Aircraft sensor layout method and device, electronic equipment and storage medium

Abstract

The invention provides an aircraft sensor layout method and device, electronic equipment and a storage medium, and relates to the technical field of aircrafts. The aircraft sensor layout method comprises the steps of performing three-dimensional modeling on an aircraft based on physical parameters and configuration parameters of the aircraft to obtain a three-dimensional electronic model of the aircraft; determining a sensor layout area on the three-dimensional electronic model; based on the performance parameters of different types of sensors, constructing a sensing ability model of each type of sensor; determining sensors which can be arranged in the area which can be arranged on the basis of a perception capability model; arranging and combining all the areas capable of being arranged and the sensors capable of being arranged in the areas capable of being arranged to obtain an exploration space; the exploration space comprises all sensor layout schemes corresponding to the aircraft; and determining the optimal sensor layout scheme in the exploration space as a target sensor layout scheme of the aircraft. According to the invention, rationality of sensor layout and controllability of layout cost can be ensured.

Description

Technical Field

[0001] The present disclosure relates to the technical field of aircraft, and in particular, to a method and device for arranging sensors on an aircraft, an electronic device, and a storage medium. Background Art

[0002] Aircraft such as flying cars and drones have gradually entered the actual research and development and application stages. In order to achieve the safety and efficiency of aircraft, it is necessary to provide a reasonably arranged sensing system on the aircraft. The sensing system can perform environmental sensing through a variety of sensors and provide real-time data required for flight control, thereby ensuring flight safety and flight efficiency.

[0003] However, there are no relevant standards and evaluation systems for the arrangement scheme of aircraft sensors. Most of the existing aircraft sensor arrangement schemes adopt empirical rules, relying on manual selection of sensor types, positions, and quantities. The factors considered during manual sensor arrangement are often relatively single, such as only considering the field of view, and the cooperative working efficiency between the physical environment and sensors cannot be fully considered. There are problems such as unreasonable sensor layout, resource waste, and system redundancy. Summary of the Invention

[0004] The present disclosure provides a method and device for arranging sensors on an aircraft, an electronic device, and a storage medium to at least solve the above technical problems existing in the prior art.

[0005] According to a first aspect of the present disclosure, there is provided a method for arranging sensors on an aircraft, including: performing three-dimensional modeling on the aircraft based on physical parameters and configuration parameters of the aircraft to obtain a three-dimensional electronic model of the aircraft; determining an area where sensors can be arranged on the three-dimensional electronic model; constructing a sensing capability model for each type of sensor based on performance parameters of different types of sensors; determining sensors that can be arranged in the area where sensors can be arranged based on the sensing capability model; performing permutations and combinations on all the areas where sensors can be arranged and the sensors that can be arranged in the area where sensors can be arranged to obtain a search space; the search space includes all sensor arrangement schemes corresponding to the aircraft; determining the optimal sensor arrangement scheme in the search space as the target sensor arrangement scheme of the aircraft.

[0006] In an implementable manner, the determining an area where sensors can be arranged on the three-dimensional electronic model includes at least one of the following: in response to a delimiting operation on the three-dimensional electronic model, determining the area corresponding to the delimiting operation as the area where sensors can be arranged; the delimiting operation includes at least one of a click operation, a box selection operation, and a drag operation; determining the area where the curvature change in the three-dimensional electronic model satisfies a first threshold as the area where sensors can be arranged; determining the area corresponding to a target part in the three-dimensional electronic model as the area where sensors can be arranged.

[0007] In one possible implementation, determining the sensors deployable in the deployable area based on the perception ability model includes at least one of the following: in response to the orientation of the perception area in the perception ability model being the same as the orientation of the deployable area, determining the sensor corresponding to the perception ability model as the sensor deployable in the deployable area; in response to the perception ability in the perception ability model being adaptable to the deployable area, determining the sensor corresponding to the perception ability model as the sensor deployable in the deployable area; in response to the perception range in the perception ability model being adaptable to the deployable area, determining the sensor corresponding to the perception ability model as the sensor deployable in the deployable area.

[0008] In one possible implementation, performing permutation and combination on all the deployable areas and the sensors deployable in the deployable areas to obtain an exploration space includes: performing permutation and combination on whether to deploy sensors in all the deployable areas and the sensors deployable in the deployable areas to obtain an exploration space.

[0009] In one possible implementation, performing permutation and combination on all the deployable areas and the sensors deployable in the deployable areas to obtain an exploration space includes: performing permutation and combination on whether to deploy sensors in all the deployable areas, the sensors deployable in the deployable areas, and the positions and angles of the deployable sensors in the deployable areas to obtain an exploration space.

