CN116777095B

CN116777095B - Route planning method, device, equipment and medium

Info

Publication number: CN116777095B
Application number: CN202310800919.8A
Authority: CN
Inventors: 周兴; 陈创希; 伍翔; 张苗苗; 许南; 吴东岳; 谢静娜; 魏志强; 回忆; 常先英
Original assignee: China Southern Airlines Co Ltd
Current assignee: China Southern Airlines Co Ltd
Priority date: 2023-06-30
Filing date: 2023-06-30
Publication date: 2024-04-12
Anticipated expiration: 2043-06-30
Also published as: CN116777095A

Abstract

The invention discloses a route planning method, a device, equipment and a medium, wherein the method comprises the following steps: generating a route network diagram based on preset route data; cutting the airway network map according to a preset starting point and a preset ending point to obtain a local airway network map; calculating a side weight value corresponding to each navigation segment in the local navigation path network diagram based on the navigation path data, the preset meteorological data, the initial weight of the aircraft, the flying height and the flying cost index; and determining a plurality of target route points with minimum cost estimation between the starting point and the ending point by using an A-scale algorithm according to the edge weight value corresponding to each navigation segment, and determining a target planning route according to the starting point, the plurality of target route points and the ending point. According to the invention, the side weight value and the cost estimated value are calculated in real time in the course of route planning, so that route planning under the influence of flight performance is considered, and an optimal planned route can be obtained.

Description

Route planning method, device, equipment and medium

Technical Field

The present invention relates to the field of aviation technologies, and in particular, to a method and apparatus for route optimization, a terminal device, and a computer readable storage medium.

Background

With the rapid development of civil aviation transportation industry in China, the number of flights is continuously increased, and the civil aviation transportation is gradually changed from a low-density mode to a high-density mode, so that in order to ensure the safe operation of airspace and the efficient utilization of airspace resources in China, the airlines need to be planned before the civil flight mission is executed. In the prior art, the Dijkstra algorithm is generally adopted to realize the route planning, but the weights of all sides in the route map model obtained by the method are fixed values, and some are continuously changed aiming at a dynamic environment, but the external change is irrelevant to the route planning process, namely, the change of the weights of all sides in the route map model is not influenced by the problem of selecting a previous route, so that the optimal planned route is difficult to obtain.

Disclosure of Invention

The invention provides a route planning method, a device, equipment and a medium, which are characterized in that an edge weight value corresponding to each air section is calculated based on route data, meteorological data, initial weight of an aircraft, flying height and flying cost index, and then route planning is carried out by utilizing an A-type algorithm according to the edge weight value corresponding to each air section.

In order to solve the above technical problems, a first aspect of the embodiments of the present invention provides a route planning method, including the following steps:

generating a route network diagram based on preset route data;

cutting the airway network map according to a preset starting point and a preset ending point to obtain a local airway network map; the sum of the distance from any one waypoint to the starting point in the local waynetwork diagram and the distance from any one waypoint to the ending point is smaller than or equal to the product of the distance from the starting point to the ending point and a preset cutting coefficient;

calculating a side weight value corresponding to each navigation segment in the local navigation route network diagram based on the navigation route data, preset meteorological data, aircraft initial weight, flight height and flight cost index; the navigation segment comprises a navigation segment between the starting point and the reachable navigation point corresponding to each starting point in the local navigation network diagram, a navigation segment between any one navigation point and the reachable navigation point corresponding to each any one navigation point and a navigation segment between any one navigation point and the ending point;

and determining a plurality of target route points with minimum cost estimation between the starting point and the ending point by using an A-type algorithm according to the edge weight value corresponding to each navigation segment, and determining a target planning route according to the starting point, the plurality of target route points and the ending point.

As a preferred solution, the determining, by using an a-algorithm, a target waypoint with a minimum cost estimation between the starting point and the ending point according to the edge weight value corresponding to each leg specifically includes the following steps S21 to S24:

step S21, determining a plurality of reachable route points corresponding to the starting point according to the local route network diagram;

step S22, determining a first side weight value corresponding to a leg between the starting point and the reachable route point corresponding to each starting point and a second side weight value corresponding to a leg between the reachable route point corresponding to each starting point and the ending point according to the side weight value corresponding to each leg, and taking the reachable route point corresponding to the minimum value of the sum of the first side weight value and the second side weight value as a current new target route point;

step S23, determining a plurality of reachable waypoints corresponding to the current new target waypoint according to the local waypoint network diagram;

step S24, determining a third side weight value corresponding to the navigation segment between the current new target navigation point and the reachable navigation point corresponding to each current new target navigation point and a fourth side weight value corresponding to the navigation segment between the reachable navigation point corresponding to each current new target navigation point and the ending point according to the side weight value corresponding to each navigation segment, and taking the reachable navigation point corresponding to the minimum value of the sum of the third side weight value and the fourth side weight value as the current new target navigation point; and repeating the steps S23 to S24 until a plurality of reachable waypoints corresponding to the current new target waypoint comprise the ending point, taking the current new target waypoint as the last target waypoint, and determining a plurality of target waypoints between the starting point and the ending point.

