Automatic Route Planning Method and System Based on Fixed Route Directions

Abstract

The present invention discloses a method and system for automatic airway planning based on a fixed airway route. The method includes: obtaining a target departure point and a target arrival point; determining all candidate fixed airways; obtaining all candidate departure access points and all candidate arrival access points from all candidate fixed airways; performing heuristic search in an airway directed connectivity graph with the shortest path as the goal to obtain the starting segments from the target departure point to each candidate departure access point and the ending segments from each candidate arrival access point to the target arrival point; matching and connecting all the starting segments, candidate route segments, and ending segments to obtain a set of candidate planned airways; and obtaining a target planned airway based on a preset screening rule and a quality quantification index calculated for the candidate planned airways. By increasing the number of reference fixed airway routes, the present invention improves the quality of the planned airway and can simultaneously achieve automatic airway planning, thereby significantly improving the efficiency of airway planning.

Description

Technical Field

[0001] The present invention relates to the technical field of flight route planning, and in particular, to an automatic route planning method, system, computer-readable storage medium and electronic device based on a fixed route direction. Background Art

[0002] Airlines usually pre-plan common route directions within a region or country. These route directions are the necessary paths from the departure airport / departure waypoint to the destination airport / target waypoint, which means that an aircraft must follow these routes with fixed directions when flying from the departure point to the destination and cannot deviate. However, since there are multiple access points within each country or region, it is impossible for the Civil Aviation Administration to make detailed regulations for all possible paths between every two points. Therefore, the Civil Aviation Administration usually only publishes the common route directions passing through the country or region, and for the departure airport or destination airport not on these route directions, specific route planning is required. Currently, airlines mainly rely on manual work to plan such routes, but there are the following defects:

[0003] (1) Long planning time: Usually, it takes at least two people about 30 minutes to plan a company route based on a fixed route direction, and the more specific planning time varies depending on the route length.

[0004] (2) Small number of fixed route directions for reference: Manual planning usually only selects a limited number of fixed route directions as references and then determines the access points. This method may not be able to find the optimal fixed route, affecting the quality of the finally planned route, and thus the optimal planned route cannot be obtained. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide an automatic route planning method, system, computer-readable storage medium and electronic device based on a fixed route direction. By increasing the number of fixed route directions for reference, the quality of the planned route is improved, and at the same time, automatic route planning can be realized, thus significantly improving the efficiency of route planning.

[0006] The first aspect of the embodiments of the present invention provides an automatic route planning method based on a fixed route direction, including:

[0007] Obtain the target departure point of the departure airport and the target arrival point of the destination airport;

[0008] Determine all candidate fixed routes flying from the first selected area to the second selected area, and form a candidate fixed route set; wherein, the first selected area is a preset area corresponding to the departure airport; the second selected area is a preset area corresponding to the destination airport;

[0009] Based on the preset access point selection rule, obtain all candidate departure access points and all candidate arrival access points from the candidate fixed route set;

[0010] Perform heuristic search in the route directed connectivity graph with the shortest path as the goal to obtain the starting segments corresponding to the target departure point and each of the candidate departure access points, and the ending segments corresponding to each of the candidate arrival access points and the target arrival point;

[0011] Match and connect all the starting segments, all candidate direction segments, and all the ending segments to obtain a candidate planned route set; where each candidate direction segment is a segment in the corresponding candidate fixed route that is between a candidate departure access point and a candidate arrival access point;

[0012] Calculate the quality quantification index of each candidate planned route in the candidate planned route set; based on the preset screening rule and the quality quantification index, obtain the target planned route.

[0013] Further, the obtaining of the target departure point of the departure airport and the target arrival point of the destination airport includes:

[0014] Obtain the departure point set of the departure airport and the arrival point set of the destination airport;

[0015] Select the departure point closest to the destination airport from the departure point set as the target departure point;

[0016] Select the arrival point closest to the departure airport from the arrival point set as the target arrival point.

[0017] Optionally, the starting point and the ending point of each candidate fixed route are respectively in the first selection area and the second selection area.

[0018] Optionally, before obtaining all candidate departure access points and all candidate arrival access points from the candidate fixed route set based on the preset access point selection rule, the method further includes:

[0019] Take the great circle route from the departure airport to the destination airport as the baseline, and with the departure airport and the destination airport as the foot points, set two vertical lines on the baseline;

[0020] Intercept the routes of all the candidate fixed routes between the two vertical lines to form an updated candidate fixed route set.

[0021] Optionally, the preset access point selection rule is specifically:

[0022] When any waypoint in the set of candidate fixed routes satisfies the first condition, the waypoint is used as the candidate departure access point; wherein, the first condition is that the great circle distance from the waypoint to the departure airport is less than the great circle distance from the waypoint to the destination airport, and the included angle between the great circle connection line from the target departure point to the waypoint and the great circle connection line from the departure airport to the destination airport is less than 90 degrees;

[0023] When the waypoint satisfies the second condition, the waypoint is used as the candidate approach access point; wherein, the second condition is that the great circle distance from the waypoint to the destination airport is less than the great circle distance from the waypoint to the departure airport, and the included angle between the great circle connection line from the target approach point to the waypoint and the great circle connection line from the destination airport to the departure airport is less than 90 degrees.

