Patent ID: 11941553
Assignee: HEFEI UNIVERSITY OF TECHNOLOGY
Field: IT methods for management (Electrical engineering)
Classification: CPC G | IPC G

Claim 6:
7. The method of claim 6, wherein the operation S45 includes:
S451, determining, based on the distance between the end position and the initial position of each sparrow, and in combination with a flying speed of the sparrow, the flying time of the sparrow in this flight;
S452, by substituting the flying time into the navigation time optimization target function of the ship, obtaining the flying time optimization target function JTM of the sparrow:, J
   
    T
    ⁢
    M
   
  
  =
  
   [
   
    1
    +
    
     
      
       1
       -
       
        exp
        ⁡
        (
        
         
          -
          
           0
           .
           2
          
         
         ×
         
          T
          
           M
           ,
           alarm
          
         
        
        )
       
      
      
       1
       +
       
        exp
        ⁡
        (
        
         
          -
          
           0
           .
           2
          
         
         ×
         
          T
          
           M
           ,
           alarm
          
         
        
        )
       
      
     
     ×
     
      T
      
       M
       ,
       total
      
     
    
   
  
 

where, TM,total indicates a total flight time of a sparrow flying along a flying route;
TM,alarm indicates a warning time of the sparrow, that is, the time when the sparrow flies in the risk area of the flying route;
S453, by substituting the corresponding wind speed and the flying high into the ship route risk assessment function, based on a fact that the fitness value of the sparrow is affected by the wind speed on the flying route and the flying height of the sparrow during the flight, obtaining the sparrow route risk assessment function rM,risk:, r
   
    M
    ,
    risk
   
  
  =
  
   
    1
    d
   
   ⁢
   
    
     ∑
     
      j
      =
      1
     
     d
    
    
     (
     
      
       
        α
        M
       
       ×
       
        
         H
         
          M
          ,
          j
          ,
          wave
         
        
        
         H
         
          M
          ,
          max
          ,
          wave
         
        
       
      
      +
      
       
        β
        M
       
       ×
       
        
         V
         
          M
          ,
          j
          ,
          wind
         
        
        
         V
         
          M
          ,
          max
          ,
          Wind
         
        
       
      
     
    
   
  
 

where, αM+βM=1, αM indicates a coefficient of the influence level of the flying height of the sparrow on the flying risk;
βM indicates a coefficient of the influence level of the wind speed on the flying risk;
rM,risk indicates the sparrow route risk assessment function;
d indicates the total number of flying route segments in the flying route;
HM,j,wave indicates a flying height of the sparrow in the jth flying route segment of the flying route;
HM,max,wave indicates a maximum flying height of the sparrow in the total flying route segments of the flying route;
VM,j,wind indicates a wind speed of the jth flying route segment in the flying route;
VM,max,wind indicates a maximum wind speed of the total flying route segment in the flying route;
the calculation formula of the sparrow total cost assessment function is as follows:

JM,cost=w1JTM+w2rM,risk 

where, JM,cost indicates the sparrow total cost assessment function; w1 indicates a weight parameter of the flying time optimization target function of the sparrow JTM, and w2 indicates a weight coefficient of the sparrow route risk assessment function rM,risk;
wherein the weight coefficient satisfies a following condition: w1≥0, w2≥0, w1+w2=1.