As a preferred solution, the calculating the edge weight value corresponding to each leg in the local route network map based on the route data, the preset meteorological data, the initial weight of the aircraft, the flying height and the flying cost index specifically includes the following steps:

when the navigation section is a first navigation section, determining a midpoint coordinate value of the navigation section according to the navigation path data; determining wind temperature data of the air section by utilizing an interpolation method according to the midpoint coordinate value of the air section, the flying height and the meteorological data, and obtaining an ISA temperature deviation value and a course-oriented wind component of the air section according to the wind temperature data of the air section; the first-segment navigation segment is a navigation segment between the starting point and an accessible navigation route point corresponding to each starting point;

obtaining the fuel oil flow and the vacuum speed of the air section according to the initial weight of the aircraft, the flying height, the wind temperature data, the ISA temperature deviation value and the flying cost index;

determining the flight time of the air section according to the distance of the air section, the course wind component and the vacuum speed, obtaining the flight oil consumption of the air section according to the fuel flow of the air section, the flight time and the preset engine number, and taking the flight time and the flight oil consumption of the air section as the corresponding side weight value of the air section;

When the navigation section is a non-first-section navigation section, determining a midpoint coordinate value of the navigation section according to the navigation path data; determining wind temperature data of the air section by utilizing an interpolation method according to the midpoint coordinate value of the air section, the flying height and the meteorological data, and obtaining an ISA temperature deviation value and a course-oriented wind component of the air section according to the wind temperature data of the air section;

determining the current initial weight of the aircraft of the section according to the initial weight and the flight oil consumption of the aircraft of the previous section; obtaining fuel oil flow and vacuum speed of the air section according to the initial weight of the aircraft of the air section, the flying height, the wind temperature data, the ISA temperature deviation value and the flying cost index;

and determining the flight time of the air section according to the distance of the air section, the component of the wind along the course and the vacuum speed, obtaining the flight oil consumption of the air section according to the fuel flow of the air section, the flight time and the preset number of engines, and taking the flight time and the flight oil consumption of the air section as the corresponding side weight value of the air section.

As a preferred solution, after obtaining the flight fuel consumption of the leg, the method further includes the following steps S41 to S45:

Step S41, calculating and obtaining updated initial weight of the aircraft of the air section according to the current flight fuel consumption of the air section and the initial weight of the aircraft;

step S42, obtaining updated fuel flow and updated vacuum speed of the air section according to the updated initial weight of the aircraft, the flying height, the wind temperature data, the ISA temperature deviation value and the flying cost index;

step S43, determining updated flight time of the air section according to the distance of the air section, the updated fuel flow and the updated vacuum speed, and obtaining updated flight oil consumption of the air section according to the updated fuel flow, the updated flight time and the number of engines of the air section; repeatedly executing the steps S41 to S43 to iterate the initial weight of the aircraft of the navigation section until the iteration times reach the preset times, and obtaining an iteration weight value;

step S44, obtaining corrected fuel flow and corrected vacuum speed of the air section according to the iteration weight value, the flying height, the wind temperature data, the ISA temperature deviation value and the flying cost index;

step S45, determining the corrected flight time of the air section according to the distance of the air section, the corrected fuel flow and the corrected vacuum speed, obtaining the corrected flight oil consumption of the air section according to the corrected fuel flow of the air section, the corrected flight time and the engine number, and taking the corrected flight time and the corrected flight oil consumption as the flight time and the flight oil consumption of the air section respectively.

As a preferable scheme, the side weight value corresponding to the leg further comprises the flight cost of the leg;

the method then obtains the flight costs of the leg in particular by:

obtaining a time price according to the real-time fuel price and the flight cost index;

obtaining time cost according to the product of the time price and the flight time of the air section;

obtaining fuel cost according to the product of the real-time fuel price and the flight fuel consumption of the aviation section;

and obtaining the flight cost of the air section according to the time cost and the fuel cost.

As a preferred solution, the clipping the route network map according to a preset starting point and ending point to obtain a local route network map, which specifically includes the following steps:

and cutting the airway network map by taking the starting point and the ending point as elliptic focuses to obtain an elliptic airway network map, and taking the elliptic airway network map as the local airway network map.

