CN113784284A - Electronic fence avoiding method for fixed-wing unmanned aerial vehicle - Google Patents
Electronic fence avoiding method for fixed-wing unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention discloses a fixed wing unmanned aerial vehicle electronic fence avoiding method, which comprises the following steps: step 1, setting an electronic fence shape, wherein the electronic fence shape is used for describing the use range of an effective airspace of an unmanned aerial vehicle according to the use requirements and limitations of the airspace; step 2, detecting the touch of the electronic fence, namely calculating whether the unmanned aerial vehicle touches or is about to touch the electronic fence according to the current longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the shape of the electronic fence and by combining the flight speed and the course of the unmanned aerial vehicle; step 3, the electronic fence evading strategy comprises the following steps: when the unmanned aerial vehicle is about to touch the electronic fence, the electronic fence avoiding strategy is started, and the unmanned aerial vehicle selects a reasonable position to hover to wait for a ground station instruction, so that the unmanned aerial vehicle is prevented from flying out of the electronic fence. The embodiment of the invention solves the problem that the existing electronic fence technology is not suitable for a fixed-wing unmanned aerial vehicle due to the avoidance mode facing the rotor unmanned aerial vehicle with fixed-point hovering and vertical landing capabilities.
Description
Technical Field
The invention relates to the technical field of flight management and control of fixed-wing unmanned aerial vehicles, in particular to an electronic fence avoiding method for a fixed-wing unmanned aerial vehicle.
Background
The light small-sized military and civil unmanned aerial vehicle has wide application range, larger detection difficulty and difficult management restraint, and the dangerous behaviors of ' invading an airport ', interfering civil aviation flight ' and the like of the light small-sized unmanned aerial vehicle appear from time to time, thereby causing great challenge to the management of airspace.
Under above-mentioned light small-size unmanned aerial vehicle uses the background, the space electronic fence technique that adopts longitude, latitude and altitude information to constitute is unmanned aerial vehicle in the use and the important constraint rule of operation, and this electronic fence technique can effectively restrict unmanned aerial vehicle flight airspace scope, guarantees airspace safety, avoids airspace conflict.
The existing electronic fence technology is mainly used for the rotor unmanned aerial vehicle, the electronic fence avoiding capability is realized quickly and conveniently by the aid of the fixed-point hovering and vertical landing capability, and the fixed-wing unmanned aerial vehicle does not have the fixed-point hovering and landing capability, so that higher technical requirements are provided for electronic fence avoiding.
Disclosure of Invention
The purpose of the invention is as follows: the embodiment of the invention provides an electronic fence avoiding method for a fixed-wing unmanned aerial vehicle, and aims to solve the problem that the existing electronic fence technology is not suitable for the fixed-wing unmanned aerial vehicle due to the fact that an avoiding mode is oriented to a rotor unmanned aerial vehicle with fixed-point hovering and vertical landing capabilities.
The technical scheme of the invention is as follows:
the embodiment of the invention provides a fixed wing unmanned aerial vehicle electronic fence avoiding method, which comprises the following steps:
step 1, setting an electronic fence shape, wherein the electronic fence shape is used for describing the use range of an effective airspace of an unmanned aerial vehicle according to the use requirements and limitations of the airspace;
step 2, detecting the touch of the electronic fence, namely calculating whether the unmanned aerial vehicle touches or is about to touch the electronic fence according to the current longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the shape of the electronic fence and by combining the flight speed and the course of the unmanned aerial vehicle;
Optionally, in the method for avoiding electronic fence of fixed-wing drone, step 1 includes:
fence waypoints set and uploaded by a ground station to describe fence shapes and boundaries, the fence shapes comprising:
the circular fence area is described by longitude and latitude coordinates and radius of a circular fence waypoint;
the quasi-circular fence area is described by adopting longitude and latitude coordinates and major and minor axis radiuses of an elliptical fence waypoint;
and in the polygonal fence area, a plurality of common fence waypoints are adopted, the fence waypoints are sequentially connected to form a fence navigation section, and the continuous fence navigation section forms a closed polygonal electronic fence area.
