CN108614907A - A kind of unmanned plane during flying course line and landform collision detection method - Google Patents
A kind of unmanned plane during flying course line and landform collision detection method Download PDFInfo
- Publication number
- CN108614907A CN108614907A CN201611139728.8A CN201611139728A CN108614907A CN 108614907 A CN108614907 A CN 108614907A CN 201611139728 A CN201611139728 A CN 201611139728A CN 108614907 A CN108614907 A CN 108614907A
- Authority
- CN
- China
- Prior art keywords
- flight
- landform
- unmanned plane
- line
- googleearth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
To press based on flight course planning autonomous flight, course line need to draw in flight advance professional etiquette and carry out security inspection for the flight of unmanned plane.In the good area of general Plain obstruction clearance criteria, interference of the line of flight without the concern for periphery landform.When (such as mountain area, river valley) carries out line of flight planning under complicated landform environment, it need to ensure that the line of flight will not collide with the landform that periphery height rises and falls or danger is close.Inspection method provided by the invention, realization that can be simple and quick carry out landform collision detection to planning course line before flight, to improve the accuracy of unmanned plane during flying flight course planning, ensure flight safety.Without detect 7 High Altitude UAV reconnaissance planes, attack 2 is examined during beating Rikaze of integrated unmanned plane and take a flight test, landform collision detection has been carried out to the line of flight using this method, the results showed that this method is correctly effective, can be used for the air Route Planning Method of unmanned plane.
Description
Technical field
The invention belongs to flight test technology fields, more particularly to a kind of unmanned plane during flying course line and landform collision detection
Method.
Background technology
Based on the flight of unmanned plane is flown with autonomous control, pilot is distant by line of sight link or satellite link on the ground
Supplemented by control so that the flight course planning security inspection before unmanned plane during flying is particularly important.On general Plain airport, periphery headroom item
Part is good, interference of the line of flight without the concern for periphery landform.When (such as mountain area, river valley) flies under complicated landform environment
When flight course planning, it need to ensure that the line of flight will not collide with the landform that periphery height rises and falls or danger is close.
The line of flight planning of country's unmanned plane at present, it is the height acquired around airport usually to avoid the method that landform is collided
Journey and satellite image form artificially generated terrain on special flight software in ground control station using three-dimensional modeling, then pass through
Simulated flight even collides to check whether aircraft causes danger to approach with landform.This method need to be soft by dedicated three-dimensional modeling
Part establishes artificially generated terrain to place airport periphery landform, and modeling period is long, spends greatly, when being changed to other airports, and needs weight
Simulation modeling newly is carried out to new airport.It is high-precision within the scope of the periphery 20km of an airport by taking certain type high-altitude scounting aeroplane as an example
Degree three dimensional ground model need to spend 1 month, 300,000 RMB of cost.And emulate ground used in the unmanned plane due to different model
Shape software disunity, causes modeling work to need overlapping development, more waste of manpower and financial resources.
Invention content
Goal of the invention:Based on the present invention uses disclosed GoogleEarth landform tool software, opened by Matlab
Flight course planning simulation result is generated as kml files by source tool box and custom programming, is then beaten in GoogleEarth
Open the kml files, you can the intuitive correlation for seeing the line of flight and dimensional topography, if occur close with landform danger
Or collision.Result can optimize flight-line design accordingly, and in-flight unmanned plane and landform is avoided to cause danger close and collide.
Technical solution:
Google Earth provide free global satellite image and altitude data, can interconnect at any time as needed
Terrain data update is carried out to specified region on the net.GoogleEarth supports kml files, is described by kml files, can be
The elements such as point, line, surface are shown in the dimensional topography of GoogleEarth.The format description of kml files can be found in internet
http://www.opengeospatial.org/standards/kml/, if describing three-dimensional by hand-coding kml files
Data are relatively time-consuming, and third party software can be used to generate kml files.Wherein it is typically Matlab to GoogleEarth
Toolbox, the tool box are increased income work by a Matlab for generating kml files that University of Amsterdam develops
Have case, can be got in the Internet address.