Preferably, the method specifically acquires the route data through the following steps:

creating a route point linked list according to a plurality of route points in the ARINC424 navigation database;

Judging whether the starting point and the ending point exist in the route point linked list or not;

when the starting point and/or the ending point do not exist in the route point linked list, newly creating a route point according to the starting point and/or the ending point, and adding the newly created route point to the route point linked list to form an updated route point linked list;

when the starting point and the ending point exist in the route point linked list, judging whether the coordinates of a first identical-name route point and a second identical-name route point which are respectively identical to the starting point and the ending point in the route point linked list are respectively identical to the coordinates of the starting point and the coordinates of the ending point;

if the coordinates of the first identical navigation route point are the same as the coordinates of the starting point, judging that the first identical navigation route point is the same as the starting point;

if the coordinates of the first homologous waypoint are different from the coordinates of the starting point, renaming the first homologous waypoint, creating a waypoint according to the starting point, and adding the newly created waypoint to the waypoint linked list to form an updated waypoint linked list;

if the coordinates of the second identical-name waypoints are the same as the coordinates of the ending points, judging that the second identical-name waypoints and the ending points are the same waypoints;

If the coordinates of the second identical-name waypoints are different from the coordinates of the ending points, renaming the second identical-name waypoints, creating waypoints according to the ending points, and adding the newly created waypoints to the waypoint linked list to form an updated waypoint linked list;

and acquiring the route data according to the current route point linked list.

A second aspect of an embodiment of the present invention provides a routing apparatus, including:

the route network diagram generation module is used for generating a route network diagram based on preset route data;

the system comprises a route network diagram clipping module, a local route network diagram processing module and a route network diagram processing module, wherein the route network diagram clipping module is used for clipping the route network diagram according to a preset starting point and a preset ending point to obtain a local route network diagram; the sum of the distance from any one waypoint to the starting point in the local waynetwork diagram and the distance from any one waypoint to the ending point is smaller than or equal to the product of the distance from the starting point to the ending point and a preset cutting coefficient;

the side weight value calculation module is used for calculating the side weight value corresponding to each air section in the local air route network diagram based on the air route data, the preset meteorological data, the initial weight of the aircraft, the flying height and the flying cost index; the navigation segment comprises a navigation segment between the starting point and the reachable navigation point corresponding to each starting point in the local navigation network diagram, a navigation segment between any one navigation point and the reachable navigation point corresponding to each any one navigation point and a navigation segment between any one navigation point and the ending point;

And the route planning module is used for determining a plurality of target route points with minimum cost estimation values between the starting point and the ending point by using an A-type algorithm according to the edge weight value corresponding to each navigation segment, and determining a target planning route according to the starting point, the plurality of target route points and the ending point.

A third aspect of an embodiment of the present invention provides a terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the routing method according to any one of the first aspects when executing the computer program.

A fourth aspect of the embodiments of the present invention provides a computer readable storage medium comprising a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform a route planning method according to any one of the first aspects.

Compared with the prior art, the method has the advantages that the edge weight value corresponding to each air section is calculated based on the air path data, the meteorological data, the initial weight of the aircraft, the flight height and the flight cost index, and then the air path planning is carried out by utilizing an A-type algorithm according to the edge weight value corresponding to each air section.

Drawings

FIG. 1 is a flow chart of a routing method in an embodiment of the present invention;

FIG. 2 is a schematic diagram of a routing device in an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, a first aspect of the embodiment of the present invention provides a route planning method, which includes steps S1 to S4 as follows:

step S1, generating a route network diagram based on preset route data;

step S2, cutting the airway network map according to a preset starting point and an ending point to obtain a local airway network map; the sum of the distance from any one waypoint to the starting point in the local waynetwork diagram and the distance from any one waypoint to the ending point is smaller than or equal to the product of the distance from the starting point to the ending point and a preset cutting coefficient;

Step S3, calculating an edge weight value corresponding to each air segment in the local air route network diagram based on the air route data, the preset meteorological data, the initial weight of the aircraft, the flying height and the flying cost index; the navigation segment comprises a navigation segment between the starting point and the reachable navigation point corresponding to each starting point in the local navigation network diagram, a navigation segment between any one navigation point and the reachable navigation point corresponding to each any one navigation point and a navigation segment between any one navigation point and the ending point;

and S4, determining a plurality of target route points with minimum cost estimation between the starting point and the ending point by using an A-algorithm according to the edge weight value corresponding to each navigation segment, and determining a target planning route according to the starting point, the plurality of target route points and the ending point.

In step S1, the route data in this embodiment includes the route point name, the route point sequence, the route point position, and the route name, so that the route network map can be created by deriving the related item information of the route data.

