CN106774425A - A kind of method and system of unmanned plane during flying navigation - Google Patents
A kind of method and system of unmanned plane during flying navigation Download PDFInfo
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Abstract
The present invention disclose the method and system that a kind of unmanned plane during flying navigates, and the method is by obtaining the starting point and impact point of unmanned plane project flight；Obstacle detection is carried out to the impact point, pilot point is determined, unmanned plane during flying avoiding obstacles are guided, the flight line of the unmanned plane is generated according to the pilot point；Determine the final flight line of the unmanned plane；Point spread is carried out according to the final flight line, and switching and booting point proceeds point spread, generates the track line of unmanned plane；The unmanned plane is flown according to track line navigation.Using the method for the present invention and system, according to the difference that direction constrains, generation pilot point can be independently detected along constraint direction, it is to avoid the deficiency for setting manually in the threatening area of impact point, improve accuracy.Simultaneously as the generation of pilot point, guides for the autonomous flight of unmanned plane provides direction, flight efficiency is improve, meet the requirement of real-time of unmanned plane autonomous flight.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of method and system of unmanned plane during flying navigation.
Background technology
Unmanned plane is before flight, it is necessary first to which trajectory planning goes out track line, is then navigated using track line, performs flight
Task.Unmanned aerial vehicle flight path planning refers to using information such as landform and information in planning space, while considering unmanned plane itself
Performance constraints and mission requirements, cook up from starting point to the prominent anti-track of of impact point flight track Least-cost.Flight path
The core that planning is independently fought as unmanned plane, " brain " of its importance equivalent to the mankind.Fought in the modern times along with unmanned plane
Strive, the successful Application of the aspect such as Post disaster relief, safe early warning.Increasing domestic and foreign scholars put into unmanned aerial vehicle flight path planning
Research.Various path planning methods were occurred in that in recent years, can substantially divide them into two classes：Offline trajectory planning side
Method and online path planning method.
Offline path planning method mainly includes sparse A* searching algorithms (SAS) and genetic algorithm, ant group algorithm, population
The path planning method based on evolutionary computation such as algorithm.This offline path planning method is not examined primarily directed to static environment
Consider the change of dynamic environment.With the continuous progress of science and technology, battlefield surroundings are no longer unalterable, but be continually changing.Cause
This, traditional static path planning method cannot meet unmanned plane and independently fight and flight needs.
Common online path planning method has D* algorithms, the real-time trajectory planning based on feasible prioritization criteria etc..D* is calculated
Method is a kind of common online real-time route planning approach, and the method can well adapt to the dynamic change of environment.But work as mesh
Occur large area around punctuate to block, it is desirable to which when unmanned plane enters impact point from specific direction, D* algorithms can enter in blocked area
Row is substantial amounts of to be searched for and the expansion that retracts repeatedly, consumes substantial amounts of system resource so that navigation efficiency is low in flight course.
The content of the invention
It is an object of the invention to provide a kind of method and system of unmanned plane during flying navigation, circle is based on by along constraint direction
The method avoiding obstacles of expansion produce pilot point, and select the pilot point of Least-cost to be used as target by cost value function to draw
Lead a little, to pilot point range searching, so as to generate unmanned aerial vehicle flight path line, navigate unmanned plane during flying, to solve nothing in traditional algorithm
The effective avoiding obstacles of method, the problem for causing trajectory planning efficiency low.
To achieve the above object, the invention provides following scheme：
A kind of method of unmanned plane during flying navigation, methods described includes：
Obtain the starting point and impact point of unmanned plane project flight；
Obstacle detection is carried out to the impact point, pilot point is determined, the pilot point includes first kind pilot point and second
Class pilot point, the first kind pilot point is to carry out the pilot point that obstacle detection is obtained, described by target of the impact point
The number of pilot point is positive integer in one class pilot point, and the Equations of The Second Kind pilot point is with the first kind pilot point as target is entered
The pilot point that row obstacle detection is obtained, the number of pilot point is positive integer in the Equations of The Second Kind pilot point；
The flight line of the unmanned plane is generated according to the pilot point, the number of the flight line is positive integer, institute
Flight line is stated for-the first pilot point of the pilot point of starting point-the second-impact point；
Determine the final flight line of the unmanned plane；
Point spread is carried out according to the final flight line；
Switching and booting point carries out point spread；
Generate the track line of the unmanned plane；The unmanned plane is flown according to track line navigation.
