JP2812639B2 - Route search system and route search method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a route search system,
More particularly, the present invention relates to a route search system and a route search method for calculating an optimal flight route of an aircraft (particularly, one that travels in the visual field).

[0002]

2. Description of the Related Art FIG.
FIG. 1 shows a conventional route search method disclosed in Japanese Patent Publication No. 1 (hereinafter, referred to as Japanese Patent Publication No. 1), in which 1 is a map database containing data representing position information, and 4 is a threat containing data representing an outline of each of a plurality of types of threats. A database 5 is an input device for inputting data representing a start point and an end point position, data representing a threat location, and data for identifying a threat type to a map database, and 10 is a map storage means 1 and a threat database means. A central processing unit for processing the data from 4 and thereby determining the cumulative downtime probability for a particular route, 6 a display means for displaying said route and its cumulative downtime probability, 7 a changing threat This is a communication system for directly receiving information and the like and updating the threat database 4.

Next, the operation will be described. The departure point and the destination point of the aircraft are input from the input device 5. The central processing unit 10 calculates the cumulative downfall probability of the flight path from the departure point to the target point by using the contour data of each type of known threats stored in the threat database 4. This flight path may be based on the pilot's intuition, or may be a straight line connecting several start points and end points.

[0004] Next, for each flight route for which the cumulative downfall probability has been calculated, the optimum route among the flight routes together with the cumulative downfall probability of the route is displayed on the display device 6 together with the map based on the map data held in the map database 1. Is output and displayed. Also, threat data, map data, and the like are sent from the communication system 7, and the threat database 4 and the map database 1 are updated.

[0005]

In the conventional route search method, the optimum route is determined as described above. Therefore, a flight route plan must be input, and the optimum route is selected only from the input route. There was a problem that a route could not be selected. In some search methods, a route is searched by dividing the space like a die and estimating the cost of each cube, that is, the cost of passing through each cube. Since the route is modeled in advance, there is no consideration for the target on the ground, and there is a problem that an aircraft (a helicopter or the like) flying with the ground target as a landmark does not always have an optimal flight route. Was.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is a characteristic of an aircraft, such as a helicopter or the like, that travels in a visual field that flies in a space in consideration of features on the ground. It is an object of the present invention to provide a route search system and a route search method suitable for a vehicle.

[0007]

SUMMARY OF THE INVENTION A route search system according to the present invention selects a checkpoint suitable for a flight environment such as visibility from among checkpoints serving as signs of an aircraft flying in visual field. Then, the space between the check points is modeled therein, and the optimum route is calculated in the model.

[0008] That is, the route search system according to the present invention searches for a route connecting a given departure point and arrival point in an arbitrary area having a threat of a distribution state determined in advance and a flight environment. In (a)
A map database containing data representing the location information of the search area, (b) a flight environment database containing data on the flight environment such as weather information and flight restriction information in the search area, and (c) a target location on the ground A landmark database containing information about the landmark, such as information and property information;
(d) a threat database containing data on threats such as the location and spread characteristics of multiple types of threats, (e) input devices for inputting various commands and information, (f) search results,
A display device for displaying an input screen, etc .; (g) a communication system for obtaining changed information such as the threat data and flight environment data; and (h) a route search process based on information from the various databases. And an information processing apparatus for performing the processing.

Further, the route search method according to the present invention, in the above route search system, is a method for searching for a route suitable for an aircraft or the like performing a visual flight, wherein (a) the aircraft or the like in flight according to the flight environment Selecting ground targets that can be used as targets in flight; (b) connecting the selected ground targets to model the search path space;
(c) allocating threats in the above-discussed distribution state to the modeled search route space, and searching for a route that minimizes the total threat value, (d) displaying the route obtained in the search Performing the steps.

Further, according to the present invention, in the route searching method, the information processing device searches for a new route based on the changed information such as the threat data and the flight environment data from the communication system. Is performed in response to the change.

The present invention also provides the route search system, wherein (i) a self-position estimating device for estimating a position of the own aircraft flying at a predetermined interval according to the calculated route,
Furthermore, when navigating along the search route model based on the target object data, the calculated flight route is compared with the position information of the own aircraft, and when a deviation of a certain value or more occurs,
The flight route is updated and corrected.

Further, according to the present invention, in the route search system, the information processing device searches for a new route based on changed information such as the threat data and flight environment data from the communication system, and searches for a threat and a flight environment. When the navigation is performed according to the change of the target and the navigation is performed along the search route model based on the target object data, the calculated flight route is compared with the position information of the own aircraft, and a deviation of a certain value or more occurs. The flight route is updated and corrected.

