CN111121779A - Real-time detection method for flight area where unmanned aerial vehicle is located - Google Patents
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Abstract
The invention discloses a real-time detection method of a flight area where an unmanned aerial vehicle is located, which judges whether the quasi-flight area is a convex polygon or not according to quasi-flight area information given by a flight task of the unmanned aerial vehicle; aiming at the convex quasi-flight area, judging whether the unmanned aerial vehicle is in the quasi-flight area in real time by using the current position information of the unmanned aerial vehicle based on a boundary vertical line algorithm; aiming at the non-convex quasi-flying area, respectively carrying out iterative correction on different reflex angle types based on a vertex connection strategy until the non-convex quasi-flying area is corrected into a convex polygon area; aiming at the convex polygonal area, firstly judging whether the unmanned aerial vehicle is in the convex polygonal area or not based on a boundary vertical line algorithm, then judging whether the unmanned aerial vehicle is outside the supplementary area or not aiming at the unmanned aerial vehicle in the convex polygonal area, and if so, determining that the unmanned aerial vehicle is in the quasi-flight area. According to the method, the off-line map information of the quasi-flight area can be utilized, whether the unmanned aerial vehicle is in the quasi-flight area or not can be quickly judged according to the boundary perpendicular algorithm, and the calculation burden of an onboard computer is remarkably reduced.
Description
Technical Field
The invention relates to a real-time detection method for a flight area where an unmanned aerial vehicle is located, and belongs to the technical field of flight control.
Background
Unmanned aerial vehicles are widely used in military and civil fields due to the characteristics of small size, strong adaptability, high concealment, low operational cost and the like. In unmanned aerial vehicle's flight control, because the terrain environment is more and more complicated, so whether need lock unmanned aerial vehicle and be in the flight in the given accurate flight area, if unmanned aerial vehicle flies out the accurate flight area, then need the ground satellite station in time to unmanned aerial vehicle issue corresponding control command to guarantee unmanned aerial vehicle's safe flight.
In an actual flight mission, as the landform of the flight environment is increasingly complex, a flyable region (quasi-flying region) given according to the flight mission is often an irregular concave polygon. The prior art realizes the real-time monitoring of the position of the unmanned aerial vehicle by a concave polygon segmentation technology. However, the polygon segmentation technique is difficult to implement in engineering due to its complicated calculation, and has a great challenge to program the flight control computer. Therefore, it is necessary to provide a real-time and fast detection method for the position of the unmanned aerial vehicle, which can significantly reduce the computational burden of the onboard computer.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for detecting the flight area of the unmanned aerial vehicle in real time is provided, and whether the unmanned aerial vehicle is in the quasi flight area or not is quickly judged according to a boundary perpendicular algorithm by utilizing the off-line map information of the quasi flight area.
The invention adopts the following technical scheme for solving the technical problems:
a real-time detection method for a flight area where an unmanned aerial vehicle is located comprises the following steps:
step 1, numbering the vertexes of the quasi-flight areas given by the flight tasks of the unmanned aerial vehicles according to a clockwise or anticlockwise sequence, and recording the vertexes as a0,a1,...,aNJudging whether the quasi-flight area is a convex polygon or not, if so, determining that the quasi-flight area is a convex quasi-flight area, and entering a step 2, otherwise, determining that the quasi-flight area is a non-convex quasi-flight area, and entering a step 3;
step 3, carrying out iterative correction on the non-convex quasi-flight area based on a vertex connection strategy for the non-convex quasi-flight area until the non-convex quasi-flight area is corrected into a convex quasi-flight area; the method specifically comprises the following steps:
calculating the size of each internal angle of the non-convex flying area, regarding the internal angle larger than 180 degrees and smaller than 360 degrees as a reflex angle, recording vertex numbers corresponding to the reflex angles, regarding the reflex angle as an independent reflex angle if the previous internal angle and the next internal angle of a certain reflex angle are not the reflex angle, and connecting the previous vertex and the next vertex of the vertex corresponding to the reflex angle to form an augmentation area; if two or more continuous reflex angles exist, the two or more continuous reflex angles are regarded as continuous reflex angles, and meanwhile, a former vertex of a vertex corresponding to the first reflex angle is connected with a latter vertex of a vertex corresponding to the last reflex angle to form an augmented area;
merging the supplementary area and the non-convex quasi-flying area into a new polygon, judging whether the new polygon is a convex polygon, if so, finishing the correction, otherwise, repeating the process until the non-convex quasi-flying area is corrected into a convex quasi-flying area;
and 5, judging whether the unmanned aerial vehicle is outside the supplementary area or not in real time by using the current position information of the unmanned aerial vehicle, if so, judging that the unmanned aerial vehicle is in the non-convex accurate flight area, and otherwise, judging that the unmanned aerial vehicle is not in the non-convex accurate flight area.
