CN109885102B - Automatic task route planning method suitable for photoelectric load unmanned aerial vehicle system - Google Patents

Automatic task route planning method suitable for photoelectric load unmanned aerial vehicle system Download PDF

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CN109885102B
CN109885102B CN201910201682.5A CN201910201682A CN109885102B CN 109885102 B CN109885102 B CN 109885102B CN 201910201682 A CN201910201682 A CN 201910201682A CN 109885102 B CN109885102 B CN 109885102B
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刘洋
贾伟
肖佳伟
田雪涛
贺若飞
张波
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Northwestern Polytechnical University
Xian Aisheng Technology Group Co Ltd
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Xian Aisheng Technology Group Co Ltd
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Abstract

The invention provides a method for automatically planning a mission route suitable for a photoelectric load unmanned aerial vehicle system. Compared with the prior manual route planning mode, the invention utilizes the known target area and target point information to calculate the waypoint information and improve the accuracy of route planning; meanwhile, the invention automatically generates the mission planning air route after the parameters of the target area and the target point are given, thereby avoiding the inconvenience of the operation of an operator on the map and greatly improving the efficiency of photoelectric load mission planning.

Description

Automatic task route planning method suitable for photoelectric load unmanned aerial vehicle system
Technical Field
The invention relates to the field of unmanned aerial vehicle mission planning, in particular to a mission route planning method suitable for an unmanned aerial vehicle system.
Background
One of the main tasks of the unmanned aerial vehicle is reconnaissance and monitoring, the reconnaissance unmanned aerial vehicle is rapidly developed into a main force army of the unmanned aerial vehicle, and air route planning is required according to reconnaissance targets and ranges, so that the airborne reconnaissance equipment acquires required reconnaissance information, and guarantee is provided for cooperative combat of other weapons.
The most basic route planning method is that a route point is set on a digital map through ground control station software of an unmanned aerial vehicle system to form a route, then planned route information is uploaded to an airplane through a radio data link, and then the airplane is controlled to fly along the route by an airborne navigation system.
The manual task route planning method is time-consuming, labor-consuming, low in accuracy and difficult to adapt to the requirement of rapid task route planning in flight.
At present, no related automatic planning method for a mission air line of a photoelectric load unmanned aerial vehicle system exists.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for automatically planning a mission air route suitable for a photoelectric load unmanned aerial vehicle system.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
step 1: determining whether a task object is a reconnaissance target point or a reconnaissance target area according to a reconnaissance task executed by a photoelectric load unmanned aerial vehicle issued by a higher-level commander, selecting an executed task mode, if the task object is reconnaissance target point, entering a fixed-point mode planning flow, and entering step 2; if the target area is detected, entering an arch mode planning process, namely entering a step 3;
step 2: if the mode is the fixed point mode, the method comprises the following steps:
step 2.1: receiving scout task target parameter input: longitude and latitude coordinates (L) of point A entering target areaA，BA) The longitude and latitude coordinates (L) of the point B of the driving-out target areaB，BB) And the longitude and latitude (L) of the T point of the reconnaissance target pointT，BT) Altitude of HTThe height of the unmanned aerial vehicle relative to the target area when executing the reconnaissance mission is h, and the radius of the spiral circle when the unmanned aerial vehicle flies around the target point in a circle is RTThe target area is rectangular and is controlled by the superior commandDownloading the length, width and central point parameters of the target area by the system;
step 2.2: the longitude and latitude coordinates (L) of the point AA，BA) Conversion to position (X) in planar Cartesian coordinatesA，YA) The longitude and latitude coordinates (L) of the point BB，BB) Conversion to position (X) in planar Cartesian coordinatesB，YB) The longitude and latitude (L) of the T point of the reconnaissance target pointT，BT) Converted to position (X) in planar rectangular coordinatesT，YT) Calculating the distance D from the point A to the point T according to the positions of the three pointsATAnd the distance D from the point B to the point TBT：
Figure BDA0001997660250000021