Optionally, it is described that obstacle detection is carried out to the impact point, determine pilot point, specifically include：
Judge between the starting point and the impact point with the presence or absence of barrier, obtain the first judged result；
When first judged result is represented there is barrier between the starting point and the impact point, with the mesh
Punctuate center is that radius is made to justify for the distance in the center of circle, the target dot center and barrier center, obtains target null circle；
With the target circle center of circle as rotating shaft, with the target radius of circle as radius, obstacle inspection is carried out every predetermined angle
Survey, obtain the first minimum planning space of flight path cost under constraints, during first planning space is the target circle
Sector region；
In first planning space, the intersection point of the target null circle and the barrier is obtained, obtain first kind friendship
Point；
The first kind intersection point is defined as the first kind pilot point；
Judge in the range of the impact point area of a circle, be between the first kind pilot point and the line of the starting point
It is no to there is barrier, obtain the second judged result；
When second judged result is represented in the range of the impact point area of a circle, the first kind pilot point with it is described
When there is barrier between the line of starting point, with the line and the barrier of the first kind pilot point and the starting point
Intersection point for the center of circle, the target dot center and barrier center distance for radius make justify, obtain the first intersection point justify；
With the round heart of the first intersection point as rotating shaft, with the first intersection point radius of circle as radius, enter every predetermined angle
Row obstacle detection, obtains the second minimum planning space of flight path cost under constraints, and second planning space is described the
Sector region in one intersection point circle；
In second planning space, the clear between the starting point line is obtained on first intersection point circle
Point, obtain accessible point；
Determine that the nearest point of starting point described in distance is Equations of The Second Kind pilot point in the accessible point.
Optionally, the final flight line for determining the unmanned plane, specifically includes：
Using cost functionDetermine the cost value of the flight line；Wherein
liIt is node i -1 to the flight path length between node i, fiIt is node i -1 to the threat probability value being subject between node i, ω1、
ω2It is respective weights coefficient；
The minimum flight line of cost value is defined as final flight line.
Optionally, it is described that point spread is carried out according to the final flight line, specifically include：
It is the first extension point with the first starting point, point spread is carried out to the second starting point, generation first extends child node, described
First extension child node number is positive integer；First starting point is the starting point of the point spread, and first starting point includes
Starting point in the final flight line；Second starting point is the target direction point of the point spread, described second
Put the second pilot point, the first pilot point and the impact point included in the final flight line；
Using cost functionDetermine the first extension child node
Cost value；Wherein liIt is node i -1 to the flight path length between node i, fiIt is node i -1 to threatening for being subject between node i
Probable value, d (n) estimates flight path length, ω for present node n to impact point1、ω2、ω3It is respective weights coefficient；
Determine the first minimum extension child node of cost value.
Optionally, the switching and booting point carries out point spread, specifically includes：
Judge that whether the first minimum extension child node of cost value in the range of switching threshold, obtains the 3rd judged result,
It with second starting point as the center of circle, with given threshold is scope in the circle that radius is constituted that the switching threshold scope is；
When the 3rd judged result is represented the first minimum extension child node of cost value is in the range of switching threshold when, sentence
Whether second starting point of breaking is impact point, obtains the 4th judged result；
When it is impact point that the 4th judged result represents second starting point, point spread terminates；
When it is not impact point that the 4th judged result represents second starting point, by the first of cost value minimum
Extension child node carries out point spread as the second extension point to the 3rd starting point, and generation second extends child node, and described second expands
Exhibition child node number is positive integer, and the 3rd starting point is the target direction point of the point spread, and the 3rd starting point includes
The second pilot point and impact point in the final flight line；
When the 3rd judged result represents the first minimum extension child node of cost value not in the range of switching threshold,
Using the first minimum extension child node of the cost value as the second extension point, continue to carry out point spread to the second starting point, it is raw
Into the 3rd extension child node, the 3rd extension child node number is positive integer.
A kind of system of unmanned plane during flying navigation, the system includes：
Starting point and impact point acquisition module, starting point and impact point for obtaining unmanned plane project flight；
Pilot point determining module, for carrying out obstacle detection to the impact point, determines pilot point, and the pilot point includes
First kind pilot point and Equations of The Second Kind pilot point, the first kind pilot point are to be obtained as target carries out obstacle detection with the impact point
The pilot point for arriving, the number of pilot point is positive integer in the first kind pilot point, and the Equations of The Second Kind pilot point is with described the
One class pilot point carries out the pilot point that obstacle detection is obtained for target, and the number of pilot point is just whole in the Equations of The Second Kind pilot point
Number；
Flight line generation module, the flight line for generating the unmanned plane according to the pilot point, the flight
The number of circuit is positive integer, and the flight line is-the first pilot point of the pilot point of starting point-the second-impact point；
Final flight line determining module, the final flight line for determining the unmanned plane；
Point spread module, for carrying out point spread according to the final flight line；
Pilot point handover module, point spread is carried out for switching and booting point；
Track line generation module, the track line for generating the unmanned plane；The unmanned plane is led according to the track line
Boat is flown.