As a preferred scheme of the present invention, the step 1 of determining whether the quasi-flight area is a convex polygon includes the following specific steps:
according to the vertex number a of the quasi-flying area0,a1,...,aNNumbers corresponding to the first to the N +1 th vertexes respectively, and interior angles of the formed quasi-flight areas are ∠ a in sequence0a1a2,∠a1a2a3,……,∠aN-2aN-1aNCalculating the size of each internal angle, and if the internal angle which is larger than 180 degrees and smaller than 360 degrees exists, the quasi-flight area is a non-convex quasi-flight area; otherwise, the quasi-flying area is a convex quasi-flying area.
As a preferred scheme of the present invention, the specific process in step 2 is:
knowing the longitude and latitude of each vertex of the convex accurate flying area and the longitude and latitude of the current position of the unmanned aerial vehicle, and calculating the vertical distance between the unmanned aerial vehicle and each edge of the convex accurate flying area based on a boundary perpendicular algorithm:
when calculating a certain edge a of the unmanned aerial vehicle and the convex quasi-flying areanan+1At a vertical distance of (a)n、an+1Are the two vertices of the edge, and N is 0,1nEstablishing a reference coordinate system with an east-direction x-axis and a north-direction y-axis as an origin of coordinates, and converting a vertex a based on a Gaussian-Kruger coordinate conversion methodn+1The longitude and latitude of the reference coordinate system are converted into coordinates under the reference coordinate system, and the formula is as follows:
wherein λ is0、
Are respectively the origin of coordinates anCorresponding longitude, latitude, lambda1、
Respectively, is a vertexn+1Longitude and latitude (x, y) are points
At the point
And a, b, c and d are constant coefficients which are coordinates under a reference coordinate system of an origin and take values as follows: 111132.952, 111412.876, 93.503 and 559.849 for a and b;
based on the aboveA formula for converting the longitude and latitude of the current position of the unmanned aerial vehicle into the coordinate (x) of the unmanned aerial vehicle in a reference coordinate systemp,yp) Calculating the edge a from (x, y) and the origin of coordinatesnan+1The included angle psi between the unmanned aerial vehicle and the north direction of the reference coordinate system, namely the y axis is obtained, and the arrival edge a of the unmanned aerial vehicle is obtainednan+1Vertical distance Z:
Z＝cosψ×xp-sinψ×yp
calculating the vertical distances from the unmanned aerial vehicle to all sides of the convex quasi-flight area, if the vertexes of the convex quasi-flight area are numbered in a clockwise sequence, when the vertical distances from the unmanned aerial vehicle to all sides of the convex quasi-flight area are positive, the unmanned aerial vehicle is positioned in the convex quasi-flight area, otherwise, the unmanned aerial vehicle is not positioned in the convex quasi-flight area; if the vertex of the convex accurate flying area is numbered according to the anticlockwise sequence, when the vertical distance from the unmanned aerial vehicle to each edge of the convex accurate flying area is negative, the unmanned aerial vehicle is positioned in the convex accurate flying area, otherwise, the unmanned aerial vehicle is not positioned in the convex accurate flying area.
