CN105319969A - Unmanned aerial vehicle cooperative ground covering system - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle cooperative ground covering system. The unmanned aerial vehicle cooperative ground covering system comprises a hardware system. The hardware system is composed of an unmanned aerial vehicle group, a ground station, a communication module and a GPS reference station. The ground station and the unmanned aerial vehicle group communicate through the communication module and the GPS reference station. The ground station comprises a ground control system. The ground control system is composed of a remote control subsystem, a remote measuring subsystem and a geographical information subsystem. The remote control subsystem is used for instruction collection and instruction uploading. The remote measuring subsystem is used for task distribution, course programming and data receiving. The geographical information subsystem is used for processing download image data, superposing remote measured data and providing basic space data. According to the invention, the ground control system is used for completing the unmanned aerial vehicle cooperative ground covering task, the efficiency, flexibility and reliability of remote sensing and shooting measuring of the unmanned aerial vehicle are substantially enhanced, and the system can further be applied to the fields of disaster emergency surveying and mapping, offshore searching and rescuing, cooperative agricultural machinery working and the like.

Description

The collaborative covering system over the ground of unmanned plane

Technical field

The present invention relates to unmanned air vehicle technique field, specifically the collaborative covering system over the ground of a kind of unmanned plane.

Background technology

No matter at military field or civil area, unmanned plane has very large using value and application prospect widely.Cover the class important application that task is unmanned plane over the ground, such as unmanned plane maritime search and rescue, unmanned plane photogrammetric measurement, ecological monitoring etc.Tradition covers task over the ground and normally determines node planning course line, air strips by automanual mode, and the mode adopting constant duration to expose in flight course covers a certain target area completely with an airplane.Such method coverage is less, and system robustness is poor, in aerial survey task, easily produce dropping fraction, the problems such as degree of overlapping error is large.Therefore need one badly and be integrated with sterically defined the goal programming method, realize in the mode of " a station multimachine " that unmanned plane is collaborative to be covered over the ground.

Due to the restriction of location technology between one's early years, most of aerial survey flight course planning system adopts the method image data of constant duration exposure, and this often brings the problems such as inaccurate, the data redundancy of degree of overlapping.Along with the progress of space orientation technique, aerial survey exposure station and task point can accurately obtain in real time.To complete predetermined tactics or strategic task for a target, Weapon and equipment---the unmanned plane being core with Intelligentized Information technology and the communication technology, the modern battlefield under high-tech condition is shown up prominently, and starts to play leading role.Up to the present, about there are 32 countries and regions researching and developing or manufacturing more than 250 and plant unmanned plane model, and wherein more than 80 plant model and be on active service in 41 countries.

But, the number of sensors can carried due to single unmanned plane is limited, its ability of executing the task is subject to corresponding restriction, such as single unmanned plane cannot simultaneously from multiple angle views or monitoring objective region, and the collaborative ability of finishing the work of multiple unmanned plane composition formation compares the enhancing of single unmanned plane a lot, the complex task such as hi-Fix, collaborative mapping that single unmanned plane cannot complete can be completed.In addition, because each platform is small and scattered, enemy is difficult to all location and destruction, even if single platform damage, the performance of whole combat system is influenced less.Therefore, the collaborative investigation of unmanned plane has become study hotspot and the development priority of various countries' military unmanned air vehicle.Define according to US Department of Defense's " comprehensive route map of 2011 ~ 2036 unmanned systems ", someone-unmanned formation refer to that people and unmanned systems are perform the entirety that same task sets up to form into columns, by platform interoperability and resource sharing control, to reach common task object.

The Air Force Research Laboratory establishes the different capacity consistency Vehicle Routing Problems models of band time window in the research of unmanned plane task matching, and is applied to the reconnaissance mission planning problem modeling of the Global Hawk unmanned air vehicle and " predator " unmanned plane.Except the U.S. that unmanned air vehicle technique is leading, " heron TP " this typical Electronic Warfare UAV of Israel's exploitation, also possesses certain collaborative investigation and fight capability.Therefore, fall over each other in various countries to develop today that unmanned plane works in coordination with investigative technique, China also should continue to carry out correlative study work in a deep going way.

Militarily, unmanned plane cooperative detection system can be divided into " unmanned plane cooperative detection system ", " unmanned plane and early warning plane cooperative detection system " and " unmanned plane and fighter plane detect and beat integral system ".Single platform UAS is mainly used in scouting imaging at present, the load of carrying has visible light camera, television camera, synthetic-aperture radar, optoelectronic device and infrared ray sensor etc., except realtime graphic, related data can generate the mapping products such as battlefield digital terrain model, orthography, numerical cutting tool by post-processed, under Information Condition, battlefield investigation, operational staff provide and provide powerful support for.Along with network-enabled operation development, the widespread use of various Data-Link, the application mode of unmanned plane develops to networked coordination direction of operation.

