Automatic planning method and device for aircraft threat avoidance route

Abstract

The invention provides an automatic avoiding method and device for an aircraft threat avoiding route, and belongs to the field of aircraft route planning, and the method comprises the steps: determining the starting and ending point of the threat avoiding route and the expected grid size, and obtaining the longitude and latitude step length of a planning network as the shortest step length of aircraft flight; determining a starting point, an end point, a starting direction and a threat source position of a planning network, dividing a planning space into grid nodes, searching according to the shortest step length, calculating the cost of all the next grid node positions possibly reached from the current grid node position, and adding the grid node with the minimum cost into the searching space, a defense penetration route is obtained until a terminal point is searched; traversing is started from the starting point of the planning network, if the grid node is deleted and the cost of the defense penetration route is reduced, the grid node is deleted, and traversing is performed again until any grid node on the defense penetration route is deleted and the defense penetration route is not feasible or the cost of the defense penetration route is increased, so that the optimal route is obtained.

Description

Technical Field

[0001] The present application belongs to the field of aircraft route planning, and in particular, relates to a method and device for automatically planning an aircraft threat avoidance route. Background Art

[0002] In the traditional aircraft threat avoidance route planning process, planners need to manually analyze the threat range of known threat sources to the aircraft and plan the aircraft route. This method has the following disadvantages:

[0003] 1) If an aircraft detects a threat during flight, manually drawing a route is slow and the aircraft cannot change its route to a safe area in time;

[0004] 2) When the aircraft is maneuvering, the threat range of the threat source to the aircraft will change dynamically due to the change in flight attitude. Manual planning cannot obtain this dynamic change range, and the planned avoidance route still has the risk of failing to avoid the threat source. Summary of the invention

[0005] The purpose of the present application is to provide a method and device for automatically avoiding an aircraft threat avoidance route to solve or alleviate at least one problem in the background technology.

[0006] On the one hand, the technical solution of the present application is: a method for automatically avoiding an aircraft threat avoidance route, comprising:

[0007] Determine the starting point, end point and expected grid size of the aircraft threat avoidance route, obtain the longitude and latitude step of the planning network according to the starting point, end point and expected grid size of the threat avoidance route, and generate a discrete planning network as the shortest step of the aircraft flight with the starting point of the threat planning route as the center;

[0008] Determine the starting point, end point, starting direction and threat source position of the planning network, divide the planning space into grid nodes and search in the shortest step length, calculate the cost of all the next grid node positions that can be reached from the current grid node position, and select the grid node position with the smallest cost to add to the search space until the search reaches the end point to obtain the penetration route;

[0009] The traversal starts from the starting point of the planned network. If the cost of the penetration route is reduced after deleting the grid node, the grid node is deleted and the traversal is performed again until any grid node on the penetration route is deleted, making the penetration route infeasible or the cost of the penetration route increases, thereby obtaining the optimal route.

[0010] Preferably, the starting point P of the aircraft threat avoidance route s P s =(Lon s ,Lat s), the end point Pe of the aircraft threat avoidance route is P e =(Lon e ,Lat e ), where Lons is the starting longitude of the threat avoidance route, Lat s Latitude of starting point for threat avoidance route; Lon e To avoid threats, the route end longitude, Lat e The latitude of the endpoint of the threat avoidance route.

[0011] The desired grid size L expect = k·R turn , where R turn is the turning radius of the aircraft;

[0012] Preferably, the longitude step length d of the planned network lon for:

[0013]

[0014] The latitude step length d of the planning network lat for:

[0015]

[0016] In the formula, R long , R short are the Earth's equatorial radius and polar radius respectively.

[0017] Preferably, during the search process, the first set stores the position information of the grid nodes to which the current grid node can advance, the second set stores the position information of the no-fly zones and the grid nodes that have been flown over, and the grid nodes are searched through the network heuristic optimal search method.

[0018] Preferably, the cost calculation method of the network node is:

[0019]

[0020] Where, L dis is the distance from the starting point to the current network node, L est is the straight-line distance from the current grid node to the end point.