Optionally, in the method for avoiding electronic fence of fixed-wing drone, the logic for detecting electronic fence touch is preset with an electronic fence warning Flag Waring _ Flag and an electronic fence avoidance Flag Void _ Flag, and the step 2 includes:
step 21, initializing a Warning Flag Warning _ Flag to be 0 and an avoidance Flag Void _ Flag to be 0 by the unmanned aerial vehicle in the electronic fence, and setting an early Warning distance and an avoidance distance to form an early Warning line and an avoidance line of the electronic fence;
step 22, when the unmanned aerial vehicle is in the electronic fence and the electronic fence is in a circular fence area, calculating the axial distance from the unmanned aerial vehicle to the edge of the circular fence area in the cruising flight stage of the unmanned aerial vehicle according to the current longitude and latitude coordinates of the unmanned aerial vehicle; judging to execute an electronic fence evasion strategy or only give an alarm according to the axial distance;
step 23, when the unmanned aerial vehicle is in the electronic fence and the electronic fence is in a polygonal fence area, in the cruising flight stage of the unmanned aerial vehicle, calculating the lateral offset distance between the unmanned aerial vehicle and each fence flight section, the distance to be flown by the unmanned aerial vehicle relative to the fence flight section and the length of the fence flight section according to the current longitude and latitude coordinates of the unmanned aerial vehicle; judging to execute an electronic fence evading strategy or only give an alarm according to the lateral offset distance or the relative distance between the unmanned aerial vehicle and the fence waypoint;
and 24, when the unmanned aerial vehicle is outside the electronic fence and the Warning Flag Warning _ Flag is set to be 1 and the avoidance Flag Void _ Flag is set to be 1, executing the electronic fence avoidance strategy.
Optionally, in the method for avoiding the electronic fence of the fixed-wing drone, in step 22, determining to execute an electronic fence avoidance policy or only give an alarm according to the size of the axial distance includes:
when the axial distance is smaller than the avoidance distance Void _ Dis, setting a warning Flag to be Waring _ Flag to be 1, setting the avoidance Flag Void _ Flag to be 1, and executing the electronic fence avoidance strategy;
when the axial distance is smaller than the early Warning distance Warning _ Dis, setting a Warning Flag as Warning _ Flag to be 1, setting an avoidance Flag Void _ Flag to be 0, only giving an alarm, and not executing the electronic fence avoidance strategy.
Optionally, in the method for avoiding an electronic fence of a fixed-wing drone, in step 23, determining to execute an electronic fence avoidance maneuver or only perform an alarm according to a lateral offset distance or a relative distance between the drone and a fence waypoint includes:
when the lateral offset distance is smaller than the avoidance distance Void _ Dis and the distance to be flown of the fence navigation section is between 0 and the length of the fence navigation section; or when the distance between the current position of the unmanned aerial vehicle and any one fence waypoint is less than the avoidance distance Void _ Dis, setting the warning Flag to Waring _ Flag to be 1, setting the avoidance Flag to be 1, and executing the electronic fence avoidance strategy;
when the lateral deviation distance is smaller than the early Warning distance Warning _ Dis, and the distance to be flown of the fence navigation section is between 0 and the length of the fence navigation section; or when the distance between the current position of the unmanned aerial vehicle and any one fence waypoint is less than the early Warning distance Warning _ Dis, setting the Warning Flag to be Warning _ Flag equal to 1, setting the avoidance Flag to be Void _ Flag equal to 0, and only giving an alarm and not executing the electronic fence avoidance strategy.
Optionally, in the method for avoiding electronic fence of fixed-wing drone, step 3 includes:
step 31, when the avoidance flag is 1, confirming that the unmanned aerial vehicle executes the electronic fence avoidance strategy;
step 32, generating a circle center point for circling waiting based on the shape of the electronic fence, the early warning distance and the avoidance distance, and forming a circle route for circling waiting according to the circle center point for circling waiting and a preset circling radius;
and step 33, the unmanned aerial vehicle flies to the intersection point or the nearest tangent point of the circle hovering waiting route and the early warning line from the current position and enters the circle hovering waiting route.
Optionally, in the method for avoiding electronic fence of fixed-wing drone, after step 33, the method further includes:
and the unmanned aerial vehicle receives the task instruction sent by the ground station, executes the corresponding task and exits from avoidance.
