Navigation route determination method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a navigation route determination method and device, equipment and a storage medium, and the method comprises the steps: determining a plurality of to-be-optimized legs in a target region, and determining to-be-optimized parameters corresponding to each to-be-optimized leg; wherein the to-be-optimized parameters at least comprise a waypoint position, a navigation speed and an optimization target parameter; performing parameter optimization on the to-be-optimized parameters corresponding to the to-be-optimized leg, and determining target navigation parameters corresponding to the to-be-optimized parameters; and according to the target navigation parameters, determining a target leg corresponding to each to-be-optimized leg, and determining a target route according to the plurality of target legs. According to the technical scheme, the problems that in the prior art, when the navigation route of the ship is determined, only a single target is optimized generally, the determined navigation route cannot adapt to the complex navigation environment, and comprehensive benefits are affected are solved, the ship route can be divided into the multiple navigation segments, navigation elements of different navigation segments are comprehensively considered, and the navigation efficiency of the ship is improved. The importance of different optimization targets is balanced, the applicability of the determined route is improved, and the comprehensive income is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of ship navigation management, and in particular to a method, device, equipment and storage medium for determining a navigation route. Background Art

[0002] When ships are performing navigation tasks, different sections have different weather, sea conditions and maritime regulations. However, the current navigation technology can only select a single target for optimization when optimizing the route, and cannot take into account the complex and changing navigation environment in different sections, thus affecting the overall benefits. Summary of the invention

[0003] The embodiments of the present invention provide a method, device, equipment and storage medium for determining a navigation route, which can divide the route into multiple segments, comprehensively consider the navigation elements of different segments, weigh the importance of different optimization goals, improve the applicability of the determined route, and improve the overall benefits.

[0004] In a first aspect, an embodiment of the present invention provides a method for determining a navigation route, the method comprising:

[0005] Determine multiple flight segments to be optimized in the target area, and respectively determine the parameters to be optimized corresponding to each flight segment to be optimized; wherein the parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameters; perform parameter optimization on the parameters to be optimized corresponding to the flight segments to be optimized, and determine the target navigation parameters corresponding to the parameters to be optimized; determine the target flight segment corresponding to each flight segment to be optimized according to the target navigation parameters, and determine the target route according to the multiple target flight segments.

[0006] In a second aspect, an embodiment of the present invention provides a navigation route determination device, the device comprising:

[0007] The module for determining parameters to be optimized is used to determine multiple flight segments to be optimized in the target area, and to determine the parameters to be optimized corresponding to each flight segment to be optimized; wherein the parameters to be optimized include at least: waypoint position, navigation speed and optimization target parameters; the target navigation parameter module is used to perform parameter optimization on the parameters to be optimized corresponding to the flight segments to be optimized, and determine the target navigation parameters corresponding to the parameters to be optimized; the target route determination module is used to determine the target flight segment corresponding to each flight segment to be optimized according to the target navigation parameters, and to determine the target route according to multiple target flight segments.

[0008] In a third aspect, an embodiment of the present invention provides a computer device, the computer device comprising:

[0009] one or more processors;

[0010] A memory for storing one or more programs;

[0011] When the one or more programs are executed by the one or more processors, the one or more processors implement the navigation route determination method described in any embodiment.

[0012] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining a navigation route described in any embodiment.

[0013] The technical solution provided by the embodiment of the present invention determines multiple segments to be optimized in the target area, and determines the parameters to be optimized corresponding to each segment to be optimized; wherein the parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameters; parameter optimization is performed on the parameters to be optimized corresponding to the segment to be optimized, and the target navigation parameters corresponding to the parameters to be optimized are determined; according to the target navigation parameters, the target segment corresponding to each segment to be optimized is determined, and the target route is determined based on the multiple target segments. The technical solution of the embodiment of the present invention solves the problem that the prior art usually only optimizes a single target when determining the navigation route of a ship, which easily leads to the determined navigation route being unable to adapt to the complex navigation environment and affecting the overall benefits. The route can be divided into multiple segments, and the navigation elements of different segments are comprehensively considered, and the importance of different optimization targets is weighed to improve the applicability of the determined route and improve the overall benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a flow chart of a method for determining a navigation route provided by an embodiment of the present invention;