In step S2, considering that the concentration degree of waypoints in the national waypoint network map and the global waypoint network map is high, in the network map with such concentration of waypoints, especially in the case of global waypoints, the demand of searching for the optimal waypoint between the starting point and the ending point is quite large, which is unfavorable for solving the problem of large-scale rout planning, therefore, considering that the geometric distance of the great circle route between the starting point and the ending point is shortest, the optimal route found according to different targets has a certain degree of deviation but not too much deviation, therefore, the embodiment cuts the waypoint network map based on the starting point and the ending point, the waypoints and edges contained in the cut local waypoint network map are obviously reduced, and the calculation task in the rout planning work can be greatly reduced.

In step S3, in order to accurately calculate the edge weight value corresponding to each leg, the embodiment loads preset weather data, and the weather data is illustratively recorded in a GRIB format file, where the GRIB is a binary file format developed by the world weather organization for exchanging and storing rule distribution data, and is mainly used to represent product data of numerical weather forecast, and the GRIB includes two formats, namely, GRIB1 and GRIB2, and the latter can represent multidimensional grid data in terms of time and space, compared with the former, so that the method has more excellent flexibility and expandability. Further, in this embodiment, since the edge weight value of each leg is related to the initial weight of the aircraft in the leg, and the weight of the aircraft is related to the weight of the aircraft and the fuel consumption of the flight of the previous leg, the edge weight value corresponding to each leg can be sequentially calculated from the first leg in the local route network diagram based on the route data, the weather data, the initial weight of the aircraft, the flying height and the flying cost index.

In step S4, the algorithm a starts from the starting point, examines all possible expansion points (i.e. the reachable waypoints adjacent to the starting point), calculates the cost estimation value of each point, and selects the waypoint with the smallest cost estimation value for expansion until the ending point is reached or the node is used up, and the route search fails. Illustratively, the cost estimate is calculated by the expression: f (n) =g (n) +h (n) is calculated, where f (n) represents an estimated cost from the initial state to the target state via state n, g (n) represents an actual cost from the initial state to state n in the state space, and h (n) represents an estimated cost of the path from state n to the target state. The core of the algorithm is an estimated function h (n), the selection of the estimated function h (n) is the key of the algorithm to find out the optimal solution, and when h (n) is less than or equal to the actual value of the distance from the state n to the target state, the number of the searched nodes is large, the searching range is large, the efficiency is low, but the optimal solution can be obtained; when the distance from the h (n) > state n to the target state is the actual value, the search range is small, the efficiency is high, but the optimal solution cannot be ensured.

Further, after the plurality of target waypoints are acquired, the local waypoint network map includes coordinates and sequence of the waypoints, so that the target planning waypoint can be determined directly according to the starting point, the plurality of target waypoints and the ending point.

In step S21, since the local road network map includes the coordinates and the sequence of each road point, it is possible to determine several reachable road points corresponding to the start point, that is, the next adjacent road point reachable to the start point.

In step S22, according to the edge weight value corresponding to each leg, a first edge weight value corresponding to the leg between the starting point and each corresponding reachable route point is determined, as a value of the actual cost g (n), and a second edge weight value corresponding to the leg between each reachable route point and the ending point is determined, as a value of the estimated cost h (n), based on the expression: f (n) =g (n) +h (n), summing the first side weight value and the second side weight value corresponding to each reachable route point, and taking the reachable route point corresponding to the minimum value after summation as the current new target route point, namely the expansion point of the starting point.

In step S23, a plurality of reachable waypoints corresponding to the current new target waypoint can be further determined according to the local waypoint network map.

In step S24, the same procedure as in step S22, according to the edge weight value corresponding to each leg, a third edge weight value corresponding to the leg between the current new target waypoint and each corresponding reachable waypoint is determined, as the value of the actual cost g (n), and a fourth edge weight value corresponding to the leg between each reachable waypoint and the end point is determined, as the value of the estimated cost h (n), based on the expression: f (n) =g (n) +h (n), summing the third side weight value and the fourth side weight value corresponding to each reachable waypoint, and taking the reachable waypoint corresponding to the minimum value after summation as the current new target waypoint, namely the expansion point of the last target waypoint. And repeatedly executing the steps S23 to S24, so as to sequentially find a plurality of target waypoints with the minimum cost estimation until a plurality of reachable waypoints corresponding to the current new target waypoint comprise an ending point, and indicating that the current new target waypoint is the last target waypoint, thereby determining a plurality of target waypoints between the starting point and the ending point.

