CN108681339A - Navigation of Pilotless Aircraft method, navigation system and unmanned plane - Google Patents
Navigation of Pilotless Aircraft method, navigation system and unmanned plane Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention discloses a kind of Navigation of Pilotless Aircraft method, navigation system and unmanned plane, is related to air vehicle technique field.Wherein Navigation of Pilotless Aircraft method includes：S1 is scanned the ambient enviroment of unmanned plane during unmanned plane flies along set flight path, obtains ambient condition information；S2 judges whether there is chaff interferent on the set flight path of unmanned plane according to the ambient condition information, if so, then sending out the signal that course line is instructed in request to the chaff interferent；S3, judges whether the chaff interferent instructs course line signal to return, if so, then instructing airline operation by what the chaff interferent was sent out；If nothing, according to the ambient condition information contexture by self Circuitous Route.When the navigation system of Navigation of Pilotless Aircraft methods and applications this method of the present invention can make unmanned plane fly in the air to encounter chaff interferent, realizes and independently hide chaff interferent.
Description
Technical field
The present invention relates to a kind of air vehicle technique field more particularly to Navigation of Pilotless Aircraft method, navigation system and unmanned planes.
Background technology
Unmanned plane is a kind of aboard without manned aircraft, and this aircraft can fly according to navigating from master mode
Row, and it has advanced sensor element, can manipulate flight control system by the winged hand on ground and carry out remote control,
Or control flight navigation according to the flight control system on unmanned plane.In recent years, with the development of science and technology and Internet era
Arriving, application of the unmanned air vehicle technique in we live is increasingly wider, and either the military use of State-level is still
The recreational use of personal level has the figure of unmanned plane.And with the continuous development of unmanned air vehicle technique, unmanned air vehicle technique will
Applied to more occasions.
The application field of unmanned plane includes military operation, geological exploration, logistics transportation, agricultural application, video display bat at present
It takes the photograph, fire-fighting is combated a natural disaster and rescues the numerous areas such as inspection.More and more fields begin to use unmanned plane to replace manually being made
Industry, and efficiently easily working method will cause revolutionary application to unmanned plane in conjunction with internet big data from now on.However due to
Unmanned plane is using more and more extensive, and the working environment in unmanned plane spatial domain becomes also to become increasingly complex, at present UAV Navigation System
It is the flight that unmanned plane is controlled by global pick device (GPS) and inertial navigation unit, when unmanned plane is met in flight course
To mobility is lacked when aerial interference, it is unable to escape from danger.Therefore in terms of the automatic obstacle avoiding airmanship of unmanned plane
Research is increasingly becoming one of the emphasis direction studied now.
Invention content
The problem of in the presence of for the above-mentioned prior art, a kind of Navigation of Pilotless Aircraft method of the embodiment of the present invention offer,
Navigation system and unmanned plane, when making unmanned plane fly in the air to encounter chaff interferent, realization independently hides chaff interferent.
To achieve the goals above, the embodiment of the present invention adopts the following technical scheme that：
In a first aspect, the embodiment of the present invention provides a kind of Navigation of Pilotless Aircraft method, including, S1：In unmanned plane along set
During flight path flies, the ambient enviroment of unmanned plane is scanned, obtains ambient condition information；S2：According to described
Ambient condition information judges whether there is chaff interferent on the set flight path of unmanned plane, is asked if so, then being sent out to the chaff interferent
Seek the signal for instructing course line；S3：Judge whether the chaff interferent instructs course line signal to return, if so, then pressing the chaff interferent
What is sent out instructs airline operation；If nothing, according to the ambient condition information contexture by self Circuitous Route.
In Navigation of Pilotless Aircraft method provided by the invention, unmanned plane passes through ranging in flight on set flight path
Device is scanned ambient enviroment, and controller identifies chaff interferent according to ambient condition information judgement, in conjunction with controller to letter
The processing of breath, when making unmanned plane fly in the air to encounter chaff interferent, if course line is instructed in chaff interferent transmission, according to chaff interferent
What is sent instructs course line to fly, and when to make unmanned plane encounter the chaff interferent for executing high-level task, such as encounters higher level
The warplane of execution task can plan course line according to the instruction of other side；Chaff interferent do not send instruct course line when, unmanned plane
It can be according to ambient condition information contexture by self Circuitous Route, to get around chaff interferent.Therefore Navigation of Pilotless Aircraft provided by the invention
Method may be implemented independently to hide chaff interferent.
