CN111105123B - Multi-load route collaborative laying method, device, computer equipment and storage medium - Google Patents
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Abstract
The application relates to a multi-load route collaborative laying method, a device, computer equipment and a storage medium. And (3) carrying out route design by referring to the parameters of a plurality of loads, so that the laid route meets the flight requirement better. The method comprises the following steps: acquiring the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load; acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the reference noodles based on the parameters of each load according to the digital elevation topographic data and the flying height; screening out target loads according to the base level strip widths of the loads; calculating the target strip width according to the reference plane strip width 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 topography 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 multi-load route collaborative laying method, a device, computer equipment and a storage medium.
Background
The traditional aerial remote sensing operation is characterized in that due to the limitation of an aircraft observation window and loading capacity, the load is large in volume and weight, the operation is complex, and when the general aerial remote sensing operation is in flight, only one load is loaded for remote sensing operation; with the development of application of large-scale comprehensive remote sensing aircraft and load miniaturization and automation technology, various load collaborative aviation remote sensing operations start to be applied; when the traditional load aerial remote sensing operation is carried out, the route design is carried out according to a single load, when the multi-load remote sensing operation exists, the route design is carried out only according to one load serving as a main load and adopting parameters of the main load, and the laid route is difficult to meet the flight requirements of all loads and the subsequent remote sensing data fusion application requirements.
Disclosure of Invention
In order to solve the technical problems, the application provides a multi-load route collaborative laying method, a device, computer equipment and a storage medium.
In a first aspect, the present application provides a multi-load course collaborative laying method, including:
acquiring the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load;
acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the datum plane strip of each load according to the digital elevation topographic data and the flying height;
Screening out target loads according to the base level strip widths of the loads;
calculating the target strip width according to the reference plane strip width 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 topography data of the remote sensing area.
In a second aspect, the present application provides a multi-load course co-laying apparatus comprising:
the flight height calculation module is used for obtaining 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 topography data of the remote sensing area and calculating the reference surface stripe width of each load according to the digital elevation topography data and the flying height;
the load screening module is used for screening out target loads according to the base level strip widths of the loads;
the target width calculation module is used for calculating the target strip width according to the reference plane strip width of the target load;
and the route laying module is used for generating a first target route set according to the target strip width, the remote sensing area and the digital elevation topography 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 steps of:
Acquiring the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load;
acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the datum plane strip of each load according to the digital elevation topographic data and the flying height;
screening out target loads according to the base level strip widths of the loads;
calculating the target strip width according to the reference plane strip width 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 topography data of the remote sensing area.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load;
acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the datum plane strip of each load according to the digital elevation topographic data and the flying height;
screening out target loads according to the base level strip widths of the loads;
calculating the target strip width according to the reference plane strip width 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 topography data of the remote sensing area.
The multi-load route collaborative laying method, the device, the computer equipment and the storage medium, wherein the method comprises the following steps: acquiring the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load; acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the datum plane strip of each load according to the digital elevation topographic data and the flying height; screening out target loads according to the base level strip widths of the loads; calculating the target strip width according to the reference plane strip width 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 topography data of the remote sensing area. According to the method, the flying height is unified according to the flying requirement, the reference noodle widths of a plurality of loads corresponding to the flying height are calculated, the target load is screened according to the reference noodle widths, and the target reference strip widths are determined according to the reference noodle widths of the target load, so that the route is laid according to the target reference strip widths, and the route design is carried out by referring to the parameters of the plurality of loads, and the laid route is more in accordance with the flying requirement and the subsequent remote sensing data fusion application requirement.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a diagram of an application environment for a multi-load course co-laying method in one embodiment;
FIG. 2 is a flow diagram of a method of multi-load course co-laying in one embodiment;
FIG. 3 is a schematic illustration of a multi-load lane co-laying lane in one embodiment;
FIG. 4 is a flow chart of a method of multi-load course co-laying in another embodiment;
FIG. 5 is a block diagram of a multi-load course co-laying apparatus in one embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
FIG. 1 is a diagram of an application environment for a multi-load course co-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-load course collaborative laying system includes 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 the flight requirements of each load of the same flight platform, and calculate the flight height according to the flight requirements of each load; acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the datum plane strip of each load according to the digital elevation topographic data and the flying height; screening out target loads according to the base level strip widths of the loads; calculating the target strip width according to the reference plane strip width 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 topography data of the remote sensing area.
