CN111625018A - Unmanned aerial vehicle flight trajectory planning method based on radar detection and unmanned aerial vehicle system - Google Patents
Unmanned aerial vehicle flight trajectory planning method based on radar detection and unmanned aerial vehicle system Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle flight path planning method based on radar detection and an unmanned aerial vehicle system, the method comprises the steps of acquiring terrain detection information obtained by detecting the ground by a terrain detection radar with a preset detection angle arranged on the unmanned aerial vehicle, setting a preset flying height between the unmanned aerial vehicle and the ground, setting a preset constant horizontal flying speed on the preset flying height, finally controlling the unmanned aerial vehicle to fly on the adjusting flying track according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height, make unmanned aerial vehicle keep flying with ground on predetermineeing flying height, solved among the prior art unmanned aerial vehicle flight control and can't realize that unmanned aerial vehicle keeps keeping the technical problem of the same high flight from the ground following the terrain change, provide an effective reliable, can follow the terrain change and keep keeping the same high flight from the ground unmanned aerial vehicle flight track planning method based on radar detection.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flight path planning method based on radar detection and an unmanned aerial vehicle system.
Background
With the continuous development of the unmanned aerial vehicle technology, the unmanned aerial vehicle is widely applied to military affairs, agriculture and people's daily life.
In order to realize better performance of the unmanned aerial vehicle, flight path planning of the unmanned aerial vehicle becomes an important factor for realizing functions of the unmanned aerial vehicle. For example, in agricultural applications, drones need to operate at the same height as the ground, thereby achieving efficient and reliable operation.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an unmanned aerial vehicle flight path planning method and an unmanned aerial vehicle system based on radar detection, so that an unmanned aerial vehicle can always fly at a preset flight height with the ground.
In a first aspect, an embodiment of the present invention provides a method for planning a flight trajectory of an unmanned aerial vehicle based on radar detection, where a terrain detection radar with a preset detection angle is installed on the unmanned aerial vehicle;
the method comprises the following steps:
setting a preset flying height of the unmanned aerial vehicle and the ground, and setting a preset constant horizontal flying speed on the preset flying height;
acquiring terrain detection information obtained by the terrain detection radar detecting the ground;
and controlling the unmanned aerial vehicle to fly on the adjusted flight track according to the preset constant horizontal flight speed, the terrain detection information and the preset flight height, so that the unmanned aerial vehicle can keep flying on the preset flight height with the ground.
The unmanned aerial vehicle flight path planning method based on radar detection provided by the embodiment of the invention at least has the following beneficial effects:
the invention relates to an unmanned aerial vehicle flight path planning method based on radar detection, which is implemented by acquiring terrain detection information obtained by detecting the ground by a terrain detection radar with a preset detection angle arranged on an unmanned aerial vehicle, then setting the preset flight height between the unmanned aerial vehicle and the ground, setting a preset constant horizontal flying speed on the preset flying height, finally controlling the unmanned aerial vehicle to fly on the adjusting flying track according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height, make unmanned aerial vehicle keep flying with ground on predetermineeing flying height, solved among the prior art unmanned aerial vehicle flight control and can't realize that unmanned aerial vehicle keeps keeping the technical problem of the same high flight from the ground following the terrain change, provide an effective reliable, can follow the terrain change and keep keeping the same high flight from the ground unmanned aerial vehicle flight track planning method based on radar detection.
According to other embodiments of the present invention, the method for planning the flight path of the unmanned aerial vehicle based on radar detection further includes:
acquiring the obstacle distance information right ahead of the horizontal obstacle right ahead in real time when the unmanned aerial vehicle flies;
if the obstacle distance information in front of the unmanned aerial vehicle is larger than a preset horizontal safety distance, continuing to control the unmanned aerial vehicle to continuously fly according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height;
otherwise, the unmanned aerial vehicle hovers and sends the distance information of the obstacle right ahead to the outside.
According to other embodiments of the present invention, the method for planning the flight path of the unmanned aerial vehicle based on radar detection further includes:
acquiring flight path obstacle distance information of the unmanned aerial vehicle and the flight path obstacle on the adjusted flight path in real time;
if the flight path obstacle distance information is larger than a preset flight safety distance, continuously controlling the unmanned aerial vehicle to continuously fly according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height;
otherwise, the unmanned aerial vehicle hovers and sends the flight path obstacle distance information outwards.
