CN118230605A - A method and device for limiting the search area along the route in route planning - Google Patents

Abstract

The invention discloses a method for limiting a route edge search area in route planning. The method comprises the following steps: acquiring historical flight plan data of a preset route within N years, and calculating an included angle between a target point direction azimuth angle and a route direction azimuth angle of each route side in the historical flight plan data to obtain a historical included angle set; carrying out statistical analysis on the historical included angle set to obtain an included angle filtering range; when the route edge to be selected is not in the preset limited search area, removing the route edge to be selected from the selectable route edge set; wherein the set of selectable route edges is a set of all selectable route edges of the newly planned flight; calculating the included angle between the target point direction azimuth angle and the route direction azimuth angle of each rejected route to be selected; and when the included angle is not in the included angle filtering range, selecting the route edge to be selected corresponding to the included angle into a target searching set. The invention provides a reasonable limit method for the search area of the navigation edge, which reduces the search scale and improves the efficiency of navigation planning.

Description

A method and device for limiting the search area along the route in route planning

Technical Field

The present invention relates to the technical field of civil aircraft route planning, and in particular to a method, device, equipment and storage medium for limiting a route side search area in route planning.

Background technique

Civil aviation route planning technology is one of the core technologies of the flight planning system. It needs to comprehensively consider flight distance, time, cost, weather, air traffic flow, aircraft performance, payload, airport airworthiness, and various complex operating restrictions and regulations of the authorities and airlines, and plan an optimal route for each flight to ensure that the flight can arrive at the destination safely and on time, while saving costs as much as possible and increasing operational efficiency. However, the global aviation network is very large, and the various constraints are numerous and complex. It has been proven that this is an NP problem (non-deterministic problem of polynomial complexity), which means that it takes a long time to solve. How to improve the planning algorithm and speed up the solution process is a crucial issue.

At present, the improvement strategies of path planning algorithms can be divided into two categories: optimization algorithm itself and control of road network scale. Among them, the strategy of controlling road network scale has broad application prospects and can be used in combination with any path planning method. Common algorithms for controlling road network scale include rectangular restricted search area algorithm, elliptical restricted search area algorithm, dynamic restricted search area algorithm, etc. However, these algorithms only perform clipping based on distance. For long routes, the clipped area is still large, the solution time is still long, and the directional characteristics of path planning are ignored. In actual aviation road networks, the route direction is usually bidirectional, but when performing shortest path planning, the starting point and the target point have been determined, and the reverse route is basically not selected.

Summary of the invention

In order to solve the above technical problems, a method for limiting the search area along the route in route planning is provided. By combining the rectangular restricted search area algorithm and the elliptical restricted search area algorithm, and then considering the route direction, the routes opposite to the route direction are excluded, the search scale is reduced, and the efficiency of route planning is improved.

In a first aspect, an embodiment of the present invention provides a method for limiting a route side search area in route planning, comprising:

Obtain historical flight plan data of preset routes within N years, calculate the angle between the azimuth of the target point direction of each route side in the historical flight plan data and the azimuth of the route direction, and obtain a historical angle set;

Performing statistical analysis on the historical angle set to obtain an angle filtering range;

When the route edge to be selected is not within the preset restricted search area, the route edge to be selected is removed from the set of optional route edges; wherein the set of optional route edges is a set consisting of all optional route edges of the newly planned flight;

Calculate the angle between the target point direction azimuth and the route direction azimuth of each selected route side after elimination;

When the angle is not within the angle filtering range, the candidate route edge corresponding to the angle is selected into the target search set.

Furthermore, after obtaining the historical flight plan data of the preset routes within the past N years, the method further includes:

The historical flight plan data is cleaned to remove flights whose departure airport and landing airport are the same.

Furthermore, the preset restricted search area includes a rectangular restricted search area and an elliptical restricted search area. The elliptical restricted search area is an area defined by an elliptical shape drawn with the starting point and target point of the newly planned flight as the focus and the great circle distance of the route multiplied by a specific coefficient as the major axis. The rectangular restricted search area is the circumscribed rectangle of the elliptical restricted search area.

