CN116501083A - Marine flight path planning system based on A algorithm - Google Patents
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Abstract
The invention discloses a marine track planning system based on an A-algorithm, which relates to a track planning technology, and comprises the following steps: the interface input module is used for receiving task information and system information; the flight path planning module is used for carrying out standardized processing according to the task information and the system information received by the interface input module, and generating a primary planning result and a secondary planning result through constraint conflict resolution and two-stage task analysis by an offshore flight path planning model based on an A-algorithm; and the planning result display module is used for displaying the planning scheme and the execution action time sequence fed back by the track planning module according to the real-time interaction information of the interface input module. The system can remarkably reduce the requirements on command schedulers and greatly improve the automation level of marine track planning.
Description
Technical Field
The invention relates to a track planning technology, in particular to an offshore track planning system based on an A-algorithm.
Background
The 21 st century is the century of the ocean. The rapid development of marine industry has led to rapid lifting of marine industry, but at the same time, the situation of originally busy water traffic has become more complex: the trend of the diversification of the types of ships, the enlargement of the sizes of ships and the densification of navigation waters increases the risk of water traffic. Thus, the development of airlines by people has also gradually shifted from the rapidity and economy of primary interest to ensuring minimum voyage costs in safety-oriented situations. How to quickly and effectively plan a safe and reliable route under a complex navigation environment has become an important point of current research.
Disclosure of Invention
The invention aims at solving the problem of how to rapidly and effectively plan a safe and reliable route in a complex navigation environment, and provides an offshore track planning system based on an A-algorithm, which can remarkably reduce the requirements on command schedulers and greatly improve the automation level of offshore track planning.
The technical scheme of the invention is to provide an offshore track planning system based on an A algorithm, which comprises: the interface input module is used for receiving task information and system information, wherein the task information comprises a task number, a task type, task execution time, a departure place and a task place, and the system information comprises an equipment name, a power range, an equipment type and the like; the flight path planning module is used for carrying out standardized processing according to the task information and the system information received by the interface input module, and generating a primary planning result and a secondary planning result through constraint conflict resolution and two-stage task analysis by the marine flight path planning model; the primary task analysis refers to distributing nodes, a data processing platform, time and frequency for a currently created task according to the acquired task mode and parameters, system parameters and system resources; the secondary task analysis is to determine working parameters of each subsystem according to the created task and each resource corresponding to the task, store primary planning result information and secondary planning result into a database, form a complete planning scheme according to the primary planning result information and the secondary planning result, convert the planning scheme into execution action time sequence according to a specified data interface and feed back the execution action time sequence to a planning result display module; and the planning result display module is used for displaying the planning scheme and the execution action time sequence fed back by the track planning module according to the real-time interaction information of the interface input module.
Further, the operating parameters of each subsystem include at least one of: transmitting frequency point parameters, transmitting power parameters and transmitting waveform parameters in the transmitting node subsystem, receiving frequency point parameters and receiving preprocessing parameters in the receiving node subsystem, and processing parameters of application tasks in the data processing platform subsystem.
Further, the planning result display module is further used for carrying out interface interaction with an information sending subsystem, an information receiving subsystem, a data processing platform subsystem and a time-frequency subsystem of the support layer; and the planning scheme and the execution action time sequence fed back by the track planning module are displayed in a scheme simulation deduction mode.
Further, the interface input module is further configured to receive a planning strategy, where the planning strategy includes a navigation sensing mode, a task mode, and a fast response mode; and the track planning module is also used for carrying out standardized processing according to the task information, the planning strategy and the system information received by the interface input module, and generating a primary planning result and a secondary planning result through constraint conflict resolution and two-stage task analysis by the marine track planning model.
Further, the marine track planning model based on the A-algorithm is a marine track planning model based on the A-algorithm of cambered surface calculation.
The invention has the beneficial effects that: the marine track planning system based on the A-algorithm can remarkably reduce the requirements on command schedulers, and greatly improves the automation level of marine track planning. In addition, the marine track planning model can comprehensively analyze the common characteristics and characteristic differences of tasks needing to be planned, fully consider constraint factors in multiple aspects such as working frequency, bandwidth, wave beam, power and the like, establish a marine track planning problem model with wide adaptability, meet the planning requirements of different business scenes, and realize dynamic adjustment of operation planning, real-time matching of system resources and collaborative guarantee.
Drawings
The advantages of the foregoing and/or additional aspects of the invention will become apparent and may be better understood from the description of the embodiments taken in conjunction with the following drawings in which:
FIG. 1 is a schematic diagram of an offshore track planning system based on an A-algorithm;
FIG. 2 is a schematic diagram of a track planning procedure;
FIG. 3 is a schematic diagram of a course of action of navigation sensing;
FIG. 4 is a schematic diagram of a task-specific course of action diagram;
FIG. 5 is a schematic diagram of a fast response course of action diagram;
FIG. 6 is a schematic diagram of the execution flow of the marine track planning system based on the A-algorithm;
FIG. 7 is a schematic diagram of the functional components of an offshore track planning system based on the A-algorithm;
FIG. 8 is a schematic diagram of the information interface inside the marine track planning system based on the A-algorithm;
fig. 9 is a schematic diagram of the algorithmic logic structure of the marine track planning method.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
As shown in fig. 1, this embodiment provides an offshore track planning system based on an a algorithm, comprising:
the interface input module is used for inputting task demand information and system resource information, and the information can be stored in a database of the data layer. The task information includes a task number, a task type, a task execution time, a departure place, a task place, and the like, and the system resource information includes a device name, a power range, a device type, and the like.
