CN111474951A - Method for rapidly changing flight area of unmanned aerial vehicle - Google Patents
Method for rapidly changing flight area of unmanned aerial vehicle Download PDFInfo
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- CN111474951A CN111474951A CN202010142532.4A CN202010142532A CN111474951A CN 111474951 A CN111474951 A CN 111474951A CN 202010142532 A CN202010142532 A CN 202010142532A CN 111474951 A CN111474951 A CN 111474951A
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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
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- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides a method for rapidly changing the flight area of an unmanned aerial vehicle, which comprises the following steps: step 1: generating a waypoint file through ground station software to obtain the longitude and latitude of each waypoint; step 2: setting east-west stretching times, south-north stretching times and rotation angles of longitude and latitude of each navigation point; and step 3: calculating longitude and latitude and height values of each navigation point after stretching and rotating; and 4, step 4: and generating a new waypoint file. The invention effectively reads the existing waypoint files, obtains the longitude and latitude of each waypoint, quickly calculates the waypoints, generates a new waypoint to replace the original waypoint, can avoid the unmanned aerial vehicle operator from inputting the space information of each waypoint again, and greatly saves time and energy.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for rapidly changing the flight area of an unmanned aerial vehicle.
Background
With the vigorous development of the unmanned aerial vehicle industry in China, the unmanned aerial vehicle plays an important role in the fields of aerial survey, forest fire prevention, emergency rescue, disaster relief and the like, and for a specific flight trajectory, the rapid stretching and rotation of the air route of the unmanned aerial vehicle can enable operators to rapidly replan air route on ground station software to adapt to terrain and flight tasks.
At present, a waypoint file of an unmanned aerial vehicle mainly comprises several pieces of information, namely an ① starting point, each waypoint and a landing point, ② longitude and latitude of each waypoint, and ③ other information of the unmanned aerial vehicle during flying.
The existing method for changing the flight area of the unmanned aerial vehicle needs to find a map of the flight area in ground station software, then a plurality of points are sequentially arranged on the map, and the unmanned aerial vehicle sequentially flies and arrives according to the sequence of the points to form a route. This method takes a lot of time and effort.
Disclosure of Invention
In order to overcome the defect that the existing ground station software cannot stretch and rotate the air route of a specific flight track, the invention provides a method for quickly changing the flight area of an unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for rapidly changing the flight area of an unmanned aerial vehicle comprises the following steps:
step 1: generating a waypoint file through ground station software to obtain the longitude and latitude of each waypoint;
step 2: setting east-west stretching times, south-north stretching times and rotation angles of longitude and latitude of each navigation point;
and step 3: calculating longitude and latitude and height values of each navigation point after stretching and rotating;
and 4, step 4: and generating a new waypoint file.
Further, step 3 comprises:
step 3.1: acquiring the maximum value and the minimum value of longitude in the original waypoint and acquiring the maximum value and the minimum value of latitude in the original waypoint;
step 3.2: calculating the middle value of the longitude and the middle value of the latitude;
step 3.3: calculating a new longitude value and a new latitude value through a formula;
step 3.4: and performing rotation transformation on the stretched longitude and latitude values to obtain final waypoint space information.
Further, in step 3.3, the longitude stretching formula is:
the new waypoint longitude value is (longitude maximum value in all waypoints of the original waypoint file + longitude minimum value in all waypoints of the original waypoint file)/2 + [ longitude value of original waypoint (longitude maximum value in all waypoints of the original waypoint file + longitude minimum value in all waypoints of the original waypoint file)/2) ] × stretching multiple;
the latitude stretching formula is:
the new waypoint latitude value is (latitude maximum value in all waypoints of the original waypoint file + latitude minimum value in all waypoints of the original waypoint file)/2 + [ original waypoint latitude value (latitude maximum value in all waypoints of the original waypoint file + latitude minimum value in all waypoints of the original waypoint file)/2) ] × stretch multiple
The rotation formula is:
Further, in step 4, the new waypoint file adopts a conventional standard airline file format: waypoint, txt are stored.
Has the advantages that: the invention effectively reads the existing waypoint files, obtains the longitude and latitude of each waypoint, quickly calculates the waypoints and generates a new waypoint to replace the original waypoint. The user only needs to input stretching times in the longitude direction and the latitude direction and the rotating angle to complete all operations quickly. For example, for a flight plan for performing unmanned aerial vehicles, a forest fire patrol, unmanned aerial vehicle mapping, or the like, the shapes of flight trajectories of unmanned aerial vehicles are established, but due to the difference in the sizes of flight places of unmanned aerial vehicles, it is very difficult to complete coverage of the whole flight place by one unmanned aerial vehicle route. At this moment, stretch, rotate existing unmanned aerial vehicle airline, can avoid unmanned aerial vehicle operating personnel to input the spatial information of each waypoint again, very big time and energy of having saved.
Drawings
FIG. 1 is a flow chart of the operation of the present invention.
FIG. 2 is a software interface written using the present invention.
Fig. 3 is an unconverted drone chart.
Fig. 4 is a stretch transformed drone chart.
Fig. 5 is a chart of the drone after a rotation transformation.
Detailed Description
The invention is further illustrated by the following examples and figures.
The invention can be implemented by software programming. In the embodiment, VS2017 is adopted to write C # language, and the C # language is written into exe files and can run under Windows. The software running steps are shown in fig. 1. The software interface is shown in fig. 2. The software reads, modifies and rewrites the flight information-containing files generated by the ground station software.
