CN114812568B - Track matching area selection method based on rule grading - Google Patents
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle track planning, and particularly relates to a track matching region selection method based on rule grading, which is used for reassigning matchability information in different preprocessing layers in a scoring mode based on a preprocessing result of matchability analysis, integrating a plurality of preprocessing layers in a characteristic square region, enabling the score of each preprocessing grid to indicate the cost of arranging the matching region at the position, and guiding a track planning algorithm to arrange the matching region at the most reasonable position so as to finish autonomous navigation track planning. According to the invention, the automatic planning of the autonomous navigation track comprising the selection of the matching area can be realized, and the planning efficiency of the autonomous navigation track of the unmanned aerial vehicle is greatly reduced.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle track planning, and particularly relates to a track matching region selection method based on rule scoring.
Background
The terrain matching area, the scene matching area, the radar matching area and the like are essential navigation elements for the unmanned aerial vehicle to fly in autonomous navigation (navigation without depending on a remote control or satellite positioning system). When an unmanned aerial vehicle autonomous navigation flight path is planned, the flight path is required to be planned to guide the unmanned aerial vehicle to pass through an available matching area so as to complete autonomous navigation relay, and thus the autonomous navigation flight of the unmanned aerial vehicle is realized.
The selection of various matching areas is related to the feature distribution of the features of the terrain, the scene and the radar, and the area can be used as the matching area for autonomous navigation of the unmanned aerial vehicle only when the features of the selected matching areas meet the requirements of a matching algorithm. The selection of the matching area requires more complicated image processing calculation on the designated area, which takes longer time, and real-time calculation cannot be performed during the flight path planning, so that the selection of the matching area is also the biggest problem in the autonomous navigation planning of the unmanned aerial vehicle.
The matching principle of the matching area is limited, and software cannot simply calculate a block of area to obtain an accurate range of the matching area, so that when the track planning is performed, it cannot be known where the matching area can be arranged, and the trend of the track cannot be determined. In order to solve the problem, a matching area data preprocessing technology is introduced into a track planning system of part of aircrafts, namely, before planning is started, a specified area is traversed according to a certain grid size, the type, the scattering, the height, the entering direction and the like of a circular matching area, the matching analysis is carried out on each piece of space data in the area, when the matching analysis of a specific type, the scattering, the height and the entering direction in one grid passes, the corresponding pixel of the grid is marked with '1' as a characteristic, and otherwise, the corresponding pixel of the grid is marked with '0'. The preprocessing result is formed into a plurality of binary image layers, each image layer corresponds to a specific matching area type, scattering, height and entering direction, and binary information in the image layers can indicate which areas can be matched, so that the unmanned aerial vehicle autonomous navigation track planning is guided.
However, the matching area preprocessing technology has a great problem in practical track planning application, firstly, the number of layers formed by preprocessing is very large, for example, a certain aircraft can use two types of matching algorithms, each type of matching algorithm comprises 10 types of scattering, each type of scattering corresponds to 10 directions, each direction corresponds to 60 direction angles, and then the preprocessing result is 2×10×10×60=12000 layers. In addition, when searching for the matching area, the different layers need to be replaced for replacement of scattering, angles and heights, and the matching performance of the different layers at the same position is different, so that the searching for the matching area is very difficult.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problems that: how to simplify the searching process of the track matching area and improve the selection precision of the track matching area.
