Four-dimensional track planning method and device and electronic equipment

Abstract

The invention relates to a four-dimensional track planning method and device and electronic equipment. The four-dimensional flight path planning method comprises the following steps: S0, acquiring a set task target; the method comprises the following steps: S1, acquiring initial threat information, performing threat space modeling according to the initial threat information, and constructing an initial threat information field; s2, generating an initial four-dimensional track according to the task target and the initial threat information field through an ant colony-annealing method; s3, monitoring threat information in real time, and updating the threat information field in real time according to the threat information; and S4, according to the task target and the updated threat information field, through the ant colony-annealing method, generating a real-time corrected four-dimensional track. According to the method, the real-time corrected four-dimensional flight path is generated according to the updated threat information field, timely response to dynamic obstacle factors such as invader, threat weather and electromagnetic environment is realized, and the safety and flexibility of four-dimensional flight path planning are improved.

Description

Technical Field

[0001] The present invention relates to the field of aircraft technology, and in particular to a four-dimensional trajectory planning method, device and electronic equipment. Background Art

[0002] Route planning is the process of determining the route of an aircraft based on specific mission requirements and constraints. Route planning involves calculating the best flight route to reach the target location in the shortest time and meet the requirements of air traffic control and air traffic safety. It also needs to take into account factors such as the aircraft's maneuverability in the air and fuel consumption to balance safety, traffic efficiency and cost.

[0003] Four-dimensional trajectory planning is an advanced trajectory planning method. It introduces the time attribute on the basis of the traditional three-dimensional space (longitude, latitude, altitude), forming a precise trajectory planning in four dimensions of longitude, latitude, altitude and time. The trajectory obtained through four-dimensional trajectory planning not only takes into account the position of the aircraft in three-dimensional space, but also takes into account the time it passes through each position point, making the aircraft's approach process in the terminal area more standardized and intelligent.

[0004] Most of the existing four-dimensional trajectory planning methods can only take into account static terrain and buildings, and it is difficult to respond promptly to dynamic obstacles such as intruders, threatening weather and electromagnetic environment. Summary of the invention

[0005] Based on this, the object of the present invention is to provide a four-dimensional trajectory planning method, device and electronic equipment.

[0006] The present invention provides a four-dimensional trajectory planning method, which comprises the following steps: S0, obtaining a set mission target; S1, obtaining initial threat information, and performing threat space modeling according to the initial threat information to construct an initial threat information field; S2, generating an initial four-dimensional trajectory according to the mission target and the initial threat information field through an ant colony-annealing method; S3, monitoring threat information in real time, and updating the threat information field in real time according to the threat information; S4, generating a real-time corrected four-dimensional trajectory according to the mission target and the updated threat information field through the ant colony-annealing method.

[0007] The present invention updates the threat information field by real-time monitoring of threat information and generates a real-time corrected four-dimensional track according to the updated threat information field, thereby achieving timely response to dynamic obstacle factors such as intruders, threatening weather and electromagnetic environment, and improving the security and flexibility of four-dimensional track planning.