Optionally, the pilot point determining module is specifically included：
First judging unit, for judging between the starting point and the impact point with the presence or absence of barrier, obtains the
One judged result；
Target circle generation unit, for being deposited between the starting point and the impact point when first judged result is represented
In barrier, with the target dot center as the center of circle, the distance at the target dot center and barrier center make to justify for radius,
Obtain target null circle；
First planning space acquiring unit, for being half with the target radius of circle with the target circle center of circle as rotating shaft
Footpath, obstacle detection is carried out every predetermined angle, obtains the first planning space of flight path cost minimum under constraints, described first
Planning space is the sector region in the target circle；
First kind intersection point acquiring unit, in first planning space, obtaining the target null circle and the barrier
Hinder the intersection point of thing, obtain first kind intersection point；
First kind pilot point determining unit, for the first kind intersection point to be defined as into the first kind pilot point；
Second judging unit, for judging in the range of the impact point area of a circle, the first kind pilot point with it is described
Whether there is barrier between the line of starting point, obtain the second judged result；
First intersection point justifies generation unit, for being represented in the impact point area of a circle scope when second judged result
It is interior, when there is barrier between the first kind pilot point and the line of the starting point, with the first kind pilot point and institute
The line of starting point and the intersection point of the barrier are stated for the distance in the center of circle, the target dot center and barrier center is radius
Work is justified, and obtains the first intersection point circle；
Second planning space acquiring unit, for the round heart of the first intersection point as rotating shaft, being justified with first intersection point
Radius is radius, and obstacle detection is carried out every predetermined angle, obtains the second planning space of flight path cost minimum under constraints,
Second planning space is the sector region in the first intersection point circle；
Accessible acquiring unit, in second planning space, obtain on the first intersection point circle with it is described
The point of clear between starting point line, obtains accessible point；
Equations of The Second Kind pilot point determining unit, for determining in the accessible point that the nearest point of starting point described in distance is the
Two class pilot points.
Optionally, the final flight line determining module, specifically includes：
Cost value determining unit, for utilizing cost functionDetermine described flying
The cost value of row line；Wherein liIt is node i -1 to the flight path length between node i, fiFor node i -1 is subject to between node i
Threat probability value, ω1、ω2It is respective weights coefficient；
Final flight path determining unit, for the minimum flight line of cost value to be defined as into final flight line
Road.
Optionally, the point spread module, specifically includes：
First extension child node generation unit, for being the first extension point with the first starting point, node is carried out to the second starting point
Extension, generation first extends child node, and the first extension child node number is positive integer；First starting point is the node
The starting point of extension, first starting point includes the starting point in the final flight line；Second starting point is the node
Extended target direction point, second starting point include the final flight line in the second pilot point, the first pilot point and
Impact point；
Cost value determining unit, for utilizing formulaReally
The cost value of fixed first extension child node；Wherein liIt is node i -1 to the flight path length between node i, fiIt is node i -1 to section
The threat probability value being subject between point i, d (n) estimates flight path length, ω for present node n to impact point1、ω2、ω3It is phase
Answer weight coefficient；
Minimum cost value determining unit, the first extension child node minimum for determining cost value.
Optionally, the pilot point handover module, specifically includes：
3rd judging unit, for judging the first minimum extension child node of cost value whether in the range of switching threshold,
The 3rd judged result is obtained, the switching threshold scope is to be constituted as the center of circle, by radius of given threshold with second starting point
Circle in scope；
4th judging unit, for representing that the first minimum extension child node of cost value is being cut when the 3rd judged result
Change when in threshold range, judge whether second starting point is impact point, obtain the 4th judged result；
Point spread end unit, for when it is impact point that the 4th judged result represents second starting point, tying
Beam point spread；
Second extension child node generation unit, for representing that second starting point is not target when the 4th judged result
During point, using the first minimum extension child node of the cost value as the second extension point, point spread is carried out to the 3rd starting point, it is raw
Into the second extension child node, the second extension child node number is positive integer, and the 3rd starting point is the point spread
Target direction point, the 3rd starting point includes the second pilot point and impact point in the final flight line；
3rd extension child node generation unit, for representing the first minimum extension of cost value when the 3rd judged result
When child node is not in the range of switching threshold, the first minimum extension child node of the cost value is extended into point as second, after
Continue carries out point spread to the second starting point, and generation the 3rd extends child node, and the 3rd extension child node number is positive integer.
According to the specific embodiment that the present invention is provided, the invention discloses following technique effect：
The present invention is based on the method avoiding obstacles generation pilot point that circle is expanded by along constraint direction, and by cost value
The pilot point of function selection Least-cost is goal directed point, to pilot point range searching, is generated eventually through point spread and navigated
Trace so that unmanned plane is flown according to track line navigation.The method can be in the threatening area of impact point, according to direction about
The difference of beam, in constraint, generation pilot point is independently detected along constraint direction, it is to avoid the deficiency for setting manually, improves accurate
Degree.Simultaneously as the generation of pilot point, guides for the autonomous flight of unmanned plane provides direction, flight efficiency is improve, meet nothing
The requirement of real-time of man-machine autonomous flight.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing for needing to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the method flow diagram of unmanned plane during flying navigation of the present invention；
Fig. 2 is the system construction drawing of unmanned plane during flying navigation of the present invention；
Fig. 3 is that the pilot point of unmanned plane during flying air navigation aid of the present invention determines schematic diagram；
Fig. 4 is that unmanned plane during flying air navigation aid interior joint of the present invention expands schematic diagram；
Fig. 5 is that the flight path of traditional unmanned plane during flying navigation determines schematic diagram；
Fig. 6 is track line navigation unmanned plane during flying schematic diagram under the static environment of the specific embodiment of the invention 1；
Fig. 7 is track line navigation unmanned plane during flying schematic diagram under the dynamic environment of the specific embodiment of the invention 1.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is below in conjunction with the accompanying drawings and specific real to enable the above objects, features and advantages of the present invention more obvious understandable
The present invention is further detailed explanation to apply mode.
