CN113448350B - Navigation method and device and unmanned aerial vehicle - Google Patents
Navigation method and device and unmanned aerial vehicle Download PDFInfo
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- CN113448350B CN113448350B CN202110741193.6A CN202110741193A CN113448350B CN 113448350 B CN113448350 B CN 113448350B CN 202110741193 A CN202110741193 A CN 202110741193A CN 113448350 B CN113448350 B CN 113448350B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a navigation method, a navigation device and an unmanned aerial vehicle, wherein the navigation method comprises the following steps: receiving a current position and a navigation end position of a vehicle sent by a vehicle-mounted navigation system; and measuring different paths between the current position of the vehicle and the navigation terminal position in a preset detection range through the millimeter wave radar on the unmanned aerial vehicle, and determining a target path with minimum road surface fluctuation. The method can achieve the purpose that the unmanned aerial vehicle sends the measured target path with the smallest road surface fluctuation to the vehicle-mounted navigation system on the vehicle, and the vehicle is instructed to run according to the optimal target path.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a navigation method, a navigation device and an unmanned aerial vehicle.
Background
Along with unmanned aerial vehicle has more and more functions, unmanned aerial vehicle wide application is in industries such as agriculture, forestry and animal husbandry pair fishing, and unmanned aerial vehicle is except carrying high definition digtal camera and shooting, makes ground operating personnel have the wider out of view, and more complicated detection equipment and AI intelligent algorithm are equipped to unmanned aerial vehicle more and more also, have realized unmanned aerial vehicle obstacle avoidance scheme and unmanned aerial vehicle height fixing scheme at present. In the prior art, an unmanned aerial vehicle millimeter wave radar detection system, a detection method and an unmanned aerial vehicle control the millimeter wave radar through a rotating mechanism to realize sectional scanning, and after multiple rotations, the coverage of a stereoscopic space below the unmanned aerial vehicle is realized, and the reconstruction of the whole stereoscopic space is realized at each position of the stereoscopic space in real time, so that a ground stereoscopic space map is constructed through the millimeter wave radar in a zone with large fluctuation of a flight environment, limited flight space and irregular flight obstacle.
However, in the current scheme, only a ground three-dimensional space map below the unmanned aerial vehicle can be constructed through scanning of millimeter wave radar, and a local optimal route for forward running is not provided for a ground vehicle. The vehicle driver can subjectively select a forward route through the three-dimensional space map, and objective judgment based on real-time measurement data of the unmanned aerial vehicle is not realized.
Disclosure of Invention
The embodiment of the invention provides a navigation method, a navigation device and an unmanned aerial vehicle, which are used for solving the problem that an optimal path for forward running cannot be provided for a ground vehicle through the unmanned aerial vehicle in the prior art.
In order to solve the technical problems, the embodiment of the invention provides the following technical scheme:
the embodiment of the invention provides a navigation method, which is applied to an unmanned aerial vehicle and comprises the following steps:
receiving a current position and a navigation end position of a vehicle sent by a vehicle-mounted navigation system;
and measuring different paths between the current position of the vehicle and the navigation terminal position in a preset detection range through the millimeter wave radar on the unmanned aerial vehicle, and determining a target path with minimum road surface fluctuation.
Optionally, before receiving the current position and the navigation end position of the vehicle sent by the vehicle navigation system, the method further includes:
and adjusting the height of the unmanned aerial vehicle to enable the height difference between the height of the unmanned aerial vehicle and the height difference between the vehicles to be a preset height.
Optionally, measuring, by the millimeter wave radar on the unmanned aerial vehicle, different paths between the current position of the vehicle and the navigation end position within a preset detection range, and determining a target path with minimum road surface fluctuation, including:
the position of the unmanned aerial vehicle is adjusted, so that the linear distance between the unmanned aerial vehicle and the vehicle is a first preset distance, and the unmanned aerial vehicle is positioned on a connecting line between the current position of the vehicle and the navigation terminal position;
determining a path with the minimum road surface fluctuation degree between the current position of the vehicle and a target position point on the different paths as the target path; the distance between the target position point and the head of the vehicle along the length direction of the vehicle is a second preset distance;
wherein the first preset distance is determined according to a distance between the current position of the vehicle and the navigation end position, and the second preset distance is determined according to a distance between the current position of the vehicle and the navigation end position;
updating the current position of the vehicle according to the target path, and returning to the step of adjusting the position of the unmanned aerial vehicle until the updated current position of the vehicle exceeds or coincides with the navigation terminal position
Optionally, measuring different paths between the current position of the vehicle and the navigation end position in a preset detection range by using a millimeter wave radar on the unmanned aerial vehicle, and after determining a target path with minimum road surface fluctuation, further includes:
and sending the target path to the vehicle navigation system.
