CN111103895A - Navigation method, system and equipment for unmanned aerial vehicle to pass through restricted airspace and readable storage medium - Google Patents
Navigation method, system and equipment for unmanned aerial vehicle to pass through restricted airspace and readable storage medium Download PDFInfo
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- CN111103895A CN111103895A CN201911253701.5A CN201911253701A CN111103895A CN 111103895 A CN111103895 A CN 111103895A CN 201911253701 A CN201911253701 A CN 201911253701A CN 111103895 A CN111103895 A CN 111103895A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
According to the navigation method, the navigation system, the navigation equipment and the readable storage medium for the unmanned aerial vehicle to pass through the restricted airspace, the unmanned aerial vehicle is enabled to be automatically approved through the flight-restricted area, the reaction time is reduced, the unmanned aerial vehicle can rapidly pass through the flight-restricted area to rapidly arrive at a destination or enter the flight-restricted area, the monitoring device in the system confirms the positions of the unmanned aerial vehicle and the flight-restricted area, the unmanned aerial vehicle is prevented from entering the flight-restricted area by mistake, an authentication system is started in advance, and the time and the error rate required by manual authentication are avoided; the route generator and the manual control module carry out replacement work under the condition of unauthorized authentication or system error; according to the unmanned aerial vehicle navigation system and method, when the unmanned aerial vehicle does not reach the restricted airspace, the restricted vacancy boundary can be detected, rapid authentication is carried out, and the route is automatically regenerated, so that the unmanned aerial vehicle can efficiently pass through the restricted airspace to complete a flight task.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle navigation, and particularly relates to a method, a system and equipment for unmanned aerial vehicle navigation through limited airspace and a readable storage medium.
Background
The unmanned aerial vehicle has various application scenes including reconnaissance, battle, data collection, exploration and the like, and plays an important role in national defense, key task execution and production life. Due to the structural characteristics and flight advantages of the unmanned aerial vehicle, the unmanned aerial vehicle is suitable for terrain exploration, and is particularly suitable for complex terrain areas where other detection devices cannot enter. However, in some areas, very strict control measures are implemented on the unmanned aerial vehicle, so that the unmanned aerial vehicle is limited to fly, and even the unmanned aerial vehicle is refused to cross the boundary of an airspace, such as military bases, airports, hospitals and wild animal protection areas.
Unmanned aerial vehicle can't adopt conventional navigation mode when passing through above-mentioned restricted space, all need carry out manual intervention at present to the non-man-machine of coordinated control passes through restricted space, and this makes unmanned aerial vehicle flight efficiency show and reduces, sometimes can hinder the normal execution of task even.
Therefore, there is an urgent need to develop a navigation system and method for a drone when passing through a restricted airspace to assist the drone to efficiently pass through the restricted airspace.
Disclosure of Invention
Aiming at the problem that the flight efficiency is reduced due to the fact that the existing unmanned aerial vehicle needs manual intervention when passing through a limited airspace, the invention provides a navigation method, a navigation system, a navigation device and a readable storage medium for the unmanned aerial vehicle to pass through the limited airspace, wherein the limited vacancy boundary can be detected when the unmanned aerial vehicle does not reach the limited airspace, rapid authentication is carried out, a route is automatically regenerated, and the unmanned aerial vehicle is guaranteed to efficiently pass through the limited airspace.
The invention is realized by adopting the following technical scheme:
a method for navigating an unmanned aerial vehicle through a restricted airspace comprises the following steps:
step 2, determining the safe distance between the unmanned aerial vehicle and the limited airspace boundary according to the geographical position of the unmanned aerial vehicle and the flight limiting signal;
step 3, when the relative distance between the unmanned aerial vehicle and the restricted airspace boundary is smaller than the safety distance, authenticating the unmanned aerial vehicle passing through the restricted airspace boundary;
if the authentication is successful, executing the step 4;
if the authentication fails, executing step 5:
step 4, successfully authenticating, enabling the unmanned aerial vehicle to enter a restricted airspace according to an authentication protocol and pass through the restricted airspace according to a specified navigation path;
and 5, replanning the flight route of the unmanned aerial vehicle after the authentication fails, enabling the unmanned aerial vehicle to bypass the restricted airspace according to the specified navigation route, and reentering the preset flight route.
Preferably, the restricted airspace in step 1 includes a no-fly area, a military base, an airport, a hospital or a wildlife protection area.