A kind of unmanned plane during flying course line and landform collision detection method, steps are as follows for specific implementation:
The first step:Prepare emulation data,
Second step:Kml file tool casees are installed, Matlab to GoogleEarth toolbox are downloaded from internet
Tool box compressed package, by googleearth files as in the toolbox files of Matlab installation directories after decompression, such as
D:Matlab googleearth, in Matlab input addpath (' D:Matlab googleearth') order, it is complete
At the installation in the tool box;
Third walks:Flight path Program Generating kml files are write, including read in emulation data, the array of generation spatial point, setting
Kml file parameters, output kml files;
4th step:Write vertical line Program Generating kml files, including read in emulation data, the array that calculates spatial vertical point,
Kml file parameters are set, kml files are exported;
5th step:The kml files generated in three steps, four steps are opened in GoogleEarth, check landform collision situation.
Entire check process is shown in Fig. 1.
Advantageous effect:The landform collision detection method is logical first compared with original method for establishing dedicated emulated landform
The free satellite image and landform using GoogleEarth are crossed, after ignoring the small cost such as internet connection and computer loss,
It substantially belongs to zero cost and uses dimensional topography, saved the economic cost of terrain data buying modeling;Secondly this method does not differentiate between
Airport does not differentiate between unmanned plane type, by once writing program, you can suitable for any open airport, the course line of any type
It checks, has saved the time cost that different airport terrain modelings and different type of machines software are replaced.
Description of the drawings
Fig. 1 is course line landform collision detection flow chart;
Fig. 2 is the space tracking figure before Route optimization, and track and landform perpendicular separation are small at white circle, there was only 27m through measuring;
Fig. 3 is the space tracking figure after Route optimization, and track and landform perpendicular separation are big at white circle, has 220m through measuring.
Specific implementation mode
(1) track data for preparing the quasi- flight of unmanned plane, usually using simulated flight data.Data include longitude, latitude
Degree, height, longitude and latitude data degree of using should be accurate to after decimal point 6 to ensure in GoogleEarth for unit
Positioning accuracy, altitude information use rice for unit, using absolute height above sea level, should be accurate to after decimal point 1, data point is usual
It is arranged by following formats:
Long1、Lat1、H1
Long2、Lat2、H2
Long3、Lat3、H3
Long4、Lat4、H4
……
Time interval between two data points is different and different according to flight ground velocity speed, and flying speed is faster, between the time
Every should be shorter.For general subsonic speed unmanned plane below, data point interval was advisable with 1 to 2 second data.
(2) tool boxes Matlab to GoogleEarth toolbox compressed package is downloaded from internet, it will after decompression
Googleearth files are as in the toolbox files of Matlab installation directories, such as D:\matlab\
Googleearth, in Matlab input addpath (' D:Matlab googleearth') order, complete the tool box
Installation.
(3) program operation current file sandwiched is set to D in Matlab:Matlab googleearth, and create
The m files of one blank are there are under the catalogue, such as FlightPath.m.Program is write in FlightPath.m:
(1) simulated flight track data is read in;
(2) all longitudes of data are saved as into array X, latitude saves as array Y, highly saves as array Z;
(3) ge_plot3 () function in tool box is used, such as
KmlStr=ge_plot3 (X, Y, Z, ' lineWidth', 5, ' lineColor', ' ffffff00', '
AltitudeMode', ' absolute'), it is kml format strings by tri- array outputs of X, Y, Z, the character string example is entitled
KmlStr is sequentially connected which represent all track points and is formed by a track line.Wherein lineWidth and lineColor
The width and color for indicating track line, can voluntarily adjust as needed, and altitudeMode attributes should be set as absolute, to protect
Card is consistent with the absolute height above sea level attribute in track data.
(4) ge_output (' showFlightPath ', kmlStr) function is used, by kmlStr character string final outputs
For such as showFlightPath.kml files, this document is stored under catalogue identical with program, and filename can be as needed
Modification.
(4) for convenience of the observation of flight track and topographic space interval is carried out, perpendicular separation between the two is can measure, it can
Reuse the projection vertical line that ge_plot3 functions draw track points.
