A method for analyzing and displaying the maneuverability of a land mobile platform

Abstract

The present invention discloses a method for analyzing and displaying the maneuverability of a land mobile platform, which relates to the field of analyzing the maneuverability of transportation vehicles and data visualization. The present invention rasterizes a two-dimensional map and combines the parameter information of the land mobile platform, slope raster data, water area raster data, vegetation raster data, and traffic raster data. Starting from the initial position raster of the land mobile platform, through iteration, the maneuver distance data of other rasters are sequentially set in the manner of 20-neighborhood expansion until no further expansion is possible; and the maneuver distance data of each raster is converted into the corresponding RGB color and filled into the raster. The calculation method of the present invention is efficient and reliable, rich in information, relatively consistent with the actual situation, adaptable to various geographic information platforms, can be intuitively expressed on a two-dimensional map, adaptable to the maneuverability parameter of various types of land platforms, and has the characteristic of quickly backtracking the fastest route according to the calculation results.

Description

Technical Field

[0001] The present invention relates to the field of analysis of the mobility of transportation vehicles and data visualization, and particularly to a method for analyzing and displaying the mobility of a land mobile platform. Background Art

[0002] The mobility capabilities of different models of land mobile platforms vary greatly in various geographical environments. With the support of specific geographical information, analyzing the mobility capabilities and ranges of various models of land mobile platforms within a specific time is of great reference significance for activities such as target reconnaissance, strike, search and rescue, prediction of action directions, and simulation deduction. The analysis of their mobility capabilities is an essential and indispensable ability. Due to the influence of factors such as terrain, land transportation, water areas, and vegetation, as well as the complexity of the models, it is difficult to calculate and display the mobility capabilities and ranges of different models of land mobile platforms. Rapid analysis and a comprehensive and intuitive expression of the mobility capabilities of the selected land mobile platform on a two-dimensional map have become a key technology. In the prior art, the calculation method for the mobility range of a land mobile platform mainly involves drawing the mobility range by calculating the maximum mobility distance within a specific time, with less consideration of the influence of terrain, traffic, water areas, and vegetation, and less consideration of the cross-country passability of different models of land mobile platforms. Moreover, the content displayed on the two-dimensional map is single, with less information expressed, and insufficient support for auxiliary analysis and result representation capabilities. Summary of the Invention

[0003] In view of this, the present invention proposes a method for analyzing and displaying the mobility of a land mobile platform. Based on geographical information, the two-dimensional map is rasterized, and the influence of slope, water area, vegetation, and traffic on the land mobile platform is considered. The mobility distance data recorded in each grid is mapped to the corresponding RGB color through a relational function, and finally a mobility capability analysis image is formed. The calculation method is efficient and reliable, rich in information, relatively consistent with the actual situation, adaptable to various geographical information platforms, can be intuitively expressed on a two-dimensional map, adaptable to the mobility performance parameters of various models of land platforms, and has the characteristic of being able to quickly reverse the fastest route based on the calculation results.

[0004] To achieve the above object, the technical solution proposed by the present invention is as follows:

[0005] A method for analyzing and displaying the mobility of a land mobile platform, comprising the following steps:

[0006] Step 1, as Figure 1 shown, rasterize the two-dimensional map, where the length of the grid is dx and the width is dy; generate the slope data of the grid using a digital elevation model, generate the water area data of the grid using a water area / land layer, generate the vegetation data of the grid using a vegetation layer, and generate the traffic data of the grid using a traffic layer;

[0007] Step 2: Input the model and initial position of the land mobile platform, and load the parameter information of the land mobile platform according to the model, including the maximum passable slope, maximum speed Vmax, weight, slope influence factor Ep on speed, and vegetation influence factor Ez on speed;

[0008] Step 3: Generate the maneuvering distances of the grid cells, initialize all the maneuvering distance data to 0, set the maximum maneuvering time t, and calculate the maximum maneuvering distance of the current land mobile platform:

[0009] Dmax = t * Vmax;

[0010] Step 4: Set the maneuvering distance data of the grid cell at the initial position of the current land mobile platform to 1;

[0011] Step 5: Starting from the grid cell at the initial position, through iteration, set the maneuvering distance data of other grid cells in the way of 20-neighborhood expansion in sequence until no further expansion is possible; in each iteration, take the grid cell that has not been used as the expansion center and has the smallest positive maneuvering distance data as the expansion center, and set the maneuvering distance data of the surrounding 20 grid cells. For the grid cells whose maneuvering distance data has been set, do not set them repeatedly;

[0012] Step 6: According to the maximum maneuvering distance of the current land mobile platform and the maneuvering distance data of each grid cell, calculate the RGB colors of each grid cell, and fill in the corresponding colors in each grid cell to complete the analysis and display of the maneuvering ability of the land mobile platform.

[0013] Further, in one iteration of Step 5, assume the current grid cell is (r0, c0), then the 20 grid cells expanded in this iteration are in sequence: (r0 - 1, c0), (r0 + 1, c0), (r0, c0 - 1), (r0, c0 + 1), (r0 - 1, c0 - 1), (r0 + 1, c0 + 1), (r0 - 1, c0 + 1), (r0 + 1, c0 - 1), (r0 + 2, c0), (r0 - 2, c0), (r0, c0 - 2), (r0, c0 + 2), (r0 + 2, c0 - 1), (r0 + 2, c0 + 1), (r0 - 2, c0 - 1), (r0 - 2, c0 + 1), (r0 + 1, c0 - 2), (r0 + 1, c0 + 2), (r0 - 1, c0 - 2), (r0 - 1, c0 + 2).

[0014] Further, the specific way of each iteration in Step 5 is:

[0015] (501) Judge whether there is currently a grid cell that has not been used as the expansion center and has positive maneuvering distance data. If so, select the grid cell with the smallest maneuvering distance data among them as the expansion center, and execute Step 502; otherwise, execute Step 6;

[0016] (502) Determine whether the maneuver distance data has been set for all 20 grids around the expansion center. If so, execute step 501. Otherwise, sequentially set the maneuver distance data for the grids that are still in the initialization state among the 20 surrounding grids. For each grid to be set, the specific steps are as follows;

[0017] (5021) Determine whether there is a road type that the current land maneuver platform can pass through in the grid to be set. If so, execute step 5025. Otherwise, execute step 5022;

[0018] (5022) Determine whether there is a bridge that the current land maneuver platform can pass through and whose bearing capacity is greater than the weight of the current land maneuver platform in the grid to be set. If so, execute step 5026. Otherwise, execute step 5023;

[0019] (5023) Determine whether there is a water area in the grid to be set. If so, set the maneuver distance data in the grid to be set to 0 and execute step 502. Otherwise, execute step 5024; The maneuver distance data being 0 means the maneuver distance is infinite;

[0020] (5024) Check whether there is a vegetation type that the current land maneuver platform can pass through in the grid to be set. If so, execute step 5025. Otherwise, set the maneuver distance data in the grid to be set to 0 and execute step 502;

[0021] (5025) Determine whether the slope of the grid to be set is greater than the maximum passable slope of the current land maneuver platform. If so, set the maneuver distance data in the grid to 0 and execute step 502. Otherwise, execute step 5026;

[0022] (5026) Calculate the basic distance d between the grid to be set and the grids with set maneuver distance data among its 20 surrounding grids respectively. Select the minimum basic distance dmin, and calculate the minimum total distance between the grid to be set and the initial position grid in combination with the slope influence factor Ep and the vegetation influence factor Ez, which is denoted as the maneuver distance data D(r, c) of the grid to be set.