[0021] Preferably, the process of obtaining the optimal route is:

[0022] First, set the first waypoint to grid node P a , the last waypoint is set to grid node P b , calculate and delete the grid node P a With the grid node P bWhen the route passes through other grid nodes between them, the route is checked to see whether it passes through the no-fly zone and the corresponding route cost is calculated;

[0023] If the route cost is reduced after deleting other grid nodes without crossing the no-fly zone, then delete grid node P. a and grid node P b Other grid nodes between; otherwise, grid node P b Move forward one point and repeat the above process until the grid node P a With the grid node P b There are no other grid nodes in between;

[0024] When the grid node P a With the grid node P b When there are no other points between them, move the grid node P a Move back one point and set the last waypoint to grid node P b , re-determine whether to delete the grid node P a With the grid node P b If the waypoints between them are not deleted, the grid node P b Move forward one point and repeat the above process until the grid node P a and grid node P b There are no other waypoints between the two points;

[0025] Repeat the above process until the grid node P a Become the last point before the end point, ending the traversal.

[0026] In a second aspect, the present application provides an automatic avoidance device for an aircraft threat avoidance route, comprising:

[0027] The step length calculation module determines the starting point, end point and expected grid size of the threat avoidance route of the aircraft, obtains the longitude and latitude step length of the planning network according to the starting point, end point and expected grid size of the threat avoidance route, and generates a discrete planning network as the shortest step length of the aircraft flight with the starting point of the threat planning route as the center;

[0028] The route calculation module is used to determine the starting point, end point, starting direction and threat source position of the planning network, divide the planning space into grid nodes and search according to the shortest step length, calculate the cost of all the next grid node positions that can be reached from the current grid node position, and select the grid node position with the smallest cost to add it to the search space until the search reaches the end point to obtain the penetration route;

[0029] The path optimization module is used to traverse from the starting point of the planned network. If the cost of the penetration route is reduced after deleting the grid node, the grid node will be deleted and the traversal will be performed again until any grid node on the penetration route is deleted, making the penetration route infeasible or the cost of the penetration route increases, thereby obtaining the optimal route.

[0030] In a final aspect, the present application provides an airborne device, which includes an airborne computer, and the airborne computer automatically plans an avoidance route according to any of the above-described methods for automatically planning an aircraft threat avoidance route.

[0031] The automatic aircraft threat avoidance route planning method provided in the present application can automatically plan a threat avoidance route based on the threat location, the aircraft avoidance starting location, and the aircraft avoidance ending location, and the threat avoidance route is safe and has the lowest path length cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution provided by the present application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present application.

[0033] Figure 1 A schematic diagram of the automatic aircraft threat avoidance route planning method of the present application.

[0034] Figure 2 Schematic diagram of the grid node search process in this application.

[0035] Figure 3 A schematic diagram of an automatic aircraft threat avoidance route planning device for the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below in conjunction with the drawings in the embodiments of this application.

[0037] In order to enable an aircraft to automatically generate a threat avoidance route for a known threat source, the present application provides a method and device for automatically planning an aircraft threat avoidance route based on a discrete network and a network search algorithm.

[0038] like Figure 1 As shown, the method for automatically planning an aircraft threat avoidance route provided by the present application includes the following steps:

[0039] Step S10: determine the starting point, end point and longitude and latitude steps of the threat avoidance route of the aircraft, and generate a discrete planning network according to the starting point, end point and longitude and latitude steps of the threat avoidance route.

[0040] In this application, step S10 specifically includes:

[0041] Step S11, when performing aircraft threat avoidance, first determine the starting longitude and latitude of the avoidance route, the end longitude and latitude of the avoidance route, and the expected grid size, where:

[0042] Starting point P of the threat avoidance route s =(Lon s ,Lat s )

[0043] End point of threat avoidance route P e =(Lon e ,Lat e )

[0044] In the formula, Lon s The starting longitude of the threat avoidance route, Lat s The latitude of the starting point of the threat avoidance route;

[0045] Lon e To avoid threats, the route end longitude, Lat e The latitude of the end point of the route for threat avoidance;

[0046] Desired grid size L expect is k times the turning radius of the aircraft, that is:

[0047] L expect = k·R turn

[0048] In the formula, R turn is the turning radius of the aircraft.

[0049] Step S12, calculating the longitude and latitude steps of the planned network according to the longitude and latitude of the end / starting point of the threat avoidance route and the expected grid size, wherein the longitude step d lon for:

[0050]

[0051] Latitude step length d lat for:

[0052]

[0053] In the formula, R long , R short are the Earth's equatorial radius and polar radius respectively.

