CN110595473A - Method and system for acquiring shortest meteorological route - Google Patents

Method and system for acquiring shortest meteorological route Download PDF

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Publication number
CN110595473A
CN110595473A CN201910750058.0A CN201910750058A CN110595473A CN 110595473 A CN110595473 A CN 110595473A CN 201910750058 A CN201910750058 A CN 201910750058A CN 110595473 A CN110595473 A CN 110595473A
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route
target position
ship
current position
water drop
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王晓原
赵新越
夏媛媛
朱慎超
姜雨函
孙懿飞
冯凯
张露露
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Qingdao University of Science and Technology
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Qingdao University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships

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Abstract

The invention relates to the field of ship navigation, in particular to a method and a system for acquiring a shortest temporal weather route, wherein the method comprises the following steps: the method comprises the steps that a great circle route is established, discretization processing is conducted on the great circle route to obtain a plurality of initial waypoints, each initial waypoint is processed to obtain a plurality of corresponding secondary waypoints, a single water drop starts from a starting point and sequentially passes through the plurality of secondary waypoints corresponding to the initial waypoints to reach an end point to obtain a route corresponding to the water drop, the water drop selects the secondary waypoints as points on the route according to node selection probability, the water drop updates silt quantity on a moving route, the silt quantity on the route forms positive feedback on selection of the next water drop on the corresponding secondary waypoints, a water drop algorithm feedback mechanism is used for accurately and efficiently searching for a better secondary waypoint sequence, and algorithm operation efficiency is improved; all water drops get a plurality of routes from the starting point to the end point, wherein the route taken by the water drop with the smallest time is the shortest time weather route.

Description

Method and system for acquiring shortest meteorological route
Technical Field
The invention relates to the field of ship navigation, in particular to a method and a system for acquiring a shortest temporal weather route.
Background
With the rapid development of the shipping industry, the design of global meteorological routes becomes an important research content for ensuring safe and efficient navigation of ships, especially intelligent unmanned ships. The safety and the economy are two indexes for measuring the quality of the air route, and the navigation time is one of main factors influencing the economy of the air route. The shortest-time meteorological flight line design fully considers the meteorological information of the ocean, avoids a disastrous wind and wave area, simultaneously ensures that the unmanned ship has the shortest navigation time and the highest economic benefit, is favorable for improving the use efficiency of the ship, reduces the operation cost, and has very strong practical significance for guiding the meteorological flight line design.
The existing shortest time meteorological flight line design mostly adopts the methods of isochronal method, variational method, establishing grid model and the like to design the shortest time meteorological flight line model. The isochronal method is a recursive algorithm, and when the meteorological data are more, the consumption of storage space and the increase of complexity are easily caused, so the method can only be used for designing a route with a shorter flight path and is difficult to realize by using a computer program. The variation rule is a function of constructing a navigation time, and an Euler equation is adopted to solve an extreme value. Because the equation is constructed with more constraint conditions, the solving difficulty is high, and when a second-order differential is needed, the equation solving can generate inaccurate conditions. The method for establishing the grid model to solve the meteorological flight line is to convert the ship flight line optimization problem into the network path problem, and when the flight line with a longer flight distance is calculated, the method needs to read and process larger data quantity, so that the algorithm operation efficiency is lower. In addition, the existing method for designing the shortest meteorological route generally adopts the optimized hull performance or the speed planning to design the meteorological route when the influence of the meteorological phenomena on the ship navigation is considered. The method does not fully consider various route schemes, and is easy to generate one-sidedness and fall into local optimum in the route designing process.
Disclosure of Invention
Technical problem to be solved
The invention provides a method and a system for acquiring a shortest-time meteorological flight path, which are used for solving the problems that the existing method for designing the shortest-time meteorological flight path cannot design a flight path with a longer flight path, has long calculation time and great difficulty and is easy to fall into local optimization.