[0010] In one possible implementation, determining the optimal sensor deployment scheme in the exploration space as the target sensor deployment scheme of the aircraft includes: based on a heuristic optimization algorithm, determining a sensor deployment scheme that meets the screening conditions in the exploration space to obtain a candidate sensor deployment scheme; the heuristic optimization algorithm includes at least one of a genetic algorithm, an annealing algorithm, and a particle swarm search algorithm; performing performance evaluation on all the candidate sensor deployment schemes to obtain the evaluation results of the candidate sensor deployment schemes; determining the sensor deployment scheme with the optimal evaluation result as the target sensor deployment scheme of the aircraft.

[0011] In one implementable manner, the performance evaluation of all the candidate sensor layout schemes to obtain the evaluation results of the candidate sensor layout schemes includes: determining the total cost of the sensors in the candidate sensor layout scheme to obtain the cost evaluation result; evaluating the field of view of the sensors in the occupancy map of the aircraft, as well as the measurement accuracy, confidence level, and redundancy of each grid point in the occupancy map under the candidate sensor layout scheme to obtain the occupancy map evaluation result; evaluating the information entropy of the candidate sensor layout scheme based on the maximum information gain under the candidate sensor layout scheme to obtain the information entropy evaluation result; and performing a weighted sum of the cost evaluation result, the occupancy map evaluation result, and the information entropy evaluation result to obtain the evaluation result of the candidate sensor layout scheme.

[0012] According to a second aspect of the present disclosure, there is provided an aircraft sensor layout device, including: a modeling module configured to perform three-dimensional modeling on an aircraft based on the physical parameters and configuration parameters of the aircraft to obtain a three-dimensional electronic model of the aircraft; a determination module configured to determine the deployable areas of sensors on the three-dimensional electronic model; the modeling module is further configured to construct a perception ability model for each type of sensor based on the performance parameters of different types of sensors; the determination module is further configured to determine the sensors that can be deployed in the deployable areas based on the perception ability model; a search space generation module configured to perform permutation and combination on all the deployable areas and the sensors that can be deployed in the deployable areas to obtain a search space; all the sensor layout schemes corresponding to the aircraft are included in the search space; the determination module is further configured to determine the optimal sensor layout scheme in the search space as the target sensor layout scheme of the aircraft.

[0013] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of the present disclosure.

[0017] According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to cause a computer to execute the method of the present disclosure.

[0018] A method, device, electronic device, and storage medium for arranging sensors on an aircraft according to the present disclosure. First, a three-dimensional electronic model of the aircraft and a sensing capability model for each type of sensor are constructed. Then, based on the sensing capability model, the sensors that can be arranged in the deployable areas of the three-dimensional electronic model are determined, and all the deployable areas and the sensors that can be arranged in the deployable areas are combined to obtain a search space including all the sensor arrangement schemes corresponding to the aircraft. Finally, the optimal sensor arrangement scheme in the search space is determined as the target sensor arrangement scheme of the aircraft. Thus, the present disclosure automatically determines all the feasible sensor arrangement schemes corresponding to the aircraft through the three-dimensional electronic model of the aircraft and the sensing capability model for each type of sensor, and selects the optimal sensor arrangement scheme from all the feasible sensor arrangement schemes. Among them, the three-dimensional electronic model can reflect the physical environment of the aircraft, and the sensing capability model can reflect the sensing area, sensing capability, sensing range, etc. of the sensor. Therefore, in the process of determining the sensor arrangement scheme, various parameters of the aircraft and the sensor can be referred to, and the adaptability and coordination between the physical environment and the sensor can be fully considered, thereby ensuring the rationality of the sensor layout and the controllability of the layout cost.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By referring to the drawings and reading the detailed description below, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become easily understandable. In the drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, where:

[0021] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0022] Figure 1 Shows a flowchart of a method for arranging sensors on an aircraft according to an embodiment of the present disclosure Figure 1 ;

[0023] Figure 2 Shows a flowchart of a method for arranging sensors on an aircraft according to an embodiment of the present disclosure Figure 2 ;

[0024] Figure 3 Shows a top view of a three-dimensional electronic model of a flying car according to an embodiment of the present disclosure;

[0025] Figure 4 Shows a structural diagram of a device for arranging sensors on an aircraft according to an embodiment of the present disclosure;

[0026] Figure 5The composition structure diagram of an electronic device according to an embodiment of the present disclosure is shown. Detailed implementation manners

[0027] To make the objectives, features, and advantages of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0028] Figure 1 The flow diagram of a method for arranging sensors on an aircraft according to an embodiment of the present disclosure is shown Figure 1 , as Figure 1 shown, a method for arranging sensors on an aircraft includes:

[0029] Step S101: Based on the physical parameters and configuration parameters of the aircraft, perform three-dimensional modeling on the aircraft to obtain a three-dimensional electronic model of the aircraft.

