Strip layout method based on artificial potential field and electronic equipment

Abstract

The invention discloses a stripe layout method based on an artificial potential field and electronic equipment, and belongs to the technical field of satellites. The method comprises the following steps: determining a middle latitude line corresponding to a large area according to vertex latitude and longitude coordinates of the large area; determining a plurality of strips according to the plurality of time windows corresponding to the large area, and determining an initial state corresponding to each strip; mapping the position of each strip to the middle latitude line, and calculating the resultant force of each strip; and moving each strip according to the resultant force of each strip, and obtaining a strip layout result. According to the method, the relative positions of all strips are dynamically and globally adjusted through an artificial potential field method, large-area strip layout is achieved, the strip layout efficiency is improved, and the calculated amount and time consumption are reduced.

Description

Technical Field

[0001] This application belongs to the field of satellite technology, and particularly relates to a strip layout method and an electronic device based on an artificial potential field. Background Art

[0002] For the shooting tasks of small areas or point targets, they can be completed through one shooting; while for the shooting tasks of large areas, due to the limitation of the satellite imaging swath, they need to be completed through multiple shootings and stitching. In order to complete the shooting task of a large area as soon as possible, multiple different satellites are usually called to cooperate for shooting. When multiple satellites cooperate to shoot a large area, in order to ensure the coverage rate between strips, a reasonable overlapping part is required between adjacent strips.

[0003] Currently, for the scheduling of regional targets, it usually includes the grid point method and the analytical method. The grid point method first divides the ground task area into a series of grids at a certain interval, converts the regional target into a point target, and then processes it. The operation result of this method is affected by the grid size. If the grid is too large, the planning result will be inaccurate; if the grid is too small, the amount of calculation will be too large and the efficiency will be reduced. The analytical method is to obtain the relationship between the strip and the ground task area through the geometric topological relationship between the satellite and the earth. However, this method relies too much on two-dimensional topological calculation, and the algorithm complexity is relatively high when calculating the topological relationship between the passing strip and the regional target. When the scheduling time is too long and the ground task area is too large, the imaging task planning takes too much time. In addition, for the planning algorithm of point targets, the scheduling time is mostly one day or several days, and the ground task area is mostly several hundred point targets. If it is a long-term and large ground task area scheduling, such planning methods are time-consuming.

[0004] In view of the above problems, the strip layout method and the electronic device based on an artificial potential field in this application are proposed. Summary of the Invention

[0005] In order to solve the deficiencies of the existing technology, this application provides a strip layout method and an electronic device based on an artificial potential field, which solve the problems of excessive calculation amount, reduced efficiency, and excessive time consumption in the shooting scheduling of regional targets in the existing technology.

[0006] The technical effects to be achieved by this application are realized through the following solutions:

[0007] In a first aspect, this application provides a strip layout method based on an artificial potential field, including:

[0008] Determine the intermediate latitude line corresponding to the large area according to the longitude and latitude coordinates of the vertices of the large area;

[0009] Determine multiple strips according to multiple time windows corresponding to the large area, and determine the initial state corresponding to each strip;

[0010] Map the position of each strip to the intermediate latitude line and calculate the resultant force of each strip;

[0011] Move each strip according to the resultant force of each strip and obtain the strip layout result.

[0012] In some embodiments, determining the initial state corresponding to each strip includes:

[0013] Set the initial position of strip i to P i (0) and the initial velocity to V i (0), where i is an integer and i represents any strip;

[0014] Set the movement boundary of strip i to x represents the projected position on the intermediate latitude line, represents the minimum position of strip i, represents the maximum position of strip i;

[0015] Set the attraction constant to k att , the repulsion constant to k rep , and the damping coefficient to c;

[0016] Set the force threshold to F thresh .

[0017] In some embodiments, the resultant force F of each strip is calculated using the following formula i :

[0018]

[0019] where F ij is the mutual force between strip i and strip j, c·v i is the damping force of strip i, c represents the damping coefficient, and both i and j are integers, and the value range of i or j is from 1 to the total number of strips.