[0024] Further, the heuristic search is performed in the route directed connectivity graph with the shortest path as the goal to obtain the starting segment from the target departure point to each candidate departure access point, and the ending segment from each candidate approach access point to the target approach point, including:

[0025] Based on the target departure point and any one of the candidate departure access points, extract the first directed connected subgraph from the route directed connectivity graph;

[0026] Perform heuristic search in the first directed connected subgraph with the shortest path as the goal to obtain the starting segment between the target departure point and the corresponding candidate departure access point;

[0027] Based on any one of the candidate approach access points and the target approach point, extract the second directed connected subgraph from the route directed connectivity graph;

[0028] Perform heuristic search in the second directed connected subgraph with the shortest path as the goal to obtain the ending segment between the corresponding candidate approach access point and the target approach point.

[0029] Optionally, the quality quantification index includes: average deviation distance, fixed route direction usage ratio, and total route distance; wherein, the average deviation distance is used to represent the average distance of all waypoints on each candidate planned route deviating from the great circle route from the departure airport to the destination airport.

[0030] An embodiment of the second aspect of the present invention provides a route automatic planning system based on a fixed route direction for implementing the route automatic planning method based on a fixed route direction described in the first aspect above. The system includes:

[0031] A target takeoff / landing point acquisition module, configured to acquire a target takeoff point of the departure airport and a target landing point of the destination airport;

[0032] A candidate fixed route selection module, configured to determine all candidate fixed routes from the first selection area to the second selection area and form a candidate fixed route set; wherein, the first selection area is a preset area corresponding to the departure airport; the second selection area is a preset area corresponding to the destination airport;

[0033] An access point selection module, configured to obtain all candidate takeoff access points and all candidate landing access points from the candidate fixed route set based on a preset access point selection rule;

[0034] An access route planning module, configured to perform heuristic search in a route directed connectivity graph with the shortest path as the goal, to obtain a starting segment corresponding to the target takeoff point to each of the candidate takeoff access points, and an ending segment corresponding to each of the candidate landing access points to the target landing point;

[0035] A route segment matching and connecting module, configured to match and connect all the starting segments, all candidate route segments, and all the ending segments to obtain a candidate planned route set; wherein, each candidate route segment is a segment in the corresponding candidate fixed route between a candidate takeoff access point and a candidate landing access point;

[0036] A target planned route screening module, configured to calculate a quality quantification index of each candidate planned route in the candidate planned route set; and obtain a target planned route based on a preset screening rule and the quality quantification index.

[0037] An embodiment of the third aspect of the present invention provides a computer-readable storage medium, the computer-readable storage medium includes a stored computer program; wherein, when the computer program runs, it controls the device where the computer-readable storage medium is located to execute the route automatic planning method based on the fixed route direction described in any one of the first aspects above.

[0038] An embodiment of the fourth aspect of the present invention further provides an electronic device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the route automatic planning method based on the fixed route direction described in any one of the first aspects above.

[0039] Compared with the prior art, the embodiment of the present invention provides a method, a system, a computer-readable storage medium and an electronic device for automatic airway planning based on a fixed airway route. The method includes: obtaining a target departure point of a departure airport and a target arrival point of a destination airport; determining all candidate fixed airways from a first selection area to a second selection area and forming a candidate fixed airway set; obtaining all candidate departure access points and all candidate arrival access points from the candidate fixed airway set based on a preset access point selection rule; performing heuristic search in an airway directed connectivity graph with the shortest path as the goal to obtain a starting airway segment corresponding to the target departure point to each candidate departure access point, and an ending airway segment corresponding to each candidate arrival access point to the target arrival point; matching and connecting all the starting airway segments, all the candidate route segments and all the ending airway segments to obtain a candidate planned airway set; calculating a quality quantification index of each candidate planned airway in the candidate planned airway set; and obtaining a target planned airway based on a preset screening rule and the quality quantification index. By increasing the number of reference fixed airway routes, the present invention improves the quality of the planned airway, realizes automatic airway planning without relying on manual planning, and significantly improves the efficiency of airway planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 FIG. is an example diagram of an area with a fixed airway route provided by the present invention;

[0041] Figure 2 FIG. is an example diagram of the connection of access points provided by the present invention;

[0042] Figure 3 FIG. is a schematic flowchart of an automatic airway planning method based on a fixed airway route provided by an embodiment of the present invention;

[0043] Figure 4 FIG. is an example diagram of a first selection area and a second selection area provided by an embodiment of the present invention;

[0044] Figure 5 FIG. is an example diagram of the splicing of candidate planned airways provided by an embodiment of the present invention;

[0045] Figure 6 FIG. is an example diagram of the display of candidate planned airways provided by an embodiment of the present invention;