According to other embodiments of the present invention, the method for planning the flight path of the unmanned aerial vehicle based on radar detection further includes:
unmanned aerial vehicle flight in-process obtains through the height detection radar in real time unmanned aerial vehicle is in the vertical direction with the terrain clearance information on ground, in order to be used for the adjustment unmanned aerial vehicle's flying height makes unmanned aerial vehicle keeps being in with ground the flight on the predetermined flying height.
According to the unmanned aerial vehicle flight path planning method based on radar detection in other embodiments of the present invention, the altitude detection radar and the terrain detection radar are both millimeter wave radars, and an antenna of the altitude detection radar performs low sidelobe synthesis on an antenna radiation pattern by using a taylor algorithm.
In a second aspect, an embodiment of the present invention provides a drone system, comprising:
an unmanned aerial vehicle body;
the unmanned aerial vehicle power device is installed in the unmanned aerial vehicle body;
the terrain detection radar is arranged on the unmanned aerial vehicle body at a preset detection angle and is used for acquiring terrain detection information;
the flight controller is connected with the terrain detection radar and used for receiving the terrain detection information; flight controller still is used for setting for predetermineeing flying height, sets for predetermineeing invariable horizontal flying speed, and according to predetermine invariable horizontal flying speed terrain detection information reaches predetermine flying height output control command control unmanned aerial vehicle power device's work, thereby make unmanned aerial vehicle flies on adjusting the flight trajectory, keeps being in with ground predetermine flying height and go up the flight.
According to the unmanned aerial vehicle system of other embodiments of the present invention, the unmanned aerial vehicle further includes a forward obstacle detection radar configured to acquire forward obstacle distance information of a horizontal forward obstacle in flight of the unmanned aerial vehicle in real time, and transmit the forward obstacle distance information to the flight controller.
According to the unmanned aerial vehicle system of other embodiments of the present invention, the unmanned aerial vehicle further includes a flight path obstacle detection module, which is disposed on the unmanned aerial vehicle body, and is configured to acquire flight path obstacle distance information between the unmanned aerial vehicle and an obstacle on the adjusted flight path, and transmit the flight path obstacle distance information to the flight controller.
According to the unmanned aerial vehicle system of other embodiments of the present invention, the flight path obstacle detection module includes a rotation device and a flight path obstacle detection radar disposed on the rotation device, the rotation device and the flight path obstacle detection radar are respectively connected to the flight controller, and the flight controller outputs a control instruction to the rotation device, so that the rotation device drives the detection direction of the flight path obstacle detection radar to be the direction of the adjusted flight path.
According to the unmanned aerial vehicle system of other embodiments of the present invention, the unmanned aerial vehicle further includes a height detection radar installed on the unmanned aerial vehicle body, the height detection radar being configured to detect ground clearance information of the unmanned aerial vehicle from the ground in a vertical direction, and send the ground clearance information to the flight controller.
Drawings
Fig. 1 is a schematic block diagram of an embodiment of an unmanned aerial vehicle system according to the present invention;
fig. 2 is a schematic diagram of an embodiment of the present invention, in which an unmanned aerial vehicle system controls an unmanned aerial vehicle to fly from point a to point B;
fig. 3 is a schematic diagram of a speed direction of an embodiment of the present invention in which an unmanned aerial vehicle system controls an unmanned aerial vehicle to fly from point a to point B;
fig. 4 is a schematic block diagram of an unmanned aerial vehicle system according to another embodiment of the present invention;
fig. 5 is a schematic diagram of a flight path obstacle detection module in an unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of an embodiment of a method for planning a flight trajectory of an unmanned aerial vehicle based on radar detection according to the present invention;
fig. 7 is a schematic flow chart of another specific embodiment of a method for planning a flight trajectory of an unmanned aerial vehicle based on radar detection according to an embodiment of the present invention;
fig. 8 is a schematic flow chart of a method for planning a flight trajectory of an unmanned aerial vehicle based on radar detection according to another specific embodiment of the present invention.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. References to "first", "second", "third", etc., are to be understood as being used to distinguish between technical features and are not intended to indicate or imply relative importance or to implicitly indicate a number of indicated technical features or to implicitly indicate a precedence relationship of the indicated technical features.