Furthermore, when the route side to be selected is not within the preset restricted search area, the route side to be selected is removed from the set of optional route sides, including:

When the candidate route edge is not within the preset rectangular restricted search area, the candidate route edge is eliminated, and all the remaining route edges after elimination are recorded as the first route edge set;

When the candidate route edges in the first route edge set are not within the preset elliptical restricted search area, the candidate route edges are eliminated, and the remaining route edges after the elimination are recorded as the second route edge set.

Furthermore, the calculation of the angle between the target point direction azimuth of each selected route edge after elimination and the route direction azimuth includes:

Calculate the azimuth between the starting point and the end point of each wayside in the second wayside set as the azimuth of the target point;

Calculate the azimuth between each wayside start point and the corresponding wayside end point in the second wayside set as the route direction azimuth;

Calculate the angle between the target point direction azimuth and the route direction azimuth.

Furthermore, the calculation of the angle between the target point direction azimuth of each selected route edge after elimination and the route direction azimuth also includes:

Calculate the azimuth angle θ ₁ of the target point. The specific formula is as follows:

Δγ ₁ =γ ₂ -γ ₁

θ ₁ = atan 2 (sin Δγ ₁ · cos φ ₂ , cos φ ₁ · sin φ ₂ - sin φ ₁ · cos φ ₂ · cos Δγ ₁ );

Calculate the route direction azimuth θ ₂ , the specific formula is as follows:

Δγ ₂ =γ ₃ -γ ₁ ;

θ ₂ = atan 2 (sin Δγ ₂ · cos φ ₃ , cos φ ₁ · sin φ ₃ - sin φ ₁ · cos 3 · cos Δγ ₂ );

Calculate the angle α between the target point direction azimuth and the route direction azimuth. The specific formula is as follows:

α＝(|θ ₁ −θ ₂ |;

Among them, γ ₁ is the longitude of the starting point of the route side, φ ₁ is the latitude of the starting point of the route side, γ ₂ is the longitude of the end point of the route, φ ₂ is the latitude of the end point of the route, γ ₃ is the longitude of the end point of the route side, φ ₃ is the latitude of the end point of the route side, Δγ ₁ is the longitude difference between the starting point of the route side and the end point of the route, Δγ ₂ is the longitude difference between the starting point of the route side and the end point of the route, and atan2 is the mathematical function for calculating the angle.

Further, when the angle is not within the angle filtering range, selecting the candidate route edge corresponding to the angle into the target search set includes:

Comparing the angle with the angle filtering range, and when the angle is within the angle filtering range, eliminating the candidate route edge corresponding to the angle;

When the angle is not within the angle filtering range, the candidate route edge corresponding to the angle is selected into the target search set.

In a second aspect, an embodiment of the present invention provides a route side search area restriction device in route planning, comprising:

A data acquisition module is used to acquire historical flight plan data of preset routes within N years, calculate the angle between the target point direction azimuth and the route direction azimuth of each route side in the historical flight plan data, and obtain a historical angle set;

An angle range determination module is used to perform statistical analysis on the historical angle set to obtain an angle filtering range;

A route edge removal module is used to remove the candidate route edge from the optional route edge set when the candidate route edge is not within the preset restricted search area; wherein the optional route edge set is a set consisting of all optional route edges of the newly planned flight;

An angle calculation module is used to calculate the angle between the target point direction azimuth of each selected route edge after elimination and the route direction azimuth;

The route edge selection module is used to select the candidate route edge corresponding to the angle into the target search set when the angle is not within the angle filtering range.

In a third aspect, an embodiment of the present invention provides an electronic device, including:

Memory for storing computer programs;

A processor, configured to execute the computer program;

Wherein, when the processor executes the computer program, the method for limiting the route side search area in route planning as described in any one of the first aspects above is implemented.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the method for limiting the route side search area in route planning as described in any one of the first aspects above is implemented.

