A navigation route determination method, device, apparatus and storage medium

Abstract

Embodiments of the present application disclose a kind of navigation route determination method, device, equipment and storage medium, wherein, method includes: determining multiple to-be-optimized navigation sections in target area, and respectively determining the to-be-optimized parameter corresponding to each to-be-optimized navigation section;Wherein, the to-be-optimized parameter at least includes: waypoint position, navigation speed and optimization target parameter;The to-be-optimized parameter corresponding to the to-be-optimized navigation section is parameter optimization, determines the target navigation parameter corresponding to the to-be-optimized parameter;According to the target navigation parameter, respectively determine the target navigation section corresponding to each to-be-optimized navigation section, and determine target route according to multiple target navigation sections.The technical scheme of the embodiment of the present application solves the problem that the navigation route of ship is determined in the prior art, usually only single target is optimized, it is easy to appear that the navigation route determined cannot adapt to complex navigation environment, influence comprehensive income, can be divided into multiple navigation sections, the navigation elements of different navigation sections are considered comprehensively, the importance of different optimization targets is weighed, the applicability of the route determined is improved, and comprehensive income is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of ship navigation management, and in particular to a navigation route determination method, device, equipment and storage medium. BACKGROUND

[0002] When a ship is performing a navigation task, different navigation segments have different weather, sea conditions and maritime rule requirements. However, current navigation technology can only select a single target for optimization when optimizing a navigation route, and cannot take into account the complex and variable navigation environment under different navigation segments, thereby affecting the overall benefit. SUMMARY

[0003] Embodiments of the present application provide a navigation route determination method, device, equipment and storage medium, which can divide a navigation route into multiple navigation segments, comprehensively consider navigation elements of different navigation segments, weigh the importance of different optimization targets, improve the applicability of the determined navigation route, and improve the overall benefit.

[0004] In a first aspect, embodiments of the present application provide a navigation route determination method, which comprises:

[0005] determining a plurality of to-be-optimized navigation segments in a target area, and respectively determining a to-be-optimized parameter corresponding to each to-be-optimized navigation segment; wherein the to-be-optimized parameter at least includes a waypoint position, a navigation speed and an optimization target parameter; performing parameter optimization on the to-be-optimized parameter corresponding to the to-be-optimized navigation segment to determine a target navigation parameter corresponding to the to-be-optimized parameter; respectively determining a target navigation segment corresponding to each to-be-optimized navigation segment according to the target navigation parameter, and determining a target navigation route according to a plurality of target navigation segments.

[0006] In a second aspect, embodiments of the present application provide a navigation route determination device, which comprises:

[0007] a to-be-optimized parameter determination module configured to determine a plurality of to-be-optimized navigation segments in a target area, and respectively determine a to-be-optimized parameter corresponding to each to-be-optimized navigation segment; wherein the to-be-optimized parameter at least includes a waypoint position, a navigation speed and an optimization target parameter; a target navigation parameter module configured to perform parameter optimization on the to-be-optimized parameter corresponding to the to-be-optimized navigation segment to determine a target navigation parameter corresponding to the to-be-optimized parameter; and a target navigation route determination module configured to respectively determine a target navigation segment corresponding to each to-be-optimized navigation segment according to the target navigation parameter, and determine a target navigation route according to a plurality of target navigation segments.

[0008] In a third aspect, embodiments of the present application provide a computer device, which comprises:

[0009] one or more processors;

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

[0011] When the one or more programs are executed by the one or more processors, the one or more processors implement the navigation route determination method according to any one of the embodiments.

[0012] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the navigation route determination method according to any one of the embodiments.

[0013] The technical solution provided by the embodiment of the present application determines a plurality of to-be-optimized segments in a target area, and determines a to-be-optimized parameter corresponding to each to-be-optimized segment; wherein the to-be-optimized parameter at least includes a waypoint position, a navigation speed and an optimization target parameter; the to-be-optimized parameter corresponding to the to-be-optimized segment is subjected to parameter optimization to determine a target navigation parameter corresponding to the to-be-optimized parameter; the target navigation parameter is used to determine a target segment corresponding to each to-be-optimized segment, and a target route is determined according to a plurality of target segments. The technical solution of the embodiment of the present application solves the problem that the prior art usually only optimizes a single target when determining a navigation route of a ship, and the determined navigation route cannot adapt to a complex navigation environment, which affects the comprehensive benefit. The route can be divided into a plurality of segments, the navigation elements of different segments are comprehensively considered, the importance of different optimization targets is weighed, the applicability of the determined route is improved, and the comprehensive benefit is improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a flowchart of a navigation route determination method provided by an embodiment of the present application;

