CN116358565A - Aerocar route generation method based on navigation map - Google Patents

Aerocar route generation method based on navigation map Download PDF

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CN116358565A
CN116358565A CN202310635925.2A CN202310635925A CN116358565A CN 116358565 A CN116358565 A CN 116358565A CN 202310635925 A CN202310635925 A CN 202310635925A CN 116358565 A CN116358565 A CN 116358565A
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CN116358565B (en
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颜军
王益平
杨革
吴佳奇
肖文斌
董文岳
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Guangdong Haiou Flying Automobile Group Co ltd
Shandong Orion Electronics Co ltd
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Guangdong Haiou Flying Automobile Group Co ltd
Shandong Orion Electronics Co ltd
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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract

The application discloses a method for generating a flight vehicle route based on a navigation map, which comprises the following steps: step 1, generating a two-dimensional route; determining a flight starting point and a flight ending point on a navigation map, and manually drawing a two-dimensional route or automatically drawing the two-dimensional route by adopting a characteristic image recognition-based method according to flight requirements; step 2, carrying out smoothing treatment on the generated two-dimensional route; step 3, calculating the flight distance of the route; step 4, generating map elevation; step 5, generating a flight altitude; and 6, generating a flight route. Has the following advantages: the two-dimensional route can be automatically extracted based on navigation mapping or image recognition, and the corresponding elevation information is utilized to automatically generate the flying route of the aerocar.

Description

Aerocar route generation method based on navigation map
Technical Field
The invention belongs to the technical field of aerocar and unmanned aerial vehicle route generation, and particularly relates to an aerocar route generation method based on a navigation map.
Background
With the rapid development of cities in China, the scale of the cities is rapidly expanded, the commuting time of residents is continuously prolonged, and the reason for the phenomenon is that the existing traffic system is only in a two-dimensional stage, traffic facilities cannot be infinitely increased, and the problem of traffic jam of the cities is difficult to solve fundamentally. Therefore, constructing a low-altitude intelligent traffic system facing to a three-dimensional space by adopting a flying car is a break for solving the problems of traffic jam and the like in the future.
The safe operation of the aerocar must solve the design problem of the low-altitude route, needs to combine the urban and inter-urban low-altitude operation environments to create a flexible, flexible and flexible low-altitude route so as to meet the requirements of large-scale and normalized urban air transportation scenes. At present, a standard and general generation method is not formed for generating the route of the aerocar, the route generation usually adopts modes of manual dotting, template generation, manual adjustment and the like, the longitude and latitude of route points and the flight safety height are set, the route generation mode is extensive, and the flexibility of route generation is lacked. With the continuous development of the aerocar technology, the urban and inter-urban low-altitude environments are required to be combined, and the route generation is flexibly performed based on the navigation map so as to ensure the safe operation of the aerocar.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a flying car route generation method based on a navigation map, which can automatically extract a two-dimensional route based on navigation map drawing or image recognition and automatically generate a flying car flight route by utilizing corresponding elevation information.