As a preferred scheme of the present invention, step 5 of determining whether the unmanned aerial vehicle is outside the supplementary area in real time by using the current position information of the unmanned aerial vehicle includes the following specific steps:
when the augmentation area is a convex polygon, judging whether the unmanned aerial vehicle is outside the augmentation area or not according to a convex standard flight area processing method and based on a boundary vertical line algorithm; and if the supplementary area is a concave polygon, judging whether the unmanned aerial vehicle is outside the supplementary area based on a boundary vertical line algorithm according to a non-convex quasi-flying area processing method.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the method is not only suitable for the convex polygon quasi-flight area, but also suitable for the complex concave polygon quasi-flight area, obviously expands the type of the quasi-flight area and improves the complex environment adaptability of the unmanned aerial vehicle.
2. The method has low operation complexity, is convenient for engineering realization, can finish calculation tasks by using a basic programming language, and realizes real-time and rapid detection of the area where the unmanned aerial vehicle is located.
Drawings
Fig. 1 is a flow chart of a real-time detection method of a flight area where an unmanned aerial vehicle is located.
Fig. 2 is a schematic diagram of a quasi-flight area of a drone given in advance in an implementation example of the present invention.
Fig. 3 is a schematic diagram illustrating a first correction of a quasi-flight area in the implementation process of the present invention.
Fig. 4 is a schematic diagram of a second correction of the quasi-flight area in the implementation process of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1, the invention provides a real-time detection method for a flight area where an unmanned aerial vehicle is located, which includes the following steps:
(1) and judging whether the quasi-flying area is a convex polygon or not.
Numbering the vertexes of the given quasi-flying area according to a clockwise or anticlockwise sequence, sequentially calculating the included angles of two adjacent sides according to the numbering sequence, and if no reflex angle exists, determining that the quasi-flying area is a convex quasi-flying area, otherwise, determining that the quasi-flying area is a non-convex quasi-flying area.
(2) Aiming at the convex quasi-flight area, whether the unmanned aerial vehicle is in the quasi-flight area or not is judged in real time by utilizing the current position information of the unmanned aerial vehicle based on a boundary perpendicular algorithm.
Numbering all vertexes of the essential convex quasi-flying area according to the clockwise direction or the anticlockwise direction, giving off-line longitude and latitude of each vertex of the quasi-flying area and storing the longitude and latitude in an airborne computer, and giving out the longitude and latitude of the unmanned aerial vehicle in real time by a positioning system. Then, based on a boundary perpendicular algorithm, calculating the vertical distance between the unmanned aerial vehicle and each edge of the convex quasi-flight area: selecting a boundary a of the quasi-flight areanan+1For example, take a vertex anEstablishing a reference coordinate system with an east-direction x-axis and a north-direction y-axis for a coordinate origin, and converting a position point described by any longitude and latitude into the reference coordinate system by utilizing longitude and latitude coordinate information of the selected origin based on a Gaussian-Kruger coordinate conversion method:
wherein
Respectively is to select the origin anAnd relative point an+1Latitude of (a, λ)0、λ1Respectively as a selected origin anAnd relative point an+1(x, y) is an arbitrary point
At the point
And a, b, c and d are corresponding constant coefficients which are coordinates under a reference coordinate system of an origin and take the following values:
a＝111132.952，b＝111412.876，c＝93.503，d＝559.849
based on the formula, the coordinates (x) of the unmanned aerial vehicle in the selected reference plane can be obtained through the real-time longitude and latitude information of the unmanned aerial vehiclep,yp) Calculating the edge a from (x, y) and the origin of coordinatesnan+1The included angle psi between the unmanned aerial vehicle and the north direction of the reference coordinate system, namely the y axis is obtained, and the arrival edge a of the unmanned aerial vehicle is obtainednan+1Vertical distance Z:
Z＝cosψ×xp-sinψ×yp
calculating the vertical distances between the unmanned aerial vehicle and all boundaries, wherein if the vertexes are numbered clockwise and the calculated lateral offset distances are all positive, the unmanned aerial vehicle is in the quasi-flight area; if the vertex is numbered in a counterclockwise mode and the calculated lateral offset distances are all negative, the unmanned aerial vehicle is in the quasi-flight area.
(3) And aiming at the non-convex quasi-flying area, carrying out iterative correction on the non-convex quasi-flying area based on a vertex connection strategy until the non-convex quasi-flying area is corrected into a convex polygon area and an additional area.