[0015] Figure 2 is a flow chart of another method for determining a navigation route provided by an embodiment of the present invention;

[0016] Figure 3 is a schematic diagram of iteratively optimizing an optimization target parameter provided by an embodiment of the present invention;

[0017] Figure 4 This is a workflow diagram for determining a navigation route provided by an embodiment of the present invention;

[0018] Figure 5 is a structural schematic diagram of a navigation route determination device provided by an embodiment of the present invention;

[0019] Figure 6 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Figure 1 It is a flow chart of a method for determining a sailing route provided by an embodiment of the present invention. The embodiment of the present invention can be applied to a scenario of determining a sailing route of a ship. The method can be executed by a sailing route determination device, which can be implemented by software and / or hardware.

[0022] like Figure 1 As shown, the navigation route determination method includes the following steps:

[0023] S110, determining a plurality of flight segments to be optimized in the target area, and respectively determining parameters to be optimized corresponding to each flight segment to be optimized.

[0024] The target area may be an area where a navigation route needs to be determined. The technical solution of the embodiment of the present invention needs to determine the corresponding target navigation route from the target area. Further, the flight segment to be optimized may be an initial flight segment that needs to be optimized. Exemplarily, a user may manually specify multiple initial flight segments from the target area through interactive instructions, thereby obtaining multiple flight segments to be optimized.

[0025] Furthermore, each segment to be optimized may have its corresponding parameters to be optimized. The parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameter. The waypoint location may be the location information of the starting waypoint and the ending waypoint corresponding to the segment to be optimized. The navigation speed may be the speed used by the ship to sail through the segment to be optimized. The optimization target parameter may be a reference parameter for evaluating the optimization result of the segment to be optimized. Optionally, the optimization target parameter includes: fuel consumption parameter, navigation time or comfort parameter.

[0026] S120, performing parameter optimization on the parameters to be optimized corresponding to the flight segment to be optimized, and determining target navigation parameters corresponding to the parameters to be optimized.

[0027] The target heading parameter may be a parameter obtained after optimizing the navigation parameter to be optimized. Specifically, the parameters to be optimized of the segment to be optimized may be iteratively optimized, and based on the optimized target parameters in the navigation parameter to be optimized, the candidate parameters obtained by each iterative optimization may be evaluated to obtain corresponding evaluation scores, and finally, the evaluation scores of each iterative optimization may be compared, and according to the comparison results, the target navigation parameter may be determined from the candidate parameters obtained by multiple iterative optimizations.

[0028] S130. Determine the target flight segment corresponding to each of the flight segments to be optimized according to the target navigation parameters, and determine the target route according to the multiple target flight segments.

[0029] Among them, the target segment can be the segment obtained after parameter optimization of the segment to be optimized. Specifically, for each segment to be optimized, the starting waypoint and the ending waypoint in the objective function parameters of the segment to be optimized can be connected to obtain the target segment corresponding to the segment to be optimized. Furthermore, the target route can be the final ship navigation route determined in the target area. Exemplarily, all target segments can be connected to obtain the target route. In addition, the target route can also include the heading speed corresponding to each target segment; that is, the ship will adopt the navigation speed corresponding to the target segment when passing through the target segment.

[0030] The technical solution provided by the embodiment of the present invention determines multiple segments to be optimized in the target area, and determines the parameters to be optimized corresponding to each segment to be optimized; wherein the parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameters; performs parameter optimization on the parameters to be optimized corresponding to the segment to be optimized, and determines the target navigation parameters corresponding to the parameters to be optimized; according to the target navigation parameters, determines the target segment corresponding to each segment to be optimized, and determines the target route based on the multiple target segments. The technical solution of the embodiment of the present invention solves the problem that the prior art usually only optimizes a single target when determining the navigation route of a ship, which easily leads to the determined navigation route being unable to adapt to the complex navigation environment and affecting the overall benefits. The route can be divided into multiple segments, and the navigation elements of different segments are comprehensively considered, and the importance of different optimization targets is weighed to improve the applicability of the determined route and improve the overall benefits.