The task demand information and the system resource information can be input into the interface layer, and the information can be stored into a database of the data layer. The task information includes a task number, a task type, a task execution time, a departure place, a task place, and the like, and the system resource information includes a device name, a power range, a device type, and the like. In the navigation sensing mode, the ship finds a measurement target, so that task information can be recorded according to the measurement target, and in the special task and the quick response mode, a shore-based center records tasks in the system.
After the interface layer inputs information, the function layer acquires a planning object comprising resource information and task information. And planning is carried out facing to a planning target, and input data is standardized according to the model requirement of an algorithm, namely, the construction of a physical data access model is completed, and basic operation on lower physical data is provided. And finally, sequentially executing the solution steps according to the intelligent algorithm, and generating a primary planning result and a secondary planning result through constraint conflict resolution and two-stage task resolution. The primary task analysis mainly refers to distributing various corresponding resources such as nodes, data processing platforms, time, frequency and the like for the currently created task according to the acquired task mode and parameters, system resources and the like, for example, the information such as the number, the number and the like of the selected receiving and transmitting nodes. The second-level task analysis refers to determining working parameters of each subsystem, such as a transmitting frequency point parameter, a transmitting power parameter and a transmitting waveform parameter in a transmitting node subsystem, a receiving frequency point parameter and a receiving preprocessing parameter in a receiving node subsystem, an application task processing parameter in a data processing platform subsystem and the like, according to the created task, various resources distributed by the system for the task and the like.
The primary planning result information and the secondary planning result information are stored in a data layer of a database, a complete planning scheme is formed, the primary planning result information and the secondary planning result information are converted into execution action time sequences according to a specified data interface, and the execution action time sequences are fed back to a user for checking, namely scheme simulation deduction. And clicking a deduction button on a navigation planning page in the shore-based system to check.
The monitoring module can interact information with the interface layer in real time, and interacts with the information sending subsystem, the information receiving subsystem, the data processing platform subsystem and the time-frequency subsystem of the supporting layer in an interface mode.
And the track planning module is used for carrying out standardized processing on the input data according to the model requirement of the algorithm, namely completing the construction of a physical data access model and providing basic operation on the lower physical data. And finally, sequentially executing the solution steps according to the intelligent algorithm, and generating a primary planning result and a secondary planning result through constraint conflict resolution and two-stage task resolution. The primary task analysis mainly refers to distributing various corresponding resources such as nodes, data processing platforms, time, frequency and the like for the currently created task according to the acquired task mode and parameters, system resources and the like, for example, the information such as the number, the number and the like of the selected receiving and transmitting nodes. The second-level task analysis refers to determining working parameters of each subsystem, such as a transmitting frequency point parameter, a transmitting power parameter and a transmitting waveform parameter in a transmitting node subsystem, a receiving frequency point parameter and a receiving preprocessing parameter in a receiving node subsystem, an application task processing parameter in a data processing platform subsystem and the like, according to the created task, various resources distributed by the system for the task and the like. The primary planning result information and the secondary planning result information are stored in a data layer of a database, a complete planning scheme is formed, and the primary planning result information and the secondary planning result information are converted into execution action time sequences according to a specified data interface and fed back to a user for checking.
In some embodiments, the marine trail plan model described in the trail plan module may be modeled by the following ways (including marine trail plan model design and marine map model design):
1. marine flight path planning model design
The marine flight path planning model design includes mission planning and route management designs.
The task list comprises a task number, a task type, an applicant, a task application time, a task starting time, a task ending time, a sensing area, a departure place, a task place and a target mmsi number;
wherein, the task number is a unique number for distinguishing different tasks;
the task type is a type representing a task, and is a sensing along with navigation, quick response or special task mode;
the applicant and the task application time are used for determining the task requirements of which user;
the task starting time refers to the time when the ship starts to execute the task;
the task ending time refers to the estimated ending time of the ship executing the task;
the sensing area is a rough range given in the ship path planning, and a path needs to be planned for the ship, so that the ship can quickly find out a target in the area;
the departure place is the departure place of the task;
the task location is a target location of the task;
the target mmsi number is the unique mmsi number of the target and is used for acquiring information such as the track, the state and the like of the target;
when a task has a planning conflict with other tasks, the task priority task is used for judging which task is planned first, and the task with high priority is planned first.
