A space launch mission path planning method, device, electronic equipment and medium

Abstract

The present application provides a space launch mission path planning method, device, electronic device and medium, the method comprising: extracting information from geographic information corresponding to the space launch mission and constructing a geographic topology relationship graph; splitting the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs; determining multiple candidate planning paths in each geographic topology relationship subgraph, and screening the multiple candidate planning paths based on the space launch mission performance parameters to determine the local planning path corresponding to the geographic topology relationship subgraph, connecting the first local planning path with the second local planning path to generate the best global planning path. By adopting the above-mentioned space launch mission path planning method, device, electronic device and medium, the problem of long search time of the path planning algorithm when the road network scale is large, the search space and the complexity of the space launch mission are high is solved.

Description

Technical Field

[0001] The present application relates to the field of path planning technology, and more specifically, to a method, device, electronic equipment, and medium for space launch mission path planning. Background Art

[0002] Path planning technology emerged from the fields of robotics and artificial intelligence. Its primary purpose is to study the autonomous reasoning, planning, and control capabilities of AI in various environments. Path planning has rapidly developed in recent years and has been widely applied to other fields, such as intelligent transportation, logistics, and space launch missions. In space launch missions, path planning is a crucial component of the vehicle's positioning and navigation system, providing one or more routes from the launch site to the target. With evolving needs in reconnaissance and mapping, the need for emergency network replenishment and mobile launches is increasing, and launch site selection is no longer based on pre-set methods. This requires rapid and flexible path planning from the central warehouse to the launch site, tailored to mission requirements, space equipment, launch vehicle characteristics, and logistical support requirements.

[0003] However, existing path planning methods usually use preset path planning algorithms. When the road network is large and the search space and space launch mission are complex, the search time of the path planning algorithm will be greatly extended. It does not take into account the characteristics of the space launch mission and is difficult to meet the special needs of the space launch mission. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a space launch mission path planning method, device, electronic equipment and medium to solve the problem that when the road network is large, the search space and the complexity of the space launch mission are high, the path planning algorithm has a long search time, does not take into account the characteristics of the space launch mission, and is difficult to meet the special needs of the space launch mission.

[0005] In a first aspect, an embodiment of the present application provides a method for space launch mission path planning, comprising:

[0006] Extract geographic information corresponding to space launch missions and construct a geographic topology relationship diagram, which includes nodes at multiple levels;

[0007] According to the hierarchical relationship between different nodes, the geographic topology relationship graph is split to obtain multiple geographic topology relationship subgraphs;

[0008] Determine multiple candidate planning paths in each geographic topology subgraph, and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topology subgraph, where the local planning path includes a first local planning path and a second local planning path;

[0009] The first local planning path is connected with the second local planning path to generate the best global planning path.

[0010] Optionally, the nodes include a first node corresponding to the starting point and the end point, a second node that is a set number of layers away from the first node, and a third node other than the first node and the second node.

[0011] Optionally, the multiple geographic topology relationship subgraphs include a first geographic topology relationship subgraph and a second geographic topology relationship subgraph, and the geographic topology relationship graph is split according to the hierarchical relationship between different nodes, including: splitting the geographic topology relationship graph using the second node corresponding to each first node to obtain the second geographic topology relationship subgraph; splitting the geographic topology relationship graph using the third node to obtain the first geographic topology relationship subgraph.

[0012] Optionally, multiple candidate planning paths in each geographic topology relationship subgraph are determined, including: for each candidate planning path of the geographic topology relationship subgraph, starting from the source node, the remaining nodes connected to the source node are added to the candidate planning path in sequence according to the weight classification corresponding to the candidate planning path, until all nodes in the geographic topology relationship subgraph are traversed.

[0013] Optionally, multiple candidate planning paths are screened based on the space launch mission performance parameters, including: determining the parameter value of the space mission performance parameter of each edge in the first geographic topology relationship subgraph; based on the parameter value of the space mission performance parameter, selecting a local planning path of the geographic topology relationship subgraph from multiple candidate planning paths.

[0014] Optionally, multiple candidate planning paths are screened based on the space launch mission performance parameters, and the method also includes: for the second geographic topology relationship subgraph, based on the node connection relationship between the geographic topology relationship subgraphs, selecting a second local planning path from the multiple candidate planning paths corresponding to the second geographic topology relationship subgraph to connect the first local planning path with the second local planning path.