[0031] Figure 2It is another flowchart of a method for determining a sailing route provided by an embodiment of the present invention. The embodiment of the present invention can be applied to the scenario of determining the sailing route of a ship. Based on the above embodiment, this embodiment further illustrates how to determine multiple segments to be optimized in the target area; and how to perform parameter optimization on the parameters to be optimized corresponding to the segments to be optimized, and determine the target sailing parameters corresponding to the parameters to be optimized. The device can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0032] like Figure 2 As shown, the navigation route determination method includes the following steps:

[0033] S210: Determine a plurality of flight segments to be optimized in the target area, and respectively determine the parameters to be optimized corresponding to each flight segment to be optimized.

[0034] Among them, the interactive instruction can be an instruction for determining the waypoints in the target area. Exemplarily, the user can send the interactive instruction by clicking and dragging or data input, so that the device receives the interactive instruction and determines the information of multiple waypoints in the target area according to the interactive instruction. The waypoint information includes: the location information and the navigation sequence information of the waypoint. Among them, the navigation sequence information can be the passage sequence information between the waypoints. A segment can be obtained by connecting two waypoints, and the navigation sequence information can reflect the order in which the ship sails through each waypoint. Further, according to the arrangement sequence numbers between the waypoints in the navigation sequence information, each two waypoints can be connected in turn to obtain multiple segments to be optimized. For example, the waypoint with sequence number n can be connected with the waypoint with sequence number n+1 to obtain a segment to be optimized.

[0035] For example, for a route with n waypoints and n-1 flight segments, the optimization target parameter is X={x 0 ,x 1 ,x 2 ,…,x n-2}, where x i{0≤i≤n-1} ∈{1,2,3}, represents the state selection of the target to be optimized in each flight segment. i =1 means that the flight segment with index i is optimized with the goal of "minimum fuel consumption", x j = 2 means that the segment with index j is optimized with the goal of "shortest flight time". Similarly, x k =3 means that the flight segment with index k is optimized with the goal of "most comfortable".

[0036] For example, Figure 3 FIG. 1 is a schematic diagram of iteratively optimizing an optimization target parameter provided by an embodiment of the present invention. Figure 3As shown in the figure, assuming that there is a route with n=10 waypoints, if its initial optimization target parameters indicate that the optimization target of the segment indexed is "lowest fuel consumption", and the optimization target of the segment indexed is "most comfortable", the optimization target of the segment indexed 7 to 8 is "shortest flight time". Without considering the position of the waypoints and the speed, the segmentation position will change after completing one iteration, that is, in the schematic diagram, it means that the optimization target of the 4th segment is adjusted from "most comfortable" to "lowest fuel consumption", and the optimization target of the 7th segment is adjusted from "most comfortable" to "shortest flight time".

[0037] S220, performing multiple iterative optimizations on the parameters to be optimized corresponding to the flight segment to be optimized, to obtain multiple groups of candidate parameters corresponding to the parameters to be optimized.

[0038] The candidate parameters may be parameters obtained after each iterative optimization. For example, multiple iterative optimizations may be performed simultaneously for all the flight segments to be optimized, and the parameters obtained after each iterative optimization are used as candidate parameters for the corresponding flight segments to be optimized.

[0039] S230: For each group of candidate parameters, evaluate the navigation performance of the candidate parameters to obtain the candidate fitness corresponding to the candidate parameters.

[0040] The candidate fitness may be an evaluation parameter corresponding to the candidate parameter. Specifically, the candidate fitness is proportional to the quality of the candidate parameter. Exemplarily, for each group of candidate parameters, the preferred target parameter in the candidate parameters may be used as an evaluation basis, and the waypoint position and navigation speed in the candidate parameters may be evaluated to obtain the corresponding candidate fitness.

[0041] Optionally, when the optimization target parameter is the fuel consumption parameter, the navigation performance of the candidate parameters is evaluated to obtain the candidate fitness corresponding to the candidate parameters, including: determining the segment length and segment weather data according to the waypoint positions in the candidate parameters; inputting the segment length, segment weather data and the speed in the candidate parameters into the fuel consumption determination model to obtain the fuel consumption corresponding to the candidate parameters, and using the fuel consumption as the candidate fitness corresponding to the candidate parameters.

