshold value or not; when the difference value is smaller than or equal to the preset difference value, calculating a weighted average value of the width of the reference noodle strip of the first load and the width of the reference noodle strip of the target load, and taking the weighted average value as the width of the target noodle strip; and when the difference value is larger than the preset difference value, taking the reference strip width of the target load as the target strip width.
Specifically, the width of the reference noodle strip of the first load is obtained according to the calculated width of the reference noodle strip of each load, and the difference value between the width of the reference noodle strip of the first load and the width of the reference noodle strip of the target load is calculated. The difference value can be directly represented by a difference value or a ratio value, and the difference value or the ratio value can be further processed to obtain a value serving as the difference value. The preset difference value is a pre-defined difference value, whether the difference value is larger than the preset difference value or not is judged, when the difference value is smaller than or equal to the preset difference value, the difference degree between the preset difference value and the preset difference value is smaller, the first load and the target load can be considered, namely, the weighted average value of the preset difference value and the target load is calculated to serve as the target strip width. Wherein the weighting coefficient of the weighted mean can be customized. When the difference value is larger than the preset difference value, the difference degree between the two loads is large, and the first load and the target load cannot be considered, so that the reference strip width of the target load can be directly used as the target strip width.
And S205, generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
Specifically, a first area corresponding to the width of a target strip is determined according to the area boundary of the remote sensing area and digital elevation terrain data in the area boundary, the position of a first air route is calculated according to the position of the first area and the flight height, a second area is determined according to the position of the first air route and the first area, the position of a second air route is calculated according to the position of the second area, the digital elevation terrain data and the flight height until the whole remote sensing area is laid, and a first target air route set formed by all the air routes is obtained.
In one embodiment, the overlapping distance is obtained, the current area is determined according to the overlapping distance, the boundary position of the previous area corresponding to the previous flight path, the digital elevation terrain data of the previous area and the target strip width, and similarly, the next area is determined according to the current area, the overlapping distance, the digital elevation terrain data of the current area and the target strip width until the determined area covers the remote sensing area.
In one embodiment, step S205 includes: acquiring a route design direction, and determining a first route according to the area range of the remote sensing area and the route design direction, wherein the first route comprises an initial position and a stop position; determining a second candidate route according to the width of the target strip, wherein the first route and the second candidate route are adjacent routes; calculating a first coverage range of the first route and a second candidate coverage range of the second candidate route according to the target strip width and the digital elevation terrain data of the remote sensing area; determining a second reference plane and a minimum overlapping distance according to the first coverage range and the second candidate coverage range; calculating the lateral width according to the second reference surface, and calculating the minimum overlapping degree according to the lateral width and the minimum overlapping distance; calculating the difference between the minimum overlapping degree and a preset overlapping degree threshold value, and judging whether the difference is smaller than the preset difference; when the difference degree is smaller than or equal to the preset difference degree, taking the second candidate route as a second route; and taking the second route as a first route, adding the second route into the first target route set, determining the adjacent second route according to the area range, the route design direction and the overlapping degree of the remote sensing area, and stopping the iterative adding process of the route set until the lateral direction coordinate of the second route is positioned outside the lateral direction coordinate interval of the remote sensing area to obtain the first target route set.
Specifically, the first route refers to a first route in the remote sensing area, and the starting position and the ending position of the first route refer to positions corresponding to the starting point and the ending point of the route, and are determined according to the remote sensing area and the width of the target strip. If the remote sensing area is rotated according to the designed direction of the route, obtaining the coordinates of all the angular points of the remote sensing area after rotation; and solving the minimum value of all coordinate Y values. Position Y of the initial route (first route), Y ═ Ymin+(1-Sf) C-Htan (theta), where YminIs the minimum value, S, of the coordinates of the angular point in the Y direction of the rotated regionfThe side-to-side extension proportion of the flight path is shown, C is the width of a target strip, H is the relative flight height, and theta is the included angle between the upper edge direction and the vertical lower direction of the imaging view field;
the length of the initial route is (X value interval), and the distance between the upper edge of the route and the intersection point of the remote sensing area is added with the heading extension distance. And sequentially laying the air routes by taking the initial air route and the sidewise overlapping degree calculated by the digital elevation terrain data of the remote sensing area as a constraint until the sidewise coordinate value of the laid current air route is not between the maximum and minimum coordinate values of the sidewise direction of the remote sensing area, stopping laying the air route, and determining the current air route as the last air route in the remote sensing area.