It should be noted that, when the leg is the first leg, that is, the starting point of the leg is the preset starting point, because the coordinates of each waypoint including the starting point and the ending point are already determined by the waypoint data, the altitude and the meteorological data are combined, so that the altitude wind temperature meteorological grid data can be known, that is, the temperature of the state point can be determined according to the time, the longitude and latitude of a certain point and the barometric altitude.

Preferably, in this embodiment, a GRIB2 format file is used to decode the space-time grid model, and the troposphere top temperature, the isobaric plane relative humidity, the wind speed u direction component on the maximum wind speed layer, the isobaric plane wind speed u direction component, the wind speed v direction component on the maximum wind speed layer, the isobaric plane wind speed v direction component, the ISA reference height of the maximum wind speed layer, the ISA reference height of the troposphere top, and the isobaric plane potential height at each point of the model are obtained.

According to meteorological data recorded in GRIB2 format file, relevant items of meteorological data influencing the side weights of flight oil consumption, flight time and flight cost are derived, wherein the relevant items mainly comprise wind speeds and temperature differences between local temperature and international standard atmosphere, which are determined by longitude and latitude grid points and all isobaric surfaces. When the wind speed on a certain section of the aviation road needs to be considered, the midpoint of the aviation road is found, the wind speed at the midpoint is obtained by adopting a bilinear interpolation method, and the wind speed on the whole section of the aviation road is approximately represented by the value. The projection of the wind speed vector in the navigation direction, namely the forward (reverse) wind component, directly influences the ground speed and navigation time, and is an important parameter required in performance calculation. The midpoint temperature may be calculated by a similar method and used to represent the temperature throughout the course.

Further, when a certain leg is selected as a part of the whole route, since the starting point and the end point of the leg are known, according to the coordinates of the midpoint of the connecting line of the two and the preset flying height, the weather condition of the leg can be determined by interpolation, so as to obtain relevant wind temperature data, and the ISA temperature deviation value and the wind component along the course can be calculated.

By utilizing performance software, the initial weight, the flying height, wind temperature data, ISA temperature deviation value and flying cost index of the aircraft are input, and the fuel flow and the vacuum speed of the first-stage navigation section can be calculated.

According to the distance, the wind component along the course and the vacuum speed of the air section, the method comprises the following steps of: t=s/vt+ws determines the time of flight for the leg, where t represents the time of flight, s represents the distance of the leg, vt represents the true air velocity, and ws represents the component of wind along the heading. Further, the fuel consumption is determined by the fuel flow, the time of flight and the number of engines, so by the expression: f=ff×t×n, where F represents the fuel consumption, ff represents the fuel flow, t represents the time of flight, and N represents the number of engines.

When the leg is a non-first leg, namely the starting point of the leg is the end point of the previous leg, the initial weight of the aircraft in the leg is determined by the initial weight and the flight oil consumption of the aircraft in the previous leg, so that the initial weight of the aircraft in the current leg can be determined according to the initial weight and the flight oil consumption of the aircraft in the previous leg; and subsequently, the fuel flow and the vacuum speed of the non-first-stage navigation section are calculated in the same way as the first-stage navigation section, and the flight time and the flight oil consumption are further determined.

It should be noted that, for any flight segment, as the fuel is consumed, the weight of the aircraft will be lower and lower, and the weight of the aircraft will affect the calculation of the fuel flow and the vacuum speed, so as to affect the calculation of the flight time and the flight fuel consumption, so if the calculation of the flight time and the flight fuel consumption is not accurate enough only according to the initial weight of the aircraft in the flight segment, the embodiment returns to the calculation step of the fuel flow and the vacuum speed after calculating the flight fuel consumption, iterates the initial weight of the aircraft continuously until the iteration number reaches a preset certain number, a stable iteration weight value will be obtained, and then the fuel flow and the vacuum speed are corrected according to the iteration weight value, so as to correct the flight time and the flight fuel consumption.

the method then obtains the flight costs of the leg in particular by:

It is worth to say that, when using an a-x algorithm to carry out route planning, one of the side weight values of flight time, flight fuel consumption and flight cost can be selected according to the planning target to carry out calculation of the cost estimation.

Specifically, in this embodiment, the starting point and the ending point are used as the focal points of the ellipse, a length greater than the distance between the starting point and the ending point is designated as the length of the major axis of the ellipse, and each route point is searched in the elliptical route network map, so that the sum of the distance from the route point to the starting point and the distance from the route point to the ending point is smaller than or equal to the product of the distance from the starting point to the ending point and the preset clipping coefficient. It is worth to say that the preset clipping coefficient is larger than 1 and can be adjusted according to actual requirements.

and acquiring the route data according to the current route point linked list.

