CN112256050B - Unmanned aerial vehicle electromagnetic detection path planning method - Google Patents
Unmanned aerial vehicle electromagnetic detection path planning method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle electromagnetic detection path planning method, which comprises the following steps: according to the length and the position of the measuring line, surveying and selecting a take-off and landing point suitable for taking off and landing of the unmanned aerial vehicle; firstly, taking a first take-off and landing point as a reference, calculating the number of measurement sections which can fly from the starting point of a measurement line to the middle point of the measurement line of a connection line of the first take-off and landing point and the distance measured by each section; taking the first landing point as a measurement terminal point as a measurement starting point of a second landing point, and calculating the number of measurement sections which can fly at the second landing point and the distance measured by each section; and sequentially calculating the number of the measurement sections and the distance of each lifting point according to the method until the whole measuring line is finished, and finishing the path planning of the measuring line. According to the invention, an optimized detection path planning method is established according to the take-off and landing point, the survey line and the endurance time of the unmanned aerial vehicle, so that high-efficiency detection path parameters are obtained, and high-efficiency detection under the condition of complex terrain is realized.
Description
Technical Field
The invention relates to an electromagnetic detection path planning method for an unmanned aerial vehicle, and belongs to the technical field of electromagnetic detection of unmanned aerial vehicles.
Background
The total length of Sichuan-Tibet railways is nearly 1000 kilometers, wherein the tunnel accounts for more than 80%, and the lines cross the transverse mountains and cross the great rivers such as the great river, the elegant rice huller river, the billows river, the Jinshajiang river, the angjiang river and the like. The conditions of terrain and geological conditions along the line are complex, steep and severe, cold and oxygen deficiency, and the ground geophysical detection is extremely difficult, so that ground detection cannot be carried out in many places. The electromagnetic detection by using the unmanned aerial vehicle is an indispensable method for obtaining the electric structure of the Tibetan line.
In the electromagnetic detection process of the unmanned aerial vehicle, the flight speed is limited, the endurance time of the unmanned aerial vehicle is also limited, and when the exploration survey line is long, the unmanned aerial vehicle cannot take off in sequence to complete the survey line exploration task; the Sichuan and Tibet lines are high in mountain and great mountains, an unmanned aerial vehicle cannot take off and land at any position randomly, a proper take-off and landing point needs to be found, and the flight path planning of each take-off and landing point is crucial to ensure the safe return of the aircraft and ensure high-efficiency detection. An optimized path planning method must therefore be established.
Disclosure of Invention
The invention aims to provide a method for planning an electromagnetic detection path of an unmanned aerial vehicle, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
an unmanned aerial vehicle electromagnetic detection path planning method comprises the following steps:
1) surveying and selecting a take-off and landing point suitable for the take-off and landing of the unmanned aerial vehicle according to the length and the position of the measuring line;
2) firstly, taking a first rising and landing point as a reference, calculating the number of measurement sections which can fly from the starting point of the measurement line to the middle point of the measurement line of the connecting line of the first rising and landing point and the second rising and landing point and the distance measured by each section;
3) taking the measurement terminal point of the first landing point as the measurement starting point of the second landing point, and calculating the number of measurement sections which can fly at the second landing point and the distance measured by each section;
4) and sequentially calculating the number of the measurement sections and the distance of each lifting point according to the method until the whole measuring line is finished, and finishing the path planning of the measuring line.
Compared with the prior art, the invention has the beneficial effects that: according to the unmanned aerial vehicle detection method, an optimized detection path planning method is established according to the take-off and landing point, the survey line and the duration of the unmanned aerial vehicle, so that high-efficiency detection path parameters are obtained, and high-efficiency detection under the condition of complex terrain is realized.
Drawings
The invention discloses a detection system schematic diagram.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention.
As shown in fig. 1, the vertical distance between the take-off and landing point and the measuring line is: l is sl
The distance from the projection of the take-off and landing point on the measuring line to the starting point of the ith measuring section is as follows: l is smsi
The horizontal distance between the take-off and landing point and the starting point of the measuring line is as follows:
the ith segment of the measured distance is: l is mi
The horizontal distance from the terminal point of the ith measurement section to the take-off and landing point is as follows: l is sei
The height between the take-off and landing point and the flight route is as follows: h
The included angle between the connecting line of the take-off and landing point and the starting point of the ith measuring section and the measuring line is as follows:
according to the cosine theorem, there are: l is sei 2 ＝L ssi 2 +L mi 2 -2L ssi L mi cos(α ι )
The ascending speed of the unmanned aerial vehicle is as follows: v u
The landing speed of the unmanned aerial vehicle is as follows: v d
The unmanned aerial vehicle measuring speed is: v m
The unmanned aerial vehicle flying speed is as follows: v e
The time for the take-off and landing point to rise to the flying height is as follows:
the flying height landing time to the landing point is as follows:
the flight time from the flight height of the take-off and landing point to the starting point of the measuring line is as follows:
the flight time from the starting point of the ith measurement section to the flight height of the take-off and landing point is as follows:
the measurement time of the ith measurement period is as follows:
the endurance time of the unmanned aerial vehicle is as follows: t is t t
The ith measurement segment measures the total time:
1) according to the length and the position of the measuring line, surveying and selecting a take-off and landing point suitable for the take-off and landing of the unmanned aerial vehicle S1, S2 and S3 … …;
2) calculating L according to the coordinate of the measuring line and the coordinate of the lifting point sl 、L smsi 、L ssi 、α ι ；
3) Respectively calculating the ascending, descending, measuring and airborne flying time of each section of measurement according to the ascending, descending, measuring flying and airborne flying speeds of the unmanned aerial vehicle;
4) and obtaining the distance L of the ith measurement by solving simultaneous formulas 1 and 2 mi
L sei 2 ＝L ssi 2 +L mi 2 -2L ssi L mi cos(α ι ) (1)；
t t ＝t u +t d +t mi +t ssi +t sei (2)；
5) Taking the measurement end point of the ith section as the starting point of the measurement of the (i + 1) th section, and repeating the steps 1-4 to sequentially calculate the measurement distance of each section;
6) when the terminal Es1 of the jth measuring section reaches or exceeds a connecting line midpoint M12 of the 1 st rising and landing point S1 and the 2 nd rising and landing point S2 projected on the measuring line, finishing the flight measurement task planning of the first rising and landing point;
7) taking the measurement end point Es1 of the first lifting point as the measurement starting point of the second lifting point, repeating the steps 1-6, and sequentially calculating the distance of each measurement of the second lifting point;
8) taking the measurement end point Es2 of the second take-off and landing point as the measurement starting point of the third take-off and landing point, repeating the steps 1-6, and sequentially calculating the distance of each measurement of the third take-off and landing point;
9) and repeating the steps until the task planning of the last lifting point is finished, and finishing the path planning of the whole measuring line.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that variations, modifications, substitutions and alterations can be made in the embodiment without departing from the principles and spirit of the invention.