Compared with the prior art, the method for limiting the search area of the wayside in route planning provided by the embodiment of the present invention has the following beneficial effects: by obtaining the historical flight plan data of the preset route within N years, the angle between the target point direction azimuth and the route direction azimuth of each wayside in the historical flight plan data is calculated to obtain a historical angle set; the historical angle set is statistically analyzed to obtain an angle filtering range; when the to-be-selected wayside is not within the preset restricted search area, the to-be-selected wayside is removed from the optional wayside set; the angle between the target point direction azimuth and the route direction azimuth of each to-be-selected wayside after removal is calculated; when the angle is not within the angle filtering range, the to-be-selected wayside corresponding to the angle is selected into the target search set. A reasonable wayside search area limiting method is provided, which reduces the search scale and improves the efficiency of route planning.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical features of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a flow chart of an embodiment of a method for limiting a route side search area in route planning provided by the present invention;

FIG2 is a schematic diagram of a statistical analysis of historical angle sets in a method for limiting the route side search area in route planning provided by the present invention;

FIG3 is a schematic structural diagram of an embodiment of a route side search area restriction device in route planning provided by the present invention;

FIG. 4 is a schematic structural diagram of an embodiment of an electronic device provided by the present invention.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

In a first aspect, an embodiment of the present invention provides a method for limiting a route side search area in route planning. Referring to FIG1 , there is shown a flow chart of a method for limiting a route side search area in route planning provided by the present invention.

As shown in FIG1 , the method comprises the following steps:

S1: Obtain historical flight plan data of preset routes within N years, calculate the angle between the azimuth of the target point direction of each route side in the historical flight plan data and the azimuth of the route direction, and obtain a historical angle set;

S2: Performing statistical analysis on the historical angle set to obtain an angle filtering range;

S3: When the route side to be selected is not within the preset restricted search area, the route side to be selected is removed from the set of optional route sides; wherein the set of optional route sides is a set consisting of all optional route sides of the newly planned flight;

S4: Calculate the angle between the target point direction azimuth of each selected route side after elimination and the route direction azimuth;

S5: When the angle is not within the angle filtering range, the candidate route side corresponding to the angle is selected into the target search set.

In a specific implementation, the process of route edge selection depends specifically on historical flight plan data. First, the historical flight plan data of all flights in the past N years are obtained from the flight database, and the angle between the target point direction azimuth and the route direction azimuth of each route edge in the historical flight plan data is calculated to obtain a historical angle set of all route edges. The historical angle set is statistically analyzed to determine the angle filtering range. For example, see Figure 2, where the horizontal axis represents the smaller value of the distance between the route edge and the starting point and the distance between the route edge and the target point, and the vertical axis represents the angle between the direction of the historically selected route edge and the direction of the target point. According to the statistical analysis results, it is found that the angles between the direction of the historically selected route edge and the direction of the target point are all between [0,90] and [270,360]. Therefore, the route edges with an angle range in the interval of (90,270) can be filtered.

A set of all optional route edges of the newly planned flight is taken as candidate route edges, and a rectangular restricted search area algorithm and an elliptical restricted search area algorithm are applied to them. When a candidate route edge is not within the preset rectangular restricted search area and the elliptical restricted search area, the candidate route edge is removed from the set of optional route edges, and the angle between the target point direction azimuth and the route direction azimuth of each candidate route edge after removal is calculated, and it is determined whether the angle is within the angle filtering range obtained by the above analysis. If so, it is filtered out, and if not, the candidate route edge corresponding to the angle is selected into the target search set, and then a path planning algorithm is used to plan the optimal route in the target search set, wherein the path planning algorithm includes but is not limited to Dijkstra, A*, genetic algorithm, etc.

In summary, the present invention obtains historical flight plan data of preset routes within N years, calculates the angle between the target point direction azimuth and the route direction azimuth of each route edge in the historical flight plan data, and obtains a historical angle set; performs statistical analysis on the historical angle set to obtain an angle filtering range; when a candidate route edge is not within a preset restricted search area, the candidate route edge is removed from the optional route edge set; calculates the angle between the target point direction azimuth and the route direction azimuth of each candidate route edge after removal; when the angle is not within the angle filtering range, the candidate route edge corresponding to the angle is selected into the target search set. A reasonable route edge search area restriction method is provided, which reduces the search scale and improves the efficiency of route planning.

