CN103543744A - Method for arranging aeromagnetic survey flight paths of unmanned airship - Google Patents
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Abstract
The invention discloses a method for arranging aeromagnetic survey flight paths of an unmanned airship. The method includes steps of (a), acquiring design survey line data and take-off and landing platform coordinates, selecting an initial design survey line and determining an entry point and a return point; (b), computing a total range D<t> according to an equation of D<t>=D<1>+D<2>+D<3>+D<4>; (c), selecting a next design survey line and adding the next design survey line into a flight path when the D<t> is smaller than a maximum range D<max>, and computing a new D<t>; (d), repeatedly carrying out the step (c) until the new D<t> is larger than the D<max>, reducing the length of the last added design survey line by delta d until the D<t> is smaller than or equal to the D<max>, completely generating the first flight path and storing the first flight path; (e), circularly repeatedly carrying out procedures from the step (b) to the step (d) on the basis of the first flight path until all design survey lines are used, and completely arranging all the flight paths. The method has the advantages that the flight paths are divided according to attributes, and the range is limited according to the attributes, so that the flight paths can be optimized, and the requirement on professional knowledge of operators can be lowered; the method is speedy, simple and convenient and is widely applicable to designing flight paths on flat areas and flight paths on complicated mountainous and offshore terrains and the like.
Description
Technical field
The present invention relates to unmanned plane flight course planning field, specifically a kind of method that is applied to quickly and easily unmanned airship airborne magnetic survey line of flight layout.
Background technology
Along with increasing of unmanned vehicle application, as risk averse and raise the efficiency a key factor---the design of the line of flight becomes the key step of implementing to measure and gathers, and has influence on efficiency, correctness, the security of surveying work.Yet for a lot of laymans, traditional flight-line design is too complicated, specialized.
Summary of the invention
The object of the invention is the defect for traditional hand-designed line of flight method, a kind of method that the unmanned airship airborne magnetic survey line of flight is arranged that is applied to is quickly and easily provided.
The object of the invention is to solve by the following technical programs:
The method that the unmanned airship airborne magnetic survey line of flight is arranged, is characterized in that the method realizes according to following steps:
(a), obtain design survey line data and landing level ground coordinate, selecting the length of outer most edge is D
iinitial designs survey line join design course line, and nearest end points is inlet point from landing level ground to select initial designs survey line, another end points of initial designs survey line called after makes a return voyage a little;
(b), calculate total voyage D
t=D
1+ D
2+ D
3+ D
4, D wherein
1for approach section length, landing level ground is to the distance of inlet point; D
2for all segment length summations that turn to; D
3for all profile section length summations; D
4for inbound leg length, make a return voyage and a little arrive the air line distance on landing level ground;
(c), suppose ultimate run D
max, work as D
t< D
maxtime select next design survey line to add course line, then the end points RNTO former called after of initial designs survey line being maked a return voyage a little turns out point, next design survey line turns in a little from turning out a little nearest end points called after, and another end points called after of next design survey line makes a return voyage a little, calculates new D
t;
(d), repeating step (c) is until new D
t> D
max, the design survey line contraction in length Δ d finally adding, wherein
if shorten the D after the design survey line length finally adding
t> D
max, the design survey line length finally adding continues to shorten Δ d until D
t≤ D
max, record shortens the some position of aft terminal and confirms that this point designs making a return voyage a little of course line for article one, and article one airline generation finishes, preservation;
(e), making a return voyage of article one course line of definition is some the inlet point in second course line, the design survey line other end at inlet point place, second course line called after makes a return voyage a little, is cycled to repeat step (b) to step (d) until all design surveys line are used up the layout that completes thru-flight course line.
Making a return voyage in described step (c) is a little another end points of initial designs survey line and the D now calculating
t> D
maxtime, initial designs survey line contraction in length Δ d is until D
t≤ D
max, record shortens the position of aft terminal and confirms that this point designs making a return voyage a little of course line for article one, and article one airline generation finishes, preservation.