(II) technical scheme
In order to achieve the purpose, the invention provides a method for acquiring a shortest meteorological route, which comprises the following steps:
s1: generating a great circle route between a starting point of a ship and a terminal point to be steered, and discretizing the great circle route to obtain a plurality of initial route points;
s2: respectively acquiring a plurality of secondary waypoints corresponding to each initial waypoint according to the plurality of initial waypoints;
s3: starting from the starting point, sequentially passing through the plurality of secondary waypoints corresponding to the initial waypoint to reach the end point to obtain a plurality of routes, and obtaining the shortest-time weather route through a water drop algorithm;
the step S3 includes:
s31: setting an initial value of the number of water drops and an initial speed of the water drops;
s32: taking a water drop, and when the current position of the water drop is the starting point, selecting one secondary waypoint from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position by using node selection probability as a target position, wherein the silt content on a path from the current position to the target position is the time for the ship to travel through the corresponding path;
s33: after the water drop moves from the current position to the target position, updating the silt content on the path from the current position to the target position, and updating the initial speed of the water drop;
s34: if the target position is the end point, subtracting 1 from the initial value of the number of the water drops, judging the number of the processed water drops, and if the number of the processed water drops is 0, taking the route of the water drops with the minimum time from the starting point to the end point as the shortest time weather route;
s35: if the target position is not the end point, the water droplet discards the current position, takes the target position as the current position next time, and re-determines the target position, and returns to the step S33.
Preferably, the step S34 further includes: if the number of water droplets after the treatment is not 0, the process returns to the step S32.
Preferably, in the step S2;
the distance between the initial waypoint and any one of the secondary waypoints is within a preset range.
Preferably, the step S32 is specifically:
randomly taking a water drop, and when the water drop selects one secondary waypoint from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position as a target position, the probability that the secondary waypoint is selected as the target position is the node selection probability;
the node selection probability is inversely proportional to the amount of silt on the path from the current position to the target position;
and the water drop takes one secondary waypoint from the plurality of secondary waypoints as the target position according to the node selection probability corresponding to each secondary waypoint.
Preferably, in the step S33,
the step of updating the sediment content on the path from the previous current position to the previous target position specifically comprises:
s331: calculating the time for the water drop to move from the current position to the target positionWherein length (i, j) is a distance of a path from the current position to the target position;
s332: the sediment reduction quantity delta soil (i, j) on the path from the current position to the target position is in non-linear inverse proportion to the T;
s333: calculating the sediment content on the path from the current position to the target position after the water drop moves from the current position to the target position by using a formula (1-rho) soil (i, j) -rho Δ soil (i, j);
where ρ is a coefficient between 0 and 1;
soil (i, j) is the sediment content on the path from the current position to the target position when the water drops do not move to the target position;
the updating of the initial velocity of the water droplet is specifically:
after the water drop moves from the current position to the target position, the speed increment delta vel of the water drop is in inverse proportion to soil (i, j), and the speed of the water drop in the process of next moving from the current position to the target position is vel + delta vel;
wherein i is the current position; j is the target position; vel is the initial velocity of a water droplet at the current location i.
Preferably, the initial value of the silt content soil (i, j) is the time for the ship to travel from the current position to the target position.
Preferably, the method for acquiring the shortest weather route further includes:
acquiring the operation parameters of the ship and the meteorological data of the environment where the ship is located in real time in the sailing process;
and calculating the navigation time of the ship to reach the terminal along the shortest meteorological route according to the operation parameters of the ship and the meteorological data of the environment where the ship is located.
Preferably, said step of calculating said voyage time of the ship to the target point along said shortest meteorological route according to the operational parameters of said ship and meteorological data of the environment in which said ship is located comprises:
acquiring a wind direction angle, and calculating an upwind angle of a ship;
acquiring the height of waves, and calculating the navigational speed of the ship according to the following calculation formula:
v＝v0-(1.08h-0.126qh+2.77vwind cosβ)(1-2.33Dv0)，
wherein v is0Is the hydrostatic navigational speed, v, of the shipwindThe wind speed is used, h is the height of waves, beta is the windward angle of a ship body, D is the displacement of the ship, and q is the relative wave direction;
calculating the navigation time of the ship to the terminal along the shortest meteorological route:
the number of the initial route points between the starting point and the end point on the shortest-time meteorological route is N-1, the shortest-time meteorological route consists of N paths formed by head-to-tail connection of the starting point and the first secondary route point, head-to-tail connection of two adjacent secondary route points and head-to-tail connection of the last secondary route point and the end point, and SkFor the length, v, of the k-th path through which the ship travels along the shortest meteorological routekThe speed of the ship on the k-th path.