Aiming at the non-convex quasi-flying area, the vertexes are numbered according to the clockwise or anticlockwise sequence, the included angles of the two adjacent sides are calculated in sequence according to the numbering sequence, and the optimal value is obtainedThe vertex numbers corresponding to the corners are stored. Based on the vertex connection strategy, respectively carrying out iterative correction on the vertex connection strategy according to the comparison classification: for the independent reflex angle of the concave polygon, the corresponding vertex is akThen connect two adjacent vertexes ak-1And ak+1(ii) a For the continuous reflex angles of the concave polygon, the corresponding vertexes are at-1，at，at+1Connecting a first end a preceding the first reflex angle of successive reflex anglest-2And the latter end point a of the last reflex anglet+2. The independent reflex angle means that two adjacent internal angles of a vertex corresponding to the reflex angle are less than 180 degrees; a continuous reflex angle refers to a set of continuous reflex angles formed by a plurality of adjacent reflex angles.
Regardless of whether the correction is to an independent reflex angle or a continuous reflex angle, after the correction is completed, the polygon to which the correction is added is recorded. If the corrected region is still a concave polygon, performing iterative correction again according to the correction strategy of the concave polygon until the finally corrected region is a convex polygon.
(4) And aiming at the non-convex accurate flight area, respectively judging whether the unmanned aerial vehicle is in the corrected convex polygon area and outside the supplementary area, and further judging whether the unmanned aerial vehicle is in the accurate flight area.
Firstly, based on a boundary vertical line algorithm, judging whether the unmanned aerial vehicle is in a corrected convex polygon area or not in real time by using the current position information of the unmanned aerial vehicle, and if not, judging that the unmanned aerial vehicle is not in a quasi-flight area; if the unmanned aerial vehicle is in the corrected convex polygon area, judging whether the unmanned aerial vehicle is in the supplementary area: if the drone is in the augmentation region, it may be determined that it is not in the quasi-flight region, otherwise it may be determined that it is in the quasi-flight region. And if the supplementary area has a concave polygon, judging the relationship between the unmanned aerial vehicle and the supplementary area according to a non-convex quasi-flying area processing method.
For a given quasi-flight area of the unmanned aerial vehicle in a specific flight mission (fig. 2), the specific implementation is as follows:
judging whether the quasi-flight area is a convex polygon or not;
as shown in fig. 2, this area is a defined quasi-flight area of the drone. The vertices of the polygon are numbered clockwise in the example, with the number a0,a1,...,a10,a11The formed region is A0＝{a0a1,a1a2,...,a10a11，a11a0And sequentially calculating the internal angles of the concave polygons to obtain ∠ a1a2a3、∠a2a3a4、∠a6a7a8、∠a9a10a11And if the angle is larger than 180 degrees, judging that the defined area is a concave polygon.
Step two, aiming at the non-convex quasi-flying area, carrying out iterative correction on the non-convex quasi-flying area based on a vertex connection strategy until the non-convex quasi-flying area is corrected into a convex polygon area and an augmentation area;
vertex number a of reflex angle2，a3，a7，a10According to the classification of reflex angles, ∠ a1a2a3、∠a2a3a4For continuous reflex angle, ∠ a6a7a8、∠a9a10a11Are independent reflex angles. a is2、a3Connecting the vertexes a for the vertexes corresponding to the continuous reflex angles1、a4；a7、a10Are corresponding vertex numbers of two independent reflex angles and are respectively connected with a vertex a6、a8And vertex a9、a11As shown in fig. 3. After the repair is finished, a new region A is formed1The repair increasing regions are respectively B0、B1、B2。
New polygon A1Inner angle ∠ a0a1a4、∠a5a6a8And if the angle is larger than 180 degrees, the corrected polygon is a concave polygon, and correction is performed again. The vertex corresponding to the reflex angle is a1、a6Are two independent reflex angles, the vertex a is connected respectively0、a4And vertex a5、a8As shown in fig. 4. After the repair is finished, a new region A is formed2The repair increase area is C0、C1. For new polygon A2Is judged to be small in each internal angleAt 180 degrees, the polygon A2And finishing the correction for the convex polygon.