Determining a first route position according to the remote sensing area range and determining a second candidate route position according to the course distance under the reference datum plane; and determining sampling points according to a preset step length by a virtual push-broom imaging mode according to the starting point coordinate and the end point coordinate of the first air route, determining the ground coverage ranges of the first air route and the second candidate air route based on a collinear equation mathematical model, respectively setting the ground coverage ranges as the first coverage range and the second candidate coverage range, and calculating the minimum distance (minimum overlapping distance) of the intersection of the first coverage range and the second candidate coverage range. Acquiring a highest point of the terrain in the intersection of the coverage areas to serve as a new datum plane height (namely a second datum plane), calculating a lateral width (a target strip width under the second datum plane) under the new datum plane height, and determining an actual minimum overlapping degree between the routes according to a ratio of a narrowest distance of the intersection of the coverage areas to the lateral width under the new datum plane height; determining the difference between the actual minimum overlapping degree and a preset overlapping degree threshold, judging whether the difference is smaller than the preset difference, when the difference is smaller than or equal to the preset difference, taking a second candidate route as a second route, and repeating the process until the lateral direction coordinate of the second route is positioned outside the lateral direction coordinate interval of the remote sensing area, so as to obtain a first target route set consisting of a plurality of routes.
In one embodiment, when the difference degree is greater than the preset difference degree, the method further includes: adjusting the lateral direction coordinate of the second candidate route according to the minimum overlapping degree, the preset overlapping degree threshold value and the lateral width to obtain a third candidate route; and taking the third candidate route as the second route until the difference calculated according to the minimum overlapping degree of the third candidate route and the first route is less than or equal to the preset difference.
Specifically, the third candidate route refers to a third candidate route obtained after the coordinates of the lateral direction of the second candidate route are adjusted. Adjusting the lateral direction coordinate value of the second candidate route, wherein the adjustment amount is the product of the difference value of the minimum overlapping degree and a preset overlapping degree threshold value and the lateral width, obtaining a third candidate route after adjustment, and repeatedly adjusting until the difference degree is less than or equal to the preset difference degree, stopping adjustment, and obtaining the lateral direction coordinate value of the second route; determining a starting coordinate and an ending coordinate of a second route based on the intersection relation between the second route and the remote sensing area; and repeating the process to determine a third route by taking the second route as a reference until the coordinate value of the direction of the laid route is not between the maximum coordinate value and the minimum coordinate value of the direction of the remote sensing area, stopping the route laying, and determining the current route as the last route in the remote sensing area.
In one embodiment, the types of the load include a downward view type and a side view type, and after step S205, the method further includes: and laying a second target route set according to the side-view or bottom-view load parameters, and forming the second target route set and the first target route set into a target route set of the remote sensing area.
Specifically, when the downward-looking load is used as a target load and the side-looking load is used as a cooperative load for designing the air route, part of the air route of the side-looking sensor is still above the flight area, the part of the air route can be shared with the downward-looking sensor, and the air route exceeds the air route of the remote sensing area range, so that the air route is laid by using the parameters of the side-looking load. As shown in fig. 3, the route of the dotted line 010 in the lower half of the area is a route (a first target route set) for covering the area required by the downward-looking sensor, and the route of the solid line 020 in the upper half of the area is a route (a second target route set) for covering the remote sensing area in the right-side view. Solving the ground coverage area of the air route by adopting other load parameters for the edge air route, and judging whether the ground coverage area is in the remote sensing area or not, if not, judging whether the ground coverage area is in the remote sensing area; extending a route according to the target load parameter; then judging whether the ground coverage area of other loads is in the remote sensing area range or not by using other load parameters; until the coverage of the air lines of other loads is in the range of the remote sensing area; the extended laying of the route is stopped.
When the side-looking load is used as a target load and the bottom-looking load is used as a cooperative load to design a route, the side-looking load route at the part right above the flight area can be shared with the bottom-looking sensor, and the route exceeding the range of the remote sensing area is laid by adopting the parameters of the bottom-looking load to form a second target route set.
The cooperative laying method of the multi-load route comprises the following steps: acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all loads; acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flight height; screening out target loads according to the strip width of the reference surface of each load; calculating the width of a target strip according to the width of the reference surface strip of the target load; and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area. Unifying the flight heights according to flight requirements, calculating the reference strip widths of the multiple loads corresponding to the flight heights, screening out target loads according to the reference strip widths, determining the target reference strip widths according to the reference strip widths of the target loads, laying a route according to the target reference strip widths, and designing the route by referring to the parameters of the multiple loads, so that the laid route better meets the flight requirements and the subsequent remote sensing data fusion application requirements.