In an optional implementation manner, after obtaining the historical flight plan data of the preset routes within the past N years, the method further includes:

The historical flight plan data is cleaned to remove flights whose departure airport and landing airport are the same.

Specifically, historical flight plan data of a certain route within N years are obtained, and data cleaning is performed on the obtained historical flight plan data to eliminate flights with the same take-off airport and landing airport, reduce abnormal data in the initial historical flight plan data, reduce subsequent calculation workload, and improve the accuracy of route side selection.

In an optional embodiment, the preset restricted search area includes a rectangular restricted search area and an elliptical restricted search area. The elliptical restricted search area is an area defined by an elliptical shape drawn with the starting point and target point of the newly planned flight as the focus and the route great circle distance multiplied by a specific coefficient as the major axis. The rectangular restricted search area is the circumscribed rectangle of the elliptical restricted search area.

Specifically, all optional route edges of the newly planned flight are screened, and the rectangular restricted search area algorithm is first applied to roughly circle the search area according to the distance between the starting point and the target point. The key to the rectangular restricted search area algorithm is to solve the boundary coordinates of the rectangle, compare the boundary coordinates with the starting point and end point coordinates of the route edge to be selected, and determine whether the route edge is within the rectangular restricted search area. The route edges that are not in the rectangular restricted search area are eliminated, and then the search area is further narrowed, and the route edges that are not in the elliptical restricted search area are eliminated. The elliptical restricted search area is an area defined by an elliptical shape drawn with the starting point and target point of the newly planned flight as the focus and the route great circle distance multiplied by a certain coefficient as the major axis, and the rectangular restricted search area is the circumscribed rectangle of the elliptical restricted search area.

In an optional implementation, when the candidate route edge is not within the preset restricted search area, removing the candidate route edge from the set of optional route edges includes:

When the candidate route edge is not within the preset rectangular restricted search area, the candidate route edge is eliminated, and all the remaining route edges after elimination are recorded as the first route edge set;

When the candidate route edges in the first route edge set are not within the preset elliptical restricted search area, the candidate route edges are eliminated, and the remaining route edges after the elimination are recorded as the second route edge set.

Specifically, the rectangular restricted search area algorithm is first applied to the screening of the candidate route edges to roughly circle the search area. When the candidate route edge is not within the preset rectangular restricted search area, the candidate route edge is eliminated, and all the route edges remaining after the elimination are recorded as the first route edge set. Then, the elliptical restricted search area algorithm is applied to all the candidate route edges in the rectangle. When the candidate route edges in the first route edge set are not within the preset elliptical restricted search area, the candidate route edges are eliminated, and the route edges remaining after the elimination are recorded as the second route edge set.

In an optional implementation, the calculation of the angle between the target point direction azimuth of each selected route edge after elimination and the route direction azimuth includes:

Calculate the azimuth between the starting point and the end point of each wayside in the second wayside set as the azimuth of the target point;

Calculate the azimuth between each wayside start point and the corresponding wayside end point in the second wayside set as the route direction azimuth;

Calculate the angle between the target point direction azimuth and the route direction azimuth.

Specifically, after applying the ellipse-restricted search area algorithm, the search direction needs to be further restricted to exclude routes that are opposite to the route direction. First, the angle between the target point direction azimuth and the route direction azimuth is calculated. The target point direction azimuth is the azimuth between the starting point of each route edge and the end point of the entire route. The route direction azimuth is the azimuth between the starting point of each route edge and the corresponding route edge end point. The angle is the absolute value of the difference between the two azimuths.