[0013]

In the route search method according to the present invention, the points which are the checkpoints where the aircraft navigating in the visual field will be a landmark on the ground are jointly modeled to determine the optimum route. The route passes near a point to be a checkpoint. Therefore, the flight path is suitable for an aircraft navigating in visual field.

In the route search method of the present invention, a new route search is performed based on changed information such as the threat data and flight environment data from the communication system in accordance with the threat and the change in the flight environment.

Further, according to the present invention, a self-position estimating device is provided, and when navigating along a search path model based on target data, a value of a certain value or more between the calculated flight path and the position information of the own aircraft is provided. If a deviation occurs, the flight path is updated and corrected.

Further, according to the present invention, a new route is searched for based on the changed information such as the threat data and the flight environment data from the communication system in accordance with the change in the threat and the flight environment. If there is a deviation of a certain value or more from the position information of the own aircraft, the flight path is updated and corrected.

[0017]

【Example】

Embodiment 1 FIG. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a route search system according to an embodiment of the present invention. In the figure, reference numeral 1 denotes a map database including data representing position information of a search area, 2 denotes weather information such as wind direction and visibility in the search area, and flight information. Flight environment database including data related to flight environment, such as restriction information, that is, information on contents that restrict flight including position, such as a no-fly area and an area where flight speed is limited to a certain value, 3 Is a target database including data indicating the position information of the target on the ground that can be the target when flying from the aircraft in flight and its characteristic information; 4 is the position and characteristics of a plurality of types of threats; A threat database containing information on the threats of the present invention, 5 is an input device for inputting various commands and information, 6 is a display device for displaying search results and input data, and 7 is a S and collect information flight changing environment receives the data sent from the device, a communication system for updating a flight environment database, 8
Is an information processing device that performs a route search process based on information in each database.

FIG. 2 is a flowchart of a route search method according to the first embodiment, and the route search method according to the present embodiment will be described with reference to FIG. In step S1, the input device 5
Enter the departure point and destination point of the aircraft from.

Next, in step S2, the information processing device 8 stores a ground target suitable for the environment in the target object database 3 based on the current flight environment data stored in the flight environment database 2. Then, it is compared with the characteristic information of the target object data to be detected, and all of them are calculated.

Next, in step S3, the information processing device 8 connects adjacent targets from the departure point to the target point based on all the calculated target data, and creates a search route model. Create multiple. However, at this time, a route model that creates a certain angle or more with respect to a straight line connecting the departure point and the destination point is excluded.

The manner in which the route model is created will be described with reference to FIG. 8. As the amount of target data increases, the number of search route models m1, m2,. If is spread out indefinitely, the amount of calculation increases, and the calculation time to derive the result may be infinite. In order to prevent this, a line l forming a certain angle θ with respect to a line l connecting the target point T and the departure point D
Path models m1 ', m2', m3 'exceeding the angle range formed by 1, l2 are to be excluded. Note that the search route model is created in consideration of both fuel conditions and altitude conditions.

Next, in step S4, in the search route model creation stage, for each of the route models connecting the respective targets, based on the threat data held in the threat database 4, the threat in flying therethrough is obtained. The value is calculated by the information processing device 8 and assigned. Since the threat value varies depending on the flight speed, it is calculated in consideration of the flight speed.

Next, in step S5, based on the search route model to which the threat values are assigned, an optimum flight route that minimizes the sum of the threat values is processed by a search algorithm such as the A * algorithm. The calculation is performed by the device 8, and when the route to the target point is created (YES in step S6), the data is output to the display device 6, which is displayed together with the map data held in the map database 1.

Here, as shown in FIG. 9, the A * algorithm uses h = f + g (h: evaluation function,
f: total cost value so far, g: prediction of the cost value to be obtained from now on) is one of the search strategies.

In the above operation, the latest data such as threat data and flight environment data is sent from the communication system 7 as needed, and the data in each database is updated and used for searching.

In the route search system according to the first embodiment, a check point suitable for a flight environment such as visibility is selected from check points serving as signs of an aircraft flying in a visual field. Since the space between the checkpoints was modeled in the model and the optimal route was calculated in the model, the obtained route passed near the point to be the checkpoint. Obtain a route search system that matches the characteristics of a helicopter or other such aircraft that travels in space, taking into account the features on the ground, which makes the flight route suitable for the aircraft navigating in view. Can be.

Embodiment 2 FIG. In the first embodiment, the case of searching for a route in a certain flight environment has been described. However, as shown in FIG. 3, the route search system according to the second embodiment uses a self-positioning device 9 (GPS, INS, etc.). ) Is provided.