In a specific embodiment, the method for collaborative laying of multiple loading routes includes:
in step S301, the load type is determined. The same flying platform comprises n loads, namely a load 1 and a load 2, and the load n. All the n loads can be downward-looking loads, part of the loads can be downward-looking loads, and the rest of the loads can be downward-looking loads. For the case where only the downward-looking loads are included, or when the sub-task uses only the downward-looking loads, steps S303 to S307 are performed to complete the route laying. And when the flight task comprises the downward-looking type load and the side-looking type load, executing the steps S309 to S314 to finish the route laying.
In step S302, the payload type includes a downward view type.
Step S303, calculating the flying height according to the flying requirements of each load.
And S304, acquiring digital elevation terrain data of the remote sensing area, and calculating the strip width of the datum plane of each load according to the digital elevation terrain data and the flight height.
In step S305, a target load is selected from the reference surface strip widths of the respective loads.
And step S306, calculating the width of the target strip according to the width of the reference surface strip of the target load.
And S307, generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain of the remote sensing area.
In step S308, the load types include a downward view type and a side view type.
Step S309, calculating the flying height according to the flying requirements of each load.
And S310, acquiring digital elevation terrain data of the remote sensing area, and calculating the strip width of the datum plane of each load according to the digital elevation terrain data and the flight height.
And step 311, screening out target loads according to the reference surface strip width of each load.
Step S312, calculating the width of the target strip according to the width of the reference surface strip of the target load.
And step S313, generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain of the remote sensing area.
And S314, extending and laying a second target route set according to the parameters of the downward-looking load or the side-looking load, and forming the target route set of the remote sensing area by the second target route set and the first target route set.
Fig. 2 and 4 are schematic flow charts of a multi-loading route collaborative laying method in one embodiment. It should be understood that although the various steps in the flowcharts of fig. 2 and 4 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. 2 and 4 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 performing the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in FIG. 5, a multi-loading lane collaborative laying apparatus 200 is provided, comprising:
the flying height calculating module 201 is configured to obtain flying requirements of each load of the same flying platform, and calculate a flying height according to the flying requirements of each load.
And the reference width calculation module 202 is configured to acquire digital elevation terrain data of the remote sensing area, and calculate the reference surface strip width of each load according to the digital elevation terrain data and the flying height.
And the load screening module 203 is used for screening out the target loads according to the width of the reference surface strips of each load.
And the target width calculating module 204 is used for calculating the target strip width according to the reference surface strip width of the target load.
And the air route laying module 205 is used for generating a first target air route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
In one embodiment, the load screening module 203 is specifically configured to select, as the target load, a load with the narrowest reference noodle strip width from the reference noodle strip widths of the respective loads.
In one embodiment, the route laying module 205 is specifically configured to obtain a route design direction, and determine a first route according to an area range of a remote sensing area and the route design direction, where the first route includes a start position and a stop position; determining a second candidate route according to the width of the target strip, wherein the first route and the second candidate route are adjacent routes; calculating a first coverage range of the first route and a second candidate coverage range of the second candidate route according to the target strip width and the digital elevation terrain data of the remote sensing area; determining a second reference plane and a minimum overlapping distance according to the first coverage range and the second candidate coverage range; calculating the lateral width according to the second reference surface, and calculating the minimum overlapping degree according to the lateral width and the minimum overlapping distance; calculating the difference between the minimum overlapping degree and a preset overlapping degree threshold value, and judging whether the difference is smaller than the preset difference; when the difference degree is smaller than or equal to the preset difference degree, taking the second candidate route as a second route; and taking the second air route as the first air route, determining the first air route according to the area range of the remote sensing area and the designed direction of the air route, and obtaining a first target air route set until the lateral direction coordinate of the second air route is positioned outside the lateral direction coordinate interval of the remote sensing area.
In one embodiment, the route laying module 205 is further configured to adjust the lateral direction coordinates of the second candidate route according to the minimum overlap degree, the preset overlap degree threshold, and the lateral width to obtain a third candidate route; and taking the third candidate route as the second route until the difference calculated according to the minimum overlapping degree of the third candidate route and the first route is less than or equal to the preset difference.
In one embodiment, the route laying module 205 is further configured to lay out a second target route set according to the parameters of the downward-looking type load or the side-looking type load, and form the second target route set and the first target route set into a target route set of the remote sensing area, where the types of the load include the downward-looking type and the side-looking type.