It should be noted that there may be waypoints in the ARINC424 navigation database that are the same name as the start point or the end point, but the location coordinates of these waypoints are not the same as the start point or the end point, so that the data in the ARINC424 navigation database needs to be checked.

As an alternative embodiment, the rule for renaming the same-name waypoints is as follows: it is renamed in the form of original waypoint name + "_" + sequence number, the sequence number representing the order of appearance of the non-duplicate waypoints.

It should be noted that, after the data in the ARINC424 navigation database is checked, extracting the route data from the ARINC424 navigation database, and sorting the route data into a csv format file, where the main fields include: series, routeID, secNum, nationCode, preFID, fixID, latitude, longitude, etc. The latitude is expressed in the following way: north-south weft identifier, degree (two bits), minute (two bits), second degree (two bits), 0.01 second (two bits).

According to the route planning method provided by the embodiment of the invention, the side weight value corresponding to each air section is calculated based on the route data, the meteorological data, the initial weight of the aircraft, the flying height and the flying cost index, and then the route planning is performed by using an A-algorithm according to the side weight value corresponding to each air section, and the aircraft weight is related to the flying oil consumption of the previous route because the side weight value is related to the initial weight of the aircraft in the current air section, namely the side weight value corresponding to the air section is influenced by the selection of the previous route, so that the route planning under the influence of the flying performance can be considered by calculating the side weight value and the cost estimated value in real time in the route planning process, and the optimal planned route can be obtained.

In order that those skilled in the art will better understand the practice of embodiments of the present invention, a specific embodiment will be described below.

a. Loading meteorological data;

b. loading route data and carrying out route point renaming treatment;

c. selecting a starting point ITE and a finishing point OK, setting an elliptical clipping coefficient of 1.5, and reducing the number of nodes of the route network diagram from 40487 nodes in route data to 798 nodes;

d. searching the reachable route points of the ITE, respectively calculating the sum of the flight oil consumption (or flight time and flight cost) from the ITE to each reachable route point and the flight oil consumption (or flight time and flight cost) from each reachable route point to an imaginary large circular route between OK, taking the minimum value, and recording the name SANDA, 136.5kg of flight oil consumption from the ITE to SANDA, 0.016h of flight time and 419.8 yuan of flight cost;

e. searching for an reachable route point of SANDA, respectively calculating the sum of the flight oil consumption (or flight time and flight cost) from SANDA to each reachable route point and the flight oil consumption (or flight time and flight cost) from each reachable route point to an imaginary large circle route between OK, taking a minimum value, and recording the roll name ROKKKO, the flight oil consumption 339.3kg from ITE to ROKKO, the flight time is 0.040h and the flight cost is 1047.3 yuan;

f. Searching an available waypoint of ROKKKO, respectively calculating the sum of the flight oil consumption (or flight time and flight cost) from the ROKKKO to each available waypoint and the flight oil consumption (or flight time and flight cost) from each available waypoint to an imaginary large circular route between OK, taking a minimum value, and recording the roll name CUE40, and the flight oil consumption from ITE to CUE40 of 580.0kg, the flight time of 0.069h and the flight cost of 1792.1 yuan;

g. searching reachable waypoints of the CUE40, respectively calculating the sum of the flight oil consumption (or flight time and flight cost) from the CUE40 to each reachable waypoint and the flight oil consumption (or flight time and flight cost) from each reachable waypoint to an imaginary large circular route between OK, taking a minimum value, and recording the roll name TOZAN, the flight oil consumption 1078.5kg from ITE to TOZAN, the flight time is 0.128h and the flight cost is 3325.0 yuan;

h. searching reachable waypoints of TOZAN, respectively calculating the sum of the flight oil consumption (or flight time and flight cost) from TOZAN to each reachable waypoint and the flight oil consumption (or flight time and flight cost) from each reachable waypoint to an imaginary large circular route between OK, taking the minimum value, and recording the roll name RAKDA, the flight oil consumption 1869.4kg from ITE to RAKDA, the flight time is 0.220h and the flight cost is 5756.9 yuan;

i. Searching an available route point of RAKDA, respectively calculating the sum of the flight oil consumption (or flight time and flight cost) from the RAKDA to each available route point and the flight oil consumption (or flight time and flight cost) from each available route point to an imaginary large circle route between OK, taking a minimum value, and recording the name JEC of the point and the flight oil consumption 2352.9kg from ITE to JEC, wherein the flight time is 0.277h and the flight cost is 7243.7 yuan;

j. searching the reachable route points of the JEC, respectively calculating the sum of the flight oil consumption (or flight time and flight cost) from the JEC to each reachable route point and the flight oil consumption (or flight time and flight cost) from each reachable route point to an imaginary large circle route between OK, taking the minimum value, and recording the name BOKSA, the flight oil consumption 59015.5kg from ITE to BOKSA, the flight time is 8.060h and the flight cost is 187875.0 yuan;

k. searching the reachable route points of the BOKSA, respectively calculating the sum of the flight oil consumption (or flight time and flight cost) from the BOKSA to each reachable route point and the flight oil consumption (or flight time and flight cost) from each reachable route point to an imaginary large circle route between OK, taking the minimum value, and recording the name NAMER, the flight oil consumption 59417.3kg from ITE to NAMER, the flight time 8.122h and the flight cost 189195.6 yuan;