[0020] In some embodiments, the calculation steps of F ij include:

[0021] 1) Calculate the attractive potential field U att (r ij ) between strip i and strip j:

[0022]

[0023] where r ij is the distance between strip i and strip j on the intermediate latitude line, k att is the attraction constant, r minis the desired minimum safety distance. Being greater than or equal to this desired minimum safety distance indicates that there will be no repulsive force between the strips;

[0024] 2) Calculate the repulsive potential field U between strip i and strip j rep (r ij ):

[0025]

[0026] where r ij is the distance between strip i and strip j on the middle latitude line, r min is the desired minimum safety distance, and k rep is the repulsive constant;

[0027] 3) Calculate the mutual force F between strip i and strip j ij :

[0028] U total (r ij ) = U att (r ij ) + U rep (r ij )

[0029]

[0030] where U total (r ij ) represents the sum of the attractive potential field U att (r ij ) and the repulsive potential field U rep (r ij ), is the vector operator, representing the direction of the force.

[0031] In some embodiments, moving each strip according to the resultant force of each strip and obtaining the strip layout result includes:

[0032] Taking the modulus of the resultant force F i to get ||F i ||. If ||F i || is less than the force threshold F thresh , then stop updating the position and velocity of the strip. If ||F i || is greater than or equal to the force threshold F thresh , then update the position of strip i.

[0033] In some embodiments, updating the position of strip i includes:

[0034] Calculating the new position x of strip i using the following formula new :

[0035] θ new = θ current + Δθ·sgn(F i )

[0036] x new = X i (θ new )

[0037] Wherein, θ current represents the current yaw angle, θ new represents the updated yaw angle, Δθ represents a fixed micro-variable of the yaw angle, sgn(F i ) represents taking -1 or 1 according to the direction of the resultant force F i , X i (θ new ) represents projecting the strip I according to the updated yaw angle θ new , and x new is the longitude value of the strip i on the middle latitude line.

[0038] In some embodiments, before updating the position of the strip i, it further includes: determining whether the strip i exceeds the movement boundary of the strip i, and if the strip i exceeds the movement boundary of the strip i, restricting the strip i within the movement boundary of the strip i.

[0039] In some embodiments, the method further includes:

[0040] When all the strips in the large area have reached the boundary and are no longer updated, stop the movement of each strip to obtain the strip layout result.

[0041] In a second aspect, the present application provides an electronic device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, it implements the method described in any one of the foregoing.

[0042] In a third aspect, the present application provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the method described in any one of the foregoing.

[0043] Through the strip layout method and electronic device based on artificial potential field provided by the present application, the method maps each strip to the one-dimensional middle latitude line through a dimensionality reduction method, and dynamically and globally adjusts the relative positions of all strips through the artificial potential field method, so as to realize the layout of large-area strips, improve the efficiency of strip layout, and reduce the calculation amount and time consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] To more clearly illustrate the embodiments of the present application or the existing technical solutions, the following will briefly introduce the drawings required for the description of the embodiments or the existing technology. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 It is a flowchart of the strip layout method based on artificial potential field in an embodiment of the present application;

[0046] Figure 2 It is a schematic diagram of strip division of the strip layout method based on artificial potential field in an embodiment of the present application;

[0047] Figure 3 It is a schematic diagram of strip dimensionality reduction of the strip layout method based on artificial potential field in an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the strip layout result of the strip layout method based on artificial potential field in an embodiment of the present application;

[0049] Figure 5 It is a schematic block diagram of an electronic device in an embodiment of the present application. Detailed implementation manners