[0030] In this embodiment, the physical parameters of the aircraft refer to the specific values describing the physical characteristics of the aircraft, which can usually be obtained through measurement or calculation. The physical parameters may include the weight of the aircraft and the dimensions of the aircraft. The weight of the aircraft may include the total weight of the aircraft, the fuel weight, and the payload weight, etc. The dimensions of the aircraft may include the length, width, height, wingspan, chord length, etc. of the aircraft; the configuration parameters of the aircraft refer to the parameters describing the overall structural design and layout of the aircraft, which usually determine the shape and function of the aircraft. The configuration parameters may include the wing layout and the tail layout of the aircraft, etc. The wing layout includes the type and position of the wings, and the tail layout includes the type and position of the tails. The type of wings may include fixed wings, rotors, compound wings, etc., and the type of tails may include single vertical tails, double vertical tails, V-shaped tails, etc. The physical parameters and configuration parameters of the aircraft can reflect the geometric structure of the aircraft. Therefore, three-dimensional modeling can be performed on the aircraft based on the physical parameters and configuration parameters to obtain a three-dimensional electronic model of the aircraft. In one example, to save system resources, the three-dimensional electronic model only needs to reflect the geometric structure on the surface of the aircraft, and there are no requirements for the internal structure and materials of the aircraft.

[0031] Step S102: Determine the deployable areas of the sensors on the three-dimensional electronic model.

[0032] In this embodiment, it is necessary to determine the area on the three-dimensional electronic model where sensors can be deployed, that is, the deployable area of the sensors. When determining the deployable area of the sensors, many factors need to be considered, such as field of view, aerodynamic layout, electromagnetic compatibility, weight and balance, maintenance and repair convenience, environmental adaptability, and safety. Among them, the field of view indicates that the sensor must be able to cover the area required for its designed use without obstruction; the aerodynamic layout indicates that the arrangement of the sensor should not significantly increase air resistance or interfere with the airflow of the aircraft; the electromagnetic compatibility indicates that there should be no mutual interference between the sensor and other electronic devices; the weight and balance indicate that the weight of the sensor and its support structure will not affect the center of gravity and overall balance of the aircraft; the maintenance and repair convenience indicates that the position of the sensor should be easily accessible and operable, and the need for complex disassembly steps should be minimized; the environmental adaptability indicates that an appropriate installation position should be selected according to the working environment requirements of the sensor; the safety indicates that the installation of the sensor will not become a potential safety hazard. The area on the three-dimensional electronic model where sensors can be deployed can be determined based on the above factors.

[0033] Step S103: Based on the performance parameters of different types of sensors, construct a perception ability model for each type of sensor.

[0034] In this embodiment, the performance parameters of different types of sensors include parameters such as the perception ability, measurement accuracy, field of view range, resolution and confidence at different distances, and response time of this type of sensor. The perception ability model of the sensor can describe and predict the performance of the sensor in a specific application scenario through a mathematical model.

[0035] Step S104: Based on the perception ability model, determine the sensors that can be deployed in the deployable area.

[0036] In this embodiment, based on the perception ability model of the sensor, a simulation tool can simulate the field of view of different sensors, the airflow of the aircraft, the electromagnetic compatibility of the aircraft, the balance of the aircraft, and the safety of the aircraft, etc. in different deployable areas of the three-dimensional electronic model. Based on the simulation results, the sensors that can be deployed in the deployable areas are determined. This process needs to consider multiple factors. For example, in order to obtain better field of view coverage, slight aerodynamic losses are accepted. In one example, simulation tools such as SolidWorks and AutoCAD can be used to simulate the sensor field of view coverage in different deployable areas of the three-dimensional electronic model. Computational Fluid Dynamics (CFD) simulation is used to evaluate the impact of sensors on the aerodynamic performance of the aircraft in different deployable areas of the three-dimensional electronic model. An Electromagnetic Compatibility Simulation (EMC) tool is used to evaluate whether there is a risk of electromagnetic interference for sensors in different deployable areas of the three-dimensional electronic model.

[0037] Step S105: Perform permutations and combinations on all deployable areas and the sensors that can be deployed in the deployable areas to obtain a search space.

[0038] In this embodiment, there may be multiple sensors that can be deployed in all deployable areas. Permutations and combinations can be performed on all deployable areas and all sensors that can be deployed in the deployable areas to obtain a search space, which includes all sensor deployment schemes corresponding to the aircraft. In one example, permutations and combinations can be implemented by recursive or iterative methods.

[0039] Step S106: Determine the optimal sensor deployment scheme in the search space as the target sensor deployment scheme of the aircraft.

[0040] In this embodiment, based on a heuristic optimization algorithm, the optimal sensor deployment scheme in the search space can be searched. The heuristic optimization algorithm can include genetic algorithms, annealing algorithms, or particle swarm search algorithms, etc. The sensor deployment scheme output by the heuristic optimization algorithm can be directly determined as the target sensor deployment scheme of the aircraft.