[0054] Step S13, based on the longitude and latitude steps of the planning network, with the starting point of the planned route as the center, generate a discrete planning network (that is, the longitudes of all points in the discrete planning grid are always integer multiples of the longitude steps of the planning network, and the same applies to the latitudes) as the shortest step that the aircraft can fly.

[0055] Step S20, determine the starting point, end point, starting direction, threat source location and other information of the planned network, divide the planning space into grid nodes, and search according to the shortest step length; calculate the cost of all next grid nodes that may be reached by the current grid node through the cost function, and select the grid node with the smallest cost to add to the search space until the search reaches the end.

[0056] In the search process, the position information of the grid nodes that the current grid node can move to is stored through the open set, and the position information of the no-fly zone and the grid nodes that have been flown is stored through the closed set. The penetration route is searched through the network heuristic optimal search method.

[0057] In this application, the planned grid nodes have the following properties:

[0058] 1) The position of the grid node in the planning grid is (i, j);

[0059] 2) The longitude and latitude of the grid node is Pos = (Lon, Lat);

[0060] 3) The cost function of the grid node is: Where, L dis is the distance from the starting point to the current network node, that is, the L of the expanded grid node dis is the L of the current grid node dis The sum of the value and the distance from the current grid node to the expanded grid node, L est is the straight-line distance from the current grid node to the end point;

[0061] 4) Direction of the grid nodes During the search process, in order to facilitate the search, the directions of the grid nodes other than the starting point are approximately calculated according to the positions of the grid nodes in the planned network;

[0062] For example, if a grid node is at (2,4) in the grid and its parent grid node is at (1,3) in the grid, then the angle is approximately 45°;

[0063] 5) The length from the parent grid node to the current grid node within the threat range is L detect ;

[0064] 6) The threat residual length is L residu ;

[0065] 7) The parent grid node is Parent.

[0066] The network search algorithm is used to search for the flight path with the lowest cost in the discrete programming network space. During the search process, a real-time judgment is made on whether the aircraft is in the threat range when in the current posture under the current path, thereby planning a threat avoidance route that is safe and has the lowest cost under the current step size.

[0067] like Figure 2 The following is a grid node search process based on a network search algorithm in this application, which includes:

[0068] Step S201, determining the starting point, end point, and starting direction of the planned route;

[0069] Step S202, setting the open set and the closed set to empty;

[0070] Step S203, add the starting point of the planned route to the open set and set L dis , L detect , L residu is 0, Parent is Null;

[0071] Step S204, determine whether the open set is empty, if it is empty, execute step S211, if not empty, execute step S205;

[0072] Step S205, selecting a grid node with the smallest total cost Cost from the open set as the current grid node, and moving the current grid node from the open set to the closed set;

[0073] Step S206, determining whether the current grid node is an end point, if it is an end point, executing step S22, if it is not an end point, executing step S2-7;

[0074] Step S207, on the grid nodes of the planned network, three grid nodes adjacent to the current grid node and having the smallest angle with the forward direction of the current grid node are selected as the grid nodes to be expanded;

[0075] Step S208, determining whether there is an obstacle between the to-be-expanded mesh node and the current mesh node, if there is no obstacle, proceed to step S215, if there is an obstacle, proceed to step S209;

[0076] Step S209, determining whether the grid node to be expanded is in the closed set, if it is in the closed set, executing step S215, if not in the closed set, executing step S210;

[0077] Step S210, calculating the cost of the grid node to be expanded when the current grid node is used as the parent grid node to be expanded;

[0078] Step S211, determine whether the grid node to be expanded is in the open set, if it is in the open set, execute step S213, if not, execute step S212;

[0079] Step S212, setting the current grid node as the parent grid node of the grid node to be expanded, adding the grid node to be expanded to the open set and setting relevant attributes;

[0080] Step S213, determining whether the total cost of the to-be-expanded mesh node is reduced when the current mesh node is set as the parent mesh node of the to-be-expanded mesh node, if not, executing step S215, if reduced, executing step S214;

[0081] Step S214, setting the current grid node as the parent grid node of the grid node to be expanded, and updating relevant attributes;

[0082] Step S215, determining whether the aircraft is within the threat range between the current grid node and the end point in the current state, if so, returning to step S204, if not, executing step S216;

[0083] Step S216, calculating the cost of the end point if the current grid node is used as the parent grid node of the end point;

[0084] Step S217, determine whether the end point is in the open set, if not, execute step S220, if yes, execute step S218;

[0085] Step S218, determining whether the cost of the end point is reduced when the current grid node is set as the parent grid node of the end point, if reduced, executing step S220, if not reduced, executing step S219;

[0086] Step S219, taking the current grid node as the parent grid node of the end point, updating the cost and other grid node attributes, and returning to step S204;

[0087] Step S220, when the current grid node is used as the parent grid node of the end point, the end point is added to the open set, and the relevant attributes are set, and then the process returns to step S204;

[0088] Step S221, if the open set is empty, the planning fails and ends;

[0089] Step S222: If the current grid node is the end point, the planning is successful, and the planning result is output and the process ends.