[0015] Figure 2 is another flowchart of a navigation route determination method provided by an embodiment of the present application;

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

[0017] Figure 4 is a workflow diagram of navigation route determination provided by an embodiment of the present application;

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

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

[0020] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0021] Figure 1 FIG. 1 is a flowchart of a navigation route determination method provided by an embodiment of the present application. The method can be applied to a scenario of determining a navigation route of a ship. The method can be executed by a navigation route determination device, which can be implemented in a software and / or hardware manner.

[0022] As shown in FIG. 1, the navigation route determination method includes the following steps. Figure 1

[0023] S110, determining a plurality of to-be-optimized navigation segments in a target area, and respectively determining a to-be-optimized parameter corresponding to each to-be-optimized navigation segment.

[0024] The target area can be an area in which a navigation route needs to be determined. The technical solution of the embodiment of the present application needs to determine a corresponding target navigation route from the target area. Further, the to-be-optimized navigation segment can be an initial navigation segment that needs to be optimized. For example, a user can manually specify a plurality of initial navigation segments from the target area through an interactive instruction, and then obtain a plurality of to-be-optimized navigation segments.

[0025] Further, each to-be-optimized navigation segment can have a corresponding to-be-optimized parameter. The to-be-optimized parameter at least includes a waypoint position, a navigation speed and an optimization target parameter. The waypoint position can be position information of a starting waypoint and an ending waypoint corresponding to the to-be-optimized navigation segment. The navigation speed can be a speed used by the ship to navigate through the to-be-optimized navigation segment. The optimization target parameter can be a reference parameter for evaluating an optimization result of the to-be-optimized navigation segment. Optionally, the optimization target parameter includes an oil consumption parameter, a navigation time or a comfort parameter.

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

[0027] ​The target heading parameter can be a parameter obtained after optimization of the to-be-optimized navigation parameter. Specifically, the to-be-optimized parameter of the to-be-optimized navigation section can be iteratively optimized, and a candidate parameter obtained through each iteration can be evaluated based on the optimization target parameter in the to-be-optimized navigation parameter to obtain a corresponding evaluation score. Finally, the evaluation scores of the candidate parameters obtained through the multiple iterations can be compared, and the target navigation parameter can be determined from the candidate parameters obtained through the multiple iterations according to the comparison result.

[0028] S130, respectively determine a target navigation section corresponding to each of the to-be-optimized navigation sections according to the target navigation parameter, and determine a target navigation route according to the multiple target navigation sections.

[0029] The target navigation section can be a navigation section obtained after parameter optimization of the to-be-optimized navigation section. Specifically, for each to-be-optimized navigation section, the start waypoint and the end waypoint in the target function parameter of the to-be-optimized navigation section can be connected to obtain a target navigation section corresponding to the to-be-optimized navigation section. Further, the target navigation route can be a final determined navigation route of the ship in the target region. For example, all target navigation sections can be connected to obtain the target navigation route. In addition, the target navigation route can also include a heading speed corresponding to each target navigation section; that is, the ship will adopt the navigation speed corresponding to the target navigation section when passing through the target navigation section.

[0030] The technical solution provided by the embodiment of the application determines multiple to-be-optimized navigation sections in a target region and determines a to-be-optimized parameter corresponding to each to-be-optimized navigation section, wherein the to-be-optimized parameter at least includes a waypoint position, a navigation speed, and an optimization target parameter. The to-be-optimized parameter corresponding to the to-be-optimized navigation section is parameter optimized to determine a target navigation parameter corresponding to the to-be-optimized parameter. According to the target navigation parameter, a target navigation section corresponding to each to-be-optimized navigation section is respectively determined, and a target navigation route is determined according to the multiple target navigation sections. The technical solution of the embodiment of the application solves the problem that the prior art usually only optimizes a single target when determining a navigation route of a ship, which easily causes the determined navigation route to be unable to adapt to a complex navigation environment and affect the comprehensive benefit. The route can be divided into multiple navigation sections, the navigation elements of different navigation sections are comprehensively considered, the importance of different optimization targets is weighed, the applicability of the determined route is improved, and the comprehensive benefit is improved.