[0008] Furthermore, the ant colony-annealing method comprises the steps of: SA0, obtaining the task target and the threat information field; initializing the number of ants, the pheromone concentration matrix, the temperature function and the first alternative path; at the same time, setting the number of ant colony iterations cycle=0; the temperature function is a function that decreases as the number of ant colony iterations cycle increases; SA1, setting the current ant sequence number k=1; SA2, placing the kth ant at the take-off point marked by the task target; and initializing the taboo table of the kth ant according to the threat information field; SA3, calculating the transfer function according to the pheromone concentration matrix and the taboo table; and allowing the kth ant to randomly select the target coordinates for the next transfer according to the transfer function. point and transfer; SA4, determine whether the kth ant transfers to the landing point position marked by the task target; if the kth ant does not transfer to the landing point position marked by the task target, repeat step SA3; until the kth ant transfers to the landing point position marked by the task target, obtain the transfer path of the kth ant from the take-off point position to the landing point position, and calculate the amount of pheromone left by the kth ant on the transfer path; SA5, determine whether the current ant sequence number k is equal to the number of ants; SA6, if the current ant sequence number k is not equal to the number of ants, set the current number of ants k = k + 1, and repeat steps SA2-SA5; SA7, if the current ant sequence number k is equal to the number of ants, then Evaluate the cost function of the transfer path that each ant has passed in the current number of ant colony iterations; take the transfer path with the smallest cost function in the current number of ant colony iterations as the second candidate path; SA8, subtract the cost function of the second candidate path from the cost function of the first candidate path to obtain a difference function; SA9, determine whether the difference function is greater than 0; if the difference function is greater than 0, jump directly to step SA11; SA10, if the difference function ΔE is less than or equal to 0, calculate the acceptance probability based on the difference function and the temperature function, and randomly decide whether to accept the second candidate path based on the acceptance probability; if it is decided to accept the second candidate path, jump to step SA11; if it is decided to reject the first candidate path, If there is no second alternative path, the first alternative path is not updated, and the process directly jumps to step SA12; SA11, accepts the second alternative path and makes the second alternative path the new first alternative path; then, according to the amount of pheromone left by each ant on the transfer path obtained in step SA4 and the cost function of each transfer path obtained in step SA7, the pheromone concentration matrix is ​​updated; SA12, determines whether the number of ant colony iterations cycle reaches the preset termination threshold; SA13, if the number of ant colony iterations cycle does not reach the preset termination threshold, sets the number of ant colony iterations cycle = cycle + 1, clears the taboo table of each ant, and repeats steps SA1-SA12;SA14, if the number of ant colony iterations cycle has reached the preset termination threshold, the iteration is terminated, and the first candidate path is output as the planned four-dimensional trajectory. ;

[0009] Furthermore, the threat information field marks the threat index of each coordinate point in the spatial area; according to the value of the threat index, the spatial area is divided into a taboo area and a non-taboo area; in step SA2 of the ant colony-annealing method, the taboo table of the kth ant is initialized according to the threat information field, including: adding the coordinate point of the taboo area marked by the threat information field to the taboo table of the kth ant.

[0010] Furthermore, after the k-th ant is directed to move to the target coordinate point, step SA3 further includes: adding the target coordinate point to the taboo table of the k-th ant.

[0011] Furthermore, in the ant colony-annealing method, the formula for calculating the transfer function in step SA3 is:

[0012]

[0013] In the formula, allow k is the complement of the taboo table, which represents the set of target coordinate points that the kth ant can choose for the next transfer; s represents the set allow k Any coordinate point in AB represents the pheromone concentration from coordinate point A to coordinate point B, which is obtained by referring to the pheromone concentration matrix; η represents the heuristic function, α represents the preset pheromone importance factor, and β is the preset heuristic function importance factor.

[0014] Furthermore, in the ant colony-annealing method, the formula for calculating the cost function in step SA7 is:

[0015]

[0016] Where V represents the cost function, t represents the threat cost, h represents the height cost, and f represents the fuel cost. They respectively represent the weighted coefficients corresponding to the threat cost, altitude cost and fuel cost; the threat cost is equal to the integral value of the threat index of the transfer path in the threat information field; the altitude cost is equal to the integral value of the height of the transfer path relative to the ground; the fuel cost is equal to the amount of fuel consumed by the aircraft in the process of flying from the take-off point to the landing point along the transfer path.

[0017] Furthermore, in the ant colony-annealing method, the formula for calculating the acceptance probability in step SA10 is:

[0018]

[0019] Where P represents the acceptance probability, ΔE represents the difference function, and T(cycle) represents the temperature function.

[0020] Furthermore, step S1 specifically includes: S11, performing time matching and spatial registration on the threat information to obtain threat spatial distribution and threat duration; S12, performing threat index evaluation on each coordinate point in the space according to the threat information through a threat index evaluation network; S13, matching the threat spatial distribution, threat duration and the threat index to obtain a threat information field.