Fig. 1 is the method flow diagram of unmanned plane during flying navigation of the present invention.As shown in figure 1, methods described includes：
Step 101：Obtain the starting point and impact point of unmanned plane project flight.The starting of project flight can be manually entered
The coordinate of point and impact point.
Step 102：Obstacle detection is carried out to impact point, pilot point is determined.Specific determination process：
During from starting point to the trajectory planning of impact point, first determine whether between starting point and impact point with the presence or absence of barrier
Hinder thing, the process of following setting pilot point can be just related to when there is barrier.
(1) obstacle detection is carried out near impact point, the planning space of flight path cost minimum under constraints is found.
(2) with impact point as the center of circle, a length of radiuses of shelter OB (O as the center of circle, i.e. target dot center) make to justify.To make to justify
First kind pilot point is set to the intersection point of barrier, first kind pilot point is usually the boundary point of barrier, ensure that target
There is no barrier between point and first kind pilot point, and, so enable to flight path cost value minimum apart from barrier recently.
Produce first kind pilot point after, makees justify internal range in judge be on line direction of the first kind pilot point with starting point
It is no also exist block, if in the presence of blocking, with the first kind pilot point that produces for the new center of circle, obstacle length are that radius is made newly
The point of the clear between starting point line in new circle is made in circle, selection, it is determined that point wherein nearest apart from starting point is the
Two class pilot points, continue to produce pilot point as stated above, untill eligible；If in the absence of blocking, only producing the
One class pilot point.
Fig. 3 is that the pilot point of unmanned plane during flying air navigation aid of the present invention determines schematic diagram.As illustrated, corner star is target
Point, black round dot is starting point, and the real polygon of grey is shelter.First with impact point O as the center of circle, make according to the method described above
Circle, is rotating shaft with the made round heart, is radius with made radius of circle, and obstacle detection is carried out every predetermined angle, (carries out straight line
Detection, the center of circle to rounded edge) the first planning space of flight path cost minimum under constraints is obtained, the first planning space is described
B arrives the sector region (i.e. sector region AOB) of A and O compositions clockwise in sector region in target circle, i.e. Fig. 4；Due to obstacle
Detection is exactly to detect the presence of barrier to block, and the place certainty flight path cost for having barrier to block is high, therefore, the first planning space
Inevitable clear is blocked between the interior center of circle and rounded edge line (radius), and predetermined angle of the present invention can be 5 degree, that is, often
Obstacle detection is carried out every 5 degree, the smaller precision of angle is higher, and corresponding system response time is more long；Otherwise precision is low, the reaction time
Section system overhead is small.
Obtain pilot point D1 and D2, as first kind pilot point.By pilot point D1 and D2 is making in circle internal range
Blocked with being still present on the line direction of starting point, therefore needs are detected again respectively by the center of circle of pilot point D1 and D2.
Make to justify as the center of circle with pilot point D1, carry out obstacle detection, then the fan-shaped range that pilot point D3 arrives impact point O clockwise is the second rule
Draw space.When selection is made to put unobstructed with starting point line on circle, the point nearest apart from starting point guide as pilot point
Point D3.Intersection point D4 is the intersection point with first detection circle, because it is blocked between starting point line, therefore is cast out.Together
Reason produces qualified feasible guidance field with pilot point D2 as the center of circle, and (the minimum planning of flight path cost is empty under constraints
Between) it is fan-shaped range that pilot point D5 arrives impact point counterclockwise.Wherein pilot point D5 is eligible and optimal.Intersection point D6 and starting
Point line is blocked, therefore is cast out.D4 and D5 are Equations of The Second Kind pilot point.
With the increasingly complexity of applied environment, the generation of pilot point is to aid in unmanned plane and is improved under Condition of Strong Constraint
Flight efficiency, meets real-time.The size of barrier is, it is known that so make full use of this condition as subsequent boots in the present invention
The principle that point is produced.In actual applications, barrier is irregular, and the boundary point for being typically chosen barrier draws as the first kind
Lead a little, so can reduce system overhead to greatest extent using the data resource for having detected.As to whether work must be used
Round mode produces pilot point, is required without fixed, it would however also be possible to employ other modes are generated.This model mainly uses for reference radar detection
Mode (radar is far-reaching in being widely used for society), it (is herein obstacle that target acquisition is carried out in certain area
Thing), the detection demand of different accuracy can be met by changing the size of detection angle, the smaller precision of angle is higher, accordingly
System response time it is more long；Otherwise precision is low, reaction time section system overhead is small.
Step 103：Generation flight line.According to the pilot point that step 102 determines, the flight of multiple unmanned planes can be obtained
Circuit.
By taking Fig. 3 as an example, the flight line of generation is：
(1) starting point-pilot point D3-pilot point D1-impact point.
(2) starting point-pilot point D5-pilot point D2-impact point.