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

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

[0033] S210. Identify multiple flight segments to be optimized in the target area, and determine the optimization parameters corresponding to each flight segment.

[0034] The interactive command can be used to determine waypoints in a target area. For example, a user can send an interactive command by clicking, dragging, or inputting data, allowing the device to receive the command and determine multiple waypoints in the target area. The waypoint information includes the waypoint's location information and navigation sequence information. The navigation sequence information can be information about the order of passage between waypoints. Connecting two waypoints creates a segment, and the navigation sequence information reflects the order in which the ship passes each waypoint. Furthermore, based on the order of the waypoints in the navigation sequence information, multiple segments to be optimized can be obtained by connecting every two waypoints sequentially. For example, a waypoint with sequence number n can be connected to a waypoint with sequence number n+1 to obtain a segment to be optimized.

[0035] For example, for a route with n waypoints and n-1 segments, the optimization objective parameter is X = {x0, x1, x2, ..., x...} n-2}, where x i{0≤i≤n-1} ∈{1,2,3} represents the state selection of the target to be optimized in each flight segment. i =1 indicates that the flight segment with index i is optimized with the goal of "lowest fuel consumption", x j =2 indicates that the flight segment with index j is optimized with the goal of "shortest travel time". Similarly, x k =3 indicates that the flight segment with index k is optimized with the goal of "most comfortable".

[0036] For example, Figure 3 This is a schematic diagram illustrating an iterative optimization of the target parameter provided in an embodiment of the present invention. For example... Figure 3As shown, assuming there is a route with waypoint number n = 10, if the initial optimization target parameters, the optimization target of the leg with index is "lowest fuel consumption", the optimization target of the leg with index is "most comfortable", and the optimization target of the legs with index 7-8 is "shortest navigation time". Without considering the waypoint position and navigation speed, one iteration will cause the change of the split position, that is, in the schematic diagram, the optimization target of the 4th leg is adjusted from "most comfortable" to "lowest fuel consumption", and the optimization target of the 7th leg is adjusted from "most comfortable" to "shortest navigation time".

[0037] S220, multiple iterations of optimization are performed on the to-be-optimized parameters corresponding to the to-be-optimized leg to obtain multiple groups of candidate parameters corresponding to the to-be-optimized parameters.

[0038] Among them, the candidate parameter can be the parameter obtained after each iteration of optimization. For example, multiple iterations of optimization can be performed simultaneously for all to-be-optimized legs, and the parameter obtained after each iteration of optimization can be used as the candidate parameter of the corresponding to-be-optimized leg.

[0039] S230, for each group of candidate parameters, the navigation performance of the candidate parameters is evaluated to obtain the candidate fitness corresponding to the candidate parameters.

[0040] Among them, the candidate fitness can be an evaluation parameter corresponding to the candidate parameter. Specifically, the candidate fitness is proportional to the degree of excellence of the candidate parameter. For example, for each group of candidate parameters, the preferred target parameter in the candidate parameter can be used as the evaluation basis to evaluate the waypoint position and navigation speed in the candidate parameter, and then the corresponding candidate fitness is obtained.

[0041] Optionally, in the case where the optimization target parameter is the fuel consumption parameter, evaluating the navigation performance of the candidate parameter to obtain the candidate fitness corresponding to the candidate parameter includes: determining the leg length and leg meteorological data according to the waypoint position in the candidate parameter; inputting the leg length, leg meteorological data and navigation speed in the candidate parameter into the fuel consumption determination model to obtain the fuel consumption corresponding to the candidate parameter, and taking the fuel consumption as the candidate fitness corresponding to the candidate parameter.

[0042] Among them, the position information of the candidate leg corresponding to the candidate parameter can be determined according to the waypoint position in the candidate parameter, and further, the length of the candidate leg can be determined as the leg length. The leg meteorological data can be the meteorological data corresponding to the candidate leg. For example, the meteorological data can include ocean meteorological data such as wind, wave, current, surge, water temperature, etc. on the candidate leg. Specifically, the marine climate data corresponding to the position information can be queried as the meteorological data according to the position information of the route leg.

