CN103543744B - A kind of method that unmanned airship airborne magnetic survey line of flight is arranged - Google Patents
A kind of method that unmanned airship airborne magnetic survey line of flight is arranged Download PDFInfo
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- CN103543744B CN103543744B CN201310407954.XA CN201310407954A CN103543744B CN 103543744 B CN103543744 B CN 103543744B CN 201310407954 A CN201310407954 A CN 201310407954A CN 103543744 B CN103543744 B CN 103543744B
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Abstract
The invention discloses a kind of method that unmanned airship airborne magnetic survey line of flight is arranged, steps of the method are: (a) obtains design survey line data and landing level ground coordinate, select initial designs survey line and confirm inlet point and make a return voyage a little; B () calculates total voyage D
t=D
1+ D
2+ D
3+ D
4; (c) hypothesis ultimate run D
max, work as D
t< D
maxtime then select next design survey line add course line, calculate new D
t; (d), repeat step (c) until new D
t> D
max, then the design survey line contraction in length Δ d finally added is until D
t≤ D
max, then Article 1 airline generation terminates, and preserves; E (), basic cocycle in Article 1 course line repeat step (b) to step (d) until all design surveys line are used up, complete the layout in thru-flight course line.The present invention, by divide course line by attribute and voyage limits, optimizes the line of flight and reduces the requirement of operating personnel's professional knowledge; The method is quick, easy, can be widely used in the flight-line design of the complicated landform such as flight-line design and mountain area, sea etc. of plains region.
Description
Technical field
The present invention relates to unmanned plane flight course planning field, specifically a kind of method being applied to the unmanned airship airborne magnetic survey line of flight quickly and easily and arranging.
Background technology
Along with increasing of unmanned vehicle application, as risk averse and the key factor of raising the efficiency---the design of the line of flight becomes the final steps implementing measurement, has influence on the efficiency of surveying work, correctness, security.But for a lot of layman, 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 being applied to the unmanned airship airborne magnetic survey line of flight quickly and easily and arranging is 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 (), acquisition design survey line data and landing level ground coordinate, the length selecting outer most edge is D
iinitial designs survey line join design course line, and select the initial designs survey line end points nearest from landing level ground to be inlet point, another end points of initial designs survey line then called after makes a return voyage a little;
(b), calculate total voyage D
t=D
1+ D
2+ D
3+ D
4, wherein D
1for approach section length, namely landing level ground is to the distance of inlet point; D
2segment length summation is turned to for all; D
3for all profile section length summations; D
4for inbound leg length, namely make a return voyage a little to the air line distance on landing level ground;
(c), suppose ultimate run D
max, work as D
t<D
maxtime then select next design survey line add course line, then the end points RNTO that former for initial designs survey line called after makes a return voyage a little is turned 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), repeat step (c) until new D
t>D
max, then the design survey line contraction in length Δ d finally added, wherein
if shorten the D after the design survey line length finally added
t>D
max, then the design survey line length finally added continues to shorten Δ d until D
t≤ D
max, record shorten aft terminal some position and confirm that this some design course line for Article 1 make a return voyage a little, then Article 1 airline generation terminates, preservation;
E making a return voyage of (), definition Article 1 course line is some the inlet point in Article 2 course line, the design survey line other end at inlet point place, Article 2 course line then 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, completes the layout in thru-flight course line.
Making a return voyage a little for another end points of initial designs survey line and the D now calculated in described step (c)
t>D
maxtime, then initial designs survey line contraction in length Δ d is until D
t≤ D
max, record shorten aft terminal position and confirm that this some design course line for Article 1 make a return voyage a little, then Article 1 airline generation terminates, preservation.