Optionally, in the step S3, judge whether the chaff interferent has the restrictive condition for instructing course line signal to return
For：Within the first preset time or within the first pre-determined distance.
Optionally, in the step S3, described according to the ambient condition information contexture by self Circuitous Route, including：
S31：It is sent according to the ambient condition information contexture by self Circuitous Route, and by the signal of the Circuitous Route of current contexture by self
To the chaff interferent；S32：Judge whether the chaff interferent has feedback signal, if it is not, then navigating according to the detour of current contexture by self
Line navigation flight；If so, judge the instruction for whether having the Circuitous Route for disagreeing current contexture by self in the feedback signal,
Enter step S33；S33：If not disagreeing the instruction of the Circuitous Route of current contexture by self in the feedback signal, according to
The Circuitous Route navigation flight of current contexture by self；If there is the Circuitous Route for disagreeing current contexture by self in the feedback signal
Instruction, then return to step S31.
Optionally, described to judge whether the chaff interferent has the restrictive condition of feedback signal to be in the step S32：
Within the second preset time or within the second pre-determined distance.
Optionally, in step s 2, judge whether to have on the set flight path of unmanned plane according to ambient condition information dry
The restrictive condition for disturbing object is：Within third pre-determined distance on the set flight path of unmanned plane, the third pre-determined distance
The maximum scan distance being scanned less than or equal to the ambient enviroment to unmanned plane.
Optionally, the step S2 further includes：If there is chaff interferent, controls unmanned plane and be decelerated to minimum flying speed progress
Flight.
Optionally, the step S2 further includes：If noiseless object, continue to fly along set flight path.
Optionally, the step S3 further includes：If the chaff interferent instructs course line signal to return, to the chaff interferent
Transmit and receive the signal for instructing course line.
Second aspect, based on the technical solution of above-mentioned Navigation of Pilotless Aircraft method, the embodiments of the present invention also provide one kind
UAV Navigation System, including：Range unit for being scanned to the environment around unmanned plane, and obtains ambient enviroment letter
Breath；The controller being connect with the range unit signal, for judging that the set of unmanned plane flies according to the ambient condition information
Whether there is chaff interferent on walking along the street diameter, if so, then sending out the signal that course line is instructed in request to the chaff interferent；And judge the interference
Whether object instructs course line signal to return, and instructs routine navigation to fly by what the chaff interferent was sent out if so, then controlling unmanned plane,
If nothing, according to the ambient condition information contexture by self Circuitous Route.
The advantageous effect achieved by UAV Navigation System that the embodiment of the present invention is provided, is provided with first aspect
The attainable advantageous effect of Navigation of Pilotless Aircraft method institute it is identical, this will not be repeated here.
Optionally, the range unit includes laser radar 3D scanning means and/or supersonic range finder.
Optionally, the UAV Navigation System further includes：The global pick device that is connected with the controller in a signal way. and/
Or inertial navigation unit, for being positioned and being navigated to unmanned plane；The communication module being connected with the controller in a signal way., is used for
Signal is sended and received, realizes the communication between each component inside communication and the unmanned plane between unmanned plane and the external world.
The third aspect, the embodiments of the present invention also provide a kind of computer product, including one or more processors, institutes
It states processor and is configured to operation computer instruction, to execute one or more of Navigation of Pilotless Aircraft method as described above step
Suddenly.
The advantageous effect achieved by computer product that the embodiment of the present invention is provided, the nothing provided with first aspect
The attainable advantageous effect of man-machine air navigation aid institute is identical, and this will not be repeated here.
Fourth aspect, the embodiments of the present invention also provide a kind of unmanned planes, including Navigation of Pilotless Aircraft system as described above
System.
The advantageous effect achieved by unmanned plane that the embodiment of the present invention is provided, the unmanned plane provided with first aspect
The attainable advantageous effect of air navigation aid institute is identical, and this will not be repeated here.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of Navigation of Pilotless Aircraft method in the embodiment of the present invention.
Fig. 2 is the schematic diagram of UAV Navigation System in the embodiment of the present invention.
Reference numeral：
1- global pick devices, 2- inertial navigation units,
3- range units, 31- laser radar 3D scanning means,
32- supersonic range finders, 4- controllers,
5- communication module 6- chaff interferents.
Specific implementation mode
Below in conjunction with the attached drawing in the present patent application embodiment, the technical solution in the present patent application embodiment is carried out
Clearly and completely describing, it is clear that described embodiment is only the present patent application a part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the present patent application, those of ordinary skill in the art are without making creative work
The every other embodiment obtained belongs to the range of the present patent application protection.