The specific task attribute characteristics are shown in table 1:
TABLE 1 Marine flight path planning task field table
Wherein, marine track planning route field table: the route number is a unique number for distinguishing different routes; the ship number is the unique ship number running on the route; the route coordinate point set is a set formed by a plurality of coordinate points; combining, wherein each coordinate point comprises longitude and latitude information and the like; the navigation distance represents the distance calculated by the route according to the cambered surface of the earth; the average speed represents the predicted average speed for that route.
The specific route attribute characteristics are shown in table 2:
TABLE 2 Marine flight path planning route field table
| Column name | Description of the invention |
| routekId | Route numbering |
| shipId | Ship numbering |
| route | Course coordinate point set |
| sailingDistance | Distance travelled |
| averageVelocity | Average speed of |
Wherein, in the marine track planning coordinate point set field table: the coordinate point numbers are unique numbers for distinguishing different coordinate points; the route number is the number of the route to which the coordinate point belongs; longitude represents the longitude value of the coordinate point; latitude means the latitude value of the coordinate point; the observation angle represents the orientation of the vessel orientation device in the case of the vessel at that coordinate.
The specific coordinate point set attribute characteristics are shown in table 3:
TABLE 3 offshore track planning coordinate point set field table
| Column name | Description of the invention |
| coordinateId | Coordinate point numbering |
| routeId | Route numbering |
| longitude | Longitude and latitude |
| latitude | Latitude of latitude |
| observeAngle | Observation angle |
2. Ocean map model design details
Marine environmental geographic information in electronic sea charts is usually composed of complex geometric figures, modeling processing is required in path planning, and rasterization is the most commonly used processing method. For the rasterization of the chart, selecting a proper grid scale is a key point, selecting a proper grid scale can obviously improve the planning efficiency and obtain a better planning result, but too small grid scale can greatly reduce the planning efficiency, too large grid scale can damage the connectivity of the planning space, the algorithm multiplies a larger value of longitude difference and altitude difference of a starting point and an end point of path planning by 1.4 to form a square as a planning area, all grids in the area are intercepted, and a 100×100 planning matrix is generated, and can be used for path planning based on an A-algorithm calculated by an arc surface. The track planning flow is shown in fig. 2: (1) placing the task point into an OPEN table; (2) Judging whether an OPEN table of the current point pNode is empty, judging whether the current point pNode reaches a target point if the OPEN table is empty, and continuing (3) if the current point pNode is not empty; (3) Taking the point with the minimum cost in the OPEN table of the current point, putting the point into the CLOSE table, and deleting the point in the OPEN table; (4) Judging whether the target point is reached, if so, outputting a track point, otherwise, turning to (5); (5) Expanding the adjacent node of the current point (through turning angle and threat constraint processing), judging whether the adjacent node is empty, taking a father node of the adjacent node if the adjacent node is empty (continuously taking a value to the father node if an OPEN table of the father node is empty here), and jumping to the step (2); if not, the constraint processing (maximum voyage constraint and maximum height constraint) is carried out; (6) Judging whether the neighbor node exists in a CLOSE table, if so, indicating that the point is traversed, and if so, determining; if not, judging whether the OPEN table exists, if not, calculating corresponding data, putting the corresponding data into the OPEN table, and if so, updating the data, and continuing (2); (7) And outputting the track point when the target point is reached, otherwise, failing to plan the track.
In some alternative embodiments, the interface input module may be further configured to receive a planning strategy including a navigation sensing mode, a mission specific mode, and a fast response mode.
Specifically, the navigation-following sensing mode is to conduct characteristic measurement aiming at key areas or targets around a planned route of the scientific investigation ship on the premise of not affecting the completion of daily navigation operation tasks. The action mode is mainly initiated by a commander along with the ship, the maintenance of the daily sailing operation task is still guaranteed to be a primary target, and then the on-the-fly sensing is alternately carried out on the premise of time and sailing cost permission, the advancing route and the sailing plan of the scientific investigation ship are properly adjusted according to the on-the-fly sensing requirement, and the main purpose of sailing out of the scientific investigation ship is not influenced.