Optionally, a third preset distance is reserved between the target position points on the two adjacent paths along the vehicle width direction; the third preset distance is determined according to a distance between the current position of the vehicle and the navigation end position.
Optionally, determining the path with the smallest road surface fluctuation degree between the current position of the vehicle and the target position point on the different path as the target path includes:
on the different paths, equally dividing the paths between the current position of the vehicle and the target position point through N points, and respectively measuring the first road surface heights corresponding to the positions of the N points on each path; n is greater than or equal to 1;
determining the road surface fluctuation degree between the current position of the vehicle and the target position point according to the height difference between the first road surface height and the second road surface height of the current position of the vehicle;
and determining the path with the minimum road surface fluctuation degree as the target path.
The embodiment of the invention also provides a navigation device, which is applied to the unmanned aerial vehicle and comprises:
the receiving module is used for receiving the current position and the navigation end position of the vehicle sent by the vehicle-mounted navigation system;
the determining module is used for measuring different paths between the current position of the vehicle and the navigation terminal position in a preset detection range through the millimeter wave radar on the unmanned aerial vehicle and determining a target path with minimum road surface fluctuation.
Optionally, the apparatus further comprises:
and the control module is used for adjusting the height of the unmanned aerial vehicle, so that the height difference between the unmanned aerial vehicle and the vehicle is a preset height.
Optionally, the determining module includes:
the control unit is used for adjusting the position of the unmanned aerial vehicle to enable the linear distance between the unmanned aerial vehicle and the vehicle to be a first preset distance, and the unmanned aerial vehicle is located on a connecting line between the current position of the vehicle and the navigation terminal position;
a determining unit configured to determine a path with a minimum degree of road surface undulation between a current position of the vehicle and a target position point on the different path as the target path; the distance between the target position point and the head of the vehicle along the length direction of the vehicle is a second preset distance;
wherein the first preset distance is determined according to a distance between the current position of the vehicle and the navigation end position, and the second preset distance is determined according to a distance between the current position of the vehicle and the navigation end position;
and the updating unit is used for updating the current position of the vehicle according to the target path, and returning to the step of adjusting the position of the unmanned aerial vehicle until the updated current position of the vehicle exceeds the navigation end position or coincides with the navigation end position.
Optionally, the determining module further includes:
and the sending unit is used for sending the target path to the vehicle navigation system.
Optionally, a third preset distance is reserved between the target position points on the two adjacent paths along the vehicle width direction; the third preset distance is determined according to a distance between the current position of the vehicle and the navigation end position.
Optionally, the determining unit is specifically configured to:
on the different paths, equally dividing the paths between the current position of the vehicle and the target position point through N points, and respectively measuring the first road surface heights corresponding to the positions of the N points on each path; n is greater than or equal to 1;
determining the road surface fluctuation degree between the current position of the vehicle and the target position point according to the height difference between the first road surface height and the second road surface height of the current position of the vehicle;
and determining the path with the minimum road surface fluctuation degree as the target path.
The embodiment of the invention also provides an unmanned aerial vehicle, which comprises the navigation device.
The embodiment of the invention also provides an unmanned aerial vehicle, which comprises: a processor, a memory and a program stored on the memory and executable on the processor, which when executed by the processor implements the navigation method as claimed in any one of the preceding claims.
The beneficial effects of the invention are as follows:
according to the scheme, the current position and the navigation terminal position of the vehicle, which are sent by a vehicle-mounted navigation system, are received; by means of the millimeter wave radar on the unmanned aerial vehicle, different paths between the current position of the vehicle and the navigation terminal position in a preset detection range are measured, and a target path with minimum road surface fluctuation is determined, so that the target path with minimum measured road surface fluctuation can be sent to a vehicle-mounted navigation system on the vehicle through the unmanned aerial vehicle, and the vehicle is instructed to drive according to the optimal target path.