[0090] Step S30, start traversing from the starting point of the planned network. If deleting some grid nodes can reduce the cost of the penetration route, delete these points and traverse again until deleting any grid node on the penetration route will make the penetration route infeasible or increase the route cost, and complete the route optimization to obtain the optimal route.

[0091] In the present application, since the planning network is searched based on a fixed step size, the initially set step size is often small, so the number of generated penetration route grid nodes may be too large, and the penetration route generated in step S20 needs to be optimized to obtain a relatively small number of penetration waypoint information.

[0092] The process of traversing and optimizing the grid nodes on the route in this application includes:

[0093] Step S31, set P a Point is the starting point to be directly connected, P b Point is the end point to be directly connected, that is, the starting point P a With the end point P b The waypoints between are the grid nodes to be deleted;

[0094] Step S32, first set the first waypoint (i.e., the starting point) as the grid node P a , the last waypoint (i.e., the end point) is set to the grid node P b , calculate and delete the grid node P a With the grid node P b When the route passes through other grid nodes between them, the route is checked to see whether it passes through the no-fly zone and the corresponding route cost is calculated;

[0095] Step S33: If the no-fly zone is not crossed and the route cost is reduced after deleting other grid nodes, then delete the grid node P. a and grid node P b Other grid nodes between; otherwise, grid node P b Move forward one point and repeat the above process until the grid node P a With the grid node P b There are no other grid nodes in between;

[0096] Step S34, when the grid node P a With the grid node P b When there are no other points between them, move the mesh node P a Move back one point and set the last waypoint to grid node P b , re-determine whether to delete the grid node P a With the grid node P b If the waypoints between them are not deleted, the grid node P bMove forward one point and repeat the above process until the grid node P a and grid node P b There are no other waypoints between the two points, and so on, until the grid node P a Become the last point before the end point, ending the traversal.

[0097] Through the above path optimization process, a threat avoidance route with an adaptive step length can be automatically planned.

[0098] The automatic aircraft threat avoidance route planning method provided in the present application can automatically plan a threat avoidance route based on the threat location, the aircraft avoidance starting location, and the aircraft avoidance ending location, and the threat avoidance route is safe and has the lowest path length cost.

[0099] On this basis, if Figure 3 As shown, the present application also provides an automatic planning device for aircraft threat avoidance routes, the device 100 comprising:

[0100] The step length calculation module 101 determines the starting point, the end point and the expected grid size of the threat avoidance route of the aircraft, obtains the longitude and latitude step length of the planning network according to the starting point, the end point and the expected grid size of the threat avoidance route, and generates a discrete planning network as the shortest step length of the aircraft flight with the starting point of the threat planning route as the center;

[0101] The route calculation module 102 is used to determine the starting point, end point, starting direction and threat source position of the planning network, divide the planning space into grid nodes and search according to the shortest step length, calculate the cost of all the next grid node positions that can be reached from the current grid node position, and select the grid node position with the smallest cost to add it to the search space until the search reaches the end point to obtain the penetration route;

[0102] The path optimization module 103 is used to start traversal from the starting point of the planned network. If the cost of the penetration route is reduced after deleting the grid node, the grid node is deleted and the traversal is performed again until any grid node on the penetration route is deleted, making the penetration route infeasible or the cost of the penetration route increases, thereby obtaining the optimal route.

[0103] In addition, the present application also provides an airborne device, which includes an airborne computer, and the airborne computer automatically plans an avoidance route according to the aircraft threat avoidance route automatic planning method of the present application.