The detailed action process of the navigation sensing mode is shown in fig. 3, and the detailed action process of the navigation sensing mode is as follows, wherein the scientific investigation ship operates according to the set navigation route: the scientific investigation ship engages in daily operation tasks except for data acquisition projects; the scientific research ship finds out a target which is worth focusing on along with the navigation personnel: the scientific investigation ship finds out targets which are worthy of attention on target comprehensive situation research and judgment software in the daily operation process, such as targets of foreign investigation ships, warships and the like; adding an object of interest: adding a target of interest on a target characteristic measurement control software interface by a scientific investigation ship along with a navigation personnel; displaying a target of interest list: displaying manually added attention target list information on a 'target characteristic measurement control software' interface; measuring route planning: the measuring action planning and management software operator plans out a suitable route according to the current navigation information of the scientific investigation ship and the position, speed, course and other information of the target, and displays the planned route information on an interface to provide navigation information for personnel following the ship; measurement control planning: measuring action planning and management software operators carry out measurement control planning on the measuring equipment according to the power range of the characteristic equipment and the information of the position, the navigational speed, the navigational direction and the like of the target, and the measurement control planning comprises control of opening, closing, orientation, opening sequence and the like of the measuring equipment; displaying the measurement control planning result on an interface to provide measurement control support for the navigation personnel; approaching the target: after the target position is locked, the scientific investigation ship approaches the target according to the target situation information under the condition of ensuring the safety distance, so that the target is in the observation range of the characteristic equipment, and the target is measured in multiple directions; the measurement data is transmitted to the shore base in real time: the measurement results obtained after the quantitative processing of the measurement equipment are transmitted back to the shore-based information center in real time through the satellite communication link, and the measurement data transmitted to the shore-based information center comprise information such as RCS value, one-dimensional range profile, electromagnetic signal pulse width value, radio frequency value, heavy cycle value, azimuth, amplitude, radiation brightness curve and the like; manually judging whether the target multi-azimuth measurement is completed or not: the ship personnel makes a decision according to the measurement condition of the target of interest, judges whether the multi-azimuth measurement of the target is completed, and updates a measurement route and a measurement control plan if the multi-azimuth measurement of the target is not completed yet, so as to carry out a new round of measurement on the target; ending the target of interest measurement: when the ship personnel judge that the target is subjected to multi-azimuth measurement, ending the measurement of the target of interest; the scientific investigation ship continues the previous sailing route operation: and the scientific investigation ship continues sailing operation according to the original set sailing route.
Specifically, the special task mode is oriented to the important offshore sensing special action requirements of the user so as to formulate and develop the offshore special sensing action task of the scientific research ship. The action mode is mainly initiated by information center commanders, and a complete action plan is formed through task planning, including newly-added scientific investigation ship navigation planning, whole course action scheduling planning of sailing out, operation and return, and the like, so that a guarantee is provided for a large special action task.
The detailed action process of the special task mode is as shown in fig. 4, wherein the detailed action process of the special task mode is as follows, the shore-based center initiates the action task registration: the shore-based center initiates action task registration in measurement action planning and management software; selecting a sea area of interest: selecting a sea area for executing tasks by a scientific investigation ship through a page, wherein the sea area comprises a place name and longitude and latitude information; selecting action duration: according to task demands, selecting the starting time and the ending time of executing the task by the scientific investigation ship through the page; special action mode: selecting a scientific investigation ship action mode as a special action mode; editing action remarks: the method comprises the steps of editing action task details of a scientific investigation ship through a page, wherein the action task details comprise information such as task purposes, task names, task target nationalities, task target lengths, task target board numbers, task target AIS and the like; intelligent navigation route planning: according to the action task demands, the planning of the navigation route of the scientific investigation ship is realized through an intelligent navigation route planning model; generating a navigation plan: after the intelligent sailing route is planned, a sailing plan is generated, wherein the sailing plan comprises information such as a scientific investigation ship sailing route, sailing time, sailing speed and the like; manual approval correction of navigation plans: the shore-based center measures a navigation plan generated by manual approval or revision of an action planning and management software operator; action task release: after the manual approval of the navigation plan is passed, the action task registration information and the navigation plan are combined to issue an action task plan; the scientific investigation ship receives the planning task: receiving task planning information issued by a shore-based center by a scientific investigation ship; preparing for a scientific investigation ship to go out of the way: after receiving the task, the scientific investigation ship starts to navigate and prepares, and the preparation content comprises personnel preparation, material preparation and equipment inspection; personnel preparation: the special data acquisition action related personnel make preparations for boarding; preparing materials: preparing living materials according to the duration of the action task and the number of scientific investigation ship workers; equipment inspection: checking whether electromagnetic scattering property measuring equipment, electromagnetic radiation property measuring equipment and optical property measuring equipment and other scientific investigation ship data acquisition equipment work normally or not; rush to the concerned sea area: the scientific investigation ship sails towards the concerned area according to the published sailing plan; reaching the sea area of interest: the scientific investigation ship approaches the concerned sea area according to the departure of the planned navigation route; arrival reminding: after the ship is approaching the concerned sea area, the front page issues prompt information, including information such as prompt for reaching the concerned sea area, prompt for searching path planning, and the like; searching path planning: after the scientific investigation ship reaches the focused sea area, planning a searching path of the scientific investigation ship in the focused sea area is realized through a searching path planning model; navigation along a search path: sailing along the planned searching path; finding a task target: judging and finding a task target according to task information (target AIS number, target navigational speed, target board number, target length and the like) and scientific investigation ship region scanning result information; adding an object of interest: adding a target of interest on a target characteristic measurement control software interface by a scientific investigation ship along with a navigation personnel; displaying a target of interest list: displaying manually added attention target list information on a 'target characteristic measurement control software' interface; measuring route planning: the measuring action planning and management software operator plans out a suitable route according to the current navigation information of the scientific investigation ship and the position, speed, course and other information of the target, and displays the planned route information on an interface to provide navigation information for personnel following the ship; measurement control planning: measuring action planning and management software operators carry out measurement control planning on the measuring equipment according to the power range of the characteristic equipment and the information of the position, the navigational speed, the navigational direction and the like of the target, and the measurement control planning comprises control of opening, closing, orientation, opening sequence and the like of the measuring equipment; displaying the measurement control planning result on an interface to provide measurement control support for the navigation personnel; approaching the target: after the target position is locked, the scientific investigation ship approaches the target according to the target situation information under the condition of ensuring the safety distance, so that the target is in the observation range of the characteristic equipment, and the target is measured in multiple directions; starting target characteristic measurement, namely carrying out acquisition of electromagnetic scattering characteristic, electromagnetic radiation characteristic and optical characteristic data on a task target; manually judging whether the target multi-azimuth measurement is completed or not: the ship personnel makes a decision according to the measurement condition of the target of interest, judges whether the multi-azimuth measurement of the target is completed, and updates a measurement route and a measurement control plan if the multi-azimuth measurement of the target is not completed yet, so as to carry out a new round of measurement on the target; manually determining whether to complete a search along a search path: the scientific investigation ship is followed by the navigation personnel according to the actual navigation route, whether the search of the concerned sea area is completed according to the search route is screened, and if the actual route does not completely cover the search route, a new round of target search is needed according to the search route; ending the special task: and finishing the special task and returning the scientific investigation ship.