Drawings
FIG. 1 shows one of the flowcharts of a navigation method provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a navigation range provided by an embodiment of the present invention;
FIG. 3 is a second flowchart of a navigation method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a navigation device according to an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of an unmanned aerial vehicle navigation system according to an embodiment of the present invention;
fig. 6 shows a schematic structural diagram of the unmanned aerial vehicle according to the embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the drawings and the specific embodiments thereof in order to make the objects, technical solutions and advantages of the present invention more apparent.
Aiming at the problem that an optimal path for forward running cannot be provided for a ground vehicle through an unmanned aerial vehicle in the prior art, the invention provides a navigation method, a navigation device and the unmanned aerial vehicle.
As shown in fig. 1, an embodiment of the present invention provides a navigation method, applied to an unmanned aerial vehicle, including:
step 101: and receiving the current position and the navigation end position of the vehicle sent by the vehicle-mounted navigation system.
In the embodiment of the invention, the unmanned aerial vehicle is in communication connection with a vehicle-mounted navigation system on a vehicle, a driver inputs the coordinates of the navigation terminal position into the vehicle-mounted navigation system, the vehicle-mounted navigation system automatically recognizes the coordinates of the current position of the vehicle, the current position of the vehicle and the navigation terminal position are sent to the unmanned aerial vehicle, and the unmanned aerial vehicle takes the connecting line of the current position of the vehicle and the navigation terminal position as the straight line direction of the vehicle.
Optionally, the vehicle is an off-road vehicle.
Step 102: and measuring different paths between the current position of the vehicle and the navigation terminal position in a preset detection range through the millimeter wave radar on the unmanned aerial vehicle, and determining a target path with minimum road surface fluctuation.
It should be noted that, because of some special environments, such as rough road and uneven road, when the driver is in the vehicle, the visual field is easily affected by surface plants, stones and the like, the visual field is only a few meters away, and the driver cannot judge the road surface condition farther ahead, so that the unmanned aerial vehicle equipped with the millimeter wave radar can construct a ground three-dimensional space map with a larger range, measure different paths between the current position of the vehicle and the navigation end position on the map, determine the target path with the minimum road surface fluctuation, and provide the target path for the driver, so that the driver traverses the rough road according to the target path.
In the implementation of the invention, the preset detection range is a circle covering 20 meters of the surface radius.
According to the embodiment of the invention, the current position and the navigation terminal position of the vehicle, which are sent by the vehicle-mounted navigation system, are received; by means of the millimeter wave radar on the unmanned aerial vehicle, different paths between the current position of the vehicle and the navigation terminal position in a preset detection range are measured, and a target path with minimum road surface fluctuation is determined, so that the target path with minimum measured road surface fluctuation can be sent to a vehicle-mounted navigation system on the vehicle through the unmanned aerial vehicle, and the vehicle is instructed to drive according to the optimal target path.
Optionally, before receiving the current position and the navigation end position of the vehicle sent by the vehicle navigation system, the method further includes:
and adjusting the height of the unmanned aerial vehicle to enable the height difference between the height of the unmanned aerial vehicle and the height difference between the vehicles to be a preset height.
In the embodiment of the invention, before unmanned aerial vehicle navigation is performed, under a field rugged environment, an unmanned aerial vehicle carried on a vehicle takes off and flies to a working height, and under the working height, the height difference between the height of the unmanned aerial vehicle and the vehicle is a preset height, optionally, the preset height is 30 meters, and under the working height, a driver inputs the coordinate of a navigation end point position on a vehicle-mounted navigation system.
Optionally, measuring, by the millimeter wave radar on the unmanned aerial vehicle, different paths between the current position of the vehicle and the navigation end position within a preset detection range, and determining a target path with minimum road surface fluctuation, including:
the position of the unmanned aerial vehicle is adjusted, so that the linear distance between the unmanned aerial vehicle and the vehicle is a first preset distance, and the unmanned aerial vehicle is positioned on a connecting line between the current position of the vehicle and the navigation terminal position;
determining a path with the minimum road surface fluctuation degree between the current position of the vehicle and a target position point on the different paths as the target path; the distance between the target position point and the head of the vehicle along the length direction of the vehicle is a second preset distance;
wherein the first preset distance is determined according to a distance between the current position of the vehicle and the navigation end position, and the second preset distance is determined according to a distance between the current position of the vehicle and the navigation end position;
and updating the current position of the vehicle according to the target path, and returning to the step of adjusting the position of the unmanned aerial vehicle until the updated current position of the vehicle exceeds the navigation end position or coincides with the navigation end position.