[0041] In the present disclosure, all feasible sensor layout schemes corresponding to the aircraft are automatically determined through the three-dimensional electronic model of the aircraft and the perception ability model of each sensor, and the optimal sensor layout scheme among all feasible sensor layout schemes is selected. Among them, the three-dimensional electronic model can reflect the physical environment of the aircraft, and the perception ability model can reflect the perception area, perception ability, perception range, etc. of the sensor. Therefore, during the determination process of the sensor layout scheme, various parameters of the aircraft and the sensor can be referred to, and the adaptability and coordination between the physical environment and the sensor can be fully considered, thereby ensuring the rationality of the sensor layout and the controllability of the layout cost.

[0042] In another embodiment, step S102, "determine the deployable area of the sensor on the three-dimensional electronic model", includes at least one of the following:

[0043] In response to a delineation operation on the three-dimensional electronic model, the area corresponding to the delineation operation is determined as the deployable area; the delineation operation includes at least one of a click operation, a box selection operation, and a drag operation. That is, the user can manually delineate the deployable area on the three-dimensional electronic model with a mouse or a touchpad, etc., for example, click, box select, or drag the area where the sensor can be deployed.

[0044] The area in the three-dimensional electronic model where the curvature change satisfies the first threshold is determined as the deployable area. That is, for some sensors, they may need to be deployed in places with less curvature change, and for other sensors, they may need to be deployed in places with greater curvature change. Therefore, for the sensors to be deployed, the area in the three-dimensional electronic model where the curvature change satisfies the deployment requirements of these sensors can be determined as the deployable area.

[0045] The area corresponding to the target part in the three-dimensional electronic model is determined as the deployable area. That is, for a specific aircraft, sensors may generally be deployed at several fixed parts. Therefore, the area corresponding to the preset target part in the three-dimensional electronic model can be determined as the deployable area.

[0046] Figure 3 Shows a top view of the three-dimensional electronic model of the flying car in the embodiment of the present disclosure, as Figure 3 shown, the aircraft can be a flying car, and the user can manually use a mouse or a touchpad, etc. in the same way as Figure 3Define the deployable areas in the three-dimensional electronic model shown. Among them, area A is the vehicle head, area B is the vehicle roof, and area C is the vehicle tail. If areas A, B, and C are all available for sensor deployment, the user can perform operations such as clicking, box-selecting, or dragging on areas A, B, and C; or, since the curvature change of area B is small and it can be used to set various sensors such as barometers and cameras, area B can be automatically determined as a deployable area; or, for a flying car, sensors are usually deployed on the vehicle head and the vehicle roof, so the vehicle head and the vehicle roof in the three-dimensional electronic model shown as Figure 3 area A and area B can be identified, that is, area A and area B are automatically determined as deployable areas.

[0047] In another embodiment, step S104, "Based on the perception ability model, determine the sensors that can be deployed in the deployable areas", includes at least one of the following:

[0048] In response to the orientation of the sensing area in the perception ability model being the same as the orientation of the deployable area, determine the sensor corresponding to the perception ability model as the sensor that can be deployed in the deployable area. Among them, the orientation of the sensing area refers to the orientation required by the sensor during monitoring. If the orientation of the sensing area of the sensor is the same as the orientation of the deployable area, the sensor can be determined as the sensor that can be deployed in the deployable area. For example, for a flying car shown as Figure 3 the sensing area of the wind sensor faces the front of the flying car, and areas A corresponding to the vehicle head and B corresponding to the vehicle roof also face the front of the flying car, then wind sensors can be deployed in areas A and B.

[0049] In response to the perception ability in the perception ability model being adaptable to the deployable area, determine the sensor corresponding to the perception ability model as the sensor that can be deployed in the deployable area. Among them, the perception ability of the sensor refers to the function of the sensor. For example, the perception ability of a temperature sensor is to measure temperature, and the perception ability of an ultrasonic sensor is to measure distance. If the perception ability of the sensor is adaptable to the deployable area, that is, the sensor can exert or realize its own perception ability in this deployable area, then the sensor is the sensor that can be deployed in this deployable area. For example, if a temperature sensor is used to measure the temperature of a heat-generating device, then a temperature sensor can be deployed in the deployable area near the heat-generating device.

