A route planning method and system

Abstract

The application relates to a route planning method and system, belonging to navigation positioning technology. The route planning method comprises the following steps: acquiring a route reference point and an adaptive region set, the adaptive region set comprising a plurality of first adaptive regions; acquiring a navigation control circle domain based on the route reference point; screening a plurality of first adaptive regions as second adaptive regions based on the adaptive region set and the navigation control circle domain; taking the route reference point as a center point, constructing a minimum search frame containing all the second adaptive regions, taking all the corner points on the boundary of the search frame on the second adaptive regions as candidate corner points, and constructing a candidate corner point group; and taking the corner point farthest from the route reference point in the candidate corner point group as an effective corner point. Through dynamic screening of the adaptive region set, construction of the minimum search frame and positioning of the effective corner point, the application quickly determines the range of feasible reference points, constructs a feasibility range circle domain by using a translation circle domain, and realizes local self-adaptive adjustment of navigation deviation.

Description

Technical Field

[0001] This application relates to the field of navigation and positioning technology, and in particular to a route planning method and system. Background Technology

[0002] In the field of navigation and positioning, route reference point planning is a crucial technology for ensuring navigation control. Under multiple spatiotemporal constraints, rapid route reference point adaptation to navigation error range analysis presents an even higher requirement and challenge for the navigation and positioning field.

[0003] Airborne navigation errors are easily affected by geographical environment, weather conditions, and electronic interference, and route reference points have limited adaptability to navigation errors. Currently, in cases of large navigation deviations both domestically and internationally, route reference points are generally re-planned according to spatiotemporal constraints. Under conditions of high spatiotemporal requirements and limited airborne resources, route re-planning undoubtedly increases the information processing burden on the airborne platform, causing system platform response lag and adversely affecting the navigation control system.

[0004] When navigation deviations occur, a global replanning of route reference points is required based on spatiotemporal constraints. Specifically, if the aircraft's navigation error increases due to terrain obstruction, electronic interference, or weather changes, the system needs to rescan the surrounding environment, select new reference points, and construct a new route model. This process involves a large amount of environmental data processing and path optimization calculations, placing high demands on the computing power of the airborne platform. Summary of the Invention

[0005] This application provides a route planning method and system to solve the problem in related technologies where global re-establishment of route reference points based on spatiotemporal constraints occurs when navigation deviations occur, leading to increased information processing burden and system response lag, which fails to meet the needs of rapid decision-making under high spatiotemporal constraints.

[0006] In a first aspect, a route planning method is provided, comprising: acquiring a route reference point and a set of adaptation zones, the set of adaptation zones including a plurality of first adaptation zones; acquiring a navigation control circle based on the route reference point; selecting a plurality of first adaptation zones as second adaptation zones based on the set of adaptation zones and the navigation control circle; constructing a minimum search box containing all second adaptation zones with the route reference point as the center point, and constructing a group of candidate corner points by taking all corner points on the boundary of the search box in the second adaptation zones as candidate corner points; taking the corner point in the group of candidate corner points that is farthest from the route reference point as a valid corner point; translating the navigation control circle along a first straight line and in the direction from the valid corner point to the route reference point until the valid corner point is located on the navigation control circle; the first straight line passes through the valid corner point and the route reference point; and constructing a feasible range circle with the route reference point as the center and the translation distance as the radius.

[0007] In some embodiments, based on the set of adaptation areas and the navigation control circle, several first adaptation areas are selected as second adaptation areas, including: comparing each first adaptation area in the set of adaptation areas with the navigation control circle to determine whether the first adaptation area is within the navigation control circle; if it is, the first adaptation area is selected as the second adaptation area; otherwise, it is retained.

[0008] In some embodiments, determining whether the first adaptation area is within the navigation control circular domain specifically includes: determining whether the area ratio of the first adaptation area within the navigation control circular domain is not less than a percentage threshold; if it is not less than a percentage threshold, then the first adaptation area is within the navigation control circular domain; otherwise, it is not.

[0009] In some embodiments, after selecting the first adaptation area as the second adaptation area, the method further includes: counting the second adaptation area; when the count reaches a set count value, stopping the determination of whether the first adaptation area is within the navigation control circle.