[0015] Optionally, information is extracted from the geographic information corresponding to the space launch mission to construct a geographic topology relationship diagram, including: extracting intersections as nodes from the geographic information, and extracting drivable roads as edges from the geographic information; determining the weight of each edge based on the distance between adjacent nodes; and using weighted edges to connect multiple nodes to construct a geographic topology relationship diagram.

[0016] In a second aspect, an embodiment of the present application further provides a space launch mission path planning device, the device comprising:

[0017] A relationship graph construction module is used to extract geographic information corresponding to space launch missions and construct a geographic topology relationship graph, which includes nodes at multiple levels;

[0018] The relationship graph splitting module is used to split the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs;

[0019] A path screening module is used to determine multiple candidate planning paths in each geographic topology subgraph and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topology subgraph, where the local planning path includes a first local planning path and a second local planning path;

[0020] The path generation module is used to connect the first local planning path and the second local planning path to generate an optimal global planning path.

[0021] In a third aspect, an embodiment of the present application further provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned space launch mission path planning method are performed.

[0022] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned space launch mission path planning method are executed.

[0023] The embodiments of the present application bring the following beneficial effects:

[0024] The embodiments of the present application provide a space launch mission path planning method, device, electronic device, and medium that can split a geographic topology relationship graph according to the hierarchical relationship between different nodes, and determine the candidate planning paths corresponding to each geographic topology relationship subgraph in parallel, thereby improving path planning efficiency and shortening search time. At the same time, the space launch mission performance parameters are used to screen the candidate planning paths to select local planning paths that better meet the requirements of the space launch mission, and then the optimal global planning path is generated based on the screened local planning paths. Compared with the space launch mission path planning methods in the prior art, this solves the problem that the path planning algorithm has a long search time when the road network scale is large, the search space and the complexity of the space launch mission are high, and the characteristics of the space launch mission are not taken into account, making it difficult to meet the special needs of the space launch mission.

[0025] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 A flow chart of a space launch mission path planning method provided in an embodiment of the present application is shown;

[0028] Figure 2 A schematic diagram showing a geographical topology relationship diagram provided in an embodiment of the present application is shown;

[0029] Figure 3 A schematic diagram showing the structure of a space launch mission path planning device provided in an embodiment of the present application is shown;

[0030] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of this application.

[0032] It is worth noting that before the filing of this application, path planning technology emerged in the fields of robotics and artificial intelligence and quickly became a research hotspot in these areas. Its primary purpose is to study the autonomous reasoning, planning, and control capabilities of artificial intelligence in various environments. Path planning algorithms were first applied in autonomous mobile robots developed by the Stanford Research Institute. In recent years, they have rapidly developed and been applied to other fields, such as intelligent transportation, logistics, and space launch missions. In space launch missions, path planning is a crucial component of the vehicle's positioning and navigation system, primarily providing one or more routes from the launch site to the target. With evolving needs in reconnaissance and mapping, emergency network replenishment and mobile launches are increasing, and launch site selection is no longer based on pre-set methods. This necessitates the implementation of fast and flexible path planning from the central warehouse to the launch site, tailored to mission requirements, the characteristics of the spacecraft and launch vehicle, and the availability of logistics equipment. However, existing path planning methods usually use preset path planning algorithms. When the road network is large and the search space and space launch mission are complex, the search time of the path planning algorithm will be greatly extended. It does not take into account the characteristics of the space launch mission and is difficult to meet the special needs of the space launch mission.

[0033] Based on this, an embodiment of the present application provides a space launch mission path planning method to reduce the search time and meet the special needs of the space launch mission.

[0034] See also Figure 1 , Figure 1 This is a flow chart of a space launch mission path planning method provided in an embodiment of the present application. Figure 1 As shown, the space launch mission path planning method provided in the embodiment of the present application includes:

[0035] Step S101, extracting geographic information corresponding to the space launch mission and constructing a geographic topology relationship diagram;

[0036] Step S102: splitting the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs;

[0037] Step S103: determining multiple candidate planning paths in each geographic topology subgraph, and screening the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topology subgraph, where the local planning path includes a first local planning path and a second local planning path;

[0038] Step S104: Connect the first local planning path and the second local planning path to generate an optimal global planning path.