Specifically, the fast response mode is to face the sudden emergency sensing requirement of the user so as to rapidly plan and adjust the current sailing operation plan. The action mode is mainly initiated by information center commanders, and the scientific investigation ship pauses or stops the existing navigation operation planning according to the importance degree and the priority of the demands, and reaches the sensing area at the highest speed to develop the sensing operation.
The specific action process is shown in fig. 5, and the detailed action process of the quick response mode is as follows: refers to a daily operation task of the scientific research ship except for a project for acquiring data of the cost; the center or the scientific research ship initiates action task registration: the command dispatcher and the scientific investigation ship register a new characteristic measurement action task along with the ship measurement and control personnel according to the actual action task requirement; selecting a sea area of interest: selecting a sea area for executing tasks by a scientific investigation ship through a page, wherein the sea area comprises a place name and longitude and latitude information; selecting action duration: according to task demands, selecting the starting time and the ending time of executing the task by the scientific investigation ship through the page; selecting an action mode: selecting a scientific investigation ship action mode as a quick response action mode; editing action remarks: remark task target detailed information such as MMSI number, ship board number, ship nationality, ship width and the like; intelligent navigation route planning: according to the action task demands, the planning of the navigation route of the scientific investigation ship is realized through an intelligent navigation route planning model; generating a navigation plan: after the intelligent sailing route is planned, a sailing plan is generated, wherein the sailing plan comprises information such as a scientific investigation ship sailing route, sailing time, sailing speed and the like; manual approval correction of navigation plans: the shore-based center measures a navigation plan generated by manual approval or revision of an action planning and management software operator; action task release: after the manual approval of the navigation plan is passed, the action task registration information and the navigation plan are combined to issue an action task plan; the scientific research ship receives action task information: receiving action task information issued by a shore-based center by a scientific investigation ship; the scientific investigation ship responds to the quick response task: the scientific research ship responds and starts to execute the task after receiving the action task information; pause or terminate the current task: pausing or stopping the current task and starting a quick response task; correcting the route and reaching the concerned sea area; correcting the current daily mission route, and reaching the concerned sea area according to the sailing plan; reaching the sea area of interest: the scientific investigation ship approaches the concerned sea area according to the departure of the planned navigation route; arrival reminding: after the ship is approaching the concerned sea area, the front page issues prompt information, including information such as prompt for reaching the concerned sea area, prompt for searching path planning, and the like; searching path planning: after the scientific investigation ship reaches the focused sea area, planning a searching path of the scientific investigation ship in the focused sea area is realized through a searching path planning model; navigation along a search path: sailing along the planned searching path; finding a task target: judging and finding a task target according to task information (target AIS number, target navigational speed, target board number, target length and the like) and scientific investigation ship region scanning result information; adding an object of interest: adding a target of interest on a target characteristic measurement control software interface by a scientific investigation ship along with a navigation personnel; displaying a target of interest list: displaying manually added attention target list information on a 'target characteristic measurement control software' interface; measuring route planning: the measuring action planning and management software operator plans out a suitable route according to the current navigation information of the scientific investigation ship and the position, speed, course and other information of the target, and displays the planned route information on an interface to provide navigation information for personnel following the ship; measurement control planning: measuring action planning and management software operators carry out measurement control planning on the measuring equipment according to the power range of the characteristic equipment and the information of the position, the navigational speed, the navigational direction and the like of the target, and the measurement control planning comprises control of opening, closing, orientation, opening sequence and the like of the measuring equipment; displaying the measurement control planning result on an interface to provide measurement control support for the navigation personnel; approaching the target: after the target position is locked, the scientific investigation ship approaches the target according to the target situation information under the condition of ensuring the safety distance, so that the target is in the observation range of the characteristic equipment, and the target is measured in multiple directions; manually judging whether the target multi-azimuth measurement is completed or not: the ship personnel makes a decision according to the measurement condition of the target of interest, judges whether the multi-azimuth measurement of the target is completed, and updates a measurement route and a measurement control plan if the multi-azimuth measurement of the target is not completed yet, so as to carry out a new round of measurement on the target; manually determining whether to complete a search along a search path: the scientific investigation ship is followed by the navigation personnel according to the actual navigation route, whether the search of the concerned sea area is completed according to the search route is screened, and if the actual route does not completely cover the search route, a new round of target search is needed according to the search route; ending the quick response task: ending the quick response task and starting to execute the previous task.