In an optional implementation, the calculation of the angle between the target point direction azimuth of each selected route edge after elimination and the route direction azimuth also includes:

Calculate the azimuth angle θ ₁ of the target point. The specific formula is as follows:

Δγ ₁ =γ ₂ -γ ₁ ;

θ ₁ = atan 2 (sin Δγ ₁ · cos φ ₂ , cos φ ₁ · sin φ ₂ - sin φ ₁ · cos φ ₂ · cos Δγ ₁ );

Calculate the route direction azimuth θ ₂ , the specific formula is as follows:

Δγ ₂ =γ ₃ -γ ₁ ;

θ ₂ = atan 2 (sin Δγ ₂ · cos φ ₃ , cos φ ₁ · sin φ ₃ - _{sin φ 1} · cos ₃ · cos Δγ ₂ );

Calculate the angle α between the target point direction azimuth and the route direction azimuth. The specific formula is as follows:

α＝|θ ₁ −θ ₂ |;

Among them, γ ₁ is the longitude of the starting point of the route side, φ ₁ is the latitude of the starting point of the route side, γ ₂ is the longitude of the end point of the route, φ ₂ is the latitude of the end point of the route, γ ₃ is the longitude of the end point of the route side, φ ₃ is the latitude of the end point of the route side, Δγ ₁ is the longitude difference between the starting point of the route side and the end point of the route, Δγ ₂ is the longitude difference between the starting point of the route side and the end point of the route, and atan2 is the mathematical function for calculating the angle.

Specifically, to calculate the azimuth of the target point, we first need to calculate the longitude difference between the starting point of the route and the end point of the route. The longitude and latitude of the starting point of the route are (γ ₁ , φ ₁ ), and the longitude and latitude of the end point of the route are (γ ₂ , φ ₂ ). The calculation formula of the longitude difference is as follows:

Δγ ₁ =γ ₂ -γ ₁ ;

The azimuth angle θ ₁ of the target point between the starting point of the route side and the end point of the route is calculated according to the longitude difference:

θ ₁ = atan 2 (sin Δγ ₁ · cos φ ₂ , cos φ ₁ · sin φ ₂ - sin φ ₁ · cos φ ₂ · cos Δγ ₁ );

To calculate the azimuth of the route direction, we first need to calculate the longitude difference between the route edge starting point and the corresponding route edge end point. The longitude and latitude of the route edge starting point are (γ ₁ , φ ₁ ), and the longitude and latitude of the route edge end point are (γ ₃ , φ ₃ ). The longitude difference calculation formula is as follows:

Δγ ₂ =γ ₃ -γ ₁ ;

The azimuth angle θ ₂ of the target point direction between the starting point of the wayside and the end point of the wayside is calculated according to the longitude difference:

θ ₂ = atan 2 (sin Δγ ₂ · cos φ ₃ , cos φ ₁ · sin φ ₃ - _{sin φ 1} · cos ₃ · cos Δγ ₂ );

The angle between the target direction azimuth and the route direction azimuth is the absolute value of the difference between _θ1 and _θ2 :

α=|θ ₁ -θ ₂ |.

In an optional implementation, when the angle is not within the angle filtering range, selecting the candidate route edge corresponding to the angle into the target search set includes:

Comparing the angle with the angle filtering range, and when the angle is within the angle filtering range, eliminating the candidate route edge corresponding to the angle;

When the angle is not within the angle filtering range, the candidate route edge corresponding to the angle is selected into the target search set.

Specifically, whether to select the route edge is determined based on whether the angle is within a preset angle filtering range, and the angle is compared with the angle filtering range. When the angle is within the preset angle filtering range, the route edge corresponding to the angle is eliminated. When the angle is not within the preset angle filtering range, the candidate route edge corresponding to the angle is selected and added to the target search set. After the target search set is determined, a path planning algorithm is used to plan the optimal route in the target search set, wherein the path planning algorithm includes but is not limited to Dijkstra, A*, genetic algorithm, etc.