The unmanned plane problem that covering method mainly solves over the ground is " course line how automatically planning is optimum is to obtain comprehensive surface data ".Over the ground covering algorithm roughly can be divided into based on model, T function model and Beasley-Type model.As a np complete problem, its theoretical research is still immature, and subject matter concentrates on CPR algorithm in conjunction with the constraint control of aerial survey demand and the integration with synergetic.Therefore, the further investigation of covering algorithm is worked in coordination with earth observation have decisive significance for being realized unmanned plane monomer or unmanned aerial vehicle group over the ground.

Summary of the invention

The object of the present invention is to provide the collaborative covering system over the ground of a kind of unmanned plane, it is relatively low to solve that exposure station position deviation in air strips is excessive, single rack unmanned plane covers efficiency over the ground, the problem that robustness is poor, path does not meet flying condition between air strips.

For achieving the above object, the invention provides following technical scheme:

The collaborative covering system over the ground of unmanned plane, comprise hardware system, described hardware system is made up of unmanned aerial vehicle group, land station, communication module and GPS reference station; Communication is carried out by communication module and GPS reference station between described land station and unmanned aerial vehicle group; Described land station comprises ground control system, and described ground control system is made up of remoting subsystem, telemetry subsystem and geography data subsystem; Described remoting subsystem is responsible for instruction acquisition and instruction and is uploaded, instruction acquisition is divided into the instruction of artificial intervention and automatically calculates by collaborative covering algorithm the instruction assigned, and instruction is uploaded as the instruction collected being realized being issued to unmanned plane and the control realizing a station multimachine by communication module; Described telemetry subsystem is responsible for task matching, flight course planning and data receiver; Described geography data subsystem is responsible for down passing the pre-service of view data, the superposition of telemetry and providing primary spatial data.

As the further scheme of the present invention: what described land station adopted is Portable Reinforced Computer.

As the further scheme of the present invention: described communication module is wireless data chain transceiver, carry out figure by wireless data chain transceiver in the mode of half-duplex wireless data chain between land station and unmanned aerial vehicle group and pass the communication with remote-control data, wireless data chain transceiver realizes the communication with Portable Reinforced Computer by serial ports.

As the further scheme of the present invention: described GPS reference station is GNSS receiver, locate when realizing high-precision real by GNSS transceiver and unmanned aerial vehicle onboard positioning system difference between land station and unmanned aerial vehicle group, GNSS transceiver is connected with Portable Reinforced calculating formula by USB.

As the further scheme of the present invention: described Portable Reinforced Computer is Portable Reinforced panel computer, ground staff carries out Real-Time Monitoring and control by this Portable Reinforced panel computer to unmanned aerial vehicle group aerial survey overall process.

As the further scheme of the present invention: the relevant flight passed down by telemetry subsystem energy real time inspection and record unmanned aerial vehicle group and aerial survey parameter.

As the further scheme of the present invention: have employed collaborative covering algorithm over the ground in described telemetry subsystem, realize carrying out task matching and control to unmanned aerial vehicle group by remoting subsystem.

As the further scheme of the present invention: the collaborative overlay model over the ground that described collaborative covering algorithm over the ground adopts is made up of three sub-problems, is respectively partitioning problem, fixed-point problem and alignment problem.

Compared with prior art, the invention has the beneficial effects as follows:

The invention solves following technical matters:

1. solve exposure station position deviation in air strips excessive.

Traditional covers the position that flight course planning algorithm only has air strips end points over the ground, adopt constant duration to expose between air strips, exposure station error can be caused when aircraft compass receives the problems such as interference, wind speed be excessive excessive and then cause aerophotogrammetry data not meet the demands and invalid.By adopting new flight course planning algorithm, the course line of satisfied certain degree of overlapping constraint is made to comprise the exact position of each exposure station.

2. solving single rack unmanned plane, to cover efficiency over the ground relatively low, and robustness is poor.

The method that the present invention adopts multiple UAVs to work in coordination with and covers over the ground replaces original single rack unmanned plane to cover over the ground.System can survey district by reasonable distribution and the mode in unified planning path ensures that the data that different unmanned plane obtains can unify process, does not occur the problem such as dropping fraction, test leakage.Improve the efficiency of original system.When in unmanned aerial vehicle group, part aircraft is out of control or impaired, all the other aircrafts again can be planned course line and carry out cover under satisfied continuation of the journey condition, ensure integrality and the security of data.Improve the robustness of original system.

3. solve path between air strips and do not meet flying condition.

Traditional course line of covering over the ground adopts simple multi-section-line to connect task point, often cannot turn because cruise speed is excessive or radius of turn is too small when changing between air strips, the situation such as cause unmanned plane original place to spiral or impaired.Dubins path is introduced in flight course planning by the present invention first, and what turning path between air strips is changed into continual curvature can flight path, the relevant issues that before solving, system runs into.

Key problem of the present invention is " how by sterically defined integrated and utilize space planning analytical approach to solve unmanned plane to work in coordination with the control problem covered over the ground ".Completed by ground control system that unmanned plane is collaborative covers task over the ground, greatly can strengthen unmanned aerial vehicle remote sensing and photogrammetric efficiency, dirigibility and reliability.Except photogrammetric measurement, collaborative covering system over the ground can also be applied to the aspects such as calamity emergency mapping, naval searching rescue, collaborative farm chemical apparatus operation, has very strong using value and development potentiality.