(II) technical scheme
In order to solve the technical problems, the invention provides a track matching region selection method based on rule scoring, which comprises the following steps:
Step1: carrying out matching area preprocessing on the track planning area, carrying out matching analysis on the track planning area according to different directions, scattering and types, carrying out matching analysis on the track planning area within the scope of the preprocessing grid area by adopting a preprocessing grid with a preset step length, outputting a preprocessing result of the matching preprocessing grid as 1, and outputting a preprocessing result of the non-matching preprocessing grid as 0, thereby forming a preprocessing layer;
Step 2: acquiring an initial track section, taking the center of the initial track section as the center and the two ends as the boundaries, and intercepting square areas in the north, east, south and west directions of four sides; dividing the square area into a plurality of preprocessing grids; marking the preprocessing grid according to the space distance between the preprocessing grid and the initial track section;
Step 3: sorting the grading assignment sequence of the preprocessing layers according to the heading alpha of the initial track section; the method comprises the following steps: defining the corresponding direction of the ith pretreatment layer as beta i, finding the mth pretreatment layer with the smallest value of |alpha-beta m| and marking as 'layer 0', finding the pretreatment layer n with the next smallest value of |alpha-beta n| and marking as 'layer 1', finding the pretreatment layer t with the next smallest value of |alpha-beta t| and marking as 'layer 2', and so on, completing the sequencing of all q pretreatment layers, and forming a sequenced pretreatment layer group, namely 'layer 0' to 'layer q-1'; wherein, i, m, n, t are 1-q, q is the number of pretreatment layers;
Step 4: square area interception is carried out on the 'layer 0' in the step 3, the interception range is consistent with the interception range in the step2, the intercepted 'layer 0' is used as a reference layer, and grading assignment is carried out on each preprocessing grid in the current reference layer according to the space distance between each preprocessing grid in the current reference layer and an initial track section and the angle difference value between the direction of the current reference layer and the heading of the initial track section;
Then, each preprocessing grid in the layer 1 in the step 3 is subjected to scoring assignment according to the same method, the result is superimposed into a reference layer, and the current reference layer is updated; and analogy is carried out until all the pretreatment layers in the step 2 are overlapped in the reference layer, and a final reference layer is obtained;
Step 5: selecting a preprocessing grid with a value greater than 0 and the smallest value according to the grading and assignment result of the final reference layer in the step 4, and arranging a track matching area at the position of the preprocessing grid;
Thus, the track matching area is obtained through the steps 1 to 5.
In the step 5, when a plurality of preprocessing grids in the final reference layer have the same non-negative minimum assignment, the preprocessing grid closest to the starting point, the middle point or the end point of the navigation section is selected according to the actual requirement of planning, and a track matching area is arranged at the position of the preprocessing grid so as to ensure the optimal planning effect.
Wherein the method further comprises:
Step 6: according to the track matching area arranged in the step 5, the direction of a pretreatment layer corresponding to the matching area is obtained, turning points are arranged at the two ends of the track matching area according to the direction of the pretreatment layer and the direction of the pretreatment layer, and the track matching area is connected with the original initial track through the turning points, so that the track planning is completed.
In the step 2, the intercepting process of the square area is as follows:
Taking the center of the initial track section as the center of a square area, taking the maximum value of the projection length of the initial track section in the east-west direction and the north-south direction as the side length, and intercepting the square areas with four sides along the north-right direction, the east-right direction, the south-right direction and the west-right direction respectively.
In the step 2, the process of marking the preprocessing grid according to the spatial distance between the preprocessing grid and the initial track segment is as follows:
marking the pretreatment grids passing through the initial track section as a '0 th layer', marking the adjacent pretreatment grids on the two sides of the '0 th layer' pretreatment grid as a '1 st layer', marking the adjacent pretreatment grids on the two sides of the '1 st layer' pretreatment grid except the pretreatment grid marked as a '0 th layer' pretreatment grid as a '2 nd layer', and so on, so as to finish the pretreatment grid marking.
