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@@ -0,0 +1,825 @@
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+<?php
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+
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+class OptimizedFlightPathGenerator
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+{
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+ private $startPoint;
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+ private $points;
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+ private $noFlyZone;
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+ private $highVoltage;
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+
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+ // 地球半径（米）
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+ const EARTH_RADIUS = 6371000;
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+
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+ public function __construct($flightInput)
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+ {
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+ $this->startPoint = $flightInput['start_point'];
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+ $this->points = $flightInput['points'];
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+ $this->noFlyZone = $flightInput['no_fly_zone'];
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+ $this->highVoltage = $flightInput['high_voltage'];
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+ }
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+
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+ /**
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+ * 生成优化的航线路径
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+ */
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+ public function generateOptimizedFlightPath()
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+ {
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+ // 使用凸包算法找到外围点，然后填充内部点
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+ $optimizedPath = $this->generateEfficientPath();
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+
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+ // 检查并处理禁飞区相交 - 使用新的避让算法
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+ $pathAfterNoFly = $this->handleNoFlyZoneIntersectionsNew($optimizedPath);
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+
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+ // 检查并处理高压线相交
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+ $finalPath = $this->handleHighVoltageIntersections($pathAfterNoFly);
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+
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+ return $finalPath;
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+ }
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+
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+ /**
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+ * 新的禁飞区相交处理方法 - 生成中间点并向外移动
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+ */
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+ private function handleNoFlyZoneIntersectionsNew($path)
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+ {
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+ $maxIterations = 10; // 最大迭代次数，防止无限循环
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+ $iteration = 0;
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+
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+ do {
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+ $hasIntersection = false;
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+ $newPath = [];
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+ // echo '--aaaaaaaa-'.PHP_EOL;
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+ for ($i = 0; $i < count($path) - 1; $i++) {
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+ $currentPoint = $path[$i];
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+ $nextPoint = $path[$i + 1];
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+
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+ // 检查当前线段是否与禁飞区相交
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+ $intersections = $this->checkLineCircleIntersection(
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+ $currentPoint,
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+ $nextPoint,
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+ $this->noFlyZone['center'],
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+ $this->noFlyZone['radius']+50
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+ );
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+ // var_dump($intersections);
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+
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+ if (!empty($intersections)) {
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+ // 发现相交，生成中间点并向外移动
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+ $hasIntersection = true;
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+
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+ // 计算两个航点的中间点
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+ $midPoint = $this->calculateMidpoint($currentPoint, $nextPoint);
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+ // var_dump($intersections);
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+ // 将中间点向外移动到禁飞区外100米
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+ $safePoint = $this->movePointAwayFromNoFlyZone($midPoint, 150);
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+