The present invention significantly can promote operating efficiency.Under equal continuation of the journey condition, multi-machine collaborative concurrent job compares original unit operation significantly can promote aerial survey area, data precision reduce time cost.Agree with actual demand, necessary data can be obtained fast by the gentle window that resembles at limited operation window.

The present invention significantly can promote the robustness of aerial survey of unmanned aerial vehicle system.System is made up of unmanned aerial vehicle group, breaks down, be interfered or in impaired situation, redistribute survey district, planning course line still effectively can complete and cover task over the ground by ground control system at unit.

The present invention significantly can reduce the cost of operation, is convenient to the popularization of technology.Multiple unmanned planes of advantage of lower cost, small volume can be adopted to replace the large-scale aerial survey unmanned plane of long voyage large volume to complete and to cover task over the ground.Except flexible operation, be also convenient to emergency mobile, even can be carried by single, collaborative finishing the work of forming into columns fast when burst covers demand over the ground.

Accompanying drawing explanation

Fig. 1 is the structural representation that unmanned plane works in coordination with covering system over the ground;

Fig. 2 is the ground control system structured flowchart that unmanned plane works in coordination with covering system over the ground;

Fig. 3 is the flight course planning algorithm structure block diagram that unmanned plane works in coordination with covering system over the ground;

Fig. 4 is normal segmentation method variable schematic diagram;

Fig. 5 is the process flow diagram of normal segmentation method;

Fig. 6 is horizontal direction relative position relation;

Fig. 7 is vertical direction relative position relation;

Fig. 8 is Dubins path schematic diagram;

Fig. 9 is the general flow figure in design Dubins path;

Figure 10 is outside common tangent Dubins path;

Figure 11 is internal common tangent Dubins path.

Embodiment

Below in conjunction with the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

Refer to Fig. 1, in the embodiment of the present invention, the collaborative covering system over the ground of unmanned plane, comprise hardware system, hardware system is made up of unmanned aerial vehicle group, land station, communication module and GPS reference station; Communication is carried out by communication module and GPS reference station between land station and unmanned aerial vehicle group; Land station comprises ground control system, and ground control system is made up of remoting subsystem, telemetry subsystem and geography data subsystem; Communication module is wireless data chain transceiver, and GPS reference station is GNSS receiver; The hardware of land station adopts Portable Reinforced Computer, preferred Portable Reinforced panel computer, be provided with in this Portable Reinforced panel computer and collaborative land station's application software that covering algorithm is corresponding over the ground, ground staff carries out Real-Time Monitoring and control by this Portable Reinforced Computer to unmanned aerial vehicle group aerial survey overall process; Particularly, carry out figure by wireless data chain transceiver in the mode of half-duplex wireless data chain between land station and unmanned aerial vehicle group and pass the communication with remote-control data, wireless data chain transceiver realizes the communication with Portable Reinforced Computer by serial ports; Locate when realizing high-precision real by GNSS transceiver and unmanned aerial vehicle onboard positioning system difference between land station and unmanned aerial vehicle group, GNSS transceiver is connected with Portable Reinforced calculating formula by USB (USB (universal serial bus)).

Plan of the present invention adopts multi rack multiaxis unmanned plane as system verification machine, meet figure by half-duplex wireless data chain transceiver to pass and remote-control data communication, the telemetry intelligence (TELINT) that the telecommand on ground and unmanned plane pass down all needs to be completed by this transceiver, and transceiver realizes the communication with portable ruggedized computer by serial ports.Locate when relying on ground enhancing GNSS receiver and unmanned aerial vehicle onboard positioning system difference to realize high-precision real, the base station portion of difference GNSS is connected with Portable Reinforced Computer by USB (USB (universal serial bus)).Consider the complicacy of actual environment, land station's hardware adopts reinforced portable panel computer.It is the window that ground staff monitors unmanned aerial vehicle group, writes collaborative covering algorithm corresponding land station application software over the ground in ruggedized computer, then complete in the face of the Real-Time Monitoring of unmanned aerial vehicle group aerial survey overall process and control.

Refer to Fig. 2, ground control system is made up of three subsystems, is respectively remoting subsystem, telemetry subsystem and geography data subsystem.

The major function of remoting subsystem is that instruction acquisition and instruction is uploaded.Instruction acquisition is divided into the instruction of artificial intervention and automatically calculates by collaborative covering algorithm the instruction assigned.Instruction is uploaded as the instruction collected being realized being issued to unmanned plane and the control realizing " a station multimachine " by communication module.

Telemetry subsystem is the core that collaborative covering algorithm over the ground realizes.Its major function is task matching, flight course planning and data receiver.User specifies and surveys district's shape and position, and system is automatically divided by task allocation algorithms and surveys district and realize flight course planning by covering algorithm over the ground.In addition, the relevant flight that passes down of unmanned aerial vehicle group and aerial survey parameter also can real time inspection and records.