The first embodiment is as follows:
referring to fig. 1, in an embodiment of the present invention, an unmanned aerial vehicle system includes an unmanned aerial vehicle body, an unmanned aerial vehicle power device, a terrain detection radar, and a flight controller. Unmanned aerial vehicle power device, flight controller all install in the unmanned aerial vehicle body, and the topography detection radar is installed on the unmanned aerial vehicle body with predetermineeing the angle, and the topography detection radar is used for surveying ground and obtains topography detection information. In some embodiments, the topography detection radar passes through the installing support and installs in the below of unmanned aerial vehicle body, can realize through the installing support installing in the below of unmanned aerial vehicle body with the quick dismantlement installation of topography detection radar to can make the topography detection radar have the wider working space to obtain bigger detection range.
In the embodiment of the invention, the flight controller is respectively connected with the terrain detection radar and the unmanned aerial vehicle power device, and after receiving terrain detection information transmitted by the terrain detection radar, the flight controller outputs a control instruction to the unmanned aerial vehicle power device by combining a set preset flight height, namely the preset constant horizontal flight speed at the preset flight height, and controls the work of the unmanned aerial vehicle power device, so that the unmanned aerial vehicle flies on an adjusted flight track and keeps flying at the preset flight height with the ground, namely the unmanned aerial vehicle always keeps flying at the distance from the ground at the preset flight height along with the change of the terrain. Under some application scenes, unmanned aerial vehicle need keep same flying height with ground just can carry out more effective operation, for example in agricultural application, unmanned aerial vehicle is carrying out scenes such as pesticide spraying to crops, need keep same flying height to carry out the pesticide spraying for the pesticide sprays work high efficiency, even.
Referring to FIG. 2, in some embodiments, the predetermined detection angle of the terrain detection radar is α and the predetermined flying height is L0Presetting constant horizontal flying speed as VSS. When the unmanned aerial vehicle flies from the point A to the point B, the terrain detection radar detects the terrain change right below the point B, and at the moment, the terrain detection information is terrain linear distance information L obtained by the terrain detection radar detecting a terrain target point1. In a specific application scene, the terrain linear distance information L can be set according to real-time requirements1The change exceed set for change threshold value after unmanned aerial vehicle just corresponding make flight adjustment to avoid unmanned aerial vehicle frequently to make flight adjustment, it is obvious that the less that this change threshold value is set for, then unmanned aerial vehicle is the less at the deviation of predetermineeing flying height and flying. When the obtained topographic straight line distance information L1After the set change threshold value is exceeded, the flight controller receives terrain linear distance information L1Preset flying height of L0Presetting the constant horizontal flying speed as VSSAnd sending a control instruction to the unmanned aerial vehicle power device, and controlling the unmanned aerial vehicle power device to change so that the flying height of the unmanned aerial vehicle still meets the preset flying height when the unmanned aerial vehicle flies to the position above the terrain target point. The information processing of the flight controller is as follows:
according to the topographic linear distance information L1And the preset detection angle is α, and distance information L of the point A (the current position of the unmanned aerial vehicle) and the terrain target point in the horizontal direction is obtained2The method specifically comprises the following steps:
L2＝sinα·L1(1)
according to the topographic linear distance information L1And the preset detection angle is α, and distance information L of the point A (the current position of the unmanned aerial vehicle) and the terrain target point in the vertical direction is obtained3The method specifically comprises the following steps:
L3＝cosα·L1(2)
according to the formula (1) and the preset constant horizontal flying speed VSSThe time t required for the unmanned aerial vehicle to fly from the point A to the terrain target point in the vertical direction can be obtained, and the method specifically comprises the following steps:
t＝L2/VSS(3)
according to the formula (2), the formula (3) and the preset flying height L0The vertical component velocity V of the unmanned aerial vehicle flying from the point A to the position above the terrain target point can be obtainedPSThe method specifically comprises the following steps:
VPS＝L0-L3/t (4)
referring to FIG. 3, the constant horizontal flying velocity V is preset according to the equation (4)SSThe flying speed D of the unmanned aerial vehicle flying from the point A to the upper part of the terrain target point can be obtained, and the flying speed D represents the adjustment flying track at the moment, and specifically is as follows:
D＝VSS+VpS(5)
in summary, the flight controller can control the flight by controlling the flight according to the topographic linear distance information L1Preset flying height of L0Presetting the constant horizontal flying speed as VSSOutputting a control command flying speed D to an unmanned aerial vehicle power device to ensure that the unmanned aerial vehicle protectsIs held on the ground at a preset flying height L0And (4) flying.