Preferably, the invention also provides a system for acquiring the shortest meteorological route, which comprises an initialization module, a disturbance module and a water drop algorithm module;
the initialization module is used for generating a great circle route between a starting point of a ship and an end point to be steered, and performing discretization processing on the great circle route to obtain a plurality of initial waypoints;
the disturbance module is used for respectively acquiring a plurality of secondary waypoints corresponding to each initial waypoint according to the plurality of initial waypoints;
the water drop algorithm module is used for starting from the starting point, sequentially passing through the plurality of secondary waypoints corresponding to the initial waypoint and reaching the end point to obtain a plurality of routes and obtaining the shortest-time weather route through a water drop algorithm;
the water drop algorithm module comprises an assignment module, a motion submodule, an update submodule, an end point judgment submodule and a circulation submodule;
the assignment module is used for setting an initial value of the number of the water drops and an initial speed of the water drops;
the motion submodule is used for taking a water drop, when the current position of the water drop is the starting point, selecting one secondary waypoint from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position by using node selection probability as a target position, and the silt content on the path from the current position to the target position is the time for the ship to travel through the corresponding path;
the updating submodule is used for updating the silt content on the path from the current position to the target position and updating the initial speed of the water drop after the water drop moves from the current position to the target position;
the destination judgment submodule is used for judging whether the target position is the destination or not, if the target position is the destination, the initial value of the number of the water drops is reduced by 1, the number of the processed water drops is judged, and if the number of the processed water drops is 0, the shortest time weather route is taken as the route along which the time of the water drops from the starting point to the destination is the smallest;
and the circulation submodule is used for enabling the water drops to move to the end point, if the target position is not the end point, the current position of the water drops is abandoned, the target position is used as the current position of the next time, the target position is determined again, and the updating submodule is returned.
(III) advantageous effects
The invention has the beneficial effects that: the great circle route is the shortest route between two points on the earth, a plurality of initial route points are obtained by discretizing the great circle route, each initial route point is disturbed to generate a plurality of corresponding secondary route points, the secondary route points on the route are selected by utilizing the node selection probability of water drops in the water drop algorithm, the great circle route is more suitable for actual navigation, the amount of silt on a passing path is updated, positive feedback is formed when next water drops move, the operation time of the water drop algorithm is reduced, when all the water drops reach a terminal point, the route taken by the smallest water drops is the shortest meteorological route, and the whole algorithm is simple.
Drawings
FIG. 1 is a flow chart of a method of acquiring a shortest time weather route;
FIG. 2 is a schematic view of a water droplet moving in soil;
FIG. 3 is a schematic view of water droplets moving in another volume of soil;
FIG. 4 is a schematic illustration of an initial waypoint after perturbation;
FIG. 5 is a schematic view of a calculation of an angle of attack of a ship;
FIG. 6 is a block diagram of a system for acquiring a shortest weather route;
fig. 7 is a block diagram of a drip algorithm module.
[ description of reference ]
1: initializing a module; 2: a perturbation module; 3: a water drop algorithm module; 31: a valuation module; 32: a motion submodule; 33: updating the submodule; 33: an end point judgment submodule; 34: and (5) circulating the submodules.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
The invention provides a method for acquiring a shortest meteorological flight path, and figure 1 is a flow chart of the method for acquiring the shortest meteorological flight path as shown in figure 1, and comprises the following steps:
s1: and generating a great circle route between the starting point of the ship and the terminal point to be steered, and discretizing the great circle route to obtain a plurality of initial waypoints.
The great circle route is the shortest route between two points on the earth, the shortest time weather route design is carried out based on the great circle route, the shortest route can be realized on the basis that the total route is not changed greatly, the navigation time is reduced, the route is relatively short, and when weather conditions are changed, the great circle route is used as a reference, and a new route can be generated more quickly. The original great circle route is optimized by adjusting the route points of the great circle route, and the shortest route can be realized under the condition of relatively short path length.