[0023] Further, in step 5026, the specific method for calculating the basic distance d between the grid to be set and the grids with set maneuver distance data among its 20 surrounding grids is as follows:

[0024] Let the position of the grid to be set be (r, c). Among the 20 grids surrounding the grid to be set, the position of a neighboring grid is (rn, cn), and the maneuver distance data of this neighboring grid is D(rn, cn). Then:

[0025] ① If D(rn, cn) = 0, then do not calculate the basic distance between the grid to be set and the position of this neighboring grid;

[0026] ② If D(rn, cn) ≠ 0, calculate the basic distance between the set grid and the position of this neighborhood grid:

[0027] d = (rn - r) 2 × dy 2 + (cn - c) 2 × dx 2 + D(rn, cn),

[0028] In addition, if |rn - r| = 2, cn - c = 0 or rn - r = 0, |cn - c| = 2, then further determine whether the basic distance between the set grid and this neighborhood grid is less than the basic distance between the set grid and the grid located in the middle of the set grid and this neighborhood grid. If so, do not count the result of this calculation; otherwise, count the result of this calculation;

[0029] The calculation method of the maneuver distance data D(r, c) of the set grid is as follows:

[0030] D(r, c) = dmin + (dx + dy) / 2 × (Ep + Ez).

[0031] Furthermore, the calculation formula for the RGB colors of each grid in step 6 is:

[0032] RGB = (255, 255 × D(r, c) / Dmax, 255 - 255 × D(r, c) / Dmax).

[0033] Due to the adoption of the above solution, the present invention has the following beneficial effects compared with the background technology:

[0034] 1. Based on geographic information, the present invention standardizes topographic features, water areas, land transportation, and vegetation information by establishing a grid data model, and makes the final calculation result of the maneuver range more in line with the actual situation by calculating the influence of slope, water area, vegetation, and transportation grid data on the maneuverability.

[0035] 2. The present invention uses the 20-neighborhood model operator as the expansion kernel. The calculation error of the 100-kilometer distance without calculating the influence factor on flat ground is less than 1.2 kilometers theoretically, and the calculation accuracy is high, meeting the actual requirements.

[0036] 3. Since the present invention uses a color mapping function to map the maneuver distance data of each grid within the maneuver range, the comprehensiveness and intuitiveness of the drawing results of the maneuverability and maneuver range of the land maneuver platform on the two-dimensional map are greatly improved.

[0037] 4. The present invention stores the maneuver distance data of each grid, and can quickly reverse the fastest route from the land maneuver platform to the position of each grid. Brief Description of the Drawings

[0038] Figure 1 It is a schematic diagram for analyzing the mobility of a certain type of land mobile platform in an embodiment of the present invention. Detailed implementation manners

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation manners.

[0040] A method for analyzing and displaying the mobility of a land mobile platform includes the following steps:

[0041] Step 1, as Figure 1 , rasterize the two-dimensional map, where the length of the raster is dx and the width is dy; use the Digital Elevation Model (DEM) to generate the slope data of the raster, use the water area / land layer to generate the water area data of the raster, use the vegetation layer to generate the vegetation data of the raster, and use the traffic layer to generate the traffic data of the raster;

[0042] Specifically, assume that the length and width of the area represented by the two-dimensional map are l*w, and the number of rows and columns of the raster is m*n. Then the length of the raster dx = l / (m - 1), and the width of the raster dy = w / (n - 1). The water area / land layer generates water area raster data mainly by rasterizing the area and setting the raster data included in areas such as rivers, canals, lakes, reservoirs, and oceans to the corresponding water area type codes. For example, the river is 601, the lake is 602, and if there is no water area, it is set to 0; using the vegetation layer to generate vegetation raster data mainly by rasterizing the area and setting the raster data included in areas such as forests, thick forests, economic forests, dense shrub forests, bamboo forests, young forests, paddy fields, sparse forests, shrub forests, sparse shrub forests, grasslands, and high grasslands to the corresponding vegetation type codes. For example, the forest is 101, the thick forest is 102, and if there is no vegetation, it is set to 0; using the traffic layer to generate traffic raster data mainly by rasterizing the line and setting national highways, provincial highways, county roads, rural roads, urban streets, large vehicle roads, highways, tunnels, bridges, etc. to the corresponding traffic type codes. For example, the national highway is set to 305, the provincial highway is set to 307, etc. In particular, the bridge is set with a composite code of type and weight, such as 20520, representing a highway bridge with a load capacity of 20 tons. If there is no traffic road, it is set to 0.