Example two:
referring to fig. 3, in the implementation of the present invention, the unmanned aerial vehicle further includes a dead ahead obstacle detection radar, the dead ahead obstacle detection radar is configured to obtain dead ahead obstacle distance information of the unmanned aerial vehicle in front of a horizontal obstacle during flight in real time, and transmit the dead ahead obstacle distance information to the flight controller, a preset horizontal safety distance is set in the flight controller, and if the obtained dead ahead obstacle distance information is greater than the preset horizontal safety distance, the flight controller continues to output a control instruction flight speed to the unmanned aerial vehicle power device according to the terrain straight-line distance information, the preset flight height, and the preset constant horizontal flight speed, so that the unmanned aerial vehicle keeps flying at the preset flight height with the ground. If the obtained front obstacle distance information is smaller than or equal to the preset horizontal safety distance, the flight controller outputs a control instruction to the unmanned aerial vehicle power device to control the unmanned aerial vehicle to hover and send the front obstacle distance information to the outside. In some embodiments, when the unmanned aerial vehicle suspends, the flight controller may send the obstacle distance information in front to the unmanned aerial vehicle user operation monitoring display interface for displaying the obstacle distance information in front of the current unmanned aerial vehicle and the obstacle in front, so as to give an alarm. In the embodiment of the invention, the radar for detecting the obstacle in front is arranged, so that the unmanned aerial vehicle can fly on the preset flying height with the ground in the flying process, and the obstacle in front of the unmanned aerial vehicle in flying can be prevented from being collided.
Example three:
referring to fig. 4, in the embodiment of the present invention, the unmanned aerial vehicle further includes a flight path obstacle detection module, and the flight path obstacle detection module is disposed on the unmanned aerial vehicle body. In some embodiments, flight path obstacle detection module sets up directly over or under with the unmanned aerial vehicle body, flight path obstacle detection module is used for acquireing unmanned aerial vehicle and adjusts the flight path obstacle distance information of the barrier on the flight path, and transmit flight path obstacle distance information to flight controller, be set for in the flight controller and preset flight safety distance, if the flight path obstacle distance information who acquires is greater than preset flight safety distance, then flight controller continues according to topography straight line distance information, preset flying height does, preset invariable horizontal flying speed is output control instruction flying speed to unmanned aerial vehicle power device, make unmanned aerial vehicle keep flying with ground on preset flying height. If the acquired flight path obstacle distance information is smaller than or equal to the preset flight safety distance, the flight controller outputs a control instruction to the unmanned aerial vehicle power device to control the unmanned aerial vehicle to hover and send the flight path obstacle distance information to the outside. In some embodiments, when the unmanned aerial vehicle is hovering, the flight controller may send the flight trajectory obstacle distance information to the unmanned aerial vehicle user operation monitoring display interface for displaying the flight trajectory obstacle distance information of the current unmanned aerial vehicle and the obstacle on the adjusted flight trajectory, so as to give an alarm. In the embodiment of the invention, the flight path obstacle detection module is arranged for acquiring the flight path obstacle distance information between the unmanned aerial vehicle and the obstacle on the adjusting flight path, so that the distance information of the obstacle on the adjusting flight path can be detected when the unmanned aerial vehicle adjusts the flight height along with the terrain change, and the unmanned aerial vehicle is ensured not to collide with the obstacle on the adjusting flight path when the unmanned aerial vehicle adjusts the flight height along with the terrain.
Referring to fig. 5, in some embodiments, the flight path obstacle detection module includes a rotation device and a flight path obstacle detection radar disposed on the rotation device, the rotation device and the flight path obstacle detection radar are respectively connected to the flight controller, and the rotation device is rotated by a control instruction output by the flight controller, so that the rotation device drives the detection direction of the flight path obstacle detection radar to be a direction for adjusting the flight path. Referring to fig. 3 in combination with the contents of the first embodiment, the detection direction of the flight path obstacle detection radar is the direction of the speed D.