In one embodiment, the flying height calculating module 201 is specifically configured to screen out a first load from the plurality of loads according to a flying requirement, and the target width calculating module uses a first flying height corresponding to the first load as the flying height.
In one embodiment, the multi-loading route cooperative laying device 200 further comprises
And the difference value calculating module is used for calculating the difference value between the width of the reference noodle belt of the first load and the width of the reference noodle belt of the target load.
And the difference value judging module is used for judging whether the difference value is smaller than a preset difference threshold value or not.
The target width calculation module 204 is configured to calculate a weighted average of the width of the reference noodle strip of the first load and the width of the reference noodle strip of the target load when the difference value is less than or equal to the preset difference value, and use the weighted average as the width of the target noodle strip.
The target width calculation module 204 is further configured to use the reference strip width of the target load as the target strip width when the difference value is greater than the preset difference value.
FIG. 6 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be the terminal 110 (or the server 120) in fig. 1. As shown in fig. 6, the computer apparatus includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and also stores a computer program, and when the computer program is executed by a processor, the computer program can enable the processor to realize the multi-load lane collaborative laying method. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to perform a method of coordinated multi-loading route laying. 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. 6 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 one embodiment, the multi-loading route collaborative laying apparatus provided herein may be implemented in the form of a computer program that is executable on a computer device such as that shown in FIG. 6. The memory of the computer device can store various program modules which form the multi-load route collaborative laying device, such as a flying height calculation module 201, a reference width calculation module 202, a load screening module 203, a target width calculation module 204 and a route laying module 205 which are shown in fig. 5. The program modules constitute computer programs to make the processor execute the steps of the method for collaborative laying of multiple loading routes in the embodiments of the present application described in the specification.
For example, the computer device shown in fig. 6 may perform the steps of obtaining the flight requirements of each load of the same flying platform and calculating the flight altitude according to the flight requirements of each load by the flight altitude calculation module 201 in the multi-load route collaborative laying apparatus shown in fig. 5. The reference width calculation module 202 performs acquisition of digital elevation terrain data of a remote sensing area, and calculates the reference surface strip width of each load according to the digital elevation terrain data and the flying height. The load sorting module 203 performs sorting of the target loads according to the reference surface strip widths of the respective loads. The target width calculation module 204 performs calculation of the target swath width from the reference plane swath width of the target load. The airline laying module 205 executes generation of a first target airline set according to the target strip width, the remote sensing area, and the digital elevation terrain data of the remote sensing area.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all loads; acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flight height; screening out target loads according to the strip width of the reference surface of each load; calculating the width of a target strip according to the width of the reference surface strip of the target load; and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
In one embodiment, screening out the target loads according to the reference surface strip width of each load comprises the following steps: from the reference surface strip widths of the respective loads, a load with the narrowest reference surface strip width is selected as a target load.
In one embodiment, generating a first target set of routes from the target swath width, the remote sensing area, and the digital elevation terrain data for the remote sensing area comprises: acquiring a route design direction, and determining a first route according to the area range of the remote sensing area and the route design direction, wherein the first route comprises an initial position and a stop position; determining a second candidate route according to the width of the target strip, wherein the first route and the second candidate route are adjacent routes; calculating a first coverage range of the first route and a second candidate coverage range of the second candidate route according to the target strip width and the digital elevation terrain data of the remote sensing area; determining a second reference plane and a minimum overlapping distance according to the first coverage range and the second candidate coverage range; calculating the lateral width according to the second reference surface, and calculating the minimum overlapping degree according to the lateral width and the minimum overlapping distance; calculating the difference between the minimum overlapping degree and a preset overlapping degree threshold value, and judging whether the difference is smaller than the preset difference; when the difference degree is smaller than or equal to the preset difference degree, taking the second candidate route as a second route; and taking the second air route as the first air route, adding the first air route to the first target air route set, and repeating the process until the subsequently calculated lateral direction coordinate of the second air route is positioned outside the lateral direction coordinate interval of the remote sensing area to obtain the first target air route set.
In one embodiment, when the difference is greater than the preset difference, the processor executes the computer program to further perform the following steps: adjusting the lateral direction coordinate of the second candidate route according to the minimum overlapping degree, the preset overlapping degree threshold value and the lateral width to obtain a third candidate route; and taking the third candidate route as the second route until the difference calculated according to the minimum overlapping degree of the third candidate route and the first route is less than or equal to the preset difference.