Terminal 110 or server 120 sends the laid down route to the controller of the flying platform. Terminal 110 may be specifically mounted on a flight platform, and server 120 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in FIG. 2, a multi-load course co-laying method is provided. The present embodiment is mainly exemplified by the application of the method to the terminal 110 (or the server 120) in fig. 1. Referring to fig. 2, the multi-load route collaborative laying method specifically includes the following steps:
step S201, the flight requirements of all loads of the same flight platform are obtained, and the flight height is calculated according to the flight requirements of all loads.
In particular, a flying platform refers to an aircraft platform for performing a flying mission. The load refers to an imaging sensor for aerial remote sensing operation, and common imaging modes of aerial remote sensing load comprise a down-looking area array imaging, a down-looking push-broom imaging, a down-looking swing-broom imaging, a side-looking imaging sensor and the like. The imaging modes can be classified into two main categories, namely, a down view category and a side view category. Flight demand refers to the demand for a flight mission carried by each load, where the flight demand includes flight altitude, flight area, image resolution, image overlap, and the like. The flying height can be set directly, the resolution of the image corresponding to each load can also 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 height 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 smallest 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 requirement.
In one embodiment, a first load is selected from a plurality of loads according to flight requirements, and a first flight level corresponding to the first load is used as the flight level.
Specifically, the first load is a target load determined according to the flight requirement, and the determination of the load may be determined according to the priority level of the flight requirement of the load or the determination of the flight height of each load, or may be determined jointly according to the priority level and the flight height of the flight requirement of each load. 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 the flight based on the priority level in the flight demand includes: when the flight requirements of the respective loads correspond to different priority levels, the flight height of the load with the highest priority level in the priority levels is selected as the flight height of the flight platform. If the priority levels of the plurality of loads are the highest priority levels, calculating the average value of the flying heights of the plurality of loads with the highest priority levels as the flying height and the like.
Step S202, digital elevation topographic data of the remote sensing area are obtained, and the base surface stripe width of each load is calculated according to the digital elevation topographic data and the flying height.
Specifically, the remote sensing area refers to an area corresponding to a flight mission of the flight platform. Digital elevation topography data is a physical floor map data representing the elevation of the floor in the form of a set of ordered arrays of values. The reference plane stripe width refers to stripe width on a reference plane, wherein the reference plane is a reference plane determined according to digital elevation topography data, and the reference plane stripe width of each load on the reference plane is calculated according to an imaging mode, a flying height and the reference plane of each load.
And step S203, screening out target loads according to the base plane strip widths of the loads.
Specifically, since there are a plurality of loads, it is necessary to screen one load from the reference surface stripe widths of the respective loads, and the load obtained by the screening is taken as the target load. The screening rule of the base noodle strip width can be customized, for example, screening can be performed according to the value of the base noodle strip width, and the base noodle strip width and the flight task can be selected together.
In one embodiment, the load having the narrowest reference noodle strip width is selected as the target load from the reference noodle strip widths of the respective loads.
Specifically, the load with the narrowest band width of the reference noodle is the load corresponding to the minimum band width of the reference noodle, and the load with the narrowest band width of the reference noodle is the target load.
Step S204, calculating the target strip width according to the reference plane strip width of the target load.
Specifically, the target swath width refers to the swath width of the laid down route. The target strip width is calculated according to the reference 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, and the strip width obtained by adjusting the reference 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 plane strip of the target load is used as the width of the target strip, and the like.
In one embodiment, after step S203, further includes: calculating a difference value of the reference noodle bandwidth of the first load and the reference noodle bandwidth 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 a preset difference value, calculating a weighted average value of the reference noodle strip width of the first load and the reference noodle strip width of the target load, and taking the weighted average value as the target strip width; and when the difference value is larger than the preset difference value, taking the reference noodle width of the target load as the target noodle width.