Present invention determine that pilot point be not that must need not move through the point, pilot point through point, i.e. flight path in flight navigation
Simply auxiliary unmanned plane carries out target search, is the guide direction of target search, improves its search efficiency, while helping unmanned plane
Efficiently complete there are Special Constraint Conditions of the task, such as directional sensitivity task.
Step 104：It is determined that final flight line.The different pilot point of selection, the tendency to whole flight path has a significant impact.
According to a plurality of flight line that step 103 is generated, cost function can be usedReally
The cost value of the fixed flight line, guides selection a little, it is main consider flight path length and flight path threat cost two because
Element.Straight line planning is carried out from starting point towards qualified pilot point, the selection less pilot point of overall cost is drawn for target
Lead a little, wherein liIt is node i -1 to the flight path length between node i, fiIt is node i -1 to the threat probabilities being subject between node i
Value, ω1、ω2It is respective weights coefficient；The minimum flight line of cost value is defined as final flight line.
Step 105：Carry out point spread.It is the first extension point with the first starting point according to largest extension nodes M, to the
Two starting points carry out point spread, and generation first extends child node, and the first extension child node number is positive integer, can be 7；The
One starting point is the starting point of the point spread, and the first starting point includes the starting point in the final flight line；Described second
Point for the point spread target direction point, second starting point include the final flight line in the second pilot point,
First pilot point and impact point；
Using cost functionDetermine the first extension child node
Cost value；Wherein liIt is node i -1 to the flight path length between node i, fiIt is node i -1 to threatening for being subject between node i
Probable value, d (n) estimates flight path length, ω for present node n to impact point1、ω2、ω3It is respective weights coefficient.It is determined that generation
The first minimum extension child node of value.
Fig. 4 is that unmanned plane during flying air navigation aid interior joint of the present invention expands schematic diagram.Referring to Fig. 4, from starting point to target
Point carries out path planning, N0It is extension point, it is first towards pilot point D3Carry out point spread, N1-N4It is node N0Extension son
Node.Then N0It is the first starting point, D3It is then the second starting point, N1-N4It is the first extension child node.By calculating the first extension son section
Point N1-N4Cost value, finally determine N2It is the first extension child node that cost value is minimum, then flight path is from N0-->N2。
Step 106：Switching and booting point continues point spread.
Firstly the need of judging the first minimum extension child node of cost value whether in the range of switching threshold, switching threshold model
Enclose be with second starting point as the center of circle, with given threshold be scope in the circle that radius is constituted；
The first minimum extension child node of Contemporary Value in the range of switching threshold when, it is necessary to judge that second starting point is
No is impact point, and when the second starting point is impact point, then it represents that reach impact point, expansion terminates.
When the second starting point is not impact point, the first minimum extension child node of cost value is extended into point as second, to
3rd starting point carries out point spread, and generation second extends child node.
When the first minimum extension child node of Contemporary Value is not in the range of switching threshold, by the cost value it is minimum the
One extension child node continues to carry out point spread to the second starting point as the second extension point, and generation the 3rd extends child node.
By taking Fig. 4 of step 105 as an example, the first minimum extension child node N of cost value is first determined whether2Whether in D3Switching
In threshold range, work as N2When in the range of switching threshold, D is judged3Whether it is impact point, if D3It is impact point, then extension is tied
Beam；If D3It is not impact point, by N2As the second extension point, switch to the 3rd starting point D1It is extended；
Work as N2When not in the range of switching threshold, by N2As next extension point, continue to D3It is extended.
The switching threshold of pilot point it is excessive or it is too small all will to planning flight path produce a very large impact.Switching threshold is excessive, holds
The guiding dynamics for being easily caused pilot point is not enough, i.e., guiding function does not give full play to, while be susceptible to multiple pilot points all existing
Situation in the range of switching threshold, increases overhead.Switching threshold is too small, is easily caused rigid guiding, makes the boat cooked up
Mark loses optimality.Therefore, the reasonable selection of switching threshold is the guarantee that optimal trajectory is successfully planned.For example, pilot point is cut
Change threshold value and be set to 3 minimum steps, when the last expansion node for producing is less than minimum step with the air line distance of impact point,
As reach impact point.
Step 107：Generation track line, navigate unmanned plane during flying.According to the process of point spread, final flight path is generated
Line, using track line navigation unmanned plane during flying.
Fig. 2 is the system construction drawing of unmanned plane during flying navigation of the present invention.As shown in Fig. 2 the system includes：
Starting point and impact point acquisition module 201, starting point and impact point for obtaining unmanned plane project flight.
Pilot point determining module 202, for carrying out obstacle detection to the impact point, determines pilot point, the pilot point
Including first kind pilot point and Equations of The Second Kind pilot point, the first kind pilot point is to carry out obstacle inspection by target of the impact point
The pilot point for measuring, the number of pilot point is positive integer in the first kind pilot point, and the Equations of The Second Kind pilot point is with institute
First kind pilot point is stated for target carries out the pilot point that obstacle detection is obtained, the number of pilot point is in the Equations of The Second Kind pilot point
Positive integer.The present invention is not limited to determine 2 class pilot points in actual applications, when it is determined that first as a example by determining 2 class pilot points
When class pilot point is just eligible, without determining Equations of The Second Kind pilot point again.Close control point determination process is referring to the inventive method
Step 102 in flow chart.