In described step (b), turn to Duan Zhicong to turn out a little to fly out the distance a little that turns in that arrives next design survey line, design interval of survey line is h, and wall scroll turns to segment length to be
if current, having added design survey line number is n bar, and turning to hop count amount is n-1 bar, final
Profile section in described step (b) refers to from inlet point or turns in along the through distance that turns out a little or make a return voyage a little of design line direction navigation,
The present invention has the following advantages compared to existing technology:
The invention by the line of flight by the actual flight state of unmanned airship in practical flight and flight requirement be divided into approach section, profile section, the section of turning to, inbound leg, course line is set in information summary analysis in conjunction with different phase, can fully ensure flight safety, reduce invalid flying distance, also can meet the requirement to state of flight in production.
The present invention considers landform, meteorology etc. on the impact of flight and using these conditions as Computer Automatic Recognition, and the dependence to people while having reduced former course line layout, has also reduced the requirement to professional knowledge, has improved greatly work efficiency.
Accompanying drawing explanation
Accompanying drawing 1 is the node pie graph of the design line of flight of the present invention;
Accompanying drawing 2 is the segmentation pie graph of the design line of flight of the present invention;
Accompanying drawing 3 is that schematic diagram is arranged in the course line in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is further illustrated.
As shown in Figure 1-2: a kind of method that the unmanned airship airborne magnetic survey line of flight is arranged, the method realizes according to following steps: (a), obtain design survey line data and landing level ground coordinate, selecting the length of outer most edge is D
iinitial designs survey line join design course line, and nearest end points is inlet point from landing level ground to select initial designs survey line, another end points of initial designs survey line called after makes a return voyage a little; (b), calculate total voyage D
t=D
1+ D
2+ D
3+ D
4, D wherein
1for approach section length, landing level ground is to the distance of inlet point; D
2for all segment length summations that turn to, turn to Duan Zhicong to turn out a little to fly out the distance a little that turns in that arrives next design survey line, design interval of survey line is h, wall scroll turns to segment length to be
if current, having added design survey line number is n bar, and turning to hop count amount is n-1 bar, final
d
3for all profile section length summations, from inlet point or turn in along the through added design survey line total length that turns out a little or make a return voyage a little of design line direction navigation,
d
4for inbound leg length, make a return voyage and a little arrive the air line distance on landing level ground; (c), suppose ultimate run D
max, work as D
t< D
maxtime select next design survey line to add course line, then the end points RNTO former called after of initial designs survey line being maked a return voyage a little turns out point, next design survey line turns in a little from turning out a little nearest end points called after, and another end points called after of next design survey line makes a return voyage a little, calculates new D
t; (d), repeating step (c) is until new D
t> D
max, the design survey line contraction in length Δ d finally adding, wherein
if shorten the D after the design survey line length finally adding
t> D
max, the design survey line length finally adding continues to shorten Δ d until D
t≤ D
max, record shortens the some position of aft terminal and confirms that this point designs making a return voyage a little of course line for article one, and article one airline generation finishes, preservation; (e), making a return voyage of article one course line of definition is some the inlet point in second course line, the design survey line other end at inlet point place, second course line called after makes a return voyage a little, is cycled to repeat step (b) to step (d) until all design surveys line are used up the layout that completes thru-flight course line.In said method, making a return voyage in step (c) is a little another end points of initial designs survey line and the D now calculating
t> D
maxtime, initial designs survey line contraction in length Δ d is until D
t≤ D
max, record shortens the position of aft terminal and confirms that this point designs making a return voyage a little of course line for article one, and article one airline generation finishes, preservation.
Embodiment
As shown in Figure 3, suppose to have 100 of surveys line of design, all design line directions are northwest (NW) to, wall scroll design survey line length D
ibe 5 kilometers, adjacent design interval of survey line h is 100 meters, and design survey line is numbered: L001, L002 ..., L050 ..., L099, L100, the maximum flight voyage D of dirigible
maxit is 100 kilometers.According to ultimate run D
maxwith wall scroll survey line length D
i, extrapolate the design survey line that wall scroll design course line comprises and be no more than 20.