Step 2.3: making tangent line of the spiral circle through point A, the tangent point being point S, making tangent line of the spiral circle through point B, the tangent point being point E, calculating the distance D from point A to point SASAnd the distance D from the point B to the point EBE：
Figure BDA0001997660250000022
Step 2.4: if the direction angle of the connecting line between the point A and the point T of the target point is alpha, the included angle formed by the line segment AT and the AS is delta alpha, and if the direction angle of the connecting line between the point B and the point T of the target point is beta, and the included angle formed by the line segment BT and the BE is delta beta, then:
Figure BDA0001997660250000023
step 2.5: the direction angle of the connecting line of the point A and the point S is alpha, and the direction angle of the connecting line of the point B and the point E is beta';
if alpha-beta > 0, then
Figure BDA0001997660250000024
If alpha-beta is less than 0, then
Figure BDA0001997660250000025
Step 2.6: from the orientation angles α 'and β', the position coordinates (X) of the A pointA，YA) And B point position coordinates (X)B，YB) Distance DASAnd a distance DBECalculating the positions (X) of the S point and the E points，Ys) And (X)E，YE)：
Figure BDA0001997660250000031
Then the rectangular coordinates (X) of the S point and the E point are converted by coordinatess，Ys) And (X)E，YE) Conversion to latitude and longitude (L)s，Bs) And (L)E，BE)；
Step 2.7: the mission route waypoints of the fixed-point mode are sequentially as follows:
the point A drives into the point: coordinate (L)A，BA，HT+h)；
S point starting scout point: coordinate (L)s，Bs，HT+ h) as command for start scout and radius of hover RTThe circle center of the circle is (L)T，BT) The circle period is n, and the reconnaissance is finished after entering a point E after n times of circling;
end of point E scout: coordinate (L)E，BE，HT+ h), the instruction is end scout;
exit point at point B: coordinate (L)B，BB，HT+h)；
And step 3: if the mode is the bow-shaped mode (the mission route is the bow shape when the unmanned aerial vehicle carries out reconnaissance), the following steps are carried out:
step 3.1: receiving scout task parameter input: the detection area is a rectangle with width DW and height DH, and the longitude and latitude coordinates (L) of the central point C of the rectangular detection areaC，BC) The inclination angle of the scout area is theta, and the altitude of the area is HSHeight of unmanned aerial vehicle relative to scout area when executing taskH, the distance between the arched air lines is d;
step 3.2: assuming that the inclination angle of the area is 0 degree, the longitude and latitude coordinates (L) of the point C of the central point of the areaC，BC) Converted to position (X) in planar rectangular coordinatesC，YC) Calculating the position of the 0 point of the region vertex (taking the point as the starting point of the arched route):
Figure BDA0001997660250000032
step 3.3: taking four points of 1, 2, 3 and 4 as a cycle, calculating the cycle number of the whole area
Figure BDA0001997660250000041
Figure BDA0001997660250000042
As a function of rounding down, i.e.
Figure BDA0001997660250000043
Showing the largest integer not greater than X), the number of bow-shaped waypoints for the entire region is N-4N +1, the loop is performed starting from 0 for i, i < N, j-4N, and waypoint positions other than the starting point 0 are calculated:
Figure BDA0001997660250000044
Figure BDA0001997660250000045
Figure BDA0001997660250000046
Figure BDA0001997660250000047
step 3.4: calculating the position of the arched route waypoint when the inclination angle of the reconnaissance area is theta by utilizing the coordinate transformation of a given angle, wherein K is the waypoint serial number (K starts from 0), and represents the arched route waypoint after the reconnaissance area rotates the inclination angle theta:
Figure BDA0001997660250000048
converting all waypoint rectangular coordinate positions into longitude and latitude coordinates (L)k，Bk) All the height of the bow-shaped route waypoints is H ═ Hs+h。
The invention has the advantages that compared with the prior manual route planning mode, the method for planning the mission route suitable for the photoelectric load unmanned aerial vehicle system calculates the route point information by utilizing the known target area and target point information, thereby improving the accuracy of route planning; meanwhile, the invention automatically generates the mission planning air route after the parameters of the target area and the target point are given, thereby avoiding the inconvenience of the operation of an operator on the map and greatly improving the efficiency of photoelectric load mission planning.
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FIG. 1 is a schematic diagram of the fixed-point mode target information detection according to the present invention.
FIG. 2 is a schematic diagram of the calculation relationship between the starting scout point and the ending scout point in the fixed-point mode according to the present invention.