Optionally, in the method for avoiding electronic fence of fixed-wing drone, the method further includes:
when the unmanned aerial vehicle is detected to touch or is about to touch the electronic fence in the step 2, the ground station prompts and warns the operator.
The invention has the advantages that: according to the electronic fence avoidance method for the fixed-wing unmanned aerial vehicle, provided by the embodiment of the invention, aiming at the limitation of the flight airspace of the fixed-wing unmanned aerial vehicle, the flight airspace of the unmanned aerial vehicle is limited by setting a reasonable and effective electronic fence area range shape and avoidance strategy, the use safety of the airspace is ensured, and the use conflict of the airspace is avoided. By adopting the technical scheme of the embodiment of the invention, the fixed wing unmanned aerial vehicle without fixed-point hovering and vertical landing can be effectively managed, the flight airspace range of the unmanned aerial vehicle is limited, the safety of the flight airspace is ensured, sufficient processing and reaction time is reserved for a ground station, the airspace can be reasonably used, and the airspace use conflict is avoided. .
Description of the drawings:
fig. 1 is a flowchart of an electronic fence avoidance method for a fixed-wing drone according to an embodiment of the present invention;
FIG. 2 is a schematic view of the configuration of an electronic fence according to an embodiment of the present invention, wherein a circular electronic fence is illustrated in FIG. 2a and a polygonal electronic fence is illustrated in FIG. 2 b;
fig. 3 is a schematic diagram illustrating an execution principle of an electronic fence avoidance maneuver according to an embodiment of the present invention, where fig. 3a illustrates an avoidance maneuver of a circular electronic fence, fig. 3b illustrates a polygonal electronic fence avoidance maneuver case 1, and fig. 3c illustrates a polygonal electronic fence avoidance maneuver case 2.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
It has been explained in the above-mentioned background art that the electronic fence technique is more to rotor unmanned aerial vehicle, and it has the fixed point ability of hovering and descending perpendicularly, and the evasion of realization electronic fence that can be swift convenient. Because fixed wing uavs do not possess the fixed point and hover and the ability of descending, consequently, above-mentioned fence technique is not applicable to fixed wing uavs.
Meanwhile, along with the wider application range of the fixed-wing unmanned aerial vehicle, the electronic fence technical requirements for the fixed-wing unmanned aerial vehicle are more and more urgent. Therefore, the embodiment of the invention provides an electronic fence avoidance technology for a fixed-wing unmanned aerial vehicle, and electronic fence constraint of the fixed-wing unmanned aerial vehicle is realized.
The following specific embodiments of the present invention may be combined, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 1 is a flowchart of a fixed-wing drone electronic fence avoidance method according to an embodiment of the present invention. The fixed wing unmanned plane-free electronic fence avoiding method provided by the embodiment of the invention comprises the following steps:
step 1, setting an electronic fence shape, and setting the electronic fence shape according to the airspace use requirements and limitations for describing the effective airspace use range of the unmanned aerial vehicle.
And 2, detecting the touch of the electronic fence, namely calculating whether the unmanned aerial vehicle touches or is about to touch the electronic fence according to the current longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the shape of the electronic fence and by combining the flight speed and the course of the unmanned aerial vehicle.
The step 2 of "touching the electronic fence soon" includes: if the vehicle flies in the current heading, the vehicle touches the electronic fence within a preset time (for example, 2 seconds).
In an embodiment of the present invention, the specific implementation manner of step 1 may include:
fence waypoints set and uploaded by a ground station to describe fence shapes and boundaries, the fence shapes comprising:
description of form 1: the circular fence area is described by longitude and latitude coordinates and radius of a circular fence waypoint;
description form 2: the quasi-circular fence area is described by adopting longitude and latitude coordinates and major and minor axis radiuses of an elliptical fence waypoint;
description form 3: and in the polygonal fence area, a plurality of common fence waypoints are adopted, the fence waypoints are sequentially connected to form a fence navigation section, and the continuous fence navigation section forms a closed polygonal electronic fence area.