S2: and respectively acquiring a plurality of secondary waypoints corresponding to each initial waypoint according to the plurality of initial waypoints, wherein the distance between the initial waypoints and any one of the plurality of corresponding secondary waypoints is within a preset range.
In a preferred embodiment, the adjustment rule for the initial waypoint is to fix the longitude value of the initial waypoint and only randomly perturb the latitude value of the initial waypoint within a specified certain range.
S3: starting from the starting point, sequentially passing through a plurality of secondary waypoints corresponding to the initial waypoint to reach the end point to obtain a plurality of routes, and obtaining the shortest time weather route through a water drop algorithm.
The water drop algorithm is a principle of simulating water flow in nature to wash sediment to form a water channel, and is applied to the field of calculation for solving complex problems. The scouring action of the water currents on the soil creates a gully in the soil surface that can bypass the obstacle and successfully reach a low potential location.
FIG. 2 is a schematic view showing the movement of water drops in soil;
FIG. 3 is a schematic view of water droplets moving in another volume of soil;
as shown in fig. 2 and 3:
the silt content of the soil A is higher than that of the soil B, and when two water drops with the same property respectively flow through the soil at the moment t, the water drops are more likely to select the soil B with the low silt content for passing. When the water drops move to the moment of t +1, the water drops on the soil B can obtain larger speed increment due to the fact that the soil can prevent the water drops from obtaining larger speed increment, and the water drops scour and take away more sediment, so that higher speed and larger volume are obtained. When each iteration is completed, the silt content in the soil is updated, and the probability that the water drops select the optimal path in the next iteration is improved. After the iteration of the algorithm is finished, the path with the minimum sediment content is the shortest time course, namely the minimum time for the water drop to move from the starting point to the end point.
Step S3 includes:
s31: an initial value of the number of water droplets and an initial speed of the water droplets are set.
S32: and taking a water drop, and selecting a secondary waypoint from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position as a target position by using the node selection probability when the current position of the water drop is the starting point, wherein the silt content on the path from the current position to the target position is the time for the ship to travel through the corresponding path.
Step S32 specifically includes:
firstly, a water drop is randomly selected, when the water drop selects one secondary waypoint from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position as a target position, the probability that the secondary waypoint is selected as the target position is the node selection probability.
Secondly, the node selection probability is inversely proportional to the amount of silt on the path from the current position to the target position.
And finally, taking one secondary waypoint from the plurality of secondary waypoints as a target position by the water drop according to the node selection probability corresponding to each secondary waypoint.
In a preferred embodiment, FIG. 4 is a schematic illustration of a disturbance to an initial waypoint, as shown in FIG. 4:
starting from the current position i, the next adjacent secondary waypoint on the original route is j, n new waypoints are generated after disturbance, and the water drop tends to select a route with less sediment content in the process of selecting the route, namely p (i, j)k) Indicating that a water droplet is selected j at the current location ikAs the probability of the target position, it is associated with the path (i, j) from the current position i to the target position jk) Above silt content soil (i, j)k) In an inverse proportional relationship, the node selection probability formula is:
according to the embodiment, the water drop movement process and the secondary waypoint searching process in the water drop algorithm are combined, the node selection probability and the secondary waypoint selection probability in the water drop algorithm are combined, and the actual process of generating the route is better fitted.
S33: and after the water drop moves from the current position to the target position, updating the sediment content on the path from the current position to the target position, and updating the initial speed of the water drop.
Wherein, the concrete steps of updating the silt content on the path from the current position to the target position are as follows:
s331: calculating the time for a drop of water to move from a current location to a target locationWhere length (i, j) is the distance of the path from the current position to the target position.
S332: the reduction Δ soil (i, j) in the sand on the path from the current location to the target location is non-linearly inversely proportional to T.
The sand amount Δ soil thrown away by the water drop is equal to the sand reduction Δ soil (i, j) on the path from the current position to the target position, i.e., Δ soil (i, j) ═ Δ soil.