Flight line generation module 203, the flight line for generating the unmanned plane according to the pilot point is described to fly
The number of row line is positive integer, and the flight line is-the first pilot point of the pilot point of starting point-the second-impact point, the present invention
The flight line obtained by taking two class pilot points as an example, but it is limited to this flight line.When pilot point need to only determine that the first kind is drawn
Leading just can a little realize that the effect that the present invention wants to realize is that now flight line is then the pilot point of starting point-the first-impact point.
Final flight line determining module 204, the final flight line for determining the unmanned plane.Specific determination process
Referring to step 104.
Point spread module 205, for carrying out point spread according to the final flight line.Specific expansion process is referred to
Step 105.
Pilot point handover module 206, point spread is carried out for switching and booting point.
Track line generation module 207, the track line for generating the unmanned plane；The unmanned plane is according to the track line
Navigation is flown.
Fig. 5 is that the flight path of traditional unmanned plane during flying navigation determines schematic diagram.As shown in figure 5, traditional unmanned plane during flying navigation
Track line be defined as in dynamic environment find feasible path it is more effective, progressively expanding node to impact point move, its expansion
Exhibition only checks the situation of change of next node on preferable shortest path, and the change on path adjusted the distance farther out is insensitive.Work as reason
Think that occurring large area on flight path blocks, while when requiring that unmanned plane enters impact point from specific direction, D* algorithms are in blocked area
The substantial amounts of extension that retracts is carried out, feasible path is found, a large amount of system resources and time is consumed, makes algorithmic rule inefficiency.
The method and system specific embodiment 1 of unmanned plane during flying navigation of the present invention：
The present embodiment is carried out on the PC of Intel (R) Xeon (R) CPU E5-2603v3,1.6GHz, 8GB internal memories
Emulation experiment, running environment is Windows764 bit manipulation systems, and programmed environment is Matlab R2012b.Experiment uses 500km
The digital elevation map of × 500km, unmanned plane maximum turning angle is 60 °, minimum step Lmin=5km, largest extension nodes are
7, the weight coefficient ω of flight path valuation functions1、ω2、ω3Respectively 0.001,300,0.1.
Emulation experiment is divided into static environment and dynamic environment two parts.In a static environment, make unmanned plane from starting point to
Impact point carries out trajectory planning, and Condition of Strong Constraint is set around impact point, compares the presence or absence of pilot point to trajectory planning cost
And the influence of efficiency.
Under static environment, unmanned plane is set to enter impact point from barrier bottom right angular direction.Starting point coordinate is (46,396),
Coordinate of ground point is (341,216)；Second group of experiment, starting point coordinate is (71,196), and coordinate of ground point is (366,366).
Referring to Fig. 6, Fig. 6 is track line navigation unmanned plane during flying schematic diagram under the static environment of the specific embodiment of the invention 1.Wherein (a) is
Unmanned plane during flying conspectus when tradition is without pilot point, (b) is unmanned plane during flying conspectus of the present invention.Navigated on tradition
The performance comparison in mark planning stage and the application trajectory planning stage is referring to table 1：
Table 1
Under dynamic environment, it is desirable to which unmanned plane enters impact point from the lower right corner of impact point.Initial point position is constant to be still
(46,396), aiming spot is moved to (416,216) by original coordinate (341,216) along a certain fixed-direction.It is assumed that nobody
The flying speed of machine is that 5 times of impact point translational speed, i.e. impact point often move a step-length, and unmanned plane moves 5 flight path sections
Length.Referring to Fig. 7, Fig. 7 is track line navigation unmanned plane during flying schematic diagram under the dynamic environment of the specific embodiment of the invention 1.Wherein
A () is unmanned plane during flying conspectus when tradition is without pilot point, (b) is unmanned plane during flying conspectus of the present invention.On
The performance comparison in traditional trajectory planning stage and the application trajectory planning stage is referring to table 2：
Table 2
As shown in Table 2, under dynamic environment, the planing method that the present invention combines pilot point is calculated compared to traditional planning method D*
Method, it is all substantially better than simple D* algorithms at aspects such as planning used time, flight path length and the total costs of flight path.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment
For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
Specific case used herein is set forth to principle of the invention and implementation method, and above example is said
It is bright to be only intended to help and understand the method for the present invention and its core concept；Simultaneously for those of ordinary skill in the art, foundation
Thought of the invention, will change in specific embodiments and applications.In sum, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of method that unmanned plane during flying navigates, it is characterised in that methods described includes：
Obtain the starting point and impact point of unmanned plane project flight；
Obstacle detection is carried out to the impact point, pilot point is determined, the pilot point includes that first kind pilot point and Equations of The Second Kind draw
Lead a little, the first kind pilot point is to carry out the pilot point that obstacle detection is obtained, the first kind by target of the impact point
The number of pilot point is positive integer in pilot point, and the Equations of The Second Kind pilot point is with the first kind pilot point as target is hindered
Hinder the pilot point that detection is obtained, the number of pilot point is positive integer in the Equations of The Second Kind pilot point；
The flight line of the unmanned plane is generated according to the pilot point, the number of the flight line is positive integer, described to fly
Row line is-the first pilot point of the pilot point of starting point-the second-impact point；
Determine the final flight line of the unmanned plane；
Point spread is carried out according to the final flight line；
Switching and booting point carries out point spread；
Generate the track line of the unmanned plane；The unmanned plane is flown according to track line navigation.