In step 2 of the embodiment of the invention, an electronic fence warning Flag Waring _ Flag and an electronic fence evasion Flag Void _ Flag are preset in logic for electronic fence touch detection; accordingly, the specific implementation logic of step 2 in the embodiment of the present invention may include:
step 21, initializing a Warning Flag Warning _ Flag to be 0 and an avoidance Flag Void _ Flag to be 0 by the unmanned aerial vehicle in the electronic fence, and setting an early Warning distance and an avoidance distance to form an early Warning line and an avoidance line of the electronic fence;
step 22, when the unmanned aerial vehicle is in the electronic fence and the electronic fence is in a circular fence area, calculating the axial distance from the unmanned aerial vehicle to the edge of the circular fence area in the cruising flight stage of the unmanned aerial vehicle according to the current longitude and latitude coordinates of the unmanned aerial vehicle; judging to execute the electronic fence evading strategy or only give an alarm according to the axial distance;
step 23, when the unmanned aerial vehicle is in the electronic fence and the electronic fence is in a polygonal fence area, in the cruising flight stage of the unmanned aerial vehicle, calculating the lateral offset distance between the unmanned aerial vehicle and each fence flight section, the distance to be flown by the unmanned aerial vehicle relative to the fence flight section and the length of the fence flight section according to the current longitude and latitude coordinates of the unmanned aerial vehicle; judging to execute an electronic fence evading strategy or only give an alarm according to the lateral offset distance or the relative distance between the unmanned aerial vehicle and the fence waypoint;
and 24, when the unmanned aerial vehicle is outside the electronic fence and the Warning Flag Warning _ Flag is set to be 1 and the avoidance Flag Void _ Flag is set to be 1, executing the electronic fence avoidance strategy.
In step 22 of the embodiment of the present invention, determining, according to the magnitude of the axial distance, a logic processing manner for executing an electronic fence avoidance policy or only performing an alarm may include:
when the axial distance is smaller than the avoidance distance Void _ Dis, setting a warning Flag to be Waring _ Flag to be 1, setting the avoidance Flag Void _ Flag to be 1, and executing the electronic fence avoidance strategy;
when the axial distance is smaller than the early Warning distance Warning _ Dis, setting a Warning Flag as Warning _ Flag to be 1, setting an avoidance Flag Void _ Flag to be 0, only giving an alarm, and not executing the electronic fence avoidance strategy.
In step 23 of the embodiment of the present invention, determining, according to the lateral offset distance or the relative distance between the unmanned aerial vehicle and the fence waypoint, a logic processing manner for executing the fence evading policy or only giving an alarm may include:
when the lateral offset distance is smaller than the avoidance distance Void _ Dis and the distance to be flown of the fence navigation section is between 0 and the length of the fence navigation section; or when the distance between the current position of the unmanned aerial vehicle and any one fence waypoint is less than the avoidance distance Void _ Dis, setting the warning Flag to Waring _ Flag to be 1, setting the avoidance Flag to be 1, and executing the electronic fence avoidance strategy;
when the lateral deviation distance is smaller than the early Warning distance Warning _ Dis, and the distance to be flown of the fence navigation section is between 0 and the length of the fence navigation section; or when the distance between the current position of the unmanned aerial vehicle and any one fence waypoint is less than the early Warning distance Warning _ Dis, setting the Warning Flag to be Warning _ Flag equal to 1, setting the avoidance Flag to be Void _ Flag equal to 0, and only giving an alarm and not executing the electronic fence avoidance strategy.
In an embodiment of the present invention, the implementation manner of step 3 may include:
step 31, when the avoidance flag is 1, confirming that the unmanned aerial vehicle executes the electronic fence avoidance strategy;
step 32, generating a circle center point for circling waiting based on the shape of the electronic fence, the early warning distance and the avoidance distance, and forming a circle route for circling waiting according to the circle center point for circling waiting and a preset circling radius;
and step 33, the unmanned aerial vehicle flies to the intersection point or the nearest tangent point of the circle hovering waiting route and the early warning line from the current position and enters the circle hovering waiting route.
Further, after step 33, the embodiment of the present invention may further include:
and the unmanned aerial vehicle receives the task instruction sent by the ground station, executes the corresponding task and exits from avoidance.
Further, in the embodiment of the present invention, the method may further include:
and 4, prompting and warning of the electronic fence, wherein the specific implementation mode of the step is as follows:
when the unmanned aerial vehicle is detected to touch or is about to touch the electronic fence in the step 2, the ground station prompts and warns the operator.