Specifically, the reference noodle strip width of the first load is obtained according to the calculated reference noodle strip widths of the loads, and the difference value between the reference noodle strip width of the first load and the reference noodle strip width of the target load is calculated. The difference value can be directly represented by a difference value or a ratio, and a value obtained by further processing the difference value or the ratio can be used as the difference value. The preset difference value is a preset self-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 of the first load and the target load is smaller, and the weighted average value of the first load and the target load can be calculated to be used as the target strip width. Wherein the weighting coefficients of the weighted mean may be customized. When the difference value is larger than the preset difference value, the difference degree between the two loads is larger, and the first load and the target load cannot be considered, so that the reference strip width of the target load can be directly adopted as the target strip width.
Step S205, a first target route set is generated according to the target strip width, the remote sensing area and the digital elevation topography data of the remote sensing area.
Specifically, a first area corresponding to the target strip width is determined according to the area boundary of the remote sensing area and the digital elevation topography data in the area boundary, the position of a first route is calculated reversely according to the position and the flying height of the first area, a second area is determined according to the position of the first route and the first area, the position of a second route is calculated reversely according to the position of the second area, the digital elevation topography data and the flying height until the whole remote sensing area is laid, and a first target route set formed by each route 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 last area corresponding to the last route, the digital elevation topography data of the last area and the target strip width, and the next area is determined according to the current area, the overlapping distance, the digital elevation topography data of the current area and the target strip width in the same way 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 a starting position and a cut-off position; determining a second candidate route according to the target strip width, wherein the first route and the second candidate route are adjacent routes; calculating a first coverage area of the first route and a second candidate coverage area of the second candidate route according to the target strip width and the digital elevation topographic data of the remote sensing area; determining a second reference plane and a minimum overlapping distance according to the first coverage area and the second candidate coverage area; calculating a lateral breadth according to the second reference surface, and calculating a minimum overlapping degree according to the lateral breadth and the minimum overlapping distance; calculating the difference between the minimum overlap degree and a preset overlap 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 adding the second route serving as the first route to the first target route set, and executing the second route which is determined to be adjacent according to the area range, the route design direction and the overlapping degree of the remote sensing area until the sideways direction coordinate of the second route is positioned outside the sideways direction coordinate interval of the remote sensing area, and stopping the iterative adding process of the route set to obtain the first target route set.
Specifically, the first route refers to a first route of the remote sensing area, and the starting position and the stopping position of the first route refer to positions corresponding to the starting point and the stopping point of the route, which are determined according to the remote sensing area and the target strip width. If the remote sensing area is rotated according to the design direction of the route, the coordinates of all the corner points of the remote sensing area after rotation are obtained; the minimum value of all the coordinate Y values is found. Position Y value of initial course (first course), y=y min +(1-S f ) C-Htan (θ), wherein Y min Is the minimum value of the coordinates Y direction of the angular points of the rotated region, S f C is the width of a target strip, H is the relative altitude, 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, i.e., the (X-value interval), is determined by adding the heading extension distance to the distance between the upper edge of the route and the intersection point of the remote sensing area. And sequentially laying the routes by taking the side direction overlapping degree calculated by the digital elevation topographic data of the initial route and the remote sensing area as a constraint, stopping laying the routes until the side direction coordinate value of the laid current route is not positioned between the maximum and minimum side direction coordinate values of the remote sensing area, and determining the current route as the last 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; 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 route, determining the ground coverage ranges of the first route and the second candidate route based on a collinear equation mathematical model, respectively obtaining a first coverage range and a second candidate coverage range, and calculating the narrowest distance (the 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 coverage intersection as a new reference plane height (namely a second reference plane), and calculating a lateral width (a target strip width under the second reference plane) under the new reference plane height so as to determine the actual minimum overlapping degree between the airlines according to the ratio of the narrowest distance of the coverage intersection to the lateral width under the new reference plane height; determining the actual minimum overlapping degree and the difference degree of a preset overlapping degree threshold value, judging whether the difference degree is smaller than the preset difference degree, taking the second candidate route as the second route when the difference value is smaller than or equal to the preset difference degree, and repeating the process until the sideways direction coordinate of the second route is positioned outside the sideways direction coordinate interval of the remote sensing area, so as to obtain a first target route set formed by a plurality of routes.