For the existing waypoint files, after stretching and rotating conversion is carried out in the software, the generated new waypoint files are imported into the ground station software, and an operator controls the airplane to take off in the ground station software;
for the existing waypoint files, a plurality of flying points can be set in the ground station software one by one, then the information is stored as the waypoint files, and the operation is carried out according to the method of the existing waypoint files.
In the embodiment shown in fig. 3, an operator needs to insert waypoints into the ground station software of the unmanned aerial vehicle in a mouse click mode, and save waypoint files or load existing waypoint files. As can be seen from fig. 3, the existing waypoints are distributed at the upper left of the playground.
When the stretching transformation is performed in fig. 4, the operator selects the waypoint file to be stretched, names the file storage path after the stretching transformation, inputs the stretching proportion in the east-west direction and the south-north direction, and clicks the stretching processing button to complete the stretching transformation operation. As can be seen in fig. 4, the stretched waypoints cover the entire playground.
When the rotation transformation is performed in fig. 5, the operator selects the waypoint file to be subjected to the rotation transformation, names the file storage path after the rotation transformation, inputs the angle to be rotated, and clicks the "select and grab processing" button to complete the rotation transformation operation. As can be seen from fig. 5, the waypoints after rotation are distributed at the lower left of the playground.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. A method for rapidly changing the flight area of an unmanned aerial vehicle is characterized by comprising the following steps:
step 1: generating a waypoint file through ground station software to obtain the longitude and latitude of each waypoint;
step 2: setting east-west stretching times, south-north stretching times and rotation angles of longitude and latitude of each navigation point;
and step 3: calculating longitude and latitude and height values of each navigation point after stretching and rotating;
and 4, step 4: and generating a new waypoint file.
2. The method of claim 1, wherein step 3 comprises:
step 3.1: acquiring the maximum value and the minimum value of longitude in the original waypoint and acquiring the maximum value and the minimum value of latitude in the original waypoint;
step 3.2: calculating the middle value of the longitude and the middle value of the latitude;
step 3.3: calculating a new longitude value and a new latitude value through a formula;
step 3.4: and performing rotation transformation on the stretched longitude and latitude values to obtain final waypoint space information.
3. A method of rapidly changing the flight area of a drone according to claim 2, characterised in that in step 3.3, the longitude stretch formula is:
the new waypoint longitude value is (longitude maximum value in all waypoints of the original waypoint file + longitude minimum value in all waypoints of the original waypoint file)/2 + [ original waypoint longitude value (longitude maximum value in all waypoints of the original waypoint file + longitude minimum value in all waypoints of the original waypoint file)/2) ] × stretching multiple;
the latitude stretching formula is:
the new waypoint latitude value is (the latitude maximum value in all waypoints of the original waypoint file + the latitude minimum value in all waypoints of the original waypoint file)/2 + [ original waypoint latitude value (the latitude maximum value in all waypoints of the original waypoint file + the latitude minimum value in all waypoints of the original waypoint file)/2) ] × stretch multiple
The rotation formula is:
4. The method of claim 1, wherein in step 4, the new waypoint file is in a conventional standard airline file format: waypoint, txt are stored.
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|---|---|---|---|---|
| CN104596516A (en) * | 2014-11-24 | 2015-05-06 | 中国海洋大学 | Unmanned aerial vehicle coverage flight path planning based on dynamic newly-added adjacent area |
| CN105116913A (en) * | 2015-08-12 | 2015-12-02 | 北京农业智能装备技术研究中心 | Plant protection UAV operation route planning method and device |
| CN105867424A (en) * | 2016-06-07 | 2016-08-17 | 广州极飞电子科技有限公司 | Air route editing method and air route editing device |
| CN108303992A (en) * | 2018-01-17 | 2018-07-20 | 西安九天无限智能科技有限公司 | A kind of novel unmanned plane route planning method |
| CN108983816A (en) * | 2018-08-07 | 2018-12-11 | 中南大学 | Multi-rotor unmanned aerial vehicle mutative scale collaboration monitoring formation flight control method |
| CN110007685A (en) * | 2018-01-04 | 2019-07-12 | 西安远智电子科技有限公司 | Air route adjusting method and device |
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2020
- 2020-03-04 CN CN202010142532.4A patent/CN111474951A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596516A (en) * | 2014-11-24 | 2015-05-06 | 中国海洋大学 | Unmanned aerial vehicle coverage flight path planning based on dynamic newly-added adjacent area |
| CN105116913A (en) * | 2015-08-12 | 2015-12-02 | 北京农业智能装备技术研究中心 | Plant protection UAV operation route planning method and device |
| CN105867424A (en) * | 2016-06-07 | 2016-08-17 | 广州极飞电子科技有限公司 | Air route editing method and air route editing device |
| CN110007685A (en) * | 2018-01-04 | 2019-07-12 | 西安远智电子科技有限公司 | Air route adjusting method and device |
| CN108303992A (en) * | 2018-01-17 | 2018-07-20 | 西安九天无限智能科技有限公司 | A kind of novel unmanned plane route planning method |
| CN108983816A (en) * | 2018-08-07 | 2018-12-11 | 中南大学 | Multi-rotor unmanned aerial vehicle mutative scale collaboration monitoring formation flight control method |
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