(1) make to generate three-dimensional vertical line between the perpendicular subpoint of point on flight path successively, height attributes still use exhausted
To height above sea level.Such as straight kmlStr1 is given birth to using ge_plot3 functions between 1 (x1, y1, z1) of point and (x1, y1,0),
Regenerate straight kmlStr2 using ge_plot3 between point 2 (x2, y2, z2) and (x2, y2,0), and so on until generation
The kmlStrN of the last one point.It influences to observe to avoid projection line too much, a track points can be spaced and generate a projection line.
(2) all kmlstr character strings merge a character string kmlStrA, and it is defeated to reuse ge_output () function
Go out for such as showVertical.kml.
(5) GoogleEarth is opened, the quasi- flight range checked is found in GoogleEarth, one by one to flying
Row area peripheral edge is amplified browsing to download landform, after the region landform that need to be checked is downloaded, from GoogleEarth
Open showFlightPath.kml, showVertical.kml file, you can see between three-dimensional flight track and landform
Relationship, example is shown in Fig. 2.If juxtaposition occurs for flight track and landform, show the flight path can cause unmanned plane with circumferentially
Shape collides, and needs to carry out course line adjustment, until flight track and landform no longer juxtaposition, and have certain space interval
Until.
In the example in figure 2, -2 unmanned planes of attack are illustrated in Rikaze aerodrome flight landform collision detection situation, thick line
For flight path line, filament is the vertical line of each track points.Although can not intersected with landform with flight path line from figure
Situation, but circled track line is sufficiently close on the right side of river valley with massif.It is measured using included tool in GoogleEarth
The massif elevation of the closest approach be 4201 meters, and according to the title of the vertical line correspondence check flight path initial data, the point it is absolute
Height above sea level is 4228m, i.e., there was only the perpendicular separation of 27m between the two, such case is to endanger very much for unmanned plane during flying
Danger, it needs to improve the flying height in this section of course line or is translated to the left with far from massif.
It has been used in this example and has improved the mode of flying height to adjust course line, Fig. 3 is the same boat for having adjusted flying height
Line, wherein circled airline operation height have been increased to 4421 meters, i.e., reach 220 meters with massif height difference, can meet nobody
The requirement of machine safe flight.
The present invention is not limited to the above embodiment, in terms of other application, when by all line of flight points in above procedure
Upright projection point coordinates and height, uniformly replace with certain radio transmitting apparatus (such as surveillance radar antenna, ground visibility link day
Line) coordinate and when height, the radio transmitting apparatus can be got to the radiation situation on unmanned plane during flying flight path, if all
Exposure pathways are not in contact with landform, then show that the radio device can be wirelessly electrically connected in flight whole process with unmanned plane
It is logical, it can be used for the inspection of radio intervisibility situation on course line.Similarly, if the radio transmitting apparatus, which is considered as scounting aeroplane, to be needed
The target of scouting, then can determine whether out whether aircraft can be directly observed the target on the course line, can be used for the inspection of reconnaissance route
It looks into.
Claims (2)
1. a kind of unmanned plane during flying course line and landform collision detection method, utilize Google Earth, Matlab to
GoogleEarth toolbox two softwares realize that steps are as follows for specific implementation:
The first step:Prepare emulation data,
Second step:Kml file tool casees are installed, Matlab to GoogleEarth toolbox tools are downloaded from internet
Case compressed package, by googleearth files as in the toolbox files of Matlab installation directories after decompression, such as D:\
Matlab googleearth, in Matlab input addpath (' D:Matlab googleearth') order, complete should
The installation in tool box;
Third walks:Flight path Program Generating kml files are write, including read in emulation data, the array of generation spatial point, setting kml
File parameters, output kml files;
4th step:Vertical line Program Generating kml files are write, including read in emulation data, the array of calculating spatial vertical point, setting
Kml file parameters export kml files;
5th step:The kml files generated in three steps, four steps are opened in GoogleEarth, check landform collision situation.