[0021] Based on the same inventive concept, the present invention also provides a four-dimensional trajectory planning device, which includes: a mission target acquisition module, which is used to acquire the set mission target; a threat information field construction module, which is used to acquire initial threat information, and perform threat space modeling based on the initial threat information to construct an initial threat information field; an initial four-dimensional trajectory generation module, which is used to generate an initial four-dimensional trajectory based on the mission target and the initial threat information field through an ant colony-annealing method; a real-time monitoring module, which is used to monitor threat information in real time, and update the threat information field in real time based on the threat information; a four-dimensional trajectory correction module, which is used to generate a real-time corrected four-dimensional trajectory based on the mission target and the updated threat information field through the ant colony-annealing method.

[0022] Based on the same inventive concept, the present invention also provides an electronic device, which includes: a processor; a memory for storing a computer program executed by the processor; wherein, when the processor executes the computer program, any one of the above-mentioned four-dimensional trajectory planning methods is implemented.

[0023] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a module schematic diagram of the four-dimensional trajectory planning device of the present invention;

[0025] Figure 2 It is a schematic diagram of the flow chart of the four-dimensional trajectory planning method of the present invention;

[0026] Figure 3 It is a flow chart of the ant colony-annealing method in the four-dimensional trajectory planning method of the present invention. DETAILED DESCRIPTION

[0027] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present application.

[0028] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article describes the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are a kind of "or" relationship.

[0029] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and do not have to be used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0030] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

[0031] See also Figure 1-2 , Figure 1 is a schematic diagram of a module of a four-dimensional trajectory planning device of the present invention, Figure 2 It is a schematic diagram of the flow chart of the four-dimensional trajectory planning method of the present invention.

[0032] The four-dimensional track planning device of the present invention comprises: a mission target acquisition module M0, a threat information field construction module M1, a threat information field construction module M2, a real-time monitoring module M3 and a four-dimensional track correction module M4.

[0033] The mission target acquisition module M0 is used to execute step S0: obtain the set mission target; the mission target includes the take-off point information and landing point information of a flight segment; the take-off point information includes: the longitude, latitude and altitude of the take-off point location and the take-off time; the landing point information includes: the longitude, latitude and altitude of the landing point location and the landing time.

[0034] Assuming that the aircraft needs to fly from Haikou to Beijing, the designated airports in Haikou and Beijing are the take-off and landing points for this segment respectively. If the aircraft first flies from Haikou to Shenzhen, and then from Shenzhen to Beijing, the designated airports in Haikou and Shenzhen are the take-off and landing points for the first segment respectively, and the designated airports in Shenzhen and Beijing are the take-off and landing points for the second segment respectively. When planning the four-dimensional trajectory, the first segment and the second segment are planned separately.

[0035] The threat information field construction module M1 is used to execute step S1: obtain initial threat information, and perform threat space modeling based on the initial threat information to construct an initial threat information field; the threat information field marks the threat index of each coordinate point in the spatial area, and the trend of the threat index changing over time.

[0036] According to the value of the threat index, the spatial area can be divided into: taboo area and non-taboo area; the non-taboo area is further divided into risk area and ordinary area. The threat index of the taboo area is the set taboo value taboo; the threat index of the risk area is the middle value within the set risk range (0, effect_max); the threat index of the ordinary area is 0. The taboo area is a high-risk area that the aircraft cannot enter under any conditions. When the four-dimensional trajectory is generated subsequently, it is necessary to avoid the four-dimensional trajectory falling into the range of the taboo area. Therefore, the taboo value taboo should be much larger than the maximum value effect_max of the risk range, that is:

[0037] taboo / effect_max>10 2 .

[0038] The threat index is regarded as a function, and the four-dimensional track is regarded as the independent variable of the function to obtain the definite integral, and the threat cost t corresponding to the four-dimensional track can be obtained. The threat cost t is an indicator for evaluating the quality of the four-dimensional track. Obviously, the longer the path of the four-dimensional track falling into the risk area, the greater the accumulated threat cost t, and the lower the quality of the four-dimensional track. If the four-dimensional track falls into the ordinary area, the threat cost t will not be accumulated.