[0043] Step 2, input the model and initial position of the land mobile platform, and load the parameter information of the land mobile platform according to the model, including the maximum passable slope, the maximum speed Vmax, the weight, the influence factor Ep of the slope on the speed, and the influence factor Ez of the vegetation on the speed;

[0044] Specifically, the influence factor Ep of the slope on the speed is represented by a piecewise function. Taking a certain type of land mobile platform as an example, if the slope is set to P, then:

[0045] P < 10: Ep = P / 10; P < 20: Ep = P / 10 + (P - 10) × 0.2; P < 30: Ep = P / 10 + (P - 10) × 0.2 + (P - 20) × 0.3.

[0046] The influence factor Ez of vegetation on speed is the influence of various types of vegetation on the passability or speed of land mobile platforms. Taking a certain type of land mobile platform as an example, forests, thick forests, economic forests, dense shrub forests, and bamboo forests are impassable. Young forests, paddy fields, sparse forests, shrub forests, sparse shrub forests, grasslands, high grasslands, and open spaces have a lagging effect on the speed of this type of tank, and corresponding influence factors Ez need to be set.

[0047] Step 3, generate the maneuvering distance of the grid, initialize all maneuvering distance data to 0, set the maximum maneuvering time t, and calculate the maximum maneuvering distance of the current land mobile platform:

[0048] Dmax = t * Vmax;

[0049] Step 4, set the maneuvering distance data of the grid at the initial position of the current land mobile platform to 1;

[0050] Step 5, starting from the grid at the initial position, through iteration, set the maneuvering distance data of other grids in the way of 20-neighborhood expansion until no further expansion is possible; in each iteration, take the grid that has not been used as the expansion center and has the smallest positive maneuvering distance data as the expansion center, and set the maneuvering distance data of the surrounding 20 grids. For the grids whose maneuvering distance data has been set, do not repeat the setting;

[0051] Step 6, according to the maximum maneuvering distance of the current land mobile platform and the maneuvering distance data of each grid, calculate the RGB colors of each grid and fill in the corresponding colors in each grid to complete the analysis and display of the maneuvering ability of the land mobile platform.

[0052] Furthermore, in one iteration of Step 5, let the current grid be (r0, c0), then the 20 grids expanded in this iteration are: (r0 - 1, c0), (r0 + 1, c0), (r0, c0 - 1), (r0, c0 + 1), (r0 - 1, c0 - 1), (r0 + 1, c0 + 1), (r0 - 1, c0 + 1), (r0 + 1, c0 - 1), (r0 + 2, c0), (r0 - 2, c0), (r0, c0 - 2), (r0, c0 + 2), (r0 + 2, c0 - 1), (r0 + 2, c0 + 1), (r0 - 2, c0 - 1), (r0 - 2, c0 + 1), (r0 + 1, c0 - 2), (r0 + 1, c0 + 2), (r0 - 1, c0 - 2), (r0 - 1, c0 + 2).

[0053] Further, the specific method for each iteration in step 5 is as follows:

[0054] (501) Determine whether there is currently a grid that has not been an expansion center and has a positive maneuvering distance data. If so, select the grid with the smallest maneuvering distance data as the expansion center and execute step 502; otherwise, execute step 6.

[0055] (502) Determine whether the maneuvering distance data of all 20 grids around the expansion center has been set. If so, execute step 501; otherwise, sequentially set the maneuvering distance data of the grids that are still in the initialization state among the 20 grids around. For each grid to be set, the specific steps are as follows:

[0056] (5021) Determine whether the grid to be set has a road type that the current land maneuvering platform can pass through. If so, execute step 5025; otherwise, execute step 5022.