[0046] Figure 7 FIG. is an example diagram of the display of a target planned airway provided by an embodiment of the present invention;

[0047] Figure 8 FIG. is a schematic diagram of selecting a target departure point and a target arrival point provided by an embodiment of the present invention;

[0048] Figure 9It is a schematic diagram for screening departure access points and arrival access points provided by an embodiment of the present invention;

[0049] Figure 10 It is a schematic diagram for the average deviation distance provided by an embodiment of the present invention;

[0050] Figure 11 It is a schematic diagram for the usage ratio of fixed airway routes provided by an embodiment of the present invention;

[0051] Figure 12 It is a schematic structural diagram of an airway automatic planning system based on fixed airway routes provided by an embodiment of the present invention;

[0052] Figure 13 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art in the technical field of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0054] To better understand the technical solutions in the embodiments of the present invention, the prior art will be described in detail below:

[0055] When an airline formulates an airway from Airport A to Airport B, it often needs to consider the fixed route regulations between Airport A and Airport B. These fixed route regulations are generally published through the Aeronautical Information Publication (AIP) or Aeronautical Information Circular (AIC) of each country. Taking Japan as an example, the country publishes fixed route regulations through the AIC, as shown in Table 1.

[0056] Table 1. Flight Plan Route Changes (International Flights)

[0057]

[0058] In Table 1, the first column represents the code of the departure airport or departure waypoint, the second column represents the code of the destination airport or target waypoint, and the last column represents the route direction between the departure airport / departure waypoint and the destination airport / target waypoint. The route direction is composed of the format of waypoint + route name + waypoint + route name... and describes each waypoint that needs to be passed on the route. Among them, the longitude and latitude of each waypoint can be queried through a navigation database provided by a third party, and by marking and connecting the longitude and latitude of each waypoint on the map, the route direction from the departure airport / departure waypoint to the destination airport / target waypoint can be drawn. These route directions represent the path that the aircraft must pass from the departure place to the destination and cannot deviate from the path.

[0059] Since there are many entry points and exit points in each country or region, it is impossible for the Civil Aviation Administration to pre-plan the route directions for each pair of entry and exit points. Usually, the Civil Aviation Administration only publishes the route directions of the commonly used routes passing through that country or region. As Figure 1 shown, it is an example diagram of a region with fixed route directions provided by the present invention. Only the route directions between AG, BF, HC, HE, and ID are published in this region. If an airline plans to fly from point H to point D, it needs to refer to the route directions between HE or ID to plan its own company route.

[0060] Currently, when airlines plan such routes, they mainly rely on manual operations. Figure 1 In [reference], there is no fixed route direction regulation between point J and point K, and there is no fixed route direction regulation from point J to other points, nor is there a fixed route direction regulation from point K to other points. Therefore, taking the route planning from point J to point K as an example, the specific steps of the manual planning process are described in detail as follows:

[0061] (1) Near point J, look for adjacent points with fixed route directions to other points, and points H and I can be found.

[0062] (2) Near point K, look for adjacent points with fixed route directions to other points, and points C, D, and E can be found.

[0063] (3) Combine the points found near point J and point K in pairs to form the following combinations: HC, HD, HE, IC, ID, IE; retain the combinations with fixed route directions, that is, retain HC, ID, HE.

[0064] (4) Select a route direction from HC, ID, HE for route planning. Suppose the ID route direction is selected. At this time, it is necessary to plan the route connecting point J to the ID direction and the route connecting point K to the ID direction. As Figure 2As shown in the figure, it is an example diagram of access point connection provided by the present invention. Among them, access points 1, 2, 3, and 4 are all waypoints on the ID route. It can be seen that when connecting to the ID route from point J, one can access from point I, or from point 1 or point 2; similarly, when connecting to the ID route from point K, one can access from point D, or from point 3 or point 4. Currently, which access point to choose is determined by the route planners according to experience, so different route planners may have different route planning schemes.

[0065] (5) After determining the access point, the routes from J to the access point and from the access point to K can be manually planned. This planning is usually completed manually on the route map to find the shortest feasible routes from point J and point K to the access point.

[0066] (6) After completing the above steps, the routes can be spliced to complete the final route planning. The splicing order is: point J - access point of point J - access point of point K - point K.

[0067] As can be seen from the above, the existing manual route production process has the following defects:

[0068] (1) Long planning time: Usually, it takes at least two people about 30 minutes to plan a company route based on a fixed route direction, and the more specific planning time varies depending on the route length.

[0069] (2) Few fixed route directions are referred to: Manual planning cannot comprehensively consider all available fixed routes between the departure airport and the destination airport. Usually, only a limited number of fixed route directions are selected as references, and then the access point is determined. Therefore, it is difficult to find the optimal fixed route, which affects the quality of the finally planned route.

[0070] See Figure 3 , which is a schematic flowchart of the automatic route planning method based on fixed route directions provided by an embodiment of the present invention.