In the embodiment of the invention, after the unmanned aerial vehicle receives the coordinates of the current position of the vehicle and the coordinates of the end position of the vehicle, the connecting line of the two points is the straight line direction of the vehicle. The unmanned aerial vehicle adjusts the position, flies to the line between the current position of the vehicle and the terminal position of the vehicle, and the distance between the unmanned aerial vehicle and the vehicle is a first preset distance, optionally, the first preset distance is 15 meters, at this time, the detection range of the millimeter wave radar on the unmanned aerial vehicle is a circle covering the surface radius of the earth by 20 meters, as shown in fig. 2, the current position of the vehicle is located at the point A, the point B, the point C, the point D, the point E, the point F and the point G shown in fig. 2, are along the V direction, and are located at the target position point 30 meters away from the head of the vehicle, and in the circle with the radius of 20 meters, the vehicle reaches any point from the point B to the point G through any path, thus completing the path in the circle.
The method comprises the steps of respectively detecting the road surface fluctuation degree on the paths from A point to B point, from A point to C point, from A point to D point, from A point to E point, from A point to F point and from A point to G point through millimeter wave radar on an unmanned aerial vehicle, determining the path with the minimum road surface fluctuation degree as a target path, wherein the path from A point to C point is the target path if the road surface fluctuation degree of the path from A point to C point is the minimum, and the vehicle passes through the path from A point to C point and then passes through the path in a circle with the radius of 20 m. After the vehicle passes through the target path, the updated current position of the vehicle is sent to the unmanned aerial vehicle according to the target path, the step of adjusting the position of the unmanned aerial vehicle is returned, namely, the unmanned aerial vehicle reestablishes a connecting line between the updated current position of the vehicle and the navigation terminal position, the distance between the unmanned aerial vehicle and the vehicle is adjusted, the path with the minimum road surface fluctuation degree between the updated current position of the vehicle and the target position points on different paths is determined as the target path, the target path is sent to the vehicle-mounted navigation system, the driver is guided to control the vehicle to travel according to the target path, and then the current position of the vehicle is updated according to the target path until the updated current position of the vehicle exceeds the navigation terminal position or coincides with the navigation terminal position.
Optionally, measuring different paths between the current position of the vehicle and the navigation end position in a preset detection range by using a millimeter wave radar on the unmanned aerial vehicle, and after determining a target path with minimum road surface fluctuation, further includes:
and sending the target path to the vehicle navigation system.
Continuing with the above description of the embodiment, after detecting that the path between the points a to C is the target path, the target path is sent to the vehicle navigation system, and the driver is guided to control the vehicle to travel according to the target path.
Optionally, a third preset distance is reserved between the target position points on the two adjacent paths along the vehicle width direction; the third preset distance is determined according to a distance between the current position of the vehicle and the navigation end position.
In the embodiment of the present invention, please continue to refer to fig. 2, the H-direction distance between the target position points on two adjacent paths is a third preset distance, optionally, the third preset distance is 5 meters.
Optionally, determining the path with the smallest road surface fluctuation degree between the current position of the vehicle and the target position point on the different path as the target path includes:
on the different paths, equally dividing the paths between the current position of the vehicle and the target position point through N points, and respectively measuring the first road surface heights corresponding to the positions of the N points on each path; n is greater than or equal to 1;
determining the road surface fluctuation degree between the current position of the vehicle and the target position point according to the height difference between the first road surface height and the second road surface height of the current position of the vehicle;
and determining the path with the minimum road surface fluctuation degree as the target path.