[0057] Specifically, taking a certain model of land maneuvering platform as an example, if the traffic type code recorded in the traffic grid data for the grid to be set (r, c) is highway, national road, provincial road, county road, township road, large vehicle road, etc., it means that the grid to be set has a passable road. If the recorded traffic type code is rural road, small path, plank road, seasonal road, etc. or 0, it means that the grid to be set does not have a passable road and it is necessary to continue to check whether there are bridges, water areas, and the vegetation type and slope at this location to determine whether it is passable.

[0058] (5022) Determine whether the grid to be set has a bridge that the current land maneuvering platform can pass through and has a load-bearing capacity greater than the weight of the current land maneuvering platform. If so, execute step 5026; otherwise, execute step 5023.

[0059] Specifically, taking a certain model of land maneuvering platform as an example, if the last three digits of the traffic type code recorded in the traffic grid data for the grid to be set (r, c) are bridge types such as highway bridge, overpass, parallel bridge, etc., it means that the grid to be set has a passable bridge. At this time, parse the load-bearing capacity of the bridge according to the traffic type code rule. Taking the traffic type code 20520 of a certain highway bridge as an example, the last three digits represent the highway bridge, and 20 represents the bridge load-bearing capacity of 20 tons. At this time, determine whether the weight of the maneuvering platform is less than 20 tons. If so, it means that it can pass; otherwise, it is necessary to continue to check whether there are water areas, the vegetation type and slope at this location to determine whether it is passable.

[0060] (5023) Determine whether the grid to be set has a water area. If so, set the maneuvering distance data in the grid to be set to 0, mark it as the set state, and execute step 502; otherwise, execute step 5024. The maneuvering distance data of 0 means that the maneuvering distance is infinite.

[0061] Specifically, taking a certain type of land mobile platform as an example, if the water type code recorded in the set grid (r, c) in the water grid data is river, canal, lake, reservoir, swamp, ocean, etc., it means that the set grid is impassable; otherwise, it is necessary to continue to check the vegetation type and slope at this location to determine whether it is passable.

[0062] (5024) Check whether there is a vegetation type passable by the current land mobile platform in the set grid. If so, execute step 5025; otherwise, set the mobile distance data in the set grid to 0, mark it as the set state, and execute step 502.

[0063] Specifically, taking a certain type of land mobile platform as an example, if the vegetation type code recorded in the set grid (r, c) in the vegetation grid data is forest, thick forest, economic forest, dense shrubbery, bamboo forest, etc., it means that the set grid is impassable; otherwise, it is necessary to continue to check the slope of the set grid to determine whether it is passable.

[0064] (5025) Judge whether the slope of the set grid is greater than the maximum passable slope of the current land mobile platform. If so, set the mobile distance data in the grid to 0, mark it as the set state, and execute step 502; otherwise, execute step 5026.

[0065] Specifically, taking a certain type of land mobile platform as an example, the maximum passable slope of this type of land mobile platform is 32°. If the slope data recorded in the set grid (r, c) in the slope grid data is less than 0.848 (cos(32°) = 0.848), indicating that the slope is greater than 32°, it means that the set grid is impassable; otherwise, execute step 5026.

[0066] (5026) Calculate the basic distance d between the set grid and the grids with set mobile distance data within its surrounding 20 grids respectively, select the minimum basic distance dmin among them, and calculate the minimum total distance between the set grid and the initial position in combination with the slope influence factor Ep and the vegetation influence factor Ez, which is recorded as the mobile distance data D(r, c) of the set grid.

