CN105843253A - Design method and system for unmanned aerial vehicle's travel path - Google Patents
Design method and system for unmanned aerial vehicle's travel path Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000013439 planning Methods 0.000 claims abstract description 134
- 238000004458 analytical method Methods 0.000 claims abstract description 33
- 230000004888 barrier function Effects 0.000 claims description 72
- 230000003139 buffering effect Effects 0.000 claims description 21
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 9
- 239000000654 additive Substances 0.000 claims description 6
- 230000000996 additive effect Effects 0.000 claims description 6
- 238000013523 data management Methods 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000007405 data analysis Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000012732 spatial analysis Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention relates to a design method and a system for an unmanned aerial vehicle's travel path. The method is performed through the following steps: conducting buffer analysis on a pre-designed path obtained through GIS so as to obtain a pre-travel area for the unmanned aerial vehicle; determining possible obstacles for the unmanned aerial vehicle according to the flying environment the unmanned aerial vehicle is in; conducting superposing analysis on the position information of the pre-travel area and the obstacles to determine if the pre-designed path is passable or not; conducting another design for the flying path of the unmanned aerial vehicle when the pre-designed path is confirmed to be impassable; According to the invention, GIS technologies are adopted in the path planning of an unmanned aerial vehicle and buffer analysis and superposing analysis are conducted to realize intelligent judgment of the flying environment of an unmanned aerial vehicle and the intelligent analyzing of a flying path. The design method and the system raise the processing speed for large amounts of flying data, reduces the workload for data analysis, improves the design efficiency for unmanned aerial vehicle paths and increases the flying safety of the unmanned aerial vehicle.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to paths planning method and the system of a kind of unmanned plane.
Background technology
Unmanned plane path planning refers to according to unmanned plane self mobility, flight environment of vehicle and mission requirements,
Select a safely and effectively flight path.During the practical flight of unmanned plane, ground observing and controlling system
Export a large amount of flying qualities in real time, quickly process according to a large amount of flying qualities, and in time to unmanned
Machine carries out flight control, and this is most important for the flight safety of unmanned plane.How to improve a large amount of flights
The processing speed of data and the workload of data analysis of reducing be unmanned plane path planning in need solution badly
Technical problem certainly.
Summary of the invention
Technical problem
In view of this, the technical problem to be solved in the present invention is, in the path planning of unmanned plane, to greatly
Relatively low and data analysis the workload of processing speed of amount flying quality is bigger.
Solution
In order to solve above-mentioned technical problem, according to one embodiment of the invention, it is provided that a kind of unmanned plane
Paths planning method, including:
The pre-planning path obtained from GIS is carried out buffer zone analysis, obtains the pre-logical of described unmanned plane
Row region；
According to the flight environment of vehicle residing for described unmanned plane, determine each barrier that may hinder described unmanned plane during flying
Hinder thing；
It is laid out analyzing to the positional information of described pre-traffic areas Yu each barrier, determines described pre-rule
Draw whether path can pass through；
In the case of the impassabitity of described pre-planning path, planning obtains newly flying of described unmanned plane again
Walking along the street footpath.
For the paths planning method of above-mentioned unmanned plane, in a kind of possible implementation, described to from
The pre-planning path that GIS obtains carries out buffer zone analysis, obtains the pre-traffic areas of described unmanned plane, bag
Include:
Fuselage width according to described unmanned plane determines buffering radius；
Obtaining the described pre-planning path prestored from described GIS, described pre-planning path includes pre-
The starting point coordinate first planned, institute are through destination coordinate and point of destination coordinate；
The each coordinate and the described buffering radius that include according to described pre-pass determine described pre-FOH
Territory.
For the paths planning method of above-mentioned unmanned plane, in a kind of possible implementation, according to described
Flight environment of vehicle residing for unmanned plane, determines each barrier that may hinder described unmanned plane during flying, including:
According to the flying height of described unmanned plane, determine and may hinder flight in described pre-traffic areas
Each fixed obstacle and/or each moving obstacle；
The position data of described fixed obstacle is obtained from described GIS, and/or, use GPS to obtain in real time
Take the position data of described moving obstacle；
The position data of each barrier is merged computing, obtains barrier complete or collected works.