[0043] Further, the oil consumption determination model can be a preset model for predicting the oil consumption of the ship sailing through the candidate voyage section. For example, the oil consumption determination model can be preset as M1, and the oil consumption calculation mode can be M1(v, s, w), where v represents the average speed of the ship for a fixed voyage section, v is a column vector composed of the average speed of each voyage section when there are multiple voyage sections; s represents the length of each voyage section; and w represents the weather data. Specifically, the length of the voyage section, the weather data of the voyage section, and the speed in the candidate parameters can be input into the oil consumption determination model to obtain the oil consumption corresponding to the candidate parameters, and the oil consumption can be used as the candidate fitness corresponding to the candidate parameters.

[0044] Optionally, when the optimization target parameter is the comfort parameter, the sailing performance of the candidate parameters is evaluated to obtain the candidate fitness corresponding to the candidate parameters, including: determining the weather data of the voyage section according to the waypoint position in the candidate parameters; inputting the weather data of the voyage section and the speed in the candidate parameters into a comfort determination model to obtain a comfort value corresponding to the candidate parameters, and using the comfort value as the candidate fitness corresponding to the candidate parameters.

[0045] Optionally, when the optimization target parameter is the comfort parameter, the sailing performance of the candidate parameters is evaluated to obtain the candidate fitness corresponding to the candidate parameters, including: determining the weather data of the voyage section according to the waypoint position in the candidate parameters; inputting the weather data of the voyage section and the speed in the candidate parameters into a comfort determination model to obtain a comfort value corresponding to the candidate parameters, and using the comfort value as the candidate fitness corresponding to the candidate parameters.

[0046] In addition, when the optimization target parameter is the sailing time, the length of the voyage section can also be determined according to the waypoint position in the candidate parameters, and the sailing time can be obtained by dividing the length of the voyage section by the sailing speed in the candidate parameters, and the sailing time can be used as the candidate fitness corresponding to the candidate parameters.

[0047] S240, determining the target sailing parameter from the candidate parameters according to the candidate fitness.

[0048] Optionally, the target sailing parameter is determined from the candidate parameters according to the candidate fitness, including: comparing the candidate fitness of the candidate parameters corresponding to each to-be-optimized voyage section, and determining the target sailing parameter from the candidate parameters according to the comparison result.

[0049] Optionally, the target sailing parameter is determined from the candidate parameters according to the candidate fitness, including: multiplying the candidate fitness of each to-be-optimized voyage section by a corresponding preset weight and then adding them to obtain a candidate route fitness for each iteration optimization; comparing the candidate route fitnesses corresponding to multiple iteration optimizations, and determining the target sailing parameter from the candidate parameters according to the comparison result.

[0050] The preset weight can be an evaluation coefficient corresponding to the optimization result of the to-be-optimized flight segment. Specifically, the preset weight corresponding to each to-be-optimized flight segment can be preset by a person. The candidate flight line fitness can be an evaluation parameter of the candidate parameter obtained after single optimization. Specifically, the candidate fitness of each to-be-optimized flight segment can be multiplied by the corresponding preset weight and then added to obtain the candidate flight line fitness. Further, the candidate flight line fitness corresponding to each iteration optimization can be compared, and the candidate fitness of the iteration result with the maximum candidate fitness is taken as the target optimization result, and the candidate parameter in the target optimization result is taken as the target navigation parameter corresponding to each to-be-optimized flight segment. The iteration result can be understood as a set of candidate parameters corresponding to all to-be-optimized flight segments after each iteration optimization.

[0051] S250, according to the target navigation parameter, respectively determining the target flight segment corresponding to each to-be-optimized flight segment, and determining the target flight line according to a plurality of target flight segments.

[0052] Exemplarily, in order to better understand the technical solutions provided by the present application, the following specific embodiments are introduced: Figure 4 is a work flow chart provided by an embodiment of the present application for determining a navigation route. As shown in Figure 4 , the work flow for determining a navigation route includes the following steps:

[0053] First, input the to-be-optimized flight line data, the estimated time of arrival (ETA) and the estimated time of departure (ETD), and then specify the optimization target of different flight segments, and then generate the segmented optimization variable X, and then determine the optimization target weight (i.e., the candidate parameter) corresponding to each optimization result, and then import the ship type parameter navigation data and the optimization target weight data into the flight line optimization target model, so that the model analyzes the optimization result based on fuel consumption, navigation time or comfort, and finally performs iteration based on the heuristic algorithm, and then outputs the optimized flight line.

