CN112504278B - Navigation planning method for mobile measurement and control station - Google Patents
Navigation planning method for mobile measurement and control station Download PDFInfo
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Abstract
The invention provides a navigation planning method for a maneuvering measurement and control station, which comprises the following steps: step A: determining a starting point, a destination and task parameters based on the airspace coverage capability of the mobile measurement and control station and the working requirement of a task to be executed; and B: acquiring possible route information from a starting point to a destination to obtain a candidate route, and extracting navigation route information; and C: dividing each candidate line into a plurality of quantitative processing units, calculating and superposing measurement and control capacity values; step D: and outputting the path with the optimal measurement and control capacity value as a planning path. The invention has the advantages that: the method comprises the steps of obtaining a plurality of candidate paths through an electronic traffic map, dividing the candidate paths through a quantitative processing unit, counting and summing measurement and control capacity values of each quantitative processing unit, calculating the measurement and control capacity values of the whole candidate path based on a calculus idea, obtaining the measurement and control capacity values of all the candidate paths, obtaining the optimal candidate path, and achieving optimal path planning.
Description
Technical Field
The invention relates to the technical field of satellite navigation system measurement and control networks, in particular to a navigation planning method for a mobile measurement and control station.
Background
In recent years, the space launching task of China rises year by year, the number of on-orbit spacecrafts is more and more, the traditional space measurement and control equipment is limited by the technical system, the multi-target task capability is insufficient, and the measurement and control resources are increasingly tense. In order to better solve the problem of measurement and control resource shortage of the space measurement and control network, more and more mobile measurement and control stations are put into use, for example, a bottom surface receiving and transmitting combined device suitable for the mobile measurement and control station is disclosed in the utility model patent with the publication number of CN 201294528Y.
When the mobile measurement and control station is used for measuring and controlling the spacecraft, the measurement and control station per se also moves, in order to ensure that the measurement and control process of the spacecraft is continuous, obstacles are not allowed to shield the measurement and control area of the mobile measurement and control station in the moving process of the mobile measurement and control station, and the number of the spacecrafts in the current area is far more than one when the mobile measurement and control station works, so that the navigation technology aiming at the mobile measurement and control station is urgently needed.
Disclosure of Invention
The invention aims to provide a navigation planning method capable of providing accurate optimal path planning for a maneuvering measurement and control station.
The invention solves the technical problems through the following technical scheme: a navigation planning method for a maneuvering measurement and control station comprises the following steps:
step A: determining a starting point, a destination and task parameters based on the airspace coverage capability of the mobile measurement and control station and the working requirement of a task to be executed;
and B: acquiring possible route information from a starting point to a destination based on the electronic traffic route map to obtain a candidate route and extracting navigation route information;
the navigation path information is as follows: taking the geometric midpoint of the starting point and the destination as the center and the linear distance between the starting point and the destination as the radius, and acquiring DEM data of the minimum rectangular envelope capable of covering the area;
and C: dividing each candidate line into a plurality of quantitative processing units, calculating a measurement and control capability value of each quantitative processing unit, and superposing the measurement and control capability values of all the quantitative processing units of the candidate line;
step D: and outputting the path with the optimal measurement and control capacity value as a planning path.
According to the method, a plurality of candidate paths are obtained through the electronic traffic map, the candidate paths are divided through the quantitative processing units, the measurement and control capacity values of all the candidate paths are counted and summed up through each quantitative processing unit, and therefore the measurement and control capacity values of all the candidate paths are calculated based on the calculus idea, the optimal candidate paths are obtained, and optimal path planning is achieved.
Preferably, the airspace coverage capability of the maneuvering measurement and control station in the step A comprises the circumferential angle range of the vehicle body
The pitching angle range of the front and back direction of the vehicle body is greater or less>
Vehicle body left and right direction pitch angle range>
Preferably, the task parameters in the step a include maneuvering allowable time T of the maneuvering measurement and control station from a starting point to a destination in unit of hour; the maximum shielding angle theta of the obstacle to the mobile measurement and control station and the coverage range a of the shielding angle are in kilometers.
Preferably, the maximum shielding angle satisfies
Preferably, the resolution of the quantization processing unit in step C, that is, the distance between adjacent quantization processing units is Δ R, and the quantization processing unit is provided for both the starting point and the initial point of the subsequent sub-line.
Preferably, the step C further includes a step of obtaining a yaw angle of each quantization processing unit, where the yaw angle is an included angle between the direction of the vehicle head and the due north direction.