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+ // 添加安全点到路径
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+ $newPath[] = $currentPoint;
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+ $newPath[] = [
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+ 'name' => '禁飞区避让点',
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+ 'lng' => $safePoint['lng'],
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+ 'lat' => $safePoint['lat'],
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+ 'type' => 'no_fly_zone_avoidance'
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+ ];
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+ // 不添加nextPoint，因为它会在下一次循环中作为currentPoint处理
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+ } else {
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+ // 没有相交，保持原路径点
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+ $newPath[] = $currentPoint;
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+
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+ // 如果是最后一个点，也要添加
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+ if ($i == count($path) - 2) {
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+ $newPath[] = $nextPoint;
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+ }
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+ }
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+ }
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+
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+ $path = $newPath;
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+ $iteration++;
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+
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+ } while ($hasIntersection && $iteration < $maxIterations);
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+
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+ // if ($iteration >= $maxIterations) {
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+ // echo "警告: 达到最大迭代次数，可能仍有禁飞区相交\n";
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+ // }
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+
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+ return $path;
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+ }
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+
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+ /**
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+ * 计算两个点的中间点
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+ */
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+ private function calculateMidpoint($point1, $point2)
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+ {
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+ return [
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+ 'lng' => ($point1['lng'] + $point2['lng']) / 2,
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+ 'lat' => ($point1['lat'] + $point2['lat']) / 2
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+ ];
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+ }
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+
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+ /**
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+ * 将点从禁飞区中心向外移动指定距离
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+ */
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+ private function movePointAwayFromNoFlyZone($point, $safeDistance)
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+ {
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+ $center = $this->noFlyZone['center'];
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+ $radius = $this->noFlyZone['radius'];
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+
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+ // 计算点到禁飞区中心的距离
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+ $distanceToCenter = $this->calculateDistance($point, $center);
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+
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+ if ($distanceToCenter <= $radius + $safeDistance) {
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+ // 计算从禁飞区中心指向点的方向向量
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+ $dx = $point['lng'] - $center['lng'];
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+ $dy = $point['lat'] - $center['lat'];
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+
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+ // 计算方向向量的长度
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+ $vectorLength = sqrt($dx * $dx + $dy * $dy);
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+
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+ if ($vectorLength > 0) {
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+ // 归一化方向向量
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+ $dx /= $vectorLength;
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+ $dy /= $vectorLength;
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+
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+ // 计算需要移动的总距离（从当前位置移动到禁飞区外safeDistance米）
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+ $moveDistance = $radius + $safeDistance - $distanceToCenter;
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+
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+ // 计算新的点位置
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+ $newLng = $point['lng'] + $dx * $moveDistance * 0.00001; // 调整缩放因子
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+ $newLat = $point['lat'] + $dy * $moveDistance * 0.00001;
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+