In order to solve the technical problems, the invention adopts the following technical scheme:
a flying car route generation method based on a navigation map comprises the following steps:
step 1, generating a two-dimensional route;
determining a flight starting point and a flight ending point on a navigation map, and manually drawing a two-dimensional route or automatically drawing the two-dimensional route by adopting a characteristic image recognition-based method according to flight requirements;
step 2, carrying out smoothing treatment on the generated two-dimensional route;
smoothing longitude and latitude of the two-dimensional course by adopting a five-point three-time smoothing method to obtain smoothed precision lon (N) and lat (N), wherein N represents the number of discrete points of the two-dimensional course;
step 3, calculating the flight distance of the route;
calculating a route flight distance D (N) based on the two-dimensional route longitude and latitude smoothed in the step 2, wherein the route flight distance is an accumulated value, 0 is obtained at the starting point, and the distance between the current discrete point and the last discrete point is increased every time a route discrete point passes through;
step 4, generating map elevation;
based on the smoothed two-dimensional course longitude and latitude, extracting elevation information corresponding to the longitude and latitude position, including the terrain and the height of a ground building, forming course elevation information h (N), wherein the flying height of the flying automobile passing through the longitude and latitude should be greater than h (N), and meanwhile, a certain safe flying height is maintained
Figure SMS_1
The resulting map elevation H (N) =h (N) +>
Figure SMS_2
；
Step 5, generating a flight altitude;
based on map elevation, setting maximum climbing angle constraint of aerocar
Figure SMS_3
Namely, the included angle between the elevation rise and the horizontal plane flight distance cannot exceed the maximum climbing angle constraint, and generating flight elevations meeting the constraint from the highest point of the map elevation to the starting point and the ending point respectively, and combining the two sections to form the final flight elevation;
step 6, generating a flight route;
combining the flight elevation generated in the starting point direction and the flight elevation generated in the ending point direction to obtain a flight route elevation, wherein the flight route elevation is a set of the flight elevations of certain discrete points of the two-dimensional route; and then generating the elevation of the discrete point of the whole two-dimensional course by a linear interpolation mode, generating a flight course by combining longitude and latitude, and finally generating the flight course into a three-dimensional form { lon, lat, H }.
Further, in the step 2, the five-point three-time smoothing method is a processing method for performing three-time least polynomial smoothing on discrete data by using a least square method, and the sequence x (N), n=1, 2, …, N is set as data to be smoothed, the data smoothed by the five-point three-time smoothing method is y (N), n=1, 2, …, N, and the following formula is provided:
Figure SMS_4
。
further, the step 5 includes the following steps:
step 5.1, generating a fly-height flow in the starting point direction as follows:
step 5.1.1, setting the current point as the highest point in all elevations, and storing the current point position and the elevations into HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;
step 5.1.2, if the current point is the starting point, namely m=1, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and m-1 discrete points in front, and obtaining the climbing angle from each point to the current point
Figure SMS_5
M-1 values in total;
assume that the climbing angle from the ith point to the current point m
Figure SMS_6
The calculation formula is as follows:
Figure SMS_7
；
step 5.1.3, taking
Figure SMS_8
Minimum value +.>
Figure SMS_11
And record the climbing angle +.>
Figure SMS_13
Corresponding discrete point positions I and elevations { I, H (I) } according to +.>
Figure SMS_9
Constraint with climbing angle->
Figure SMS_12
Adjusting the elevation value of H (I), i.e. if +.>
Figure SMS_14
Satisfying the constraint, the elevation H (I) remains unchanged if +.>
Figure SMS_15
If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>
Figure SMS_10
There is
Figure SMS_16
；
Step 5.1.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;
and 5.1.5, outputting the flying heights generated towards the starting point direction, namely all the saved points including the positions and the flying heights.
Further, the step 5 further includes the following steps: step 5.2, generating a fly-height flow towards the end point direction as follows:
step 5.2.1, setting the current point as the highest point in all elevations, and recording the current point position and the elevation HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;
step 5.2.2, if the current point is the end point, namely m=n, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and the following N-m-1 discrete points to obtain the climbing angle from each point to the current point
Figure SMS_17
N-m-1 total;
assume that the climbing angle from the ith point to the current point
Figure SMS_18
The calculation formula is as follows:
Figure SMS_19
；
step 5.2.3, fetch
Figure SMS_21
Minimum value +.>
Figure SMS_24
And record the climbing angle +.>
Figure SMS_26
Corresponding discrete point positions and elevations { I, H (I) }, according to +.>
Figure SMS_20
Constraint with climbing angle->
Figure SMS_23
Adjusting the elevation value of H (I), i.e. if +.>
Figure SMS_25
Satisfying the constraint, the elevation H (I) remains unchanged if +.>
Figure SMS_27
If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>
Figure SMS_22
There is
Figure SMS_28
；
Step 5.2.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;
and 5.2.5, outputting the flying heights generated towards the end point direction, namely all the saved points including the position and the flying heights.