According to the electronic fence avoidance method for the fixed-wing unmanned aerial vehicle, provided by the embodiment of the invention, aiming at the limitation of the flight airspace of the fixed-wing unmanned aerial vehicle, the flight airspace of the unmanned aerial vehicle is limited by setting a reasonable and effective electronic fence area range shape and avoidance strategy, so that the use safety of the airspace is ensured, and the use conflict of the airspace is avoided. By adopting the technical scheme of the embodiment of the invention, the fixed wing unmanned aerial vehicle without fixed-point hovering and vertical landing can be effectively managed, the flight airspace range of the unmanned aerial vehicle is limited, the safety of the flight airspace is ensured, sufficient processing and reaction time is reserved for a ground station, the airspace can be reasonably used, and the airspace use conflict is avoided.
The following describes in detail embodiments of a method for avoiding an electronic fence of a fixed-wing drone according to embodiments of the present invention with some specific embodiments.
In this embodiment, the electronic fence is implemented by two layers: a route planning layer and an airborne flight management layer. The electronic fence function of the air route planning layer is realized on a ground station, and the electronic fence function of the airborne flight management layer is realized on an airborne flight control computer.
On one hand, for the plane of route planning, the routes are planned without allowing overlapping intersection with the electronic fence.
On the other hand, for the airborne flight management level, when the flight route is not in conflict with the electronic fence and the airplane is in a controllable state, the airplane can fly out of the electronic fence according to the flight route; but electronic fence constraint is required for other flight tasks except normal airline flight so as to ensure that the airplane does not fly out of the electronic fence when responding to a flight instruction issued by the ground station.
Referring to fig. 1, a technical solution of this embodiment is provided for the above airborne flight management level, and the electronic fence avoidance method includes the following 4 steps:
(1) the shape of the electronic fence is set as follows:
according to airspace operation requirement and restriction, set up reasonable effectual fence shape, including circular fence, protruding polygon fence, description unmanned aerial vehicle effective airspace application range.
(2) Touch detection of the electronic fence:
and calculating whether the airplane touches or is about to touch the electronic fence according to the current longitude and latitude of the unmanned plane and the longitude and latitude of the electronic fence shape and by combining the flight speed and the course of the unmanned plane, and providing reference for starting or not of subsequent avoidance strategies.
(3) Electronic fence avoidance strategy:
when the airplane is about to touch the electronic fence, the evasion strategy is started, and the unmanned aerial vehicle is in a circle at a reasonable position to wait for a ground station instruction, so that the airplane is prevented from flying out of the electronic fence.
(4) Prompt and warning of electronic fence:
and prompting and alarming are given at the ground station aiming at the early warning and evading behaviors of the electronic fence.
The following detailed description is made for the above 4 steps provided in this embodiment:
(1) the shape of the electronic fence is set as follows:
fig. 2 is a schematic view of the shape configuration of an electronic fence according to an embodiment of the present invention, in which fig. 2a illustrates a circular electronic fence, and fig. 2b illustrates a polygonal electronic fence, the inside of the electronic fence is a flight space, a flight path is located inside the electronic fence, and a shaded area is a no-fly area outside the electronic fence.
The shape of the electronic fence in this particular embodiment is configured to define the electronic fence range, limiting the flight boundaries of the drone. The user describes the electronic fence area by setting the fence waypoints, and the flight boundary of the airplane is represented, namely the airplane is not allowed to fly out of the fence area. The electronic fence area can be divided into several descriptive forms according to the fence waypoint attributes:
description of form 1: circular electronic fence: and describing by using longitude and latitude coordinates and radius of a round fence waypoint.
Description form 2: the quasi-circular fence area is described by adopting longitude and latitude coordinates and major and minor axis radiuses of an elliptical fence waypoint;
description form 3: polygonal electronic fence: a plurality of common fence navigation points (no more than 10) are adopted and are sequentially connected to form a fence navigation section, so that a closed polygonal electronic fence area is formed.
The setting and uploading of the fence waypoints are realized through a ground station, the ground station is allowed to upload and update the fence waypoints, and the ground station needs to check the standardization (such as convex polygons) of the polygonal fence; and loading a preset electronic fence during firmware upgrading according to the use requirement of the air management bureau.