[0067] Furthermore, in step 5026, the specific method for calculating the basic distance d between the set grid and the grids with set mobile distance data within its surrounding 20 grids is as follows:

[0068] Assume that the position of the set grid is (r, c), and among the 20 grids surrounding the set grid, the position of a neighboring grid is (rn, cn), and the mobile distance data of this neighboring grid is D(rn, cn). Then:

[0069] ① If D(rn, cn) = 0, then do not calculate the basic distance between the set grid and the position of this neighboring grid;

[0070] ② If D(rn, cn) ≠ 0, calculate the basic distance between the set grid and the position of this neighboring grid:

[0071] d = (rn - r) 2 × dy 2 + (cn - c) 2 × dx 2 + D(rn, cn),

[0072] If |rn - r| = 2, cn - c = 0 or rn - r = 0, |cn - c| = 2, then further determine whether the basic distance between the set grid and this neighboring grid is less than the basic distance between the set grid and the grid located in the middle of the set grid and this neighboring grid. If so, do not count the result of this calculation; otherwise, count the result of this calculation;

[0073] The calculation method of the mobility distance data D(r, c) of the set grid is as follows:

[0074] D(r, c) = dmin + (dx + dy) / 2 × (Ep + Ez).

[0075] Furthermore, the calculation formula for the RGB color of each grid in step 6 is:

[0076] RGB = (255, 255 × D(r, c) / Dmax, 255 - 255 × D(r, c) / Dmax).

[0077] In summary, the present invention proposes a method for analyzing and displaying the mobility ability of a land mobility platform, which considers the impacts of slope, water area, vegetation, and traffic on the land mobility platform, and can visually express the mobility distance data of each grid on a two-dimensional map through a color mapping function, and is applicable to the analysis of the mobility ability of a land mobility platform based on a specific geographical environment and the display application of the analysis results.

[0078] Finally, it should be noted that the above are only the preferred embodiments of the present invention, which do not limit the present invention. Any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention defined by the appended claims shall be included within the protection scope of the present invention.

Claims

1. A method for analyzing and displaying the maneuverability of a land mobile platform, characterized in that, It includes the following steps: Step 1: rasterize the two-dimensional map, where the length of the raster is dx and the width is dy; Generate the slope data of the raster using the digital elevation model, generate the water area data of the raster using the water area / land layer, generate the vegetation data of the raster using the vegetation layer, and generate the traffic data of the raster using the traffic layer; Step 2: input the model and initial position of the land mobile platform, and load the parameter information of the land mobile platform according to the model, including the maximum passable slope, the maximum speed Vmax, the weight, the influence factor Ep of the slope on the speed, and the influence factor Ez of the vegetation on the speed; Step 3: generate the maneuvering distance of the raster, initialize all maneuvering distance data to 0, set the maximum maneuvering time t, and calculate the maximum maneuvering distance of the current land mobile platform: Dmax = t * Vmax; Step 4: set the maneuvering distance data of the raster at the initial position of the current land mobile platform to 1; Step 5: starting from the raster at the initial position, through iteration, set the maneuvering distance data of other rasters in the way of 20-neighborhood expansion in turn until no further expansion is possible; in each iteration, use the raster that has not been used as the expansion center and has the smallest positive maneuvering distance data as the expansion center, and set the maneuvering distance data of the surrounding 20 rasters. For the rasters whose maneuvering distance data has been set, do not set them repeatedly; Step 6: according to the maximum maneuvering distance of the current land mobile platform and the maneuvering distance data of each raster, calculate the RGB color of each raster, and fill in the corresponding color in each raster to complete the analysis and display of the maneuvering ability of the land mobile platform.

2. The method for analyzing and displaying the mobility of a land mobile platform according to claim 1, characterized in that, In one iteration of Step 5, assume the current raster is (r0, c0), then the 20 rasters expanded in this iteration are: (r0 - 1, c0), (r0 + 1, c0), (r0, c0 - 1), (r0, c0 + 1), (r0 - 1, c0 - 1), (r0 + 1, c0 + 1), (r0 - 1, c0 + 1), (r0 + 1, c0 - 1), (r0 + 2, c0), (r0 - 2, c0), (r0, c0 - 2), (r0, c0 + 2), (r0 + 2, c0 - 1), (r0 + 2, c0 + 1), (r0 - 2, c0 - 1), (r0 - 2, c0 + 1), (r0 + 1, c0 - 2), (r0 + 1, c0 + 2), (r0 - 1, c0 - 2), (r0 - 1, c0 + 2).