As an example, the marine track planning system execution flow based on the a-algorithm is shown in fig. 6, and the detailed business flow requirements are as follows:
the action task registration, namely, a shore-based center commands a dispatcher, and a scientific investigation ship registers a new characteristic measurement action task along with a ship measurement and control person according to the actual action task requirement;
selecting action time length, namely selecting the starting time and the ending time of executing the task by the scientific investigation ship through a page according to the task requirement;
selecting a focused sea area, namely selecting a sea area for executing tasks through a scientific investigation ship on a page, wherein the sea area comprises a place name and longitude and latitude information;
selecting an action mode: selecting an action mode through the page, wherein the action mode comprises a special action task and a quick response action task;
editing action remarks, namely editing action task details of a scientific investigation ship through a page, wherein the action task details comprise information such as the purpose of a task, the task name, the task target nationality, the task target length, the task target side number, the task target AIS and the like;
the intelligent navigation route planning is realized through an intelligent navigation route planning model according to the action task demands;
generating a navigation plan: after the intelligent sailing route is planned, a sailing plan is generated, wherein the sailing plan comprises information such as a scientific investigation ship sailing route, sailing time, sailing speed and the like;
navigation plan deduction: dynamic deduction is carried out on the generated navigation plan on the electronic chart, the navigation condition of the scientific investigation ship is simulated in detail, and the deduction speed is retractable;
manual approval correction of navigation plans: the shore-based center measures a navigation plan generated by manual approval or revision of an action planning and management software operator;
action task release: after the manual approval of the navigation plan is passed, the action task registration information and the navigation plan are combined to issue an action task plan;
navigation and preparation of scientific investigation ship: after receiving the task, the scientific investigation ship starts to navigate and prepares, and the preparation content comprises personnel preparation, material preparation and equipment inspection;
rush to the concerned sea area: the scientific investigation ship sails towards the concerned area according to the published sailing plan;
approaching the sea area of interest: the scientific investigation ship approaches the sea area of interest;
approaching the attention sea area to remind: after the scientific research ship approaches the concerned sea area, the front-end page issues prompt information, including information such as prompt for reaching the concerned sea area, search path planning prompt and the like;
searching path planning: after the scientific investigation ship reaches the focused sea area, planning a searching path of the scientific investigation ship in the focused sea area is realized through a searching path planning model;
search path deduction: dynamic deduction is carried out on the generated search path planning on the electronic chart, the navigation condition of the scientific investigation ship in the concerned sea area is simulated in detail, and the deduction speed is retractable;
navigation along a search path: sailing along the planned searching path;
when the scientific investigation ship navigates along the searching path, if the new attention target is found, the measurement route planning and the measurement control planning are simultaneously carried out;
measuring route planning: the measuring action planning and management software operator plans an applicable route according to the current navigation information of the scientific investigation ship and the information of the position, the speed, the course and the like of the target;
measurement control planning: measuring action planning and management software operators carry out measurement control planning on the measuring equipment according to the power range of the characteristic equipment and the information of the position, the navigational speed, the navigational direction and the like of the target, and the measurement control planning comprises control of opening, closing, orientation, opening sequence and the like of the measuring equipment;
and displaying the measurement route and control planning result: displaying the measurement route and the control planning result on the page;
whether or not the measurement of all orientations of the current object of interest has been completed: if the measurement of all the orientations of the current focus target is completed, continuing to navigate along the planned searching path by the scientific investigation ship;
manually determining that the measurement has been completed: if the fact that measurement of all directions of the current target of interest is completed is judged manually, the scientific investigation ship continues to navigate along the planned searching path;
periodically updating a measurement route planning and a measurement control planning: if the measurement of all the orientations of the current attention target is not completed, periodically updating a measurement route planning and a measurement control planning;
whether the search has been completed along the search path: if the scientific investigation ship finishes searching along the searching path, the scientific investigation ship finishes the current action task;
manually determining that the search has been completed: if the search of all the concerned targets on the search path is judged to be completed manually, the scientific investigation ship completes the current action task.