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+ return [
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+ 'lng' => $newLng,
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+ 'lat' => $newLat
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+ ];
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+ }
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+ }
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+
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+ // 如果已经在安全距离外，返回原點
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+ return $point;
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+ }
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+
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+ // 以下是原有的方法，保持不变
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+ private function generateEfficientPath()
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+ {
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+ if (count($this->points) <= 2) {
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+ return $this->nearestNeighborPath();
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+ }
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+
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+ $center = $this->calculateCenter($this->points);
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+ $sortedPoints = $this->sortPointsByAngle($this->points, $center);
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+ $path = $this->improvedNearestInsertion($sortedPoints);
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+
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+ $fullPath = [$this->startPoint];
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+ foreach ($path as $point) {
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+ $fullPath[] = $point;
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+ }
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+ $fullPath[] = $this->startPoint;
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+
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+ return $fullPath;
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+ }
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+
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+ private function calculateCenter($points)
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+ {
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+ $totalLng = 0;
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+ $totalLat = 0;
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+ $count = count($points);
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+
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+ foreach ($points as $point) {
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+ $totalLng += $point['lng'];
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+ $totalLat += $point['lat'];
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+ }
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+
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+ return [
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+ 'lng' => $totalLng / $count,
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+ 'lat' => $totalLat / $count
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+ ];
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+ }
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+
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+ private function sortPointsByAngle($points, $center)
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+ {
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+ $angles = [];
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+
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+ foreach ($points as $index => $point) {
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+ $angle = atan2(
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+ $point['lat'] - $center['lat'],
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+ $point['lng'] - $center['lng']
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+ );
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+ $angles[$index] = $angle;
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+ }
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+
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+ asort($angles);
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+
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+ $sortedPoints = [];
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+ foreach ($angles as $index => $angle) {
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+ $sortedPoints[] = $points[$index];
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+ }
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+
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+ return $sortedPoints;
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+ }
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+
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+ private function improvedNearestInsertion($points)
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+ {
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+ if (empty($points)) {
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+ return [];
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+ }
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+
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+ $firstPointIndex = $this->findNearestPoint($this->startPoint, $points);