[0039] Specifically, the threat information includes: terrain and object information, threat target information, meteorological information and electromagnetic environment information. The terrain and object information includes terrain information, building information and vegetation information. Since the terrain and object information is static information, it will not change in a short time. Therefore, the terrain and object information can be obtained by retrieving the terrain information, building information and / or vegetation information near the take-off point and the target point obtained in advance by satellite, remote sensing or manual measurement. The threat target information refers to the information of ground intruders (such as cars) or low-altitude intruders (such as drones) invading the take-off point or the target point. It is dynamic information and is obtained through sensors or cameras installed on the aircraft. The meteorological information refers to the spatiotemporal distribution information of weather phenomena (such as cumulonimbus clouds, thunderstorms, wind shear, atmospheric turbulence, ice accumulation, fog, etc.) that affect flight safety; the meteorological information can be obtained by calling the weather detection equipment installed on the aircraft or receiving the weather report sent by the meteorological station / meteorological satellite. The electromagnetic environment information refers to the spatiotemporal distribution information of electromagnetic interference factors that affect flight safety; the electromagnetic environment information can be obtained by calling the electromagnetic sensors installed on the aircraft, or receiving electromagnetic monitoring reports sent by ground electromagnetic monitoring stations / electromagnetic monitoring satellites.

[0040] Furthermore, the threat information field construction module M1 specifically includes: a spatiotemporal registration unit M11, a threat index evaluation network M12 and a threat information field construction unit M13.

[0041] The spatiotemporal registration unit M11 is used to execute step S11: perform temporal matching and spatial registration on the threat information to obtain threat spatial distribution and threat duration. For example, based on the terrain information in the threat information, it can be known that there are mountains or buildings in a certain area in space. In order to prevent the aircraft from colliding with mountains or buildings, the area where the mountains or buildings are located is defined as a spatial area with threat distribution, and the corresponding threat duration is long-term.

[0042] The threat index evaluation network M12 is used to execute step S12: according to the threat information, a threat index is evaluated for each coordinate point in space. The threat index evaluation network M12 is a neural network model trained based on a large amount of historical data, which can evaluate the risk level based on the threat information to obtain a threat index. For example, according to the meteorological information in the threat information, the spatiotemporal registration unit M11 can obtain the spatiotemporal distribution of dangerous weather by executing step S11, and the threat index evaluation network M12 can further distinguish the differences in the degree of danger of different dangerous weather after obtaining the spatiotemporal distribution of dangerous weather, thereby helping the ant colony-annealing method to perform flexible four-dimensional trajectory planning according to the characteristics of different dangerous weather.

[0043] The threat information field construction unit M13 is used to execute step S13: matching the threat space distribution, the threat duration and the threat index to obtain a threat information field.

[0044] The threat information field construction module M2 is used to execute step S2: generate an initial four-dimensional track according to the mission objective and the initial threat information field through an ant colony-annealing method.

[0045] The real-time monitoring module M3 is used to execute step S3: during the operation of the aircraft, monitor the threat information in real time, and update the threat information field in real time according to the threat information.

[0046] The four-dimensional track correction module M4 is used to execute step S4: generating a real-time corrected four-dimensional track through the ant colony-annealing method according to the mission objective and the updated threat information field.

[0047] Specifically, see Figure 3 , Figure 3 It is a schematic diagram of the process of the ant colony-annealing method of the present invention.

[0048] The ant colony-annealing method described in step S2 and step S4 is specifically implemented by the following steps to generate a four-dimensional track according to the mission objective and the threat information field:

[0049] SA0, obtain the task target and threat information field, and initialize the number of ants m, pheromone concentration matrix, pheromone volatility coefficient, temperature function T (cycle) and the first alternative path, and set the number of ant colony iterations cycle = 0.