FIG. 3 is a diagram illustrating the information of the detection area in the bow mode according to the present invention.
FIG. 4 is a schematic view of an arcuate pattern planning route of the present invention.
Fig. 5 is a flow chart of photoelectric load unmanned aerial vehicle route planning of the present invention.
Wherein R isTRadius of the spiral circle, A is an entry target area point, B is an exit target area point, T is a reconnaissance target point, DATIs the distance from point A to point T, DBTIs the distance from point B to point T, DASIs the distance from point A to point S, DBEIs the distance from point B to point E, alpha is the direction angle of the connecting line of point A and target point T, the included angle formed by AT and AS is delta alpha, and the direction of the connecting line of point B and target point TThe angle is beta, the included angle formed by the line segments BT and BE is delta beta, the direction angle of the connecting line of the point A and the point S is alpha ', the direction angle of the connecting line of the point B and the point E is beta', DW is the width of the detection area, DH is the height of the detection area, point C is the central point of the detection area, and the inclination angle of the detection area is theta.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Step 1: determining whether a task object is a reconnaissance target point or a reconnaissance target area according to a reconnaissance task executed by a photoelectric load unmanned aerial vehicle issued by a higher-level commander, selecting an executed task mode, entering a fixed-point mode planning flow if the task object is reconnaissance target point, and entering a step 2; if the target area is detected, entering an arch mode planning process, namely entering a step 3;
step 2: if the mode is the fixed point mode, the method comprises the following steps:
step 2.1: receiving scout task target parameter input: longitude and latitude coordinates (L) of point A entering target areaA，BA) The longitude and latitude coordinates (L) of the point B of the driving-out target areaB，BB) And the longitude and latitude (L) of the T point of the reconnaissance target pointT，BT) Altitude of HTThe height of the unmanned aerial vehicle relative to the target area when executing the reconnaissance mission is h, and the radius of the spiral circle when the unmanned aerial vehicle flies around the target point in a circle is RTAs shown in fig. 1, the target area is rectangular, and the length, width and central point parameters of the target area are downloaded by a superior command control system;
step 2.2: the longitude and latitude coordinates (L) of the point AA，BA) Conversion to position (X) in planar Cartesian coordinatesA，YA) The longitude and latitude coordinates (L) of the point BB，BB) Conversion to position (X) in planar Cartesian coordinatesB，YB) The longitude and latitude (L) of the T point of the reconnaissance target pointT，BT) Converted to position (X) in planar rectangular coordinatesT，YT) Calculating the distance D from the point A to the point T according to the positions of the three pointsATAnd the distance D from the point B to the point TBT：
Figure BDA0001997660250000051
Step 2.3: making a tangent line of the spiral circle through the point A, wherein the tangent point is the point S, making a tangent line of the spiral circle through the point B, and the tangent point is the point E, as shown in FIG. 2; calculating the distance D from the point A to the point SASAnd the distance D from the point B to the point EBE：
Figure BDA0001997660250000061
Step 2.4: AS shown in fig. 2, if the direction angle of the connection line between point a and target point T is α, the included angle formed by line segment AT and AS is Δ α, and likewise, the direction angle of the connection line between point B and target point T is β, and the included angle formed by line segment BT and BE is Δ β, then:
Figure BDA0001997660250000062
step 2.5: as shown in fig. 2, the direction angle of the connection line between the point a and the point S is α ', and the direction angle of the connection line between the point B and the point E is β';
if alpha-beta > 0, then
Figure BDA0001997660250000063
If alpha-beta is less than 0, then
Figure BDA0001997660250000064
Step 2.6: from the orientation angles a 'and β', the A point position coordinates (X)A，YA) And B point position coordinates (X)B，YB) Distance DASAnd a distance DBECalculating the positions (X) of the S point and the E points，Ys) And (X)E，YE)：
Figure BDA0001997660250000065
Then the rectangular coordinates (X) of the S point and the E point are converted by coordinatess，Ys) And (X)E，YE) Conversion to latitude and longitude (L)S，BS) And (L)E，BE)；