In some embodiments, unmanned aerial vehicle still includes the altitude detection radar, and the altitude detection radar is installed on the unmanned aerial vehicle body, and the altitude detection radar is installed and is used for acquireing unmanned aerial vehicle in the vertical direction with the terrain clearance information on ground in the position under the unmanned aerial vehicle body to in sending the terrain clearance information to flight controller, flight controller carries out the comparison with predetermineeing the flying height according to the terrain clearance information of receiving, decides whether to adjust unmanned aerial vehicle's flying height. Through installing the altitude detection radar, can acquire unmanned aerial vehicle flight altitude information at the flight in-process in real time (promptly with the terrain clearance information on ground in the vertical direction) to combine to predetermine flight altitude and in time adjust unmanned aerial vehicle's flight, in addition, because unmanned aerial vehicle follows at the topography and adjusts after the flight altitude, can acquire unmanned aerial vehicle's flight altitude this moment by the altitude detection radar, confirm whether the flight adjustment targets in place. In the embodiment of the invention, the height detection radar and the terrain detection radar are both millimeter wave radars which have strong environment adaptability and are still suitable for various complicated weathers. The antenna of the height detection radar adopts the Taylor algorithm to carry out low sidelobe synthesis on the radiation direction of the antenna, so that the antenna of the height detection radar has a strong sidelobe suppression ratio, the height detection radar is not easily interfered by a ground moving target, and the detection performance of the height detection radar can be improved.
Example four:
referring to fig. 6, an embodiment of the present invention provides a method for planning a flight trajectory of an unmanned aerial vehicle based on radar detection, where a terrain detection radar with a preset detection angle is installed on the unmanned aerial vehicle, and the method specifically includes the steps of:
s100, setting a preset flying height of the unmanned aerial vehicle and the ground, and setting a preset constant horizontal flying speed on the preset flying height;
s200, acquiring terrain detection information obtained by detecting the ground by a terrain detection radar;
s300, controlling the unmanned aerial vehicle to fly on the adjusting flight track according to the preset constant horizontal flight speed, the terrain detection information and the preset flight height, so that the unmanned aerial vehicle can fly on the preset flight height with the ground.
Referring to fig. 7, in some embodiments, the method for planning the flight trajectory of the unmanned aerial vehicle based on radar detection further includes:
s400, acquiring the dead ahead obstacle distance information of the unmanned aerial vehicle in the horizontal dead ahead obstacle in real time during flying;
s500, judging whether the distance information of the obstacle right ahead is larger than a preset horizontal safety distance;
if yes, returning to the step S300, and continuing to control the unmanned aerial vehicle to continuously fly according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height;
otherwise, executing step S600, hovering the unmanned aerial vehicle and sending out the distance information of the obstacle right ahead.
Referring to fig. 8, in some embodiments, the method for planning the flight trajectory of the unmanned aerial vehicle based on radar detection further includes:
s700, acquiring flight path obstacle distance information of the unmanned aerial vehicle and the flight path obstacle on the adjusted flight path in real time;
s800, judging whether the flight path obstacle distance information is larger than a preset flight safety distance or not;
if yes, returning to the step S300, and continuing to control the unmanned aerial vehicle to continuously fly according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height;
otherwise, executing step S900, the drone hovers and sends out the flight path obstacle distance information.
In some embodiments, the method for planning the flight trajectory of the unmanned aerial vehicle based on radar detection further includes obtaining, in real time, the ground clearance information of the unmanned aerial vehicle from the ground in the vertical direction by using a height detection radar, so as to adjust the flight height of the unmanned aerial vehicle, so that the unmanned aerial vehicle keeps flying with the ground at the preset flight height. In the embodiment of the invention, the height detection radar and the terrain detection radar are both millimeter wave radars which have strong environment adaptability and are still suitable for various complex weathers. The antenna of the height detection radar adopts the Taylor algorithm to carry out low sidelobe synthesis on the radiation direction of the antenna, so that the antenna of the height detection radar has a strong sidelobe suppression ratio, the height detection radar is not easily interfered by a ground moving target, and the detection performance of the height detection radar can be improved.