[0050] Among them, the temperature function T(cycle) is a function that decreases as the number of ant colony iterations cycle increases; when the number of ant colony iterations cycle→+∞, the temperature function T(+∞)=0. When the number of ant colony iterations cycle∈[0,+∞), the specific value of the temperature function T(cycle) can be set as needed, as long as T(cycle)-T(cycle-1)≦0 is satisfied. Each pheromone amount in the pheromone concentration matrix is ​​initially set to a constant C. The first alternative path is initially an arbitrarily set path extending from the take-off point of the mission target to the landing point; in subsequent planning, the initial first alternative path will be replaced by a better path.

[0051] SA1, let the current ant number k=1.

[0052] SA2, placing the kth ant at the take-off point marked by the mission target; and initializing the taboo table of the kth ant according to the taboo area marked by the threat information field. The taboo table records the location of the area that the ant cannot enter. In the initial stage, the taboo table includes the taboo area marked by the threat information field.

[0053] SA3, calculate the transfer function according to the pheromone concentration matrix and the taboo table; let the kth ant randomly select the target coordinate point for the next transfer according to the transfer function and transfer; add the target coordinate point to the taboo table of the kth ant.

[0054] The calculation formula of the transfer function is:

[0055]

[0056] In the formula, allow k is the complement of the taboo table, which represents the set of target coordinate points that the kth ant can choose for the next transfer; s represents the set allow k Any coordinate point in AB represents the pheromone concentration from coordinate point A to coordinate point B, which is obtained by consulting the pheromone concentration matrix; η represents the heuristic function, α represents the preset pheromone importance factor, and β represents the preset heuristic function importance factor. In this embodiment, the heuristic function η is equal to the inverse of the distance from the target coordinate point of the next transfer to the landing point, so that the closer the target coordinate point is to the landing point, the greater its attraction to the ants.

[0057] When calculating the transfer function, the value of the transfer function of the area position recorded in the taboo table is forcibly set to 0, so that the ant cannot transfer to the taboo area marked by the threat information field; the value of the transfer function of other positions is calculated normally according to the pheromone concentration matrix. Every time the ant takes a step, the position it has passed is added to the taboo table, so that the ant cannot choose the position it has passed in the next transfer, thereby preventing the ant from going back and failing to reach the landing point for a long time.

[0058] SA4, determines whether the kth ant has moved to the landing point marked by the task target; if the kth ant has not moved to the landing point marked by the task target, repeats step SA3 to allow the kth ant to move step by step; until the kth ant moves to the landing point marked by the task target, pauses and repeats step SA3, obtains the transfer path of the kth ant from the take-off point to the landing point, and calculates the amount of pheromone left by the kth ant on the transfer path.

[0059] SA5, determine whether the current ant number k is equal to the number of ants m.

[0060] SA6, if the current ant number k is not equal to the number of ants m, then set the current number of ants k=k+1 and repeat steps SA2-SA5. If the current ant number k is not equal to the number of ants m, it means that there are still ants that have not completed the process of transferring from the take-off point to the landing point. At this time, replace the next ant (that is, set k=k+1) and repeat the process of transferring from the take-off point to the landing point.

[0061] SA7, if the current ant number k is equal to the number of ants m, then evaluate the cost function of the transfer path that each ant has passed in the current ant colony iteration cycle; let the transfer path with the smallest cost function in the current ant colony iteration cycle be the second candidate path. The cost function of the transfer path is calculated by the following formula:

[0062] Where V represents the cost function, t represents the threat cost, h represents the height cost, and f represents the fuel cost. They represent the weighted coefficients corresponding to threat cost, altitude cost and fuel cost respectively.

[0063] Among them, the threat cost t is equal to the integral value of the threat index of the transfer path in the threat information field. The more risk areas the transfer path passes through and the greater the threat index corresponding to the risk areas passed through, the greater the risk cost t accumulated by the transfer path. The height cost h is equal to the integral value of the height of the transfer path relative to the ground. The higher the flight altitude, the lower the atmospheric density, the smaller the thrust of the engine, and the greater the pressure difference between the inside and outside of the cabin, the greater the stress on the fuselage, and the lower the comfort of the passengers. Therefore, the flight altitude of the aircraft should not be too high. The higher the altitude of the transfer path and the longer the duration / continuous distance of maintaining a higher altitude, the greater the altitude cost h accumulated by the transfer path. The fuel cost f refers to the amount of fuel consumed by the aircraft in the process of flying from the take-off point to the landing point along the transfer path. Without considering the dynamic change of the fuel consumption per unit distance, the longer the length of the transfer path, the greater the fuel cost f.