S333: and calculating the silt content on a path (i, j) from the current position to the target position after the water drop moves from the current position i to the target position j by using a formula (1-rho) soil (i, j) -rho delta soil (i, j). After the sediment amount contained in the path (i, j) is updated, a feedback mechanism is formed for the movement of other water drops, the better sub-route point sequence is accurately and efficiently searched by utilizing the water drop algorithm feedback mechanism, and the algorithm operation efficiency is improved.
Where ρ is a coefficient between 0 and 1;
soil (i, j) is the sediment content on the path from the current position to the target position when the water drop does not move to the target position.
Wherein updating the initial velocity of the water droplet specifically comprises:
when the water drop moves from the current position to the target position, the speed increment delta vel of the water drop is in inverse proportion to the soil (i, j), and the speed of the water drop in the process of moving from the current position to the target position is vel + delta vel.
Wherein i is the current position; j is the target position;
vel is the initial velocity of the water drop at the current location i.
The initial value of the silt content soil (i, j) is the time for the vessel to travel from the current position to the target position.
S34: if the target position is an end point, subtracting 1 from the initial value of the number of the water drops, judging the number of the processed water drops, if the number of the processed water drops is 0, enabling the time M of the water drops moving from the starting point to the end point to be the sum of all T on a flight path traveled by the water drops, and enabling the path traveled by the water drops with the minimum time from the starting point to the end point, namely the minimum M to be used as a shortest time meteorological flight path; if the number of water droplets after the processing is not 0, the flow returns to step S32.
S35: if the target position is not the end point, the water droplet abandons the previous current position, takes the previous target position as the next current position, and re-determines the target position, selects one secondary waypoint as the target position from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position with the node selection probability, selects the end point as the target position if the current position is the last secondary waypoint, and returns to the step S33.
The method for acquiring the shortest meteorological route further comprises the following steps:
firstly, the operation parameters of the ship and the meteorological data of the environment where the ship is located are collected in real time in the sailing process.
And secondly, calculating the navigation time of the ship reaching the terminal point along the shortest meteorological route according to the operation parameters of the ship and the meteorological data of the environment where the ship is located.
The step of calculating the voyage time of the ship to the target point along the shortest meteorological route according to the operation parameters of the ship and the meteorological data of the environment where the ship is located in the step comprises the following steps:
and acquiring a wind direction angle alpha, and calculating an windward angle beta of the ship.
Fig. 5 is a schematic view of the calculation of the windward angle of the ship, as shown in fig. 5:
in a preferred embodiment, with the direction of longitude increase as the positive direction on the horizontal axis (x-axis) and the direction of latitude increase as the positive direction on the vertical axis (y-axis), the wind direction angle at a point in the wind field data is calculated from the wind direction data on the longitude and latitude components, and the formula for the wind direction angle calculation is:
lon is the wind direction value of the warp wind, and Lat is the wind direction value of the weft wind.
The wind direction measurement reference is the positive direction of the x axis, and the measurement reference of the heading c is the positive direction of the y axis. Therefore, a uniform measurement reference and manner for the wind direction and the heading are needed. First, the wind direction angle α is changed, and the new wind direction angle is set based on the y-axisSo that the reference for the new wind direction angle becomes the y-axis.
The windward angle beta of the ship body refers to the course c of the ship and the new wind direction angle alpha1The included angle therebetween. The formula for calculating the windward angle beta is as follows:
in the actual marine meteorological environment, wind and wave data can be respectively obtained, but the wind and wave data at the same moment can not be accurately obtained due to different data timeliness, and the wave height h is calculated and obtained by adopting the following formula in order to ensure the accuracy of the wave data:
wherein g is the gravity acceleration and is 9.8 m/s; f is the length of the wind area, and the length of the wind area refers to the sea area range of the same wind action; v. ofwindIs the wind speed.
In the process of sailing, the ship is influenced by meteorological and hydrological factors, and then the stall phenomenon is generated, wherein the influence of wind and waves is particularly serious among various factors. The ship is influenced by wind and waves during navigation, the navigation resistance of the ship is far greater than the resistance of the ship in still water, and the phenomenon is called natural stall of the ship. Calculating the actual speed of the ship in navigation by adopting the following formula:
v＝v0-(1.08h-0.126qh+2.77vwind cosβ)(1-2.33Dv0)
wherein v is0Is the hydrostatic navigational speed, v, of the shipwindThe wind speed is h, the height of the wave, beta, the wind angle of the ship body, D and q are relative wave directions.