Preferably, the calculation method of the measurement and control capability value in the step C is as follows:
line measurement and control capability value = airspace coverage factor x task weight factor x airspace flow factor x maneuver permission time factor x shielding angle coverage factor;
wherein, the first and the second end of the pipe are connected with each other,
spatial coverage factor: the space domain is divided into N sub-regions by taking the quantization processing unit as the center,
the unit is degree;
task weight factor: determining task weight based on task type, and recording the weight of each task received in a preset time period and the sub-region where the task is located;
spatial domain flow factor: the weight sum of all tasks received by each sub-area in a preset time period;
maneuver allowance time factor:
wherein it is present>
V is the theoretical allowable time of each quantization unit, and is the speed limit information of the quantization unit;
shielding angle coverage factor: taking the quantization processing point as a center, dividing the airspace into P small areas, taking the coverage area a of the shielding angle as a radius, and calculating the shielding angle beta of each small area by using DEM data in the navigation path information i ,i∈[1,P]And calculating a shielding angle coverage factor tau in a small area i ＝θ/β i ,i∈[1,P](ii) a The shading angle coverage factor of the quantization processing unit is:
the navigation planning method for the maneuvering measurement and control station provided by the invention has the advantages that: the method comprises the steps of obtaining a plurality of candidate paths through an electronic traffic map, dividing the candidate paths through a quantitative processing unit, counting and summing measurement and control capacity values of each quantitative processing unit, calculating the measurement and control capacity values of the whole candidate path based on a calculus idea, obtaining the measurement and control capacity values of all the candidate paths, obtaining the optimal candidate path, and achieving optimal path planning. The measurement and control capability value comprehensively considers the task quantity which can be found at each position and the weight of the task, and the measurement and control effect can be effectively reflected by the capability of completely measuring and controlling the target task by calculating the shielding angle reaction.
Drawings
FIG. 1 is a schematic diagram of a motorized test and control station provided by an embodiment of the present invention;
FIG. 2 is a schematic view of the coverage space domain of the quantization unit according to the embodiment of the present invention;
FIG. 3 is a diagram illustrating the partitioning of sub-regions based on quantization processing units according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating an exemplary calculation of spatial coverage factors of a quantization processing unit according to an embodiment of the present invention;
fig. 5 is a diagram illustrating an exemplary calculation of a shielding angle according to an embodiment of the present invention.
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments.
As shown in fig. 1, the embodiment provides a navigation planning method for a motorized measurement and control station, which includes the following steps:
step A: determining a starting point, a destination and task parameters based on the airspace coverage capability of the mobile measurement and control station and the working requirement of a task to be executed;
and B: acquiring possible route information from a starting point to a destination based on the electronic traffic route map to obtain a candidate route and extracting navigation route information;
the navigation path information is as follows: taking the geometric midpoint of the starting point and the destination as the center, and taking the linear distance between the starting point and the destination as the radius, acquiring Digital Elevation Model (DEM) data of a minimum rectangular envelope capable of covering the area;
and C: dividing each candidate line into a plurality of quantitative processing units, calculating a measurement and control capability value of each quantitative processing unit, and superposing the measurement and control capability values of all the quantitative processing units of the candidate line;
step D: and outputting the path with the optimal measurement and control capacity value as a planning path.
According to the embodiment, a plurality of candidate paths are obtained through an electronic traffic map, the candidate paths are divided through the quantitative processing units, the measurement and control capability values of all the candidate paths are counted and summed up through each quantitative processing unit, and therefore the measurement and control capability values of the whole candidate paths are calculated based on the calculus idea, the measurement and control capability values of all the candidate paths are obtained, the optimal candidate paths are obtained, and optimal path planning is achieved.
In this embodiment, a mobile full-airspace multi-beam measurement and control station is taken as an example for explanation, and with reference to fig. 1, an antenna design form conformal with a vehicle body shelter is adopted to realize circumferential 0-360 degrees, pitching 30-90 degrees in the front-back direction of the vehicle body, and seamless coverage of 0-90 degrees in the left-right direction of the vehicle body, and the whole coverage airspace forms an elliptic cone, and the method for performing navigation planning on the mobile full-airspace multi-beam measurement and control station includes the following steps:
step A: determining a starting point, a destination and task parameters based on the airspace coverage capability of the mobile measurement and control station and the working requirement of a task to be executed; the task parameters comprise maneuvering allowable time T of the maneuvering measurement and control station from a starting point to a destination in unit hours; the maximum shielding angle theta of the obstacle to the mobile measurement and control station, the coverage range a of the shielding angle and the unit kilometer; the shielding angle is an included angle of a range shielded by the obstacle of the maneuvering measurement and control station.