[0042] Among them, the location information of the candidate segment corresponding to the candidate parameter can be determined according to the waypoint position in the candidate parameter, and further, the length of the candidate segment can be determined as the segment length. The segment meteorological data can be the meteorological data corresponding to the candidate segment. Exemplarily, the meteorological data can include marine meteorological data such as wind, waves, currents, surges, and water surface temperature on the candidate segment. Specifically, according to the location information of the route segment, the marine climate data corresponding to the location information can be queried as the meteorological data.

[0043] Furthermore, the fuel consumption determination model may be a preset model for predicting the fuel consumption of a ship when sailing through a candidate section. 1 , then the fuel consumption calculation method is M 1 (v,s,w), where v represents the average speed of a fixed segment of the ship. When there are multiple segments, v is a column vector composed of the average speed of each segment; s, in the same way, represents the length of each segment; w represents the meteorological data. Specifically, the segment length, segment meteorological data, and the speed in the candidate parameters can be input into the fuel consumption determination model to obtain the fuel consumption corresponding to the candidate parameters, and the fuel consumption is used as the candidate fitness corresponding to the candidate parameters.

[0044] Optionally, when the optimization target parameter is a comfort parameter, the navigation performance of the candidate parameters is evaluated to obtain the candidate fitness corresponding to the candidate parameters, including: determining the segment meteorological data based on the waypoint positions in the candidate parameters; inputting the segment meteorological data and the speed in the candidate parameters into a comfort determination model to obtain the comfort value corresponding to the candidate parameters, and using the comfort value as the candidate fitness corresponding to the candidate parameters.

[0045] The comfort determination model may be a preset model for predicting the comfort of a ship sailing through a candidate segment. Similarly, the segment weather data may be determined according to the waypoint positions in the candidate parameters, and then the segment weather data and the speed in the candidate parameters may be input into the comfort determination model to obtain the comfort value corresponding to the candidate parameter, and the comfort value may be used as the candidate fitness corresponding to the candidate parameter.

[0046] In addition, when the optimization target parameter is the navigation time, the segment length can also be determined according to the waypoint position in the candidate parameters, and the segment length is divided by the navigation speed in the candidate parameters to obtain the navigation time, and the navigation time is used as the candidate fitness corresponding to the candidate parameter.

[0047] S240. Determine the target navigation parameter from the candidate parameters according to the candidate fitness.

[0048] The target heading parameter may be a parameter obtained after optimizing the navigation parameter to be optimized. Exemplarily, for each flight segment to be optimized, the candidate fitness of the candidate parameters corresponding to the flight segment to be optimized may be compared, and the target navigation parameter may be determined from the candidate parameters according to the comparison result.

[0049] Optionally, the target navigation parameters are determined from the candidate parameters based on the candidate fitness, including: for each iterative optimization, multiplying the candidate fitness of each segment to be optimized by the corresponding preset weight and adding them together to obtain the candidate route fitness; comparing the candidate route fitnesses corresponding to multiple iterative optimizations, and determining the target navigation parameters from the candidate parameters based on the comparison results.

[0050] Among them, the preset weight can be an evaluation coefficient corresponding to the optimization result of the flight segment to be optimized. Specifically, the preset weight corresponding to each flight segment to be optimized can be preset manually. The candidate route fitness can be an evaluation parameter of the candidate parameters obtained after a single optimization. Specifically, the candidate fitness of each flight segment to be optimized can be multiplied by the corresponding preset weight and then added to obtain the candidate route fitness. Furthermore, the candidate route fitness corresponding to each iterative optimization can be compared, and the iterative result with the largest candidate fitness can be used as the target optimization result, and the candidate parameters in the target optimization result can be used as the target navigation parameters corresponding to each segment to be optimized. Among them, the iterative result can be understood as the set of candidate parameters corresponding to all segments to be optimized after each iterative optimization.

[0051] S250. Determine the target flight segment corresponding to each of the flight segments to be optimized according to the target navigation parameters, and determine the target route according to the multiple target flight segments.

[0052] For example, in order to better understand the technical solution provided by the present invention, a specific embodiment is introduced below: Figure 4 FIG. 1 is a flowchart of a navigation route determination process provided by an embodiment of the present invention. Figure 4 As shown, the workflow for determining the navigation route includes the following steps:

[0053] First, input the route data to be optimized, the estimated arrival time ETA and the estimated departure time ETD, and then specify the optimization objectives of different segments. Then, the segmented optimization variable X will be generated, and then the optimization target weights (i.e., candidate parameters) corresponding to each optimization result will be determined. Further, the ship parameter navigation data and the optimization target weight data will be imported into the route optimization target model, so that the model can analyze the optimization results based on fuel consumption, sailing time or comfort. Finally, it will be iterated based on the heuristic algorithm to output the optimized route.