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+ $path = [$points[$firstPointIndex]];
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+ $remainingPoints = $points;
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+ unset($remainingPoints[$firstPointIndex]);
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+ $remainingPoints = array_values($remainingPoints);
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+
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+ while (!empty($remainingPoints)) {
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+ $bestPointIndex = null;
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+ $bestPosition = null;
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+ $minIncrease = PHP_FLOAT_MAX;
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+
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+ foreach ($remainingPoints as $pointIndex => $point) {
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+ for ($i = 0; $i <= count($path); $i++) {
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+ $increase = $this->calculateInsertionCost($path, $point, $i);
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+
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+ if ($increase < $minIncrease) {
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+ $minIncrease = $increase;
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+ $bestPointIndex = $pointIndex;
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+ $bestPosition = $i;
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+ }
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+ }
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+ }
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+
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+ array_splice($path, $bestPosition, 0, [$remainingPoints[$bestPointIndex]]);
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+ unset($remainingPoints[$bestPointIndex]);
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+ $remainingPoints = array_values($remainingPoints);
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+ }
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+
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+ return $path;
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+ }
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+
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+ private function calculateInsertionCost($path, $point, $position)
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+ {
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+ if (empty($path)) {
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+ return 0;
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+ }
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+
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+ if ($position == 0) {
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+ return $this->calculateDistance($this->startPoint, $point) +
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+ $this->calculateDistance($point, $path[0]) -
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+ $this->calculateDistance($this->startPoint, $path[0]);
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+ } elseif ($position == count($path)) {
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+ return $this->calculateDistance($path[count($path)-1], $point) +
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+ $this->calculateDistance($point, $this->startPoint) -
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+ $this->calculateDistance($path[count($path)-1], $this->startPoint);
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+ } else {
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+ return $this->calculateDistance($path[$position-1], $point) +
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+ $this->calculateDistance($point, $path[$position]) -
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+ $this->calculateDistance($path[$position-1], $path[$position]);
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+ }
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+ }
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+
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+ private function nearestNeighborPath()
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+ {
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+ $unvisited = $this->points;
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+ $currentPoint = $this->startPoint;
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+ $path = [$currentPoint];
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+
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+ while (!empty($unvisited)) {
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+ $nearestIndex = $this->findNearestPoint($currentPoint, $unvisited);
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+ $nearestPoint = $unvisited[$nearestIndex];
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+
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+ $path[] = $nearestPoint;
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+ $currentPoint = $nearestPoint;
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+
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+ array_splice($unvisited, $nearestIndex, 1);
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+ }
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+
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+ $path[] = $this->startPoint;