In the step 4, the scoring and assigning process for each preprocessing grid in the current reference layer is as follows:
Step 4-1: for "layer 0" obtained in step 2;
A preprocessing grid with a preprocessing result of 1 in the original preprocessing layer, and when the preprocessing grid is marked as a 0 th layer, the preprocessing grid is assigned to be 1; when the pre-processing grid is marked as "layer 1", then a value of "2" is assigned; when the pre-processing grid is marked as "layer 2", then a value of "3" is assigned; similarly, when the pre-processing grid is marked as "layer x", then the value "x+1" is assigned;
The pretreatment grid with the pretreatment result of 0 in the original pretreatment layer is assigned with a value of "-1" no matter the marking structure;
Step 4-2: for the layer 1 obtained in the step 2, the processing method is the same as that of the layer 0;
That is, the preprocessing grid with the preprocessing result of "1" in the original preprocessing layer is assigned with "2" when the preprocessing grid is marked as "layer 0"; when the pre-processing grid is marked as "layer 1", then a value of "3" is assigned; when the pre-processing grid is marked as "layer 2", then a value of "4" is assigned; similarly, when the pre-processing grid is marked as "layer x", then the value "x+2" is assigned;
The pretreatment grid with the pretreatment result of 0 in the original pretreatment layer is assigned with a value of "-1" no matter the marking structure;
similarly, all the assignment of the pretreatment grids from the layer 0 to the layer q-1 is completed;
Step 4-3: after the assignment operation of the layer 1 in the step 4-2 is completed, the scoring assignment result of the layer 1 is overlapped into a reference layer taking the layer 0 as a reference;
in the superposition process, if the assignment of a certain preprocessing grid in the original reference layer is smaller than 0 and the assignment of the corresponding preprocessing grid in the new reference layer is larger than 0, replacing the original assignment in the original reference layer by the assignment in the new reference layer;
if the assignment of a certain preprocessing grid in the original reference layer is smaller than 0, the assignment of the corresponding preprocessing grid in the new reference layer is also smaller than 0, and the original assignment in the original reference layer is reserved;
If the assignment of a certain preprocessing grid in the original reference layer is greater than 0, and the assignment of the corresponding preprocessing grid in the new reference layer is greater than 0 and smaller than the original assignment, replacing the original assignment in the original reference layer by the assignment in the new reference layer;
if the assignment of a certain preprocessing grid in the original reference layer is greater than 0, and the assignment of the corresponding preprocessing grid in the new reference layer is smaller than 0 or greater than the original assignment, the original assignment in the original reference layer is reserved;
thus, the scoring assignment result of the layer 1 is overlapped to the reference layer taking the layer 0 as the reference to form a new current reference layer;
Step 4-4: and repeating the process of the step 4-3 until the score assignment results of the layers 2 to q-1 are all overlapped to the current reference layer, and obtaining the final reference layer.
Wherein, the step 4 further comprises:
step 4-5: after assignment and superposition of all preprocessing layers are completed, in order to avoid the phenomenon that a found matching region cannot be planned due to collision with a no-fly zone during planning, no-fly zone needs to be avoided in searching by considering distribution of no-fly zones during searching of the matching region;
that is, when the pretreatment result is processed, the pretreatment grid corresponding to the no-fly zone is assigned to be "-2";
Secondly, each preprocessing grid with the value of not-2 ' extends to two ends by a certain distance along the direction of the preprocessing layer, and if the preprocessing grid with the value of not-2 ' is encountered in the extending process, the preprocessing grid with the original value of not-2 ' is assigned to be ' 3 '.
In the step 4-2, specific scoring assignment criteria are shown in a chart 1;
Table 1 pretreatment layer score assignment criteria table
In the step 4-4, the assignment rule in the stacking process is shown in table 2, and the italic values in the table are values to be reserved after combination.
TABLE 2 assignment rules after layer stacking
The method is characterized in that based on a preprocessing result of the matchability analysis, matchability information in different preprocessing layers is reassigned in a scoring mode, and a plurality of preprocessing layers in a characteristic square area are integrated, so that the score of each preprocessing grid can indicate the cost of arranging the matching area at the position, and a track planning algorithm is guided to arrange the matching area at the most reasonable position, so that autonomous navigation track planning is completed.
(III) beneficial effects
Aiming at the problems in the prior art, the invention provides a matching area selection method based on rule grading, and based on the preprocessing result of the matchability analysis, the matchability information in different preprocessing layers is reassigned in a scoring mode, and a plurality of preprocessing layers in a characteristic square area are integrated, so that the score of each preprocessing grid can indicate the cost of arranging the matching area at the position, thereby guiding a flight path planning algorithm to arrange the matching area at the most reasonable position, and completing autonomous navigation flight path planning.
By adopting the matching region selection method, the matching region with the minimum planning cost can be selected in a large number of preprocessing layers in a superposition and grading assignment mode, so that autonomous navigation track planning based on the matching region is realized. According to the invention, the automatic planning of the autonomous navigation track comprising the selection of the matching area can be realized, and the planning efficiency of the autonomous navigation track of the unmanned aerial vehicle is greatly reduced.
Drawings
FIG. 1 is a schematic diagram of matching region selection;
FIG. 2 is a schematic diagram of a track matching region plan;
Fig. 3 is a schematic flow chart of the technical scheme of the invention.