[0050] In response to the sensing range in the sensing capability model being adaptable to the deployable area, the sensor corresponding to the sensing capability model is determined as the sensor that can be deployed in the deployable area. Wherein, the sensing range of the sensor is the field of view or measurement range of the sensor. If the sensing range of the sensor is adaptable to the deployable area, that is, the sensor can detect the complete sensing range in the deployable area, then the sensor is the sensor that can be deployed in the deployable area. For example, the detection range of a millimeter-wave radar is relatively far and can be used to detect obstacles in front. Then, the front of the deployable area corresponding to the millimeter-wave radar cannot be blocked by the components of the aircraft itself. For a flying car as shown in Figure 3 , the deployable area corresponding to the millimeter-wave radar can be Area A or Area B; or, since the detection range of the millimeter-wave radar is relatively far compared to the detection range of the ultrasonic radar, the millimeter-wave radar can be set at the front of the vehicle, such as Area A, for detecting obstacles in front, and the ultrasonic radar can be set at the bottom of the vehicle for detecting the ground approach during landing.

[0051] In the present disclosure, determining the sensors that can be deployed in the deployable area based on the orientation, sensing capability, and sensing range of the sensing area in the sensing capability model of the sensor can fully consider various parameters of the aircraft and the sensor, and ensure the matching degree between the deployable area and the sensor.

[0052] In another embodiment, step S105, "performing permutation and combination on all deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space", includes:

[0053] Performing permutation and combination on whether to deploy sensors in all deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space.

[0054] In this embodiment, the sensor deployment adopts a discrete method, that is, the sensor can only be deployed at fixed positions in the deployable area. The deployable area can choose whether to deploy a sensor and which type of sensor to deploy. Therefore, for all deployable areas, whether to deploy a sensor can be selected and represented by binary coding. For example, 1 represents deploying a sensor, and 0 represents not deploying a sensor. Then, for all deployable areas, permutation and combination are performed according to whether to deploy a sensor and the deployable sensors to obtain an exploration space. For example, assuming there are 3 deployable areas, and each deployable area has 2 deployment options, that is, to deploy or not to deploy, and if there are 3 deployable sensors in each deployable area, then the total number of combinations is 2 3 ×3 3 = 216 kinds.

[0055] In another embodiment, step S105, "performing permutation and combination on all deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space", includes:

[0056] Arrange and combine whether sensors are deployed in all deployable areas, the sensors that can be deployed in the deployable areas, and the positions and angles of the deployable sensors in the deployable areas to obtain an exploration space.

[0057] In this embodiment, the sensor deployment adopts a continuous method, that is, the sensors can be freely deployed in the deployable areas, and the positions and angles of the sensors can be changed. For the deployable areas, it is possible to select whether to deploy sensors, which type of sensors to deploy, and the positions and angles of the sensors in the deployable areas. Therefore, for all deployable areas, whether to deploy sensors can be represented by binary coding. For example, 1 represents deploying sensors, and 0 represents not deploying sensors. Then, for all deployable areas, arrange and combine according to whether sensors are deployed, the sensors that can be deployed, and the positions and angles of the sensors in the deployable areas to obtain an exploration space. For example, assume there are 3 deployment areas, and each deployable area has 2 deployment options, that is, to deploy or not to deploy. If sensors are deployed, position and angle sampling need to be carried out within the deployable area. Assume that the number of sampling points in each deployable area is N, then the total number of combinations is 2 3 ×N 3 species. Among them, the sampling resolutions of position and angle can be 1 cm and 1°, respectively.

[0058] Figure 2 shows the flow schematic of a method for deploying sensors on an aircraft according to an embodiment of the present disclosure Figure 2 , as Figure 2 shown, a method for deploying sensors on an aircraft includes:

[0059] Step S201, based on the physical parameters and configuration parameters of the aircraft, perform three-dimensional modeling on the aircraft to obtain a three-dimensional electronic model of the aircraft.

[0060] Step S202, determine the deployable areas of the sensors on the three-dimensional electronic model.

[0061] Step S203, based on the performance parameters of different types of sensors, construct a perception ability model for each type of sensor.

[0062] Step S204, based on the perception ability model, determine the sensors that can be deployed in the deployable areas.

[0063] Step S205, arrange and combine all deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space.

[0064] The specific implementation details of steps S201 - S205 are similar to those of steps S101 - S105, and will not be elaborated here.

[0065] Step S206: Based on a heuristic optimization algorithm, determine a sensor layout plan that meets the screening conditions in the exploration space to obtain a candidate sensor layout plan.

[0066] In this embodiment, the heuristic optimization algorithm can be used to solve complex optimization problems, including genetic algorithms, annealing algorithms, and particle swarm search algorithms, etc. The heuristic optimization algorithm can find one or more approximate solutions close to the global optimal solution in a relatively short time. Therefore, based on the heuristic optimization algorithm, a sensor layout plan that meets the screening conditions can be determined in the exploration space to obtain a candidate sensor layout plan. In different heuristic optimization algorithms, the sensor layout plans in the exploration space may need to meet different screening conditions to be considered candidate sensor layout plans. For example, for a genetic algorithm, a sensor layout plan with a fitness value meeting a certain threshold needs to be determined as a candidate sensor layout plan, and for an annealing algorithm, a sensor layout plan with a temperature parameter meeting a certain threshold needs to be determined as a candidate sensor layout plan.