[0050] To make the objectives, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions of the present application in combination with specific embodiments and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0051] It should be noted that unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of the present application should have the ordinary meaning understood by those of ordinary skill in the art to which the present application belongs. The "first", "second" and similar terms used in one or more embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0052] To complete the shooting task of a large area as soon as possible, multiple different satellites are usually called to cooperate in shooting. There are several problems with the cooperative shooting of multiple satellites:

[0053] First, there will be differences in the orbital inclinations of different satellites;

[0054] Second, due to different side-sway angles and camera performances of different satellites, the imaging swaths will be different;

[0055] Third, since the orbit prediction error increases with the time away from the epoch, there is uncertainty in the time window for future satellites to execute the shooting task, and the execution status of the shooting task itself is also uncertain (i.e., the planned task may fail to execute, the time window of the planned task may be preempted by an urgent task, etc.). Therefore, for large-area tasks, all strips cannot be planned at one time, but a step-by-step planning strategy is adopted. First, one or more strips are planned, and the remaining tasks are continuously planned in subsequent stages according to the actual execution situation. This process requires the ability to dynamically adjust and update the plan during the task execution to cope with the orbit uncertainty and the task execution uncertainty.

[0056] When multiple satellites cooperate to shoot a large area, in order to ensure the coverage rate between strips, a reasonable overlap is required between adjacent strips; and the present application provides a solution for the strip layout planning of multi-satellite cooperative shooting of a large area.

[0057] The Artificial Potential Field (APF) method achieves the layout purpose by simulating the movement of multiple strips in a virtual force field. The core idea of the present application is to construct a virtual potential field for each strip according to its relative position to other strips, and determine the movement direction of the strip according to the direction and magnitude of the total force received. Finally, when the movement of all strips reaches a stable state, the layout is completed.

[0058] As described in the previous content, after multiple strips placed in a large area are mapped to the middle latitude line, the longitude coordinates projected on the middle latitude line are used to represent the strip.

[0059] Next, in conjunction with the accompanying drawings, various non-limiting embodiments of the present application will be described in detail.

[0060] First, with reference to Figure 1 , a detailed description will be given of the strip layout method based on artificial potential field of the present application.

[0061] The present application provides a strip layout method based on artificial potential field, including:

[0062] S1: Determine the middle latitude line corresponding to the large area according to the vertex longitude and latitude coordinates of the large area;

[0063] S2: Determine multiple strips according to multiple time windows corresponding to the large area, and determine the initial state corresponding to each strip.

[0064] S3: Map the position of each strip to the intermediate latitude line, and calculate the resultant force of each strip.

[0065] S4: Move each strip according to the resultant force of each strip, and obtain the strip layout result.

[0066] The above strip layout method based on artificial potential field in this application incorporates the concept of artificial potential field, can dynamically fine-tune the positions of all strip layouts, is more likely to achieve continuous planning layout, improve efficiency, and reduce the computational complexity and amount of calculation.

[0067] Exemplarily, according to the scheduling of the mission planning system, multiple time windows currently scheduled for the large area are obtained. The intermediate latitude line of the large area can be determined according to the longitude and latitude coordinates of each vertex of the large area. Then, according to the multiple time windows and the default yaw angle of 0, multiple strips and the initial positions corresponding to each strip are obtained in this way.

[0068] As Figure 2 shown, vertices J, K, L, M, N are the large area, the range between time T1 and T3 is the visible time window of the satellite for this large area, the satellite orbits in the satellite orbit, and the sub-satellite track corresponds to the satellite orbit. As shown in the figure, A, B, C, D is the reachable coverage range of this visible time window. If the satellite takes pictures through the yaw angle θ, strips a, b, c, d will be obtained.

[0069] For the convenience of calculation, the strips are projected. As Figure 3 shown in the figure, QP is the intermediate latitude line of the large area. At this time, a1 and b1 are the projections of the current strip (such as strip i) on the intermediate latitude line, and a2 and b2 are the projections of the reachable coverage range within this time window on the intermediate latitude. The boundary of the strip under this visible time window can be determined through the intermediate latitude line.