The route side search area restriction method of the present application is combined with the rectangular restricted search area algorithm and the elliptical restricted search area algorithm, which can greatly improve the route planning time and reduce the calculation scale compared with the separate applications. See Table 1 for the route planning results of the flight from Guangzhou to Amsterdam:

Table 1 Route planning calculation time

It can be seen from Table 1 that the fuel consumption of the paths calculated by the three algorithms is consistent, that is, the results of the three algorithms are reliable. The hybrid restricted area algorithm of the present application reduces the total execution time by about 88% compared with the single application of the rectangular restricted search area algorithm, and reduces the total execution time by about 45% compared with the single application of the elliptical restricted search area algorithm, which greatly shortens the execution time of the algorithm and improves the efficiency of the algorithm.

In a second aspect, the present invention provides a device for limiting a route side search area in route planning. Referring to FIG. 4 , it is a schematic diagram of the structure of a device for limiting a route side search area in route planning provided by the present invention.

As shown in FIG4 , the device comprises:

The data acquisition module 21 is used to acquire historical flight plan data of preset routes within N years, calculate the angle between the azimuth of the target point direction of each route side in the historical flight plan data and the azimuth of the route direction, and obtain a historical angle set;

An angle range determination module 22, used for performing statistical analysis on the historical angle set to obtain an angle filtering range;

A route edge removal module 23 is used to remove the candidate route edge from the optional route edge set when the candidate route edge is not within the preset restricted search area; wherein the optional route edge set is a set consisting of all optional route edges of the newly planned flight;

An angle calculation module 24 is used to calculate the angle between the target point direction azimuth of each selected route edge after elimination and the route direction azimuth;

The route edge selection module 25 is used to select the candidate route edge corresponding to the angle into the target search set when the angle is not within the angle filtering range.

In an optional implementation manner, after obtaining the historical flight plan data of the preset routes within the past N years, the method further includes:

The historical flight plan data is cleaned to remove flights whose departure airport and landing airport are the same.

In an optional embodiment, the preset restricted search area includes a rectangular restricted search area and an elliptical restricted search area. The elliptical restricted search area is an area defined by an elliptical shape drawn with the starting point and target point of the newly planned flight as the focus and the route great circle distance multiplied by a specific coefficient as the major axis. The rectangular restricted search area is the circumscribed rectangle of the elliptical restricted search area.

In an optional implementation, when the candidate route edge is not within the preset restricted search area, removing the candidate route edge from the set of optional route edges includes:

When the candidate route edge is not within the preset rectangular restricted search area, the candidate route edge is eliminated, and all the remaining route edges after elimination are recorded as the first route edge set;

When the candidate route edges in the first route edge set are not within the preset elliptical restricted search area, the candidate route edges are eliminated, and the remaining route edges after the elimination are recorded as the second route edge set.

In an optional implementation, the calculation of the angle between the target point direction azimuth of each selected route edge after elimination and the route direction azimuth includes:

Calculate the azimuth between the starting point and the end point of each wayside in the second wayside set as the azimuth of the target point;

Calculate the azimuth between each wayside start point and the corresponding wayside end point in the second wayside set as the route direction azimuth;

Calculate the angle between the target point direction azimuth and the route direction azimuth.

In an optional implementation, the calculation of the angle between the target point direction azimuth of each selected route edge after elimination and the route direction azimuth also includes:

Calculate the azimuth angle θ ₁ of the target point. The specific formula is as follows:

Δγ ₁ =γ ₂ -γ ₁ ;

θ ₁ = atan 2 (sin Δγ ₁ · cos φ ₂ , cos φ ₁ · sin φ ₂ - sin φ ₁ · cos φ ₂ · cos Δγ ₁ );

Calculate the route direction azimuth θ ₂ , the specific formula is as follows:

Δγ ₂ =γ ₃ -γ ₁ ;

θ ₂ = atan 2 (sin Δγ ₂ · cos φ ₃ , cos φ ₁ · sin φ ₃ - _{sin φ 1} · cos 3 · cos Δγ ₂ );

Calculate the angle α between the target point direction azimuth and the route direction azimuth. The specific formula is as follows:

α＝|θ ₁ −θ ₂ |;

Among them, γ ₁ is the longitude of the starting point of the route side, φ ₁ is the latitude of the starting point of the route side, γ ₂ is the longitude of the end point of the route, φ ₂ is the latitude of the end point of the route, γ ₃ is the longitude of the end point of the route side, φ ₃ is the latitude of the end point of the route side, Δγ ₁ is the longitude difference between the starting point of the route side and the end point of the route, Δγ ₂ is the longitude difference between the starting point of the route side and the end point of the route, and atan2 is the mathematical function for calculating the angle.