In one embodiment, the types of loads include a down-view class and a side-view class; after a first target route set is generated according to the target surface strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area, the method further comprises the following steps: and (3) according to the downward-looking load or the parameter extension of the side-looking load, laying a second target route set, and forming the second target route set and the first target route set into a target route set of the remote sensing area.
In one embodiment, calculating fly heights from flight requirements of the respective loads comprises: and screening out a first load from the plurality of loads according to the flight requirement, and taking a first flight height corresponding to the first load as the flight height.
In one embodiment, after the target loads are screened out according to the reference surface strip widths of the respective loads, the processor executes the computer program to further implement the following steps: calculating a difference value between the width of the reference noodle belt of the first load and the width of the reference noodle belt of the target load, and judging whether the difference value is smaller than a preset difference threshold value or not; when the difference value is less than or equal to the preset difference value, calculating the width of the target strip according to the strip width of the reference surface of the target load, wherein the method comprises the following steps: calculating a weighted average value of the width of the reference noodle strip of the first load and the width of the reference noodle strip of the target load, and taking the weighted average value as the width of the target noodle strip; when the difference value is larger than the preset difference value, calculating the width of the target strip according to the width of the reference surface strip of the target load, wherein the method comprises the following steps: the reference strip width of the target load is set as the target strip width.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all loads; acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle strip width of each load according to the digital elevation topographic data and the flight height; screening out target loads according to the strip width of the reference surface of each load; calculating the width of a target strip according to the width of the reference surface strip of the target load; and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
In one embodiment, screening out the target loads according to the reference surface strip width of each load comprises the following steps: from the reference surface strip widths of the respective loads, a load with the narrowest reference surface strip width is selected as a target load.
In one embodiment, generating a first target set of routes from the target swath width, the remote sensing area, and the digital elevation terrain data for the remote sensing area comprises: acquiring a route design direction, and determining a first route according to the area range of the remote sensing area and the route design direction, wherein the first route comprises an initial position and a stop position; determining a second candidate route according to the width of the target strip, wherein the first route and the second candidate route are adjacent routes; calculating a first coverage range of the first route and a second candidate coverage range of the second candidate route according to the target strip width and the digital elevation terrain data of the remote sensing area; determining a second reference plane and a minimum overlapping distance according to the first coverage range and the second candidate coverage range; calculating the lateral width according to the second reference surface, and calculating the minimum overlapping degree according to the lateral width and the minimum overlapping distance; calculating the difference between the minimum overlapping degree and a preset overlapping degree threshold value, and judging whether the difference is smaller than the preset difference; when the difference degree is smaller than or equal to the preset difference degree, taking the second candidate route as a second route; and taking the second air route as the first air route, determining the first air route according to the area range of the remote sensing area and the designed direction of the air route, and obtaining a first target air route set until the lateral direction coordinate of the second air route is positioned outside the lateral direction coordinate interval of the remote sensing area.
In one embodiment, the computer program when executed by the processor further performs the steps of: adjusting the lateral direction coordinate of the second candidate route according to the minimum overlapping degree, the preset overlapping degree threshold value and the lateral width to obtain a third candidate route; and taking the third candidate route as the second route until the difference calculated according to the minimum overlapping degree of the third candidate route and the first route is less than or equal to the preset difference.
In one embodiment, the types of loads include a down-view class and a side-view class; after a first target route set is generated according to the target surface strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area, the method further comprises the following steps: and (3) according to the downward-looking load or the parameter extension of the side-looking load, laying a second target route set, and forming the second target route set and the first target route set into a target route set of the remote sensing area.
In one embodiment, calculating fly heights from flight requirements of the respective loads comprises: and screening out a first load from the plurality of loads according to the flight requirement, and taking a first flight height corresponding to the first load as the flight height.
In one embodiment, after the target loads are filtered out according to the reference surface strip widths of the respective loads, the computer program when executed by the processor further performs the steps of: calculating a difference value between the width of the reference noodle belt of the first load and the width of the reference noodle belt of the target load, and judging whether the difference value is smaller than a preset difference threshold value or not; when the difference value is less than or equal to the preset difference value, calculating the width of the target strip according to the strip width of the reference surface of the target load, wherein the method comprises the following steps: calculating a weighted average value of the width of the reference noodle strip of the first load and the width of the reference noodle strip of the target load, and taking the weighted average value as the width of the target noodle strip; when the difference value is larger than the preset difference value, calculating the width of the target strip according to the width of the reference surface strip of the target load, wherein the method comprises the following steps: the reference strip width of the target load is set as the target strip width.