2. method according to claim 1, it is characterised in that described that obstacle detection is carried out to the impact point, it is determined that drawing
Lead a little, specifically include：
Judge between the starting point and the impact point with the presence or absence of barrier, obtain the first judged result；
When first judged result is represented there is barrier between the starting point and the impact point, with the impact point
Center is that radius is made to justify for the distance in the center of circle, the target dot center and barrier center, obtains target null circle；
With the target circle center of circle as rotating shaft, with the target radius of circle as radius, obstacle detection is carried out every predetermined angle, obtained
The first minimum planning space of flight path cost under to constraints, first planning space is the fan section in the target circle
Domain；
In first planning space, the target null circle and the intersection point of the barrier are obtained, obtain first kind intersection point；
The first kind intersection point is defined as the first kind pilot point；
Judge in the range of the impact point area of a circle whether deposited between the first kind pilot point and the line of the starting point
In barrier, the second judged result is obtained；
When second judged result is represented in the range of the impact point area of a circle, the first kind pilot point and the starting
Between the line of point when there is barrier, with the friendship of the first kind pilot point and the line and the barrier of the starting point
Point is that radius is made to justify for the distance in the center of circle, the target dot center and barrier center, obtains the first intersection point circle；
With the round heart of the first intersection point as rotating shaft, with the first intersection point radius of circle as radius, hindered every predetermined angle
Hinder detection, obtain the second planning space of flight path cost minimum under constraints, second planning space is the described first friendship
Sector region in null circle；
In second planning space, the clear between the starting point line is obtained on first intersection point circle
Point, obtains accessible point；
Determine that the nearest point of starting point described in distance is Equations of The Second Kind pilot point in the accessible point.
3. method according to claim 1, it is characterised in that the final flight line of the determination unmanned plane, tool
Body includes：
Using cost functionDetermine the cost value of the flight line；Wherein liFor
Node i -1 is to the flight path length between node i, fiIt is node i -1 to the threat probability value being subject between node i, ω1、ω2For
Respective weights coefficient；
The minimum flight line of cost value is defined as final flight line.
4. method according to claim 1, it is characterised in that described that node expansion is carried out according to the final flight line
Exhibition, specifically includes：
It is the first extension point with the first starting point, point spread is carried out to the second starting point, generation first extends child node, described first
Extension child node number is positive integer；First starting point is the starting point of the point spread, and first starting point includes described
Starting point in final flight line；Second starting point is the target direction point of the point spread, the second starting point bag
Include the second pilot point in the final flight line, the first pilot point and impact point；
Using cost functionDetermine the generation of the first extension child node
Value；Wherein liIt is node i -1 to the flight path length between node i, fiIt is node i -1 to the threat probabilities being subject between node i
Value, d (n) estimates flight path length, ω for present node n to impact point1、ω2、ω3It is respective weights coefficient；
Determine the first minimum extension child node of cost value.
5. method according to claim 1, it is characterised in that the switching and booting point carries out point spread, specifically includes：
Judge that whether the first minimum extension child node of cost value in the range of switching threshold, obtains the 3rd judged result, it is described
It with second starting point as the center of circle, with given threshold is scope in the circle that radius is constituted that switching threshold scope is；
When the 3rd judged result is represented the first minimum extension child node of cost value is in the range of switching threshold when, judge institute
State whether the second starting point is impact point, obtain the 4th judged result；
When it is impact point that the 4th judged result represents second starting point, point spread terminates；
When it is not impact point that the 4th judged result represents second starting point, by the first extension that the cost value is minimum
Child node carries out point spread as the second extension point to the 3rd starting point, and generation second extends child node, the second extension
Node number is positive integer, and the 3rd starting point is the target direction point of the point spread, and the 3rd starting point includes described
The second pilot point and impact point in final flight line；
When the 3rd judged result represents the first minimum extension child node of cost value not in the range of switching threshold, by institute
The first minimum extension child node of cost value is stated as the second extension point, continues to carry out point spread to the second starting point, generation the
Three extension child nodes, the 3rd extension child node number is positive integer.
6. the system that a kind of unmanned plane during flying navigates, it is characterised in that the system includes：
Starting point and impact point acquisition module, starting point and impact point for obtaining unmanned plane project flight；
Pilot point determining module, for carrying out obstacle detection to the impact point, determines pilot point, and the pilot point includes first
Class pilot point and Equations of The Second Kind pilot point, the first kind pilot point are obtained with the impact point as target carries out obstacle detection
Pilot point, the number of pilot point is positive integer in the first kind pilot point, and the Equations of The Second Kind pilot point is with the first kind
Pilot point carries out the pilot point that obstacle detection is obtained for target, and the number of pilot point is positive integer in the Equations of The Second Kind pilot point；
Flight line generation module, the flight line for generating the unmanned plane according to the pilot point, the flight line
Number be positive integer, the flight line be-the first pilot point of the pilot point of starting point-the second-impact point；
Final flight line determining module, the final flight line for determining the unmanned plane；
Point spread module, for carrying out point spread according to the final flight line；
Pilot point handover module, point spread is carried out for switching and booting point；
Track line generation module, the track line for generating the unmanned plane；The unmanned plane according to the track line navigate into
Row flight.