[0010] In some embodiments, the corner point that is farthest from the route reference point in the group of candidate corner points is selected as the effective corner point, which includes: calculating the distance value between each corner point in the group of candidate corner points and the route reference point; and selecting the corner point with the largest distance value as the effective corner point.

[0011] In some embodiments, the method further includes: acquiring the mass points of each of the second adaptation regions and constructing a mass group with each mass point; calculating the average coordinate based on the coordinates of each mass point in the mass group to obtain the configuration centroid coordinates; and obtaining a stability evaluation value based on the configuration centroid and the radius of the navigation control circular domain to quantitatively evaluate the steady-state distribution configuration of the second adaptation region.

[0012] In some embodiments, obtaining a stability assessment value includes: obtaining a ratio of the standard deviation of the centroid distance distribution of the second adaptation region based on the ratio of the standard deviation of the distance between the mass group and the centroid of the configuration to the radius of the navigation control circular domain; using the ratio of the standard deviation of the centroid distance distribution as the stability assessment value to evaluate the dispersion characterization of each adaptation region in the second adaptation region, and confirming the dispersion pattern of the second adaptation region.

[0013] In some embodiments, obtaining a stability assessment value includes: acquiring a first distance between the route reference point and the configuration mass point; acquiring a radial ratio of the configuration reference point of the second adaptation area based on the ratio of the first distance to the radius of the navigation control circle; and using the radial ratio of the configuration reference point as the stability assessment value to acquire the spatial distribution relationship between the distribution configuration of the second adaptation area and the route reference point, so as to confirm the dispersion pattern of the second adaptation area.

[0014] In some embodiments, obtaining the stability assessment value includes: obtaining the standard deviation ratio of the centroid distance distribution in the second adaptation region based on the ratio of the standard deviation of the distance between the mass group and the centroid of the configuration to the radius of the navigation control circle; obtaining the first distance between the route reference point and the configuration mass; obtaining the radial ratio of the configuration reference point in the second adaptation region based on the ratio of the first distance to the radius of the navigation control circle; obtaining the distribution configuration steady-state assessment index based on the radial ratio of the configuration reference point and the standard deviation ratio of the centroid distance distribution; and using the distribution configuration steady-state assessment index as the stability assessment value to complete the distribution configuration steady-state quantitative assessment of the second adaptation region.

[0015] Secondly, a route reference point adaptation range planning system is provided, comprising: a first module for acquiring a route reference point and an adaptation zone set, wherein the adaptation zone set includes several first adaptation zones; a second module for acquiring a navigation control circle based on the route reference point; a third module for selecting several first adaptation zones as second adaptation zones based on the adaptation zone set and the navigation control circle; and a fourth module for constructing a minimum search box containing all second adaptation zones, centered on the route reference point, and selecting all second adaptation zones. The fifth module is used to: select the corner point located on the boundary of the search box as the candidate corner point, and construct a group of candidate corner points; the sixth module is used to: translate the navigation control circle along a first straight line and in the direction from the effective corner point to the navigation control circle until the effective corner point is located on the navigation control circle; the first straight line passes through the effective corner point and the navigation control circle; the seventh module is used to: construct a feasible range circle with the navigation control circle as the center and the translation distance as the radius.

[0016] The beneficial effects of the technical solution provided in this application include: This application provides a route planning method and system. Based on route reference points and navigation control circles, it rapidly determines the range of feasible reference points through dynamic filtering of the adaptation zone set, construction of the minimum search box, and effective corner point positioning. Furthermore, it utilizes a translational circle to construct a feasible range circle, enabling local adaptive adjustment of navigation deviations. In terms of effectiveness, this application significantly reduces the amount of environmental data processing and the computational complexity of path optimization, substantially alleviating the information processing burden on the airborne platform and avoiding system response lag. Simultaneously, under conditions of high spatiotemporal constraints and limited resources, it ensures the real-time performance and stability of the navigation control system and enhances the adaptability of route reference points to dynamic factors such as geographical environment and electronic interference. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of this application; Figure 2 This is a schematic diagram illustrating the second adapter area provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating a group of particles, provided as an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] This application provides a method and system for planning the adaptation range of route reference points, which can solve the problem in related technologies where global re-planning of route reference points based on spatiotemporal constraints occurs when navigation deviations occur, resulting in increased information processing burden and system response lag, and failing to meet the needs of rapid decision-making under high spatiotemporal constraints.