For the paths planning method of above-mentioned unmanned plane, in a kind of possible implementation, to described pre-
Traffic areas is laid out analyzing with the positional information of each barrier, determines whether may be used in described pre-planning path
Current, including:
Carry out intersecting computing or additive operation with described barrier complete or collected works by described pre-traffic areas, to determine
Whether described pre-traffic areas and described barrier complete or collected works exist overlapping region；
In the case of there is overlapping region in described pre-traffic areas with described barrier complete or collected works, determine described
Pre-planning path impassabitity.
For the paths planning method of above-mentioned unmanned plane, in a kind of possible implementation, again plan
Obtain the new flight path of described unmanned plane, including:
Use signal source shortest path algorithm that each coordinate points in described pre-traffic areas is traveled through, and root
It is calculated new passed through destination according to Euclidean distance；
Redefine described according to new passed through destination, described starting point coordinate and described point of destination coordinate
New flight path.
For the paths planning method of above-mentioned unmanned plane, in a kind of possible implementation, again plan
After obtaining the new flight path of described unmanned plane, described method also includes:
Described new flight path is imported in the ground control station of described unmanned plane；
Described ground control station sends described new flight path pair to the flight control modules of described unmanned plane
The control command answered, to indicate described unmanned plane to fly according to described new flight path.
In order to solve above-mentioned technical problem, according to another embodiment of the present invention, it is provided that a kind of unmanned plane
Path planning system, including:
GIS data management module, is used for storing pre-planning path and flight environment of vehicle information；
Pre-FOH domain analyzing module, distinguishes for the pre-planning path obtained from GIS carries out buffering
Analysis, obtains the pre-traffic areas of described unmanned plane；
Flight environment of vehicle judge module, for according to the flight environment of vehicle residing for described unmanned plane, determining may resistance
Hinder each barrier of described unmanned plane during flying；
Path analysis module, for being laid out the positional information of described pre-traffic areas with each barrier
Analyze, determine whether described pre-planning path can pass through；
Path planning module, in the case of the impassabitity of described pre-planning path, plans again
New flight path to described unmanned plane.
For the path planning system of above-mentioned unmanned plane, in a kind of possible implementation, described pre-logical
Row regional analysis module includes:
Buffering radius determines submodule, for determining buffering radius according to the fuselage width of described unmanned plane；
Pre-planning path obtains submodule, for obtaining the described pre-planning prestored from described GIS
Path, described pre-planning path includes that the starting point coordinate planned in advance, institute are through destination coordinate and point of destination
Coordinate；
Pre-traffic areas determines submodule, for each coordinate of including according to described pre-pass and described
Buffering radius determines described pre-traffic areas.
For the path planning system of above-mentioned unmanned plane, in a kind of possible implementation, described flight
Environment judge module includes:
Barrier determines submodule, and for the flying height according to described unmanned plane, determining may be described
Each fixed obstacle of flight and/or each moving obstacle is hindered in pre-traffic areas；
Obstacle Position data acquisition submodule, for obtaining described fixed obstacle from described GIS
Position data, and/or, use GPS to obtain the position data of described moving obstacle in real time；
Barrier complete or collected works determine submodule, for the position data of each barrier is merged computing,
To barrier complete or collected works.
For the path planning system of above-mentioned unmanned plane, in a kind of possible implementation, described path
Analysis module includes:
Overlap judges submodule, for being shipped mutually with described barrier complete or collected works described pre-traffic areas
Calculate or additive operation, to determine whether described pre-traffic areas and described barrier complete or collected works exist overlay region
Territory；
, for there is weight with described barrier complete or collected works in described pre-traffic areas in impassabitity decision sub-module
In the case of folded region, determine described pre-planning path impassabitity.