2. a kind of unmanned plane during flying course line according to claim 1 and landform collision detection method, it is characterized in that:Step 1
Described in emulation data longitude, latitude, height.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611139728.8A CN108614907A (en) | 2016-12-12 | 2016-12-12 | A kind of unmanned plane during flying course line and landform collision detection method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611139728.8A CN108614907A (en) | 2016-12-12 | 2016-12-12 | A kind of unmanned plane during flying course line and landform collision detection method |
Publications (1)
Publication Number | Publication Date |
---|---|
CN108614907A true CN108614907A (en) | 2018-10-02 |
Family
ID=63657281
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611139728.8A Pending CN108614907A (en) | 2016-12-12 | 2016-12-12 | A kind of unmanned plane during flying course line and landform collision detection method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108614907A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109782804A (en) * | 2019-01-04 | 2019-05-21 | 哈瓦国际航空技术(深圳)有限公司 | Method, apparatus, equipment and the storage medium in course line are adjusted according to geographical elevation |
CN110969900A (en) * | 2019-11-21 | 2020-04-07 | 中国航空工业集团公司西安飞行自动控制研究所 | All-lane horizontal bias algorithm based on lane management |
CN112346481A (en) * | 2020-11-24 | 2021-02-09 | 广西电网有限责任公司电力科学研究院 | Method and system for unmanned aerial vehicle power inspection operation |
CN112542800A (en) * | 2020-11-24 | 2021-03-23 | 广西电网有限责任公司电力科学研究院 | Method and system for identifying transmission line fault |
CN112784497A (en) * | 2021-02-05 | 2021-05-11 | 中国人民解放军93534部队 | Ground radar networking startup optimization method based on genetic algorithm |
CN113467521A (en) * | 2021-09-01 | 2021-10-01 | 北京远度互联科技有限公司 | Generation method and device of unmanned aerial vehicle route inspection chart and electronic equipment |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101228491A (en) * | 2005-07-26 | 2008-07-23 | 法国空中巴士公司 | Method and device for detecting a risk of collision of an aircraft with the surrounding terrain |
CN101645101A (en) * | 2009-09-04 | 2010-02-10 | 北京航空航天大学 | General unmanned aerial vehicle simulation modeling method |
CN101968823A (en) * | 2010-10-14 | 2011-02-09 | 沈阳广通测绘设计有限公司 | Three-dimensional analog simulation system of instrument flight program |
CN102682628A (en) * | 2012-05-04 | 2012-09-19 | 北京民航天宇科技发展有限公司 | General aviation operation monitoring system |
US20130116986A1 (en) * | 2011-11-08 | 2013-05-09 | The Mathworks, Inc. | Visualization of data dependency in graphical models |
CN104881518A (en) * | 2015-04-30 | 2015-09-02 | 电子科技大学 | Three-dimensional vision simulation system for aerial vehicles |
-
2016
- 2016-12-12 CN CN201611139728.8A patent/CN108614907A/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101228491A (en) * | 2005-07-26 | 2008-07-23 | 法国空中巴士公司 | Method and device for detecting a risk of collision of an aircraft with the surrounding terrain |
CN101645101A (en) * | 2009-09-04 | 2010-02-10 | 北京航空航天大学 | General unmanned aerial vehicle simulation modeling method |
CN101968823A (en) * | 2010-10-14 | 2011-02-09 | 沈阳广通测绘设计有限公司 | Three-dimensional analog simulation system of instrument flight program |
US20130116986A1 (en) * | 2011-11-08 | 2013-05-09 | The Mathworks, Inc. | Visualization of data dependency in graphical models |
CN102682628A (en) * | 2012-05-04 | 2012-09-19 | 北京民航天宇科技发展有限公司 | General aviation operation monitoring system |
CN104881518A (en) * | 2015-04-30 | 2015-09-02 | 电子科技大学 | Three-dimensional vision simulation system for aerial vehicles |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109782804A (en) * | 2019-01-04 | 2019-05-21 | 哈瓦国际航空技术(深圳)有限公司 | Method, apparatus, equipment and the storage medium in course line are adjusted according to geographical elevation |
CN110969900A (en) * | 2019-11-21 | 2020-04-07 | 中国航空工业集团公司西安飞行自动控制研究所 | All-lane horizontal bias algorithm based on lane management |
