CN108614907A - A kind of unmanned plane during flying course line and landform collision detection method - Google Patents

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

A kind of unmanned plane during flying course line and landform collision detection method

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.