Detailed Description
For the purposes of clarity, content, and advantages of the present invention, a detailed description of the embodiments of the present invention will be described in detail below with reference to the drawings and examples.
In order to solve the technical problems, the invention provides a track matching region selection method based on rule scoring, as shown in fig. 1-3, the track matching region selection method comprises the following steps:
Step1: carrying out matching area preprocessing on the track planning area, carrying out matching analysis on the track planning area according to different directions, scattering and types, carrying out matching analysis on the track planning area within the scope of the preprocessing grid area by adopting a preprocessing grid with a preset step length, outputting a preprocessing result of the matching preprocessing grid as 1, and outputting a preprocessing result of the non-matching preprocessing grid as 0, thereby forming a preprocessing layer;
Step 2: acquiring an initial track section, taking the center of the initial track section as the center and the two ends as the boundaries, and intercepting square areas in the north, east, south and west directions of four sides; dividing the square area into a plurality of preprocessing grids; marking the preprocessing grid according to the space distance between the preprocessing grid and the initial track section;
Step 3: sorting the grading assignment sequence of the preprocessing layers according to the heading alpha of the initial track section; the method comprises the following steps: defining the corresponding direction of the ith pretreatment layer as beta i, finding the mth pretreatment layer with the smallest value of |alpha-beta m| and marking as 'layer 0', finding the pretreatment layer n with the next smallest value of |alpha-beta n| and marking as 'layer 1', finding the pretreatment layer t with the next smallest value of |alpha-beta t| and marking as 'layer 2', and so on, completing the sequencing of all q pretreatment layers, and forming a sequenced pretreatment layer group, namely 'layer 0' to 'layer q-1'; wherein, i, m, n, t are 1-q, q is the number of pretreatment layers;
Step 4: square area interception is carried out on the 'layer 0' in the step 3, the interception range is consistent with the interception range in the step2, the intercepted 'layer 0' is used as a reference layer, and grading assignment is carried out on each preprocessing grid in the current reference layer according to the space distance between each preprocessing grid in the current reference layer and an initial track section and the angle difference value between the direction of the current reference layer and the heading of the initial track section;
Then, each preprocessing grid in the layer 1 in the step 3 is subjected to scoring assignment according to the same method, the result is superimposed into a reference layer, and the current reference layer is updated; and analogy is carried out until all the pretreatment layers in the step 2 are overlapped in the reference layer, and a final reference layer is obtained;
Step 5: selecting a preprocessing grid with a value greater than 0 and the smallest value according to the grading and assignment result of the final reference layer in the step 4, and arranging a track matching area at the position of the preprocessing grid;
Thus, the track matching area is obtained through the steps 1 to 5.
In the step 5, when a plurality of preprocessing grids in the final reference layer have the same non-negative minimum assignment, the preprocessing grid closest to the starting point, the middle point or the end point of the navigation section is selected according to the actual requirement of planning, and a track matching area is arranged at the position of the preprocessing grid so as to ensure the optimal planning effect.
Wherein the method further comprises:
Step 6: according to the track matching area arranged in the step 5, the direction of a pretreatment layer corresponding to the matching area is obtained, turning points are arranged at the two ends of the track matching area according to the direction of the pretreatment layer and the direction of the pretreatment layer, and the track matching area is connected with the original initial track through the turning points, so that the track planning is completed.
In the step 2, the intercepting process of the square area is as follows:
Taking the center of the initial track section as the center of a square area, taking the maximum value of the projection length of the initial track section in the east-west direction and the north-south direction as the side length, and intercepting the square areas with four sides along the north-right direction, the east-right direction, the south-right direction and the west-right direction respectively.
In the step 2, the process of marking the preprocessing grid according to the spatial distance between the preprocessing grid and the initial track segment is as follows:
marking the pretreatment grids passing through the initial track section as a '0 th layer', marking the adjacent pretreatment grids on the two sides of the '0 th layer' pretreatment grid as a '1 st layer', marking the adjacent pretreatment grids on the two sides of the '1 st layer' pretreatment grid except the pretreatment grid marked as a '0 th layer' pretreatment grid as a '2 nd layer', and so on, so as to finish the pretreatment grid marking.