Setting N-1 route points between a starting point and a target point, namely the whole route is composed of N lines, wherein the output power of a ship host is constant on the route, and the navigation time on the whole route is as follows:
calculating the navigation time of the ship to the terminal along the shortest meteorological route:
the number of initial route points between a starting point and an end point on the shortest-time meteorological route is N-1, the shortest-time meteorological route consists of N paths formed by head-to-tail connection of the starting point and a first secondary route point, head-to-tail connection of two adjacent secondary route points and head-to-tail connection of the last secondary route point and the end point, and SkFor the length, v, of the k-th path through which the ship travels along the shortest meteorological routekThe actual speed of the ship on the k-th path.
Therefore, the optimal objective function when the unmanned ship is shortest is as follows:
FIG. 6 is a block diagram of a system for acquiring a shortest weather route, as shown in FIG. 6:
the invention also provides a system for acquiring the shortest meteorological route, which comprises an initialization module 1, a disturbance module 2 and a water drop algorithm module 3.
The initialization module 1 is used for generating a great circle route between a starting point of a ship and an end point to be steered, and performing discretization processing on the great circle route to obtain a plurality of initial waypoints.
The perturbation module 2 is configured to obtain a plurality of secondary waypoints corresponding to each initial waypoint according to the plurality of initial waypoints.
The water drop algorithm module 3 is used for starting from a starting point, sequentially passing through a plurality of secondary waypoints corresponding to the initial waypoint and reaching a terminal point to obtain a plurality of routes, and obtaining the shortest time weather route through a water drop algorithm.
FIG. 7 is a block diagram of a drip algorithm module, as shown in FIG. 7:
the drip algorithm module includes an assignment module 31, a motion sub-module 32, an update sub-module 33, an endpoint determination sub-module 34, and a loop sub-module 35.
The assignment module 31 is used to set an initial value of the number of water drops and an initial speed of the water drops.
The motion submodule 32 is configured to take a water droplet, and when the current position of the water droplet is a starting point, select a secondary waypoint from a plurality of secondary waypoints corresponding to a next initial waypoint adjacent to the current position as a target position according to the node selection probability, where the silt content on a path from the current position to the target position is time taken for the ship to navigate through the corresponding path.
The updating submodule 33 is configured to update the silt content on the path from the current position to the target position and update the initial velocity of the water drop after the water drop moves from the current position to the target position.
The end point judging submodule 34 is configured to judge whether the target position is an end point, subtract 1 from the initial value of the number of water droplets if the target position is the end point, judge the number of the processed water droplets, and if the number of the processed water droplets is 0, take the route along which the minimum time water droplets travel from the start point to the end point as the shortest temporal weather route.
The loop sub-module 35 is used to move the water droplet to the end point, and if the target position is not the end point, the water droplet is discarded from the current position, and the target position is determined again as the current position, and the process returns to the update sub-module 33.
The large circular route, the shortest time route model designed based on a Random iterative algorithm (RIA for short) and an Artificial fish swarm algorithm (AFSA for short) operate in the same environment, and the operation result is compared with the shortest time route model based on a water drop algorithm. The following random iteration route RIA represents the shortest time route based on a random iteration method, and the artificial fish route AFSA represents the shortest time route designed based on an artificial fish swarm algorithm. The parameters of the artificial fish school algorithm are set as shown in table 1.
TABLE 1
Name (R) Symbol Value of
Number of artificial fish school N 50
Congestion factor Delta 10
Artificial fish perception range R 1
Step length of movement step 0.5
Number of iterations Itermax 100
The initial parameters of the drop algorithm used by the model are shown in table 2, where t is the flight time between two waypoints.
TABLE 2
Name (R) Symbol Value of
Number of water drops A 50
Number of iterations Itermax 100
Initial value of silt initsoil t
Initial velocity of water drop initvel 100
The great circle route, the random iteration route, the artificial fish route and the intelligent water drop route are respectively simulated for 100 times, the average time consumption of the algorithm is calculated, and the results are shown in the table 3.