[0054] When optimizing a flight line, the only objects that can be changed are usually the position coordinates P={p0, p1, p2, …, p n-1} of the waypoints on the flight line, and the speed V={v0, v1, v2, …, v n-1} of each flight segment, where p i{0≤i≤n-1} represents the longitude and latitude coordinates of the i-th waypoint, and v i{0≤i≤n-1}The speed of the i-th waypoint is represented. However, when performing an actual navigation task, the estimated time of arrival (ETA) and the estimated time of departure (ETD) are usually fixed, which means that there is a constraint condition of a total navigation time being unchanged, so usually the route optimization is only optimized for two dimensions of waypoint coordinate position P and speed V. In addition, the optimization target parameter X can be taken as a third optimization dimension, at this time the optimizable object of the route can be regarded as a variable matrix as follows: In the variable matrix S, each row represents an optimization dimension of the route, and each column represents the state of a waypoint, at this time a route can be defined by a fixed variable S, and can be decoupled into each independent waypoint.

[0055] Further, in the process of obtaining the final route based on the heuristic algorithm iteration, the optimization model for a route and the determination of the weight value have been completed, and now the route needs to be optimized by using the algorithm. Since there is no absolutely optimal solution to the route optimization problem, the commonly used methods are heuristic algorithms such as particle swarm optimization (PSO), genetic algorithm, simulated annealing algorithm, and A* algorithm. Taking the PSO as an example, the above route optimization model is taken as the basic model of each particle, and the optimization object with a population size of num can be quantified as where each list represents a particle. After each iteration, the comprehensive target value T is calculated according to the set segmented weight value, and the directional optimization is determined according to the PSO rule, so that the target of each segment can determine the iteration direction according to its influence on the comprehensive evaluation index. Finally, the variable matrix S of the optimal route is obtained. Through the latitude and longitude vector P best and the waypoint speed V best , the final optimized route is output.

[0056] The technical scheme provided by the embodiment of the application determines a plurality of to-be-optimized segments in a target area, and determines a to-be-optimized parameter corresponding to each to-be-optimized segment; performs multiple iterations on the to-be-optimized parameter corresponding to each to-be-optimized segment to obtain a plurality of groups of candidate parameters corresponding to the to-be-optimized parameter; for each group of candidate parameters, evaluates the navigation performance of the candidate parameters to obtain a candidate fitness corresponding to the candidate parameters; determines a target navigation parameter from the candidate parameters according to the candidate fitness; and determines a target segment corresponding to each to-be-optimized segment according to the target navigation parameter, and determines a target route according to the plurality of target segments. The technical scheme of the embodiment of the application solves the problem that in the prior art, when a navigation route of a ship is determined, only a single target is usually optimized, which easily causes the determined navigation route to be unable to adapt to a complex navigation environment and affects the comprehensive benefit, and can divide the route into a plurality of segments, comprehensively consider navigation elements of different segments, weigh the importance of different optimization targets, improve the applicability of the determined route, and improve the comprehensive benefit.

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

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

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

[0060] The technical solution provided by this invention involves determining multiple segments to be optimized within a target area, and determining the parameters to be optimized for each segment. These parameters include at least: waypoint location, speed, and target optimization parameters. The solution then optimizes these parameters to determine the target navigation parameters. Based on the target navigation parameters, a target segment is determined for each segment, and a target route is determined based on these multiple target segments. This invention addresses the problem that existing technologies, when determining ship routes, typically optimize only a single objective, leading to routes that are unsuitable for complex navigation environments and negatively impacting overall profitability. By dividing the route into multiple segments, comprehensively considering the navigation elements of different segments, and balancing the importance of different optimization objectives, the applicability of the determined route is improved, thereby increasing overall profitability.

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

[0062] In an optional implementation, the target navigation parameter module 320 comprises a fitness analysis unit, configured to: multiply each candidate fitness of each to-be-optimized flight segment by a corresponding preset weight and then add them together to obtain a candidate flight line fitness for each iteration optimization; compare the candidate flight line fitnesses corresponding to multiple iteration optimizations, and determine the target navigation parameter from the candidate parameters according to a comparison result.

[0063] In an optional implementation, the fitness analysis unit comprises a fuel consumption parameter analysis sub-unit, configured to: in a case where the optimization target parameter is a fuel consumption parameter, determine a flight segment length and flight segment meteorological data according to waypoint positions in the candidate parameters; input the flight segment length, the flight segment meteorological data and a flight speed in the candidate parameters into a fuel consumption determination model to obtain a fuel consumption corresponding to the candidate parameters, and take the fuel consumption as a candidate fitness corresponding to the candidate parameters.