[0071] To solve the problems existing in the prior art, an embodiment of the first aspect of the present invention provides an automatic route planning method based on fixed route directions, including steps S1 to S6, specifically as follows:

[0072] Step S1: Obtain the target departure point of the departure airport and the target arrival point of the destination airport.

[0073] Step S2: Determine all candidate fixed routes from the first selection area to the second selection area, and form a candidate fixed route set; wherein, the first selection area is a preset area corresponding to the departure airport; the second selection area is a preset area corresponding to the destination airport.

[0074] Specifically, as Figure 4As shown in the figure, it is an example diagram of the first selection area and the second selection area provided by the embodiment of the present invention. In the figure, R1 is the first selection area of the departure airport, and R2 is the second selection area of the destination airport. As the ranges of R1 and R2 expand, the number of fixed airway routes to be considered during route planning also increases accordingly. The embodiment of the present invention will screen out all fixed airway routes that successively pass through the ranges of R1 and R2 and form a candidate fixed airway set. It should be noted that in the present invention, the fixed airway refers to the fixed airway route.

[0075] Step S3: Based on the preset access point selection rule, obtain all candidate departure access points and all candidate arrival access points from the candidate fixed airway set.

[0076] Specifically, according to the preset access point selection rule, each candidate fixed airway contains multiple candidate departure access points and multiple candidate arrival access points; on each candidate fixed airway, the first connection line between any candidate departure access point and the target departure point, and the second connection line between any candidate arrival access point and the target arrival point must ensure that the first connection line and the second connection line do not intersect, so as to ensure the rationality of route planning.

[0077] Step S4: Perform heuristic search in the airway directed connectivity graph with the shortest path as the goal to obtain the starting flight segment from the target departure point to each candidate departure access point corresponding thereto, and the ending flight segment from each candidate arrival access point to the target arrival point corresponding thereto.

[0078] Specifically, taking the target departure point and a candidate departure access point as an example, in the airway directed connectivity graph, based on the determined target departure point and a candidate departure access point, through the connectivity relationship between the two and using a heuristic search algorithm, with the shortest path as the goal, the starting flight segment from the target departure point to this candidate departure access point can be obtained. Similarly, the ending flight segment from a candidate arrival access point to the target arrival point can also be obtained. It should be noted that the heuristic search algorithm is at least any one of the A* algorithm, the greedy algorithm, and the Dijkstra algorithm. The airway directed connectivity graph refers to the connectivity graph of all airway points in a region, where the direction between the connected airway points is the flight direction allowed for flight.

[0079] Step S5: Match and connect all the starting flight segments, all candidate route segments, and all the ending flight segments to obtain a candidate planned route set; where each candidate route segment is the flight segment between a candidate departure access point and a candidate arrival access point in the corresponding candidate fixed airway.

[0080] Specifically, as Figure 5As shown in the figure, it is an example diagram of candidate planned route splicing provided by an embodiment of the present invention. On each candidate fixed route, select a pair of candidate departure access points and candidate arrival access points, and a candidate planned route can be determined, which is spliced by the following parts: the starting segment corresponding to the candidate departure access point, the partial segment (candidate route segment) in the candidate fixed route between the departure and arrival access points, and the ending segment corresponding to the candidate arrival access point.

[0081] As Figure 6 shown in the figure, it is an example diagram of candidate planned route display provided by an embodiment of the present invention. After completing the matching connection of all starting segments, all candidate route segments, and all ending segments, a set composed of all candidate planned routes is obtained; among them, each candidate planned route can be displayed in text or graphic form.

[0082] Step S6: Calculate the quality quantification index of each candidate planned route in the candidate planned route set; based on the preset screening rules and the quality quantification index, obtain the target planned route.

[0083] Specifically, as Figure 7 shown in the figure, it is an example diagram of target planned route display provided by an embodiment of the present invention. After obtaining all candidate planned routes, it is necessary to calculate the quality quantification index of each candidate planned route (including average deviation distance, proportion of fixed route direction used, total route distance), and select the target planned route according to the actual operation requirements of this route planning (that is, determine the preset screening rules).

[0084] It can be seen from the above technical solutions that the automatic route planning method based on fixed route directions provided by the embodiments of the present invention comprehensively considers the fixed route directions between the departure airport and the destination airport by increasing the number of reference fixed route directions, avoiding missing the optimal fixed route directions, thereby improving the quality of the planned route; at the same time, the present invention does not rely on manual planning, realizes automatic route planning, and significantly improves the efficiency of route planning.

[0085] It should be noted that the embodiments of the present invention are applicable to route planning when there is no fixed route direction between the departure airport and the destination airport, which can be that there is no other fixed route direction only at the departure airport, no other fixed route direction only at the destination airport, or no other fixed route direction at both the departure airport and the destination airport. In addition, in the embodiments of the present invention, the departure airport / destination airport is taken as an example for description, but the departure airport can be replaced by the departure route point, and the destination airport can also be replaced by the target route point, etc. All kinds of implementation manners are equally applicable and will not be elaborated here.