Geography data subsystem is the collaborative basis covering ground control system over the ground.Its major function realizes down passing the pre-service of view data, the superposition of telemetry and provides certain primary spatial data.Image pre-processing module automatically adjusts image by locator data, lens parameters and shooting environmental and does preliminary coordinate conversion to it.And then can be added on existing primary spatial data, contribute to realizing the comparative analysis of data fast, dropping fraction mends and survey and the work such as atural object interpretation.

The collaborative covering system over the ground of described unmanned plane adopts collaborative covering algorithm over the ground, specifically in telemetry subsystem, realizes collaborative covering algorithm over the ground, and realizes carrying out task matching and control to unmanned aerial vehicle group by remoting subsystem.

Refer to Fig. 3, the collaborative overlay model over the ground that collaborative covering algorithm over the ground adopts is made up of three sub-problems, is respectively partitioning problem, fixed-point problem and alignment problem.First the convex polygon survey district for input model carries out segmentation subregion according to the flight performance of different unmanned plane, and the normal segmentation method of additional turn constraints or the overlay model substantially be over the ground converted into based on ILP can be adopted to process.Further, planning tasks point in district can be surveyed at each height, realize the accurate control for overwrite procedure, for this problem, this collaborative covering algorithm over the ground additional two-way degree of overlapping constraint and turning curvature limitation on the basis of existing integral linear programming rectangle covering polygon model.These improvement can successfully manage present stage unmanned plane and perform that the speed of a ship or plane run in covering task is over the ground excessive cannot enter the problems such as degree of overlapping error is large in curved, cannot to realize each task point control and aerial survey.By subregion, alignment can the Zi Ce district that works of clearly every frame unmanned plane and must through task point, can by the course line of the fly able continual curvature of simple multi-section-line coordinates measurement unmanned plane by Dubins curvature limitation.Wherein, circumscribed Dubins path is mainly used in the conversion between air strips, and inscribe Dubin path is used for unmanned plane and surveys interval conversion.The introducing of curvature limitation solve occur in actual task because the speed of a ship or plane is excessive or the excessive problem causing unmanned plane cannot enter task point of beam wind.

This collaborative covering algorithm over the ground proposes two kinds of splitting schemes, the first is that traditional flight performance according to the task of participation unmanned plane is split according to a certain percentage to convex polygon survey district, ensure that the unmanned plane in Ge Zice district is less than cruising time task time, advantage is that segmentation efficiency is high and there is not redundant air, but because the uncertain needs of segmentation Hou Zice district shape are further by the minimum optimal direction waiting the planning of constraint air strips of turning.First scheme is the thinking that problem transforms, and is converted into the covering problem of small scale by segmentation problem, namely covers general assignment district with the polygon Zi Ce district of a certain solid shape, and it is consistent that every height surveys direction, air strips in district, can reduce certain calculated amount.

1, subregion subalgorithm

The normal segmentation method of 1.1 additional turn constraints

A, definition: mission area is the convex polygon that m summit is formed, and does not comprise hole (barrier);

One total i frame unmanned plane participates in task, and concentrates at starting point;

Cruising time is from long to short respectively: T ₁t ₂... T _i;

Maximum safe mapping area is respectively descending: S ₀₁s ₀₂... S _0i;

Zi Ce district corresponding respectively after subregion is: S ₁s ₂... S _n;

Every height surveys a limit in district by P ₁with the anchor point A of correspondence ₁a ₂... A _nbe formed by connecting;

P ₁and P ₃p ₄... S _m-1connect institute's closed polygon area to be in turn respectively: Q ₁q ₂... Q _m-2;

And S _0iregion Q _m-2should meet

| Q _m-2-S _0i| < R (formula 1)

As shown in Figure 4.

The cutting procedure of B, normal segmentation method as shown in Figure 5, comprises the following steps:

(1) according to the maximum safe mapping area S01 of parameter estimation the longest unmanned plane in cruising time;

(2) size of comparison task district area and S01, when mission area area is not more than S01, performs step (9); When mission area area is greater than S01, perform next step;

(3) check whether unmanned aerial vehicle group is surveyed outside district at polygon, when unmanned aerial vehicle group is not surveyed outside district at polygon, carries out step (5); When unmanned aerial vehicle group is surveyed outside district at polygon, perform next step;

(4) calculate nearest survey district summit P1, perform next step;

(5) connect P1 and P (2m+1), perform next step;

(6) judge whether Q (m-2) is less than or equal to S0i, when Q (m-2) is less than or equal to S0i, get back to step (5): when Q (m-2) is not below or equal to S0i, perform next step;

(7) any is found to make at P (2m+3) with P (2n+1) limit with dichotomy | Q (m-2)-S0i| < R, performs next step;

(8) by traveling through until next summit is P1 clockwise, if do not find out the point meeting above-mentioned condition, then step (5) is got back to; If find the point meeting above-mentioned condition, then perform next step;

(9) fixed-point algorithm is entered.

2, fixed point subalgorithm

2.1 definition

A, survey district polygon may be defined as:

Ω=conv{ (X _j, Y _j) | j ∈ I _m, I _m=(1,2...m) (formula 2)

Wherein (X _j, Y _j) representing polygon vertex, total m summit forms set I _m.