[0039] The space launch mission path planning method provided in the embodiment of the present application can split the geographic topology relationship graph according to the hierarchical relationship between different nodes, and determine the candidate planning paths corresponding to each geographic topology relationship subgraph in parallel, thereby improving the efficiency of path planning and shortening the search time. At the same time, the space launch mission performance parameters are used to screen the candidate planning paths to select local planning paths that better meet the requirements of the space launch mission, and then the optimal global planning path is generated based on the screened local planning paths. Compared with the space launch mission path planning method in the prior art, this method solves the problem that the path planning algorithm has a long search time when the road network scale is large, the search space and the complexity of the space launch mission are high, and the characteristics of the space launch mission are not taken into account, making it difficult to meet the special needs of the space launch mission.

[0040] To facilitate understanding of this embodiment, each of the above exemplary steps provided in the embodiment of the present application is described below.

[0041] In step S101, geographic information corresponding to the space launch mission is extracted to construct a geographic topology relationship diagram.

[0042] In this step, the geographic information may refer to the geographic information of the area between the starting point and the end point of the space launch mission. The geographic information includes intersection information and road information. The road information includes road location, road length, road slope, turning radius, road type, and terrain information. The intersection information includes the intersection location and the roads or sections connected to the intersection.

[0043] A geographic topology diagram refers to a topological diagram that describes the road connectivity between starting points and end points. A geographic topology diagram includes multiple nodes at different levels and edges connecting adjacent nodes. A starting point can refer to the origin of a space launch mission, i.e., the departure point of a space launch mission; an end point can refer to the destination of a space launch mission, i.e., the destination of a space launch mission; nodes represent actual intersections; and edges represent roads connecting intersections.

[0044] In an embodiment of the present application, when constructing a geographic topology diagram, intersections can be extracted from geographic information as nodes of the geographic topology diagram, and drivable roads can be extracted from geographic information as edges of the geographic topology diagram. Then, the weight of each edge is determined based on the distance between adjacent nodes. Due to the particularity of space launch missions, the drivability of a road needs to be evaluated from multiple dimensions. To this end, not only the length of the road needs to be considered, but also factors such as the road slope and turning radius. For example, for adjacent nodes A and B, the weight of the edge between nodes A and B can be determined as the sum of the weights of the distance between nodes A and B (road length), the road slope, and the turning radius. Finally, multiple nodes are connected using weighted edges to construct a geographic topology diagram. The shorter the distance between nodes, the greater the weight; the longer the distance between nodes, the smaller the weight. The steeper the road slope, the smaller the weight; the flatter the road slope, the larger the weight. The larger the turning radius, the greater the weight; the smaller the turning radius, the smaller the weight.

[0045] In step S102 , the geographic topology relationship graph is split according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs.

[0046] In this step, the geographic topology relationship diagram includes multiple nodes, and the multiple nodes are divided into three levels.

[0047] The multiple nodes include the starting point and the end point of the space launch mission. The three levels of nodes include the first node corresponding to the starting point and the end point, the second node within the set number of layers from the first node, and the third node other than the first node and the second node. Among them, the second node actually refers to the node connected to the first node. When the number of layers is set to three, all nodes directly connected to the first node and connected to the first node via one or two nodes are second nodes. For example: if node N1 is directly connected to the nearest first node, then node N1 is one layer away from the first node and belongs to the second node; if node N2 is connected to the nearest first node through another node, then node N2 is two layers away from the first node and also belongs to the second node; if node N3 is connected to the nearest first node through two other nodes, then node N3 is three layers away from the first node and also belongs to the second node.

[0048] As an example, the starting point and the end point are regarded as the nodes of the first level, also called the first node; the node three levels away from the first node is regarded as the node of the second level, also called the second node; the remaining nodes except the first node and the second node are called the third node.

[0049] In an optional embodiment, to improve the processing efficiency of the path planning algorithm, the geographic topology graph can be split into multiple geographic topology subgraphs, including a first geographic topology subgraph and a second geographic topology subgraph. Here, the geographic topology graph can be split using the second node corresponding to each first node to obtain the second geographic topology subgraph. Simultaneously, the geographic topology graph can be split using the third node to obtain the first geographic topology subgraph.

[0050] Refer to the following Figure 2 Let's introduce the geographic topology diagram.