Referring to Fig. 1, Navigation of Pilotless Aircraft method provided in an embodiment of the present invention, including：
S1：During unmanned plane flies along set flight path, the ambient enviroment of unmanned plane is scanned, is obtained
Ambient condition information；
S2：Judge whether there is chaff interferent 6 on the set flight path of unmanned plane according to ambient condition information, if so, then to
Chaff interferent 6 sends out the signal that course line is instructed in request；
S3：Judge whether chaff interferent 6 instructs course line signal to return, if so, then instructing course line to fly by what chaff interferent 6 was sent out
Row；If nothing, according to ambient condition information contexture by self Circuitous Route.
In the Navigation of Pilotless Aircraft method of the present embodiment, unmanned plane passes through ranging in flight on set flight path
Device 3 is scanned ambient enviroment, and controller 4 identifies chaff interferent 6 according to ambient condition information judgement, in conjunction with controller 4
Processing to information, when making unmanned plane fly in the air to encounter chaff interferent 6, the guidance that can be sent according to chaff interferent 6 is navigated
Line flies, and when unmanned plane being made to encounter the chaff interferent 6 for executing high-level task, such as encounters higher level and executes the military of task
Machine can plan course line according to the instruction of other side；When chaff interferent 6 instructs course line without sending, unmanned plane can be according to surrounding
Environmental information contexture by self Circuitous Route.Therefore Navigation of Pilotless Aircraft method provided by the invention may be implemented independently to hide chaff interferent
6。
In some embodiments, in step s 2, judged on the set flight path of unmanned plane according to ambient condition information
Whether there is the restrictive condition of chaff interferent 6 to be：Within third pre-determined distance on the set flight path of unmanned plane, the third
Pre-determined distance is less than or equal to the maximum scan distance being scanned to the ambient enviroment of unmanned plane.For example, Navigation of Pilotless Aircraft system
System can to the environment within the scope of 1000 meters of (all directions is comprehensive including up, down, left, right, before and after etc.) around unmanned plane into
Row scanning, can be arranged judge whether there is chaff interferent 6 third pre-determined distance be unmanned plane set flight path on distance without
At man-machine 500 meters, the distance on the normal flight of unmanned plane without influence, it is right when chaff interferent 6 is more than 500 meters apart from unmanned plane
6 information of chaff interferent scanned is not processed, it is possible to reduce the operation of processor is born；When chaff interferent 6 is equal to apart from unmanned plane
Or when less than 500 meters, then interference information is handled.It is dry that judgement may be set according to actual conditions in those skilled in the art
The range of object 6 is disturbed, such as may be selected 100 meters, 300 meters, 800 meters, 1000 meters etc., this is not limited by the present invention.
Step S2 can also include：If there is chaff interferent 6, controls unmanned plane and be decelerated to minimum flying speed and fly.
The flying speed for reducing unmanned plane can extend the time that unmanned plane meets with chaff interferent 6, more to make controller obtain
Time-triggered protocol information and instruction is assigned, the object 6 so that unmanned plane avoids interference.
Step S2 can also include：If noiseless object 6, continue to fly along set flight path.
In some embodiments, step S3, judge chaff interferent 6 whether have instruct course line signal return restrictive condition be：
Within the first preset time or within the first pre-determined distance.That is, if pre- beyond the first preset time or first
If instructing course line signal apart from what rear unmanned plane did not received chaff interferent 6 yet, then it can be determined that and course line signal do not instructed to return, nothing
It is man-machine can be according to ambient condition information contexture by self Circuitous Route.The specific setting of first preset time and the first pre-determined distance
Value can determine that the principal element of consideration has according to the case where practical flight：Signal transmission speed between unmanned plane and chaff interferent 6
At speed of related movement, unmanned plane between degree, unmanned plane and chaff interferent 6 and safe distance and signal between chaff interferent 6
The speed etc. of reason makes unmanned plane be judged within the first preset time or within the first pre-determined distance, avoids delay and sentence
Collision accident caused by disconnected opportunity.For example, the third pre-determined distance that unmanned plane is set is 600 meter, a certain moment is apart from nobody
Both chaff interferent 6 is arrived in scanning in tramp-liner for unmanned plane at 600 meters of machine air line distance, and it is 400 meters that the first pre-determined distance, which can be arranged, nothing
It is man-machine to be gradually reduced the distance between with chaff interferent 6, do not receive the guidance boat of chaff interferent 6 yet after the two distance reduces 400 meters
Line signal then can be determined that and course line signal do not instructed to return, unmanned plane can detour according to ambient condition information contexture by self
Course line.In another example may determine that the two in not change of flight path according to the speed of related movement of current unmanned plane and chaff interferent 6
In the case of, it can meet after 1 minute, it is 20 seconds that the first preset time, which can be arranged, and chaff interferent 6 was not received more than 20 seconds
Course line signal is instructed, then unmanned plane can be with contexture by self Circuitous Route.Above-mentioned first preset time and the first pre-determined distance, can be with
One of them is only set as restrictive condition, two can also be arranged simultaneously.When the first pre-determined distance or first of setting are default
Between, it so that signal is had time enough transmission between unmanned plane and chaff interferent, if to ensure that chaff interferent has guidance to navigate
Line signal returns, and unmanned plane can receive signal, and can there are sufficient times and distance to make unmanned plane to subsequent step
Handled, prevent unmanned plane make a response or change of flight path before with chaff interferent bump against.