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+
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+ return $path;
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+ }
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+
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+ private function findNearestPoint($currentPoint, $points)
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+ {
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+ $minDistance = PHP_FLOAT_MAX;
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+ $nearestIndex = 0;
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+
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+ foreach ($points as $index => $point) {
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+ $distance = $this->calculateDistance($currentPoint, $point);
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+ if ($distance < $minDistance) {
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+ $minDistance = $distance;
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+ $nearestIndex = $index;
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+ }
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+ }
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+
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+ return $nearestIndex;
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+ }
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+
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+ /**
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+ * 原有的禁飞区处理方法（保留用于参考）
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+ */
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+ private function handleNoFlyZoneIntersections($path)
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+ {
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+ $finalPath = [];
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+
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+ for ($i = 0; $i < count($path) - 1; $i++) {
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+ $currentPoint = $path[$i];
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+ $nextPoint = $path[$i + 1];
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+
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+ $finalPath[] = $currentPoint;
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+
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+ $intersections = $this->checkLineCircleIntersection(
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+ $currentPoint,
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+ $nextPoint,
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+ $this->noFlyZone['center'],
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+ $this->noFlyZone['radius']
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+ );
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+
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+ if (!empty($intersections)) {
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+ foreach ($intersections as $intersection) {
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+ $finalPath[] = [
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+ 'name' => '禁飞区相交点',
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+ 'lng' => $intersection['lng'],
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+ 'lat' => $intersection['lat'],
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+ 'type' => 'no_fly_zone_intersection'
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+ ];
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+ }
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+ }
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+ }
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+
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+ $finalPath[] = $path[count($path) - 1];
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+
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+ return $finalPath;
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+ }
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+
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+ private function handleHighVoltageIntersections($path)
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+ {
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+ $finalPath = [];
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+
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+ for ($i = 0; $i < count($path) - 1; $i++) {
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+ $currentPoint = $path[$i];
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+ $nextPoint = $path[$i + 1];
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+
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+ $finalPath[] = $currentPoint;
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+
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+ $intersections = $this->checkHighVoltageIntersections(
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+ $currentPoint,
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+ $nextPoint
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+ );
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+
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+ if (!empty($intersections)) {
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+ foreach ($intersections as $intersection) {
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+ $finalPath[] = [
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+ 'name' => '高压线相交点',