[0070] Through a series of calculation formulas, the functional relationship between the satellite yaw angle θ and the projection position x on the intermediate latitude line can be obtained:

[0071] X i (θ) = x

[0072] In some embodiments, determining the initial state corresponding to each strip includes:

[0073] Set the initial position of strip i as P i (0) and the initial velocity as V i (0), where i is an integer and i represents any strip; for example, P i(0) and V i The specific speed value of (0) can be determined according to the actual situation.

[0074] Set the movement boundary of strip i as x represents the projection position on the middle latitude line, represents the minimum position of strip i, represents the maximum position of strip i;

[0075] Set the attraction constant as k att , and the repulsion constant as k rep , and the damping coefficient as c;

[0076] Set the force threshold as F thresh .

[0077] In some embodiments, the following formula is used to calculate the resultant force F of each strip i :

[0078]

[0079] where F ij is the mutual force between strip i and strip j, c·v i is the damping force of strip i, c represents the damping coefficient, i and j are both integers, and the value range of i or j is from 1 to the total number of strips. The total number of strips refers to the total number of the determined multiple strips, and the specific value is not limited here. Those skilled in the art can determine it according to the actual situation.

[0080] In some embodiments, the calculation steps of F ij include:

[0081] 1) Calculate the attractive potential field U att (r ij ) between strip i and strip j:

[0082]

[0083] where r ij is the distance between strip i and strip j on the middle latitude line, k att is the attraction constant, r min is the desired minimum safety distance. Being greater than or equal to this desired minimum safety distance means that there will be no repulsive force between the strips, that is, r min is the minimum distance at which there is no repulsive force between the strips. Less than this distance, there will be a repulsive force between the strips;

[0084] 2) Calculate the repulsive potential field U rep (r ij ) between strip i and strip j:

[0085]

[0086] Among them, r ij is the distance between strip i and strip j on the middle latitude line, and r min is the desired minimum safety distance. If it is less than this distance, a repulsive force will be generated. k rep is the repulsive force constant;

[0087] 3) Calculate the mutual force F ij between strip i and strip j:

[0088] U total (r ij ) = U att (r ij ) + U rep (r ij )

[0089]

[0090] Among them, U total (r ij ) represents the sum of the attractive potential field U att (r ij ) and the repulsive potential field U rep (r ij ), is the vector operator, representing the direction of the force.

[0091] In some embodiments, moving each strip according to the resultant force of each strip and obtaining the strip layout result includes:

[0092] Taking the modulus of the resultant force F i to get ||F i ||. If ||F i || is less than the force threshold F thresh , then stop updating the position and velocity of the strip. If ||F i || is greater than or equal to the force threshold F thresh , then update the position of strip i.

[0093] In some embodiments, updating the position of strip i includes:

[0094] Calculating the new position x new of strip i using the following formula:

[0095] θ new = θ current + Δθ·sgn(F i )

[0096] x new = X i (θnew )

[0097] where, θ current represents the current yaw angle, and θ new represents the updated yaw angle, Δθ represents a fixed infinitesimal yaw angle variable, and sgn(F i ) represents taking -1 or 1 according to the direction of the resultant force F i , X i (θ new ) represents projecting strip i according to the updated yaw angle θ new , and x new is the longitude value of strip i on the middle latitude line; exemplarily, X i (θ) represents the mapping function of projecting the strip onto the middle latitude line based on the yaw angle θ.

[0098] Specifically, x new is the longitude value of strip i on the middle latitude line, which can be the longitude value of the center of strip i on the middle latitude line.

[0099] In some embodiments, before updating the position of strip i, it further includes: determining whether strip i exceeds the movement boundary of strip i, and if strip i exceeds the movement boundary of strip i, restricting strip i within the movement boundary of strip i.

[0100] Exemplarily, the following formula can be used to assign a value to strip i that exceeds the movement boundary so as to restrict it within the movement boundary:

[0101]

[0102] where, x i represents the projection position of strip i on the middle latitude line.