For the path planning system of above-mentioned unmanned plane, in a kind of possible implementation, described path
Planning module includes:
New passed through destination calculating sub module, is used for using signal source shortest path algorithm to described pre-current
Each coordinate points in region travels through, and is calculated new passed through boat according to Euclidean distance
Point；
New flight path determines submodule, for according to new passed through destination, described starting point coordinate and
Described point of destination coordinate redefines described new flight path.
For the path planning system of above-mentioned unmanned plane, in a kind of possible implementation, described system
Also include:
Import module, in the ground control station that described new flight path is imported to described unmanned plane；
Path clustering module, sends to the flight control modules of described unmanned plane for described ground control station
The control command that described new flight path is corresponding, to indicate described unmanned plane to fly according to described new flight path
OK.
Beneficial effect
By GIS technology being applied in the path planning of unmanned plane, utilize GIS information assistant decision, profit
With the GIS spatial analysis functions such as buffer zone analysis and Overlap Analysis realize to the intelligent decision of flight environment of vehicle with
The intellectual analysis of flight path, the paths planning method of unmanned plane according to embodiments of the present invention and system energy
Enough processing speeds improved a large amount of flying qualities, reduce the workload of data analysis, improve unmanned plane
The efficiency of path planning, thus improve the flight safety of unmanned plane.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, the further feature of the present invention and side
Face will be clear from.
Accompanying drawing explanation
The accompanying drawing of the part comprising in the description and constituting description together illustrates with description
The exemplary embodiment of the present invention, feature and aspect, and for explaining the principle of the present invention.
Fig. 1 illustrates the flowchart of the paths planning method of unmanned plane according to an embodiment of the invention；
Fig. 2 illustrates the concrete of paths planning method step S101 of unmanned plane according to an embodiment of the invention
Flowchart；
Fig. 3 illustrates the concrete of paths planning method step S102 of unmanned plane according to an embodiment of the invention
Flowchart；
Fig. 4 illustrates the concrete of paths planning method step S103 of unmanned plane according to an embodiment of the invention
Flowchart；
Fig. 5 illustrates in paths planning method step S104 of unmanned plane according to an embodiment of the invention again
Planning obtain unmanned plane new flight path implement flow chart；
Fig. 6 a illustrates the pre-planning road in the paths planning method of unmanned plane according to an embodiment of the invention
Footpath, barrier, starting point, point of destination and the schematic diagram of the destination that can pass through；
Fig. 6 b illustrates the pre-planning road in the paths planning method of unmanned plane according to an embodiment of the invention
Footpath, barrier, starting point, point of destination, can pass through destination and another schematic diagram of new flight path；
What Fig. 7 illustrated the paths planning method of unmanned plane according to another embodiment of the present invention realizes flow process
Figure；
Fig. 8 illustrates the structured flowchart of the path planning system of unmanned plane according to another embodiment of the present invention；
Detailed description of the invention
Various exemplary embodiments, feature and the aspect of the present invention is described in detail below with reference to accompanying drawing.Attached
Reference identical in figure represents the same or analogous element of function.Although enforcement shown in the drawings
The various aspects of example, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
The most special word " exemplary " means " as example, embodiment or illustrative ".Here as
Any embodiment illustrated by " exemplary " should not necessarily be construed as preferred or advantageous over other embodiments.
It addition, in order to better illustrate the present invention, detailed description of the invention below gives numerous
Detail.It will be appreciated by those skilled in the art that do not have some detail, the present invention is equally
Implement.In some instances, for method well known to those skilled in the art, means, element and circuit
It is not described in detail, in order to highlight the purport of the present invention.
Embodiment 1
Fig. 1 illustrates the flowchart of the paths planning method of unmanned plane according to an embodiment of the invention.
As it is shown in figure 1, the method specifically includes that
In step S101, the pre-planning path obtained is carried out buffer zone analysis, obtain nothing from GIS
Man-machine pre-traffic areas.
GIS (Geographic Information System, GIS-Geographic Information System) is for obtaining, depositing
Store up, analyze and show the computer system of geographical spatial data.In embodiments of the present invention, by by GIS
Technology is applied in the path planning of unmanned plane, characterizes flying quality with figure, would fit snugly within and flies in a large number
Information in row data is expressed with relative straightforward and the graphics mode that is prone to understand, accelerates people from number
Speed according to middle acquisition information.