In one embodiment, when the difference is greater than the preset difference, the method further includes: according to the minimum overlapping degree, a preset overlapping degree threshold value and the lateral breadth, the lateral direction coordinates of the second candidate route are adjusted, and a third candidate route is obtained; and taking the third candidate route as the second route until the difference degree calculated according to the minimum overlapping degree of the third candidate route and the first route is smaller than or equal to the preset difference degree.
Specifically, the third candidate route refers to a third candidate route obtained by adjusting the sideways direction coordinates of the second candidate route. The lateral direction coordinate value of the second candidate route is adjusted, wherein the adjustment quantity is the product of the difference value of the minimum overlapping degree and the preset overlapping degree threshold value and the lateral breadth, a third candidate route is obtained after adjustment, and adjustment is stopped when the difference degree is smaller than or equal to the preset difference degree, so that the lateral direction coordinate value of the second route is obtained; determining a start coordinate and a stop coordinate of the second route based on the intersection relationship of 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 sideways direction of the laid route is not located between the maximum and minimum coordinate values of the sideways direction of the remote sensing area, stopping laying the route, and determining the current route as the last route in the remote sensing area.
In one embodiment, the types of loads include a look-down class and a look-aside class, and after step S205, further include: and laying a second target route set according to the side view type or the down view type 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 following-view load is taken as the target load and the side-view load is taken as the cooperative load to carry out route design, as part of routes of the side-view sensor are still above the flight area, the part of routes can be shared with the side-view sensor, and the routes exceeding the range of the remote sensing area are laid by adopting the parameters of the side-view load. As shown in fig. 3, the dotted line 010 at the lower part of the area is the line (first target line set) of the coverage area required for the down-looking sensor, and the solid line 020 at the upper part of the area is the line (second target line set) required for covering the remote sensing area in the right-looking view. Adopting other load parameters to the boundary route, solving the ground coverage of the route, judging whether the ground coverage is in a remote sensing area or not, and if not, judging whether the ground coverage is in the remote sensing area; extending a route according to the target load parameter; then judging whether the ground coverage range of other loads is within the remote sensing area range or not according to other load parameters; until the route coverage of other loads is within the range of the remote sensing area; the epitaxial laying of the route is stopped.
When the side view load is used as the target load and the lower view load is used as the cooperative load to carry out route design, the side view load route at the part right above the flight area can be shared with the lower view sensor, and the route exceeding the range of the remote sensing area is laid by adopting the parameters of the lower view load to form a second target route set.
The multi-load route collaborative laying method comprises the following steps: acquiring the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load; acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the datum plane strip of each load according to the digital elevation topographic data and the flying height; screening out target loads according to the base level strip widths of the loads; calculating the target strip width according to the reference plane strip width 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 topography data of the remote sensing area. According to the method, the flying height is unified according to the flying demand, the reference noodle bandwidth of a plurality of loads corresponding to the flying height is calculated, the target load is screened according to the reference noodle bandwidth, the target reference bandwidth is determined according to the reference noodle bandwidth of the target load, and therefore the route is laid according to the target reference bandwidth, and the route design is carried out by referring to the parameters of the plurality of loads, so that the laid route meets the flying demand and the subsequent remote sensing data fusion application demand more.
In a specific embodiment, the multi-load route collaborative laying method includes:
step S301, judging the load type. The same flying platform contains n loads, load 1, load 2, load n. All of the n loads may be downward looking loads, or some of the n loads may be downward looking loads, and the rest may be sideways looking loads. For a sub-mission that contains only the look-down type load, or when the sub-mission uses only the look-down type load, steps S303 to S307 are performed to complete the cabling. When the flight mission includes both the down-looking type load and the side-looking type load, steps S309 to S314 are performed to complete the route laying.