[0021] Example 1 Reference Figure 1-3 A method for planning the adaptation range of a route reference point, comprising: Step 1: Obtain the route reference point and adaptation area set. The adaptation area set includes several first adaptation areas. The route reference point is the reference point of the navigation adaptation area, generally defaulting to the center of the circular area detected by the imaging axis of the airborne camera, which is shown as O in the diagram. b The adaptation areas were captured by an airborne camera and are shown in the image as R{ROI1, ROI2, ROI3...ROI}. n}, n is generally greater than or equal to 2, preferably a rectangular block, containing typical features such as grayscale and terrain.

[0022] Step 2: Obtain the navigation control circle based on the route reference point. Specifically, this is done by constructing a navigation control circle with the route reference point as the center and the effective field of view as the radius. The route reference point is illustrated as O in the diagram. b The effective field of view is shown as R in the diagram.b .

[0023] Step 3: Based on the set of adaptation areas and the navigation control circle, select several first adaptation areas as second adaptation areas. Specifically, this includes: comparing each first adaptation area in the set of adaptation areas with the navigation control circle to determine whether the first adaptation area is within the navigation control circle; if it is, select the first adaptation area as the second adaptation area; otherwise, retain it.

[0024] Step 4: Using the route reference point as the center point, construct the smallest search box containing all second adaptation zones. Select all corner points on the boundary of the search box within each second adaptation zone as candidate corner points, thus constructing a candidate corner point group. In this application, the search box is used to improve the signal processing efficiency of the airborne platform. The candidate corner point group is schematically represented as C{C} in the figure. 11 C 12 C 21 C 22 C 31 C 32 ...C n Specifically, utilizing the distribution configuration rules of the second adaptation zone, the geometric center of each adaptation zone is selected as the adaptation zone mass point, and mapped to form an adaptation zone mass point group, which is shown in the figure as M{M1, M2, M3, ..., Mn}. Then, using the relative positional relationship between each mass point in the mass point group and the second adaptation zone and the route reference point, the effective corner points of each adaptation zone are determined, and the effective corner point group C{C11, C12, C21, C22, C31, C32, ..., Cn} of each adaptation zone is established. All parameters such as the adaptation zone R, the mass point group M, and the effective corner point group C constitute the adaptation zone distribution configuration, which is equivalent to the search box.

[0025] Step 5: Select the corner point in the candidate corner point group that is farthest from the route reference point as the valid corner point. This involves calculating the distance between each corner point in the candidate corner point group and the route reference point, and then selecting the corner point with the largest distance as the valid corner point. (Refer to...) Figure 3 In this application, the calculation method can preferably be to establish a rectangular coordinate system with the route reference point as the center, then determine the positional relationship of the corner point group in the rectangular coordinate system, and read the coordinates of the corner point group in the rectangular coordinate system, thereby completing the identification and screening of effective corner points corresponding to the mass point in the second adaptation zone. This application adopts a distance metric-based method, based on the adaptation zone distribution configuration and the relative positional relationship of the route reference point, to calculate the distance between all effective corner points in the effective corner point group in the distribution configuration and the reference point. The specific distance metric design constraints are as follows: Where dist is the distance metric function, if known, Then distance metric .

[0026] Step Six: After calculating and analyzing the maximum distance value to map its corresponding effective corner point, translate the navigation control circle along the first straight line from the effective corner point towards the route reference point until the effective corner point is located on the navigation control circle; the first straight line passes through the effective corner point and the route reference point. That is, it connects the route reference point and the effective corner point, intersecting the navigation control circle; the intersection point is shown as point Q in the diagram.

[0027] Step 7: Construct a feasible circular area with the route reference point as the center and the translation distance as the radius. Specifically, extend the field of view circular area centered on the route reference point along... Translation yields a new field of view circular region, which is equivalent to the feasibility range circular region. The feasibility range circular region is used to analyze the navigation adaptation area's ability to adapt to deviations from the route reference point. The center of the feasibility range circular region is illustrated in the figure. , radius is The radius of the feasible range circle is illustrated as R in the figure. d Additionally, due to differences in camera attitude rotation, to ensure that the matching and recognition adaptation area is always within the detection range, the feasible range circular domain refers to the reliable detection circular domain that meets the minimum navigation altitude requirement.