[0086] In an optional embodiment, obtaining the target departure point of the departure airport and the target arrival point of the destination airport includes:

[0087] Obtain the set of departure points of the departure airport and the set of arrival points of the destination airport;

[0088] Select the departure point closest to the destination airport from the set of departure points as the target departure point;

[0089] Select the arrival point closest to the departure airport from the set of arrival points as the target arrival point.

[0090] In specific implementation, collect all possible in / out departure points from the departure airport to the destination airport, and form a set of departure points and a set of arrival points respectively. In / out departure points are important nodes connecting the airport and the airway. When selecting the target in / out departure points, the nearest distance strategy is adopted: that is, first select the departure point closest to the destination airport as the target departure point, and then select the arrival point closest to the departure airport as the target arrival point. As Figure 8 shown, it is a schematic diagram of selecting the target departure point and the target arrival point provided by an embodiment of the present invention; among them, there are four departure points A, B, C, and D at the departure airport. According to the nearest distance strategy, select B as the target departure point. There are four arrival points 1, 2, 3, and 4 at the destination airport. According to the nearest distance strategy, select 2 as the target arrival point.

[0091] In an alternative embodiment, the starting point and the ending point of each of the candidate fixed airways are respectively in the first selection area and the second selection area.

[0092] In the embodiment of the present invention, considering that there are too many fixed airway routes passing through the R1 range and the R2 range, in order to reduce the calculation amount, only the fixed airway routes with the starting point in the R1 range and the ending point in the R2 range are used as candidate fixed airways.

[0093] In an alternative embodiment, before obtaining all candidate departure access points and all candidate arrival access points from the set of candidate fixed airways based on the preset access point selection rule, the method further includes:

[0094] Take the great circle route from the departure airport to the destination airport as the reference line, and take the departure airport and the destination airport as the foot points, and set two vertical lines on the reference line;

[0095] Intercept the airways of all the candidate fixed airways between the two vertical lines to form an updated set of candidate fixed airways.

[0096] Specifically, the selected candidate fixed routes are intercepted according to the following rules: taking the great circle route from the departure airport to the destination airport as the reference line, perpendicular lines are respectively drawn with the departure airport and the destination airport as the foot points. The flight segment between the perpendicular line of the departure airport and the perpendicular line of the destination airport is the fixed route to be retained. As Figure 4 shown. There are two candidate fixed routes in the figure. Based on the interception rules, the retained flight segments are BCD and GHI. These two flight segments are the updated candidate fixed routes and will be used to plan the route from the departure airport to the destination airport; among them, points A to J are all waypoints.

[0097] In an alternative embodiment, the preset access point selection rules include:

[0098] When any waypoint in the candidate fixed route set satisfies the first condition, the waypoint is used as the candidate departure access point; wherein, the first condition is that the great circle distance from the waypoint to the departure airport is less than the great circle distance from the waypoint to the destination airport, and the included angle between the great circle connection line from the target departure point to the waypoint and the great circle connection line from the departure airport to the destination airport is less than 90 degrees;

[0099] When the waypoint satisfies the second condition, the waypoint is used as the candidate arrival access point; wherein, the second condition is that the great circle distance from the waypoint to the destination airport is less than the great circle distance from the waypoint to the departure airport, and the included angle between the great circle connection line from the target arrival point to the waypoint and the great circle connection line from the destination airport to the departure airport is less than 90 degrees.

[0100] Specifically, for the departure access point, the later the access, the shorter the distance of the final fixed route; for the arrival access point, the earlier the access, the shorter the distance of the final fixed route. As Figure 9 shown, it is a schematic diagram for screening the departure access point and the arrival access point provided by an embodiment of the present invention. The embodiment of the present invention selects candidate in / arrival access points based on the preset access point selection rules, and the specific rules are as follows:

[0101] (1) The departure access point and the arrival access point cannot cross. For this reason, the shortest great circle distance between the departure access point and the departure airport must be less than the shortest great circle distance between it and the destination airport; for the arrival access point, on the contrary, the shortest great circle distance between it and the destination airport must be less than the shortest great circle distance between it and the departure airport. This can ensure that the departure access point and the arrival access point do not cross.

[0102] (2) The included angle between the great circle connection from the departure point to the departure access point and the great circle connection from the departure airport to the destination airport should be less than 90 degrees. Similarly, the included angle between the great circle connection from the approach point to the approach access point and the great circle connection from the destination airport to the departure airport should also be less than 90 degrees. This can ensure a smooth connection of the planned air route.