[0064] Those skilled in the art can adjust the weighting coefficient The importance of the three indicators of threat cost, altitude cost and fuel cost can be freely adjusted. For example, in a complex flight segment that the pilot is not familiar with, the weighting coefficient corresponding to the threat cost can be adjusted. Increase the fuel cost to improve the safety and stability of the final four-dimensional trajectory. Increase it to improve the efficiency and cost-effectiveness of the final generated four-dimensional trajectory.

[0065] The value of the cost function of the transfer path reflects the quality of the transfer path. The smaller the value of the cost function, the smaller the cost function, which means that the transfer path achieves the same flight mission with a smaller cost, and thus the quality of the transfer path is higher.

[0066] SA8, subtract the cost function of the second candidate path from the cost function of the first candidate path to obtain a difference function ΔE. That is, the calculation formula of the difference function is: ΔE=V1-V2, where ΔE represents the difference function, V1 represents the cost function of the first candidate path, and V2 represents the cost function of the second candidate path.

[0067] SA9, determine whether the difference function ΔE is greater than 0; if the difference function ΔE>0, jump directly to step SA11, that is, accept the second candidate path and make the second candidate path the new first candidate path. The difference function ΔE>0 means that the cost of the old first candidate path is greater than the new second candidate path, and the quality of the new second candidate path is better. Since the purpose of this method is to find the optimal path, the new second candidate path is directly accepted at this time.

[0068] SA10, if the difference function ΔE≤0, then calculate the acceptance probability based on the difference function ΔE and the temperature function T(cycle), and randomly decide whether to accept the second candidate path based on the acceptance probability; if it is decided to accept the second candidate path, jump to step SA11; if it is decided to reject the second candidate path, do not update the first candidate path, and directly jump to step SA12. The calculation formula of the acceptance probability is: Where P represents the acceptance probability, ΔE represents the difference function, and T(cycle) represents the temperature function.

[0069] The difference function ΔE≤0 means that the cost of the old first alternative path is less than or equal to the new second alternative path, and the quality of the old first alternative path is better. At this time, it is necessary to use the Metropolis criterion to determine whether to accept the new second alternative path. The introduction of the Metropolis criterion enables this method to have a certain "jumping" ability during the search process, that is, it can accept solutions that are worse than the current solution with a certain probability. This mechanism helps the method escape the trap of local optimal solutions, making it more likely to find a global optimal solution. At the same time, as the value of the temperature function T(cycle) gradually decreases with the increase of the number of ant colony iterations cycle, the probability of accepting a deteriorated solution also gradually decreases, and eventually tends to stabilize, obtaining a converged optimal solution.

[0070] SA11, accept the second alternative path and make the second alternative path as the new first alternative path; then update the pheromone concentration matrix according to the amount of pheromone left by each ant on the transfer path obtained in step SA4, the cost function of each transfer path obtained in step SA7, and the preset pheromone volatility coefficient.

[0071] SA12, determining whether the ant colony iteration number cycle reaches a preset termination threshold.

[0072] SA13, if the ant colony iteration number cycle does not reach the preset termination threshold, then set the ant colony iteration number cycle = cycle + 1, clear the taboo table of each ant, and re-execute steps SA1-SA12. Since the pheromone concentration matrix may have been updated in the previous iteration (step SA11), in the new ant colony iteration number, the ants can more easily find a transfer path with better quality based on the updated pheromone concentration matrix.

[0073] SA14: If the number of ant colony iterations cycle has reached a preset termination threshold, the iteration is terminated, and the first candidate path is output as the planned four-dimensional trajectory.