Compared with the prior art, the invention has the following technical effects:
the two-dimensional route can be automatically extracted based on navigation map drawing or image recognition, and then the corresponding elevation information is utilized to automatically generate the flying route of the flying automobile, so that the flexibility and the actual operability of the design of the flying automobile route are greatly improved, and the method can be applied to various application scenes such as sightseeing flight, flight inspection and the like along special routes such as rivers, roads, mountain bodies and the like; in addition, when the flying height of the flying car is generated, the corresponding height information is utilized in combination with the urban and inter-urban low-altitude running environments, the climbing angle constraint of the flying car is considered, a certain safe flying height is overlapped, and the flying car can slowly climb and descend while the safe running of the flying car is ensured, so that the flying stability of the flying car is maintained.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
FIG. 1 is a flow chart of a method of generating a flight path for a motor vehicle in accordance with the present invention;
FIG. 2 is a flow chart of generating fly-height in the direction of origin in the present invention;
FIG. 3 is a flow chart illustrating the generation of fly-height in the destination direction in accordance with the present invention.
Detailed Description
An embodiment, as shown in fig. 1 to 3, is a method for generating a flight vehicle route based on a navigation map, including the following steps:
step 1, generating a two-dimensional route;
determining a flight starting point and a flight ending point on a navigation map, generating a two-dimensional route according to flight requirements by taking into consideration urban risk maps and fusion personnel density factors, and manually drawing the two-dimensional route or automatically drawing the two-dimensional route by adopting a characteristic image recognition-based method, such as drawing according to characteristics of rivers, coasts, roads and the like;
step 2, carrying out smoothing treatment on the generated two-dimensional route;
the two-dimensional course drawn manually or the two-dimensional course drawn by adopting the image recognition method has noise, the generated two-dimensional course turns back and forth, and the shaking linearity is obvious because the course is required to be frequently adjusted when the flying automobile flies, so that the two-dimensional course is required to be smoothed, a series of longitudes and latitudes of the two-dimensional course can be smoothed by adopting a five-point three-time smoothing method or other smoothing methods, the smoothed precision lon (N) is obtained, and lat (N) and N represent the number of discrete points of the two-dimensional course.
The five-point three-time smoothing method is a processing method for smoothing discrete data by using a least square method principle to perform three-time minimum polynomial, and a sequence x (N), wherein n=1, 2, … and N are provided as data to be smoothed, the smoothed data of the five-point three-time smoothing method is y (N), and n=1, 2, … and N are provided as follows
Figure SMS_29
。
Step 3, calculating the flight distance of the route;
calculating a route flight distance D (N) based on the two-dimensional route longitude and latitude smoothed in the step 2, wherein the route flight distance is an accumulated value, 0 is obtained at the starting point, and the distance between the current discrete point and the last discrete point is increased every time a route discrete point passes through; assuming that the distance between the point i and the point i+1 is L (i), the distance between the adjacent discrete points of the N route discrete points can form an N-1 dimension distance vector L (N-1), and the calculation formula of the flight distance of the point i is as follows:
Figure SMS_30
。
step 4, generating map elevation;
extracting elevation information corresponding to longitude and latitude positions based on smoothed two-dimensional route longitude and latitude, and packagingThe heights of terrains and ground buildings are included to form route elevation information h (N), and the flying height of the flying automobile passing through the longitude and latitude is larger than h (N) while a certain safe flying height is maintained
Figure SMS_31
，/>
Figure SMS_32
Taking 50m or 100m, the generated map elevation H (N) =h (N) +
Figure SMS_33
。
And 5, generating the flight altitude.
Based on map elevation, considering requirements of slow and stable ascending and descending heights of the aerocar, setting maximum climbing angle constraint of the aerocar
Figure SMS_34
Namely, the included angle between the elevation rise and the horizontal plane flight distance cannot exceed the maximum climbing angle constraint, and the flight elevation meeting the constraint is generated from the highest point of the map elevation to the direction of the starting point and the direction of the ending point respectively, and the two sections are combined to form the final flight elevation.