[0103] In an optional embodiment, the heuristic search in the air route directed connectivity graph with the shortest path as the goal to obtain the starting flight segment from the target departure point to each corresponding candidate departure access point, and the ending flight segment from each corresponding candidate approach access point to the target approach point includes:

[0104] Based on the target departure point and any one of the candidate departure access points, extract a first directed connectivity subgraph from the air route directed connectivity graph;

[0105] Perform a heuristic search in the first directed connectivity subgraph with the shortest path as the goal to obtain the starting flight segment between the target departure point and the corresponding candidate departure access point;

[0106] Based on any one of the candidate approach access points and the target approach point, extract a second directed connectivity subgraph from the air route directed connectivity graph;

[0107] Perform a heuristic search in the second directed connectivity subgraph with the shortest path as the goal to obtain the ending flight segment between the corresponding candidate approach access point and the target approach point.

[0108] It can be understood that taking the target departure point and a candidate departure access point as an example, in the air route directed connectivity graph, based on the determined target departure point and a candidate departure access point, a first directed connectivity subgraph can be extracted from the air route directed connectivity graph through the connectivity relationship between the two; using the heuristic search algorithm, with the shortest path as the goal in the first directed connectivity subgraph, obtain the starting flight segment from the target departure point to the candidate departure access point. Similarly, the ending flight segment from a candidate approach access point to the target approach point can also be obtained, as Figure 5 shown. Specifically, when implementing, the A* algorithm with distance priority can be used for the planning of the starting flight segment and the ending flight segment. Among them, the implementation steps of the A* algorithm are as follows:

[0109] a. Create two lists of waypoints, one is the list S of visited waypoints, and the other is the list U of waypoints to be visited;

[0110] b. First, put the starting waypoint into the list S of visited waypoints;

[0111] c. Read the last waypoint in the list S;

[0112] d. Connect to the airway database, query all the airway points connected to the last airway point in list S, record the distance from each point to the previous point, the total distance from the starting airway point, and the path;

[0113] e. Put all the airway points queried in step d into list U. Before putting them in, the following judgments should be completed: if the airway point already exists in S, it should be excluded; if the airway point already exists in U and the distance from this airway point to the starting airway point is greater than or equal to the airway point already existing in U, it should be excluded, otherwise use this airway point to replace the airway point already existing in U;

[0114] f. Find the airway point in U with the shortest distance from the starting airway point, put it at the end of list S and delete it from U;

[0115] g. Repeat steps c - g until the last airway point in S is the airway end point;

[0116] h. Output the distance and path of the airway end point.

[0117] In an alternative embodiment, the quality quantification indicators include: average deviation distance, fixed airway route usage ratio, and total airway distance; wherein, the average deviation distance is used to represent the average distance of all airway points on each of the candidate planned airways deviating from the great circle route from the departure airport to the destination airport.

[0118] It should be noted that, as described in the background art, the existing airway planning mainly relies on manual operation, so planners with different experience levels may formulate different airways, and there is currently no quantification standard to evaluate the quality of these different airways. In order to effectively evaluate the quality of candidate planned airways, the embodiments of the present invention propose the following quality quantification indicators for airways:

[0119] (1) Average deviation distance: It refers to the average distance of all airway points on the airway deviating from the great circle route from the departure airport to the destination airport. As Figure 10 shown, it is a schematic diagram of the average deviation distance provided by the embodiments of the present invention. In the figure, the average deviation degree of the ID airway route is (L1 + L2 + L3 + L4 + L5) / 5; and it can be known from Figure 10 that the smaller the average deviation degree, the closer the airway route is to the great circle route.

[0120] (2) Fixed airway route usage ratio: It refers to the distance of the planned airway using the fixed airway route divided by the total airway distance. As Figure 11As shown in the figure, it is a schematic diagram of the usage ratio of the fixed route direction provided by an embodiment of the present invention. In the figure, the ID route is the fixed route direction; in the planned route JK, the distance from point J to access point 2 (the length of the starting segment) is L1, the distance from access point 2 to access point 3 (the length of a partial fixed segment) is L2, and the distance from access point 3 to point K (the length of the ending segment) is L3. Then, the usage ratio of the fixed route direction is L2 / (L1 + L2 + L3).

[0121] (3) Total route distance: It refers to the sum of the distances of all segments in a certain route direction. As Figure 11 shown, the total route distance of the planned route JK is (L1 + L2 + L3).

[0122] It should be noted that after obtaining all candidate planned routes, it is necessary to calculate the quality quantification indicators of each candidate planned route, including the average deviation distance, the usage ratio of the fixed route direction, and the total route distance. Then, according to the actual operation requirements of the current route planning, determine the specific indicators to be sorted. For example, if the current actual operation requirement is to save fuel, then the candidate planned routes should be sorted according to the total route distance indicator, so as to select the candidate planned route with the shortest distance as the target planned route; if the current actual operation requirement is to pass the approval quickly, then the candidate planned routes should be sorted according to the usage ratio of the fixed route direction indicator, so as to select the candidate planned route with the highest usage ratio of the fixed route direction as the target planned route for subsequent airlines to apply for as the company route.