Here, the GPS and INS are defined as: (1) GPS (abbreviation of Global Positioning System) GPS satellites (18 currently in operation) flying in a predetermined orbit, time and satellite for each satellite A radio wave including an ID (identification) number and other information is transmitted. The radio wave is caught from a plurality of satellites, and the relative position from the satellite at that time is calculated based on the arrival time of each radio wave. The position of the measurer is determined (two satellites are used for two-dimensional positioning, and four satellites are used for three-dimensional positioning). (2) INS (Inertial Positioning System) This is an inertial navigation system. By measuring the acceleration and time of the object three-dimensionally, and calculating the amount of change in the speed and the traveling direction, the azimuth and distance from the starting point are calculated, and the relative position is calculated.

FIG. 4 is a flowchart of the route search method according to the second embodiment, and the route search method will be described with reference to FIG. In the second embodiment, step S1
Steps S6 to S6 are the same as those in the first embodiment. Similar to the first embodiment, a search route model is created using the target data calculated based on the flight environment data, and a threat value is assigned to the search route model. Calculate the route that minimizes the sum.

Next, in step S7, the position of the aircraft flying according to the calculated route is sent from the self-location device 9 to the information processing device 8 at regular intervals.

The information processing device 8 compares the calculated flight route with the position information of the aircraft (step S8), and if a predetermined value or more deviates from the predetermined value (NO in step S8), the process proceeds to step S8. In S9, the flight route to the target point is calculated in steps S1 to S6 in the same manner as described above, with that point as the starting point.

Next, the calculated flight route is updated by the information processing device 8 as a new flight route from the route that has been flown so far to the target point, and is output to the display device 6.
It is displayed together with the map data held in the map database 1. This operation is continued until the target point is reached, that is, until YES is obtained in step S10.

In the second embodiment, the GPS, IN
Since the self-positioning device 9 such as S is provided, when traveling along the search route model based on the target data, the calculated flight route is compared with the position information of the own aircraft, and a deviation of a certain value or more is calculated. In the event that the flight path occurs, the flight route can be updated and corrected.

Embodiment 3 FIG. In the second embodiment, a new flight path is calculated based on the displacement of the aircraft in flight. However, in the third embodiment, the calculation of the new flight path in FIG. This is done according to the change.

FIG. 5 is a flowchart of the route search method according to the third embodiment, and the operation of the third embodiment will be described with reference to FIG. In the third embodiment, steps S1 to S1
S6 is the same as in the first and second embodiments.
Similarly to 2, first, a search route model is created using target data calculated based on the original flight environment data,
A threat value is assigned, and a route that minimizes the total of the threat values is searched.

Next, in step S7, the position of the aircraft flying according to the calculated route is sent from the self-position estimating device 9 to the information processing device 8 at regular intervals, and the threat data sent through the communication system 7 is sent. ,
The threat database 4 and the flight environment database 2 are updated as needed with the latest information on the flight environment data. In step S11, the updated threat data and flight environment data are compared with those before the update, and if there is a deviation of a predetermined value or more, the flight route to the target point is set as the starting point. Is calculated in the same manner as in the first embodiment.

Next, the calculated flight route is updated by the information processing device 8 as a new flight route from the route which has been flown so far to the target point, output to the display device 6, and stored in the map database 1. Displayed with This operation is continued until the target point is reached, that is, until YES is obtained in step S10.

In the route search system according to the third embodiment, a new flight route is calculated in accordance with a threat and a change in the flight environment. Therefore, a more preferable flight route in accordance with the threat and a change in the flight environment. There is an effect that can be taken.

Embodiment 4 FIG. In the fourth embodiment of the present invention, the processes of the second and third embodiments in FIG. 3 are simultaneously performed so that the route search is performed when any of the conditions of the second and third embodiments is satisfied.

FIG. 6 is a flowchart of a route search method according to the fourth embodiment, and the route search method will be described with reference to FIG. That is, the flowchart of the fourth embodiment (to supplement the drawings) has both step S8 of the second embodiment and step S11 of the third embodiment. First, as in the first embodiment, A search route model based on the target object data calculated based on the initial flight environment data is created, a threat value is assigned, and a route that minimizes the total of the threat values is searched (steps S1 to S6).

Next, the position of the aircraft flying according to the calculated route is sent from the self-position estimating device 9 to the information processing device 8 at regular intervals, and the threat data and the flight environment sent through the communication system 7 are transmitted. The threat database 4 and the flight environment database 2 are updated from time to time with the latest information of the data (step S7).