The rectangle that B, film size project to ground may be defined as:

R _i(x _i, y _i)={ (x, y) | x _i-l≤x≤x _i+ l, y _i-w≤y≤y _i+ W}, i ∈ I _n={ 1,2...n} (formula 3)

N long 2l, the rectangle of wide 2w, with the center (x of each rectangle _i, y _i) represent rectangle.

C. under certain constraint condition, find out minimum set R, make it cover completely and survey district Ω.

2.2 based on the overlay model substantially over the ground of ILP

When the single unmanned plane during flying scope of survey area superfacies far away, the overlay model substantially over the ground based on ILP can be adopted.Go owing to adopting fixing polygon Zi Ce district template to cover general assignment district, therefore can omit every height and survey district's number of turns object judgement, simplify calculating to a certain extent, but certain redundancy route can be produced at polygon survey area edge.Detailed process is with reference to the basic model of hereafter fixed-point problem.

A, discretize

By the grid partition of Ω by certain density, divide after each grid according to from left to right, from top to bottom rule be numbered 1,2......, n.Therefore, Ω can represent with " the orthogonal rectangular polygon of the minimum envelop " Ω ' after its discretize.

B, covering relation are abstract

Introduce z _j∈ (0,1), j=1,2 ..., n

Z _jwhen=1, some j places rectangle; z _jwhen=0, j does not place rectangle.

Introduce matrix

A={a _ij| a _ij∈ (0,1), i, j=(1,2...n) } (formula 4)

If the rectangle of central point on j can cover i point, then a _ij=1, otherwise a _ij=0.

Therefore, for any one grid point, at least cover by any one rectangle placed and can be expressed as:

$\&ForAll;i,j\&Element;I_n,{\mathrm{\&Sigma;}}_{j=1}^n{a}_{\mathrm{ij}}\&CenterDot;z_j\&GreaterEqual;1$ (formula 5)

(for any one grid point, place rectangle or the rectangle placed by other grid points cover)

The integral linear programming solution of C, basic model

Objective function

$\begin{array}{cc}\mathrm{Min}& {\mathrm{\&Sigma;}}_{j=1}^n{z}_j\end{array}$ (formula 6)

Constraint condition

$\begin{array}{cc}{\mathrm{\&Sigma;}}_{j=1}^n{a}_{\mathrm{ij}}\&CenterDot;z_j\&GreaterEqual;1& \&ForAll;,i,j\&Element;I_n\end{array}$ (formula 7)

z _j∈(0，1)

a _ij∈(0，1)

The overlay model over the ground of 2.3 additional overlay degree constrain

The relativeness of A, rectangle

Refer to Fig. 6 ~ 7, introduce 0/1 variable with the relative position relation of rectangular horizontal direction and vertical direction is described respectively.Wherein i and j is rectangle position period, and r is the position relationship of the relative rectangle i of rectangle j.

Horizontal direction, when traveling through all the other rectangles with i rectangle for benchmark, if j rectangle is completely on the left of i, then r=1;

If j and i has overlap, then r=2;

If j is on the right side of i, then r=3.

Vertical direction is as the same.

Therefore, when i and j all places rectangle:

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r=1$ (formula 8)

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r=1$ (formula 9)

When i or j has arbitrary place not place rectangle:

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r=0$ (formula 10)

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r=0$ (formula 11)

By unified for above-mentioned four kinds of situations, can be expressed as:

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r=z_i{z}_j$ (formula 12)

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r=z_i{z}_j$ (formula 13)

Because (formula 5)-(formula 6) adds nonlinear computation, now following conversion of equal value is done to it:

Horizontal direction

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r\&le;z_i$ (formula 14)

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r\&le;z_j$ (formula 15)

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r{\&GreaterEqual;z}_i+z_j-1$ (formula 16)

$p_{\mathrm{ij}}^r\&Element;\left(\mathrm{0,1}\right)$

Vertical direction

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r\&le;z_i$ (formula 17)

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r\&le;z_j$ (formula 18)

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r{\&GreaterEqual;z}_i+z_j-1$ (formula 19)

$q_{\mathrm{ij}}^r\&Element;\left(\mathrm{0,1}\right)$

Horizontal direction, as r=1, namely j rectangle is completely at i rectangle left, then

$x_j+l\&le;x_i-l+C(1-p_{\mathrm{ij}}^1)$ (formula 20)

Wherein, C is an enough large constant, to ensure time inequality still set up.

C=x might as well be established _e+ 2l, x _efor polygon surveys the horizontal ordinate on summit, the rightmost side, district.