In step S302, the load type includes a look-down class.
Step S303, calculating the flying height according to the flying requirement of each load.
Step S304, digital elevation topographic data of the remote sensing area are obtained, and the reference surface stripe width of each load is calculated according to the digital elevation topographic data and the flying height.
Step S305, screening out target loads according to the base plane strip widths of the loads.
Step S306, calculating the target strip width according to the reference plane strip width of the target load.
Step S307, a first target route set is generated according to the target strip width, the remote sensing area and the digital elevation topography of the remote sensing area.
In step S308, the load types include a down class and a side class.
Step S309, calculating the flying height according to the flying requirement of each load.
Step S310, digital elevation topographic data of the remote sensing area are obtained, and the base surface stripe width of each load is calculated according to the digital elevation topographic data and the flying height.
Step S311, screening out target loads according to the base plane strip widths of the loads.
Step S312, calculating the target strip width according to the reference plane strip width of the target load.
Step S313, generating a first target route set according to the target strip width, the remote sensing area and the digital elevation topography of the remote sensing area.
Step S314, a second target route set is laid in an extending mode according to the parameters of the down-looking type load or the side-looking type load, and the target route set of the remote sensing area formed by the second target route set and the first target route set is formed.
Fig. 2 and 4 are flow diagrams of a multi-load course co-laying method in one embodiment. It should be understood that, although the steps in the flowcharts of fig. 2 and 4 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2 and 4 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily occur sequentially, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
In one embodiment, as shown in FIG. 5, a multi-load course co-laying apparatus 200 is provided, comprising:
the flight level calculating module 201 is configured to obtain flight requirements of each load of the same flight platform, and calculate the flight level according to the flight requirements of each load.
The reference width calculation module 202 is configured to obtain digital elevation topography data of the remote sensing area, and calculate a reference surface stripe width of each load according to the digital elevation topography data and the flying height.
And the load screening module 203 is configured to screen out the target load according to the reference plane stripe widths of the respective loads.
The target width calculation module 204 is configured to calculate a target strip width according to the reference plane strip width of the target load.
The route laying module 205 is configured to generate a first target route set according to the target stripe width, the remote sensing area, and the digital elevation topography data of the remote sensing area.
In one embodiment, the load screening module 203 is specifically configured to select, from the reference noodle bandwidths of the respective loads, the load with the narrowest reference noodle bandwidth as the target load.
In one embodiment, the route laying module 205 is specifically configured to obtain a route design direction, determine a first route according to the area range of the 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 target strip width, wherein the first route and the second candidate route are adjacent routes; calculating a first coverage area of the first route and a second candidate coverage area of the second candidate route according to the target strip width and the digital elevation topographic data of the remote sensing area; determining a second reference plane and a minimum overlapping distance according to the first coverage area and the second candidate coverage area; calculating a lateral breadth according to the second reference surface, and calculating a minimum overlapping degree according to the lateral breadth and the minimum overlapping distance; calculating the difference between the minimum overlap degree and a preset overlap 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 the first route, and determining the first route according to the area range of the remote sensing area and the route design direction until the sideways direction coordinate of the second route is positioned outside the sideways direction coordinate interval of the remote sensing area, so as to obtain a first target route set.
In one embodiment, the route laying module 205 is further configured to adjust a sideways direction coordinate of the second candidate route according to the minimum overlapping degree, the preset overlapping degree threshold value and the sideways breadth, to obtain a third candidate route; and taking the third candidate route as the second route until the difference degree calculated according to the minimum overlapping degree of the third candidate route and the first route is smaller than or equal to the preset difference degree.
In one embodiment, the route laying module 205 is further configured to lay down a second target route set according to parameters of the look-down type load or the look-down 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 loads include the look-down type load and the look-down type load.
In one embodiment, the flight level calculating module 201 is specifically configured to screen a first load from a plurality of loads according to flight requirements, and the target width calculating module uses a first flight level corresponding to the first load as the flight level.