TABLE 3
Name of airline Total voyage (km) General voyage (h) Algorithm average time(s)
Intelligent water dropping route 8735.8216 260.58 66.43
Big circular route 8698.7359 273.62 4.21
Random iterative route 8766.3267 270.53 56.85
Artificial fish school route 8711.2147 265.21 68.16
As can be seen from the results in Table 3, for a great circle route, the obtaining time is only 4.21s, the total voyage is 37.0857km less than that of an intelligent water drop route, but the voyage time is 13.04h more, which shows that the unmanned ship shortest time route model based on the water drop algorithm is obviously improved by combining the marine environment information and the optimization criterion for adjusting the original route point sequence, and the voyage time of the great circle route has obvious optimization effect; for a random iteration route, the average time of the water drop algorithm is 9.58s higher than that of the random iteration algorithm, but the range and the time of the route are respectively reduced by 30.5051km and 9.95h, which shows that the water drop algorithm has higher superiority to the shortest route model solution than the random iteration algorithm; for the artificial fish route, the average time of the water drop algorithm is 1.73s lower than that of the artificial fish algorithm, and the advantages are not obvious. The flight path is short, but the flight time of the flight path is 4.63h higher than that of the intelligent water drop flight path, which shows that the water drop algorithm has a better solution effect on the shortest flight path problem.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims (9)

1. A method for acquiring a shortest meteorological route is characterized by comprising the following steps:
s1: generating a great circle route between a starting point of a ship and a terminal point to be steered, and discretizing the great circle route to obtain a plurality of initial route points;
s2: respectively acquiring a plurality of secondary waypoints corresponding to each initial waypoint according to the plurality of initial waypoints;
s3: starting from the starting point, sequentially passing through the plurality of secondary waypoints corresponding to the initial waypoint to reach the end point to obtain a plurality of routes, and obtaining the shortest-time weather route through a water drop algorithm;
the step S3 includes:
s31: setting an initial value of the number of water drops and an initial speed of the water drops;
s32: taking a water drop, and when the current position of the water drop is the starting point, selecting one secondary waypoint from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position by using node selection probability as a target position, wherein the silt content on a path from the current position to the target position is the time for the ship to travel through the corresponding path;
s33: after the water drop moves from the current position to the target position, updating the silt content on the path from the current position to the target position, and updating the initial speed of the water drop;
s34: if the target position is the end point, subtracting 1 from the initial value of the number of the water drops, judging the number of the processed water drops, and if the number of the processed water drops is 0, taking the route of the water drops with the minimum time from the starting point to the end point as the shortest time weather route;
s35: if the target position is not the end point, the water droplet discards the current position, takes the target position as the current position next time, and re-determines the target position, and returns to the step S33.
2. The method for acquiring a shortest meteorological route according to claim 1, wherein the step S34 further comprises: if the number of water droplets after the treatment is not 0, the process returns to the step S32.
3. The method for acquiring a shortest meteorological route according to claim 1, wherein in the step S2;
the distance between the initial waypoint and any one of the secondary waypoints is within a preset range.
4. The method for acquiring the shortest meteorological route according to claim 1, wherein the step S32 is specifically as follows:
randomly taking a water drop, and when the water drop selects one secondary waypoint from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position as a target position, the probability that the secondary waypoint is selected as the target position is the node selection probability;
the node selection probability is inversely proportional to the amount of silt on the path from the current position to the target position;
and the water drop takes one secondary waypoint from the plurality of secondary waypoints as the target position according to the node selection probability corresponding to each secondary waypoint.
5. The method for acquiring a shortest weather pattern according to claim 4, wherein in said step S33,
the updating of the sediment content on the path from the current position to the target position specifically includes:
s331: calculating the time for the water drop to move from the current position to the target positionWherein length (i, j) is a distance of a path from the current position to the target position;
s332: the sediment reduction quantity delta soil (i, j) on the path from the current position to the target position is in non-linear inverse proportion to the T;
s333: calculating the sediment content on the path from the current position to the target position after the water drop moves from the current position to the target position by using a formula (1-rho) soil (i, j) -rho Δ soil (i, j);
where ρ is a coefficient between 0 and 1;
soil (i, j) is the sediment content on the path from the current position to the target position when the water drops do not move to the target position;
the updating of the initial velocity of the water droplet is specifically:
after the water drop moves from the current position to the target position, the speed increment delta vel of the water drop is in inverse proportion to soil (i, j), and the speed of the water drop in the process of next moving from the current position to the target position is vel + delta vel;
wherein i is the current position; j is the target position; vel is the initial velocity of a water droplet at the current location i.