In the step 4, the scoring and assigning process for each preprocessing grid in the current reference layer is as follows:
Step 4-1: for "layer 0" obtained in step 2;
a preprocessing grid with a preprocessing result of 1 in the original preprocessing layer, and when the preprocessing grid is marked as a 0 th layer, the preprocessing grid is assigned to be 1; when the pre-processing grid is marked as "layer 1", then a value of "2" is assigned; when the pre-processing grid is marked as "layer 2", then a value of "3" is assigned; similarly, when the pre-processing grid is marked as "layer x", then the value "x+1" is assigned;
The pretreatment grid with the pretreatment result of 0 in the original pretreatment layer is assigned with a value of "-1" no matter the marking structure;
Step 4-2: for the layer 1 obtained in the step 2, the processing method is the same as that of the layer 0;
That is, the preprocessing grid with the preprocessing result of "1" in the original preprocessing layer is assigned with "2" when the preprocessing grid is marked as "layer 0"; when the pre-processing grid is marked as "layer 1", then a value of "3" is assigned; when the pre-processing grid is marked as "layer 2", then a value of "4" is assigned; similarly, when the pre-processing grid is marked as "layer x", then the value "x+2" is assigned;
The pretreatment grid with the pretreatment result of 0 in the original pretreatment layer is assigned with a value of "-1" no matter the marking structure;
similarly, all the assignment of the pretreatment grids from the layer 0 to the layer q-1 is completed;
Step 4-3: after the assignment operation of the layer 1 in the step 4-2 is completed, the scoring assignment result of the layer 1 is overlapped into a reference layer taking the layer 0 as a reference;
in the superposition process, if the assignment of a certain preprocessing grid in the original reference layer is smaller than 0 and the assignment of the corresponding preprocessing grid in the new reference layer is larger than 0, replacing the original assignment in the original reference layer by the assignment in the new reference layer;
if the assignment of a certain preprocessing grid in the original reference layer is smaller than 0, the assignment of the corresponding preprocessing grid in the new reference layer is also smaller than 0, and the original assignment in the original reference layer is reserved;
If the assignment of a certain preprocessing grid in the original reference layer is greater than 0, and the assignment of the corresponding preprocessing grid in the new reference layer is greater than 0 and smaller than the original assignment, replacing the original assignment in the original reference layer by the assignment in the new reference layer;
if the assignment of a certain preprocessing grid in the original reference layer is greater than 0, and the assignment of the corresponding preprocessing grid in the new reference layer is smaller than 0 or greater than the original assignment, the original assignment in the original reference layer is reserved;
thus, the scoring assignment result of the layer 1 is overlapped to the reference layer taking the layer 0 as the reference to form a new current reference layer;
Step 4-4: and repeating the process of the step 4-3 until the score assignment results of the layers 2 to q-1 are all overlapped to the current reference layer, and obtaining the final reference layer.
Wherein, the step 4 further comprises:
step 4-5: after assignment and superposition of all preprocessing layers are completed, in order to avoid the phenomenon that a found matching region cannot be planned due to collision with a no-fly zone during planning, no-fly zone needs to be avoided in searching by considering distribution of no-fly zones during searching of the matching region;
that is, when the pretreatment result is processed, the pretreatment grid corresponding to the no-fly zone is assigned to be "-2";
Secondly, each preprocessing grid with the value of not-2 ' extends to two ends by a certain distance along the direction of the preprocessing layer, and if the preprocessing grid with the value of not-2 ' is encountered in the extending process, the preprocessing grid with the original value of not-2 ' is assigned to be ' 3 '.
In the step 4-2, specific scoring assignment criteria are shown in a chart 3;
TABLE 3 pretreatment layer score assignment criteria table
In the step 4-4, the assignment rule in the stacking process is shown in table 4, and the italic values in the table are values to be reserved after combination.