[0064] In an optional implementation, the fitness analysis unit comprises a comfort degree analysis sub-unit, configured to: in a case where the optimization target parameter is a comfort degree parameter, determine flight segment meteorological data according to waypoint positions in the candidate parameters; input the flight segment meteorological data and a flight speed in the candidate parameters into a comfort degree determination model to obtain a comfort degree value corresponding to the candidate parameters, and take the comfort degree value as a candidate fitness corresponding to the candidate parameters.

[0065] In an optional implementation, the to-be-optimized parameter determination module 310 is specifically configured to: determine a plurality of waypoint information in the target region based on an interaction instruction; wherein the waypoint information comprises position information and navigation order information of a waypoint; and sequentially connect each two waypoints according to the navigation order information to obtain the to-be-optimized flight segment.

[0066] In an optional implementation, the optimization target parameter comprises a fuel consumption parameter, a navigation time or a comfort degree parameter.

[0067] The navigation route determination apparatus provided in the embodiments of the present application can perform the navigation route determination method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0068] Figure 6 A structural schematic diagram of a computer device provided in the embodiments of the present application is shown. Figure 6 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present application is shown. Figure 6The computer device 12 shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities and can be configured within a navigation route determination device.

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

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

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

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

[0073] Program / utility 40 having a set of program modules 42 can be stored in system memory 28 by way of example, such program modules 42 include an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, which may

[0074] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard or pointing device, a display 24, etc. one or more devices that enable a user to interact with computer device 12 and / or one or more devices that enable computer device 12 to communicate with one or more other computing devices. Such communication can be via input / output (I / O) interfaces 22. Further, computer device 12 can communicate with one or more networks such as a local area network (LAN), a wide area network (WAN), and / or the Internet through network adapter 20. As Figure 6 illustrated, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be understood that although not shown, other hardware and / or software components could be used in conjunction with computer device 12. Examples, include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc. Figure 6 It should be appreciated that the software components described herein may, when loaded into computer device 12 and executed, transform computer device 12 in terms of what it can do, e.g., from a general-purpose computing device into a special-purpose computing device that can perform calculations to determine a navigation route.

[0075] Processing unit 16 can perform various functions and data processing by running programs stored in system memory 28, such as implementing a method for determining a navigation route according to an embodiment of the present application, which includes:

[0076] determining a plurality of to-be-optimized segments in a target area, and determining a to-be-optimized parameter corresponding to each to-be-optimized segment, wherein the to-be-optimized parameter at least includes a waypoint position, a navigation speed, and an optimization target parameter; performing parameter optimization on the to-be-optimized parameter corresponding to each to-be-optimized segment to determine a target navigation parameter corresponding to the to-be-optimized parameter; determining a target segment corresponding to each to-be-optimized segment according to the target navigation parameter, and determining a target navigation route according to the plurality of target segments.

[0077] The embodiment provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement a method for determining a navigation route according to any embodiment of the present application, which includes:

[0078] Determine a plurality of to-be-optimized flight segments in the target area, and determine a to-be-optimized parameter corresponding to each to-be-optimized flight segment respectively; wherein the to-be-optimized parameter at least includes a waypoint position, a flight speed and an optimization target parameter; perform parameter optimization on the to-be-optimized parameter corresponding to each to-be-optimized flight segment, and determine a target flight parameter corresponding to the to-be-optimized parameter; and determine a target flight segment corresponding to each to-be-optimized flight segment respectively according to the target flight parameter, and determine a target flight path according to a plurality of target flight segments.

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

[0080] The computer readable signal medium can include a data signal in a baseband or as a part of a carrier wave in which computer readable program code is carried, and the data signal can be transmitted on a variety of forms, including but not limited to electromagnetic signals, optical signals or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and can transmit, ship or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus.

[0081] The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

[0082] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0083] Those skilled in the art will appreciate that the modules or steps of the present application described above can be implemented in a general purpose computer, and they can be centralized in a single computing device or distributed over a network of multiple computing devices. Alternatively, they can be implemented by computer executable program codes, which can be stored in a storage device and executed by a computing device, or they can be implemented by individual integrated circuit modules, or a plurality of modules or steps can be implemented by a single integrated circuit module. Thus, the present application is not limited to any particular combination of hardware and software.