(2) Touch detection of the electronic fence:
the touch detection function of the electronic fence in this embodiment is used to determine whether an airplane is flying out or about to fly out of the electronic fence. The detection logic for electronic fence touch is used for generating an electronic fence warning Flag Waring _ Flag and an electronic fence evasion Flag Void _ Flag, and the specific implementation logic is as follows:
1) the method comprises the steps that a system defaults that an airplane is in an electronic fence, a Warning mark Warning _ Flag is initialized to be 0, and an avoidance mark Void _ Flag is set to be 0; and defining the early Warning distance of the electronic fence as Warning _ Dis and the avoidance distance as Void _ Dis.
2) If the airplane is in the electronic fence and the electronic fence is a circular fence, in the cruising flight stage, calculating the axial distance DZ _ F1 from the airplane to the edge of the circular fence according to the current longitude and latitude coordinates of the airplane, and executing the following judgment:
a) and if one DZ _ F1 is smaller than the avoidance distance Void _ Dis, setting the warning Flag to Waring _ Flag to be 1, setting the avoidance Flag to be 1, and executing the electronic fence avoidance strategy.
b) Otherwise, if there is one DZ _ F1 smaller than the Warning distance Warning _ Dis, setting Warning Flag to Waring _ Flag to 1, setting avoidance Flag to Void _ Flag to 0, but not executing the avoidance maneuver.
3) If the airplane is in the electronic fence and the electronic fence is a convex polygonal fence, in a cruising flight stage, according to the current longitude and latitude coordinates of the airplane, calculating the side offset DZ _ F2 between the airplane and each fence flight segment, the distance to be flown of the airplane relative to the fence flight segment and the length of the fence flight segment, and executing the following judgment:
a) if at least one DZ _ F2 is smaller than the avoidance distance Void _ Dis and the distance to be flown of the fence leg is between 0 and the length of the fence leg; or if the distance between the current position of the airplane and any one fence waypoint is less than the avoidance distance Void _ Dis, setting the warning Flag to Waring _ Flag to be 1, setting the avoidance Flag Void _ Flag to be 1, and executing the electronic fence avoidance strategy.
b) Otherwise, if at least one DZ _ F2 is smaller than the Warning distance Warning _ Dis and the distance to be flown of the fence segment is between 0 and the length of the fence segment; or if the distance between the current position of the airplane and any one fence waypoint is less than the early Warning distance Warning _ Dis, setting the Warning Flag to be Warning _ Flag equal to 1, setting the avoidance Flag to be Void _ Flag equal to 0, and not executing the electronic fence avoidance strategy.
4) And if the airplane is outside the electronic fence, setting the warning Flag to Waring _ Flag to be 1, setting the avoidance Flag to be 1, and executing the electronic fence avoidance logic.
(3) Electronic fence avoidance strategy:
fig. 3 is a schematic diagram illustrating an implementation principle of an electronic fence avoidance maneuver according to an embodiment of the present invention, where fig. 3a illustrates an avoidance maneuver of a circular electronic fence, fig. 3b illustrates a polygonal electronic fence avoidance maneuver case 1, fig. 3c illustrates a polygonal electronic fence avoidance maneuver case 2, a shaded portion represents a no-fly zone outside the electronic fence, and a circle represents a trajectory of an unmanned aerial vehicle for avoiding a hovering and waiting flight.
The electronic fence avoiding strategy in the embodiment is used for ensuring that the unmanned aerial vehicle is about to fly out of the electronic fence, and automatically avoiding the electronic fence and avoiding a flying boundary by controlling the flight course of the unmanned aerial vehicle. If the avoidance Flag is Void _ Flag ═ 1, executing electronic fence avoidance logic, and implementing the following specific embodiment:
1) if the electronic fence is a circular fence, the unmanned aerial vehicle uses the initial position A at the moment of entering the avoidance maneuver as the radius intersection arc of the circular fence at the point B, and determines the point C (in the electronic fence) which is along the elongation direction of BA and is away from the point B by the length of Warning _ Dis as the circle center point of hovering waiting, as shown in (a) of FIG. 3.