As an example, the marine track planning system may be composed of a mission management module, a conventional mission planning algorithm module, an emergency mission planning algorithm module, a resource management module, a state awareness module, and a user interface module, as shown in fig. 7:
the task management module is divided into a conventional task input sub-module and an emergency task input sub-module, and is responsible for inputting conventional tasks and emergency tasks to be planned into the system.
The conventional task planning algorithm module is responsible for conventional tasks recorded by a planning system and comprises a preprocessing algorithm, an A-algorithm based on cambered surface calculation, and a multi-objective optimization and constraint conflict resolution sub-module. The preprocessing algorithm submodule models the recorded conventional task and provides support for A-algorithm coding; the A algorithm submodule based on cambered surface calculation is the core of an algorithm part, is responsible for calculating a better feasible solution, and is decoupled with a service logic part; the multi-objective optimization submodule supports multi-objective strategy allocation of a track planning scheme; and the constraint conflict resolution sub-module is responsible for carrying out constraint processing and conflict resolution on the network resources and the computing resources in the task planning process.
The emergency task planning algorithm module is responsible for planning emergency tasks input by the system and comprises a preprocessing algorithm and an A-algorithm based on cambered surface calculation. The preprocessing algorithm sub-module models the entered conventional tasks and provides support for emergency planning. The emergency planning sub-module is responsible for planning the preprocessed emergency tasks.
The resource management module is responsible for managing network resources and computing resources and detecting whether various resources have faults or not. The network and computing resource management sub-module provides functions of adding, deleting and modifying the node network and computing processing capacity; the resource state monitoring is responsible for monitoring the fault condition of the nodes, feeding back to the dispatcher when the fault exists, and providing an interface for rescheduling the affected scheme.
And the planning result display module is used for interacting information with the interface layer in real time and carrying out interface interaction with the information sending subsystem, the information receiving subsystem, the data processing platform subsystem and the time-frequency subsystem of the support layer. Scheme simulation deduction.
The user interface module is responsible for the registration and login functions of the user, the user information management function and the simulation deduction display function of the planning scheme.
As an example, an offshore track planning system based on an a-algorithm needs to receive task information, and then utilize measurement action planning and management software to perform measurement action planning, execute actions, collect measurement data, and display action results. The specific internal information interface requirements are shown in fig. 8.
As an example, the marine track planning system focuses on the planning and management of measurement actions, and the software data exchange conditions are shown in the following table:
table 4 data exchange list for marine flight path planning system
In the course of track planning, the above system may refer to a track planning flow based on an a-algorithm as shown in fig. 9:
in some alternative implementations, the implementation steps of the marine track planning method may include:
(1) The pre-information required by the mission planning is read, and comprises information mutually blown from an interface input module, and pre-stored information such as an offshore mission planning task field table, an offshore mission planning route field table, an offshore mission planning coordinate point set field table and the like.
As an example, the marine track planning task field table tasklist represents the relationship between the unique identification number and the tasks participating in planning in the manner of Key-Value. The marine track planning task field table contains the following attributes: the task number, task mode, applicant, application time, task height, task start time, task end time, departure location, task location and target mmsi number may redefine the data structure content as required.
As an example, the marine track planning route field table routelist represents the relationship of the unique identification number and the planning route in the manner of Key-Value. The marine track planning route field table contains the following attributes: route number, ship number, route coordinate point set, sailing distance and average speed.
As an example, the offshore track planning coordinate point set field table pointList also represents the relationship of all coordinate points on a uniquely planned route in a Key-Value manner. The offshore track planning coordinate point set field table information contains the following attributes: coordinate point number, route number, longitude, latitude, and observation angle.
(2) Pretreatment of
In the task input process, due to the large task quantity, wrong tasks and incomplete tasks can exist, and the tasks cannot normally perform task planning. In order to normally plan the task planning, tasks which do not meet the planning requirements are required to be filtered, and only normal tasks are reserved. The task filtering function is to filter out tasks which cannot be processed by the task planning, so that the tasks do not enter the task planning flow. Tasks that cannot be handled by task planning are tasks that lack observation elements, including: tasks lacking a time period; task of target missing; tasks with certain task attribute fields being ambiguous or beyond a given scope; when each task enters a task filtering flow, the false task and incomplete task are removed according to whether the task elements are enough to perform task screening. And carrying out normalization processing on the tasks passing through screening, and writing the tasks into a database after the tasks pass through the screening are in a unified format.
Because the track planning problem is complex, the solution space is huge, and the problem scale and the solution space of the intelligent track planning are screened and simplified, so that the core intelligent track planning can obtain the final planning result more scientifically, efficiently and reasonably, and therefore, the planning preprocessing is needed. The planning preprocessing mainly provides support for a core task planning algorithm and is to carry out pre-filtering processing on the whole intelligent planning. Mainly comprises two parts of screening available ship resources and processing task conflict. The process for screening the load equipment resources carried by the ship comprises the following steps: removing the ship with the equipment state of failure; removing ships with fault connection states with the processing platform; removing the ship with the echo data sending state of fault; and screening out ships available for resource allocation. The task conflict processing flow is as follows: sequencing according to the time starting time of the tasks; and comparing the tasks pairwise, and if the time periods conflict, preferentially arranging the tasks with higher priority in the current planning.