In one embodiment, the multi-load course collaborative laying apparatus 200 further comprises
And the difference value calculation module is used for calculating the difference value of the reference noodle bandwidth of the first load and the reference noodle bandwidth of the target load.
The difference value judging module is used for judging whether the difference value is smaller than a preset difference threshold value.
The target width calculation module 204 is configured to calculate a weighted average of the reference noodle width of the first load and the reference noodle width of the target load when the difference value is less than or equal to the preset difference value, and take the weighted average as the target strip width.
The target width calculation module 204 is further configured to set the reference noodle strip width of the target load as the target strip width when the difference value is greater than the preset difference value.
FIG. 6 illustrates an internal block diagram of a computer device in one embodiment. The computer device may be specifically the terminal 110 (or the server 120) in fig. 1. As shown in fig. 6, the computer device includes a processor, a memory, a network interface, an input device, and a display screen connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system, and may also store a computer program that, when executed by a processor, causes the processor to implement a multi-load airline co-laying method. The internal memory may also have stored therein a computer program which, when executed by the processor, causes the processor to perform a multi-payload lane co-laying method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, the multi-load line co-laying apparatus provided by the present application may be implemented in the form of a computer program executable on a computer device as shown in fig. 6. The memory of the computer device may store various program modules that make up the multi-load course co-laying apparatus, such as the altitude calculation module 201, the reference breadth calculation module 202, the load screening module 203, the target breadth calculation module 204, and the course laying module 205 shown in fig. 5. The computer program of each program module causes the processor to carry out the steps of the multi-load course co-laying method of each embodiment of the application described in the present specification.
For example, the computer device shown in fig. 6 may execute the flight requirement for acquiring each load of the same flight platform by the flight height calculation module 201 in the multi-load course collaborative laying apparatus shown in fig. 5, and calculate the flight height according to the flight requirement of each load. The reference swath calculation module 202 performs the acquisition of digital elevation terrain data for the remote sensing area and calculates a reference swath for each load based on the digital elevation terrain data and the fly height. The load screening module 203 performs screening out the target load based on the reference plane stripe widths of the respective loads. The target swath calculation module 204 performs a calculation of a target swath from the baseline swath of the target load. The cabling module 205 performs generation of a first target set of cabling from the target swath width, the remote sensing area, and the digital elevation topography data for 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 steps of when executing the computer program: acquiring the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load; acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the datum plane strip of each load according to the digital elevation topographic data and the flying height; screening out target loads according to the base level strip widths of the loads; calculating the target strip width according to the reference plane strip width 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 topography data of the remote sensing area.
In one embodiment, screening the target load according to the reference plane swath width of each load includes: from the reference noodle strip widths of the respective loads, the load with the narrowest reference noodle strip width is selected as the target load.
In one embodiment, generating a first set of target routes from the target swath width, the remote sensing area, and the digital elevation topography 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 a starting position and a cut-off position; determining a second candidate route according to the target strip width, wherein the first route and the second candidate route are adjacent routes; calculating a first coverage area of the first route and a second candidate coverage area of the second candidate route according to the target strip width and the digital elevation topographic data of the remote sensing area; determining a second reference plane and a minimum overlapping distance according to the first coverage area and the second candidate coverage area; calculating a lateral breadth according to the second reference surface, and calculating a minimum overlapping degree according to the lateral breadth and the minimum overlapping distance; calculating the difference between the minimum overlap degree and a preset overlap 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 first route to the first target route set, and repeating the process until the subsequently calculated sideways direction coordinates of the second route are outside a sideways direction coordinate interval of the remote sensing area, thereby obtaining the first target route set.
In one embodiment, when the degree of difference is greater than a preset degree of difference, the processor when executing the computer program further performs the steps of: according to the minimum overlapping degree, a preset overlapping degree threshold value and the lateral breadth, the lateral direction coordinates of the second candidate route are adjusted, and a third candidate route is obtained; and taking the third candidate route as the second route until the difference degree calculated according to the minimum overlapping degree of the third candidate route and the first route is smaller than or equal to the preset difference degree.