And thirdly, respectively judging whether the unmanned aerial vehicle is in the corrected convex polygon area and outside the supplementary area aiming at the non-convex quasi-flight area, and further judging whether the unmanned aerial vehicle is in the quasi-flight area.
Original demarcated area A0Finally formed region A2And small regions formed by the intermediate correction, which satisfy the following relationship:
A0＝A2-B-C
wherein B ═ B0+B1+B2For the first correction of the added region, C ═ C0+C1The added area is corrected for the second time.
Firstly, based on a boundary vertical line algorithm, judging whether the unmanned aerial vehicle is in a corrected convex polygon A or not in real time by utilizing the current position information of the unmanned aerial vehicle2In the area, if not, it can be determined that it is not in the quasi-flying area A0Internal; if the unmanned aerial vehicle is correcting the convex polygon A2If the area is in the supplementary area, the area is judged to be in the supplementary area. In the polygons B and C with increased correction, except for the polygon B0And the other polygons with increased correction are all convex polygons. At the moment of judging the unmanned plane and the polygon B0The positional relationship of (2) is processed step by step according to the processing rule of the concave polygon, as shown in FIG. 4. And processing the rest convex polygons according to the processing criteria of the convex polygons. If the drone is in supplementary areas B and C, it may be determined that it is not within the quasi-flight area, otherwise it may be determined that it is within the quasi-flight area.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.
Claims (4)
1. A real-time detection method for a flight area where an unmanned aerial vehicle is located is characterized by comprising the following steps:
step 1, carrying out unmanned aerial vehicle alignment according to clockwise or anticlockwise sequenceThe vertexes of the quasi-flight area given by the flight mission are numbered and marked as a0,a1,...,aNJudging whether the quasi-flight area is a convex polygon or not, if so, determining that the quasi-flight area is a convex quasi-flight area, and entering a step 2, otherwise, determining that the quasi-flight area is a non-convex quasi-flight area, and entering a step 3;
step 2, judging whether the unmanned aerial vehicle is in the convex quasi-flight area in real time by using the current position information of the unmanned aerial vehicle based on a boundary vertical line algorithm;
step 3, carrying out iterative correction on the non-convex quasi-flight area based on a vertex connection strategy for the non-convex quasi-flight area until the non-convex quasi-flight area is corrected into a convex quasi-flight area; the method specifically comprises the following steps:
calculating the size of each internal angle of the non-convex flying area, regarding the internal angle larger than 180 degrees and smaller than 360 degrees as a reflex angle, recording vertex numbers corresponding to the reflex angles, regarding the reflex angle as an independent reflex angle if the previous internal angle and the next internal angle of a certain reflex angle are not the reflex angle, and connecting the previous vertex and the next vertex of the vertex corresponding to the reflex angle to form an augmentation area; if two or more continuous reflex angles exist, the two or more continuous reflex angles are regarded as continuous reflex angles, and meanwhile, a former vertex of a vertex corresponding to the first reflex angle is connected with a latter vertex of a vertex corresponding to the last reflex angle to form an augmented area;
merging the supplementary area and the non-convex quasi-flying area into a new polygon, judging whether the new polygon is a convex polygon, if so, finishing the correction, otherwise, repeating the process until the non-convex quasi-flying area is corrected into a convex quasi-flying area;
step 4, judging whether the convex quasi-flight area obtained in the step 3 is in the convex quasi-flight area in real time by using the current position information of the unmanned aerial vehicle based on a boundary vertical line algorithm, and if so, entering the step 5; otherwise, judging that the unmanned aerial vehicle is not in a non-convex quasi-flying area;
and 5, judging whether the unmanned aerial vehicle is outside the supplementary area or not in real time by using the current position information of the unmanned aerial vehicle, if so, judging that the unmanned aerial vehicle is in the non-convex accurate flight area, and otherwise, judging that the unmanned aerial vehicle is not in the non-convex accurate flight area.