[0123] From Figure 6 all the candidate planned routes, select the target planned route that best meets the actual operation requirements, as Figure 7 shown. The average distance of this route deviating from the great circle route is 98.9 km, the total route length is 1793.8 km, and the usage ratio of the fixed route direction is 77.138%. In Figure 7 , the connection line from the bottommost to the upper left end represents the fixed route direction (corresponding to Figure 7 the white route in Figure 7 ), and the connection line from the intersection point to the upper right end represents the approach point access route (corresponding to

[0124] In summary, the automatic route planning method based on fixed route directions provided by the embodiments of the present invention improves the quality of the planned route by increasing the number of reference fixed route directions to consider as many fixed route directions as possible between the departure airport and the destination airport, thereby avoiding missing the optimal fixed route direction. At the same time, the present invention does not rely on manual planning, realizes automatic route planning, and significantly improves the efficiency of route planning. In addition, the present invention also establishes a unified route quality quantitative evaluation system based on the route quality quantitative indicators. On the one hand, specific quality quantitative indicators can be selected for sorting according to actual operation requirements, so as to select the optimal planned route. On the other hand, it helps to standardize the route planning process, avoid inconsistent planned routes caused by differences in planners' experience, and can effectively shorten the personnel training cycle.

[0125] See Figure 12 , which is a schematic structural diagram of an automatic route planning system based on fixed route directions provided by the embodiments of the present invention.

[0126] The second aspect of the embodiments of the present invention provides an automatic route planning system based on fixed route directions for implementing the automatic route planning method based on fixed route directions described in any one of the first aspects above. The system includes:

[0127] A target departure and arrival point acquisition module 11 for acquiring the target departure point of the departure airport and the target arrival point of the destination airport;

[0128] A candidate fixed route selection module 12 for determining all candidate fixed routes from the first selection area to the second selection area and forming a candidate fixed route set; wherein, the first selection area is a preset area corresponding to the departure airport; the second selection area is a preset area corresponding to the destination airport;

[0129] An access point selection module 13 for obtaining all candidate departure access points and all candidate arrival access points from the candidate fixed route set based on a preset access point selection rule;

[0130] An access segment planning module 14 for performing heuristic search in the route directed connectivity graph with the shortest path as the goal to obtain the starting segment from the target departure point to each candidate departure access point and the ending segment from each candidate arrival access point to the target arrival point;

[0131] A segment matching and connecting module 15 for matching and connecting all the starting segments, all candidate route segments, and all the ending segments to obtain a candidate planned route set; wherein, each candidate route segment is a segment between a candidate departure access point and a candidate arrival access point in the corresponding candidate fixed route;

[0132] The target planned route screening module 16 is configured to calculate the quality quantification index of each candidate planned route in the candidate planned route set; and obtain the target planned route based on a preset screening rule and the quality quantification index.

[0133] It should be noted that the route automatic planning system based on a fixed route direction provided in the second aspect embodiments of the present invention can implement all processes of the route automatic planning method based on a fixed route direction described in any of the first aspect embodiments. The functions and achieved technical effects of each module and unit in the system respectively correspond to and are the same as those of a route automatic planning method based on a fixed route direction described in the first aspect embodiments, and will not be elaborated here.

[0134] The third aspect embodiments of the present invention provide a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program runs, it controls the device where the computer-readable storage medium is located to execute the route automatic planning method based on a fixed route direction described in any of the first aspect embodiments.

[0135] See Figure 13 which is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0136] The fourth aspect embodiments of the present invention further provide an electronic device, which includes a processor 21, a memory 22, and a computer program stored in the memory 22 and configured to be executed by the processor 21. When the processor 21 executes the computer program, it implements the route automatic planning method based on a fixed route direction described in any of the first aspect embodiments.

[0137] Preferably, the computer program can be divided into one or more modules / units (such as computer program 1, computer program 2,...). The one or more modules / units are stored in the memory 22 and executed by the processor 21 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the electronic device.

[0138] The processor 21 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 21 may also be any conventional processor. The processor 21 is the control center of the electronic device and connects various parts of the electronic device through various interfaces and circuits.

[0139] The memory 22 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc., and the data storage area can store relevant data, etc. In addition, the memory 22 may be a high-speed random access memory, or may also be a non-volatile memory, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc., or the memory 22 may also be other volatile solid-state storage devices.

[0140] It should be noted that the above-mentioned electronic device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that Figure 5 the structural schematic diagram shown is only an example of the structure of the above-mentioned electronic device and does not constitute a limitation on the structure of the above-mentioned electronic device. The above-mentioned electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different components.

[0141] The above is only the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A method for automatic route planning based on a fixed route direction, characterized in that: include: Get the target departure point of the departure airport and the target arrival point of the destination airport; Determine all candidate fixed routes from a first selected area to a second selected area, and form a candidate fixed route set; wherein the first selected area is a preset area corresponding to the departure airport; and the second selected area is a preset area corresponding to the destination airport; Based on a preset access point selection rule, acquiring all candidate departure access points and all candidate arrival access points from the candidate fixed route set; Performing a heuristic search in the route directed connected graph with the shortest path as the goal, obtaining a starting segment from the target departure point to each of the candidate departure access points, and a terminal segment from each of the candidate arrival access points to the target arrival point; Matching and connecting all the starting segments, all the candidate heading segments and all the terminal segments to obtain a set of candidate planned routes; wherein each of the candidate heading segments is a segment between one of the candidate departure access points and one of the candidate arrival access points in the corresponding candidate fixed route; Calculate the quality quantification index of each candidate planned route in the candidate planned route set; and obtain the target planned route based on the preset screening rules and the quality quantification index.