[0103] Exemplarily, the movement boundary refers to the feasible range of the strip determined by the yaw ability range of the satellite (for example, -30 degrees to 30 degrees) at the current moment. Specifically, after the strip is projected onto the middle latitude line, the movement boundary can be represented by two values, for example, (112, 125).

[0104] Exemplarily, the projection positions of each strip on the middle latitude line can be represented by the longitude coordinates (also called longitude values) on the middle latitude line.

[0105] In some embodiments, the method further includes:

[0106] When all the strips in the large area have reached the boundary and are no longer updated, stop the movement of each strip to obtain the strip layout result. As Figure 4 shown, through the repulsion and attraction between strips and the boundary constraint mechanism, the strips achieve the effect of adjacent arrangement.

[0107] The strip layout method based on artificial potential field of the present application maps each strip to a one-dimensional intermediate latitude line through a dimensionality reduction method, and dynamically and globally adjusts the relative positions of all strips through the artificial potential field method, so as to realize the layout of large-area strips, improve the efficiency of strip layout, and reduce the calculation amount and time consumption.

[0108] It should be noted that the method of one or more embodiments of the present application can be executed by a single device, such as a computer or a server. The method of this embodiment can also be applied to a distributed scenario and completed by the cooperation of multiple devices. In this case of a distributed scenario, one of the multiple devices can only execute one or more steps of the method of one or more embodiments of the present application, and these multiple devices will interact with each other to complete the described method.

[0109] It should be noted that the specific embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0110] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application also discloses an electronic device;

[0111] Specifically, Figure 5 FIG. shows a schematic hardware structure diagram of an electronic device for the strip layout method based on artificial potential field provided in this embodiment. The device may include: a processor 410, a memory 420, an input / output interface 430, a communication interface 440, and a bus 450. Among them, the processor 410, the memory 420, the input / output interface 430, and the communication interface 440 are communicatively connected to each other inside the device through the bus 450.

[0112] The processor 410 can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0113] The memory 420 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 420 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of the present application through software or firmware, the relevant program codes are stored in the memory 420 and called and executed by the processor 410.

[0114] The input / output interface 430 is used to connect to an input / output module to achieve information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Among them, the input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0115] The communication interface 440 is used to connect to a communication module (not shown in the figure) to achieve communication interaction between this device and other devices. Among them, the communication module can achieve communication through a wired method (for example, USB, network cable, etc.) or through a wireless method (for example, a mobile network, WIFI, Bluetooth, etc.).

[0116] The bus 450 includes a path for transmitting information between various components of the device (for example, the processor 410, the memory 420, the input / output interface 430, and the communication interface 440).

[0117] It should be noted that although the above device only shows the processor 410, the memory 420, the input / output interface 430, the communication interface 440, and the bus 450, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device may also only include the components necessary to implement the solutions of the embodiments of the present application, and do not have to include all the components shown in the figure.

[0118] The electronic device in the above embodiment is used to implement the corresponding strip layout method based on the artificial potential field in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0119] Based on the same inventive concept, corresponding to the method in any of the above embodiments, one or more embodiments of the present application also provide a computer-readable storage medium storing computer instructions for causing the computer to execute the strip layout method based on the artificial potential field as described in any of the foregoing embodiments.

[0120] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0121] The computer instructions stored in the storage medium of the above embodiment are used to cause the computer to execute the strip layout method based on artificial potential field as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0122] Those of ordinary skill in the art should understand that: the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present application (including the claims) is limited to these examples; under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

[0123] In addition, for simplicity of explanation and discussion, and in order not to make one or more embodiments of the present application difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. In addition, the device may be shown in block diagram form to avoid making one or more embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which one or more embodiments of the present application will be implemented (i.e., these details should be fully within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe the exemplary embodiments of the present application, it will be apparent to those skilled in the art that one or more embodiments of the present application can be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0124] Although the present application has been described in connection with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can be used with the embodiments discussed.

