CN112212854A - Route planning method - Google Patents
Route planning method Download PDFInfo
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- CN112212854A CN112212854A CN202011084894.9A CN202011084894A CN112212854A CN 112212854 A CN112212854 A CN 112212854A CN 202011084894 A CN202011084894 A CN 202011084894A CN 112212854 A CN112212854 A CN 112212854A
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- route
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- airway
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a route planning method, step 1, realize the visual map module of dynamic data; step 2, editing and modifying route information in an excel table mode on the basis of the map module in the step 1, and making a route model; or drawing points and lines on a map by a mouse to draw a route so as to generate a route model; step 3, managing the airway model manufactured in the step 2; step 4, selecting a route model to be bound, sending the route model to three-dimensional situation software, and enabling the unmanned aerial vehicle to fly according to the bound program; the invention discloses a route planning method, and provides a semi-physical simulation test method, wherein a route can be manufactured on a map; the technical requirements of various performance index tests of the unmanned aerial vehicle are met, uncertain factors in the flight process are reduced, the testing efficiency is improved, and the flight risk is reduced.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle route planning, and particularly relates to a route planning method.
Background
The unmanned aerial vehicle route planning is to search the optimal or feasible route meeting the performance index of the unmanned aerial vehicle under the specific constraint condition, and the unmanned aerial vehicle route planning technology is the technical support for realizing the intelligent navigation and safe flight of the unmanned aerial vehicle. The aircraft route planning is a new generation low-altitude penetration technology, is an effective means for improving the operational efficiency of the aircraft and implementing remote accurate strike, can greatly improve the survival capability of the aircraft and the success rate of tasks, and becomes an essential component of an aircraft low-altitude penetration system.
The function and performance of the route planning directly influence the overall performance index and flight safety of the unmanned aerial vehicle, so that the route planning system needs to be comprehensively and fully tested and verified on the ground, the semi-physical simulation test is a core component of the system test and verification, and a semi-physical simulation technology is needed to ensure that all performance indexes of the unmanned aerial vehicle meet technical requirements.
Disclosure of Invention
The invention aims to provide a route planning method, and provides a semi-physical simulation test method, wherein the simulation is mainly used for checking the correctness and the realizability of a control system, meeting the technical requirements of various performance index tests of an unmanned aerial vehicle, reducing uncertain factors in the flight process, improving the test efficiency and reducing the flight risk.
The technical scheme adopted by the invention is that the method for planning the air route specifically comprises the following steps:
step 1, a map module for realizing dynamic data visualization;
step 2, editing and modifying route information in an excel table form, and making a route model; or drawing points and lines on a map by a mouse to draw a route so as to generate a route model;
step 3, managing the airway model manufactured in the step 2;
and 4, selecting the air route model to be bound, sending the air route model to the three-dimensional situation software, and flying the unmanned aerial vehicle according to the bound program.
The invention is also characterized in that:
the map module for implementing dynamic data visualization in step 1 specifically includes: firstly, selecting a map layer, wherein the map layer comprises a satellite image, a vector map, a traffic map and a topographic map, then controlling the display range of the map, displaying parameter information and environment information of an unmanned aerial vehicle on the map, and finally displaying positioning information of the unmanned aerial vehicle;
the step of calling the Cesum map further comprises a quantity calculation process, coordinates of points are obtained on the map through quantity calculation, and then various route models required by the unmanned aerial vehicle to fly are set on the map through the coordinates of the points;
in the step 2, making the route model comprises setting the position, the route number, the yaw angle, the pitch angle, the roll angle, the speed, the team, the route number and the route number of a route point, wherein the longitude and the latitude of the route point are obtained by a map point collecting mode;
in step 3, the management of the air route comprises:
and (3) newly establishing an air route file: storing the return-receipt airway in the created airway file;
leading in an airway: importing the created route file into a project;
and (3) exporting the airway: downloading the route file imported into the project to the local;
and (4) deleting an airway: screening the exported route files, and deleting redundant route files in the project;
renaming the airway: renaming the rest route files after deletion;
displaying a route: selecting an airway file in a project, and displaying airway data in the file on a map in an airway mode;
copying and pasting routes: when a plurality of flight data are needed, the air route can be copied and pasted, and a large amount of air route data are created;
in step 3, the process of route drawing specifically comprises the following steps: calling a digital map of a target area, setting waypoints in a route, carrying out operations of dragging, adding and deleting the waypoints, further generating a new route, opening a route file, editing information of a single waypoint through Jexcel, automatically detecting the high legality of the route in the route planning process, and giving a warning prompt and a corresponding modification suggestion when the unmanned aerial vehicle is possibly dangerous due to too low height of the planned waypoint;
in step 4, the route binding module sends model data to the three-dimensional situation after binding the selected route model, and controls the route flight trajectory of the unmanned aerial vehicle.