Searching an reachable route point of NAMER, finding an end point OK in the NAMER, ending searching a path, calculating 60146.2kg of flight oil consumption from ITE to OK, and carrying out 8.236h of flight time and 191591.8 yuan of flight cost;

therefore, the optimal path based on the flight performance is ITE-SANDA-ROKKKO-CUE 40-TOZAN-RAKD A-JEC-BOKSA-NAMER-OK, and the minimum flight oil consumption can be achieved by flying along the path, which is 60146.2kg. Compared with 63646.8kg of typical company route flight oil consumption, the optimized route flight oil consumption is reduced by 5.5%.

Referring to fig. 2, a second aspect of the embodiment of the present invention provides a routing device, including:

a route network map generating module 201, configured to generate a route network map based on preset route data;

the route network diagram clipping module 202 is configured to clip the route network diagram according to a preset starting point and an ending point, so as to obtain a local route network diagram; the sum of the distance from any one waypoint to the starting point in the local waynetwork diagram and the distance from any one waypoint to the ending point is smaller than or equal to the product of the distance from the starting point to the ending point and a preset cutting coefficient;

the side weight value calculation module 203 is configured to calculate a side weight value corresponding to each leg in the local route network map based on the route data, preset meteorological data, an initial weight of the aircraft, a flight altitude, and a flight cost index; the navigation segment comprises a navigation segment between the starting point and the reachable navigation point corresponding to each starting point in the local navigation network diagram, a navigation segment between any one navigation point and the reachable navigation point corresponding to each any one navigation point and a navigation segment between any one navigation point and the ending point;

The route planning module 204 is configured to determine, according to the edge weight value corresponding to each leg, a target route point with a minimum cost estimation between the starting point and the ending point by using an a-x algorithm, and determine a target planned route according to the starting point, the target route points and the ending point.

Preferably, the routing module 204 is configured to determine, according to the edge weight value corresponding to each leg, a target waypoint with a minimum cost estimation between the starting point and the ending point by using an a-algorithm, and specifically execute the following steps S21 to S24:

As a preferred solution, the side weight value calculating module 203 is configured to calculate a side weight value corresponding to each leg in the local road network map based on the road data, preset meteorological data, an initial weight of the aircraft, a flying height, and a flying cost index, and specifically includes:

As a preferred solution, the side weight value calculation module 203 is further configured to execute the following steps S41 to S45 after obtaining the flight fuel consumption of the leg:

the edge weight calculation module 203 is further configured to:

Preferably, the route network diagram clipping module 202 is configured to clip the route network diagram according to a preset starting point and an ending point to obtain a local route network diagram, and specifically includes:

Preferably, the device further comprises a route data acquisition module, configured to:

and acquiring the route data according to the current route point linked list.

It should be noted that, the route planning device provided by the embodiment of the present invention can implement all the flows of the route planning method described in any of the embodiments, and the actions and the implemented technical effects of each module in the device are respectively the same as those of the route planning method described in the embodiment, and are not repeated herein.

A third aspect of the embodiments of the present invention provides a terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the routing method according to any one of the embodiments of the first aspect when executing the computer program.

The terminal equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The terminal device may include, but is not limited to, a processor, a memory. The terminal device may also include input and output devices, network access devices, buses, and the like.

The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Prog rammable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the terminal device, and which connects various parts of the entire terminal device using various interfaces and lines.

The memory may be used to store the computer program and/or module, and the processor may implement various functions of the terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.

A fourth aspect of the embodiments of the present invention provides a computer readable storage medium, where the computer readable storage medium includes a stored computer program, where the computer program when executed controls a device in which the computer readable storage medium is located to execute the route planning method according to any one of the embodiments of the first aspect.

From the above description of the embodiments, it will be clear to those skilled in the art that the present invention may be implemented by means of software plus necessary hardware platforms, but may of course also be implemented entirely in hardware. With such understanding, all or part of the technical solution of the present invention contributing to the background art may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the embodiments or some parts of the embodiments of the present invention.