Turn to Duan Zhicong to turn out a little to fly out the distance turned in a little arriving next design survey line in described step (b), if design interval of survey line is h, then wall scroll turns to segment length to be
if having added design survey line number current is n bar, then turn to hop count amount to be n-1 bar, finally
Profile section in described step (b) refers to from inlet point or turns in a through distance turning out a little or make a return voyage a little of edge 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, in conjunction with the information summary analysis setting course line of 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 when course line is arranged before decreasing, also reduces the requirement to professional knowledge, greatly improve 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 unmanned airship airborne magnetic survey line of flight is arranged, the method realizes according to following steps: (a), acquisition design survey line data and landing level ground coordinate, the length selecting outer most edge is D
iinitial designs survey line join design course line, and select the initial designs survey line end points nearest from landing level ground to be inlet point, another end points of initial designs survey line then called after makes a return voyage a little; (b), calculate total voyage D
t=D
1+ D
2+ D
3+ D
4, wherein D
1for approach section length, namely landing level ground is to the distance of inlet point; D
2turn to segment length summation for all, turn to Duan Zhicong to turn out a little to fly out the distance turned in a little arriving next design survey line, if design interval of survey line is h, then wall scroll turns to segment length to be
if having added design survey line number current is n bar, then turn to hop count amount to be n-1 bar, finally
d
3for all profile section length summations, namely from inlet point or to turn in along the through added design survey line total length turning out a little or make a return voyage a little of design line direction navigation,
d
4for inbound leg length, namely make a return voyage a little to the air line distance on landing level ground; (c), suppose ultimate run D
max, work as D
t<D
maxtime then select next design survey line add course line, then the end points RNTO that former for initial designs survey line called after makes a return voyage a little is turned 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), repeat step (c) until new D
t>D
max, then the design survey line contraction in length Δ d finally added, wherein
if shorten the D after the design survey line length finally added
t>D
max, then the design survey line length finally added continues to shorten Δ d until D
t≤ D
max, record shorten aft terminal some position and confirm that this some design course line for Article 1 make a return voyage a little, then Article 1 airline generation terminates, preservation; E making a return voyage of (), definition Article 1 course line is some the inlet point in Article 2 course line, the design survey line other end at inlet point place, Article 2 course line then 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, completes the layout in thru-flight course line.In the above-mentioned methods, when making a return voyage a little for another end points of initial designs survey line and the D now calculated in step (c)
t>D
maxtime, then initial designs survey line contraction in length Δ d is until D
t≤ D
max, record shorten aft terminal position and confirm that this some design course line for Article 1 make a return voyage a little, then Article 1 airline generation terminates, preservation.
Embodiment
As shown in Figure 3, suppose there is design survey line 100, all design line directions are NW trending, wall scroll design survey line length D
ibe 5 kilometers, adjacent design interval of survey line h is 100 meters, design survey line be numbered: L001, L002 ..., L050 ..., L099, L100, the maximum air mileage 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 comprises of wall scroll design course line and be no more than 20.
A newly-built design course line, name is called FLY001, suppose that landing level ground is arranged on the middle part of L050 bar of design survey line, adds first design survey line L001, and the high order end naming first design survey line L001 is inlet point, low order end is for making a return voyage a little; Calculate current total voyage D
t=D
1+ D
2+ D
3+ D
4, wherein D
1for landing level ground is to the distance of L001 high order end, calculate D according to isosceles triangle
1=7.00km, D
2turn to segment length summation for all, turn to hop count amount to be 0 at present, then D
2=0km, D
3for composite design survey line total length, only L001 mono-designs survey line, D
3=5km, D
4for inbound leg length, namely L001 low order end is to the distance on landing level ground, calculates D according to isosceles triangle
4=7.00km, then D
t=19.00km, is less than maximum air mileage 100km, and can continue increases next design survey line; Add second design survey line L002, then the low order end RNTO of first design survey line L001 turns out point, second design survey line L002 low order end called after turns in point, high order end called after makes a return voyage a little, calculate new total voyage D
t=D
1+ D
2+ D
3+ D
4, wherein D
1for landing level ground is to the distance of L001 high order end, calculate D according to isosceles triangle
1=7.00km, D
2turn to segment length summation for all, design survey line quantity is 2 at present, then
d
3for composite design survey line total length, totally two design surveys line, D
3=2*5=10km, D
4for inbound leg length, namely L001 high order end is to the distance on landing level ground, calculates D according to isosceles triangle
4=6.931km, then D