In an optional implementation, when the angle is not within the angle filtering range, selecting the candidate route edge corresponding to the angle into the target search set includes:

Comparing the angle with the angle filtering range, and when the angle is within the angle filtering range, eliminating the candidate route edge corresponding to the angle;

When the angle is not within the angle filtering range, the candidate route edge corresponding to the angle is selected into the target search set.

It should be noted that a device for limiting the route side search area in route planning provided by an embodiment of the present invention can implement all processes of the method for limiting the route side search area in route planning described in any of the above embodiments, and the functions of each module and unit in the device and the technical effects achieved are respectively the same as the functions and technical effects achieved by the method for limiting the route side search area in route planning described in the above embodiments, and will not be repeated here.

In a third aspect, an embodiment of the present invention provides an electronic device. Referring to FIG4 , it is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

As shown in FIG4 , the device includes:

A memory 31, used for storing computer programs;

A processor 32, configured to execute the computer program;

Wherein, when the processor 32 executes the computer program, the method for limiting the route side search area in route planning as described in any of the above embodiments is implemented.

Exemplarily, the computer program may be divided into one or more modules/units, which are stored in the memory 31 and executed by the processor 32 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

The processor 32 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

The memory 31 can be used to store the computer program and/or module, and the processor 32 realizes various functions of the electronic device by running or executing the computer program and/or module stored in the memory 31, and calling the data stored in the memory 31. The memory 31 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory 31 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

It should be noted that the above-mentioned electronic device includes, but is not limited to, a processor and a memory. Those skilled in the art will understand that the structural diagram of Figure 4 is only an example of the above-mentioned electronic device and does not constitute a limitation on the electronic device. It may include more components than shown in the figure, or a combination of certain components, or different components.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the method for limiting the route side search area in route planning described in any of the above embodiments is implemented.

It should be understood that the present invention implements all or part of the processes in the above-mentioned route side search area restriction method in route planning, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the route side search area restriction method in route planning can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electric carrier signal and telecommunication signal.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. It should be pointed out that for those skilled in the art, several equivalent obvious variations and/or equivalent substitutions can be made without departing from the technical principles of the present invention. These obvious variations and/or equivalent substitutions should also be regarded as the protection scope of the present invention.

Claims (10)

1. A method for limiting a wayside search area in a rout plan, comprising:

Acquiring historical flight plan data of a preset route within N years, and calculating an included angle between a target point direction azimuth angle and a route direction azimuth angle of each route side in the historical flight plan data to obtain a historical included angle set;

carrying out statistical analysis on the historical included angle set to obtain an included angle filtering range;

When the route edge to be selected is not in the preset limited search area, removing the route edge to be selected from the selectable route edge set; wherein the set of selectable route edges is a set of all selectable route edges of the newly planned flight;

calculating the included angle between the target point direction azimuth angle and the route direction azimuth angle of each rejected route to be selected;

and when the included angle is not in the included angle filtering range, selecting the route edge to be selected corresponding to the included angle into a target searching set.

2. The method for limiting a wayside search area in a routings according to claim 1, wherein after obtaining historical flight plan data of a preset route within N years of the history, further comprising:

and cleaning the data of the historical flight plan data, and removing flights of the take-off airport which are the same as the landing airport.

3. The method for limiting a boundary search area in a route planning according to claim 1, wherein the preset limiting search area includes a rectangular limiting search area and an elliptical limiting search area, the elliptical limiting search area is an area defined by taking a start point and a target point of the newly planned flight as focuses and taking a distance of a great circle of a route multiplied by a certain specific coefficient as a major axis, and the drawn elliptical shape is a circumscribed rectangle of the elliptical limiting search area.