In like manner, as r=3, namely j rectangle is completely on the right side of i rectangle, then

$x_i+l\&le;x_j-l+C(1-p_{\mathrm{ij}}^3)$ (formula 21)

As r=2, namely rectangle i and rectangle j has common factor, then

$0\&le;C(1-p_{\mathrm{ij}}^2)$ (formula 22)

| x _i-x _j| during≤2l

In sum, rectangle meets respectively at level and vertical direction and retrains as follows:

$\left.\begin{array}{c}{x}_j+l\&le;x_i-l+C(1-p_{\mathrm{ij}}^1)\\ x_i+l\&le;x_j-l+C(1-p_{\mathrm{ij}}^3)\\ 0\&le;C(1-p_{\mathrm{ij}}^2)\end{array}\right\}$ (formula 23)

$\left.\begin{array}{c}{y}_j+w\&le;y_i-w+M(1-q_{\mathrm{ij}}^1)\\ y_i+w\&le;y_j-w+M(1-q_{\mathrm{ij}}^3)\\ 0\&le;M(1-q_{\mathrm{ij}}^2)\end{array}\right\}$ (formula 24)

Note: with level in like manner, vertical direction might as well establish M=y _n+ 2w, y _nfor polygon surveys the ordinate on summit, the top, district.| y _i-y _j| during≤2l

B, degree of overlapping retrain

Introduce 0/1 variable

$\begin{array}{cc}{b}_{\mathrm{ij}}=p_{\mathrm{ij}}^2\&CenterDot;q_{\mathrm{ij}}^2& b_{\mathrm{ij}}\&Element;\left(\mathrm{0,1}\right)\end{array}$ (formula 25)

By known and if only if the b of above-mentioned definition _ijwhen=1, rectangle is overlapping.

Work as b _ijwhen=1, introduce variable the overlapping degree of rectangle i and rectangle j in level and vertical both direction is described:

$c_{\mathrm{ij}}^1=(2l-|x_i-x_j\left|\right)-l_{\mathrm{overlap}}\&CenterDot;2l$ (formula 26)

$c_{\mathrm{ij}}^2=(2w-|y_i-y_j\left|\right)-w_{\mathrm{overlap}}\&CenterDot;2w$ (formula 27)

Wherein, l _overlapfor horizontal direction degree of overlapping, w _overlapfor vertical direction degree of overlapping.

If the actual degree of overlapping of rectangle reaches or exceeds set l _overlapor w _overlap, then

The integral linear programming of the overlay model over the ground algorithmic formula of C, additional overlay degree constrain gathers

Objective function

$\begin{array}{cc}\mathrm{Min}& {\mathrm{\&Sigma;}}_{j=1}^n{z}_j\end{array}$ (formula 28)

Constraint condition

$\begin{array}{cc}{\mathrm{\&Sigma;}}_{j=1}^n{a}_{\mathrm{ij}}\&CenterDot;z_j\&GreaterEqual;1& \&ForAll;,i,j\&Element;I_n\end{array}$ (formula 29)

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r\&le;z_i$ (formula 30)

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r\&le;z_j$ (formula 31)

${\mathrm{\&Sigma;}}_{r=1}^3{p}_{\mathrm{ij}}^r{\&GreaterEqual;z}_i+z_j-1$ (formula 32)

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r\&le;z_i$ (formula 33)

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r\&GreaterEqual;z_j$ (formula 34)

${\mathrm{\&Sigma;}}_{r=1}^3{q}_{\mathrm{ij}}^r{\&GreaterEqual;z}_i+z_j-1$ (formula 35)

$x_j+l\&le;x_i-l+C(1-p_{\mathrm{ij}}^1)$ (formula 36)

$x_i+l\&le;x_j-l+C(1-p_{\mathrm{ij}}^3)$ (formula 37)

$0\&le;C(1-p_{\mathrm{ij}}^2)$ (formula 38)

$y_j+w\&le;y_i-w+M(1-q_{\mathrm{ij}}^1)$ (formula 39)

$y_i+w\&le;y_j-w+M(1-q_{\mathrm{ij}}^3)$ (formula 40)

$0\&le;M(1-q_{\mathrm{ij}}^2)$ (formula 41)

$\begin{array}{c}{b}_{\mathrm{ij}}=p_{\mathrm{ij}}^2\&CenterDot;q_{\mathrm{ij}}^2\end{array}$ (formula 42)

$c_{\mathrm{ij}}^1=(2l-|x_i-x_j\left|\right)-l_{\mathrm{overlap}}\&CenterDot;2l$ (formula 43)

$c_{\mathrm{ij}}^2=(2w-|y_i-y_j\left|\right)-w_{\mathrm{overlap}}\&CenterDot;2w$ (formula 44)

Z _j∈ (0,1) (formula 45)

A _ij∈ (0,1) (formula 46)

$p_{\mathrm{ij}}^r\&Element;\left(\mathrm{0,1}\right)$ (formula 47)

$q_{\mathrm{ij}}^r\&Element;\left(\mathrm{0,1}\right)$ (formula 48)

B _ij∈ (0,1) (formula 49)

3, alignment subalgorithm

After determining task point (exposure station), need formulate through task point can flight path to meet the Dynamic Constraints of fixed-wing unmanned plane or multiaxis unmanned plane.In addition, distribute to carry out next pacing district in conjunction with unmanned plane flying power, need the length calculating each path.

3.1 two-dimentional Dubins path models

Refer to Fig. 8, between two pose points, the shortest path is Dubins path.Dubins path can be simply defined as, and under maximum curvature restriction, the shortest feasible path in plane between two directive points is CLC or CCC path, or their subset, and wherein C represents arc section, and L represents the straight-line segment tangent with C.With cartesian geometry or infinitesimal geometry principle solving Dubins path, but conveniently can realize and integrate covering algorithm over the ground better, adopting analytic geometry method here.Mainly contain containing outer tangent line and internal tangent two kinds of Dubins paths in aerial survey path, internal common tangent Dubins path is mainly used in surveying the switching in district between air strips, and outside common tangent Dubins path is mainly used in surveying interval conversion or surveying district and non-interval of surveying shifting.