In the embodiment of the present invention, please continue to refer to fig. 2, which illustrates a process of calculating the road surface undulation degree on the path between the points a and C. The unmanned plane divides the path into ten equal parts through 9 equidistant points (shown by star symbols in fig. 2), the millimeter wave radar respectively measures the values of the first road surface heights of 10 points (including a point C) on the path, respectively makes difference values with the values of the second road surface heights of a point A, and measures the road surface fluctuation degree of the path between the A point and the C point by using mathematical standard deviation, wherein the formula is as follows:
wherein x is i Is the value of the first road surface height, x A The value of the second road surface height, σ is the standard deviation, and represents the road surface fluctuation degree, the greater the σ, the larger the road surface fluctuation degree of the representative path, the rugged road, the vehicle is difficult to pass, the smaller the σ, the smaller the road surface fluctuation degree of the representative path, the road is flat, and the vehicle is easy to pass. By the value of the standard deviation, an optimal path with the smallest fluctuation degree of the road surface can be selected.
The following specifically describes a navigation method provided by an embodiment of the present invention with reference to fig. 3:
the unmanned aerial vehicle takes off to the working height, receives the current position and the navigation end position of the vehicle, determines the connecting line of the current position and the navigation end position of the vehicle as the running direction of the vehicle, determines the detection range, for example, the detection range is a circle with the radius of 20 meters, determines the target path with the minimum road surface fluctuation degree in the detection range, guides the vehicle to the end point of the target path in the circle, judges whether the vehicle exceeds the navigation end position or is at the navigation end position, if yes, finishes the navigation, otherwise, updates the current position of the vehicle, and returns to the step of determining the connecting line of the current position and the navigation end position of the vehicle as the running direction of the vehicle.
As shown in fig. 4, an embodiment of the present invention further provides a navigation device, applied to an unmanned aerial vehicle, including:
the receiving module 401 is configured to receive a current position and a navigation end position of a vehicle sent by a vehicle-mounted navigation system;
and the determining module 402 is configured to measure, by using a millimeter wave radar on the unmanned aerial vehicle, different paths between the current position of the vehicle and the navigation destination position within a preset detection range, and determine a target path with minimum road surface fluctuation.
According to the embodiment of the invention, the current position and the navigation terminal position of the vehicle, which are sent by the vehicle-mounted navigation system, are received; by means of the millimeter wave radar on the unmanned aerial vehicle, different paths between the current position of the vehicle and the navigation terminal position in a preset detection range are measured, and a target path with minimum road surface fluctuation is determined, so that the target path with minimum measured road surface fluctuation can be sent to a vehicle-mounted navigation system on the vehicle through the unmanned aerial vehicle, and the vehicle is instructed to drive according to the optimal target path.
Optionally, the apparatus further comprises:
and the control module is used for adjusting the height of the unmanned aerial vehicle, so that the height difference between the unmanned aerial vehicle and the vehicle is a preset height.
Optionally, the determining module 402 includes:
the control unit is used for adjusting the position of the unmanned aerial vehicle to enable the linear distance between the unmanned aerial vehicle and the vehicle to be a first preset distance, and the unmanned aerial vehicle is located on a connecting line between the current position of the vehicle and the navigation terminal position;
a determining unit configured to determine a path with a minimum degree of road surface undulation between a current position of the vehicle and a target position point on the different path as the target path; the distance between the target position point and the head of the vehicle along the length direction of the vehicle is a second preset distance;
wherein the first preset distance is determined according to the preset height, and the second preset distance is determined according to the distance between the current position of the vehicle and the navigation end position;
and the updating unit is used for updating the current position of the vehicle according to the target path, and returning to the step of adjusting the position of the unmanned aerial vehicle until the updated current position of the vehicle exceeds the navigation end position or coincides with the navigation end position.
Optionally, the determining module 402 further includes:
and the sending unit is used for sending the target path to the vehicle navigation system.
Optionally, a third preset distance is reserved between the target position points on the two adjacent paths along the vehicle width direction; the third preset distance is determined according to a distance between the current position of the vehicle and the navigation end position.
Optionally, the determining unit is specifically configured to:
on the different paths, equally dividing the paths between the current position of the vehicle and the target position point through N points, and respectively measuring the first road surface heights corresponding to the positions of the N points on each path; n is greater than or equal to 1;
determining the road surface fluctuation degree between the current position of the vehicle and the target position point according to the height difference between the first road surface height and the second road surface height of the current position of the vehicle;
and determining the path with the minimum road surface fluctuation degree as the target path.