[0074] The present invention has the following technical effects: 1. The present invention updates the threat information field by real-time monitoring of threat information, and generates a real-time corrected four-dimensional track according to the updated threat information field, thereby achieving timely response to dynamic obstacle factors such as intrusions, threatening weather and electromagnetic environment, and improving the safety and flexibility of four-dimensional track planning. 2. The present invention generates four-dimensional tracks through an improved ant colony-annealing method. In view of the defect that the traditional ant colony algorithm is prone to fall into the trap of having an optimal solution, the idea of ​​the simulated annealing algorithm is integrated to make the path search have a certain "jumping" ability, which helps to jump out of the trap of local optimal solutions and improve the probability of finding a global optimal solution. 3. The present invention uses the triple indicators of threat cost, height cost and fuel cost to evaluate the quality of the transfer path, and flexibly adjusts the importance of the triple indicators through weighting coefficients, taking into account the comprehensiveness and flexibility of path quality evaluation.

[0075] Based on the same inventive concept, the present application also provides an electronic device, which may be a terminal device such as a server, a desktop computing device or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet computer, a netbook, etc.). The device includes one or more processors and a memory, wherein the processor is used to execute a program to implement the four-dimensional trajectory planning method of an embodiment of the present invention; and the memory is used to store a computer program executable by the processor.

[0076] Based on the same inventive concept, the present application also provides a computer-readable storage medium, corresponding to the embodiment of the aforementioned four-dimensional trajectory planning method, wherein the computer-readable storage medium stores a computer program thereon, and when the program is executed by a processor, the steps of the four-dimensional trajectory planning method recorded in any of the above embodiments are implemented.

[0077] The present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0078] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and the present invention is also intended to include these modifications and modifications.

Claims

1. A four-dimensional trajectory planning method, characterized in that: Includes steps: S0, obtain the set task target; S1, obtaining initial threat information, and performing threat space modeling according to the initial threat information to construct an initial threat information field; S2, generating an initial four-dimensional track according to the mission objective and the initial threat information field through an ant colony-annealing method; S3, monitoring threat information in real time, and updating the threat information field in real time according to the threat information; S4, generating a real-time corrected four-dimensional track through the ant colony-annealing method according to the mission objective and the updated threat information field.

2. The four-dimensional trajectory planning method according to claim 1, characterized in that: The ant colony-annealing method comprises the steps of: SA0, obtain the task target and threat information field; initialize the number of ants, pheromone concentration matrix, temperature function and the first alternative path; at the same time, set the number of ant colony iterations cycle = 0; the temperature function is a function that decreases as the number of ant colony iterations cycle increases; SA1, set the current ant number k = 1; SA2, placing the kth ant at the take-off point marked by the mission target; and initializing the taboo table of the kth ant according to the threat information field; SA3, calculating the transfer function according to the pheromone concentration matrix and the taboo table; allowing the kth ant to randomly select the target coordinate point for the next transfer according to the transfer function and transfer; SA4, determining whether the kth ant has moved to the landing point marked by the task target; if the kth ant has not moved to the landing point marked by the task target, repeating step SA3; When the kth ant moves to the landing point marked by the task target, a transfer path of the kth ant from the take-off point to the landing point is obtained, and the amount of pheromone left by the kth ant on the transfer path is calculated; SA5, determine whether the current ant number k is equal to the number of ants; SA6, if the current ant number k is not equal to the number of ants, set the current number of ants k=k+1, and repeat steps SA2-SA5; SA7, if the current ant number k is equal to the number of ants, then evaluate the cost function of the transfer path that each ant has passed in the current ant colony iteration number; let the transfer path with the smallest cost function in the current ant colony iteration number be the second candidate path; SA8, subtract the cost function of the second candidate path from the cost function of the first candidate path to obtain a difference function; SA9, determine whether the difference function is greater than 0; if the difference function is greater than 0, directly jump to step SA11; SA10, if the difference function ΔE is less than or equal to 0, the acceptance probability is calculated according to the difference function and the temperature function, and whether to accept the second alternative path is randomly determined according to the acceptance probability; if it is decided to accept the second alternative path, jump to step SA11; if it is decided to reject the second alternative path, the first alternative path is not updated, and the process directly jumps to step SA12; SA11, accept the second candidate path and make the second candidate path as the new first candidate path; then update the pheromone concentration matrix according to the amount of pheromone left by each ant on the transfer path obtained in step SA4 and the cost function of each transfer path obtained in step SA7; SA12, determining whether the number of ant colony iterations cycle reaches a preset termination threshold; SA13, if the number of iterations of the ant colony cycle does not reach the preset termination threshold, the number of iterations of the ant colony cycle=cycle+1, the taboo table of each ant is cleared, and steps SA1-SA12 are repeated; SA14: If the number of ant colony iterations cycle has reached a preset termination threshold, the iteration is terminated, and the first candidate path is output as the planned four-dimensional trajectory.