TABLE 4 assignment rules after layer stacking
The method is characterized in that based on a preprocessing result of the matchability analysis, matchability information in different preprocessing layers is reassigned in a scoring mode, and a plurality of preprocessing layers in a characteristic square area are integrated, so that the score of each preprocessing grid can indicate the cost of arranging the matching area at the position, and a track planning algorithm is guided to arrange the matching area at the most reasonable position, so that autonomous navigation track planning is completed.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (8)
1. The track matching region selection method based on the rule grading is characterized by comprising the following steps of:
Step1: carrying out matching area preprocessing on the track planning area, carrying out matching analysis on the track planning area according to different directions, scattering and types, carrying out matching analysis on the track planning area within the scope of the preprocessing grid area by adopting a preprocessing grid with a preset step length, outputting a preprocessing result of the matching preprocessing grid as 1, and outputting a preprocessing result of the non-matching preprocessing grid as 0, thereby forming a preprocessing layer;
Step 2: acquiring an initial track section, taking the center of the initial track section as the center and the two ends as the boundaries, and intercepting square areas in the north, east, south and west directions of four sides; dividing the square area into a plurality of preprocessing grids; marking the preprocessing grid according to the space distance between the preprocessing grid and the initial track section;
in the step 2, the intercepting process of the square area is as follows:
taking the center of the initial track section as the center of a square area, taking the maximum value of the projection length of the initial track section in the east-west direction and the north-south direction as the side length, and intercepting the square area with four sides along the north-right direction, the east-right direction, the south-right direction and the west-right direction respectively;
in the step 2, the process of marking the preprocessing grid according to the spatial distance between the preprocessing grid and the initial track segment is as follows:
marking the pretreatment grids passing through the initial track section as a '0 th layer', marking the adjacent pretreatment grids on the two sides of the '0 th layer' pretreatment grid as a '1 st layer', marking the adjacent pretreatment grids on the two sides of the '1 st layer' pretreatment grid except the pretreatment grid marked as a '0 th layer' pretreatment grid as a '2 nd layer', and so on to finish the pretreatment grid marking;
Step 3: sorting the grading assignment sequence of the preprocessing layers according to the heading alpha of the initial track section; the method comprises the following steps: defining the corresponding direction of the ith pretreatment layer as beta i, finding the mth pretreatment layer with the smallest value of |alpha-beta m| and marking as 'layer 0', finding the pretreatment layer n with the next smallest value of |alpha-beta n| and marking as 'layer 1', finding the pretreatment layer t with the next smallest value of |alpha-beta t| and marking as 'layer 2', and so on, completing the sequencing of all q pretreatment layers, and forming a sequenced pretreatment layer group, namely 'layer 0' to 'layer q-1'; wherein, i, m, n, t are 1-q, q is the number of pretreatment layers;
Step 4: square area interception is carried out on the 'layer 0' in the step 3, the interception range is consistent with the interception range in the step2, the intercepted 'layer 0' is used as a reference layer, and grading assignment is carried out on each preprocessing grid in the current reference layer according to the space distance between each preprocessing grid in the current reference layer and an initial track section and the angle difference value between the direction of the current reference layer and the heading of the initial track section;
Then, each preprocessing grid in the layer 1 in the step 3 is subjected to scoring assignment according to the same method, the result is superimposed into a reference layer, and the current reference layer is updated; and analogy is carried out until all the pretreatment layers in the step 2 are overlapped in the reference layer, and a final reference layer is obtained;
Step 5: selecting a preprocessing grid with a value greater than 0 and the smallest value according to the grading and assignment result of the final reference layer in the step 4, and arranging a track matching area at the position of the preprocessing grid;
Thus, the track matching area is obtained through the steps 1 to 5.
2. The method for selecting track matching area based on rule score according to claim 1, wherein in step 5, when a plurality of preprocessing grids in the final reference layer have the same non-negative minimum assignment, the preprocessing grid closest to the beginning, midpoint or end of the leg is selected according to the actual requirement of planning, and the track matching area is arranged at the position where the preprocessing grid is located so as to ensure the optimal planning effect.
3. A rule score based track matching zone selection method as claimed in claim 1, wherein the method further comprises:
Step 6: according to the track matching area arranged in the step 5, the direction of a pretreatment layer corresponding to the matching area is obtained, turning points are arranged at the two ends of the track matching area according to the direction of the pretreatment layer and the direction of the pretreatment layer, and the track matching area is connected with the original initial track through the turning points, so that the track planning is completed.