[0054] When optimizing a route, the only objects that can be changed are usually the position coordinates of the waypoints on the route P = {p 0 ,p 1 ,p 2 ,…,p n-1}、The speed V corresponding to each flight segment = {v 0 ,v 1 ,v2 ,…,v n-1} three, among which p i{0≤i≤n-1} represents the latitude and longitude coordinates of the i-th waypoint, v i{0≤i≤n-1} represents the speed of the i-th waypoint. However, when performing actual navigation tasks, the estimated arrival time ETA and the estimated departure time ETD are usually fixed, which means that there is a constraint that the total navigation time remains unchanged, so the route optimization usually only optimizes the waypoint coordinate position P and the speed V. In addition, the optimization target parameter X can be used as the third optimization dimension. At this time, the optimizable object of the route can be regarded as a variable matrix as follows: In the variable matrix S, each row represents an optimization dimension of the route, and each column represents the state of a waypoint. At this time, a route can be defined by a fixed variable S and can be decoupled into each independent waypoint.

[0055] Furthermore, in the process of iterating the final route based on the heuristic algorithm, the optimization model for a route and the determination of the weights have been completed. Now it is necessary to use the algorithm to optimize the route. Since there is no absolutely optimal solution to the route optimization problem, the commonly used methods are heuristic algorithms such as particle swarm algorithm, genetic algorithm, simulated annealing algorithm, A* algorithm, etc. Taking the particle swarm algorithm PSO as an example, the above route optimization model As the basic model of each particle, the optimization object with a population size of num can be quantified as Each column represents a particle. After each iteration, the comprehensive target value T is calculated according to the set segment weights and the PSO rule is used to find the optimal solution. The target of each segment can determine the iteration direction according to its own impact on the comprehensive evaluation index. Finally, the variable matrix of the optimal route is obtained. Through the longitude and latitude vector P best and waypoint speed V best Then output the final optimized route.

[0056] The technical solution provided by the embodiment of the present invention determines multiple segments to be optimized in the target area, and determines the parameters to be optimized corresponding to each segment to be optimized respectively; performs multiple iterations on the parameters to be optimized corresponding to the segments to be optimized to obtain multiple groups of candidate parameters corresponding to the parameters to be optimized; for each group of candidate parameters, evaluates the navigation performance of the candidate parameters to obtain the candidate fitness corresponding to the candidate parameters; determines the target navigation parameters from the candidate parameters according to the candidate fitness; determines the target segment corresponding to each segment to be optimized according to the target navigation parameters, and determines the target route according to the multiple target segments. The technical solution of the embodiment of the present invention solves the problem that the prior art usually only optimizes a single target when determining the navigation route of a ship, which easily leads to the determined navigation route being unable to adapt to the complex navigation environment and affecting the comprehensive benefits. The route can be divided into multiple segments, and the navigation elements of different segments are comprehensively considered, and the importance of different optimization targets is weighed to improve the applicability of the determined route and improve the comprehensive benefits.

[0057] Figure 5 It is a structural schematic diagram of a navigation route determination device provided by an embodiment of the present invention. The embodiment of the present invention can be applied to the scenario of determining the navigation route of a ship. The device can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0058] like Figure 5 As shown, the navigation route determination device includes: a parameter determination module 310 to be optimized, a target navigation parameter module 320 and a target route determination module 330.

[0059] Among them, the module 310 for determining the parameters to be optimized is used to determine multiple segments to be optimized in the target area, and to determine the parameters to be optimized corresponding to each segment to be optimized respectively; wherein the parameters to be optimized include at least: waypoint position, navigation speed and optimization target parameters; the target navigation parameter module 320 is used to perform parameter optimization on the parameters to be optimized corresponding to the segments to be optimized, and determine the target navigation parameters corresponding to the parameters to be optimized; the target route determination module 330 is used to determine the target segment corresponding to each segment to be optimized according to the target navigation parameters, and to determine the target route according to multiple target segments.