Wherein the maximum shielding angle satisfies the condition that theta is more than or equal to 0 degree and less than or equal to 90 degrees. In practice, in order to prevent the motorized measurement and control station from being shielded, the maximum shielding angle cannot be set too large, and is generally very close to the lower limit, in this embodiment, the lower limit is 0 °, while in practical use, 0 ° cannot be used as the maximum shielding angle, and the maximum shielding angle set in this embodiment is 5 °.
And B: based on the electronic traffic route map; acquiring possible route information from a starting point to a destination to obtain a candidate route and extracting navigation route information from common electronic maps such as a Baidu map, a Gauss map, an Tencent map and the like;
the navigation path information is as follows: taking the geometric midpoint of the starting point and the destination as the center and the linear distance between the starting point and the destination as the radius, and acquiring DEM data of the minimum rectangular envelope capable of covering the area;
and C: dividing each candidate line into a plurality of quantitative processing units, calculating a measurement and control capability value of each quantitative processing unit, and superposing the measurement and control capability values of all the quantitative processing units of the candidate line;
the resolution of the quantization processing units, namely the distance between adjacent quantization processing units is delta R, and the quantization processing units are arranged on a starting point and a head point of a subsequent sub-line, wherein the starting point is a first quantization processing unit in the whole path, and the head point of the sub-line is a first quantization processing unit of the sub-line; then, arranging other quantitative processing units according to the interval delta R, and solving a yaw angle for each quantitative processing unit, wherein the yaw angle is an included angle between the direction of the vehicle head and the due north direction; the spatial coverage of each quantization processing unit is shown in fig. 2.
The calculation method of the measurement and control capability value comprises the following steps:
line measurement and control capability value = airspace coverage factor x task weight factor x airspace flow factor x maneuver permission time factor x shielding angle coverage factor;
wherein, the first and the second end of the pipe are connected with each other,
spatial coverage factor: the space domain is divided into N sub-regions by taking the quantization processing unit as the center,
the unit is degree; with reference to fig. 3 and 4, the airspace plane is divided into 8 parts, and the front of the vehicle head is at this timeThe rear pitch angle is +/-60 degrees, and the left and right directions are +/-80 degrees to obtain
| Serial number | Region(s) | Weighted values |
| 1 | AOB | η 1 ＝(∠OZA+∠OZB)/2＝65° |
| 2 | BOC | η 2 ＝(∠OZB+∠OZC)/2＝75° |
| 3 | COD | η 3 ＝(∠OZC+∠OZD)/2＝75° |
| 4 | DOE | η 4 ＝(∠OZD+∠OZE)/2＝65° |
| 5 | EOF | η 5 ＝(∠OZE+∠OZF)/2＝65° |
| 6 | FOG | η 6 ＝(∠OZF+∠OZG)/2＝75° |
| 7 | GOH | η 7 ＝(∠OZG+∠OZH)/2＝75° |
| 8 | HOA | η 8 ＝(∠OZH+∠OZA)/2＝65° |
And obtaining that the area where the quantization processing unit is located is AOB by using the yaw angle of the quantization processing unit o, namely that the spatial coverage factor of the quantization processing unit is eta =65 °.
Task weight factor: determining task weight based on task type, and recording the weight of each task received in a preset time period and the sub-region where the task is located; referring to the following table, the weights therein are manually defined;
| serial number | Task | Weight factor | Inbound airspace |
| 1 | Task 1 | λ 1 ＝0.5 | Airspace 1 |
| 2 | Task 2 | λ 2 ＝0.5 | Airspace 3 |
| 3 | Task 3 | λ 3 ＝0.5 | Airspace 4 |
| 4 | Task 4 | λ 4 ＝0.5 | Airspace 4 |
| 5 | Task 5 | λ 5 ＝0.5 | Airspace 8 |
| 6 | Task 6 | λ 6 ＝1.0 | Airspace 8 |
| 7 | Task 7 | λ 7 ＝0.5 | Airspace 8 |
| 8 | Task 8 | λ 8 ＝1.0 | Airspace 8 |
| 9 | Task 9 | λ 9 ＝1.0 | Airspace 8 |
| 10 | Task 10 | λ 10 ＝0.5 | Airspace 8 |
| 11 | Task 11 | λ 11 ＝0.5 | Airspace 8 |
| 12 | Task 12 | λ 12 ＝0.5 | Airspace 4 |
Spatial domain flow factor: the weight sum of all tasks received by each subarea in a preset time period is shown in the following table;
maneuver allowance time factor:
wherein it is present>
V is the speed limit information of each quantization unit;
the resolution of the quantization unit o is set to Δ R =6km and the speed limit is V =30km/h, and assuming that the alternative path requires 10 quantization units, each quantization unit theoretically allows time to be
In hours, then
Shading angle coverage factor: taking the quantization processing point as a center, dividing the airspace into P small areas, taking the coverage area a of the shielding angle as a radius, and calculating the shielding angle beta of each small area by using DEM data in the navigation path information i ,i∈[1,P]And calculating a shielding angle coverage factor tau in a small area i ＝θ/β i ,i∈[1,P](ii) a The shading angle coverage factor of the quantization processing unit is:
wherein, beta i At > theta, tau i ＝0。
In this embodiment, the whole empty space is divided into 360 small regions, the navigation path information is combined to search for the obstacle with the largest shielding angle in each small region, and the shielding angle is calculated, refer to 5,P 3 The corresponding shielding angle is maximum as
Wherein H is a point P 3 L is a point P 3 Horizontal distance to the quantization processing unit o.