Step 2.7: the mission route waypoints of the fixed-point mode are sequentially as follows:
the point A drives into the point: coordinate (L)A，BA，HT+h)；
S point starting scout point: coordinate (L)s，Bs，HT+ h) as command for start scout and radius of hover RTThe circle center of the circle is (L)T，BT) The circle period is n, and the reconnaissance is finished after entering a point E after n times of circling;
end of point E scout: coordinate (L)E，BE，HT+ h), the instruction is end scout;
exit point at point B: coordinate (L)B，BB，HT+j)；
And step 3: if the mode is the bow-shaped mode (the mission route is the bow shape when the unmanned aerial vehicle carries out reconnaissance), the following steps are carried out:
step 3.1: receiving scout task parameter input: the detection area is a rectangle with width DW and height DH, and the longitude and latitude coordinates (L) of the central point C of the rectangular detection areaC，BC) The inclination angle of the scout area is theta, as shown in FIG. 3, the height of the area is HSWhen the unmanned aerial vehicle executes a task, the height of the unmanned aerial vehicle relative to the detection area is h, and the distance between the arched air lines is d;
step 3.2: assuming that the inclination angle of the area is 0 degree, the longitude and latitude coordinates (L) of the point C of the central point of the areaC，BC) Converted to position (X) in planar rectangular coordinatesC，YC) Calculating the position of the 0 point of the region vertex (taking the point as the starting point of the arched route):
Figure BDA0001997660250000071
step 3.3: as shown in FIG. 4, the number of the main components is 1,2.3, 4, calculating the circulation times of the whole area by taking four points as a circulation
Figure BDA0001997660250000072
(
Figure BDA0001997660250000073
As a function of rounding down, i.e.
Figure BDA0001997660250000074
Representing the largest integer not greater than X), then the number of arcuate waypoints for the entire region is N-4N +1, looping through i starting at 0, i < N, j-4N, calculating the waypoint positions except the starting point 0:
Figure BDA0001997660250000075
Figure BDA0001997660250000076
Figure BDA0001997660250000081
Figure BDA0001997660250000082
step 3.4: calculating the position of the arched route waypoint when the inclination angle of the reconnaissance area is theta by utilizing the coordinate transformation of a given angle, wherein K is the waypoint serial number (K starts from 0), and represents the arched route waypoint after the reconnaissance area rotates the inclination angle theta:
Figure BDA0001997660250000083
converting all waypoint rectangular coordinate positions into longitude and latitude coordinates (L)k，Bk) All the height of the bow-shaped route waypoints is H ═ Hs+h。
The detailed steps of the embodiment of the invention are as follows:
step 1: and selecting whether the executed task mode is a fixed-point mode or an arc mode.
Step 2: if the mode is the fixed point mode, the method comprises the following steps:
a) receiving scout task target parameter input: longitude and latitude coordinates (L) of point A entering target areaA，BA) The longitude and latitude coordinates (L) of the point B of the driving-out target areaB，BB) And the longitude and latitude (L) of the T point of the reconnaissance target pointT，BT) Altitude of HTWhen the unmanned aerial vehicle executes the reconnaissance mission, the height of the unmanned aerial vehicle relative to the target area is h equal to 2000m, and the radius of the unmanned aerial vehicle circling around the target point is RT＝1000m。
b) The longitude and latitude coordinates (L) of the point AA，BA) B point longitude and latitude coordinate (L)B，BB) And the longitude and latitude (L) of the T point of the reconnaissance target pointT，BT) Conversion to position (X) in planar Cartesian coordinatesA，YA)、(XB，YB) And (X)T，YT). Calculating the distance D from the point A to the point T according to the rectangular coordinate positions of the three pointsATAnd the distance D from the point B to the point TBT：
Figure BDA0001997660250000084
c) According to the definition of the tangent and the characteristics of the right triangle. Calculating the distance D from the point A to the point SASAnd the distance D from the point B to the point EBE：
Figure BDA0001997660250000085
d) Calculating direction angles alpha and beta, included angles delta alpha and delta beta:
Figure BDA0001997660250000091
e) the angles of orientation are calculated as a 'and as β', all angles in the present invention are in the range of [0, 360 ], and if not in this range the angles should be converted to this interval by adding or subtracting 360.