The method has the advantages that the route model can be manufactured on the map by manually inputting route information and can also be manufactured by selecting points and lines on the map, the method is simple to use and high in operability, and the provided route planning method can reduce uncertain factors of the unmanned aerial vehicle in the flying process, improve the testing efficiency and reduce the flying risk.
Drawings
Fig. 1 is a basic architecture diagram of the air route planning software in the air route planning method of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a route planning method, as shown in fig. 1, which specifically comprises the following steps:
step 1, a map module for realizing dynamic data visualization;
the map supports 2D, 3D and 5D map display, data sources of various service types of the 2D map are analyzed, wherein the data sources comprise a Baidu map, a sky map, a BingMap, an arcgis map and the like, and topographic map loading is analyzed, wherein the topographic map loading comprises loading and 3D titles slice loading display;
the map module has the advantages of strong operability, high compatibility and convenient use, and a user can select a map layer according to actual conditions, wherein the map layer comprises satellite images, a vector map, a traffic map and a topographic map; online or offline map loading is supported; supporting downloading of off-line map data, and simultaneously selecting range, level, category and displaying downloading progress; displaying the display range of the map scale control map; the display of the unmanned aerial vehicle icon can be realized, and route information such as a navigation point, a take-off and landing field meteorological information, a temporary waypoint, a target point, a task waypoint and the like can be displayed along with the displayed key information and the configurable information item, and the map module can also display a track, an electronic fence and the like, so that data can be displayed more intuitively; in addition, the map module has auxiliary operation and mainly comprises functions of positioning an unmanned aerial vehicle, positioning a navigation point, positioning a flying point, positioning a temporary navigation point, positioning a target point, clearing a flight path, zooming a map, measuring a distance and a direction, wherein the distance and the direction are the distance of a flight section relative to the previous navigation point, the angle of the flight section relative to the previous flight section, the total flight distance and the azimuth angle for displaying each flight section;
the map browsing technology is realized, namely various operations in the current range of the map, including map translation, map amplification, map reduction, frame pulling amplification, frame pulling reduction and the like, the map can be dragged by a mouse to realize map translation, and the zoom of the map is controlled by a mouse roller.
The layer management module supports the map data with offset and without offset, such as a google map, a Baidu map, a Gade map, a heaven map and the like, supports the superposition of road networks, and can switch and select a topographic map, a satellite map and an electronic map according to requirements.
In order to improve the applicability of software, a quantity calculation function is developed, and the function supports the acquisition of coordinates of points on a map, the acquisition of the points on the map by clicking and the display of the coordinates of the waypoints; the length measurement is supported, a navigation point is drawn by clicking on a map, the drawing is finished by double clicking, and the distance between the center point and the point of the navigation line is displayed; the method comprises the following steps of supporting area measurement, drawing an area graph on a map, obtaining the area of the graph, marking the starting point of image drawing, and displaying the distance between a point and the total length; and measuring the circle area, clicking on the map to start drawing, moving the mouse to obtain the required circle area, and double-clicking to finish drawing and displaying the area of the drawn graph.