Wherein, the line feature during pre-planning path can be expressed as GIS spatial object.
In step s 102, according to the flight environment of vehicle residing for unmanned plane, determine and may hinder unmanned plane during flying
Each barrier.
Wherein, flight environment of vehicle can include Fundamental Geographic Information System and obstacle information.Fundamental Geographic Information System can
To include geometric coordinate information, attribute information and the elevation information in atural object, plot.
In step s 103, the positional information to pre-traffic areas Yu each barrier is laid out analyzing, really
Determine whether pre-planning path can pass through.
In the flight course of unmanned plane, use the GIS such as buffer zone analysis and Overlap Analysis spatial analysis side
Method, determines whether pre-planning path can pass through.
In step S104, in the case of the impassabitity of pre-planning path, planning obtains unmanned plane again
New flight path.
As an example of the embodiment of the present invention, in the case of the impassabitity of pre-planning path, control
Offline mode is changed to remain pattern by unmanned plane, to improve the safety of unmanned plane during flying.Remaining mould
In formula, unmanned plane keeps current location and direction.
Fig. 2 illustrates the concrete of paths planning method step S101 of unmanned plane according to an embodiment of the invention
Flowchart.Distinguish as in figure 2 it is shown, step S101 carries out buffering to the pre-planning path obtained from GIS
Analysis, obtains the pre-traffic areas of unmanned plane, including:
In step s 201, buffering radius is determined according to the fuselage width of unmanned plane.
Such as, it is defined as the 1/2 of the fuselage width of unmanned plane buffering radius.It should be noted that buffering
Radius may be arranged as 1/2 of the fuselage width slightly larger than unmanned plane, in this no limit.
In step S202, obtaining the pre-planning path prestored from GIS, pre-planning path includes
The starting point coordinate planned in advance, institute are through destination coordinate and point of destination coordinate.
Pre-planning path is stored in advance in GIS.Such as, GIS spatial object is used to describe pre-planning
Path, this pre-planning path is a coordinate sequence, is expressed as
(x1,y1,z1；x2,y2,z2；x3,y3,z3；...；xn,yn,zn), wherein, x is in geographic coordinate system
Longitude, y is the latitude in geographical co-ordinate system, and z is height (unit is rice), (x1,y1,z1)
Represent starting point coordinate, (xn,yn,zn) represent point of destination coordinate, (x2,y2,z2)
(x3,y3,z3)……(xn-1,yn-1,zn-1) represent that institute is through destination coordinate.With coordinate sequence
After representing pre-planning path, then want abstract for this coordinate sequence for the line in GIS spatial object
Element.
In step S203, each coordinate included according to pre-pass and buffering radius determine pre-FOH
Territory.
Minimum outsourcing Rectangular Method, each coordinate included according to pre-planning path and buffering radius is used to determine pre-
Pass.
Fig. 3 illustrates the concrete of paths planning method step S102 of unmanned plane according to an embodiment of the invention
Flowchart.As it is shown on figure 3, step S102 is according to the flight environment of vehicle residing for unmanned plane, determine possibility
Hinder each barrier of unmanned plane during flying, including:
In step S301, according to the flying height of unmanned plane, determine and may hinder in pre-traffic areas
Each fixed obstacle of flight and/or each moving obstacle.
In this example, filter out transitable barrier according to the flying height of unmanned plane, obtain possibility
Each fixed obstacle of unmanned plane during flying and/or each moving obstacle is hindered in pre-traffic areas.Such as,
Fixed obstacle can be the atural objects such as the building of the flying height highly exceeding unmanned plane, moving obstacle
Bird that unmanned plane real-time monitors in flight course or other aircraft etc..Fixed obstacle profile
Coordinate sequence imports in GIS in advance.
In step s 302, from GIS, obtain the position data of fixed obstacle, and/or, use GPS
Obtain the position data of moving obstacle in real time.
Wherein, the position data of fixed obstacle is stored in advance in GIS.