4. A method of limiting a search area for a wayside in a rout according to claim 1, wherein said removing a wayside to be selected from a set of selectable waysides when the wayside to be selected is not within a preset limited search area comprises:

When the route edge to be selected is not in a preset rectangular limited search area, rejecting the route edge to be selected, and marking all the rest route edges after rejection as a first route edge set;

And when the route edge to be selected in the first route edge set is not in the preset elliptical limit search area, removing the route edge to be selected, and marking the rest route edges after removing as a second route edge set.

5. The method for limiting a wayside search area in a routings according to claim 4, wherein calculating the angle between the target point direction azimuth and the wayside direction azimuth of each of the rejected waysides comprises:

Calculating azimuth angles between the starting point and the finishing point of each route edge in the second route edge set as azimuth angles of the direction of the target point;

calculating azimuth angles between the starting point of each road side and the corresponding end point of the road side in the second road side set to be used as azimuth angles of the road directions;

and calculating an included angle between the direction azimuth of the target point and the direction azimuth of the route.

6. The method for limiting a wayside search area in a routings according to claim 5, wherein calculating the angle between the target point direction azimuth and the wayside direction azimuth of each of the rejected waysides to be selected further comprises:

the target point direction azimuth angle theta ₁ is calculated, and the specific formula is as follows:

Δγ₁＝γ₂-γ₁；

θ₁＝atan2(sinΔγ₁·cosφ₂,cosφ₁·sinφ₂-sinφ₁·cosφ₂·cosΔγ₁);

The specific formula of the calculation of the course direction azimuth angle theta ₂ is as follows:

Δγ₂＝γ₃-γ₁；

θ₂＝atan2(sinΔγ₂·cosφ₃,cosφ₁·sinφ₃-sinφ₁·cos3·cosΔγ₂);

Calculating an included angle alpha between the direction azimuth of the target point and the direction azimuth of the route, wherein the specific formula is as follows:

α＝|θ₁-θ₂|；

Wherein γ ₁ is the longitude of the wayside starting point, φ ₁ is the latitude of the wayside starting point, γ ₂ is the longitude of the wayside end point, φ ₂ is the latitude of the wayside end point, γ ₃ is the longitude of the wayside end point, φ ₃ is the latitude of the wayside end point, Δγ ₁ is the difference in longitude between the wayside starting point and the wayside end point, Δγ ₂ is the difference in longitude between the wayside starting point and the wayside end point, and atan2 is a mathematical function of the calculated angle.

7. The method for limiting a route edge search area in a route planning according to claim 1, wherein when the included angle is not within the included angle filtering range, selecting the route edge to be selected corresponding to the included angle to a target search set includes:

comparing the included angle with the included angle filtering range, and eliminating the route edge to be selected corresponding to the included angle when the included angle is in the included angle filtering range;

and when the included angle is not in the included angle filtering range, selecting the route edge to be selected corresponding to the included angle into a target searching set.

8. A wayside search area restriction device in a routings, comprising:

the data acquisition module is used for acquiring historical flight plan data of a preset route within N years, calculating an included angle between a target point direction azimuth angle and a route direction azimuth angle of each route side in the historical flight plan data, and obtaining a historical included angle set;

The included angle range determining module is used for carrying out statistical analysis on the historical included angle set to obtain an included angle filtering range;

The route edge removing module is used for removing the route edge to be selected from the selectable route edge set when the route edge to be selected is not in the preset limited search area; wherein the set of selectable route edges is a set of all selectable route edges of the newly planned flight;

the included angle calculation module is used for calculating the included angle between the direction azimuth angle of the target point of each rejected road side to be selected and the direction azimuth angle of the road;

and the route edge selection module is used for selecting the route edge to be selected corresponding to the included angle into the target search set when the included angle is not in the included angle filtering range.

9. An electronic device, comprising:

a memory for storing a computer program;

A processor for executing the computer program;

wherein the processor, when executing the computer program, implements a method for boundary search area restriction in routings according to any one of claims 1 to 7.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed, implements a method for limiting a wayside search area in a routings according to any one of claims 1 to 7.