[0067] In an implementable manner, taking the genetic algorithm as an example to illustrate the process of determining the candidate sensor layout plan:

[0068] a. Initialize the population: Some sensor layout plans can be randomly selected, and each sensor layout plan is represented as a group of codes.

[0069] b. Expand the population through crossover: On the premise of ensuring the validity of the codes, expand the population size by methods such as single-point crossover, multi-point crossover, or uniform crossover.

[0070] c. Expand the population through mutation: On the premise of ensuring the validity of the codes, mutate the codes by means such as gene flipping, gene exchange, and perturbation to obtain a new population.

[0071] d. According to the performance evaluation method, retain the codes with good performance in the population and remove the codes with poor performance. <s

[0072] e. Verify whether the termination condition is met, such as reaching a certain number of iterations or the performance index being greater than a certain value. If so, terminate; if not, return to step b and continue the loop.

[0073] Step S207: Perform performance evaluation on all candidate sensor layout plans to obtain the evaluation results of the candidate sensor layout plans.

[0074] Step S208: Determine the optimal sensor layout plan in the evaluation results as the target sensor layout plan of the aircraft.

[0075] In this embodiment, a simulation model can be constructed to simulate the working conditions of the candidate sensor layout schemes, for monitoring parameters such as the field of view of the sensors, the overlap degree of the sensor fields of view, the detection accuracy of the sensors, and the response time of the sensors. And based on these parameters, the candidate sensor layout schemes are evaluated for all candidate sensor layout schemes, and the sensor layout scheme with the best evaluation result is determined as the target sensor layout scheme for the aircraft.

[0076] In another embodiment, step S207 “evaluate the performance of all candidate sensor layout schemes to obtain the evaluation results of the candidate sensor layout schemes” includes:

[0077] Determine the total cost of the sensors in the candidate sensor layout scheme to obtain the cost evaluation result;

[0078] Under the candidate sensor layout scheme, evaluate the field of view of the sensors in the occupancy map of the aircraft, as well as the measurement accuracy, confidence level, and redundancy of each grid point in the occupancy map to obtain the occupancy map evaluation result;

[0079] Under the candidate sensor layout scheme, evaluate the information entropy of the candidate sensor layout scheme based on the maximum information gain to obtain the information entropy evaluation result;

[0080] Perform a weighted sum of the cost evaluation result, the occupancy map evaluation result, and the information entropy evaluation result to obtain the evaluation result of the candidate sensor layout scheme.

[0081] In this embodiment, the total cost of the sensors selected in the candidate sensor layout scheme can be determined as the cost evaluation result.

[0082] In this embodiment, an occupancy map of the aircraft can be established. The occupancy map is divided into multiple grids, and each grid point records the probability of being occupied by an obstacle. For example, 0 to 1 represents free to fully occupied. The error between the true value of the obstacle position and the sensor measurement value in each grid point can be determined as the measurement accuracy of this grid point; determine the credibility of the sensor's detection of the state of each grid point as the confidence level of this grid point; determine the number of times the same grid point is covered by different sensors as the redundancy of this grid point, and determine the effective space range that can be sensed by the entire candidate sensor layout scheme as the field of view. Evaluate the candidate sensor layout scheme based on the field of view, measurement accuracy, confidence level, and redundancy to obtain the occupancy map evaluation result.

[0083] In this embodiment, based on the occupancy map of the aircraft, a probabilistic occupancy grid (POG) of each voxel in the occupancy map can be constructed. Under each candidate sensor deployment scheme, the maximum information gain (IG) is used to measure the amount of information obtained by the sensor configuration, so as to evaluate the information entropy and obtain the information entropy evaluation result.

[0084] In this embodiment, the weights of the cost evaluation result, the occupancy map evaluation result, and the information entropy evaluation result can be determined based on the actual situation, and the cost evaluation result, the occupancy map evaluation result, and the information entropy evaluation result are weighted and summed based on the weights, so as to obtain the evaluation result of the candidate sensor deployment scheme.

[0085] In the present disclosure, based on the heuristic optimization algorithm, candidate sensor deployment schemes are determined from the exploration space, and then the performance of the candidate sensor deployment schemes is evaluated to obtain the optimal candidate sensor deployment scheme. The optimal candidate sensor deployment scheme can be used as the target sensor deployment scheme of the aircraft, so that a more accurate target sensor deployment scheme that better meets the user's requirements can be obtained.