During the aircraft of unmanned plane, it is also possible to by GPS (Global Position System, the whole world
Alignment system) the real-time position data obtaining moving obstacle.Moving obstacle is monitored in real time by GPS,
Achieve Real Time Obstacle Avoiding.
In step S303, the position data of each barrier is merged computing, obtain barrier complete or collected works.
Fig. 4 illustrates the concrete of paths planning method step S103 of unmanned plane according to an embodiment of the invention
Flowchart.As shown in Figure 4, the positional information of pre-traffic areas with each barrier is entered by step S103
Row Overlap Analysis, determines whether pre-planning path can pass through, including:
In step S401, carry out intersecting computing or additive operation with barrier complete or collected works by pre-traffic areas,
To determine whether pre-traffic areas and barrier complete or collected works exist overlapping region；
In step S402, in the case of there is overlapping region in pre-traffic areas with barrier complete or collected works, really
Determine pre-planning path impassabitity.
In this example, in the case of there is overlapping region in pre-traffic areas with barrier complete or collected works, determine
There is impassabitity barrier, pre-planning path impassabitity, need path planning again；Pre-current
In the case of region and barrier complete or collected works do not exist overlapping region, determine and there is not impassabitity barrier,
Can pass through in pre-planning path, it is not necessary to path planning again.
Fig. 5 illustrates in paths planning method step S104 of unmanned plane according to an embodiment of the invention again
Planning obtain unmanned plane new flight path implement flow chart.As shown in Figure 4, in step S104
Again planning obtains the new flight path of unmanned plane, including:
In step S501, use signal source shortest path algorithm that each coordinate points in pre-traffic areas is carried out
Traversal, and it is calculated new passed through destination according to Euclidean distance；
In step S502, the most true according to new passed through destination, starting point coordinate and point of destination coordinate
Fixed new flight path.
As an example of the embodiment of the present invention, fall into a trap from the three-dimensional coordinate of barrier point corresponding to barrier
Calculate the distance of course angle and this barrier point and unmanned plane, calculate barrier point according to course angle and distance
Definitely latitude and longitude coordinates, then calculate first new passed through destination.Calculate first new can
After current destination, read all destination coordinates in pre-planning path, and obtain current destination numbering and
The destination numbering arrived.First new passed through destination is inserted into flying of unmanned plane as current destination
In row task list, and sequentially update all destinations thereafter, so that it is determined that go out other new passed through boats
Point.
Fig. 6 a illustrates the pre-planning road in the paths planning method of unmanned plane according to an embodiment of the invention
Footpath 61, barrier 62, starting point 63, point of destination 64 and the schematic diagram of the destination 65 that can pass through.In Fig. 6 a
Can get around near a certain barrier in pre-planning path, in this case, and new the passing through of calculating
The negligible amounts of destination.
Fig. 6 b illustrates the pre-planning road in the paths planning method of unmanned plane according to an embodiment of the invention
Footpath 61, barrier 62, starting point 63, point of destination 64, can pass through destination 65 and new flight path 66 another
One schematic diagram.Can not get around near a certain barrier in pre-planning path in figure 6b, needs to detour
Distant, in this case, the quantity of new the passed through destination of calculating is more.
So, by GIS technology being applied in the path planning of unmanned plane, utilize GIS information auxiliary certainly
Plan, utilizes the GIS spatial analysis functions such as buffer zone analysis and Overlap Analysis to realize the intelligence to flight environment of vehicle
Judge and the intellectual analysis of flight path, the paths planning method of unmanned plane according to embodiments of the present invention and
System can improve the processing speed to a large amount of flying qualities, reduces the workload of data analysis, improves
The efficiency of unmanned plane path planning, thus improve the flight safety of unmanned plane.