[0028] This application abandons the complex process of traditional methods that require scanning the environment, selecting reference points, and constructing a global route model. Instead, based on route reference points and navigation control circles, it rapidly determines the range of feasible reference points through dynamic filtering of the adaptation zone set, construction of the minimum search box, and effective corner point positioning. Furthermore, it utilizes a translational circle to construct a feasible range circle, directly defining the range of reference points that can be safely used, without recalculating the entire route, thus achieving local adaptive adjustment to navigation deviations. This significantly reduces the amount of environmental data processing and the computational complexity of path optimization, substantially alleviating the information processing burden on the airborne platform and avoiding system response lag. Simultaneously, under conditions of high spatiotemporal constraints and limited resources, it ensures the real-time performance and stability of the navigation control system and improves the adaptability of route reference points to dynamic factors such as geographical environment and electronic interference.

[0029] In detail, using the route reference point as the origin, a navigation control circle is constructed as a local safety boundary. Spatial geometric filtering retains only the second adaptation zone associated with the reference point, compressing the problem scale from the global environment to the effective field of view. Then, leveraging the geometric characteristics of minimum search box and farthest corner point positioning, path optimization is simplified to single-point distance calculation, avoiding iterative environmental data processing and complex algorithm calls in traditional methods. Finally, by translating the navigation control circle along a straight line from the route reference point to the effective corner point, a feasibility range circle is constructed. The range of feasible reference points is directly defined by the translation distance as the radius, without recalculating the entire route. The route can be directly adjusted simply by filtering existing or new reference points within the feasibility range circle, without iterative environmental data processing, path optimization algorithm calls, or global model reconstruction. For example, when electronic interference increases navigation errors, feasible reference points—i.e., ROI feature points on the circle boundary—can be quickly identified through the feasibility range circle.

[0030] Reference Figure 2-3 In this application, determining whether the first adaptation area is within the navigation control circle specifically includes: firstly, determining whether the area percentage of the first adaptation area within the navigation control circle is not less than a percentage threshold, which is preferably 100% in this embodiment. If it is not less than this threshold, then the first adaptation area is within the navigation control circle, and the first adaptation area within the navigation control circle is selected as the second adaptation area; otherwise, it is not. Furthermore, after selecting the first adaptation area as the second adaptation area, the process further includes: counting the second adaptation area; when the count reaches a set value, stopping the determination of whether the first adaptation area is within the navigation control circle.

[0031] By introducing an area proportion threshold and a counting stop mechanism, the adaptation zone selection process is optimized into a refined and adaptive dynamic process, significantly improving real-time performance and resource efficiency under navigation deviations. Simultaneously, the counting stop mechanism reduces the amount of environmental data processing by setting a selection upper limit, enabling at least five available second adaptation zones to ensure navigation control continuity. More importantly, it provides a lightweight solution for highly dynamic and constrained air navigation under limited onboard computing power.

[0032] Reference Figure 1-3 In this application, the route planning method further includes: obtaining the mass points of each second adaptation zone and constructing a mass group based on each mass point; then calculating the average coordinate based on the coordinates of each mass point in the mass group to obtain the configuration centroid coordinates; finally obtaining the stability evaluation value based on the configuration centroid and the radius of the navigation control circle to quantitatively evaluate the steady state of the distribution configuration of the second adaptation zone.

[0033] In this application, the particles are represented in the figure as M1, M2, M3, ..., Mn. Based on the coordinates of each particle in the particle group, the specific calculation method for the average coordinate is as follows: , The position of the centroid of the configuration directly reflects the spatial clustering characteristics of the route reference points, thus enabling real-time early warning of distribution risks in dynamic navigation scenarios. This prompts the system to prioritize the use of highly stable reference point groups, preventing navigation oscillations caused by the clustering or dispersion of reference points.

[0034] In this application, a stability assessment value is obtained, including the ratio of the standard deviation of the centroid distance between the relative configuration centroids of the mass group to the radius of the navigation control circular domain. This ratio is used to obtain the standard deviation of the centroid distance distribution in the second adaptation region. Then, this ratio is used as the stability assessment value to evaluate the dispersion characteristics of each adaptation region within the second adaptation region and confirm the dispersion pattern of the second adaptation region. The specific calculation method is as follows: , ,in R is the planar distance between the configuration's center of mass and the point mass. s R is the ratio of the standard deviations of the centroid distance distribution, representing the scattering characteristic of each fitness region within the fitness region. s The value range is (0,1). The larger the value of Rs, the more dispersed the adaptation region is. When the centroid of the configuration is closer to the route reference point and the more uniform the distribution, it indicates that the distribution configuration of the second adaptation region has high stability.