In some embodiments, controlling the drone to fly on the adjusted flight trajectory according to the terrain detection information and the preset flight height, so that the drone remains flying on the preset flight height with the ground specifically includes the following processes:
the terrain detection information comprises terrain straight line distance information measured by a terrain detection radar detecting a terrain target point and is recorded as L1；
Recording the distance information of the unmanned aerial vehicle and the terrain target point in the horizontal direction as L2And then:
L2＝sinα·L1(1)
recording the distance information of the unmanned aerial vehicle and the terrain target point in the vertical direction as L3And then:
L3＝cosα·L1(2)
the time required for the unmanned aerial vehicle to fly to the upper position in the direction perpendicular to the terrain target point is recorded as t, then:
t＝L2/VSS(3)
the vertical component velocity of the unmanned aerial vehicle in the vertical direction is recorded as VPSAnd then:
VPS＝L0-L3/t (4)
and D, recording the flight speed representing the adjusted flight path, and then:
D＝VSS+VpS(5)
wherein α is a predetermined detection angle, L0To preset flight height, VSSA preset constant horizontal flying speed; then controlling the unmanned aerial vehicle to keep the unmanned aerial vehicle at the preset flying height L with the ground according to the flying speed D0And (4) flying. Obviously, in the present embodiment, if the terrain detection radar detects the terrain straight-line distance information L measured by the terrain target point1No change occurs, then the vertical component velocity V of the unmanned aerial vehicle in the vertical directionPSIs 0, if the terrain linear distance information L1The change indicates that the ground detected by the terrain detection radar changes, and the vertical component velocity V of the unmanned aerial vehicle in the vertical directionPSAlso will change correspondingly, adjust unmanned aerial vehicle's flying height. In some embodiments, the terrain linear distance can be set according to real-time requirementsFrom information L1The change exceed set for change threshold value after unmanned aerial vehicle just corresponding make flight adjustment to avoid unmanned aerial vehicle frequently to make flight adjustment, it is obvious that the less that this change threshold value is set for, then unmanned aerial vehicle is the less at the deviation of predetermineeing flying height and flying.
The process principle realized by the unmanned aerial vehicle flight path planning method based on radar detection in the embodiment of the invention and the process principle realized by the unmanned aerial vehicle in the first to third embodiments can be mutually referred and corresponded.
The embodiment of the present invention only describes a combination, and obviously, on the basis of the embodiment of the present invention, a technical solution obtained by combining and splitting various technical features also belongs to the protection scope of the present invention.
In summary, the embodiment of the invention provides a method for planning flight path of an unmanned aerial vehicle based on radar detection, the method comprises the steps of acquiring terrain detection information obtained by detecting the ground by a terrain detection radar with a preset detection angle arranged on the unmanned aerial vehicle, setting a preset flying height between the unmanned aerial vehicle and the ground, setting a preset constant horizontal flying speed on the preset flying height, finally controlling the unmanned aerial vehicle to fly on the adjusting flying track according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height, make unmanned aerial vehicle keep flying with ground on predetermineeing flying height, solved among the prior art unmanned aerial vehicle flight control and can't realize that unmanned aerial vehicle keeps keeping the technical problem of the same high flight from the ground following the terrain change, provide an effective reliable, can follow the terrain change and keep keeping the same high flight from the ground unmanned aerial vehicle flight track planning method based on radar detection.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. An unmanned aerial vehicle flight path planning method based on radar detection is characterized in that a terrain detection radar with a preset detection angle is mounted on an unmanned aerial vehicle;
the method comprises the following steps:
setting a preset flying height of the unmanned aerial vehicle and the ground, and setting a preset constant horizontal flying speed on the preset flying height;
acquiring terrain detection information obtained by the terrain detection radar detecting the ground;
and controlling the unmanned aerial vehicle to fly on the adjusted flight track according to the preset constant horizontal flight speed, the terrain detection information and the preset flight height, so that the unmanned aerial vehicle can keep flying on the preset flight height with the ground.
2. The method for planning flight path of unmanned aerial vehicle based on radar detection according to claim 1, wherein the method for planning flight path of unmanned aerial vehicle based on radar detection further comprises:
acquiring the obstacle distance information right ahead of the horizontal obstacle right ahead in real time when the unmanned aerial vehicle flies;
if the obstacle distance information in front of the unmanned aerial vehicle is larger than a preset horizontal safety distance, continuing to control the unmanned aerial vehicle to continuously fly according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height;
otherwise, the unmanned aerial vehicle hovers and sends the distance information of the obstacle right ahead to the outside.
3. The method for planning flight path of unmanned aerial vehicle based on radar detection according to claim 1 or 2, wherein the method for planning flight path of unmanned aerial vehicle based on radar detection further comprises:
acquiring flight path obstacle distance information of the unmanned aerial vehicle and the flight path obstacle on the adjusted flight path in real time;
if the flight path obstacle distance information is larger than a preset flight safety distance, continuously controlling the unmanned aerial vehicle to continuously fly according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height;
otherwise, the unmanned aerial vehicle hovers and sends the flight path obstacle distance information outwards.