[0060] The technical solution provided by the embodiment of the present invention determines multiple segments to be optimized in the target area, and determines the parameters to be optimized corresponding to each segment to be optimized; wherein the parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameters; parameter optimization is performed on the parameters to be optimized corresponding to the segment to be optimized, and the target navigation parameters corresponding to the parameters to be optimized are determined; according to the target navigation parameters, the target segment corresponding to each segment to be optimized is determined, and the target route is determined based on the multiple target segments. The technical solution of the embodiment of the present invention solves the problem that the prior art usually only optimizes a single target when determining the navigation route of a ship, which easily leads to the determined navigation route being unable to adapt to the complex navigation environment and affecting the overall benefits. The route can be divided into multiple segments, and the navigation elements of different segments are comprehensively considered, and the importance of different optimization targets is weighed to improve the applicability of the determined route and improve the overall benefits.

[0061] In an optional embodiment, the target navigation parameter module 320 is specifically used to: perform multiple iterative optimizations on the parameters to be optimized corresponding to the flight segment to be optimized to obtain multiple groups of candidate parameters corresponding to the parameters to be optimized; for each group of candidate parameters, evaluate the navigation performance of the candidate parameters to obtain the candidate fitness corresponding to the candidate parameters; and determine the target navigation parameters from the candidate parameters based on the candidate fitness.

[0062] In an optional embodiment, the target navigation parameter module 320 includes: a fitness analysis unit, which is used to: for each iterative optimization, multiply the candidate fitness of each segment to be optimized by the corresponding preset weight and then add them up to obtain the candidate route fitness; compare the candidate route fitness corresponding to multiple iterative optimizations, and determine the target navigation parameter from the candidate parameters based on the comparison results.

[0063] In an optional embodiment, the fitness analysis unit includes: a fuel consumption parameter analysis subunit, which is used to: when the optimization target parameter is the fuel consumption parameter, determine the segment length and segment weather data according to the waypoint positions in the candidate parameters; input the segment length, the segment weather data and the speed in the candidate parameters into a fuel consumption determination model to obtain the fuel consumption corresponding to the candidate parameters, and use the fuel consumption as the candidate fitness corresponding to the candidate parameters.

[0064] In an optional embodiment, the fitness analysis unit includes: a comfort analysis subunit, used to: when the optimization target parameter is a comfort parameter, determine the flight segment meteorological data according to the waypoint positions in the candidate parameters; input the flight segment meteorological data and the speed in the candidate parameters into a comfort determination model to obtain the comfort value corresponding to the candidate parameter, and use the comfort value as the candidate fitness corresponding to the candidate parameter.

[0065] In an optional embodiment, the module 310 for determining the parameters to be optimized is specifically used to: determine multiple waypoint information in the target area based on interactive instructions; wherein the waypoint information includes: location information and navigation sequence information of the waypoints; and according to the navigation sequence information, connect every two waypoints in turn to obtain the flight segment to be optimized.

[0066] In an optional implementation, the optimization target parameters include: fuel consumption parameters, navigation time or comfort parameters.

[0067] The navigation route determination device provided in the embodiment of the present invention can execute the navigation route determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0068] Figure 6 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 6 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 6 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capability and can be configured in the navigation route determination device.

[0069] like Figure 6 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0070] The bus 18 may be one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0071] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0072] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0073] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0074] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 20. Figure 6 As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that although Figure 6Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0075] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the navigation route determination method provided in the embodiment of the present invention, which includes:

[0076] Determine multiple flight segments to be optimized in the target area, and respectively determine the parameters to be optimized corresponding to each flight segment to be optimized; wherein the parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameters; perform parameter optimization on the parameters to be optimized corresponding to the flight segments to be optimized, and determine the target navigation parameters corresponding to the parameters to be optimized; determine the target flight segment corresponding to each flight segment to be optimized according to the target navigation parameters, and determine the target route according to the multiple target flight segments.

[0077] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method for determining a navigation route provided in any embodiment of the present invention is implemented, including:

[0078] Determine multiple flight segments to be optimized in the target area, and respectively determine the parameters to be optimized corresponding to each flight segment to be optimized; wherein the parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameters; perform parameter optimization on the parameters to be optimized corresponding to the flight segments to be optimized, and determine the target navigation parameters corresponding to the parameters to be optimized; determine the target flight segment corresponding to each flight segment to be optimized according to the target navigation parameters, and determine the target route according to the multiple target flight segments.