Step D: outputting the path with the optimal measurement and control capacity value as a planning path; and adding the measurement and control capability values corresponding to all the quantitative processing units of each candidate path, outputting the result with the largest value as a planned path, and guiding the mobile measurement and control station to operate.
Claims (6)
1. A navigation planning method for a maneuvering measurement and control station is characterized by comprising the following steps: the method comprises the following steps:
step A: determining a starting point, a destination and task parameters based on the airspace coverage capability of the mobile measurement and control station and the working requirement of a task to be executed;
and B, step B: acquiring possible route information from a starting point to a destination based on the electronic traffic route map to obtain a candidate route and extracting navigation route information;
the navigation path information is as follows: acquiring DEM data of a minimum rectangular envelope capable of covering the existing area;
step C: dividing each candidate line into a plurality of quantitative processing units, calculating the measurement and control capability value of each quantitative processing unit, and superposing the measurement and control capability values of all the quantitative processing units of the candidate line;
the calculation method of the measurement and control capability value in the step C comprises the following steps:
line measurement and control capability value = airspace coverage factor x task weight factor x airspace flow factor x maneuver permission time factor x shielding angle coverage factor;
wherein the content of the first and second substances,
spatial coverage factor: taking the quantization processing unit as a center, dividing the space domain into N sub-regions, wherein the space domain coverage factor of each sub-region is
The unit is degree;
task weight factor: determining task weight based on task type, and recording the weight of each task received in a preset time period and the sub-region where the task is located;
spatial domain flow factor: the weight sum of all tasks received by each sub-area in a preset time period;
maneuver allowance time factor:
wherein the content of the first and second substances,
for the theoretical allowable time of each quantization unit, V is the speed limit information of the quantization unit, and Delta R is the distance between adjacent quantization processing units;
shading angle coverage factor: taking the quantization processing unit as a center, dividing the airspace into P small areas, taking the coverage area a of the shielding angle as a radius, and calculating the shielding angle beta of each small area by using DEM data in the navigation path information i ,i∈[1,P]And calculating a shielding angle coverage factor tau in a small area i ＝θ/β i ,i∈[1,P]Theta is the maximum shielding angle of the obstacle to the mobile measurement and control station; the shading angle coverage factor of the quantization processing unit is:
step D: and outputting the path with the optimal measurement and control capacity value as a planning path.
2. The navigation planning method for the motorized measurement and control station according to claim 1, characterized in that: step A, the airspace coverage capability of the maneuvering measurement and control station comprises the circumferential angle range of the vehicle body
Pitch angle range of vehicle body in front-rear direction
Left and right pitch angle range of vehicle body
3. The navigation planning method for the motorized measurement and control station according to claim 2, characterized in that: the task parameters in the step A comprise maneuvering allowable time T of the maneuvering measurement and control station from a starting point to a destination in unit hours; the maximum shielding angle theta of the obstacle to the mobile measurement and control station, and the coverage range a of the shielding angle are measured in kilometers.
4. The navigation planning method for the motorized measurement and control station according to claim 3, wherein the navigation planning method comprises the following steps: the maximum shielding angle satisfies
5. The navigation planning method for the motorized measurement and control station according to claim 4, wherein the navigation planning method comprises the following steps: the resolution of the quantization processing unit in step C, i.e. the distance between adjacent quantization processing units, is Δ R.
6. The navigation planning method for the motorized measurement and control station according to claim 5, wherein the navigation planning method comprises the following steps: and step C also comprises the step of obtaining the yaw angle of each quantitative processing unit, wherein the yaw angle is the included angle between the direction of the vehicle head and the due north direction.
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