Step 5.1, generating a fly-height flow in the starting point direction as follows:
step 5.1.1, setting the current point as the highest point in all elevations, and storing the current point position and the elevations into H= { m, H (m) }, wherein m is the current point position, and H (m) is the current point elevation;
step 5.1.2, if the current point is the starting point, namely m=1, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and m-1 discrete points in front, and obtaining the climbing angle from each point to the current point
Figure SMS_35
M-1 values in total;
assume that the climbing angle from the ith point to the current point m
Figure SMS_36
The calculation formula is as follows:
Figure SMS_37
；
step 5.1.3, taking
Figure SMS_39
Minimum value +.>
Figure SMS_41
And record the climbing angle +.>
Figure SMS_43
Corresponding discrete point positions I and elevations { I, H (I) } according to +.>
Figure SMS_40
Constraint with climbing angle->
Figure SMS_42
Adjusting the elevation value of H (I), i.e. if +.>
Figure SMS_44
Satisfying the constraint, the elevation H (I) remains unchanged if +.>
Figure SMS_45
If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>
Figure SMS_38
There is
Figure SMS_46
；
Step 5.1.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;
and 5.1.5, outputting the flying heights generated towards the starting point direction, namely all the saved points including the positions and the flying heights.
Step 5.2, generating a fly-height flow towards the end point direction as follows:
step 5.2.1, setting the current point as the highest point in all elevations, and recording the current point position and the elevation HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;
step 5.2.2, if the current point is the end point, namely m=n, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and the following N-m-1 discrete points to obtain the climbing angle from each point to the current point
Figure SMS_47
N-m-1 total;
assume that the climbing angle from the ith point to the current point
Figure SMS_48
The calculation formula is as follows:
Figure SMS_49
；
step 5.2.3, fetch
Figure SMS_52
Minimum value +.>
Figure SMS_53
And record the climbing angle +.>
Figure SMS_55
Corresponding discrete point positions and elevations { I, H (I) }, according to +.>
Figure SMS_50
Constraint with climbing angle->
Figure SMS_54
Adjusting the elevation value of H (I), i.e. if +.>
Figure SMS_56
Satisfying the constraint, the elevation H (I) remains unchanged if +.>
Figure SMS_57
If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>
Figure SMS_51
There is
Figure SMS_58
；
Step 5.2.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;
and 5.2.5, outputting the flying heights generated towards the end point direction, namely all the saved points including the position and the flying heights.
Step 6, generating a flight route;
combining the flight elevation generated in the starting point direction and the flight elevation generated in the ending point direction to obtain a flight route elevation, wherein the flight route elevation is a set of the flight elevations of certain discrete points of the two-dimensional route; and then generating the elevation of the discrete point of the whole two-dimensional course by a linear interpolation mode, generating a flight course by combining longitude and latitude, and finally generating the flight course into a three-dimensional form { lon, lat, H }.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (4)

1. A method for generating a flight vehicle route based on a navigation map is characterized by comprising the following steps of: the method comprises the following steps:
step 1, generating a two-dimensional route;
determining a flight starting point and a flight ending point on a navigation map, and manually drawing a two-dimensional route or automatically drawing the two-dimensional route by adopting a characteristic image recognition-based method according to flight requirements;
step 2, carrying out smoothing treatment on the generated two-dimensional route;
smoothing longitude and latitude of the two-dimensional course by adopting a five-point three-time smoothing method to obtain smoothed precision lon (N) and lat (N), wherein N represents the number of discrete points of the two-dimensional course;
step 3, calculating the flight distance of the route;
calculating a route flight distance D (N) based on the two-dimensional route longitude and latitude smoothed in the step 2, wherein the route flight distance is an accumulated value, 0 is obtained at the starting point, and the distance between the current discrete point and the last discrete point is increased every time a route discrete point passes through;