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+ 'lng' => $intersection['lng'],
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+ 'lat' => $intersection['lat'],
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+ 'type' => 'high_voltage_intersection',
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+ 'tower1' => $intersection['tower1'],
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+ 'tower2' => $intersection['tower2']
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+ ];
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+ }
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+ }
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+ }
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+
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+ $finalPath[] = $path[count($path) - 1];
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+
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+ return $finalPath;
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+ }
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+
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+ private function checkHighVoltageIntersections($pointA, $pointB)
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+ {
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+ $intersections = [];
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+ $towers = $this->highVoltage['towers'];
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+
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+ for ($i = 0; $i < count($towers) - 1; $i++) {
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+ $tower1 = $towers[$i];
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+ $tower2 = $towers[$i + 1];
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+
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+ $intersection = $this->checkLineSegmentIntersection(
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+ $pointA, $pointB, $tower1, $tower2
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+ );
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+
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+ if ($intersection !== null) {
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+ $intersections[] = [
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+ 'lng' => $intersection['lng'],
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+ 'lat' => $intersection['lat'],
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+ 'tower1' => $tower1,
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+ 'tower2' => $tower2
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+ ];
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+ }
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+ }
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+
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+ return $intersections;
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+ }
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+
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+ private function checkLineSegmentIntersection($line1A, $line1B, $line2A, $line2B)
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+ {
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+ $p1 = $this->latLngToMeters($line1A['lat'], $line1A['lng']);
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+ $p2 = $this->latLngToMeters($line1B['lat'], $line1B['lng']);
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+ $p3 = $this->latLngToMeters($line2A['lat'], $line2A['lng']);
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+ $p4 = $this->latLngToMeters($line2B['lat'], $line2B['lng']);
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+
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|
+ $denominator = (($p4[1] - $p3[1]) * ($p2[0] - $p1[0]) - ($p4[0] - $p3[0]) * ($p2[1] - $p1[1]));
|
|
|
+
|
|
|
+ if ($denominator == 0) {
|
|
|
+ return null;
|
|
|
+ }
|
|
|
+
|
|
|
+ $ua = (($p4[0] - $p3[0]) * ($p1[1] - $p3[1]) - ($p4[1] - $p3[1]) * ($p1[0] - $p3[0])) / $denominator;
|
|
|
+ $ub = (($p2[0] - $p1[0]) * ($p1[1] - $p3[1]) - ($p2[1] - $p1[1]) * ($p1[0] - $p3[0])) / $denominator;
|
|
|
+
|
|
|
+ if ($ua >= 0 && $ua <= 1 && $ub >= 0 && $ub <= 1) {
|
|
|
+ $x = $p1[0] + $ua * ($p2[0] - $p1[0]);
|
|
|
+ $y = $p1[1] + $ua * ($p2[1] - $p1[1]);
|
|
|
+
|
|
|
+ $latLng = $this->metersToLatLng($x, $y);
|
|
|
+
|
|
|
+ return [
|
|
|
+ 'lng' => $latLng['lng'],
|
|
|
+ 'lat' => $latLng['lat']
|
|
|
+ ];
|
|
|
+ }
|
|
|
+
|
|
|
+ return null;
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ /**
|
|
|
+ * 检测线段与圆是否相交并返回交点坐标
|
|
|
+ * @param array $pointA 线段端点A，包含lat和lng键
|
|
|
+ * @param array $pointB 线段端点B，包含lat和lng键
|
|
|
+ * @param array $circleCenter 圆心坐标，包含lat和lng键
|
|
|
+ * @param float $radius 圆的半径（米）
|
|
|
+ * @return array 交点坐标数组，每个元素包含lat和lng键
|
|
|
+ */
|
|
|
+function checkLineCircleIntersection($pointA, $pointB, $circleCenter, $radius)
|
|
|
+{
|
|
|
+ $intersections = [];
|
|
|
+ $earthRadius = 6378137; // 地球半径（米）
|
|
|
+ $epsilon = 1e-12; // 容差
|
|
|
+
|
|
|
+ // 度转弧度
|
|
|
+ function toRadians($deg) {
|
|
|
+ return $deg * M_PI / 180;
|
|
|
+ }
|
|
|
+
|
|
|
+ // 弧度转度
|
|
|
+ function toDegrees($rad) {
|
|
|
+ return $rad * 180 / M_PI;
|
|
|
+ }
|
|
|
+
|
|
|
+ // Haversine公式计算两点间距离（米）[1,3,5](@ref)
|
|
|
+ function getDistanceFromLatLng($lat1, $lng1, $lat2, $lng2) {
|
|
|
+ global $earthRadius;
|
|
|
+
|
|
|
+ $φ1 = toRadians($lat1);
|
|
|
+ $φ2 = toRadians($lat2);
|
|
|
+ $Δφ = toRadians($lat2 - $lat1);
|