2. The real-time detection method of the flight area where the unmanned aerial vehicle is located according to claim 1, wherein the step 1 of judging whether the quasi-flight area is a convex polygon is carried out by the following specific processes:
according to the vertex number a of the quasi-flying area0,a1,...,aNNumbers corresponding to the first to the N +1 th vertexes respectively, and interior angles of the formed quasi-flight areas are ∠ a in sequence0a1a2,∠a1a2a3,……,∠aN-2aN-1aNCalculating the size of each internal angle, and if the internal angle which is larger than 180 degrees and smaller than 360 degrees exists, the quasi-flight area is a non-convex quasi-flight area; otherwise, the quasi-flying area is a convex quasi-flying area.
3. The real-time detection method of the flight area where the unmanned aerial vehicle is located according to claim 1, wherein the specific process in the step 2 is as follows:
knowing the longitude and latitude of each vertex of the convex accurate flying area and the longitude and latitude of the current position of the unmanned aerial vehicle, and calculating the vertical distance between the unmanned aerial vehicle and each edge of the convex accurate flying area based on a boundary perpendicular algorithm:
when calculating a certain edge a of the unmanned aerial vehicle and the convex quasi-flying areanan+1At a vertical distance of (a)n、an+1Are the two vertices of the edge, and N is 0,1nEstablishing a reference coordinate system with an east-direction x-axis and a north-direction y-axis as an origin of coordinates, and converting a vertex a based on a Gaussian-Kruger coordinate conversion methodn+1The longitude and latitude of the reference coordinate system are converted into coordinates under the reference coordinate system, and the formula is as follows:
wherein λ is0、
Are respectively the origin of coordinates anCorresponding longitude, latitude, lambda1、
Respectively, is a vertexn+1Longitude and latitude (x, y) are points
At the point
And a, b, c and d are constant coefficients which are coordinates under a reference coordinate system of an origin and take values as follows: 111132.952, 111412.876, 93.503 and 559.849 for a and b;
based on the formula, the longitude and latitude of the current position of the unmanned aerial vehicle are converted into the coordinate (x) of the unmanned aerial vehicle in the reference coordinate systemp,yp) Calculating the edge a from (x, y) and the origin of coordinatesnan+1The included angle psi between the unmanned aerial vehicle and the north direction of the reference coordinate system, namely the y axis is obtained, and the arrival edge a of the unmanned aerial vehicle is obtainednan+1Vertical distance Z:
Z＝cosψ×xp-sinψ×yp
calculating the vertical distances from the unmanned aerial vehicle to all sides of the convex quasi-flight area, if the vertexes of the convex quasi-flight area are numbered in a clockwise sequence, when the vertical distances from the unmanned aerial vehicle to all sides of the convex quasi-flight area are positive, the unmanned aerial vehicle is positioned in the convex quasi-flight area, otherwise, the unmanned aerial vehicle is not positioned in the convex quasi-flight area; if the vertex of the convex accurate flying area is numbered according to the anticlockwise sequence, when the vertical distance from the unmanned aerial vehicle to each edge of the convex accurate flying area is negative, the unmanned aerial vehicle is positioned in the convex accurate flying area, otherwise, the unmanned aerial vehicle is not positioned in the convex accurate flying area.
4. The method according to claim 1, wherein the step 5 of determining whether the unmanned aerial vehicle is located outside the supplementary area in real time by using the current position information of the unmanned aerial vehicle comprises the following specific steps:
when the augmentation area is a convex polygon, judging whether the unmanned aerial vehicle is outside the augmentation area or not according to a convex standard flight area processing method and based on a boundary vertical line algorithm; and if the supplementary area is a concave polygon, judging whether the unmanned aerial vehicle is outside the supplementary area based on a boundary vertical line algorithm according to a non-convex quasi-flying area processing method.
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| CN112051545B (en) * | 2020-09-10 | 2023-12-12 | 重庆大学 | Underground mine correction positioning method based on Bluetooth ranging |
| CN113012225A (en) * | 2021-04-14 | 2021-06-22 | 合肥高晶光电科技有限公司 | Method for quickly positioning minimum external rectangular frame of material image of color sorter |
| CN113012225B (en) * | 2021-04-14 | 2024-04-16 | 合肥高晶光电科技有限公司 | Quick positioning method for minimum circumscribed rectangular frame of material image of color sorter |
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