Embodiment 2
What Fig. 7 illustrated the paths planning method of unmanned plane according to another embodiment of the present invention realizes flow process
Figure.As it is shown in fig. 7, the method specifically includes that
In step s 701, the pre-planning path obtained from GIS is carried out buffer zone analysis, obtains nothing
Man-machine pre-traffic areas；
In step S702, according to the flight environment of vehicle residing for unmanned plane, determine and may hinder unmanned plane during flying
Each barrier；
In step S703, it is laid out analyzing, really to the positional information of pre-traffic areas Yu each barrier
Determine whether pre-planning path can pass through；
In step S704, in the case of the impassabitity of pre-planning path, planning obtains unmanned plane again
New flight path；
In step S705, new flight path is imported in the ground control station of unmanned plane；
In step S706, ground control station sends new flight path pair to the flight control modules of unmanned plane
The control command answered, to indicate unmanned plane to fly according to new flight path.
In the present invention is embodiment, new flight path is imported in the ground control station of unmanned plane, ground
Face control station is referred to by MavLink (Micro air Vehicle Link, minute vehicle links) communication again
Make and new flight path is sent to unmanned plane, to indicate unmanned plane to fly according to new flight path.
So, the above embodiment of the present invention by importing to the ground control station of unmanned plane by new flight path
In, ground control station sends, to the flight control modules of unmanned plane, the control command that new flight path is corresponding,
It is capable of the real-time control to unmanned plane, thus realizes Real Time Obstacle Avoiding, improve the peace of unmanned plane during flying
Quan Xing；It addition, make full use of MavLink communication protocol and communication instruction, at ground control station with unmanned
Setting up stable message channel between machine, the new flight path real-time synchronization reaching again to plan is to unmanned plane
The technique effect of flight control modules.
Embodiment 3
Fig. 8 illustrates the structured flowchart of the path planning system of unmanned plane according to another embodiment of the present invention.
As shown in Figure 8, this system includes:
GIS data management module 81, is used for storing pre-planning path and flight environment of vehicle information.
Wherein, GIS data management module 81 can include spatial database and spatial data accessing interface.
First, spatial database technology geometric coordinate information, attribute information and height to Fundamental Geographic Information System is used
Journey information carries out unifying storage and management, and provides unified data query and reading interface；It addition, also
Data write interface is provided, uses GIS spatial object to describe pre-planning path, this pre-planning routing table
It is shown as a coordinate sequence (x1,y1,z1；x2,y2,z2；x3,y3,z3；...；xn,yn,zn), wherein, x
For the longitude in geographic coordinate system, y is the latitude in geographical co-ordinate system, and z is that height is (single
Position is rice), finally that it is abstract for the line feature in GIS spatial object, pre-planning path data is permissible
Write spatial database in real time.District's key element that obstacle information is conceptualized as in GIS, i.e. polygon coordinate
Sequence, shape such as (x1,y1,z1；x2,y2,z2；x3,y3,z3；...；xn,yn,zn；x1,y1,z1), barrier is believed
Breath also can be write spatial database in real time.Spatial data accessing interface provides ground, basis
Reason information, pre-planning path and the reading of obstacle information, the merit inquired about, insert and revise
Energy.
Pre-FOH domain analyzing module 82, for carrying out relief area to the pre-planning path obtained from GIS
Analyze, obtain the pre-traffic areas of unmanned plane.
Flight environment of vehicle judge module 83, for according to the flight environment of vehicle residing for unmanned plane, determining may obstruction
Each barrier of unmanned plane during flying.
Path analysis module 84, for being laid out the positional information of pre-traffic areas Yu each barrier point
Analysis, determines whether pre-planning path can pass through.
Path planning module 85, in the case of the impassabitity of pre-planning path, planning obtains again
The new flight path of unmanned plane.
In a kind of possible implementation, pre-FOH domain analyzing module 82 includes:
Buffering radius determines submodule 821, for determining buffering radius according to the fuselage width of unmanned plane；
Pre-planning path obtains submodule 822, for obtaining the pre-planning path prestored from GIS,
Pre-planning path includes that the starting point coordinate planned in advance, institute are through destination coordinate and point of destination coordinate；
Pre-traffic areas determines submodule 823, for each coordinate included according to pre-pass and buffering
Radius determines pre-traffic areas.