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

Claims

1. A route determination method characterized by comprising: The method comprises the following steps: determining a plurality of to-be-optimized flight segments in a target area, and determining a to-be-optimized parameter corresponding to each to-be-optimized flight segment respectively; wherein the to-be-optimized parameter at least includes a waypoint position, a flight speed and an optimization target parameter; performing parameter optimization on the to-be-optimized parameter corresponding to the to-be-optimized flight segment to determine a target flight parameter corresponding to the to-be-optimized parameter; determining a target flight segment corresponding to each to-be-optimized flight segment according to the target flight parameter, and determining a target flight path according to a plurality of target flight segments; wherein the parameter optimization on the to-be-optimized parameter corresponding to the to-be-optimized flight segment to determine the target flight parameter corresponding to the to-be-optimized parameter comprises: performing multiple iteration optimizations on the to-be-optimized parameter corresponding to the to-be-optimized flight segment to obtain a plurality of groups of candidate parameters corresponding to the to-be-optimized parameter; for each group of candidate parameters, evaluating a flight performance of the candidate parameter to obtain a candidate fitness corresponding to the candidate parameter; for each iteration optimization, multiplying the candidate fitness of each to-be-optimized flight segment by a corresponding preset weight and then adding them to obtain a candidate flight path fitness; wherein the preset weight is an evaluation coefficient corresponding to an optimization result of the to-be-optimized flight segment; comparing the candidate flight path fitnesses corresponding to the multiple iteration optimizations, and determining the target flight parameter from the candidate parameters according to a comparison result.

2. The method of claim 1, wherein, In the case that the optimization target parameter is a fuel consumption parameter, the evaluation of the flight performance of the candidate parameter to obtain the candidate fitness corresponding to the candidate parameter comprises: determining a flight segment length and flight segment weather data according to the waypoint position in the candidate parameter; inputting the flight segment length, the flight segment weather data and the flight speed in the candidate parameter into a fuel consumption determination model to obtain a fuel consumption amount corresponding to the candidate parameter, and taking the fuel consumption amount as the candidate fitness corresponding to the candidate parameter.

3. The method of claim 1, wherein, In the case that the optimization target parameter is a comfort parameter, the evaluation of the flight performance of the candidate parameter to obtain the candidate fitness corresponding to the candidate parameter comprises: determining flight segment weather data according to the waypoint position in the candidate parameter; inputting the flight segment weather data and the flight speed in the candidate parameter into a comfort determination model to obtain a comfort value corresponding to the candidate parameter, and taking the comfort value as the candidate fitness corresponding to the candidate parameter.

4. The method of claim 1, wherein, The determination of the plurality of to-be-optimized flight segments in the target area comprises: determining a plurality of waypoint information in the target area based on an interaction instruction; wherein the waypoint information includes position information and flight order information of a waypoint; connecting each two waypoints in turn according to the flight order information to obtain the to-be-optimized flight segment.

5. The method of claim 1, wherein, The optimization target parameter includes a fuel consumption parameter, a flight time or a comfort parameter.

6. A route determining apparatus characterized by comprising: The device comprises: a to-be-optimized parameter determination module configured to determine a plurality of to-be-optimized flight segments in a target area, and determine a to-be-optimized parameter corresponding to each to-be-optimized flight segment respectively; wherein the to-be-optimized parameter at least includes a waypoint position, a flight speed and an optimization target parameter; The target navigation parameter module is configured to perform parameter optimization on the to-be-optimized parameters corresponding to the to-be-optimized segments, and determine target navigation parameters corresponding to the to-be-optimized parameters. The target navigation parameter module is configured to perform parameter optimization on the to-be-optimized parameters corresponding to the to-be-optimized segments, and determine target navigation parameters corresponding to the to-be-optimized parameters. The target navigation parameter module is configured to perform parameter optimization on the to-be-optimized parameters corresponding to the to-be-optimized segments, and determine target navigation parameters corresponding to the to-be-optimized parameters.

7. A computer device, comprising: The computer device comprises: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the navigation route determination method as claimed in any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the navigation route determination method as claimed in any one of claims 1-5. The program is executed by the processor to implement the navigation route determination method as claimed in any one of claims 1-5.

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