In some embodiments, step S3 further includes：If chaff interferent 6 instructs course line signal to return, sent out to chaff interferent 6
It send and receives the signal for instructing course line.Give chaff interferent 6 send back-signalling, can make 6 clear unmanned plane of chaff interferent receive and incite somebody to action
The course line of instructing for executing chaff interferent 6, realizes information exchange, improves the efficiency of detour.
In some embodiments, in step s3, according to ambient condition information contexture by self Circuitous Route, including：
S31：According to ambient condition information contexture by self Circuitous Route, and by the signal of the Circuitous Route of current contexture by self
It is sent to chaff interferent 6；
S32：Judge whether chaff interferent 6 has feedback signal, flies if it is not, then navigating according to the Circuitous Route of current contexture by self
Row；If so, judging the instruction for whether having the Circuitous Route for disagreeing current contexture by self in feedback signal, S33 is entered step；
S33：If not disagreeing the instruction of the Circuitous Route of current contexture by self in feedback signal, according to current autonomous
The Circuitous Route navigation flight of planning；If there is the instruction for the Circuitous Route for disagreeing current contexture by self in feedback signal, return
Return step S31.
For there is the chaff interferent 6 of feedback information, the communication function between unmanned plane and chaff interferent 6 may be implemented, make nobody
Machine cooks up the bypass route for meeting the requirement of chaff interferent 6.It, can be according to other side such as when encountering the warplane of higher level's execution task
Instruction plan course line, so that the course line of contexture by self is met the requirement of warplane.
In above-mentioned steps S32, judge whether chaff interferent 6 has the restrictive condition of feedback signal to be：The second preset time it
It is interior or within the second pre-determined distance.That is, if not receiving institute in the second preset time or the second pre-determined distance
The feedback signal for stating chaff interferent 6 is determined as that no feedback signal, unmanned plane can be led according to the Circuitous Route of current contexture by self
Boat flight.Second preset time, the specific setting value of the second pre-determined distance basis of design and effect with the first preset time,
First pre-determined distance is similar, and this will not be repeated here.
In embodiment provided by the present invention, it should be understood that the method flow of each function of realization in embodiment can
An independent part is formed to integrate, can also be each method flow individualism, it can also be two or two
Above method Process integration forms an independent part.
As shown in Fig. 2, the technical solution based on above-mentioned Navigation of Pilotless Aircraft method, the embodiments of the present invention also provide one kind
UAV Navigation System, including range unit 3 and controller 4.Range unit 3 is for sweeping the environment around unmanned plane
It retouches, and obtains ambient condition information.Controller 4 is connect with 3 signal of range unit, for judging nobody according to ambient condition information
Whether there is chaff interferent 6 on the set flight path of machine, if so, then sending out the signal that course line is instructed in request to chaff interferent 6；Controller
4 are additionally operable to judge whether chaff interferent 6 instructs course line signal to return, if so, then controlling the guidance that unmanned plane is sent out by chaff interferent 6
Routine navigation is flown, if nothing, according to ambient condition information contexture by self Circuitous Route.
The advantageous effect achieved by UAV Navigation System that the present embodiment is provided, with above-mentioned Navigation of Pilotless Aircraft method
The attainable advantageous effect of institute is identical, and this will not be repeated here.