[0079] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0080] A computer-readable signal medium may include a data signal in baseband or as part of a carrier wave, which carries a computer-readable program code. Such a data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, transmit, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0081] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0082] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or combinations thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0083] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0084] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining a navigation route, characterized in that: include: Determine a plurality of flight segments to be optimized in the target area, and respectively determine the parameters to be optimized corresponding to each flight segment to be optimized; wherein the parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameter; Performing parameter optimization on the parameters to be optimized corresponding to the flight segment to be optimized, and determining target navigation parameters corresponding to the parameters to be optimized; According to the target navigation parameters, the target flight segments corresponding to each of the flight segments to be optimized are determined respectively, and the target route is determined according to the multiple target flight segments.

2. The method according to claim 1, characterized in that: The step of performing parameter optimization on the parameters to be optimized corresponding to the flight segment to be optimized and determining target navigation parameters corresponding to the parameters to be optimized includes: Performing multiple iterations of optimization on the parameters to be optimized corresponding to the flight segment to be optimized, to obtain multiple groups of candidate parameters corresponding to the parameters to be optimized; For each group of candidate parameters, the navigation performance of the candidate parameters is evaluated to obtain the candidate fitness corresponding to the candidate parameters; The target navigation parameter is determined from the candidate parameters according to the candidate fitness.

3. The method according to claim 2, characterized in that The step of determining the target navigation parameter from the candidate parameters according to the candidate fitness comprises: For each iterative optimization, the candidate fitness of each segment to be optimized is multiplied by the corresponding preset weight and then added to obtain the candidate route fitness; The fitness of the candidate routes corresponding to the multiple iterative optimizations is compared, and the target navigation parameters are determined from the candidate parameters according to the comparison results.

4. The method according to claim 2, characterized in that: In the case where the optimization target parameter is a fuel consumption parameter, the evaluating the navigation performance of the candidate parameter to obtain the candidate fitness corresponding to the candidate parameter includes: Determine the segment length and segment weather data according to the waypoint positions in the candidate parameters; The segment length, the segment weather data and the speed in the candidate parameters are input into the fuel consumption determination model to obtain the fuel consumption corresponding to the candidate parameters, and the fuel consumption is used as the candidate fitness corresponding to the candidate parameters.

5. The method according to claim 2, characterized in that: In the case where the optimization target parameter is a comfort parameter, the evaluating the navigation performance of the candidate parameter to obtain the candidate fitness corresponding to the candidate parameter includes: Determine the flight segment weather data according to the waypoint positions in the candidate parameters; The flight segment meteorological data and the speed in the candidate parameters are input into a comfort determination model to obtain a comfort value corresponding to the candidate parameter, and the comfort value is used as the candidate fitness corresponding to the candidate parameter.

6. The method according to claim 1, characterized in that The determining of the multiple flight segments to be optimized in the target area includes: Determine a plurality of waypoint information in the target area based on the interactive instruction; wherein the waypoint information includes: location information and navigation sequence information of the waypoint; According to the navigation sequence information, every two waypoints are connected in sequence to obtain the flight segment to be optimized.

7. The method according to claim 1, characterized in that The optimization target parameters include: fuel consumption parameters, navigation time or comfort parameters.

8. A navigation route determination device, characterized in that: The device comprises: The module for determining parameters to be optimized is used to determine multiple flight segments to be optimized in the target area, and respectively determine the parameters to be optimized corresponding to each flight segment to be optimized; wherein the parameters to be optimized include at least: waypoint location, navigation speed and optimization target parameter; A target navigation parameter module is used to optimize the parameters to be optimized corresponding to the flight segment to be optimized, and determine the target navigation parameters corresponding to the parameters to be optimized; The target route determination module is used to determine the target flight segment corresponding to each of the flight segments to be optimized according to the target navigation parameters, and determine the target route according to the multiple target flight segments.

9. A computer device, characterized in that: The computer device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the navigation route determination method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the navigation route determination method as described in any one of claims 1-7 is implemented.

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