Next, the calculated flight route and the position information of the aircraft are compared (step S8), and if there is a deviation of a predetermined value or more, or if the updated threat data and flight environment data Is compared with the one before the update (step S11), and if there is a deviation of a predetermined value or more, the point is set as a starting point (step S9), and the flight route to the target point is determined as described above. It is calculated by steps S1 to S6.

Next, the calculated flight route is updated by the information processing device 8 as a new flight route from the route which has been flown so far to the target point, output to the display device 6, and held in the map database 1. Displayed with map data. This operation is performed until the target point is reached,
The process is continued until the answer is YES in step S10.

In the fourth embodiment, the calculated flight route is compared with the position information of the own aircraft so that the route search is performed when one of the conditions in the second and third embodiments is satisfied. When a deviation of a certain value or more occurs, the flight path is updated and corrected, and a new flight path is calculated according to threats and changes in the flight environment.
The same or better effects as in the second and third embodiments can be obtained.

[0045]

As described above, according to the route search system and the route search method according to the present invention, the checkpoints serving as the landmarks of the aircraft flying in the visual field can be selected.
Checkpoints suitable for the flight environment such as visibility are selected, the space between checkpoints is modeled in it, and the optimal route is calculated in that model, so aircraft navigating in the visual field By joining and modeling the checkpoints, which serve as landmarks, and determining the optimal route, the determined route passes near the checkpoint, and Thus, a flight path suitable for a visual navigation aircraft can be obtained, and a flight path suitable for flight of a visual aircraft such as a helicopter can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a route search system according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating a route search method according to the first embodiment of the present invention.

FIG. 3 is a configuration diagram of a route search system according to Embodiments 2 and 3 of the present invention.

FIG. 4 is a flowchart illustrating a route search method according to a second embodiment of the present invention;

FIG. 5 is a flowchart illustrating a route search method according to a third embodiment of the present invention;

FIG. 6 is a flowchart illustrating a route search method according to a fourth embodiment of the present invention.

FIG. 7 is a configuration diagram showing a conventional route search system.

FIG. 8 is a diagram showing how a route model is created in the first embodiment.

FIG. 9 is a diagram illustrating an A * algorithm used in the first embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Map database 2 Flight environment database 3 Landmark database 4 Threat database 5 Input device 6 Display device 7 Communication system 8 Information processing device 9 Self-locating device 10 Central processing unit

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Claims (5)

(57) [Claims] 1. A system for searching for a route connecting a given departure point and arrival point in an arbitrary area having a threat and a flight environment in a distribution state determined in advance, comprising: (a) a position of a search area; A map database containing data representing information; (b) a flight environment database containing data related to the flight environment, such as weather information and flight restriction information in the search area; and (c) position information and characteristic information of land-based targets. And (d) a threat database containing data on threats such as the location and spread characteristics of multiple types of threats, and (e) an input for inputting various commands and information. (F) a display device for displaying search results, input screens, and the like; and (g) a communication system for obtaining changed information such as the threat data and flight environment data. (H) the route search system characterized by comprising an information processing apparatus that performs route search processing based on the information from the various databases. 2. The route search system according to claim 1, wherein a route suitable for an aircraft or the like performing a visual flight is searched for. (A) When an in-flight aircraft or the like flies in accordance with a flight environment; Selecting ground targets that can be used as targets, (b)
Modeling the search path space by connecting the selected ground objects, (c) allocating the threat having the previously determined distribution to the modeled search path space,
A route search method, comprising: searching for a route having a minimum total of threat values; and (d) displaying a route obtained by the search. 3. The route search method according to claim 2, wherein the information processing device is configured to perform the following based on changed information such as the threat data and flight environment data from the communication system.
A route search system for searching for a new route in response to a threat and a change in a flight environment. 4. The route searching method according to claim 2, further comprising: (i) a self-position estimating device for estimating a position of the own aircraft which flies in accordance with the calculated route at regular intervals, wherein the search is based on target object data. When navigating along the route model, the calculated flight route is compared with the position information of the own aircraft, and when a deviation of a certain value or more occurs, the flight route is updated and corrected. Route search system. 5. The route search system according to claim 2, further comprising: (i) a self-position estimating device for estimating a position of the own aircraft that flies according to the calculated route at regular intervals. , Based on the changed information such as the threat data and the flight environment data from the communication system,
When searching for a new route in accordance with the threat and the change in the flight environment, and navigating along the search route model based on the target data, the calculated flight route is compared with the position information of the own aircraft. A route search system that updates and corrects the flight route when a deviation of a certain value or more occurs.