[0035] In some embodiments, obtaining a stability assessment value includes: acquiring a first distance between a route reference point and a configuration mass point; then, based on the ratio of the first distance to the radius of the navigation control circle, acquiring the radial ratio of the configuration reference point in the second adaptation zone; and finally, using the radial ratio of the configuration reference point as a stability assessment value, acquiring the spatial distribution relationship between the distribution configuration of the second adaptation zone and the route reference point to confirm the dispersion pattern of the second adaptation zone. The radial ratio of the configuration reference point is denoted as R. v The specific calculation method is as follows: ,in R is the distance between the route reference point and the configuration mass point. b R is the radius of the lowest effective field of view circular domain. v The value range of R is (0,1). v The smaller the value, the closer the centroid of the configuration is to the route reference point, indicating that the second adaptation region is evenly distributed near the route reference point, and the second adaptation region has higher reliability for multi-azimuth calculation.

[0036] In some embodiments, obtaining a stability assessment value includes: obtaining the ratio of the standard deviation of the centroid distance distribution in the second adaptation region based on the ratio of the standard deviation of the distance between the centroid of the mass group relative to the radius of the navigation control circle; then obtaining the first distance between the route reference point and the configuration mass; then obtaining the radial ratio of the configuration reference point in the second adaptation region based on the ratio of the first distance to the radius of the navigation control circle; further obtaining the distribution configuration steady-state assessment index based on the ratio of the radial ratio of the configuration reference point to the standard deviation of the centroid distance distribution; and finally using the distribution configuration steady-state assessment index as the stability assessment value to complete the quantitative assessment of the distribution configuration steady-state of the second adaptation region. The smaller the value of the distribution configuration steady-state assessment index, the more suitable the mass group is for navigation and positioning analysis, and the better the stability of the distribution configuration in the second adaptation region.

[0037] Example 2 Reference Figure 1-3 A route planning system comprising: a first module, a second module, a third module, a fourth module, a fifth module, a sixth module, and a seventh module. The first module is used to obtain the route reference point and the set of adaptation areas, which includes several first adaptation areas. The second module is used to obtain the navigation control circle based on the route reference point. The third module is used to select several first adaptation areas as second adaptation areas based on the set of adaptation areas and the navigation control circle. The fourth module is used to construct the smallest search box containing all second adaptation areas with the route reference point as the center point, and to construct a group of candidate corner points by taking all corner points on the boundary of the search box of the second adaptation areas as candidate corner points. The fifth module is used to take the corner point farthest from the route reference point in the group of candidate corner points as the effective corner point. The sixth module is used to translate the navigation control circle along the first straight line and in the direction from the effective corner point to the route reference point until the effective corner point is located on the navigation control circle. The first straight line passes through the effective corner point and the route reference point. The seventh module is used to construct a feasible range circle with the route reference point as the center and the translation distance as the radius. The functions of each module in the above-mentioned route planning system correspond to the steps in the above-mentioned route planning method embodiment, and their functions and implementation processes will not be described in detail here.

[0038] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0039] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0040] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A route planning method, characterized in that, It includes: Obtain route reference points and a set of adaptation zones, wherein the set of adaptation zones includes several first adaptation zones; The navigation control circle is obtained based on the route reference points; Based on the set of adaptation areas and the navigation control circle, several first adaptation areas are selected as second adaptation areas; Using the route reference point as the center point, construct the smallest search box containing all the second adaptation areas, and use all the corner points of the second adaptation areas located on the boundary of the search box as candidate corner points to construct a candidate corner point group; The corner point that is furthest from the route reference point in the group of candidate corner points is taken as the effective corner point; Along a first straight line and in the direction from the effective angle point to the route reference point, translate the navigation control circle until the effective angle point is located on the navigation control circle; the first straight line passes through the effective angle point and the route reference point. Using the aforementioned route reference point as the center and the translation distance as the radius, a feasible range circular region is constructed.