In one embodiment, the types of loads include a down-looking class and a side-looking class; after generating the first target route set according to the target surface stripe width, the remote sensing area and the digital elevation topography data of the remote sensing area, the method further comprises the following steps: and (3) epitaxially laying a second target route set according to the parameters of the down-looking type load or the side-looking type load, 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 the fly-height from the flight demand of each load includes: and screening the first load from the plurality of loads according to the flight demand, and taking the first flight height corresponding to the first load as the flight height.
In one embodiment, after screening the target load according to the reference plane stripe widths of the respective loads, the processor when executing the computer program further performs the steps of: calculating a difference value of the reference noodle bandwidth of the first load and the reference noodle bandwidth 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 the target strip width according to the reference plane strip width of the target load, including: calculating a weighted average of the reference noodle strip width of the first load and the reference noodle strip width of the target load, and taking the weighted average as the target strip width; when the difference value is larger than a preset difference value, calculating the target strip width according to the reference plane strip width of the target load, including: the reference noodle strip width of the target load is taken 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 the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load; acquiring digital elevation topographic data of a remote sensing area, and calculating the bandwidth of the datum plane strip of each load according to the digital elevation topographic data and the flying height; screening out target loads according to the base level strip widths of the loads; calculating the target strip width according to the reference plane strip width 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 topography data of the remote sensing area.
In one embodiment, screening the target load according to the reference plane swath width of each load includes: from the reference noodle strip widths of the respective loads, the load with the narrowest reference noodle strip width is selected as the target load.
In one embodiment, generating a first set of target routes from the target swath width, the remote sensing area, and the digital elevation topography 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 a starting position and a cut-off position; determining a second candidate route according to the target strip width, wherein the first route and the second candidate route are adjacent routes; calculating a first coverage area of the first route and a second candidate coverage area of the second candidate route according to the target strip width and the digital elevation topographic data of the remote sensing area; determining a second reference plane and a minimum overlapping distance according to the first coverage area and the second candidate coverage area; calculating a lateral breadth according to the second reference surface, and calculating a minimum overlapping degree according to the lateral breadth and the minimum overlapping distance; calculating the difference between the minimum overlap degree and a preset overlap 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 the first route, and determining the first route according to the area range of the remote sensing area and the route design direction until the sideways direction coordinate of the second route is positioned outside the sideways direction coordinate interval of the remote sensing area, so as to obtain a first target route set.
In one embodiment, when the degree of difference is greater than a preset degree of difference, the computer program when executed by the processor further performs the steps of: according to the minimum overlapping degree, a preset overlapping degree threshold value and the lateral breadth, the lateral direction coordinates of the second candidate route are adjusted, and a third candidate route is obtained; and taking the third candidate route as the second route until the difference degree calculated according to the minimum overlapping degree of the third candidate route and the first route is smaller than or equal to the preset difference degree.
In one embodiment, the types of loads include a down-looking class and a side-looking class; after generating the first target route set according to the target surface stripe width, the remote sensing area and the digital elevation topography data of the remote sensing area, the method further comprises the following steps: and (3) epitaxially laying a second target route set according to the parameters of the down-looking type load or the side-looking type load, 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 the fly-height from the flight demand of each load includes: and screening the first load from the plurality of loads according to the flight demand, and taking the first flight height corresponding to the first load as the flight height.
In one embodiment, after screening the target load according to the reference plane stripe widths of the respective loads, the computer program when executed by the processor further performs the steps of: calculating a difference value of the reference noodle bandwidth of the first load and the reference noodle bandwidth 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 the target strip width according to the reference plane strip width of the target load, including: calculating a weighted average of the reference noodle strip width of the first load and the reference noodle strip width of the target load, and taking the weighted average as the target strip width; when the difference value is larger than a preset difference value, calculating the target strip width according to the reference plane strip width of the target load, including: the reference noodle strip width of the target load is taken as the target strip width.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It should be noted that in this document, relational terms such as "first" and "second" and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the 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 (9)
1. A method for collaborative deployment of multiple load airlines, the method comprising:
acquiring the flight requirements of each load of the same flight platform, and calculating the flight height according to the flight requirements of each load;
acquiring digital elevation topographic data of a remote sensing area, and calculating the reference noodle bandwidth of each load according to the digital elevation topographic data and the flying height;
screening out target loads according to the reference plane strip widths of the loads, wherein the screening comprises the following steps: selecting a load with the narrowest band width of the reference noodle from the band width of the reference noodle of each load as the target load;
calculating a target strip width according to the reference strip width of the target load;
generating a first according to the target strip width, the remote sensing area and the digital elevation topography data of the remote sensing area
A target course set.