In a kind of possible implementation, flight environment of vehicle judge module 83 includes:
Barrier determines submodule 831, and for the flying height according to unmanned plane, determining may be pre-logical
Each fixed obstacle of flight and/or each moving obstacle is hindered in row region；
Obstacle Position data acquisition submodule 832, for obtaining the positional number of fixed obstacle from GIS
According to, and/or, use GPS to obtain the position data of moving obstacle in real time；
Barrier complete or collected works determine submodule 833, for the position data of each barrier is merged computing,
Obtain barrier complete or collected works.
In a kind of possible implementation, path analysis module 84 includes:
Overlapping judge submodule 841, be used for carrying out pre-traffic areas with barrier complete or collected works intersecting computing or
Additive operation, to determine whether pre-traffic areas and barrier complete or collected works exist overlapping region；
, for there is overlay region in pre-traffic areas with barrier complete or collected works in impassabitity decision sub-module 842
In the case of territory, determine pre-planning path impassabitity.
In a kind of possible implementation, path planning module 85 includes:
New passed through destination calculating sub module 851, is used for using signal source shortest path algorithm to pre-current
Each coordinate points in region travels through, and is calculated new passed through boat according to Euclidean distance
Point；
New flight path determines submodule 852, for according to new passed through destination, starting point coordinate and
Point of destination coordinate redefines new flight path.
In a kind of possible implementation, this system also includes:
Import module 86, in the ground control station that new flight path is imported to unmanned plane；
Path clustering module 87, sends new flight for ground control station to the flight control modules of unmanned plane
The control command that path is corresponding, to indicate unmanned plane to fly according to new flight path.
It should be noted that so, by GIS technology is applied in the path planning of unmanned plane, profit
Use GIS information assistant decision, utilize the GIS spatial analysis functions such as buffer zone analysis and Overlap Analysis to realize right
The intelligent decision of flight environment of vehicle and the intellectual analysis of flight path, unmanned plane according to embodiments of the present invention
Path planning system can improve the processing speed to a large amount of flying qualities, reduces the work of data analysis
Amount, improves the efficiency of unmanned plane path planning, thus improves the flight safety of unmanned plane.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
In this, any those familiar with the art, can be easily in the technical scope that the invention discloses
Expect change or replace, all should contain within protection scope of the present invention.Therefore, the protection of the present invention
Scope should be as the criterion with described scope of the claims.
Claims (12)
1. the paths planning method of a unmanned plane, it is characterised in that including:
The pre-planning path obtained from GIS is carried out buffer zone analysis, obtains the pre-logical of described unmanned plane
Row region；
According to the flight environment of vehicle residing for described unmanned plane, determine each barrier that may hinder described unmanned plane during flying
Hinder thing；
It is laid out analyzing to the positional information of described pre-traffic areas Yu each barrier, determines described pre-rule
Draw whether path can pass through；
In the case of the impassabitity of described pre-planning path, planning obtains newly flying of described unmanned plane again
Walking along the street footpath.
Method the most according to claim 1, it is characterised in that the described pre-rule to obtaining from GIS
Draw path and carry out buffer zone analysis, obtain the pre-traffic areas of described unmanned plane, including:
Fuselage width according to described unmanned plane determines buffering radius；
Obtaining the described pre-planning path prestored from described GIS, described pre-planning path includes pre-
The starting point coordinate first planned, institute are through destination coordinate and point of destination coordinate；
The each coordinate and the described buffering radius that include according to described pre-pass determine described pre-FOH
Territory.
Method the most according to claim 1, it is characterised in that according to flying residing for described unmanned plane
Row environment, determines each barrier that may hinder described unmanned plane during flying, including:
According to the flying height of described unmanned plane, determine and may hinder flight in described pre-traffic areas
Each fixed obstacle and/or each moving obstacle；
The position data of described fixed obstacle is obtained from described GIS, and/or, use GPS to obtain in real time
Take the position data of described moving obstacle；
The position data of each barrier is merged computing, obtains barrier complete or collected works.