7. system according to claim 6, it is characterised in that the pilot point determining module is specifically included：
First judging unit, for judging between the starting point and the impact point with the presence or absence of barrier, obtains first and sentences
Disconnected result；
Target circle generation unit, for there is barrier between the starting point and the impact point when first judged result is represented
When hindering thing, with the target dot center as the center of circle, the distance at the target dot center and barrier center make to justify for radius, obtain
Target null circle；
First planning space acquiring unit, for the target circle center of circle as rotating shaft, with the target radius of circle as radius, often
Obstacle detection is carried out every predetermined angle, the first planning space of flight path cost minimum under constraints, first planning is obtained
Space is the sector region in the target circle；
First kind intersection point acquiring unit, in first planning space, obtaining the target null circle and the barrier
Intersection point, obtain first kind intersection point；
First kind pilot point determining unit, for the first kind intersection point to be defined as into the first kind pilot point；
Second judging unit, for judging in the range of the impact point area of a circle, the first kind pilot point and the starting
Whether there is barrier between the line of point, obtain the second judged result；
First intersection point justifies generation unit, for being represented in the range of the impact point area of a circle when second judged result, institute
When there is barrier between the line for stating first kind pilot point and the starting point, with the first kind pilot point and the starting
The line of point and the distance that the intersection point of the barrier is the center of circle, the target dot center and barrier center are that radius is made to justify,
Obtain the first intersection point circle；
Second planning space acquiring unit, for the round heart of the first intersection point as rotating shaft, with the first intersection point radius of circle
It is radius, obstacle detection is carried out every predetermined angle, obtains the second planning space of flight path cost minimum under constraints, it is described
Second planning space is the sector region in the first intersection point circle；
Accessible acquiring unit, in second planning space, with the starting on acquisition the first intersection point circle
The point of clear, obtains accessible point between point line；
Equations of The Second Kind pilot point determining unit, for determining that the nearest point of starting point described in distance is Equations of The Second Kind in the accessible point
Pilot point.
8. system according to claim 6, it is characterised in that the final flight line determining module, specifically includes：
Cost value determining unit, for utilizing cost functionDetermine the flight line
The cost value on road；Wherein liIt is node i -1 to the flight path length between node i, fiIt is node i -1 to the prestige being subject between node i
Side of body probable value, ω1、ω2It is respective weights coefficient；
Final flight path determining unit, for the minimum flight line of cost value to be defined as into final flight line.
9. system according to claim 6, it is characterised in that the point spread module, specifically includes：
First extension child node generation unit, for being the first extension point with the first starting point, point spread is carried out to the second starting point,
Generation first extends child node, and the first extension child node number is positive integer；First starting point is the point spread
Starting point, first starting point include the final flight line in starting point；Second starting point is the point spread
Target direction point, second starting point includes the second pilot point, the first pilot point and target in the final flight line
Point；
Cost value determining unit, for utilizing formulaDetermine
The cost value of one extension child node；Wherein liIt is node i -1 to the flight path length between node i, fiFor node i -1 to node i it
Between the threat probability value that is subject to, d (n) estimates flight path length, ω for present node n to impact point1、ω2、ω3It is respective weights
Coefficient；
Minimum cost value determining unit, the first extension child node minimum for determining cost value.
10. system according to claim 6, it is characterised in that the pilot point handover module, specifically includes：
3rd judging unit, for judging that whether the first minimum extension child node of cost value in the range of switching threshold, is obtained
3rd judged result, the switching threshold scope is the circle constituted as radius as the center of circle, with given threshold with second starting point
Interior scope；
4th judging unit, for representing the first minimum extension child node of cost value in switching threshold when the 3rd judged result
When in the range of value, judge whether second starting point is impact point, obtain the 4th judged result；
Point spread end unit, for when it is impact point that the 4th judged result represents second starting point, terminating section
Point extension；
Second extension child node generation unit, for representing that second starting point is not impact point when the 4th judged result
When, using the first minimum extension child node of the cost value as the second extension point, point spread is carried out to the 3rd starting point, generate
Second extension child node, the second extension child node number is positive integer, and the 3rd starting point is the mesh of the point spread
Mark direction point, the 3rd starting point includes the second pilot point and impact point in the final flight line；
3rd extension child node generation unit, for representing the first minimum extension son section of cost value when the 3rd judged result
When point is not in the range of switching threshold, using the first minimum extension child node of the cost value as the second extension point, continue to
Second starting point carries out point spread, and generation the 3rd extends child node, and the 3rd extension child node number is positive integer.
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