[0051] Figure 2 A schematic diagram of a geographical topology relationship diagram provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, node a1 is the starting point of this space launch mission, and node b1 is the end point of this space launch mission, so node a1 and node b1 are both first nodes. Assume that the number of layers is set to 3. Since nodes a11, a12, a13, a21, a22, a23, and a24 are all within three layers away from node a1, and nodes b11, b12, b13, b21, b22, b23, and b24 are all within three layers away from node b1, then nodes a11, a12, a13, a21, a22, a23, a24, b11, b12, b13, b21, b22, b23, and b24 are all second nodes. The topological relationship graph corresponding to the first node a1 and the second nodes a11, a12, a13, a21, a22, a23, and a24 is the second geographic topological relationship subgraph, and the topological relationship graph corresponding to the first node b1 and the second nodes b11, b12, b13, b21, b22, b23, and b24 is also the second geographic topological relationship subgraph. The remaining nodes a31, ..., b31 are all third nodes, and the topological relationship graph corresponding to the third nodes a31, ..., b31 is the first geographic topological relationship subgraph. At the same time, the value on the edge between two adjacent nodes is the weight of the edge. For example, the weight of the edge a1a13 is 5.

[0052] In step S103, multiple candidate planning paths in each geographic topology subgraph are determined, and the multiple candidate planning paths are screened based on the space launch mission effectiveness parameter to determine the local planning path corresponding to the geographic topology subgraph.

[0053] In this step, the candidate planning path may refer to a path in the geographic topology subgraph that can be used to perform a space launch mission, that is, a connected path from the starting point of the geographic topology subgraph to the end point of the geographic topology subgraph.

[0054] When determining multiple candidate planning paths in each geographic topology subgraph, for each candidate planning path in the geographic topology subgraph, starting from the source node and according to the weight classification corresponding to the candidate planning path, the remaining nodes connected to the source node are added to the candidate planning path in sequence until all nodes in the geographic topology subgraph are traversed.

[0055] The source nodes corresponding to the first geographic topology subgraph are virtual nodes. These virtual nodes are set to facilitate the calculation of candidate planning paths and are not actual nodes. Each virtual node is connected to the outermost node of the first geographic topology subgraph, and the weight of the connecting edges is equal. The source node corresponding to the second geographic topology subgraph is the starting point or end point.

[0056] Taking the second geographic topology relationship subgraph corresponding to the first node a1 and the second nodes a11, a12, a13, a21, a22, a23, and a24 as an example, determine the first candidate planning path. Taking the first node a1 as the source node, set the first node set and the second node set. The first node set includes a1, and the second node set includes a11, a12, a13, a21, a22, a23, and a24. When determining the first section, the weight of a1→a11 is 3, the weight of a1→a12 is 4, and the weight of a1→a13 is 5. Select the node a13 with the largest weight and add it to the first node set. At this time, the first node set includes a1 and a13. Remove a13 from the second node set. At this time, the second node set includes a11, a12, a21, a22, a23, and a24, and record the node a12 with the second largest weight. When determining the second section, take a13 as the intermediate node and continue searching from a1→a13. The weight of a1→a13→a12 is 10, the weight of a1→a13→a23 is 8, and the weight of a1→a13→a24 is 9. Select the node a12 with the largest weight and add it to the first node set. At this time, the first node set includes a1, a13, and a12. Remove a12 from the second node set. At this time, the second node set includes a11, a21, a22, a23, and a24. Record the node a23 with the second largest weight. Repeat the above process until the last section of the first candidate planning path in the second geographic topology relationship subgraph is selected. Among them, the last node of the last section is a set virtual node. The virtual node has the same weight as nodes a21, a22, a23, and a24. The greater the weight of the edge, the higher the weight ranking, and the smaller the weight of the edge, the lower the weight ranking.

[0057] When determining the second candidate planning path, compare all the recorded second largest weights and select the node with the largest weight closest to the source node from all the second largest weights as the replacement path node. Starting from the replacement path node, the nodes with the largest weight are added to the first node set in accordance with the above method to obtain the second candidate planning path. For example: the first candidate planning path is a1→a13→a12→a22→a23. Since the largest weight among the second largest weights closest to the source node is a22→a11, which corresponds to a weight of 4, the replacement path node is a11. Therefore, the part of the second candidate planning path before the replacement path node is a1→a13→a12→a22→a11. Then, with a11 as the intermediate node, continue to add the nodes with the largest weight to the first node set corresponding to the second candidate planning path in accordance with the principle of maximum weight until the entire second candidate planning path is determined.

[0058] When determining the third candidate planning path, compare all the second largest weights recorded except the replacement path node corresponding to the second candidate planning path, and select the node corresponding to the weight closest to the source node and with the largest value from the remaining second largest weights as the replacement path node. Starting from the replacement path node, the nodes with the largest weights are added to the first node set in sequence according to the above method to obtain the third candidate planning path.