2) If the electronic fence is a polygonal fence, the unmanned aerial vehicle intersects the point B with a perpendicular line which is used as the nearest fence navigation segment at the initial position A when the unmanned aerial vehicle enters the avoidance strategy, determines a point C (in the electronic fence) which is along the extending direction of BA and is away from the point B by the length of Warning _ Dis as a standby circle center point, and judges as follows:
a) if the point C is not within the early Warning distance (Warning _ Dis) of any adjacent segment of the current avoidance segment, taking the point C as a circle center point, as shown in b in FIG. 3;
b) otherwise, namely the point C is located in the early Warning distance (Warning _ Dis) of any adjacent flight segment (5-4) of the current avoidance flight segment (3-4), and the point P of the intersection point of the early Warning line of the current avoidance flight segment and the adjacent flight segment is taken as a circle center point for circle waiting, as shown in C in FIG. 3.
In the specific implementation, a spiral waiting circular route is formed according to a spiral waiting central point and a preset spiral radius R.
3) The unmanned aerial vehicle flies to the intersection point or the nearest tangent point of the circle flight path and the early warning line in a hovering and waiting mode from the current position; the specific implementation mode is as follows: and cutting into a circle of hovering waiting route in a straight line flying mode, setting the hovering radius to be R, setting the coordinates of a center point of the circle of hovering waiting to be point longitude and latitude coordinates, setting the altitude instruction to be the altitude of the airplane entering the hovering avoiding moment, setting the speed instruction to be the cruising speed, judging the hovering direction according to the current direction of the airplane relative to the direction of the vertical line CB, and rotating the airplane for a small circle to be nearly hovering.
4) And executing the corresponding task until receiving a task instruction sent by the ground station, and quitting avoiding.
(4) Prompt and warning of electronic fence:
when the airplane flies out or is about to fly out of the electronic fence, the ground station gives prompt and warning to operators.
1) The ground station receives that the warning mark of the electronic fence is Waring _ Flag 1, and a warning mark bullet frame (for example, displayed in yellow) should be popped up;
2) after seeing the pop-up warning mark bullet frame (yellow), ground station operators should operate through ground station instructions as soon as possible to enable the airplane to be far away from the electronic fence;
3) the ground station receives that the electronic fence avoidance Flag is Void _ Flag equal to 1, and should pop up an avoidance Flag box (for example, displayed in red);
4) after seeing the avoidance marker bullet frame (red), ground station operators should select proper time (the current course of the airplane is far away from the electronic fence or enters a spiral waiting stage) according to the current airplane state to issue proper ground station instructions and exit the avoidance logic.
5) The ground station should display the navigation sections of the electronic fence area, avoid the distance dotted line prompting area and warn the distance dotted line prompting area.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A fixed wing unmanned aerial vehicle electronic fence avoiding method is characterized by comprising the following steps:
step 1, setting an electronic fence shape, wherein the electronic fence shape is used for describing the use range of an effective airspace of an unmanned aerial vehicle according to the use requirements and limitations of the airspace;
step 2, detecting the touch of the electronic fence, namely calculating whether the unmanned aerial vehicle touches or is about to touch the electronic fence according to the current longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the shape of the electronic fence and by combining the flight speed and the course of the unmanned aerial vehicle;
step 3, the electronic fence evading strategy comprises the following steps: when the unmanned aerial vehicle is about to touch the electronic fence, the electronic fence avoiding strategy is started, and the unmanned aerial vehicle is in a circle at a reasonable position to wait for a ground station instruction, so that the unmanned aerial vehicle can be prevented from flying out of the electronic fence.
2. The fixed-wing drone electronic fence avoidance method of claim 1, wherein said step 1 comprises:
fence waypoints set and uploaded by a ground station to describe fence shapes and boundaries, the fence shapes comprising:
the circular fence area is described by longitude and latitude coordinates and radius of a circular fence waypoint;
the quasi-circular fence area is described by adopting longitude and latitude coordinates and major and minor axis radiuses of an elliptical fence waypoint;
and in the polygonal fence area, a plurality of common fence waypoints are adopted, the fence waypoints are sequentially connected to form a fence navigation section, and the continuous fence navigation section forms a closed polygonal electronic fence area.