Preferably, in step 2, the flight restriction signal includes a boundary parameter of the restricted airspace, and the safety distance is determined according to the boundary parameter and the geographical position of the unmanned aerial vehicle.
Preferably, the authentication manner in step 3 is at least one of security token authentication, password authentication, drone identification and payment confirmation.
Preferably, in step 3, after the authentication is successful, the preset function of the unmanned aerial vehicle is closed.
Preferably, in step 4 and step 5, when the unmanned aerial vehicle passes through the restricted airspace, the unmanned aerial vehicle deviates from the designated navigation path, and manual intervention is performed on the unmanned aerial vehicle, so that the unmanned aerial vehicle enters the designated navigation path.
The invention also provides a navigation system for the unmanned aerial vehicle to pass through the restricted airspace, which comprises the following steps:
the monitoring unit is used for acquiring the geographic position of the unmanned aerial vehicle and a flight limiting signal for limiting an airspace;
the control unit is used for determining the safe distance between the unmanned aerial vehicle and the limited-space area according to the geographic position of the unmanned aerial vehicle and the flight limiting signal, and outputting an authentication activation instruction according to the safe distance;
the authentication unit is used for sending an authentication signal according to the authentication activation instruction and receiving a feedback signal of an authentication result;
and the route generator outputs the navigation path of the unmanned aerial vehicle according to the authentication result.
Preferably, the monitoring unit comprises a vision system and a positioning system which are arranged on the unmanned aerial vehicle;
the vision system is used for shooting image information on the flight path of the unmanned aerial vehicle;
and the positioning system is used for acquiring the geographic position and the time information of the unmanned aerial vehicle.
The invention also provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 6 when executing the computer program.
The invention also provides a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
The invention has the following beneficial technical effects:
according to the navigation method for the unmanned aerial vehicle to pass through the restricted airspace, the safe distance between the unmanned aerial vehicle and the restricted flight area is confirmed, the unmanned aerial vehicle is prevented from entering the restricted flight area by mistake, meanwhile, a conscientious signal is sent at the safe distance, the time and error rate required by manual authentication are avoided, after the authentication is successful, the unmanned aerial vehicle can safely and efficiently pass through the restricted flight area according to the designated navigation path of the restricted flight area, and after the authentication is failed, the navigation system of the unmanned aerial vehicle automatically plans the path, so that the unmanned aerial vehicle can fly away from the restricted flight area; the method ensures that the unmanned aerial vehicle is automatically approved to pass through the flight limiting area, reduces the reaction time, and ensures that the unmanned aerial vehicle can rapidly pass through the flight limiting area to rapidly arrive at a destination or can enter the flight limiting area. According to the unmanned aerial vehicle navigation system and the method for limiting the airspace, when the unmanned aerial vehicle does not reach the limited airspace, the limited vacancy boundary can be detected, rapid authentication is carried out, and the route is automatically regenerated, so that the unmanned aerial vehicle can efficiently pass through the limited airspace to complete a flight task.
Further, the drone closes a preset function, such as a camera or GPS, so that the area restricted from flying for privacy reasons can allow this drone to enter.
Drawings
FIG. 1 is a navigation system for assisting a drone in navigating a restricted airspace;
fig. 2 is a flow chart of a method of assisting a drone in navigating through restricted airspaces;
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Referring to fig. 1, a navigation system for an unmanned aerial vehicle to pass through a restricted airspace comprises a monitoring device, a control unit, an authentication device, a route generator and a manual control module.
And the monitoring device is used for acquiring the geographic position of the unmanned aerial vehicle and limiting flight signals of limited airspace.
The monitoring device comprises a vision system, a positioning system and a signal transceiver.
The vision system includes one or more cameras that provide picture or video data to the drone monitoring device, and may be of various types including high definition cameras, night vision enabled cameras, infrared sensing cameras, X-ray imaging devices, line scan imaging devices, and the like.
The positioning system may be a Global Positioning System (GPS) that provides geographic location and time information for the drone monitoring device.
And the signal transceiver is used for detecting the limited flight signal of the limited airspace and sending an authentication signal and an authentication feedback signal.
And the control unit is used for tracking the geographical position of the unmanned aerial vehicle and comparing the geographical position with the geographical position of the limited airspace boundary so as to determine the safety position of the unmanned aerial vehicle and the limited airspace boundary, and sending an authentication activation instruction according to the safety position, wherein a limited airspace database is preset in the control unit.