[0059] By analogy, multiple candidate planning paths of the second geographic topology relationship subgraph can be determined.

[0060] The method for determining multiple candidate planning paths corresponding to the remaining geographic topology subgraphs is the same as above and will not be repeated here. The difference is that the first geographic topology subgraph uses the virtual node as the source node, while the second geographic topology subgraph uses the first node b1 as the source node.

[0061] In one example, space launch mission performance parameters can be used to screen multiple candidate planned routes. Space launch mission performance parameters may refer to parameters that affect the efficiency of a space launch mission. For example, space launch mission performance parameters include at least one of the following: maneuverability, concealment, and frequency of use. Maneuverability represents the ease of changing routes when a space launch mission is executed via a road segment. Maneuverability is determined based on the roads connecting the road segment and their types. The easier it is to change routes, the greater the maneuverability; the more difficult it is to change routes, the lower the maneuverability. Concealment represents the likelihood of a space launch mission being observed by aerospace observation equipment when executing via the road segment. Concealment is calculated based on the terrain and road type of the area where the road segment is located. Greater concealment indicates an easier space launch mission, while lower concealment indicates a more difficult mission. Frequency of use represents the frequency with which vehicles travel on the road segment. Terrain types include mountainous, plain, and desert, and road types include mountain tunnels, urban tunnels, and viaducts.

[0062] In one case, for the first geographic topology relationship subgraph, the parameter value of the space mission efficiency parameter of each edge in the first geographic topology relationship subgraph is determined, that is, the value of the space mission efficiency parameter of each road section, and the efficiency evaluation index of each candidate planning path is determined based on the parameter values ​​of multiple space mission efficiency parameters, and the candidate planning path with the largest efficiency evaluation index is selected from the multiple candidate planning paths as the first local planning path corresponding to the first geographic topology relationship subgraph.

[0063] In another case, for the second geographic topology relationship subgraph, based on the node connection relationship between the geographic topology relationship subgraphs, a second local planning path is selected from the multiple candidate planning paths corresponding to the second geographic topology relationship subgraph to connect the first local planning path with the second local planning path. For example: according to the actual connection relationship between the nodes in the geographic topology relationship graph, from the multiple candidate planning paths of the second geographic topology relationship subgraph corresponding to the starting point, a planning path that can be connected to the candidate planning path corresponding to the first geographic topology relationship subgraph is selected as the second local planning path of the second geographic topology relationship subgraph corresponding to the starting point. Similarly, according to the actual connection relationship between the nodes in the geographic topology relationship graph, from the multiple candidate planning paths of the second geographic topology relationship subgraph corresponding to the end point, a planning path that can be connected to the candidate planning path corresponding to the first geographic topology relationship subgraph is selected as the second local planning path of the second geographic topology relationship subgraph corresponding to the end point.

[0064] In step S104, the first local planning path and the second local planning path are connected together to generate an optimal global planning path.

[0065] In this step, the local planned path includes a first local planned path and a second local planned path corresponding to the starting point and the end point.

[0066] In this embodiment of the present application, there may be multiple first and second local planned paths. For each first local planned path, the first local planned path is combined with each two second local planned paths corresponding to the starting point and the end point to obtain a global planned path. Then, a weight is determined for each global planned path, and the global planned path with the smallest weight is selected as the optimal global path.

[0067] Based on the same inventive concept, an embodiment of the present application also provides a space launch mission path planning device corresponding to the space launch mission path planning method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned space launch mission path planning method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0068] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a space launch mission path planning device provided in an embodiment of the present application. Figure 3 As shown in , the space launch mission path planning device 300 includes:

[0069] A relationship graph construction module 301 is used to extract geographic information corresponding to the space launch mission and construct a geographic topology relationship graph, which includes multiple nodes at different levels;

[0070] A relationship graph splitting module 302 is used to split the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs;

[0071] A path screening module 303 is configured to determine multiple candidate planning paths in each geographic topology subgraph and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topology subgraph, where the local planning path includes a first local planning path and a second local planning path.

[0072] The path generation module 304 is configured to connect the first local planned path and the second local planned path to generate an optimal global planned path.

[0073] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in FIG, the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0074] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the space launch mission path planning method in the illustrated method embodiment and the specific implementation thereof can be found in the method embodiment and will not be described in detail here.

[0075] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the space launch mission path planning method in the illustrated method embodiment and the specific implementation thereof can be found in the method embodiment and will not be described in detail here.