[0104] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for automatically avoiding an aircraft threat avoidance route, characterized in that: include: Determine the starting point, end point and expected grid size of the aircraft threat avoidance route, obtain the longitude and latitude step of the planning network according to the starting point, end point and expected grid size of the threat avoidance route, and generate a discrete planning network as the shortest step of the aircraft flight with the starting point of the threat planning route as the center; Determine the starting point, end point, starting direction and threat source position of the planning network, divide the planning space into grid nodes and search in the shortest step length, calculate the cost of all the next grid node positions that can be reached from the current grid node position, and select the grid node position with the smallest cost to add to the search space until the search reaches the end point to obtain the penetration route; The traversal starts from the starting point of the planned network. If the cost of the penetration route is reduced after deleting the grid node, the grid node is deleted and the traversal is performed again until any grid node on the penetration route is deleted, making the penetration route infeasible or the cost of the penetration route increases, thereby obtaining the optimal route.

2. The method for automatically avoiding an aircraft threat avoidance route as claimed in claim 1, characterized in that: The starting point P of the aircraft's threat avoidance route s P s =(Lon s ,Lat s ), the end point Pe of the aircraft threat avoidance route is P e =(Lon e ,Lat e ), where Lons is the starting longitude of the threat avoidance route, Lat s Latitude of starting point for threat avoidance route; Lon e To avoid threats, the route end longitude, Lat e The terminal latitude of the route for threat avoidance; The desired grid size L expect = k·R turn , where R turn is the turning radius of the aircraft.

3. The method for automatically avoiding an aircraft threat avoidance route as claimed in claim 2, characterized in that: The longitude step length d of the planned network lon for: The latitude step length d of the planning network lat for: In the formula, R long , R short are the Earth's equatorial radius and polar radius respectively.

4. The method for automatically avoiding an aircraft threat avoidance route as claimed in claim 3, characterized in that: During the search process, the first set stores the location information of the grid nodes that the current grid node can move to, the second set stores the location information of the no-fly zones and the grid nodes that have been flown over, and the grid nodes are searched through the network heuristic optimal search method.

5. The method for automatically avoiding an aircraft threat avoidance route as claimed in claim 4, characterized in that: The cost calculation method of the network node is: Where, L dis is the distance from the starting point to the current network node, L est is the straight-line distance from the current grid node to the end point.

6. The method for automatically avoiding an aircraft threat avoidance route as claimed in claim 1, characterized in that: The process of obtaining the optimal route is: First, set the first waypoint to grid node P a , the last waypoint is set to grid node P b , calculate and delete the grid node P a With the grid node P b When the route passes through other grid nodes between them, the route is checked to see whether it passes through the no-fly zone and the corresponding route cost is calculated; If the route cost is reduced after deleting other grid nodes without crossing the no-fly zone, then delete grid node P. a and grid node P b Other grid nodes between; otherwise, grid node P b Move forward one point and repeat the above process until the grid node P a With the grid node P b There are no other grid nodes in between; When the grid node P a With the grid node P b When there are no other points between them, move the grid node P a Move back one point and set the last waypoint to grid node P b , re-determine whether to delete the grid node P a With the grid node P b If the waypoints between them are not deleted, the grid node P b Move forward one point and repeat the above process until the grid node P a and grid node P b There are no other waypoints between the two points; Repeat the above process until the grid node P a Become the last point before the end point, ending the traversal.

7. An automatic avoidance device for an aircraft threat avoidance route, characterized in that: include: The step length calculation module determines the starting point, end point and expected grid size of the threat avoidance route of the aircraft, obtains the longitude and latitude step length of the planning network according to the starting point, end point and expected grid size of the threat avoidance route, and generates a discrete planning network as the shortest step length of the aircraft flight with the starting point of the threat planning route as the center; The route calculation module is used to determine the starting point, end point, starting direction and threat source position of the planning network, divide the planning space into grid nodes and search according to the shortest step length, calculate the cost of all the next grid node positions that can be reached from the current grid node position, and select the grid node position with the smallest cost to add it to the search space until the search reaches the end point to obtain the penetration route; The path optimization module is used to traverse from the starting point of the planned network. If the cost of the penetration route is reduced after deleting the grid node, the grid node will be deleted and the traversal will be performed again until any grid node on the penetration route is deleted, making the penetration route infeasible or the cost of the penetration route increases, thereby obtaining the optimal route.

8. An airborne device, characterized in that: The airborne device includes an airborne computer, and the airborne computer automatically plans an avoidance route according to the aircraft threat avoidance route automatic planning method according to any one of claims 1 to 6.

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