And the authentication device is used for sending an authentication signal according to the authentication activation instruction and receiving a feedback signal of an authentication result so as to enable the authentication unmanned aerial vehicle to cross the limited airspace boundary. The authentication device includes an authentication protocol.
The route generator is used for replanning the flight route of the unmanned aerial vehicle after the authentication fails to generate a substitute navigation scheme; the route generator is preset with a virtual map.
And when the unmanned aerial vehicle passes through the limited airspace, the unmanned aerial vehicle deviates from the specified navigation path, and manual intervention is carried out on the unmanned aerial vehicle, so that the unmanned aerial vehicle enters the pre-specified navigation path.
The manual control module comprises a user interface, an instruction library and an instruction sending device.
The restricted airspace comprises a no-fly zone, a military base, an airport, a hospital, a wildlife protection zone and the like, can be a spherical boundary, a hemispherical boundary or other type of boundary, and comprises a plurality of restricted boundary parameters.
Referring to fig. 2, a method for navigating an unmanned aerial vehicle through a restricted airspace includes the following steps:
Specifically, a vision system and a positioning system of the monitoring device track the geographical position of the unmanned aerial vehicle, and a signal transceiver detects a flight-limiting signal such as a radio signal, an infrared signal or a sonar signal sent out by a limited airspace.
Step 2, determining the safe distance between the unmanned aerial vehicle and the limited airspace boundary according to the geographical position of the unmanned aerial vehicle and the flight limiting signal;
specifically, the control unit compares the geographical position of the unmanned aerial vehicle with the boundary parameters of the restricted airspace boundary to determine the safe position of the unmanned aerial vehicle and the restricted airspace boundary.
Step 3, when the relative distance between the unmanned aerial vehicle and the restricted airspace boundary is smaller than the safety distance, authenticating the unmanned aerial vehicle passing through the restricted airspace boundary;
specifically, when the relative distance between the unmanned aerial vehicle and the restricted airspace boundary is smaller than the preset safety distance in the control unit, the control unit outputs an authentication activation instruction, starts the authentication device, contacts with the main body of the restricted airspace through the communication equipment, and authenticates that the unmanned aerial vehicle passes through the restricted airspace boundary.
The authentication method may be: security token authentication, password authentication, unmanned aerial vehicle identification, payment confirmation and the like;
and 4, if the authentication is successful, the unmanned aerial vehicle enters the restricted airspace according to the authentication protocol, and simultaneously passes through the restricted airspace according to the navigation path appointed by the restricted airspace.
When passing through the restricted area, the drone disables one or more functions, such as turning off the camera, turning off the navigation system, and the like, and finally completes the passage.
And 5, if the authentication fails, rapidly stopping the movement of the unmanned aerial vehicle to the boundary of the restricted airspace by the route generator, and replanning the flight route of the unmanned aerial vehicle according to the virtual map, the image of the monitoring device and the position information of the virtual map to generate a substitute navigation scheme, so that the unmanned aerial vehicle bypasses the restricted airspace and reenters the preset flight route.
In the step, the unmanned aerial vehicle is temporarily controlled to fly by adopting a substitute navigation scheme, and when the unmanned aerial vehicle enters a preset flight route by bypassing a limited airspace, the original navigation scheme is quickly switched.
If in this step, if unmanned aerial vehicle deviates from the route of replacing the navigation scheme, namely the mistake appears in the automatic navigation process, relevant personnel can use the user interface of manual control module, send control command to unmanned aerial vehicle through instruction sending device to make unmanned aerial vehicle enter into the correct navigation state.
According to the navigation method for the unmanned aerial vehicle to pass through the restricted airspace, the unmanned aerial vehicle is automatically approved through the flight restriction area, the reaction time is reduced, and the unmanned aerial vehicle can rapidly pass through the flight restriction area to rapidly arrive at a destination or enter the flight restriction area. The monitoring device in the system confirms the positions of the unmanned aerial vehicle and the flight-limiting area, so that the unmanned aerial vehicle is prevented from entering the flight-limiting area by mistake and an authentication system is started in advance; the authentication system can perform authentication according to a preset and required mode, so that the time and error rate required by manual authentication are avoided; the route generator and the manual control module perform the substitution work in case of authentication non-permission or system error.