t=24.088km, is less than maximum air mileage 100km, and can continue increases next design survey line; Add the 3rd design survey line L003, and according to the total voyage D added after the 3rd design survey line L003 that above-mentioned steps is calculated
t=29.176km, is less than maximum air mileage 100km, and can continue increases 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, then D
t=100.503km, is greater than maximum air mileage 100km, a bit of distance of a little will dropping back of now making a return voyage, namely L017 length 1/10th, i.e. 0.1 × 5km=0.5km, calculates D again
t=100.092km, is still greater than maximum air mileage 100km, and 1/10th of a continuation recession L017 length of making a return voyage, calculates D again
t=99.698km, records the position of now making a return voyage a little, as the inlet point in next course line, and the length D of next course line approach section
1for this point is to the air line distance on landing level ground, then Article 1 design airline generation terminates, and preserves.Newly-built Article 2 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
tclose to maximum air mileage D
maxand be less than or equal to maximum air mileage D
max, generate Article 2 design course line; Circulation said process until all design surveys line are used up, then 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 to landform and design survey line, ensure that on safe basis, achieving line of flight design fast, easily; Compared with traditional hand-designed method, the method is significantly improved in timeliness, optimize the line of flight and reduce invalid flying distance, and the requirement for personnel specialty knowledge reduces; This course line method for arranging can consider the factor such as meteorology, landform, when meeting the situations such as strong wind, high mountain, river valley, corresponding editor and amendment being carried out to the design course line generated, the flight-line design of the complicated landform such as flight-line design and mountain area, sea etc. of plains region can be widely used in.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, every technological thought proposed according to the present invention, and any change that technical scheme basis is done, all falls within scope; The technology that the present invention does not relate to all is realized by prior art.
Claims (4)
1. a method for unmanned airship airborne magnetic survey line of flight layout, is characterized in that the method realizes according to following steps:
A (), acquisition design survey line data and landing level ground coordinate, the length selecting outer most edge is D
iinitial designs survey line join design course line, and select the initial designs survey line end points nearest from landing level ground to be inlet point, another end points of initial designs survey line then called after makes a return voyage a little;
(b), calculate total voyage D
t=D
1+ D
2+ D
3+ D
4, wherein D
1for approach section length, namely landing level ground is to the distance of inlet point; D
2segment length summation is turned to for all; D
3for all profile section length summations; D
4for inbound leg length, namely make a return voyage a little to the air line distance on landing level ground;
(c), suppose ultimate run D
max, work as D
t<D
maxtime then select next design survey line add course line, then the end points RNTO that former for initial designs survey line called after makes a return voyage a little is turned 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), repeat step (c) until new D
t>D
max, then the design survey line contraction in length Δ d finally added, wherein
if shorten the D after the design survey line length finally added
t>D
max, then the design survey line length finally added continues to shorten Δ d until D
t≤ D
max, record shorten aft terminal some position and confirm that this some design course line for Article 1 make a return voyage a little, then Article 1 airline generation terminates, preservation;
E making a return voyage of (), definition Article 1 course line is some the inlet point in Article 2 course line, the design survey line other end at inlet point place, Article 2 course line then 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, completes the layout in thru-flight course line.
2. the method for unmanned airship airborne magnetic survey line of flight layout according to claim 1, is characterized in that total voyage D of initial designs survey line in described step (c)
t>D
maxtime, then initial designs survey line contraction in length Δ d is until D
t≤ D
max, record shorten aft terminal position and confirm that this some design course line for Article 1 make a return voyage a little, then Article 1 airline generation terminates, preservation.
3. the method for unmanned airship airborne magnetic survey line of flight layout according to claim 1, it is characterized in that turning to Duan Zhicong to turn out a little to fly out the distance turned in a little arriving next design survey line in described step (b), if design interval of survey line is h, then wall scroll turns to segment length to be
if having added design survey line number current is n bar, then turn to hop count amount to be n-1 bar, finally
4. the method for unmanned airship airborne magnetic survey line of flight layout according to claim 1, it is characterized in that the profile section in described step (b) refers to from inlet point or turns in a through distance turning out a little or make a return voyage a little of edge design line direction navigation
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| CN110411458B (en) * | 2019-08-30 | 2021-11-09 | 深圳市道通智能航空技术股份有限公司 | Air route planning method and unmanned aerial vehicle |
| 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 |
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| CN101782385A (en) * | 2010-02-02 | 2010-07-21 | 王建雄 | Unmanned airship low-altitude photogrammetry |
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