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 a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. 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).
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A multi-load route cooperative laying method is characterized by comprising the following steps:
acquiring flight requirements of all loads of the same flight platform, and calculating the flight height according to the flight requirements of all the loads;
acquiring digital elevation terrain data of a remote sensing area, and calculating the width of a reference noodle belt of each load according to the digital elevation terrain data and the flying height;
screening out target loads according to the reference noodle belt width of each load;
calculating the width of a target strip according to the width of the reference strip of the target load;
and generating a first target route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
2. The method of claim 1, wherein said screening out a target load based on a reference noodle strip width for each of said loads comprises:
and selecting the load with the narrowest reference surface strip width as the target load from the reference surface strip widths of the loads.
3. The method of claim 1, wherein generating a first set of target airways from the target swath width, the remote sensing area, and the digital elevation terrain data for the remote sensing area comprises:
obtaining a route design direction, and determining a first route according to the area range of the remote sensing area and the route design direction, wherein the first route comprises an initial position and a stop position;
determining a second candidate route according to the width of the target strip, wherein the first route and the second candidate route are adjacent routes;
calculating a first coverage range of a first route and a second candidate coverage range of a second candidate route according to the target strip width and the digital elevation terrain data of the remote sensing area;
determining a second reference plane and a minimum overlap distance according to the first coverage range and the second candidate coverage range;
calculating a lateral width according to the second reference surface, and calculating a minimum overlapping degree according to the lateral width and the minimum overlapping distance;
calculating the difference between the minimum overlapping degree and a preset overlapping degree threshold value, and judging whether the difference is smaller than a preset difference;
when the difference degree is smaller than or equal to the preset difference degree, taking the second candidate route as a second route;
and taking the second airline as the first airline, determining the first airline according to the area range of the remote sensing area and the airline design direction, and repeatedly adding the currently calculated first airline until the lateral direction coordinate of the second airline is outside the lateral direction coordinate interval of the remote sensing area to obtain the first target airline set.
4. The method according to claim 3, wherein when the difference degree is greater than the preset difference degree, the method further comprises:
adjusting the lateral direction coordinate of the second candidate route according to the minimum overlapping degree, the preset overlapping degree threshold and the lateral width to obtain a third candidate route;
and taking the third candidate route as the second route until the difference calculated according to the minimum overlapping degree of the third candidate route and the first route is less than or equal to the preset difference.
5. The method of claim 1, wherein the types of loads include a down-view class and a side-view class;
after a first target route set is generated according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area, the method further comprises the following steps:
and a second target route set is laid according to the parameters of the downward-looking load or the side-looking load in an extending mode, and the second target route set and the first target route set form a target route set of the remote sensing area.
6. The method of any one of claims 1 to 5, wherein said calculating a flight altitude from flight requirements of each said load comprises:
and screening a first load from the plurality of loads according to the flight requirement, and taking a first flight height corresponding to the first load as the flight height.
7. The method of claim 6, wherein after screening out the target loads based on the reference surface strip widths of each of the loads, further comprising:
calculating a difference value between the reference noodle strip width of the first load and the reference noodle strip width of the target load,
judging whether the difference value is smaller than a preset difference threshold value or not;
when the difference value is smaller than or equal to the preset difference value, calculating the width of a target strip according to the width of the reference surface strip of the target load, including: calculating a weighted average value of the width of the reference surface strip of the first load and the width of the reference surface strip of the target load, and taking the weighted average value as the width of the target strip;
when the difference value is greater than the preset difference value, calculating the width of a target strip according to the width of the reference strip of the target load, including: and taking the reference surface strip width of the target load as the target strip width.
8. A multi-loading course cooperative laying apparatus, said apparatus comprising:
the flight height calculating module is used for acquiring the flight requirements of all loads of the same flight platform and calculating the flight height according to the flight requirements of all the loads;
the reference width calculation module is used for acquiring digital elevation terrain data of a remote sensing area and calculating the reference noodle belt width of each load according to the digital elevation terrain data and the flying height;
the load screening module is used for screening out target loads according to the reference noodle belt width of each load;
the target width calculating module is used for calculating the width of a target strip according to the width of the reference strip of the target load;
and the air route laying module is used for generating a first target air route set according to the target strip width, the remote sensing area and the digital elevation terrain data of the remote sensing area.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.
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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