A, definition

A. initial pose point:

B. pose point is stopped:

C. initial curvature:

K _s≤ k _max(formula 50)

Wherein k _s=1/ ρ _s, ρ _sit is radius of turn

D. curvature is stopped:

K _f≤ k _max(formula 51)

Wherein k _f=1/ ρ _f, ρ _fit is radius of turn

E. maximum radius of turn:

$k_{\max }=\frac{1}{{\mathrm{\&rho;}}_{\max }}=\frac{g\sqrt{n^2-1}}{v^2}$ (formula 52)

Wherein V is maximum cruise, and g is acceleration of gravity, and n is overload (maximum centripetal acceleration that equipment can bear), ρ _maxit is maximum radius of turn.

B, Dubins path existence condition

Refer to Fig. 9, design Dubins path needs find point of penetration from the initial task point of front and back of turning and cut out a little, and therefore the existence in path is equivalent to the existence at point of contact.When point of contact overlaps, it is CC path; When arcs intersect, path does not exist.Particularly, the general process in design Dubins path is: setting start and end pose point coordinate radius of turn, finds out the terminus center of circle, judges that whether terminus turning circular arc is tangent, when terminus turning circular arc is not tangent, reset start and end pose point coordinate radius of turn; When terminus turning circular arc is tangent, make the center line of terminus turning circular arc, the right-angle triangle that then to do with this center line be hypotenuse, determine point of penetration and cut out a little, line obtains Dubins curve.

For outer tangent line Dubins path, its existence condition is:

| ρ _f-ρ _s| < | C| (formula 53)

For internal tangent Dubins path, its existence condition is:

| ρ _f+ ρ _s| < | C| (formula 54)

Wherein: C is two circular arc place circle distance of center circle

C, outside common tangent Dubins path (as shown in Figure 10)

A. known: starting point pose point

Stop pose point

Initial radius of turn ρ _s

Terminal radius of turn ρ _f

Ask: initial central coordinate of circle O _s(x _cs, y _cs)

Terminal central coordinate of circle O _f(x _cf, y _cf)

(formula 55)

(formula 56)

(formula 57)

(formula 58)

B. ρ is worked as _f> ρ _stime, do with O _ffor the center of circle, | ρ _f-ρ _s| be the round C of radius _sec

C. O is connected with center line C _sand O _f,

D. be that hypotenuse makes right-angle triangle, a right-angle side and C with C _secmeet at T ', with C _fmeet at point of penetration P _n

E. O is connected _swith T '

F. with O _sfor starting point, make one and O _fp _nparallel straight line, with C _smeet at and cut out a P _x

G. connection point of contact and segmental arc obtain circumscribed Dubins path

H. known: initial central coordinate of circle O _s(x _cs, y _cs)

Terminal central coordinate of circle O _f(x _cf, y _cf)

Centerline dip angle

$\mathrm{\&alpha;}={\sin }^{-1}\left(\frac{{\mathrm{\&rho;}}_f-{\mathrm{\&rho;}}_s}{\left|C\right|}\right)$ (formula 59)

O _so _fwith O _st ' angle

$\mathrm{\&beta;}={\tan }^{-1}\left(\frac{y_{\mathrm{cf}}-y_{\mathrm{cs}}}{x_{\mathrm{cf}}-x_{\mathrm{cs}}}\right)$ (formula 60)

Ask: point of penetration coordinate P _x(x _px, y _pX) and cut out point coordinate P _n(x _pN, y _pN)

X _pX=x _cs+ ρ _scos θ (formula 61)

Y _px=y _cs+ ρ _ssin θ (formula 62)

X _pN=x _cf+ ρ _fcos θ (formula 63)

Y _pN=y _cf+ ρ _fsin θ (formula 64)

Wherein θ sees the following form

Can in the hope of the distance of Dubins path straight-line segment by point of contact

Starting point rotates to and cuts out a P _xcorner

(formula 65)

Starting point rotates to point of penetration P _ncorner

(formula 66)

Further can in the hope of the total length in Dubins path

D, internal common tangent Dubins path

Refer to Figure 11, internal common tangent Dubins path and outside common tangent path are uniquely different is that rotation angle is different, and concrete steps can copy outside common tangent to carry out.