Claims (1)
1. An unmanned aerial vehicle electromagnetic detection path planning method is characterized by comprising the following steps:
1) according to the length and the position of the measuring line, surveying and selecting a take-off and landing point suitable for the take-off and landing of the unmanned aerial vehicle;
2) firstly, taking a first rising and landing point as a reference, calculating the number of measurement sections which can fly from the starting point of the measurement line to the middle point of the measurement line of the connecting line of the first rising and landing point and the second rising and landing point and the distance measured by each section;
according to the coordinates of the measuring line and the coordinates of the lifting point, calculating the vertical distance between the lifting point and the measuring line, the projection distance of the lifting point on the measuring line from the starting point of the ith measuring section, the horizontal distance between the lifting point and the starting point of the measuring line, and the included angle between the connecting line of the lifting point and the starting point of the ith measuring section and the measuring line;
respectively calculating the ascending, descending, measuring and airborne flying time of each section of measurement according to the ascending, descending, measuring flying and airborne flying speeds of the unmanned aerial vehicle; calculating to obtain the measurement distance of the ith section;
taking the measurement end point of the ith section as the starting point of the measurement of the (i + 1) th section, and sequentially calculating the measurement distance of each section;
when the terminal point of the jth measurement section reaches or exceeds the midpoint of a connecting line of the 1 st take-off and landing point and the 2 nd take-off and landing point projected on the measurement line, finishing the flight measurement task planning of the first take-off and landing point;
3) taking the measurement terminal point of the first landing point as the measurement starting point of the second landing point, and calculating the number of measurement sections which can fly at the second landing point and the distance measured by each section;
4) and sequentially calculating the number of the measurement sections and the distance of each lifting point according to the method until the whole measuring line is finished, and finishing the path planning of the measuring line.
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Citations (6)
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| CN105549619A (en) * | 2016-02-03 | 2016-05-04 | 苏州大势智慧信息科技有限公司 | Multi-rising-and-landing-point course planning method used for cruising power of unmanned aircraft |
| CN107515003A (en) * | 2017-07-19 | 2017-12-26 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | A kind of method for planning the aircraft patrolling power transmission lines line of flight |
| CN108491962A (en) * | 2018-03-07 | 2018-09-04 | 华北水利水电大学 | Fixed-wing unmanned plane mountain area landing point selecting system and its choosing method |
| CN108594847A (en) * | 2018-03-27 | 2018-09-28 | 广东电网有限责任公司 | A kind of autocontrol method of power transmission line unmanned machine laser radar modeling |
| CN109543994A (en) * | 2018-11-20 | 2019-03-29 | 广东电网有限责任公司 | A kind of unmanned plane dispositions method and device |
| CN109828599A (en) * | 2019-01-08 | 2019-05-31 | 苏州极目机器人科技有限公司 | Aircraft working path planing method and control device and control equipment |
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- 2020-09-01 CN CN202010902520.7A patent/CN112256050B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105549619A (en) * | 2016-02-03 | 2016-05-04 | 苏州大势智慧信息科技有限公司 | Multi-rising-and-landing-point course planning method used for cruising power of unmanned aircraft |
| CN107515003A (en) * | 2017-07-19 | 2017-12-26 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | A kind of method for planning the aircraft patrolling power transmission lines line of flight |
| CN108491962A (en) * | 2018-03-07 | 2018-09-04 | 华北水利水电大学 | Fixed-wing unmanned plane mountain area landing point selecting system and its choosing method |
| CN108594847A (en) * | 2018-03-27 | 2018-09-28 | 广东电网有限责任公司 | A kind of autocontrol method of power transmission line unmanned machine laser radar modeling |
| CN109543994A (en) * | 2018-11-20 | 2019-03-29 | 广东电网有限责任公司 | A kind of unmanned plane dispositions method and device |
| CN109828599A (en) * | 2019-01-08 | 2019-05-31 | 苏州极目机器人科技有限公司 | Aircraft working path planing method and control device and control equipment |
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