[0125] One or more embodiments of the present application are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of one or more embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A strip layout method based on artificial potential field, characterized in that Including: Determine the intermediate latitude line corresponding to the large area according to the longitude and latitude coordinates of the vertices of the large area; Determine multiple strips according to multiple time windows corresponding to the large area, and determine the initial state corresponding to each strip; Map the position of each strip to the intermediate latitude line and calculate the resultant force of each strip; Move each strip according to the resultant force of each strip and obtain the strip layout result.

2. The strip layout method based on artificial potential field according to claim 1, characterized in that Determine the initial state corresponding to each strip, including: Set the initial position of strip i to P i (0) and the initial velocity to V i (0), where i is an integer and i represents any strip; Set the motion boundary of strip i as x represents the projection position on the middle latitude line, represents the minimum position of strip i, represents the maximum position of strip i; Set the attraction constant as k att , and the repulsion constant as k rep , and the damping coefficient as c; Set the force threshold to F thresh .

3. The strip layout method based on artificial potential field according to claim 2, characterized in that Calculate the resultant force F of each strip using the following formula i :[[]]END]] where F ij is the mutual force between strip i and strip j, c·v i is the damping force of strip i, c represents the damping coefficient, both i and j are integers, and the value range of i or j is from 1 to the total number of strips.

4. The strip layout method based on artificial potential field according to claim 3, characterized in that F ij The calculation steps include: 1) Calculate the attractive potential field U between strip i and strip j att (r ij ): where r ij is the distance between strip i and strip j on the middle latitude line, and k att is the attraction constant, and r min is the desired minimum safety distance, and a distance greater than or equal to this desired minimum safety distance indicates that there will be no repulsive force between the strips; 2) Calculate the repulsive potential field U between strip i and strip j rep (r ij ): where r ij is the distance between strip i and strip j on the middle latitude line, and r min is the desired minimum safety distance, and k rep is the repulsive force constant; 3) Calculate the mutual force F between strip i and strip j ij : U total (r ij ) = U att (r ij ) + U rep (r ij ); Among them, U total (r ij ) represents the attractive potential field U att (r ij ) and the repulsive potential field U rep (r ij ) of the sum, is a vector operator, indicating the direction of the force.

5. The strip layout method based on artificial potential field according to claim 3, characterized in that The moving each strip according to the resultant force of each strip and obtaining the strip layout result includes: Take the modulus of the resultant force F i to obtain ||F i ||. If ||F i || is less than the force threshold F thresh , then stop updating the position and velocity of the strip. If ||F i || is greater than or equal to the force threshold F thresh , then update the position of the strip i.

6. The strip layout method based on artificial potential field according to claim 5, characterized in that Updating the position of strip i includes: Calculate the new position x of strip i using the following formula new :[[]]END]] θ new = θ current + Δθ·sgn(F i ); x new = X i (θ new ); Among them, θ current represents the current yaw angle, θ new represents the updated yaw angle, Δθ represents a fixed infinitesimal yaw angle variable, sgn(F i ) represents taking -1 or 1 according to the direction of the resultant force F i , X i (θ new ) represents projecting strip i according to the updated yaw angle θ new , and x new is the longitude value of strip i at the middle latitude line.

7. The strip layout method based on artificial potential field according to claim 5, wherein Before updating the position of strip i, it further includes: determining whether strip i exceeds the movement boundary of strip i, and if strip i exceeds the movement boundary of strip i, restricting strip i within the movement boundary of strip i.

8. The strip layout method based on artificial potential field according to claim 7, characterized in that The method further includes: When all the strips in the large area have reached the boundary and are no longer updated, stop the movement of each strip to obtain the strip layout result.

9. An electronic device, the electronic device comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the method according to any one of claims 1 to 8.

Images