[0086] Figure 4 The structural schematic diagram of an aircraft sensor deployment device according to an embodiment of the present disclosure is shown. As Figure 4 shown, an aircraft sensor deployment device includes:

[0087] A modeling module 10, configured to perform three-dimensional modeling on the aircraft based on the physical parameters and configuration parameters of the aircraft to obtain a three-dimensional electronic model of the aircraft; a determination module 11, configured to determine the deployable area of the sensor on the three-dimensional electronic model; the modeling module 10 is further configured to construct a sensing ability model of each type of sensor based on the performance parameters of different types of sensors; the determination module 11 is further configured to determine the sensors that can be deployed in the deployable area based on the sensing ability model; a search space generation module 12, configured to perform permutation and combination on all deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space; all sensor deployment schemes corresponding to the aircraft are included in the exploration space; the determination module 11 is further configured to determine the optimal sensor deployment scheme in the exploration space as the target sensor deployment scheme of the aircraft.

[0088] In another feasible implementation manner, the determination module 11 is further configured to: in response to a delineation operation on the three-dimensional electronic model, determine the area corresponding to the delineation operation as the deployable area; the delineation operation includes at least one of a click operation, a box selection operation, and a drag operation; determine the area where the curvature change in the three-dimensional electronic model satisfies the first threshold as the deployable area; determine the area corresponding to the target part in the three-dimensional electronic model as the deployable area.

[0089] In another possible implementation, the determination module 11 is further configured to: in response to the orientation of the sensing area in the sensing capability model being the same as the orientation of the deployable area, determine the sensor corresponding to the sensing capability model as the sensor deployable in the deployable area; in response to the sensing capability in the sensing capability model being adaptable to the deployable area, determine the sensor corresponding to the sensing capability model as the sensor deployable in the deployable area; in response to the sensing range in the sensing capability model being adaptable to the deployable area, determine the sensor corresponding to the sensing capability model as the sensor deployable in the deployable area.

[0090] In another possible implementation, the search space generation module 12 is further configured to: perform permutations and combinations on whether sensors are arranged in all deployable areas and the sensors deployable in the deployable areas to obtain a search space.

[0091] In another possible implementation, the search space generation module 12 is further configured to: perform permutations and combinations on whether sensors are arranged in all deployable areas, the sensors deployable in the deployable areas, and the positions and angles of the deployable sensors in the deployable areas to obtain a search space.

[0092] In another possible implementation, the determination module 11 is further configured to: based on a heuristic optimization algorithm, determine a sensor deployment plan that meets the screening conditions in the search space to obtain a candidate sensor deployment plan; the heuristic optimization algorithm includes at least one of a genetic algorithm, an annealing algorithm, and a particle swarm search algorithm; perform performance evaluation on all candidate sensor deployment plans to obtain an evaluation result of the candidate sensor deployment plans; determine the sensor deployment plan with the optimal evaluation result as the target sensor deployment plan of the aircraft.

[0093] In another possible implementation, the determination module 11 is further configured to: determine the total cost of the sensors in the candidate sensor deployment plan to obtain a cost evaluation result; evaluate the field of view of the sensors in the occupancy map of the aircraft, as well as the measurement accuracy, confidence, and redundancy of each grid point in the occupancy map under the candidate sensor deployment plan to obtain an occupancy map evaluation result; evaluate the information entropy of the candidate sensor deployment plan based on the maximum information gain under the candidate sensor deployment plan to obtain an information entropy evaluation result; perform weighted summation on the cost evaluation result, the occupancy map evaluation result, and the information entropy evaluation result to obtain an evaluation result of the candidate sensor deployment plan.

[0094] According to an embodiment of the present disclosure, the present disclosure further provides an electronic device and a readable storage medium.

[0095] Figure 5FIG. 0 shows a schematic block diagram of an exemplary electronic device 800 that can be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, for example, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, for example, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0096] As Figure 5 shown, the device 800 includes a computing unit 801 that can perform various appropriate actions and processes in accordance with a computer program stored in a read only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0097] A plurality of components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as, for example, a keyboard, a mouse, etc.; an output unit 807, such as, for example, various types of displays, speakers, etc.; a storage unit 808, such as, for example, a magnetic disk, an optical disk, etc.; and a communication unit 809, such as, for example, a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0098] The computing unit 801 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 executes the various methods and processes described above, such as an aircraft sensor deployment method. For example, in some embodiments, an aircraft sensor deployment method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the aircraft sensor deployment method described above can be executed. Alternatively, in other embodiments, the computing unit 801 can be configured to execute an aircraft sensor deployment method in any other suitable manner (e.g., by means of firmware).

[0099] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems-on-a-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program code is executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0101] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0103] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of a communication network include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0104] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0105] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution disclosed in this disclosure can be achieved, and no limitations are imposed herein.

[0106] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "a plurality" means two or more, unless otherwise specifically defined.

[0107] As described above, this is only the specific implementation manner of this disclosure, but the protection scope of this disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed in this disclosure can easily think of changes or substitutions, which should all be covered by the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be subject to the protection scope of the claimed rights.