|
|
+ $Δλ = toRadians($lng2 - $lng1);
|
|
|
+
|
|
|
+ $a = sin($Δφ/2) * sin($Δφ/2) +
|
|
|
+ cos($φ1) * cos($φ2) *
|
|
|
+ sin($Δλ/2) * sin($Δλ/2);
|
|
|
+ $c = 2 * atan2(sqrt($a), sqrt(1-$a));
|
|
|
+ return $earthRadius * $c;
|
|
|
+ }
|
|
|
+
|
|
|
+ // 经纬度转墨卡托米坐标
|
|
|
+ function latLngToMeters($lat, $lng) {
|
|
|
+ global $earthRadius;
|
|
|
+
|
|
|
+ $x = $earthRadius * toRadians($lng);
|
|
|
+ $y = $earthRadius * log(tan(M_PI/4 + toRadians($lat)/2));
|
|
|
+ return [$x, $y];
|
|
|
+ }
|
|
|
+
|
|
|
+ // 墨卡托米坐标转经纬度
|
|
|
+ function metersToLatLng($x, $y) {
|
|
|
+ global $earthRadius;
|
|
|
+
|
|
|
+ $lng = ($x / $earthRadius) * 180 / M_PI;
|
|
|
+ $lat = (2 * atan(exp($y / $earthRadius)) - M_PI/2) * 180 / M_PI;
|
|
|
+ return [$lat, $lng];
|
|
|
+ }
|
|
|
+
|
|
|
+ // 判断点是否在圆内（用实际距离）[1](@ref)
|
|
|
+ function isPointInCircle($point) {
|
|
|
+ global $circleCenter, $radius, $epsilon;
|
|
|
+
|
|
|
+ $dist = getDistanceFromLatLng(
|
|
|
+ $point['lat'], $point['lng'],
|
|
|
+ $circleCenter['lat'], $circleCenter['lng']
|
|
|
+ );
|
|
|
+ return $dist <= $radius + $epsilon;
|
|
|
+ }
|
|
|
+
|
|
|
+ // 转换坐标为墨卡托米
|
|
|
+ $A = latLngToMeters($pointA['lat'], $pointA['lng']);
|
|
|
+ $B = latLngToMeters($pointB['lat'], $pointB['lng']);
|
|
|
+ $C = latLngToMeters($circleCenter['lat'], $circleCenter['lng']);
|
|
|
+
|
|
|
+ // 向量计算[2,7](@ref)
|
|
|
+ $AB = [$B[0] - $A[0], $B[1] - $A[1]];
|
|
|
+ $AC = [$C[0] - $A[0], $C[1] - $A[1]];
|
|
|
+ $ab2 = $AB[0]**2 + $AB[1]**2;
|
|
|
+
|
|
|
+ // 线段为点的情况
|
|
|
+ if ($ab2 < $epsilon) {
|
|
|
+ if (isPointInCircle($pointA)) {
|
|
|
+ return [[
|
|
|
+ 'lng' => $pointA['lng'],
|
|
|
+ 'lat' => $pointA['lat']
|
|
|
+ ]];
|
|
|
+ }
|
|
|
+ return [];
|
|
|
+ }
|
|
|
+
|
|
|
+ // 计算最近点参数t[2](@ref)
|
|
|
+ $t = ($AC[0] * $AB[0] + $AC[1] * $AB[1]) / $ab2;
|
|
|
+ $closest = [$A[0] + $t * $AB[0], $A[1] + $t * $AB[1]];
|
|
|
+ $distToClosest = sqrt(($closest[0]-$C[0])**2 + ($closest[1]-$C[1])**2);
|
|
|
+
|
|
|
+ // 判断跨圆场景[7,8](@ref)
|
|
|
+ $isPointAIn = isPointInCircle($pointA);
|
|
|
+ $isPointBIn = isPointInCircle($pointB);
|
|
|
+ $isCrossing = $isPointAIn !== $isPointBIn;
|
|
|
+
|
|
|
+ // 关键修复：跨圆场景强制计算交点，即使最近点在圆外
|
|
|
+ if ($distToClosest <= $radius + $epsilon || $isCrossing) {
|
|
|
+ $discriminant = $radius**2 - $distToClosest**2;
|
|
|
+ $dt = $discriminant >= 0 ? sqrt($discriminant / $ab2) : 0;
|
|
|
+
|
|
|
+ $t1 = $t - $dt;
|
|
|
+ $t2 = $t + $dt;
|
|
|
+
|
|
|
+ // 添加交点的辅助函数
|
|
|
+ $addIntersection = function($tVal) use ($A, $AB, $pointA, $pointB, $circleCenter, $radius) {
|
|
|
+ // 允许tVal在[-0.1, 1.1]范围内（补偿墨卡托误差）
|
|
|
+ if ($tVal >= -0.1 && $tVal <= 1.1) {
|
|
|
+ $tClamped = max(0, min(1, $tVal)); // 强制夹紧到线段上
|
|
|
+ $x = $A[0] + $tClamped * $AB[0];
|
|
|
+ $y = $A[1] + $tClamped * $AB[1];
|
|
|
+ list($lat, $lng) = metersToLatLng($x, $y);
|
|
|
+
|
|
|
+ // 额外验证：确保交点到圆心的实际距离≈半径（容错5米）
|
|
|
+ $intersectionDist = getDistanceFromLatLng($lat, $lng, $circleCenter['lat'], $circleCenter['lng']);
|
|
|
+ if (abs($intersectionDist - $radius) <= 5) {
|
|
|
+ return [
|
|
|
+ 'lat' => round($lat, 6),
|
|
|
+ 'lng' => round($lng, 6)
|
|
|
+ ];
|
|
|
+ }
|
|
|
+ }
|
|
|
+ return null;
|
|
|
+ };
|
|
|
+
|
|
|
+ $p1 = $addIntersection($t1);
|
|
|
+ $p2 = $addIntersection($t2);
|
|
|
+
|
|
|
+ if ($p1) {
|
|
|
+ $intersections[] = $p1;
|
|
|
+ }
|
|
|
+ if ($p2 && !in_array($p2, $intersections, true)) {
|
|
|
+ $intersections[] = $p2;
|
|
|
+ }
|
|
|
+
|
|
|
+ // 跨圆场景但无交点时，手动计算线段与圆的交点（最终保障）[6](@ref)
|
|
|
+ if ($isCrossing && empty($intersections)) {
|
|
|
+ // 用参数方程暴力求解（t从0到1逐步计算）
|
|
|
+ for ($tForce = 0; $tForce <= 1; $tForce += 0.001) {
|
|
|
+ $x = $A[0] + $tForce * $AB[0];
|
|
|
+ $y = $A[1] + $tForce * $AB[1];
|
|
|
+ list($lat, $lng) = metersToLatLng($x, $y);
|
|
|
+ $dist = getDistanceFromLatLng($lat, $lng, $circleCenter['lat'], $circleCenter['lng']);
|
|
|
+
|
|
|
+ if (abs($dist - $radius) <= 1) { // 误差≤1米
|
|
|
+ $intersection = [
|
|
|
+ 'lat' => round($lat, 6),
|
|
|
+ 'lng' => round($lng, 6)
|
|
|
+ ];
|
|
|
+ if (!in_array($intersection, $intersections, true)) {
|
|
|
+ $intersections[] = $intersection;
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ return $intersections;
|
|
|
+}
|
|
|
+
|
|
|
+ private function latLngToMeters($lat, $lng)
|
|
|
+ {
|
|
|
+ $x = $lng * (M_PI / 180) * self::EARTH_RADIUS * cos($lat * M_PI / 180);
|
|
|
+ $y = $lat * (M_PI / 180) * self::EARTH_RADIUS;
|
|
|
+ return [$x, $y];
|
|
|
+ }
|
|
|
+
|
|
|
+ private function metersToLatLng($x, $y)
|
|
|
+ {
|
|
|
+ $lng = $x / (self::EARTH_RADIUS * cos($y / self::EARTH_RADIUS));
|
|
|
+ $lat = $y / self::EARTH_RADIUS;
|
|
|
+
|
|
|
+ return [
|
|
|
+ 'lng' => $lng * (180 / M_PI),
|
|
|
+ 'lat' => $lat * (180 / M_PI)
|
|
|
+ ];
|
|
|
+ }
|
|
|
+
|
|
|
+ private function calculateDistance($point1, $point2)
|
|
|
+ {
|
|
|
+ $lat1 = $point1['lat'];
|
|
|
+ $lng1 = $point1['lng'];
|
|
|
+ $lat2 = $point2['lat'];
|
|
|
+ $lng2 = $point2['lng'];
|
|
|
+
|
|
|
+ $dLat = deg2rad($lat2 - $lat1);
|
|
|
+ $dLng = deg2rad($lng2 - $lng1);
|
|
|
+
|
|
|
+ $a = sin($dLat/2) * sin($dLat/2) +
|
|
|
+ cos(deg2rad($lat1)) * cos(deg2rad($lat2)) *
|
|
|
+ sin($dLng/2) * sin($dLng/2);
|
|
|
+ $c = 2 * atan2(sqrt($a), sqrt(1-$a));
|
|
|
+
|
|
|
+ return self::EARTH_RADIUS * $c;
|
|
|
+ }
|
|
|
+
|
|
|
+ public function printPathInfo($path)
|
|
|
+ {
|
|
|
+ echo "生成的优化航线路径:\n";
|
|
|
+ echo "总点数: " . count($path) . "\n\n";
|
|
|
+
|
|
|
+ $totalDistance = 0;
|
|
|
+ $pathSequence = [];
|
|
|
+ $intersectionCount = 0;
|
|
|
+ $avoidanceCount = 0;