It should be noted that, the device provided in the embodiment of the present invention is a device capable of executing the above-mentioned navigation method, and all embodiments of the above-mentioned navigation method are applicable to the device, and the same or similar technical effects can be achieved.
Optionally, referring to fig. 5, a driver 501 in a vehicle is communicatively connected to an unmanned aerial vehicle 503 through a vehicle-mounted navigation system 502 on the vehicle, where the unmanned aerial vehicle 503 includes: the system comprises a millimeter wave radar 5031, a flight controller 5032, a measuring system 5033 and a navigation system 5034, wherein the millimeter wave radar 5031 can construct a ground three-dimensional space map with a larger range, and scan the road surfaces on different paths between the current position and the navigation terminal position of a vehicle, the flight controller 5032 can control the flight position of an unmanned aerial vehicle, such as the flight height, and the like, the measuring system 5033 is connected with the millimeter wave radar 5031, receives scanned road surface data sent by the millimeter wave radar 5031, measures the fluctuation degree of the road surfaces on the different paths according to the road surface data, determines a target path with the minimum fluctuation degree of the road surface, and the navigation system 5034 is used for receiving the target path determined by the measuring system 5033, receiving the current position and the navigation terminal position of the vehicle sent by the vehicle navigation system 502 and sending the received target path to the vehicle navigation system 502.
The embodiment of the invention also provides an unmanned aerial vehicle, which comprises the navigation device.
It should be noted that, the unmanned aerial vehicle provided by the embodiment of the present invention includes the navigation device as described in any one of the above, and all embodiments of the navigation device are applicable to the device, and the same or similar technical effects can be achieved.
As shown in fig. 6, an embodiment of the present invention further provides a unmanned aerial vehicle, including: a processor 601; and a memory 603 connected to the processor 601 through a bus interface 602, the memory 603 storing programs and data used by the processor 601 when executing operations, the processor 601 calling and executing the programs and data stored in the memory 603.
Optionally, the unmanned aerial vehicle further comprises: a transceiver 604, the transceiver 604 being connected to the bus interface 602 for receiving and transmitting data under the control of the processor 601, in particular the processor 601 invoking and executing the programs and data stored in the memory 603. Wherein the transceiver 604 is configured to: receiving a current position and a navigation end position of a vehicle sent by a vehicle-mounted navigation system;
optionally, the processor 601 is configured to: and measuring different paths between the current position of the vehicle and the navigation terminal position in a preset detection range through the millimeter wave radar on the unmanned aerial vehicle, and determining a target path with minimum road surface fluctuation.
Optionally, the processor 601 is further configured to: and adjusting the height of the unmanned aerial vehicle to enable the height difference between the height of the unmanned aerial vehicle and the height difference between the vehicles to be a preset height.
Optionally, the processor 601 is specifically configured to: the position of the unmanned aerial vehicle is adjusted, so that the linear distance between the unmanned aerial vehicle and the vehicle is a first preset distance, and the unmanned aerial vehicle is positioned on a connecting line between the current position of the vehicle and the navigation terminal position; and determining a path with the minimum road surface fluctuation degree between the current position of the vehicle and a target position point on the different paths as the target path; the distance between the target position point and the head of the vehicle along the length direction of the vehicle is a second preset distance; wherein the first preset distance is determined according to a distance between the current position of the vehicle and the navigation end position, and the second preset distance is determined according to a distance between the current position of the vehicle and the navigation end position; and updating the current position of the vehicle according to the target path, and returning to the step of adjusting the position of the unmanned aerial vehicle until the updated current position of the vehicle exceeds the navigation end position or coincides with the navigation end position.
Optionally, the processor 601 is specifically further configured to: and sending the target path to the vehicle navigation system.
Optionally, a third preset distance is reserved between the target position points on the two adjacent paths along the vehicle width direction; the third preset distance is determined according to a distance between the current position of the vehicle and the navigation end position.
Optionally, the processor 601 is specifically configured to: on the different paths, equally dividing the paths between the current position of the vehicle and the target position point through N points, and respectively measuring the first road surface heights corresponding to the positions of the N points on each path; n is greater than or equal to 1; and determining a road surface relief degree between the vehicle current position and the target position point according to a height difference between the first road surface height and a second road surface height of the vehicle current position; and determining a path with the minimum road surface fluctuation degree as the target path.