In some embodiments, range unit 3 includes laser radar 3D scanning means 31 and/or supersonic range finder
32.UAV Navigation System can setting laser radar 3D scanning systems, can also only setting ultrasonic ranging system, the two
It can realize the scanning to ambient enviroment during unmanned plane navigates by water, while unmanned plane week is provided for contexture by self bypass route
The comprehensive environmental information in each orientation is enclosed, the bypass route that contexture by self goes out is allow effectively to hide other chaff interferents 6.It can also be
Laser radar 3D scanning systems and ultrasonic ranging system are set simultaneously in UAV Navigation System, improve the accuracy of scanning,
Simultaneously when a certain range unit damages, another range unit can work on, and ensure the stability of range unit 3.
In some embodiments, global pick device 1 (GPS, Global can be arranged in UAV Navigation System
Positioning System) and/or inertial navigation unit 2 (INS, Inertial Navigation System), the two is all
It can be connect with 4 signal of controller, for being positioned and being navigated to unmanned plane.
In some embodiments, communication module 5, communication module 5 and 4 signal of controller can be arranged in UAV Navigation System
Connection realizes each component in communication and the UAV Navigation System between unmanned plane and the external world for sending and receiving signal
With the communication between controller 4.Signal receiving part for receiving signal can be set in communication module 5, for sending letter
Number signaling component.Course line signal, reception is instructed to come from from chaff interferent 6 for example, signal receiving part can be received
The feedback signal of the Circuitous Route for whether agreeing to contexture by self of chaff interferent 6 receives the signal from other unmanned planes, receives and
Fly the command signal of the flight control system of hand manipulation from ground, or receive in the UAV Navigation System range unit 3,
The signal of global pick device, inertial navigation unit etc..In another example signaling component can be sent to chaff interferent 6 from master ga(u)ge
The Circuitous Route information drawn, earthward flight control system sends signal, or determines to controller transmission range unit 3, the whole world
The signal of the devices such as position device 1, inertial navigation unit 2.
In the embodiment of the present invention, to controller 4, range unit 3, communication module 5, global pick device 1, inertial navigation
The installation position of the device features such as device 2 does not limit, and those skilled in the art according to the concrete structure of unmanned plane and can match
Flat (the longitudinal moment of balance unmanned plane, due to speed, center of gravity and aerodynamic configuration etc. when compensating unmanned plane during flying by trim
Moment unbalance caused by variation) situation etc., any part to unmanned aerial vehicle body reasonably is arranged in above-mentioned apparatus component, or
In person's one of them or several device features setting to ground flying control system, such as controller 4 is arranged in ground flying
It, will be in range unit 3, the setting to unmanned aerial vehicle body of inertial navigation unit 2 in control system.
In some embodiments, when unmanned plane executes aerial mission, unmanned plane can start Navigation of Pilotless Aircraft simultaneously
System, UAV Navigation System carries out Navigation of Pilotless Aircraft flight according to the specified planning in controller 4, and passes through range unit 3
Ambient enviroment is scanned, when unmanned plane is scanned on the plotted line road that independent navigation flies to chaff interferent 6, controller 4
Control unmanned plane is decelerated to minimum flying speed and flies, and controls communication module 5 and send out request to chaff interferent 6 and instruct course line
Signal.If chaff interferent 6 is sent out to unmanned plane instructs course line signal, unmanned plane instructs course line to lead by what chaff interferent 6 was sent out
Boat flight；If chaff interferent 6, which is not sent out, instructs course line, unmanned plane contexture by self course line, and contexture by self is issued into interference
Object 6.Unmanned plane judges whether chaff interferent 6 has feedback signal later, if without feedback signal, unmanned plane navigates by contexture by self
Line carries out navigation flight；If chaff interferent 6 has signal feedback, controller 4 to judge whether to disagree current contexture by self
Circuitous Route instruction.If chaff interferent 6 agrees to that the Circuitous Route of the current contexture by self of unmanned plane, unmanned plane are pressed currently certainly
The Circuitous Route navigation flight of master program；If chaff interferent 6 sends out the Circuitous Route for disagreeing current contexture by self, controller
4 the step of restarting contexture by self Circuitous Route.The Navigation of Pilotless Aircraft method of the present embodiment may be implemented unmanned plane and independently hide
Chaff interferent 6 is kept away, is conducive to improve mobility when unmanned plane encounters aerial interference in flight course, autonomous escape from danger.
The present embodiment additionally provides a kind of computer product, including one or more processors, and processor is configured to run
Computer instruction, to execute one or more of Navigation of Pilotless Aircraft method as above step.