[0076] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0077] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0078] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0079] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0080] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0081] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A space launch mission path planning method, characterized in that: include: Extracting geographic information corresponding to the space launch mission and constructing a geographic topology relationship graph, the geographic topology relationship graph including a plurality of nodes at different levels, each node being used to represent an intersection, the geographic information may refer to geographic information of an area between a starting point and an end point of the space launch mission, the plurality of nodes at different levels including a first node corresponding to the starting point and the end point, a second node that is a set number of levels away from the first node, and a third node other than the first node and the second node; Splitting the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain a plurality of geographic topology relationship subgraphs, wherein the plurality of geographic topology relationship subgraphs include a first geographic topology relationship subgraph and a second geographic topology relationship subgraph; Determine multiple candidate planning paths in each geographic topology subgraph, and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topology subgraph, the local planning path including a first local planning path and a second local planning path, the first local planning path being determined based on a parameter value of the space mission effectiveness parameter of each edge in the first geographic topology subgraph, and the second local planning path being determined based on a node connection relationship between the geographic topology subgraphs; Connecting the first local planning path and the second local planning path to generate an optimal global planning path; The step of splitting the geographic topology relationship graph according to the hierarchical relationship between different nodes includes: Splitting the geographic topology relationship graph using the second node corresponding to each first node to obtain a second geographic topology relationship subgraph; The geographic topology relationship graph is split using the third node to obtain a first geographic topology relationship subgraph.

2. The method according to claim 1, characterized in that Determining multiple candidate planning paths in each geographic topology subgraph includes: For each candidate planning path of the geographic topology relationship subgraph, starting from the source node, the remaining nodes connected to the source node are added to the candidate planning path in sequence according to the weight classification corresponding to the candidate planning path, until all nodes in the geographic topology relationship subgraph are traversed.

3. The method according to claim 1, characterized in that The screening of the plurality of candidate planning paths based on the space launch mission effectiveness parameter includes: For the first geographic topology relationship subgraph, determining a parameter value of a space mission effectiveness parameter of each edge in the first geographic topology relationship subgraph; Based on the parameter value of the space mission effectiveness parameter, a first local planning path of the first geographic topological relationship subgraph is selected from the multiple candidate planning paths.

4. The method according to claim 1, wherein The screening of the plurality of candidate planning paths based on the space launch mission effectiveness parameters further includes: For the second geographic topology relationship subgraph, based on the node connection relationship between the geographic topology relationship subgraphs, a second local planning path is selected from multiple candidate planning paths corresponding to the second geographic topology relationship subgraph to connect the first local planning path and the second local planning path together.

5. The method according to claim 1, characterized in that The extracting of geographic information corresponding to the space launch mission and constructing a geographic topology relationship diagram includes: Extracting intersections from the geographic information as nodes, and extracting drivable roads from the geographic information as edges; Determine the weight of each edge based on the distance between adjacent nodes; Use weighted edges to connect multiple nodes and build a geographic topology graph.

6. A space launch mission path planning device, characterized in that: include: a relationship graph construction module, configured to extract geographic information corresponding to a space launch mission and construct a geographic topology relationship graph, wherein the geographic topology relationship graph includes a plurality of nodes at different levels, each node being used to represent an intersection. The geographic information may refer to geographic information of an area between a starting point and an end point of the space launch mission, wherein the plurality of nodes at different levels include a first node corresponding to the starting point and the end point, a second node at a set number of levels from the first node, and a third node other than the first node and the second node. A relationship graph splitting module is used to split the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs, wherein the multiple geographic topology relationship subgraphs include a first geographic topology relationship subgraph and a second geographic topology relationship subgraph; a path screening module, configured to determine multiple candidate planning paths in each geographic topology subgraph, and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topology subgraph, the local planning path comprising a first local planning path and a second local planning path, the first local planning path being determined based on the parameter value of the space mission effectiveness parameter of each edge in the first geographic topology subgraph, and the second local planning path being determined based on the node connection relationship between the geographic topology subgraphs; a path generation module, configured to connect the first local planning path and the second local planning path to generate an optimal global planning path; The relationship graph splitting module is specifically used to: Splitting the geographic topology relationship graph using the second node corresponding to each first node to obtain a second geographic topology relationship subgraph; The geographic topology relationship graph is split using the third node to obtain a first geographic topology relationship subgraph.

7. An electronic device, characterized in that: include: A processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the space launch mission path planning method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the space launch mission path planning method according to any one of claims 1 to 5.

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