A newly-built design course line, name is called FLY001, supposes that landing level ground is arranged on the middle part of L050 bar design survey line, adds first design survey line L001, and naming the high order end of first design survey line L001 is that inlet point, low order end are for making a return voyage a little; Calculate current total voyage D
t=D
1+ D
2+ D
3+ D
4, D wherein
1for the distance of landing level ground to L001 high order end, according to isosceles triangle, calculate D
1=7.00km, D
2for all segment length summations that turn to, turning at present hop count amount is 0, D
2=0km, D
3for composite design survey line total length, design survey line of L001 only, D
3=5km, D
4for inbound leg length, L001 low order end, to the distance on landing level ground, calculates D according to isosceles triangle
4=7.00km, D
t=19.00km, is less than maximum flight voyage 100km, can continue to increase next design survey line; Add second design survey line L002, the low order end RNTO of first design survey line L001 turns out point, and the low order end called after of second design survey line L002 turns in point, high order end called after makes a return voyage a little, calculates new total voyage D
t=D
1+ D
2+ D
3+ D
4, D wherein
1for the distance of landing level ground to L001 high order end, according to isosceles triangle, calculate D
1=7.00km, D
2for all segment length summations that turn to, designing at present survey line quantity is 2,
d
3for composite design survey line total length, totally two design surveys line, D
3=2*5=10km, D
4for inbound leg length, L001 high order end, to the distance on landing level ground, calculates D according to isosceles triangle
4=6.931km, D
t=24.088km, is less than maximum flight voyage 100km, can continue to increase next design survey line; Add the 3rd design survey line L003, and according to the 3rd total voyage D after design survey line L003 that add of above-mentioned steps calculation
t=29.176km, is less than maximum flight voyage 100km, can continue to increase next design survey line; Continue to increase design survey line, until be increased to the 17th survey line L017, now D
1=7.00km,
d
3=17*5=85km, D
4=5.991km, D
t=100.503km, is greater than maximum flight voyage 100km, a bit of distance of a little will dropping back of now making a return voyage, and 1/10th of L017 length, 0.1 * 5km=0.5km, calculates D again
t=100.092km, is still greater than maximum flight voyage 100km, and 1/10th of the continuation recession L017 length of making a return voyage, calculates D again
t=99.698km, the position that record now makes a return voyage a little, as the inlet point in next course line, the length D of next course line approach section
1for the air line distance of this point to landing level ground, article one design airline generation finishes, and preserves.Newly-built second design course line, name is called FLY002, adds the part of the cropped rear remainder of L017 and continues to increase next design survey line, until total voyage D
tapproach maximum flight voyage D
maxand be less than or equal to maximum flight voyage D
max, generate second design course line; Circulation said process, until all design surveys line are used up, completes the design of all lines of flight.
The present invention is by being divided into approach section, profile section, the section of turning to, inbound leg by the unmanned airship airborne magnetic survey line of flight by different attribute, by the comprehensive analysis with design survey line to landform, guaranteeing on safe basis, realizing fast, easily line of flight design; Compare with traditional hand-designed method, the method is significantly improved, has optimized the line of flight and reduced invalid flying distance in timeliness, for the requirement reduction of personnel specialty knowledge; This course line method for arranging can consider the factors such as meteorology, landform, when meeting the situations such as strong wind, high mountain, river valley, corresponding editor and modification are carried out in the design course line generating, can be widely used in the flight-line design of the complex-terrains such as the flight-line design of plains region and mountain area, sea.
Above embodiment only, for explanation technological thought of the present invention, can not limit protection scope of the present invention with this, every technological thought proposing according to the present invention, and any change of doing on technical scheme basis, within all falling into protection domain of the present invention; The technology that the present invention does not relate to all can be realized by prior art.