Method the most according to claim 3, it is characterised in that to described pre-traffic areas and each barrier
The positional information hindering thing is laid out analyzing, and determines whether described pre-planning path can pass through, including:
Carry out intersecting computing or additive operation with described barrier complete or collected works by described pre-traffic areas, to determine
Whether described pre-traffic areas and described barrier complete or collected works exist overlapping region；
In the case of there is overlapping region in described pre-traffic areas with described barrier complete or collected works, determine described
Pre-planning path impassabitity.
Method the most according to claim 4, it is characterised in that planning obtains described unmanned plane again
New flight path, including:
Use signal source shortest path algorithm that each coordinate points in described pre-traffic areas is traveled through, and root
It is calculated new passed through destination according to Euclidean distance；
Redefine described according to new passed through destination, described starting point coordinate and described point of destination coordinate
New flight path.
Method the most as claimed in any of claims 1 to 5, it is characterised in that again plan
After obtaining the new flight path of described unmanned plane, described method also includes:
Described new flight path is imported in the ground control station of described unmanned plane；
Described ground control station sends described new flight path pair to the flight control modules of described unmanned plane
The control command answered, to indicate described unmanned plane to fly according to described new flight path.
7. the path planning system of a unmanned plane, it is characterised in that including:
GIS data management module, is used for storing pre-planning path and flight environment of vehicle information；
Pre-FOH domain analyzing module, distinguishes for the pre-planning path obtained from GIS carries out buffering
Analysis, obtains the pre-traffic areas of described unmanned plane；
Flight environment of vehicle judge module, for according to the flight environment of vehicle residing for described unmanned plane, determining may resistance
Hinder each barrier of described unmanned plane during flying；
Path analysis module, for being laid out the positional information of described pre-traffic areas with each barrier
Analyze, determine whether described pre-planning path can pass through；
Path planning module, in the case of the impassabitity of described pre-planning path, plans again
New flight path to described unmanned plane.
System the most according to claim 7, it is characterised in that described pre-FOH domain analyzing module
Including:
Buffering radius determines submodule, for determining buffering radius according to the fuselage width of described unmanned plane；
Pre-planning path obtains submodule, for obtaining the described pre-planning prestored from described GIS
Path, described pre-planning path includes that the starting point coordinate planned in advance, institute are through destination coordinate and point of destination
Coordinate；
Pre-traffic areas determines submodule, for each coordinate of including according to described pre-pass and described
Buffering radius determines described pre-traffic areas.
System the most according to claim 7, it is characterised in that described flight environment of vehicle judge module bag
Include:
Barrier determines submodule, and for the flying height according to described unmanned plane, determining may be described
Each fixed obstacle of flight and/or each moving obstacle is hindered in pre-traffic areas；
Obstacle Position data acquisition submodule, for obtaining described fixed obstacle from described GIS
Position data, and/or, use GPS to obtain the position data of described moving obstacle in real time；
Barrier complete or collected works determine submodule, for the position data of each barrier is merged computing,
To barrier complete or collected works.
System the most according to claim 9, it is characterised in that described path analysis module includes:
Overlap judges submodule, for being shipped mutually with described barrier complete or collected works described pre-traffic areas
Calculate or additive operation, to determine whether described pre-traffic areas and described barrier complete or collected works exist overlay region
Territory；
, for there is weight with described barrier complete or collected works in described pre-traffic areas in impassabitity decision sub-module
In the case of folded region, determine described pre-planning path impassabitity.
11. systems according to claim 10, it is characterised in that described path planning module includes:
New passed through destination calculating sub module, is used for using signal source shortest path algorithm to described pre-current
Each coordinate points in region travels through, and is calculated new passed through boat according to Euclidean distance
Point；
New flight path determines submodule, for according to new passed through destination, described starting point coordinate and
Described point of destination coordinate redefines described new flight path.
12. according to the system described in claim 7 to 11 any one, it is characterised in that described system
Also include:
Import module, in the ground control station that described new flight path is imported to described unmanned plane；
Path clustering module, sends to the flight control modules of described unmanned plane for described ground control station
The control command that described new flight path is corresponding, to indicate described unmanned plane to fly according to described new flight path
OK.
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