Wherein in fig. 6, a bus architecture may comprise any number of interconnected buses and bridges, and in particular one or more processors represented by processor 601 and various circuits of memory represented by memory 603, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 604 may be a number of elements, i.e. include a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 601 is responsible for managing the bus architecture and general processing, and the memory 603 may store data used by the processor 601 in performing operations.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the principles of the present invention, and such modifications and changes are intended to be within the scope of the present invention.
Claims (9)
1. A navigation method applied to an unmanned aerial vehicle, comprising:
receiving a current position and a navigation end position of a vehicle sent by a vehicle-mounted navigation system;
measuring different paths between the current position of the vehicle and the navigation terminal position in a preset detection range through a millimeter wave radar on the unmanned aerial vehicle, and determining a target path with minimum road surface fluctuation;
determining a path with the smallest road surface fluctuation degree between the current position of the vehicle and a target position point on the different paths as the target path comprises the following steps:
on the different paths, equally dividing paths between the current position of the vehicle and the target position point through N points, and respectively measuring first road surface heights corresponding to the positions of the N points on each path; n is greater than or equal to 1;
determining the road surface fluctuation degree between the current position of the vehicle and the target position point according to the height difference between the first road surface height and the second road surface height of the current position of the vehicle;
and determining the path with the minimum road surface fluctuation degree as the target path.
2. The navigation method of claim 1, wherein prior to receiving the current position of the vehicle and the navigation end position transmitted by the vehicle navigation system, the method further comprises:
and adjusting the height of the unmanned aerial vehicle to enable the height difference between the height of the unmanned aerial vehicle and the height difference between the vehicles to be a preset height.
3. The navigation method according to claim 1, wherein measuring different paths between the current position of the vehicle and the navigation end position within a preset detection range by millimeter wave radar on the unmanned aerial vehicle, determining a target path with minimum road surface undulation, comprises:
the position of the unmanned aerial vehicle is adjusted, so that the linear distance between the unmanned aerial vehicle and the vehicle is a first preset distance, and the unmanned aerial vehicle is positioned on a connecting line between the current position of the vehicle and the navigation terminal position;
determining a path with the minimum road surface fluctuation degree between the current position of the vehicle and a target position point on the different paths as the target path; the distance between the target position point and the head of the vehicle along the length direction of the vehicle is a second preset distance;
wherein the first preset distance is determined according to a distance between the current position of the vehicle and the navigation end position, and the second preset distance is determined according to a distance between the current position of the vehicle and the navigation end position;
and updating the current position of the vehicle according to the target path, and returning to the step of adjusting the position of the unmanned aerial vehicle until the updated current position of the vehicle exceeds the navigation end position or coincides with the navigation end position.
4. The navigation method according to claim 3, wherein measuring different paths between the current position of the vehicle and the navigation end position within a preset detection range by a millimeter wave radar on the unmanned aerial vehicle, and determining a target path with minimum road surface fluctuation, further comprises:
and sending the target path to the vehicle navigation system.
5. A navigation method according to claim 3, wherein the target position points on two adjacent paths are spaced apart from each other by a third predetermined distance in the vehicle width direction; the third preset distance is determined according to a distance between the current position of the vehicle and the navigation end position.
6. An apparatus for use in the navigation method of claim 1, comprising:
the receiving module is used for receiving the current position and the navigation end position of the vehicle sent by the vehicle-mounted navigation system;
the determining module is used for measuring different paths between the current position of the vehicle and the navigation terminal position in a preset detection range through the millimeter wave radar on the unmanned aerial vehicle and determining a target path with minimum road surface fluctuation.
7. The apparatus of claim 6, wherein the apparatus further comprises:
and the control module is used for adjusting the height of the unmanned aerial vehicle, so that the height difference between the unmanned aerial vehicle and the vehicle is a preset height.
8. A drone comprising the apparatus of claim 6 or 7.
9. An unmanned aerial vehicle, comprising: a processor, a memory and a program stored on the memory and executable on the processor, which when executed by the processor implements the navigation method according to any one of claims 1 to 5.
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