While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.

Claims

1. A method of route planning comprising the steps of:

generating a route network diagram based on preset route data; the route data comprises route point names, route point sequences, route point positions and route names;

calculating a side weight value corresponding to each navigation segment in the local navigation route network diagram based on the navigation route data, preset meteorological data, aircraft initial weight, flight height and flight cost index; the navigation segment comprises a navigation segment between the starting point and the reachable navigation point corresponding to each starting point in the local navigation network diagram, a navigation segment between any one navigation point and the reachable navigation point corresponding to each any one navigation point and a navigation segment between any one navigation point and the ending point; the meteorological data comprise troposphere top temperature, isobaric surface relative humidity, wind speed latitudinal component on the maximum wind speed layer, wind speed latitudinal component on the isobaric surface, wind speed longitudinal component on the maximum wind speed layer, wind speed longitudinal component on the isobaric surface, ISA reference height of the maximum wind speed layer, ISA reference height of the troposphere top and isobaric surface potential height;

Determining a plurality of target route points with minimum cost estimation between the starting point and the ending point by using an A-type algorithm according to the edge weight value corresponding to each navigation segment, and determining a target planning route according to the starting point, the plurality of target route points and the ending point;

the determining, according to the edge weight value corresponding to each leg, a target route point with the minimum cost estimation between the starting point and the ending point by using an a-algorithm specifically includes the following steps S21 to S24:

Step S24, determining a third side weight value corresponding to the navigation segment between the current new target navigation point and the reachable navigation point corresponding to each current new target navigation point and a fourth side weight value corresponding to the navigation segment between the reachable navigation point corresponding to each current new target navigation point and the ending point according to the side weight value corresponding to each navigation segment, and taking the reachable navigation point corresponding to the minimum value of the sum of the third side weight value and the fourth side weight value as the current new target navigation point; repeatedly executing the steps S23 to S24 until a plurality of reachable waypoints corresponding to the current new target waypoint comprise the ending point, taking the current new target waypoint as the last target waypoint, and determining a plurality of target waypoints between the starting point and the ending point;

the calculating of the edge weight value corresponding to each leg in the local route network diagram based on the route data, the preset meteorological data, the initial weight of the airplane, the flying height and the flying cost index specifically comprises the following steps:

2. A method of planning a route as claimed in claim 1, wherein after obtaining the fuel consumption of the leg, the method further comprises the steps S41 to S45 of:

3. The route planning method of claim 1, wherein the edge weight value corresponding to the leg further comprises a flight cost of the leg;

the method then obtains the flight costs of the leg in particular by:

4. The route planning method according to claim 1, wherein the step of clipping the route network map according to a preset starting point and ending point to obtain a local route network map comprises the steps of:

5. A route planning method according to claim 1, characterized in that said method comprises the steps of:

and acquiring the route data according to the current route point linked list.

6. A routing apparatus, comprising:

the route network diagram generation module is used for generating a route network diagram based on preset route data; the route data comprises route point names, route point sequences, route point positions and route names;

the side weight value calculation module is used for calculating the side weight value corresponding to each air section in the local air route network diagram based on the air route data, the preset meteorological data, the initial weight of the aircraft, the flying height and the flying cost index; the navigation segment comprises a navigation segment between the starting point and the reachable navigation point corresponding to each starting point in the local navigation network diagram, a navigation segment between any one navigation point and the reachable navigation point corresponding to each any one navigation point and a navigation segment between any one navigation point and the ending point; the meteorological data comprise troposphere top temperature, isobaric surface relative humidity, wind speed latitudinal component on the maximum wind speed layer, wind speed latitudinal component on the isobaric surface, wind speed longitudinal component on the maximum wind speed layer, wind speed longitudinal component on the isobaric surface, ISA reference height of the maximum wind speed layer, ISA reference height of the troposphere top and isobaric surface potential height;

The route planning module is used for determining a plurality of target route points with minimum cost estimation values between the starting point and the ending point by using an A-type algorithm according to the edge weight value corresponding to each route segment, and determining a target planning route according to the starting point, the plurality of target route points and the ending point;

the route planning module is configured to determine, according to the edge weight value corresponding to each leg, a target route point with a minimum cost estimation between the starting point and the ending point by using an a-algorithm, and specifically execute the following steps S21 to S24:

the side weight value calculation module is used for calculating the side weight value corresponding to each air segment in the local air route network diagram based on the air route data, preset meteorological data, aircraft initial weight, flying height and flying cost index, and specifically comprises the following steps:

7. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the route planning method according to any one of claims 1 to 5 when executing the computer program.

8. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform a route planning method according to any one of claims 1-5.