3. The method for avoiding electronic fence of fixed-wing drone according to claim 2, wherein an electronic fence warning Flag Waring _ Flag and an electronic fence avoiding Flag Void _ Flag are preset in the logic for electronic fence touch detection, and the step 2 includes:
step 21, initializing a Warning Flag Warning _ Flag to be 0 and an avoidance Flag Void _ Flag to be 0 by the unmanned aerial vehicle in the electronic fence, and setting an early Warning distance and an avoidance distance to form an early Warning line and an avoidance line of the electronic fence;
step 22, when the unmanned aerial vehicle is in the electronic fence and the electronic fence is in a circular fence area, calculating the axial distance from the unmanned aerial vehicle to the edge of the circular fence area in the cruising flight stage of the unmanned aerial vehicle according to the current longitude and latitude coordinates of the unmanned aerial vehicle; judging to execute an electronic fence evasion strategy or only give an alarm according to the axial distance;
step 23, when the unmanned aerial vehicle is in the electronic fence and the electronic fence is in a polygonal fence area, in the cruising flight stage of the unmanned aerial vehicle, calculating the lateral offset distance between the unmanned aerial vehicle and each fence flight section, the distance to be flown by the unmanned aerial vehicle relative to the fence flight section and the length of the fence flight section according to the current longitude and latitude coordinates of the unmanned aerial vehicle; judging to execute an electronic fence evading strategy or only give an alarm according to the lateral offset distance or the relative distance between the unmanned aerial vehicle and the fence waypoint;
and 24, when the unmanned aerial vehicle is outside the electronic fence and the Warning Flag Warning _ Flag is set to be 1 and the avoidance Flag Void _ Flag is set to be 1, executing the electronic fence avoidance strategy.
4. The method as claimed in claim 3, wherein the step 22 of determining whether to execute an electronic fence avoidance maneuver or only give an alarm according to the axial distance includes:
when the axial distance is smaller than the avoidance distance Void _ Dis, setting a warning Flag to be Waring _ Flag to be 1, setting the avoidance Flag Void _ Flag to be 1, and executing the electronic fence avoidance strategy;
when the axial distance is smaller than the early Warning distance Warning _ Dis, setting a Warning Flag as Warning _ Flag to be 1, setting an avoidance Flag Void _ Flag to be 0, only giving an alarm, and not executing the electronic fence avoidance strategy.
5. The method as claimed in claim 3, wherein the step 23 of determining whether to execute the fence avoidance maneuver or only give an alarm according to the lateral offset distance or the relative distance between the drone and the fence waypoint comprises:
when the lateral offset distance is smaller than the avoidance distance Void _ Dis and the distance to be flown of the fence navigation section is between 0 and the length of the fence navigation section; or when the distance between the current position of the unmanned aerial vehicle and any one fence waypoint is less than the avoidance distance Void _ Dis, setting the warning Flag to Waring _ Flag to be 1, setting the avoidance Flag to be 1, and executing the electronic fence avoidance strategy;
when the lateral deviation distance is smaller than the early Warning distance Warning _ Dis, and the distance to be flown of the fence navigation section is between 0 and the length of the fence navigation section; or when the distance between the current position of the unmanned aerial vehicle and any one fence waypoint is less than the early Warning distance Warning _ Dis, setting the Warning Flag to be Warning _ Flag equal to 1, setting the avoidance Flag to be Void _ Flag equal to 0, and only giving an alarm and not executing the electronic fence avoidance strategy.
6. The fixed-wing drone electronic fence avoidance method of claim 3, wherein said step 3 comprises:
step 31, when the avoidance flag is 1, confirming that the unmanned aerial vehicle executes the electronic fence avoidance strategy;
step 32, generating a circle center point for circling waiting based on the shape of the electronic fence, the early warning distance and the avoidance distance, and forming a circle route for circling waiting according to the circle center point for circling waiting and a preset circling radius;
and step 33, the unmanned aerial vehicle flies to the intersection point or the nearest tangent point of the circle hovering waiting route and the early warning line from the current position and enters the circle hovering waiting route.
7. The fixed-wing drone electronic fence avoidance method of claim 6, further comprising, after said step 33:
and the unmanned aerial vehicle receives the task instruction sent by the ground station, executes the corresponding task and exits from avoidance.
8. The fixed-wing drone electronic fence avoidance method of any of claims 1-7, further comprising:
step 4, prompting and warning of the electronic fence comprises the following steps:
when the unmanned aerial vehicle is detected to touch or is about to touch the electronic fence in the step 2, the ground station prompts and warns the operator.
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