4. The track matching region selection method based on rule scoring according to claim 1, wherein in the step 4, the scoring assignment process for each preprocessing grid in the current reference layer is as follows:
Step 4-1: for "layer 0" obtained in step 2;
A preprocessing grid with a preprocessing result of 1 in the original preprocessing layer, and when the preprocessing grid is marked as a 0 th layer, the preprocessing grid is assigned to be 1; when the pre-processing grid is marked as "layer 1", then a value of "2" is assigned; when the pre-processing grid is marked as "layer 2", then a value of "3" is assigned; similarly, when the pre-processing grid is marked as "layer x", then the value "x+1" is assigned;
The pretreatment grid with the pretreatment result of 0 in the original pretreatment layer is assigned with a value of "-1" no matter the marking structure;
Step 4-2: for the layer 1 obtained in the step 2, the processing method is the same as that of the layer 0;
That is, the preprocessing grid with the preprocessing result of "1" in the original preprocessing layer is assigned with "2" when the preprocessing grid is marked as "layer 0"; when the pre-processing grid is marked as "layer 1", then a value of "3" is assigned; when the pre-processing grid is marked as "layer 2", then a value of "4" is assigned; similarly, when the pre-processing grid is marked as "layer x", then the value "x+2" is assigned;
The pretreatment grid with the pretreatment result of 0 in the original pretreatment layer is assigned with a value of "-1" no matter the marking structure;
similarly, all the assignment of the pretreatment grids from the layer 0 to the layer q-1 is completed;
Step 4-3: after the assignment operation of the layer 1 in the step 4-2 is completed, the scoring assignment result of the layer 1 is overlapped into a reference layer taking the layer 0 as a reference;
in the superposition process, if the assignment of a certain preprocessing grid in the original reference layer is smaller than 0 and the assignment of the corresponding preprocessing grid in the new reference layer is larger than 0, replacing the original assignment in the original reference layer by the assignment in the new reference layer;
if the assignment of a certain preprocessing grid in the original reference layer is smaller than 0, the assignment of the corresponding preprocessing grid in the new reference layer is also smaller than 0, and the original assignment in the original reference layer is reserved;
If the assignment of a certain preprocessing grid in the original reference layer is greater than 0, and the assignment of the corresponding preprocessing grid in the new reference layer is greater than 0 and smaller than the original assignment, replacing the original assignment in the original reference layer by the assignment in the new reference layer;
if the assignment of a certain preprocessing grid in the original reference layer is greater than 0, and the assignment of the corresponding preprocessing grid in the new reference layer is smaller than 0 or greater than the original assignment, the original assignment in the original reference layer is reserved;
thus, the scoring assignment result of the layer 1 is overlapped to the reference layer taking the layer 0 as the reference to form a new current reference layer;
Step 4-4: and repeating the process of the step 4-3 until the score assignment results of the layers 2 to q-1 are all overlapped to the current reference layer, and obtaining the final reference layer.
5. The rule score based track matching zone selection method of claim 4, wherein said step 4 further comprises:
step 4-5: after assignment and superposition of all preprocessing layers are completed, in order to avoid the phenomenon that a found matching region cannot be planned due to collision with a no-fly zone during planning, no-fly zone needs to be avoided in searching by considering distribution of no-fly zones during searching of the matching region;
that is, when the pretreatment result is processed, the pretreatment grid corresponding to the no-fly zone is assigned to be "-2";
Secondly, each preprocessing grid with the value of not-2 ' extends to two ends by a certain distance along the direction of the preprocessing layer, and if the preprocessing grid with the value of not-2 ' is encountered in the extending process, the preprocessing grid with the original value of not-2 ' is assigned to be ' 3 '.
6. The method for selecting track matching regions based on rule scoring according to claim 4, wherein in step 4-2, specific scoring assignment criteria are shown in table 1;
Table 1 pretreatment layer score assignment criteria table
7. The method for selecting track matching area based on rule score according to claim 4, wherein in step 4-4, assignment rules of the stacking process are shown in table 2, and italics values in the table are values to be reserved after combination;
TABLE 2 assignment rules after layer stacking
8. The method for selecting a track matching area based on rule scoring according to claim 1, wherein the method reassigns the matable information in different preprocessing layers by way of scoring based on the preprocessing result of the matable analysis, and integrates a plurality of preprocessing layers in a characteristic square area, so that the score of each preprocessing grid can indicate the cost of arranging the matching area at the position, thereby guiding the track planning algorithm to arrange the matching area at the most reasonable position and completing autonomous navigation track planning.
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