Various air routes required by the unmanned aerial vehicle for flying can be set on the map;
step 2, editing and modifying route information in an excel table form, and making a route model; or drawing points and lines on a map by a mouse to draw a route so as to generate a route model;
step 3, managing the airway model manufactured in the step 2, and then drawing an airway;
the module has the functions of managing, operating and issuing planned route information, and the route management comprises all the following functions:
and (3) newly establishing an air route file: clicking a new route, calling a drawing function of the new route to draw the route after creating a route file, clicking to start drawing, double clicking to finish drawing, and storing the route in the created file after the drawing is successful;
leading in an airway: the navigation path importing process is to import the navigation path file in the CSV format into a project, and can import single or batch files;
and (3) exporting the airway: clicking a exported route, selecting a file, exporting the file singly or in batches, and downloading the route file to the local;
and (4) deleting an airway: clicking to delete, selecting files, and deleting unnecessary files from the project;
renaming the airway: clicking the route file to rename the route file;
displaying a route: selecting an airway file in a project, clicking to display, and displaying airway data in the file on a map in an airway mode;
copying and pasting routes: when a plurality of flight data are needed, the air route can be copied and pasted, and a large amount of air route data are created;
and the air route drawing module is used for displaying prompt information of click measurement and double click completion along with the movement of a mouse after calling a digital map of a target area in a newly-built air route mode, wherein the position of the mouse can simultaneously display longitude and latitude information of the point on the map, at the moment, the click of the mouse can automatically add the point as a new air route point in the air route, and simultaneously, the current track control angle and the estimated total range of the unmanned aerial vehicle are displayed in an information prompt area, so that the operation is obvious, the operation is convenient for operators, and the time required by air route planning is greatly shortened. After the double-click is finished and the drawing is finished, the current air route is cleared by closing the icon, and all air route tracks of the air route clearing page are cleared; when the route file is newly established, a route drawing module can be used for making route planning, when the route file in a project is modified, the route drawing module can be used for editing and updating the data of the file, the route can be drawn under the control of a mouse to be enlarged or reduced, and the position of the route controlled by the mouse is dragged by the mouse;
the route editing module is an indispensable part of route planning software, supports the direct edition of routes on a map, and performs operations of dragging, adding and deleting waypoints to generate a new route, and can also edit information of a single waypoint through Jexcel when opening a route file, so that the operation is convenient and simple; supporting automatic calculation of the gradient (track inclination angle) between each waypoint; supporting the simultaneous loading of a plurality of task air routes, and only activating one air route; supporting simultaneous loading and display of a plurality of flight paths, and highlighting the default flight path; supporting the switching of the air route; the lane attribute display has editability; when the route is transmitted, the transmission state of the route point is marked, such as new edition, uploaded and downloaded; batch adjustment can be carried out, including height adjustment, and all waypoint increment adjustment is carried out; adjusting speed, and adjusting all waypoint increments; adjusting the radius, and adjusting all waypoint increments; the method supports the airline operations such as cancellation operation, forward operation and the like; the function of height checking is realized, the reference flying point height is defaulted, the comparison is carried out on the flight path height (relative height) and the geographical altitude, and icon analysis, flight distance and flight time information are given; providing information prompts, including displaying each section of voyage and the total voyage (m/km), estimating the total voyage time and the remaining voyage time of the airline; and the states of uploading and downloading of the air route are supported, and the uploading, downloading and current transmission progress is displayed.
In order to carry out surveying and mapping or line patrol, a module for automatically generating an airway is realized, the module supports camera setting, a plurality of commonly used cameras can be preset, information such as resolution, sensor size, lens focal length and the like can be automatically identified after the cameras are selected, and custom modification is supported; the selection of aerial survey areas is supported, and a user can manually select points to generate templates of rectangles, polygons, circles, triangles, ellipses, S shapes and the like; supporting automatic generation of a flight path and previewing of the flight path; the flight time, the total voyage, the estimated number of the shot photos and other information can be displayed; and supporting the setting of relevant parameters of aerial survey, including coverage rate, shooting distance, flight height, flight line generating angle and the like.
Step 4, selecting a route model to be bound, sending the route model to three-dimensional situation software, enabling the unmanned aerial vehicle to fly according to a binding program, binding the selected route model by a route binding module, supporting route binding of general flight control models such as FCC100 and FCC110, sending model data to the three-dimensional situation after binding is completed, and controlling a route flight track of the unmanned aerial vehicle;
the flight simulation is to carry out algorithm simulation on a sea surface model, a land model and an air model; the flight simulator is used for training, so that the problem of flight accidents does not exist, and the flying risk is reduced.