When unmanned aerial vehicle passes through the limit for empty region, functions such as unmanned aerial vehicle closing camera or GPS avoid causing the information of limit for empty region to suffer revealing, and the navigation path control unmanned aerial vehicle's that sends through the limit for empty region flight route makes it avoid flying to secret area simultaneously, makes unmanned aerial vehicle pass through the safety limit for empty region, can guarantee simultaneously that the information of limit for empty region is not revealed.
Unmanned aerial vehicles require other navigation methods after losing a camera or GPS in a flight-restricted area. If the verification fails, other routes are required to bypass the flight-restricted area and then return to the predetermined flight route. Meanwhile, after an error occurs in an unmanned aerial vehicle automatic system, manual intervention control is performed, and the flying safety of the unmanned aerial vehicle is improved.
The invention establishes a navigation system and a method for assisting an unmanned aerial vehicle to pass through a restricted airspace, can detect a restricted vacancy boundary when the unmanned aerial vehicle does not reach the restricted airspace, carry out rapid authentication, and automatically regenerate a route, so that the unmanned aerial vehicle can efficiently pass through the restricted airspace to complete a flight task.
In an exemplary embodiment, a computer readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of the method for navigating a drone through a restricted airspace. The computer storage medium may be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical memory (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g., ROM, EPROM, EEPROM, nonvolatile memory (NANDFLASH), Solid State Disk (SSD)), etc.
In an exemplary embodiment, there is also provided a terminal correction device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method for navigating a drone through a restricted airspace when executing the computer program. The processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc.
Claims (10)
1. A navigation method for an unmanned aerial vehicle to pass through a restricted airspace is characterized by comprising the following steps:
step 1, acquiring the geographical position of an unmanned aerial vehicle, and acquiring a flight limiting signal sent by a limited airspace;
step 2, determining the safe distance between the unmanned aerial vehicle and the limited airspace boundary according to the geographical position of the unmanned aerial vehicle and the flight limiting signal;
step 3, when the relative distance between the unmanned aerial vehicle and the restricted airspace boundary is smaller than the safety distance, authenticating the unmanned aerial vehicle passing through the restricted airspace boundary;
if the authentication is successful, executing the step 4;
if the authentication fails, executing step 5:
step 4, successfully authenticating, enabling the unmanned aerial vehicle to enter a restricted airspace according to an authentication protocol and pass through the restricted airspace according to a specified navigation path;
and 5, replanning the flight route of the unmanned aerial vehicle after the authentication fails, enabling the unmanned aerial vehicle to bypass the restricted airspace according to the specified navigation route, and reentering the preset flight route.
2. The method for navigating the unmanned aerial vehicle through the restricted space according to claim 1, wherein the restricted space in step 1 comprises a no-fly area, a military base, an airport, a hospital or a wildlife protection area.
3. The method according to claim 1, wherein in step 2, the restricted flight signal includes boundary parameters of the restricted airspace, and the safety distance is determined according to the boundary parameters and the geographical position of the unmanned aerial vehicle.
4. The method for navigating the unmanned aerial vehicle through the restricted airspace according to claim 1, wherein the authentication manner in step 3 is at least one of security token authentication, password authentication, unmanned aerial vehicle identification and payment confirmation.
5. The method according to claim 1, wherein in step 3, when the authentication is successful, the preset function of the drone is turned off.
6. The method of claim 1, wherein in steps 4 and 5, when the unmanned aerial vehicle passes through the restricted airspace, the unmanned aerial vehicle deviates from the designated navigation path, and the unmanned aerial vehicle is manually intervened to enter the designated navigation path.
7. The utility model provides an unmanned aerial vehicle is through navigation in restricted airspace which characterized in that includes:
the monitoring unit is used for acquiring the geographic position of the unmanned aerial vehicle and a flight limiting signal for limiting an airspace;
the control unit is used for determining the safe distance between the unmanned aerial vehicle and the limited-space area according to the geographic position of the unmanned aerial vehicle and the flight limiting signal, and outputting an authentication activation instruction according to the safe distance;
the authentication unit is used for sending an authentication signal according to the authentication activation instruction and receiving a feedback signal of an authentication result;
and the route generator outputs the navigation path of the unmanned aerial vehicle according to the authentication result.
8. The system of claim 7, wherein the monitoring unit comprises a vision system and a positioning system disposed on the drone;
the vision system is used for shooting image information on the flight path of the unmanned aerial vehicle;
and the positioning system is used for acquiring the geographic position and the time information of the unmanned aerial vehicle.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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Application publication date: 20200505 |
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