CN110969900B (en) * | 2019-11-21 | 2022-03-15 | 中国航空工业集团公司西安飞行自动控制研究所 | All-lane horizontal offset calculation method based on lane management |
CN112346481A (en) * | 2020-11-24 | 2021-02-09 | 广西电网有限责任公司电力科学研究院 | Method and system for unmanned aerial vehicle power inspection operation |
CN112542800A (en) * | 2020-11-24 | 2021-03-23 | 广西电网有限责任公司电力科学研究院 | Method and system for identifying transmission line fault |
CN112784497A (en) * | 2021-02-05 | 2021-05-11 | 中国人民解放军93534部队 | Ground radar networking startup optimization method based on genetic algorithm |
CN113467521A (en) * | 2021-09-01 | 2021-10-01 | 北京远度互联科技有限公司 | Generation method and device of unmanned aerial vehicle route inspection chart and electronic equipment |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108614907A (en) | A kind of unmanned plane during flying course line and landform collision detection method | |
US20190129039A1 (en) | Polyhedral geofences | |
Ruzgienė et al. | The surface modelling based on UAV Photogrammetry and qualitative estimation | |
Ahmad | Digital mapping using low altitude UAV | |
CN108253969B (en) | Method for calculating flight line-of-sight link coverage range of unmanned aerial vehicle | |
CN105373616B (en) | The production method and producing device of electronic map | |
CN107544467A (en) | Double Satellite's control closed loop test system and method under the conditions of whole star | |
Sabatini et al. | Low-cost sensors data fusion for small size unmanned aerial vehicles navigation and guidance | |
CN109839945B (en) | Unmanned aerial vehicle landing method, unmanned aerial vehicle landing device and computer readable storage medium | |
CN106443608A (en) | Simulation testing device for onboard synthetic aperture radar | |
CN108196586A (en) | Unmanned aerial vehicle (UAV) control method, apparatus and storage medium | |
US20240028051A1 (en) | Closed surface flight pattern generation for unmanned aerial vehicle (uav) flux plane assessment of large facilities | |
CN102506867A (en) | SINS (strap-down inertia navigation system)/SMANS (scene matching auxiliary navigation system) combined navigation method based on Harris comer matching and combined navigation system | |
Wood et al. | Measurement of three dimensional volcanic plume properties using multiple ground based infrared cameras | |
Daramola et al. | Assessing the geometric accuracy of UAV-based orthophotos | |
CN109991670A (en) | A kind of submarine target localization method | |
CN110110493A (en) | A kind of carrier landing track emulation method and system | |
Pargieła | Optimising UAV data acquisition and processing for photogrammetry: a review | |
CN110375710A (en) | The determination method, apparatus and aerocraft system of aircraft altitude | |
CN112325857A (en) | Unmanned aerial vehicle obstacle early warning method based on oblique photography | |
KR102642117B1 (en) | Method for setting 3-dimension flight path of unmanned aerial vehicle | |
JP6449180B2 (en) | 3D image display system, 3D image display device, 3D image display method, and 3D image display system for plant equipment | |
CN104020681A (en) | Free flight analog simulation platform | |
KR102130687B1 (en) | System for information fusion among multiple sensor platforms | |
KR101628174B1 (en) | Method for generating synthetic infrared image with mutual heat exchange effect between a moving object embedded with heat and a surroundings |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210304 Address after: 611731, No. four, West core road, hi tech West District, Sichuan, Chengdu Applicant after: AVIC (Chengdu) UAV System Co.,Ltd. Address before: 610091 planning and Development Department of Chengdu aircraft design and Research Institute, 1610 Riyue Avenue, Qingyang District, Chengdu City, Sichuan Province Applicant before: AVIC CHENGDU AIRCRAFT DESIGN & Research Institute |
|
TA01 | Transfer of patent application right | ||
RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181002 |
|
RJ01 | Rejection of invention patent application after publication |