Claims (7)
1. A method for planning an airway is characterized by comprising the following steps:
step 1, a map module for realizing dynamic data visualization;
step 2, editing and modifying route information in an excel table form, and making a route model; or drawing points and lines on a map by a mouse to draw a route so as to generate a route model;
step 3, managing the airway model manufactured in the step 2, and then drawing an airway;
and 4, selecting the air route model to be bound, sending the air route model to the three-dimensional situation software, and flying the unmanned aerial vehicle according to the bound program.
2. The method according to claim 1, wherein the map module for implementing dynamic data visualization in step 1 specifically comprises: firstly, a map layer is selected, wherein the map layer comprises a satellite image, a vector map, a traffic map and a topographic map, then the display range of the map is controlled, parameter information of the unmanned aerial vehicle and environment information of the unmanned aerial vehicle are displayed on the map, and finally positioning information of the unmanned aerial vehicle is displayed.
3. The method for planning an airway as claimed in claim 1, wherein the step of the map module for implementing dynamic data visualization further includes a measurement process, in which coordinates of points are obtained on the map through measurement, and then various airway models required by the unmanned aerial vehicle for flying are set on the map through the coordinates of the points.
4. The method of claim 1, wherein the step 2 of making the route model comprises setting the position, the route number, the yaw angle, the pitch angle, the roll angle, the speed, the team, the route number and the route number of the route point, wherein the longitude and the latitude of the route point are obtained by map sampling.
5. The method according to claim 1, wherein in step 3, the managing of the route comprises:
and (3) newly establishing an air route file: storing the return-receipt airway in the created airway file;
leading in an airway: importing the created route file into a project;
and (3) exporting the airway: downloading the route file imported into the project to the local;
and (4) deleting an airway: screening the exported route files, and deleting redundant route files in the project;
renaming the airway: renaming the rest route files after deletion;
displaying a route: selecting an airway file in a project, and displaying airway data in the file on a map in an airway mode;
copying and pasting routes: when a plurality of flight data are needed, the air route can be copied and pasted, and a large amount of air route data are created.
6. The method for planning an airway as claimed in claim 1 wherein in step 3, the step of mapping the airway specifically comprises: the method comprises the steps of calling a digital map of a target area, setting waypoints in a route, carrying out dragging, adding and deleting operations on the waypoints, further generating a new route, opening a route file, editing information of a single waypoint through Jexcel, automatically detecting the high legality of the route in the route planning process, and giving a warning prompt and a corresponding modification suggestion when the unmanned aerial vehicle is possibly dangerous due to too low height of the planned waypoint.
7. The method according to claim 1, wherein in step 4, the route binding module sends the model data to the three-dimensional situation after binding the selected route model, so as to control the route flight path of the unmanned aerial vehicle.
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| CN202011084894.9A CN112212854A (en) | 2020-10-12 | 2020-10-12 | Route planning method |
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| CN202011084894.9A CN112212854A (en) | 2020-10-12 | 2020-10-12 | Route planning method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012478A (en) * | 2021-02-23 | 2021-06-22 | 中国民用航空华东地区空中交通管理局 | Rapid and simple method for changing sails in thunderstorm dangerous weather |
| CN113110598A (en) * | 2021-05-21 | 2021-07-13 | 海南热作高科技研究院股份公司 | Unmanned aerial vehicle control method and system |
| CN113419559A (en) * | 2021-07-08 | 2021-09-21 | 国网江西省电力有限公司电力科学研究院 | Three-dimensional route planning and patrolling system and method based on transmission line GIM model |
| CN116486656A (en) * | 2023-06-25 | 2023-07-25 | 西安羚控电子科技有限公司 | Aircraft cruising method and system |
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| WO2019090488A1 (en) * | 2017-11-07 | 2019-05-16 | 深圳市大疆创新科技有限公司 | Method for generating simulated route, method and device for flight simulation, and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113012478A (en) * | 2021-02-23 | 2021-06-22 | 中国民用航空华东地区空中交通管理局 | Rapid and simple method for changing sails in thunderstorm dangerous weather |
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| CN116486656A (en) * | 2023-06-25 | 2023-07-25 | 西安羚控电子科技有限公司 | Aircraft cruising method and system |
| CN116486656B (en) * | 2023-06-25 | 2023-09-01 | 西安羚控电子科技有限公司 | Aircraft cruising method and system |
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