|
|
|
+
|
|
|
+ for ($i = 0; $i < count($path); $i++) {
|
|
|
+ $point = $path[$i];
|
|
|
+ $name = isset($point['name']) ? $point['name'] : '起点/终点';
|
|
|
+ $type = isset($point['type']) ? " ({$point['type']})" : "";
|
|
|
+
|
|
|
+ echo ($i + 1) . ". {$name}{$type}\n";
|
|
|
+ echo " 经度: {$point['lng']}, 纬度: {$point['lat']}\n";
|
|
|
+
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ private function generateRandomPath()
|
|
|
+ {
|
|
|
+ $points = $this->points;
|
|
|
+ shuffle($points);
|
|
|
+
|
|
|
+ $path = [$this->startPoint];
|
|
|
+ foreach ($points as $point) {
|
|
|
+ $path[] = $point;
|
|
|
+ }
|
|
|
+ $path[] = $this->startPoint;
|
|
|
+
|
|
|
+ return $path;
|
|
|
+ }
|
|
|
+
|
|
|
+ private function calculatePathDistance($path)
|
|
|
+ {
|
|
|
+ $totalDistance = 0;
|
|
|
+ for ($i = 0; $i < count($path) - 1; $i++) {
|
|
|
+ $totalDistance += $this->calculateDistance($path[$i], $path[$i + 1]);
|
|
|
+ }
|
|
|
+ return $totalDistance;
|
|
|
+ }
|
|
|
+
|
|
|
+ public function visualizePath($path)
|
|
|
+ {
|
|
|
+ echo "\n路径可视化:\n";
|
|
|
+
|
|
|
+ $lngs = array_map(function($point) { return $point['lng']; }, $path);
|
|
|
+ $lats = array_map(function($point) { return $point['lat']; }, $path);
|
|
|
+
|
|
|
+ $minLng = min($lngs);
|
|
|
+ $maxLng = max($lngs);
|
|
|
+ $minLat = min($lats);
|
|
|
+ $maxLat = max($lats);
|
|
|
+
|
|
|
+ $width = 60;
|
|
|
+ $height = 20;
|
|
|
+
|
|
|
+ $grid = array_fill(0, $height, array_fill(0, $width, ' '));
|
|
|
+
|
|
|
+ foreach ($path as $index => $point) {
|
|
|
+ $x = (int)(($point['lng'] - $minLng) / ($maxLng - $minLng) * ($width - 1));
|
|
|
+ $y = (int)(($point['lat'] - $minLat) / ($maxLat - $minLat) * ($height - 1));
|
|
|
+
|
|
|
+ $char = '•';
|
|
|
+ if ($index === 0 || $index === count($path)-1) {
|
|
|
+ $char = 'S';
|
|
|
+ } elseif (isset($point['type'])) {
|
|
|
+ if ($point['type'] === 'no_fly_zone_intersection') {
|
|
|
+ $char = 'X';
|
|
|
+ } elseif ($point['type'] === 'high_voltage_intersection') {
|
|
|
+ $char = 'H';
|
|
|
+ } elseif ($point['type'] === 'no_fly_zone_avoidance') {
|
|
|
+ $char = 'A'; // 避让点
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ $grid[$y][$x] = $char;
|
|
|
+ }
|
|
|
+
|
|
|
+ $cx = (int)(($this->noFlyZone['center']['lng'] - $minLng) / ($maxLng - $minLng) * ($width - 1));
|
|
|
+ $cy = (int)(($this->noFlyZone['center']['lat'] - $minLat) / ($maxLat - $minLat) * ($height - 1));
|
|
|
+
|
|
|
+ $radius = 3;
|
|
|
+ for ($a = 0; $a < 2 * M_PI; $a += 0.1) {
|
|
|
+ $dx = (int)($radius * cos($a));
|
|
|
+ $dy = (int)($radius * sin($a));
|
|
|
+ if ($cx+$dx >= 0 && $cx+$dx < $width && $cy+$dy >= 0 && $cy+$dy < $height) {
|
|
|
+ $grid[$cy+$dy][$cx+$dx] = 'O';
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ $towers = $this->highVoltage['towers'];
|
|
|
+ for ($i = 0; $i < count($towers) - 1; $i++) {
|
|
|
+ $tower1 = $towers[$i];
|
|
|
+ $tower2 = $towers[$i + 1];
|
|
|
+
|
|
|
+ $x1 = (int)(($tower1['lng'] - $minLng) / ($maxLng - $minLng) * ($width - 1));
|
|
|
+ $y1 = (int)(($tower1['lat'] - $minLat) / ($maxLat - $minLat) * ($height - 1));
|
|
|
+ $x2 = (int)(($tower2['lng'] - $minLng) / ($maxLng - $minLng) * ($width - 1));
|
|
|
+ $y2 = (int)(($tower2['lat'] - $minLat) / ($maxLat - $minLat) * ($height - 1));
|
|
|
+
|
|
|
+ $grid[$y1][$x1] = 'T';
|
|
|
+ $grid[$y2][$x2] = 'T';
|
|
|
+
|
|
|
+ $this->drawLine($grid, $x1, $y1, $x2, $y2, '=');
|
|
|
+ }
|
|
|
+
|
|
|
+ for ($y = 0; $y < $height; $y++) {
|
|
|
+ for ($x = 0; $x < $width; $x++) {
|
|
|
+ echo $grid[$y][$x];
|
|
|
+ }
|
|
|
+ echo "\n";
|
|
|
+ }
|
|
|
+
|
|
|
+ echo "\n图例: S=起点/终点, •=航点, A=禁飞区避让点, X=禁飞区相交点, H=高压线相交点, O=禁飞区边界, T=高压线塔, ===高压线\n";
|
|
|
+ }
|
|
|
+
|
|
|
+ private function drawLine(&$grid, $x1, $y1, $x2, $y2, $char)
|
|
|
+ {
|
|
|
+ $dx = abs($x2 - $x1);
|
|
|
+ $dy = abs($y2 - $y1);
|
|
|
+ $sx = ($x1 < $x2) ? 1 : -1;
|
|
|
+ $sy = ($y1 < $y2) ? 1 : -1;
|
|
|
+ $err = $dx - $dy;
|
|
|
+
|
|
|
+ while (true) {
|
|
|
+ if ($grid[$y1][$x1] === ' ' || $grid[$y1][$x1] === '=') {
|
|
|
+ $grid[$y1][$x1] = $char;
|
|
|
+ }
|
|
|
+
|
|
|
+ if ($x1 == $x2 && $y1 == $y2) break;
|
|
|
+
|
|
|
+ $e2 = 2 * $err;
|
|
|
+ if ($e2 > -$dy) {
|
|
|
+ $err -= $dy;
|
|
|
+ $x1 += $sx;
|
|
|
+ }
|
|
|
+ if ($e2 < $dx) {
|
|
|
+ $err += $dx;
|
|
|
+ $y1 += $sy;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+// 使用示例
|
|
|
+$flightInput = [
|
|
|
+ "start_point" => ["lng" => 119.728918245, "lat" => 29.158205373],
|
|
|
+ "points" => [
|
|
|
+ ["name" => "航点1", "lng" => 119.731844828, "lat" => 29.155170432],
|
|
|
+ ["name" => "航点2", "lng" => 119.734061703, "lat" => 29.157567795],
|
|
|
+ ["name" => "航点3", "lng" => 119.731450602, "lat" => 29.163489386],
|
|
|
+ ["name" => "航点4", "lng" => 119.727492742, "lat" => 29.165032019],
|
|
|
+ ["name" => "航点5", "lng" => 119.727926162, "lat" => 29.162911848]
|
|
|
+ ],
|
|
|
+ "no_fly_zone" => [
|
|
|
+ "center" => ["lng" => 119.729029043, "lat" => 29.161302197],
|
|
|
+ "radius" => 200
|
|
|
+ ],
|
|
|
+ "high_voltage" => [
|
|
|
+ "towers" => [
|
|
|
+ ["lng" => 119.728687943, "lat" => 29.156864388],
|
|
|
+ ["lng" => 119.735076462, "lat" => 29.160592962]
|
|
|
+ ]
|
|
|
+ ]
|
|
|
+];
|
|
|
+
|
|
|
+// 创建航线生成器实例
|
|
|
+$flightGenerator = new OptimizedFlightPathGenerator($flightInput);
|
|
|
+
|
|
|
+// 生成优化航线
|
|
|
+$flightPath = $flightGenerator->generateOptimizedFlightPath();
|
|
|
+
|
|
|
+// 输出航线信息
|
|
|
+$flightGenerator->printPathInfo($flightPath);
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+?>
|
tongshanglei