If alpha-beta > 0, then
Figure BDA0001997660250000092
If alpha-beta is less than 0, then
Figure BDA0001997660250000093
f) From the orientation angles α 'and β', the position coordinates (X) of the A pointA，YA) And B point position coordinates (X)B，YB) Distance DASAnd a distance DBECalculating the positions (X) of the S point and the E points，Ys) And (X)E，YE)：
Figure BDA0001997660250000094
Then the rectangular coordinates (X) of the S point and the E point are converted by coordinatess，Ys) And (X)E，YE) Conversion to latitude and longitude (L)s，Bs) And (L)E，BE)。
g) The mission route waypoints of the fixed-point mode are sequentially as follows:
the point A drives into the point: coordinate (L)A，BA，HT+2000)；
S point starting scout point: coordinate (L)s，Bs，HT+2000), the command is to start scouting, the radius of the circle is 1000m, and the circle center of the circle is (L)T，BT) The cycle of the spiral is 3;
end of point E scout: coordinate (L)E，BE，HT+2000), the instruction is an end scout.
Exit point at point B: (L)B，BB，HT+2000)。
And step 3: if the mode is the bow mode, the method comprises the following steps:
a) receiving scout task parameter input: the width DW of the rectangular detection area is 6500m, the height DH is 2500m, and the longitude and latitude coordinates (L) of the point C at the center point of the areaC，BC) The inclination angle of the detection area is equal to 45 degrees. Regional altitude of HsWhen the unmanned aerial vehicle executes a task, the height h of the unmanned aerial vehicle relative to the detection area is 2000m, and the distance between the arched routes is 1000 m.
b) Assuming that the inclination angle of the area is 0 degree, the longitude and latitude coordinates (L) of the point C of the central point of the areaC，BC) Converted to position (X) in planar rectangular coordinatesC，YC) Calculating the region vertex 0 point:
Figure BDA0001997660250000101
c) as shown in FIG. 4, the number of cycles of the whole area is calculated by taking four points of 1, 2, 3 and 4 as a cycle
Figure BDA0001997660250000102
And the number of the arched route waypoints in the whole area is N-4N + 1-13, i is circulated from 0 by using a for loop, i is less than N, j is 4N, and waypoint positions except the starting point 0 are calculated:
Figure BDA0001997660250000103
Figure BDA0001997660250000104
Figure BDA0001997660250000105
Figure BDA0001997660250000106
d) calculating the rectangular coordinate position of the bow-shaped route waypoint when the inclination angle of the reconnaissance area is 45 degrees by utilizing the coordinate transformation of a given angle, wherein K is the waypoint serial number (K starts from 0), and represents the bow-shaped route waypoint after the reconnaissance area rotates 45 degrees:
Figure BDA0001997660250000107
converting all waypoint rectangular coordinate positions into longitude and latitude coordinates (L)k，Bk) All the height of the bow-shaped route waypoints is H ═ Hs+2000 (unit: m).
The photoelectric load unmanned plane route planning flow chart is shown in the attached figure 5.
The invention has been applied to some type of unmanned aerial vehicle system in which the invention is implemented in the navigation monitoring software of the ground station. And the navigation monitoring software performs data interaction with a ground data terminal of the data chain system through a network and sends automatically generated photoelectric load task route data to the unmanned aerial vehicle through the ground data terminal.