2. The method for automatic route planning based on a fixed route direction as claimed in claim 1, characterized in that: The step of obtaining the target departure point of the take-off airport and the target arrival point of the destination airport includes: Obtaining a departure point set of the departure airport and an arrival point set of the destination airport; Selecting a departure point closest to the destination airport from the departure point set as a target departure point; An approach point closest to the departure airport is selected from the approach point set as a target approach point.

3. The method for automatic route planning based on a fixed route direction as claimed in claim 1, characterized in that: The starting point and the end point of each candidate fixed route are respectively in the first selected area and the second selected area.

4. The method for automatic route planning based on a fixed route direction as claimed in claim 1, characterized in that: Before acquiring all candidate departure access points and all candidate arrival access points from the candidate fixed route set based on the preset access point selection rule, the method further includes: Taking the great circle route from the departure airport to the destination airport as the baseline, and taking the departure airport and the destination airport as the foot points, two vertical lines are set on the baseline; All the candidate fixed routes between the two vertical lines are intercepted to form an updated candidate fixed route set.

5. The method for automatic route planning based on a fixed route direction as claimed in claim 1, characterized in that: The preset access point selection rule is specifically: When any waypoint in the candidate fixed route set meets the first condition, the waypoint is used as the candidate departure access point; wherein the first condition is that the great circle distance from the waypoint to the departure airport is less than the great circle distance from the waypoint to the destination airport, and the angle between the great circle line from the target departure point to the waypoint and the great circle line from the departure airport to the destination airport is less than 90 degrees; When the waypoint satisfies the second condition, the waypoint is used as the candidate approach access point; wherein the second condition is that the great circle distance from the waypoint to the destination airport is less than the great circle distance from the waypoint to the departure airport, and the angle between the great circle line from the target approach point to the waypoint and the great circle line from the destination airport to the departure airport is less than 90 degrees.

6. The method for automatic route planning based on a fixed route direction as claimed in claim 1, characterized in that: The heuristic search is performed in the route directed connected graph with the shortest path as the goal to obtain the starting segment from the target departure point to each of the candidate departure access points, and the terminal segment from each of the candidate arrival access points to the target arrival point, including: Extracting a first directed connected subgraph from the route directed connected graph based on the target departure point and any one of the candidate departure access points; Performing a heuristic search in the first directed connected subgraph with the shortest path as a goal to obtain a starting segment between the target departure point and the corresponding candidate departure access point; Based on any one of the candidate approach access points and the target approach point, extracting a second directed connected subgraph from the route directed connected graph; A heuristic search is performed in the second directed connected subgraph with the shortest path as a goal to obtain a corresponding terminal segment between the candidate approach access point and the target approach point.

7. The method for automatic route planning based on a fixed route direction as claimed in claim 1, characterized in that: The quality quantitative indicators include: average deviation distance, fixed route usage ratio and total route distance; wherein the average deviation distance is used to characterize the average distance of all waypoints on each candidate planned route deviating from the great circle route from the departure airport to the destination airport.

8. An automatic route planning system based on a fixed route direction, characterized in that: include: The target arrival and departure point acquisition module is used to obtain the target departure point of the departure airport and the target arrival point of the destination airport; A candidate fixed route selection module is used to determine all candidate fixed routes from a first selected area to a second selected area and form a candidate fixed route set; wherein the first selected area is a preset area corresponding to the departure airport; and the second selected area is a preset area corresponding to the destination airport; An access point selection module, configured to obtain all candidate departure access points and all candidate arrival access points from the candidate fixed route set based on a preset access point selection rule; An access segment planning module is used to perform a heuristic search in the route directed connected graph with the shortest path as the goal, and obtain a starting segment corresponding to a target departure point to each of the candidate departure access points, and a terminal segment corresponding to each of the candidate approach access points to the target approach point; A segment matching and connection module is used to match and connect all the starting segments, all the candidate heading segments and all the terminal segments to obtain a set of candidate planned routes; wherein each of the candidate heading segments is a segment located between a candidate departure access point and a candidate arrival access point in the corresponding candidate fixed route; The target planning route screening module is used to calculate the quality quantitative index of each candidate planning route in the candidate planning route set; based on the preset screening rules and the quality quantitative index, the target planning route is obtained.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program; wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the route automatic planning method based on a fixed route direction as described in any one of claims 1 to 7.

10. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When executing the computer program, the processor implements the method for automatic route planning based on a fixed route direction as described in any one of claims 1 to 7.

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