2. The route planning method as described in claim 1, characterized in that: Based on the set of adaptation regions and the navigation control circular domain, several first adaptation regions are selected as second adaptation regions, including: Compare each first adaptation region in the adaptation region set with the navigation control circle to determine whether the first adaptation region is within the navigation control circle. If it exists, then the first adaptation region will be selected as the second adaptation region; Otherwise, keep it.

3. The route planning method as described in claim 2, characterized in that: Determining whether the first adaptation area is within the navigation control circle specifically includes: Determine whether the area proportion of the first adaptation area located within the navigation control circular domain is not less than the proportion threshold; If it is not lower than, then the first adaptation area is within the navigation control circular domain; Otherwise, it's not there.

4. The route planning method as described in claim 2, characterized in that: After selecting the first adaptation region as the second adaptation region, the following is also included: Count the second adaptation region; When the count reaches the set count value, the determination of whether the first adaptation area is within the navigation control circle is stopped.

5. The route planning method as described in claim 1, characterized in that: The corner point that is furthest from the route reference point in the group of candidate corner points is selected as the valid corner point, including: Calculate the distance between each corner point in the group of candidate corner points and the route reference point; The corner point with the largest distance value is taken as the valid corner point.

6. The route planning method as described in claim 1, characterized in that: Also includes: Obtain the mass points of each of the second adaptation regions, and construct a mass group using each of the mass points; Based on the coordinates of each particle in the particle group, the average coordinate value is calculated to obtain the coordinates of the configuration centroid. Based on the centroid of the configuration and the radius of the navigation control circular domain, a stability evaluation value is obtained to quantitatively evaluate the steady-state distribution configuration of the second adaptation region.

7. The route planning method as described in claim 6, characterized in that: To obtain stability assessment values, including: Based on the ratio of the standard deviation of the centroid distance relative to the configuration centroid to the radius of the navigation control circular domain, the ratio of the standard deviation of the centroid distance distribution in the second adaptation region is obtained. The ratio of the standard deviation of the centroid distance distribution is used as the stability evaluation value to evaluate the dispersion characteristics of each adaptation region in the second adaptation region and confirm the dispersion status of the second adaptation region.

8. The route planning method as described in claim 6, characterized in that: To obtain stability assessment values, including: Obtain the first distance between the route reference point and the configuration mass point; Based on the ratio of the first distance to the radius of the navigation control circular region, the radial ratio of the configuration reference point of the second adaptation area is obtained; Using the radial ratio of the configuration reference point as the stability evaluation value, the spatial distribution relationship between the distribution configuration of the second adaptation area and the route reference point is obtained to confirm the dispersion pattern of the second adaptation area.

9. The route planning method as described in claim 6, characterized in that: To obtain stability assessment values, including: Based on the ratio of the standard deviation of the centroid distance relative to the configuration centroid to the radius of the navigation control circular domain, the ratio of the standard deviation of the centroid distance distribution in the second adaptation region is obtained. Obtain the first distance between the route reference point and the configuration mass point; Based on the ratio of the first distance to the radius of the navigation control circular region, the radial ratio of the configuration reference point of the second adaptation area is obtained; Based on the ratio of the radial ratio of the configuration reference point to the standard deviation of the centroid distance distribution, a steady-state evaluation index for the distribution configuration is obtained. Using the steady-state evaluation index of the distribution configuration as the stability evaluation value, the steady-state quantitative evaluation of the distribution configuration of the second adaptation region is completed.

10. A route planning system, characterized in that: It includes: The first module is used to: obtain route reference points and a set of adaptation areas, wherein the set of adaptation areas includes several first adaptation areas; The second module is used to: obtain the navigation control circle based on the route reference point; The third module is used to: select several first adaptation areas as second adaptation areas based on the set of adaptation areas and the navigation control circle domain; The fourth module is used to: construct a minimum search box containing all the second adaptation areas with the route reference point as the center point, and construct a group of candidate corner points by taking all the corner points on the boundary of the search box in the second adaptation areas as candidate corner points. The fifth module is used to: select the corner point in the group of candidate corner points that is farthest from the route reference point as the effective corner point; The sixth module is used to: translate the navigation control circle along a first straight line in the direction from the effective angle point to the route reference point until the effective angle point is located on the navigation control circle; the first straight line passes through the effective angle point and the route reference point; The seventh module is used to construct a feasible range circular area with the route reference point as the center and the translation distance as the radius.

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