(3) Track planning
Starting from a starting point by using an A-type algorithm, forming an OPEN table by nodes which do not pass through a threat zone in adjacent nodes taking the starting point as a center, and putting the node with the smallest evaluation function value into the CLOSE table, wherein the evaluation function of A-type can be as follows:
F(n)＝G(n)+ωH(n)
wherein: f (n) is an evaluation function of the current node n, H (n) is an estimated cost from the current node n to the target point, and omega is the size of an influence factor of calculation of the cambered surface on H (n).
And taking the node as a center, selecting the node with the smallest evaluation function value, and placing the node in a CLOSE table, so that a track with the relatively optimal evaluation function from the starting point to the target point is quickly searched, and the node in the CLOSE table is the track point of the feasible track. Secondly, the track point set obtained by the algorithm A is used as a population input, and the population is randomly initialized (set to 0 or 1). And thirdly, evaluating each track point, and taking the comprehensive evaluation function as a fitness value to evaluate the length of the track, whether the obstacle avoidance and the turning angle are successful or not, wherein the smaller the cost function is, the higher the fitness is, and the better the obtained track is. And repeating the algorithm according to the calculated fitness value until the termination condition is met.
The A-algorithm can be based on arc surface calculation, and the marine track planning system based on the A-algorithm of arc surface calculation can remarkably reduce the requirements on command schedulers and greatly improve the automation level of marine track planning.
Although the present application is disclosed in detail with reference to the accompanying drawings, it is to be understood that such descriptions are merely illustrative and are not intended to limit the application of the present application. The scope of the present application is defined by the appended claims and may include various modifications, alterations, and equivalents to the invention without departing from the scope and spirit of the application.
Claims (5)
1. An offshore track planning system based on an a-algorithm, comprising:
the interface input module is used for receiving task information and system information, wherein the task information comprises a task number, a task type, task execution time, a departure place and a task place, and the system information comprises an equipment name, a power range and an equipment type;
the flight path planning module is used for carrying out standardized processing according to the task information and the system information received by the interface input module, and generating a primary planning result and a secondary planning result through constraint conflict resolution and two-stage task analysis by an offshore flight path planning model based on an A-algorithm; the primary task analysis refers to distributing nodes, a data processing platform, time and frequency for a currently created task according to the acquired task mode and parameters, system parameters and system resources; the secondary task analysis is to determine working parameters of each subsystem according to the created task and each resource corresponding to the task, store primary planning result information and secondary planning result into a database, form a complete planning scheme according to the primary planning result information and the secondary planning result, convert the planning scheme into execution action time sequence according to a specified data interface and feed back the execution action time sequence to a planning result display module;
and the planning result display module is used for displaying the planning scheme and the execution action time sequence fed back by the track planning module according to the real-time interaction information of the interface input module.
2. An offshore track planning system based on an a-algorithm according to claim 1, wherein the operating parameters of each subsystem comprise at least one of: transmitting frequency point parameters, transmitting power parameters and transmitting waveform parameters in the transmitting node subsystem, receiving frequency point parameters and receiving preprocessing parameters in the receiving node subsystem, and processing parameters of application tasks in the data processing platform subsystem.
3. The marine track planning system based on an a-algorithm according to claim 1, wherein the planning result display module is further configured to interface with an information sending subsystem, an information receiving subsystem, a data processing platform subsystem, and a time-frequency subsystem of a support layer; and the planning scheme and the execution action time sequence fed back by the track planning module are displayed in a scheme simulation deduction mode.
4. The marine track planning system based on an a-algorithm of claim 1, wherein the interface input module is further configured to receive a planning strategy, the planning strategy including a navigation sensing mode, a mission specific mode, and a fast response mode; and
the flight path planning module is also used for carrying out standardized processing according to the task information, the planning strategy and the system information received by the interface input module, and generating a primary planning result and a secondary planning result through constraint conflict resolution and two-stage task analysis by the marine flight path planning model.
5. The a-algorithm based marine track planning system of claim 1 wherein the a-algorithm based marine track planning model is an a-algorithm based marine track planning model based on a cambered surface calculation.
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| CN117553805A (en) * | 2024-01-11 | 2024-02-13 | 北京海兰信数据科技股份有限公司 | Track planning method, device, terminal equipment and storage medium |
| CN117553805B (en) * | 2024-01-11 | 2024-05-17 | 北京海兰信数据科技股份有限公司 | Track planning method, device, terminal equipment and storage medium |
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| CN117553805A (en) * | 2024-01-11 | 2024-02-13 | 北京海兰信数据科技股份有限公司 | Track planning method, device, terminal equipment and storage medium |
| CN117553805B (en) * | 2024-01-11 | 2024-05-17 | 北京海兰信数据科技股份有限公司 | Track planning method, device, terminal equipment and storage medium |
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