Claims

1. A method for arranging aircraft sensors, characterized in that, The method includes: Based on the physical parameters and configuration parameters of the aircraft, three-dimensional modeling of the aircraft is performed to obtain a three-dimensional electronic model of the aircraft; Determine the deployable areas of the sensors on the three-dimensional electronic model; Based on the performance parameters of different types of sensors, construct a sensing ability model for each sensor; Based on the sensing ability model, determine the sensors that can be deployed in the deployable areas; Perform permutations and combinations on all the deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space; all the sensor deployment schemes corresponding to the aircraft are included in the exploration space; Determine the optimal sensor deployment scheme in the exploration space as the target sensor deployment scheme of the aircraft.

2. The method according to claim 1, characterized in that, The determining the deployable areas of the sensors on the three-dimensional electronic model includes at least one of the following: In response to a delineation operation on the three-dimensional electronic model, determine the area corresponding to the delineation operation as the deployable area; the delineation operation includes at least one of a click operation, a box selection operation, and a drag operation; Determine the area in the three-dimensional electronic model where the curvature change satisfies a first threshold as the deployable area; Determine the area corresponding to the target part in the three-dimensional electronic model as the deployable area.

3. The method according to claim 1, wherein The determining the sensors that can be deployed in the deployable areas based on the sensing ability model includes at least one of the following: If the orientation of the sensing area in the sensing ability model is the same as the orientation of the deployable area, determine the sensor corresponding to the sensing ability model as the sensor that can be deployed in the deployable area; If the sensing ability in the sensing ability model is adaptable to the deployable area, determine the sensor corresponding to the sensing ability model as the sensor that can be deployed in the deployable area; If the sensing range in the sensing ability model is adaptable to the deployable area, determine the sensor corresponding to the sensing ability model as the sensor that can be deployed in the deployable area.

4. The method according to claim 1, wherein The performing permutations and combinations on all the deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space includes: Perform permutations and combinations on whether to deploy sensors in all the deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space.

5. The method according to claim 1, wherein The performing permutations and combinations on all the deployable areas and the sensors that can be deployed in the deployable areas to obtain an exploration space includes: Perform permutations and combinations on whether to deploy sensors in all the deployable areas, the sensors that can be deployed in the deployable areas, and the position and angle of the deployable sensors in the deployable areas to obtain an exploration space.

6. The method according to claim 1, wherein The determining the optimal sensor deployment scheme in the exploration space as the target sensor deployment scheme of the aircraft includes: Based on a heuristic optimization algorithm, determine a sensor deployment scheme that meets the screening conditions in the exploration space to obtain a candidate sensor deployment scheme; the heuristic optimization algorithm includes at least one of a genetic algorithm, an annealing algorithm, and a particle swarm search algorithm; Perform performance evaluation on all the candidate sensor deployment schemes to obtain the evaluation results of the candidate sensor deployment schemes; Determine the sensor layout scheme with the optimal evaluation result as the target sensor layout scheme of the aircraft.

7. The method according to claim 6, wherein The performance evaluation of all the candidate sensor layout schemes to obtain the evaluation results of the candidate sensor layout schemes includes: Determine the total cost of the sensors in the candidate sensor layout scheme to obtain the cost evaluation result; Under the candidate sensor layout scheme, evaluate the field of view of the sensors in the occupancy map of the aircraft, as well as the measurement accuracy, confidence level, and redundancy of each grid point in the occupancy map to obtain the occupancy map evaluation result; Under the candidate sensor layout scheme, evaluate the information entropy of the candidate sensor layout scheme based on the maximum information gain to obtain the information entropy evaluation result; Perform a weighted sum of the cost evaluation result, the occupancy map evaluation result, and the information entropy evaluation result to obtain the evaluation result of the candidate sensor layout scheme.

8. An aircraft sensor layout device, characterized in that The device includes: A modeling module, configured to perform three-dimensional modeling on the aircraft based on the physical parameters and configuration parameters of the aircraft to obtain a three-dimensional electronic model of the aircraft; A determination module, configured to determine the deployable area of the sensors on the three-dimensional electronic model; The modeling module is further configured to construct a perception ability model for each type of sensor based on the performance parameters of different types of sensors; The determination module is further configured to determine the sensors that can be deployed in the deployable area based on the perception ability model; A search space generation module, configured to perform permutations and combinations on all the deployable areas and the sensors that can be deployed in the deployable areas to obtain a search space; the search space includes all the sensor layout schemes corresponding to the aircraft; The determination module is further configured to determine the optimal sensor layout scheme in the search space as the target sensor layout scheme of the aircraft.

9. An electronic device, characterized in that, Includes: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the method according to any one of claims 1-7.

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