Claims (1)

1. A mission air route automatic planning method suitable for a photoelectric load unmanned aerial vehicle system is characterized by comprising the following steps:
step 1: determining whether a task object is a reconnaissance target point or a reconnaissance target area according to a reconnaissance task executed by a photoelectric load unmanned aerial vehicle issued by a higher-level commander, selecting an executed task mode, if the task object is reconnaissance target point, entering a fixed-point mode planning flow, and entering step 2; if the target area is detected, entering an arch mode planning process, namely entering a step 3;
step 2: if the mode is the fixed point mode, the method comprises the following steps:
step 2.1: receiving scout task target parameter input: longitude and latitude coordinates (L) of point A entering target areaA，BA) The longitude and latitude coordinates (L) of the point B of the driving-out target areaB，BB) And the longitude and latitude (L) of the T point of the reconnaissance target pointT，BT) Altitude of HTNobodyThe height of the unmanned aerial vehicle relative to the target area when the unmanned aerial vehicle executes the reconnaissance mission is h, and the radius of the spiral circle when the unmanned aerial vehicle flies around the target point in a circle is RTThe target area is rectangular, and the length, the width and the central point parameters of the target area are downloaded by a superior command control system;
step 2.2: the longitude and latitude coordinates (L) of the point AA，BA) Conversion to position (X) in planar Cartesian coordinatesA，YA) The longitude and latitude coordinates (L) of the point BB，BB) Conversion to position (X) in planar Cartesian coordinatesB，YB) The longitude and latitude (L) of the T point of the reconnaissance target pointT，BT) Converted to position (X) in planar rectangular coordinatesT，YT) Calculating the distance D from the point A to the point T according to the positions of the three pointsATAnd the distance D from the point B to the point TBT：
Figure FDA0003234351060000011
Step 2.3: making tangent line of the spiral circle through point A, the tangent point being point S, making tangent line of the spiral circle through point B, the tangent point being point E, calculating the distance D from point A to point SASAnd the distance D from the point B to the point EBE：
Figure FDA0003234351060000012
Step 2.4: if the direction angle of the connecting line between the point A and the point T of the target point is alpha, the included angle formed by the line segment AT and the AS is delta alpha, and if the direction angle of the connecting line between the point B and the point T of the target point is beta, and the included angle formed by the line segment BT and the BE is delta beta, then:
Figure FDA0003234351060000021
step 2.5: the direction angle of the connecting line of the point A and the point S is alpha ', and the direction angle of the connecting line of the point B and the point E is beta';
if the alpha-beta is greater than 0,then
Figure FDA0003234351060000022
If alpha-beta is less than 0, then
Figure FDA0003234351060000023
Step 2.6: from the orientation angles α 'and β', the position coordinates (X) of the A pointA，YA) And B point position coordinates (X)B，YB) Distance DASAnd a distance DBECalculating the positions (X) of the S point and the E points，Ys) And (X)E，YE)：
Figure FDA0003234351060000024
Then the rectangular coordinates (X) of the S point and the E point are converted by coordinatess，Ys) And (X)E，YE) Conversion to latitude and longitude (L)s，Bs) And (L)E，BE)；
Step 2.7: the mission route waypoints of the fixed-point mode are sequentially as follows:
the point A drives into the point: coordinate (L)A，BA，HT+h)；
S point starting scout point: coordinate (L)s，Bs，HT+ h) as command for start scout and radius of hover RTThe circle center of the circle is (L)T，BT) The circle period is n, and the reconnaissance is finished after entering a point E after n times of circling;
end of point E scout: coordinate (L)E，BE，HT+ h), the instruction is end scout;
exit point at point B: coordinate (L)B，BB，HT+h)；
And step 3: if the mode is the bow mode, the method comprises the following steps:
step 3.1: receiving scout task parameter input: the detection area is rectangular with width DW and height DHLongitude and latitude coordinates (L) of the central point C of the rectangular detection areaC，BC) The inclination angle of the scout area is theta, and the altitude of the area is HsWhen the unmanned aerial vehicle executes a task, the height of the unmanned aerial vehicle relative to the detection area is h, and the distance between the arched air lines is d;
step 3.2: assuming that the inclination angle of the area is 0 degree, the longitude and latitude coordinates (L) of the point C of the central point of the areaC，BC) Converted to position (X) in planar rectangular coordinatesC，YC) Calculating the position of the 0 point of the region vertex:
Figure FDA0003234351060000031
step 3.3: taking four points as a cycle, calculating the cycle number of the whole area
Figure FDA0003234351060000032
And the number of the arched route waypoints in the whole area is N to 4N +1, the loop is performed from 0 to i, i is less than N, j is 4N, and the waypoint positions except the starting point 0 are calculated:
Figure FDA0003234351060000033
Figure FDA0003234351060000034
Figure FDA0003234351060000035
Figure FDA0003234351060000036
step 3.4: calculating the position of the arched route waypoint when the inclination angle of the reconnaissance area is theta by utilizing the coordinate transformation of a given angle, wherein K is the waypoint serial number, and K starts from 0 and represents the arched route waypoint after the rotary inclination angle theta of the reconnaissance area:
Figure FDA0003234351060000037
converting all waypoint rectangular coordinate positions into longitude and latitude coordinates (L)k，Bk) All the height of the bow-shaped route waypoints is H ═ Hs+h。
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