6. The method of claim 5, wherein the initial value of the silt content soil (i, j) is the time for the ship to travel from the current position to the target position.
7. The method of acquiring a shortest meteorological route according to any one of claims 1 to 6, wherein the method of acquiring a shortest meteorological route further comprises:
acquiring the operation parameters of the ship and the meteorological data of the environment where the ship is located in real time in the sailing process;
and calculating the navigation time of the ship to reach the terminal along the shortest meteorological route according to the operation parameters of the ship and the meteorological data of the environment where the ship is located.
8. The method of claim 7, wherein said step of calculating said voyage time of the ship to the target point along said shortest meteorological route based on the operational parameters of said ship and meteorological data of the environment in which said ship is located comprises:
acquiring a wind direction angle, and calculating an upwind angle of a ship;
acquiring the height of waves, and calculating the navigational speed of the ship according to the following calculation formula:
v＝v0-(1.08h-0.126qh+2.77vwind cosβ)(1-2.33Dv0)，
wherein v is0Is the hydrostatic navigational speed, v, of the shipwindThe wind speed is used, h is the height of waves, beta is the windward angle of a ship body, D is the displacement of the ship, and q is the relative wave direction;
calculating the navigation time of the ship to the terminal along the shortest meteorological route:
the number of the initial route points between the starting point and the end point on the shortest-time meteorological route is N-1, the shortest-time meteorological route consists of N paths formed by head-to-tail connection of the starting point and the first secondary route point, head-to-tail connection of two adjacent secondary route points and head-to-tail connection of the last secondary route point and the end point, and SkFor the length, v, of the k-th path through which the ship travels along the shortest meteorological routekThe speed of the ship on the k-th path.
9. The system for acquiring the shortest meteorological route is characterized by comprising an initialization module, a disturbance module and a water drop algorithm module;
the initialization module is used for generating a great circle route between a starting point of a ship and an end point to be steered, and performing discretization processing on the great circle route to obtain a plurality of initial waypoints;
the disturbance module is used for respectively acquiring a plurality of secondary waypoints corresponding to each initial waypoint according to the plurality of initial waypoints;
the water drop algorithm module is used for starting from the starting point, sequentially passing through the plurality of secondary waypoints corresponding to the initial waypoint and reaching the end point to obtain a plurality of routes and obtaining the shortest-time weather route through a water drop algorithm;
the water drop algorithm module comprises an assignment module, a motion submodule, an update submodule, an end point judgment submodule and a circulation submodule;
the assignment module is used for setting an initial value of the number of the water drops and an initial speed of the water drops;
the motion submodule is used for taking a water drop, when the current position of the water drop is the starting point, selecting one secondary waypoint from a plurality of secondary waypoints corresponding to the next initial waypoint adjacent to the current position by using node selection probability as a target position, and the silt content on the path from the current position to the target position is the time for the ship to travel through the corresponding path;
the updating submodule is used for updating the silt content on the path from the previous current position to the previous target position and updating the initial speed of the water drop after the water drop moves from the current position to the target position;
the destination judgment submodule is used for judging whether the target position is the destination or not, if the target position is the destination, the initial value of the number of the water drops is reduced by 1, the number of the processed water drops is judged, and if the number of the processed water drops is 0, the shortest time weather route is taken as the route along which the time of the water drops from the starting point to the destination is the smallest;
the circulation submodule is used for enabling the water drops to move to the end point, if the target position is not the end point, the water drops abandon the current position of the last time, the target position of the last time is used as the current position of the next time, the target position is determined again, and the updating submodule is returned.
CN201910750058.0A 2019-08-14 2019-08-14 Method and system for acquiring shortest meteorological route Pending CN110595473A (en)

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