3. The four-dimensional trajectory planning method according to claim 2, characterized in that: The threat information field marks the threat index of each coordinate point in the space area; according to the value of the threat index, the space area is divided into a taboo area and a non-taboo area; In step SA2 of the ant colony-annealing method, the taboo table of the kth ant is initialized according to the threat information field, including: adding the coordinate points of the taboo area marked by the threat information field to the taboo table of the kth ant.

4. The four-dimensional trajectory planning method according to claim 3, characterized in that: After the k-th ant is ordered to move to the target coordinate point, step SA3 further includes: adding the target coordinate point to the taboo table of the k-th ant.

5. The four-dimensional trajectory planning method according to claim 4, characterized in that: In the ant colony-annealing method, the formula for calculating the transfer function in step SA3 is: In the formula, allow k is the complement of the taboo table, which represents the set of target coordinate points that the kth ant can choose for the next transfer; s represents the set allow k Any coordinate point in AB represents the pheromone concentration from coordinate point A to coordinate point B, which is obtained by referring to the pheromone concentration matrix; η represents the heuristic function, α represents the preset pheromone importance factor, and β is the preset heuristic function importance factor.

6. The four-dimensional trajectory planning method according to claim 5, characterized in that: In the ant colony-annealing method, the formula for calculating the cost function in step SA7 is: Where V represents the cost function, t represents the threat cost, h represents the height cost, and f represents the fuel cost. They represent the weighting coefficients corresponding to threat cost, altitude cost, and fuel cost respectively; The threat cost is equal to the threat index integral value of the transfer path in the threat information field; The height cost is equal to the integral value of the height of the transfer path relative to the ground; The fuel cost is equal to the amount of fuel consumed by the aircraft in the process of flying from the take-off point to the landing point along the transfer path.

7. The four-dimensional trajectory planning method according to claim 6, characterized in that: In the ant colony-annealing method, the formula for calculating the acceptance probability in step SA10 is: Where P represents the acceptance probability, ΔE represents the difference function, and T(cycle) represents the temperature function.

8. The four-dimensional trajectory planning method according to claim 3, characterized in that: Step S1 specifically includes: S11, performing time matching and spatial registration on the threat information to obtain threat spatial distribution and threat duration; S12, performing a threat index evaluation on each coordinate point in the space according to the threat information through a threat index evaluation network; S13, matching the threat spatial distribution, threat duration and threat index to obtain a threat information field.

9. A four-dimensional trajectory planning device, characterized in that: include: A task target acquisition module, which is used to obtain the set task target; A threat information field construction module, which is used to obtain initial threat information, and perform threat space modeling based on the initial threat information to construct an initial threat information field; An initial four-dimensional track generation module, which is used to generate an initial four-dimensional track according to the mission objective and the initial threat information field through an ant colony-annealing method; A real-time monitoring module, which is used to monitor threat information in real time and update the threat information field in real time according to the threat information; The four-dimensional track correction module is used to generate a real-time corrected four-dimensional track according to the mission objective and the updated threat information field through the ant colony-annealing method.

10. An electronic device, characterized in that: include: processor; a memory for storing a computer program executed by the processor; Wherein, when the processor executes the computer program, it implements the four-dimensional trajectory planning method described in any one of claims 1-8.

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