Claims (4)
1. the method that the unmanned airship airborne magnetic survey line of flight is arranged, is characterized in that the method realizes according to following steps:
(a), obtain design survey line data and landing level ground coordinate, selecting the length of outer most edge is D
iinitial designs survey line join design course line, and nearest end points is inlet point from landing level ground to select initial designs survey line, another end points of initial designs survey line called after makes a return voyage a little;
(b), calculate total voyage D
t=D
1+ D
2+ D
3+ D
4, D wherein
1for approach section length, landing level ground is to the distance of inlet point; D
2for all segment length summations that turn to; D
3for all profile section length summations; D
4for inbound leg length, make a return voyage and a little arrive the air line distance on landing level ground;
(c), suppose ultimate run D
max, work as D
t< D
maxtime select next design survey line to add course line, then the end points RNTO former called after of initial designs survey line being maked a return voyage a little turns out point, next design survey line turns in a little from turning out a little nearest end points called after, and another end points called after of next design survey line makes a return voyage a little, calculates new D
t;
(d), repeating step (c) is until new D
t> D
max, the design survey line contraction in length Δ d finally adding, wherein
if shorten the D after the design survey line length finally adding
t> D
max, the design survey line length finally adding continues to shorten Δ d until D
t≤ D
max, record shortens the some position of aft terminal and confirms that this point designs making a return voyage a little of course line for article one, and article one airline generation finishes, preservation;
(e), making a return voyage of article one course line of definition is some the inlet point in second course line, the design survey line other end at inlet point place, second course line called after makes a return voyage a little, is cycled to repeat step (b) to step (d) until all design surveys line are used up the layout that completes thru-flight course line.
2. the method that the unmanned airship airborne magnetic survey line of flight according to claim 1 is arranged, is characterized in that making a return voyage in described step (c) is a little another end points of initial designs survey line and the D now calculating
t> D
maxtime, initial designs survey line contraction in length Δ d is until D
t≤ D
max, record shortens the position of aft terminal and confirms that this point designs making a return voyage a little of course line for article one, and article one airline generation finishes, preservation.
3. the method that the unmanned airship airborne magnetic survey line of flight according to claim 1 is arranged, it is characterized in that turning to Duan Zhicong to turn out a little to fly out the distance a little that turns in that arrives next design survey line in described step (b), if design interval of survey line is h, wall scroll turns to segment length to be
if current, having added design survey line number is n bar, and turning to hop count amount is n-1 bar, final
4. the method that the unmanned airship airborne magnetic survey line of flight according to claim 1 is arranged, is characterized in that the profile section in described step (b) refers to from inlet point or turns in a distance of going directly and turning out a little or make a return voyage a little along the navigation of design line direction,
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107038899A (en) * | 2017-03-29 | 2017-08-11 | 北京小米移动软件有限公司 | A kind of method and apparatus flown |
| CN110411458A (en) * | 2019-08-30 | 2019-11-05 | 深圳市道通智能航空技术有限公司 | Flight course planning method and unmanned vehicle |
| CN113447000A (en) * | 2021-06-26 | 2021-09-28 | 珠海经济特区建设监理有限公司 | Supervision control method, system, equipment and medium for super high-rise building engineering measurement |
| CN114113000A (en) * | 2021-12-14 | 2022-03-01 | 江苏省地质勘查技术院 | Method, system and equipment for improving spectrum reflectivity inversion based on empirical linear model |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113447000B (en) * | 2021-06-26 | 2022-06-21 | 珠海经济特区建设监理有限公司 | Supervision control method, system, equipment and medium for super high-rise building engineering measurement |
| CN114113000A (en) * | 2021-12-14 | 2022-03-01 | 江苏省地质勘查技术院 | Method, system and equipment for improving spectrum reflectivity inversion based on empirical linear model |
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| CN103543744B (en) | 2016-04-27 |
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