E. survey airline mileage in district to calculate

$S={\mathrm{\&Sigma;}}_{i=1}^{n-1}(S_{\mathrm{Taskpoly}}^i+S_{\mathrm{Dubins}}^i)$ (formula 67)

Wherein n is air strips sums, i=1,2,3 ... n

$S_{\mathrm{Taskpoly}}^i={\mathrm{\&Sigma;}}_j^m\sqrt{{(x_j-x_{j-1})}^2+{(y_j-y_{j-1})}^2}$ (formula 68)

Wherein m is the destination number of i-th air strips, j=1,2,3 ... m

$\begin{array}{c}{S}_{\mathrm{Dubins}}^i=S_{\mathrm{Arcstart}}^i+S_{\mathrm{Tangent}}^i+S_{\mathrm{Arcfinish}}^i\\ =\frac{{\mathrm{\&epsiv;}}_s^i}{k_s^i}+\sqrt{{(x_{\mathrm{PX}}^i-x_{\mathrm{PN}}^i)}^2+{(y_{\mathrm{PX}}^i-y_{\mathrm{PN}}^i)}^2}+\frac{{\mathrm{\&epsiv;}}_f^i}{k_f^i}\end{array}$ (formula 69)

Survey airline mileage in district and should be less than the maximum flyer miles of unmanned plane, i.e. S≤S _max.

Key problem of the present invention is " how by sterically defined integrated and utilize space planning analytical approach to solve unmanned plane to work in coordination with the control problem covered over the ground ".Completed by ground control system that unmanned plane is collaborative covers task over the ground, greatly can strengthen the efficiency of the mapping of unmanned plane battlefield and investigation, dirigibility and reliability.Except photogrammetric measurement, collaborative covering system over the ground can also be applied to the aspects such as Hitting Effect Evaluation, naval searching rescue, collaborative farm chemical apparatus operation, has very strong using value and development potentiality.

The present invention significantly can promote operating efficiency.Under equal continuation of the journey condition, multi-machine collaborative concurrent job compares original unit operation significantly can promote aerial survey area, data precision reduce time cost.Agree with actual demand, necessary data can be obtained fast by the gentle window that resembles at limited operation window.

The present invention significantly can promote the robustness of aerial survey of unmanned aerial vehicle system.System is made up of unmanned aerial vehicle group, breaks down, be interfered or in impaired situation, redistribute survey district, planning course line still effectively can complete and cover task over the ground by ground control system at unit.

The present invention significantly can reduce the cost of operation, is convenient to the popularization of technology.Multiple unmanned planes of advantage of lower cost, small volume can be adopted to replace the large-scale aerial survey unmanned plane of long voyage large volume to complete and to cover task over the ground.Except flexible operation, be also convenient to emergency mobile, even can be carried by single, collaborative finishing the work of forming into columns fast when burst covers demand over the ground.

To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.

In addition, be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.

Claims (8)

1. the collaborative covering system over the ground of unmanned plane, it is characterized in that, comprise hardware system, described hardware system is made up of unmanned aerial vehicle group, land station, communication module and GPS reference station; Communication is carried out by communication module and GPS reference station between described land station and unmanned aerial vehicle group; Described land station comprises ground control system, and described ground control system is made up of remoting subsystem, telemetry subsystem and geography data subsystem; Described remoting subsystem is responsible for instruction acquisition and instruction and is uploaded, instruction acquisition is divided into the instruction of artificial intervention and automatically calculates by collaborative covering algorithm the instruction assigned, and instruction is uploaded as the instruction collected being realized being issued to unmanned plane and the control realizing a station multimachine by communication module; Described telemetry subsystem is responsible for task matching, flight course planning and data receiver; Described geography data subsystem is responsible for down passing the pre-service of view data, the superposition of telemetry and providing primary spatial data.

2. the collaborative covering system over the ground of unmanned plane according to claim 1, it is characterized in that, what described land station adopted is Portable Reinforced Computer.

3. the collaborative covering system over the ground of unmanned plane according to claim 2, it is characterized in that, described communication module is wireless data chain transceiver, carry out figure by wireless data chain transceiver in the mode of half-duplex wireless data chain between land station and unmanned aerial vehicle group and pass the communication with remote-control data, wireless data chain transceiver realizes the communication with Portable Reinforced Computer by serial ports.

4. the collaborative covering system over the ground of unmanned plane according to claim 2, it is characterized in that, described GPS reference station is GNSS receiver, locate when realizing high-precision real by GNSS transceiver and unmanned aerial vehicle onboard positioning system difference between land station and unmanned aerial vehicle group, GNSS transceiver is connected with Portable Reinforced calculating formula by USB.

5. the collaborative covering system over the ground of unmanned plane according to claim 2, it is characterized in that, described Portable Reinforced Computer is Portable Reinforced panel computer, and ground staff carries out Real-Time Monitoring and control by this Portable Reinforced panel computer to unmanned aerial vehicle group aerial survey overall process.

6. the collaborative covering system over the ground of unmanned plane according to claim 1, is characterized in that, the relevant flight passed down by telemetry subsystem energy real time inspection and record unmanned aerial vehicle group and aerial survey parameter.

7. the collaborative covering system over the ground of unmanned plane according to claim 1, is characterized in that, have employed collaborative covering algorithm over the ground in described telemetry subsystem, realizes carrying out task matching and control to unmanned aerial vehicle group by remoting subsystem.

8. the collaborative covering system over the ground of unmanned plane according to claim 7, is characterized in that, the collaborative overlay model over the ground that described collaborative covering algorithm over the ground adopts is made up of three sub-problems, is respectively partitioning problem, fixed-point problem and alignment problem.