2. The method of claim 1, wherein said generating a first set of target routes from the target swath width, the remote sensing area, and the digital elevation topography data of 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 a starting position and a cut-off position;
Determining a second candidate route according to the target strip width, wherein the first route and the second candidate route are adjacent routes;
calculating a first coverage area of a first route and a second candidate coverage area of a second candidate route according to the target strip width and the digital elevation topography data of the remote sensing area;
determining a second reference plane and a minimum overlapping distance according to the first coverage area and the second candidate coverage area;
calculating a lateral breadth according to the second reference surface, and calculating a minimum overlapping degree according to the lateral breadth and the minimum overlapping distance;
calculating the difference between the minimum overlap degree and a preset overlap 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, the second candidate route is used as a second route;
and taking the second route as the first route, determining the first route according to the area range of the remote sensing area and the route design direction, and repeatedly adding the first route calculated currently until the sideways direction coordinate of the second route is positioned outside the sideways direction coordinate interval of the remote sensing area, so as to obtain the first target route set.
3. The method of claim 2, wherein the difference is greater than the predetermined difference
When the method further comprises:
adjusting the second candidate route according to the minimum overlapping degree, the preset overlapping degree threshold value and the lateral breadth
The coordinates of the side direction are used for obtaining a third candidate route;
until the difference calculated according to the minimum overlapping degree of the third candidate route and the first route is smaller than or equal to
And when the third candidate route is equal to the preset difference degree, taking the third candidate route as the second route.
4. The method of claim 1, wherein the types of loads include a down-looking class and a side-looking class;
the generation of the digital elevation topography data according to the target strip width, the remote sensing area and the remote sensing area
After the first set of target routes, further comprising:
epitaxially laying a second target route set according to parameters of the down-looking type load or the side-looking type load, and carrying out second target route design
The set and the first target course set form a target course set for the remote sensing area.
5. A method according to any one of claims 1 to 4, wherein the flying according to each of the loads
Line demand calculation fly height, comprising:
screening a first load from a plurality of loads according to the flight demand, and carrying out first flight corresponding to the first load
Altitude is taken as the flying altitude.
6. The method of claim 5, wherein said reference plane strip width is based on each of said loads
After screening out the target load, 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 threshold value, the reference surface stripe width according to the target load
Calculating a target swath width, comprising: calculating a weighted average of the reference noodle strip width of the first load and the reference noodle strip width of the target load, and taking the weighted average as the target strip width;
when the difference value is larger than the preset difference value, calculating the band width of the reference noodle according to the target load
A target swath width comprising: and taking the reference strip width of the target load as the target strip width.
7. A multi-load course co-laying apparatus, the apparatus comprising:
the flight altitude calculation module is used for acquiring the flight requirements of all loads of the same flight platform and according to all the loads
Calculating the flight altitude of the load according to the flight demand;
the reference breadth calculating module is used for acquiring digital elevation topography data of the remote sensing area and according to the digital elevation topography
Calculating the base noodle width of each load according to the data and the flying height;
the load screening module is used for screening out target loads according to the base level strip widths of the loads;
the load screening module is further used for selecting a load with the narrowest bandwidth of the reference noodle from the bandwidth of the reference noodle of each load as the target load;
the target width calculation module is used for calculating the target strip width according to the reference strip width of the target load;
and the route laying module is used for generating a first target route set according to the target strip width, the remote sensing area and the digital elevation topography data of the remote sensing area.
8. 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 processor implements the steps of the method according to any one of claims 1 to 6 when the computer program is executed by the processor.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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