3. A method for analyzing and displaying the maneuverability of a land mobile platform according to claim 2, characterized in that, The specific method for each iteration in Step 5 is: (501) Determine whether there is currently a raster that has not been used as the expansion center and has positive maneuvering distance data. If so, select the raster with the smallest maneuvering distance data among them as the expansion center and execute Step 502; otherwise, execute Step 6; (502) Determine whether the maneuvering distance data of all 20 rasters around the expansion center has been set. If so, execute Step 501; otherwise, set the maneuvering distance data of the rasters that are still in the initialization state among the surrounding 20 rasters in turn. For each raster to be set, the specific steps are as follows: (5021) Determine whether there is a road type that the current land mobile platform can pass through in the set grid. If so, execute step 5025; otherwise, execute step 5022; (5022) Determine whether there is a bridge in the set grid that the current land mobile platform can pass through and has a load-bearing capacity greater than the weight of the current land mobile platform. If so, execute step 5026; otherwise, execute step 5023; (5023) Determine whether there is a water area in the set grid. If so, set the maneuvering distance data in the set grid to 0 and execute step 502; otherwise, execute step 5024; The maneuvering distance data being 0 means the maneuvering distance is infinite; (5024) Check whether there is a vegetation type that the current land mobile platform can pass through in the set grid. If so, execute step 5025; otherwise, set the maneuvering distance data in the set grid to 0 and execute step 502; (5025) Determine whether the slope of the set grid is greater than the maximum passable slope of the current land mobile platform. If so, set the maneuvering distance data in the set grid to 0 and execute step 502; otherwise, execute step 5026; (5026) Calculate the basic distance d between the set grid and the grids with set maneuvering distance data in its surrounding 20 grids respectively. Select the minimum basic distance dmin, and calculate the minimum total distance between the set grid and the initial position grid in combination with the slope influence factor Ep and the vegetation influence factor Ez, denoted as the maneuvering distance data D(r, c) of the set grid.

4. A method for analyzing and displaying the maneuverability of a land mobile platform according to claim 3, characterized in that, In step 5026, the specific method for calculating the basic distance d between the set grid and the grids with set maneuvering distance data in its surrounding 20 grids is as follows: Let the position of the set grid be (r, c). Among the 20 grids surrounding the set grid, the position of a neighboring grid is (rn, cn), and the maneuvering distance data of this neighboring grid is D(rn, cn). Then: ① If D(rn, cn) = 0, then do not calculate the basic distance between the set grid and the position of this neighboring grid; ② If D(rn, cn) ≠ 0, then calculate the basic distance between the set grid and the position of this neighboring grid: d = (rn - r) 2 × dy 2 + (cn - c) 2 × dx 2 + D(rn, cn), In addition, if |rn - r| = 2, cn - c = 0 or rn - r = 0, |cn - c| = 2, then further determine whether the basic distance between the set grid and this neighboring grid is less than the basic distance between the set grid and the grid located in the middle of the set grid and this neighboring grid. If so, do not count the result of this calculation; otherwise, count the result of this calculation; The calculation method of the maneuvering distance data D(r, c) of the set grid is: D(r, c) = dmin + (dx + dy) / 2 × (Ep + Ez).

5. A method for analyzing and displaying the maneuverability of a land mobile platform according to claim 4, characterized in that, The calculation formula for the RGB colors of each grid in step 6 is: RGB = (255, 255 × D(r, c) / Dmax, 255 - 255 × D(r, c) / Dmax).

Images