Advantageous effect achieved by the present embodiment Computer product, institute is attainable with above-mentioned Navigation of Pilotless Aircraft method
Advantageous effect is identical, and this will not be repeated here.
The present embodiment additionally provides a kind of unmanned plane, including UAV Navigation System as above.
Advantageous effect in the present embodiment achieved by unmanned plane, institute is attainable beneficial with above-mentioned Navigation of Pilotless Aircraft method
Effect is identical, and this will not be repeated here.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of Navigation of Pilotless Aircraft method, which is characterized in that including：
S1：During unmanned plane flies along set flight path, the ambient enviroment of unmanned plane is scanned, obtains surrounding
Environmental information；
S2：Judge whether there is chaff interferent on the set flight path of unmanned plane according to the ambient condition information, if so, then to described
Chaff interferent sends out the signal that course line is instructed in request；
S3：Judge whether the chaff interferent instructs course line signal to return, if so, then instructing course line by what the chaff interferent was sent out
Flight；If nothing, according to the ambient condition information contexture by self Circuitous Route.
2. Navigation of Pilotless Aircraft method according to claim 1, which is characterized in that in step s3, judge the chaff interferent
Whether have instruct course line signal return restrictive condition be：Within the first preset time or within the first pre-determined distance；Institute
The first preset time and the first pre-determined distance are stated, according to safe distance, unmanned plane and the chaff interferent between unmanned plane and chaff interferent
Between signaling rate, the speed of related movement between unmanned plane and chaff interferent and signal processing speed set
It is fixed.
3. Navigation of Pilotless Aircraft method according to claim 1, which is characterized in that in step s3, described according to the week
Collarette border information independence plans Circuitous Route, including：
S31：According to the ambient condition information contexture by self Circuitous Route, and by the signal of the Circuitous Route of current contexture by self
It is sent to the chaff interferent；
S32：Judge whether the chaff interferent has feedback signal, flies if it is not, then navigating according to the Circuitous Route of current contexture by self
Row；If so, judging the instruction for whether having the Circuitous Route for disagreeing current contexture by self in the feedback signal, enter step
S33；
S33：If not disagreeing the instruction of the Circuitous Route of current contexture by self in the feedback signal, according to current autonomous
The Circuitous Route navigation flight of planning；If there is the instruction for the Circuitous Route for disagreeing current contexture by self in the feedback signal,
Then return to step S31.
4. Navigation of Pilotless Aircraft method according to claim 3, which is characterized in that in step s 32, described to judge described do
Whether disturb object has the restrictive condition of feedback signal to be：Within the second preset time or within the second pre-determined distance；Described
Two preset times and the second pre-determined distance, according to the unmanned plane and safe distance between chaff interferent, unmanned plane and chaff interferent it
Between signaling rate, the speed of related movement between unmanned plane and chaff interferent and signal processing speed set.
5. according to Claims 1 to 4 any one of them Navigation of Pilotless Aircraft method, which is characterized in that in step s 2, described
Judge whether to have on the set flight path of unmanned plane the restrictive condition of chaff interferent be according to ambient condition information：Unmanned plane both
Determine within the third pre-determined distance on flight path, the third pre-determined distance be less than or equal to the ambient enviroment of unmanned plane into
The maximum scan distance of row scanning.
6. according to Claims 1 to 4 any one of them Navigation of Pilotless Aircraft method, which is characterized in that the step S3 further includes：
If the chaff interferent instructs course line signal to return, transmitted and received to the chaff interferent to the signal for instructing course line.
7. a kind of UAV Navigation System, which is characterized in that including：
Range unit for being scanned to the environment around unmanned plane, and obtains ambient condition information；
The controller being connect with the range unit signal, for judging that the set of unmanned plane flies according to the ambient condition information
Whether there is chaff interferent on walking along the street diameter, if so, then sending out the signal that course line is instructed in request to the chaff interferent；And judge the interference
Whether object instructs course line signal to return, and instructs routine navigation to fly by what the chaff interferent was sent out if so, then controlling unmanned plane,
If nothing, according to the ambient condition information contexture by self Circuitous Route.
8. UAV Navigation System according to claim 7, which is characterized in that the range unit includes laser radar 3D
Scanning means and/or supersonic range finder.
9. a kind of computer product, including one or more processors, which is characterized in that the processor is configured to operation and calculates
Machine instructs, to execute such as one or more of claim 1~6 any one of them Navigation of Pilotless Aircraft method step.
10. a kind of unmanned plane, which is characterized in that including UAV Navigation System as claimed in claim 7 or 8.
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