4. The method for planning flight path of unmanned aerial vehicle based on radar detection according to claim 1 or 2, wherein the method for planning flight path of unmanned aerial vehicle based on radar detection further comprises:
unmanned aerial vehicle flight in-process obtains through the height detection radar in real time unmanned aerial vehicle is in the vertical direction with the terrain clearance information on ground, in order to be used for the adjustment unmanned aerial vehicle's flying height makes unmanned aerial vehicle keeps being in with ground the flight on the predetermined flying height.
5. The method of claim 4, wherein the altitude detection radar and the terrain detection radar are millimeter wave radars, and wherein an antenna of the altitude detection radar performs low sidelobe synthesis on an antenna radiation pattern by using a Taylor algorithm.
6. An unmanned aerial vehicle system, comprising:
an unmanned aerial vehicle body;
the unmanned aerial vehicle power device is installed in the unmanned aerial vehicle body;
the terrain detection radar is arranged on the unmanned aerial vehicle body at a preset detection angle and is used for acquiring terrain detection information;
the flight controller is connected with the terrain detection radar and used for receiving the terrain detection information; flight controller still is used for setting for predetermineeing flying height, sets for predetermineeing invariable horizontal flying speed, and according to predetermine invariable horizontal flying speed terrain detection information reaches predetermine flying height output control command control unmanned aerial vehicle power device's work, thereby make unmanned aerial vehicle flies on adjusting the flight trajectory, keeps being in with ground predetermine flying height and go up the flight.
7. The drone system of claim 6, further comprising a dead ahead obstacle detection radar to obtain in real time dead ahead obstacle distance information for a horizontal dead ahead obstacle while the drone is flying and to transmit the dead ahead obstacle distance information to the flight controller.
8. The unmanned aerial vehicle system of claim 6 or 7, wherein the unmanned aerial vehicle further comprises a flight path obstacle detection module, and the flight path obstacle detection module is disposed on the unmanned aerial vehicle body, and is configured to acquire flight path obstacle distance information between the unmanned aerial vehicle and an obstacle on the adjusted flight path, and transmit the flight path obstacle distance information to the flight controller.
9. The unmanned aerial vehicle system of claim 8, wherein the flight path obstacle detection module comprises a rotating device and a flight path obstacle detection radar disposed on the rotating device, the rotating device and the flight path obstacle detection radar are respectively connected to the flight controller, and the flight controller outputs a control command to the rotating device, so that the rotating device drives the detection direction of the flight path obstacle detection radar to be the direction of adjusting the flight path.
10. The drone system of claim 9, further comprising a height detection radar mounted on the drone body for detecting ground clearance information of the drone from the ground in a vertical direction and sending the ground clearance information to the flight controller.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112346471A (en) * | 2020-11-18 | 2021-02-09 | 苏州臻迪智能科技有限公司 | Unmanned aerial vehicle height fixing method and device, unmanned aerial vehicle and storage medium |
| CN112947572A (en) * | 2021-03-12 | 2021-06-11 | 华南理工大学 | Terrain following-based four-rotor aircraft self-adaptive motion planning method |
| CN113030977A (en) * | 2021-04-16 | 2021-06-25 | 西南科技大学 | Unmanned aerial vehicle radar detection system |
| CN113820709A (en) * | 2021-11-25 | 2021-12-21 | 湖南华诺星空电子技术有限公司 | Through-wall radar detection system and detection method based on unmanned aerial vehicle |
| CN114460955A (en) * | 2021-06-28 | 2022-05-10 | 广州极飞科技股份有限公司 | Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium |
-
2020
- 2020-05-09 CN CN202010385989.8A patent/CN111625018A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112346471A (en) * | 2020-11-18 | 2021-02-09 | 苏州臻迪智能科技有限公司 | Unmanned aerial vehicle height fixing method and device, unmanned aerial vehicle and storage medium |
| CN112947572A (en) * | 2021-03-12 | 2021-06-11 | 华南理工大学 | Terrain following-based four-rotor aircraft self-adaptive motion planning method |
| CN113030977A (en) * | 2021-04-16 | 2021-06-25 | 西南科技大学 | Unmanned aerial vehicle radar detection system |
| CN114460955A (en) * | 2021-06-28 | 2022-05-10 | 广州极飞科技股份有限公司 | Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium |
| CN113820709A (en) * | 2021-11-25 | 2021-12-21 | 湖南华诺星空电子技术有限公司 | Through-wall radar detection system and detection method based on unmanned aerial vehicle |
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