step 4, generating map elevation;
based on the smoothed two-dimensional course longitude and latitude, extracting elevation information corresponding to the longitude and latitude position, including the terrain and the height of a ground building, forming course elevation information h (N), wherein the flying height of the flying automobile passing through the longitude and latitude should be greater than h (N), and meanwhile, a certain safe flying height is maintained
Figure QLYQS_1
The resulting map elevation H (N) =h (N) +>
Figure QLYQS_2
；
Step 5, generating a flight altitude;
based on map elevation, setting maximum climbing angle constraint of aerocar
Figure QLYQS_3
Namely, the included angle between the elevation rise and the horizontal plane flight distance cannot exceed the maximum climbing angle constraint, and generating flight elevations meeting the constraint from the highest point of the map elevation to the starting point and the ending point respectively, and combining the two sections to form the final flight elevation;
step 6, generating a flight route;
combining the flight elevation generated in the starting point direction and the flight elevation generated in the ending point direction to obtain a flight route elevation, wherein the flight route elevation is a set of the flight elevations of certain discrete points of the two-dimensional route; and then generating the elevation of the discrete point of the whole two-dimensional course by a linear interpolation mode, generating a flight course by combining longitude and latitude, and finally generating the flight course into a three-dimensional form { lon, lat, H }.
2. The method for generating a flying car route based on a navigation map according to claim 1, wherein: in the step 2, the five-point three-time smoothing method is a processing method for performing three-time minimum polynomial smoothing on discrete data by using a least square method, and the sequence x (N), n=1, 2, …, N is the data to be smoothed, the data smoothed by the five-point three-time smoothing method is y (N), n=1, 2, …, N, and the following formula is given:
Figure QLYQS_4
。
3. the method for generating a flying car route based on a navigation map according to claim 1, wherein: said step 5 comprises the steps of:
step 5.1, generating a fly-height flow in the starting point direction as follows:
step 5.1.1, setting the current point as the highest point in all elevations, and storing the current point position and the elevations into HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;
step 5.1.2, if the current point is the starting point, namely m=1, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and m-1 discrete points in front, and obtaining the climbing angle from each point to the current point
Figure QLYQS_5
M-1 values in total;
assume that the climbing angle from the ith point to the current point m
Figure QLYQS_6
The calculation formula is as follows:
Figure QLYQS_7
；
step 5.1.3, taking
Figure QLYQS_8
Minimum value +.>
Figure QLYQS_11
And record the climbing angle +.>
Figure QLYQS_13
Corresponding discrete point positions I and elevations { I, H (I) } according to +.>
Figure QLYQS_10
Constraint with climbing angle->
Figure QLYQS_12
Adjusting the elevation value of H (I), i.e. if +.>
Figure QLYQS_14
Satisfying the constraint, the elevation H (I) remains unchanged if +.>
Figure QLYQS_15
If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>
Figure QLYQS_9
There is
Figure QLYQS_16
；
Step 5.1.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;
and 5.1.5, outputting the flying heights generated towards the starting point direction, namely all the saved points including the positions and the flying heights.
4. The method for generating a flying car route based on a navigation map according to claim 1, wherein: said step 5 further comprises the steps of: step 5.2, generating a fly-height flow towards the end point direction as follows:
step 5.2.1, setting the current point as the highest point in all elevations, and recording the current point position and the elevation HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;
step 5.2.2, if the current point is the end point, namely m=n, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and the following N-m-1 discrete points to obtain the climbing angle from each point to the current point
Figure QLYQS_17
N-m-1 total;
assume that the climbing angle from the ith point to the current point
Figure QLYQS_18
The calculation formula is as follows:
Figure QLYQS_19
；
step 5.2.3, fetch
Figure QLYQS_21
Minimum value +.>
Figure QLYQS_23
And record the climbing angle +.>
Figure QLYQS_25
Corresponding discrete point positions and elevations { I, H (I) }, according to +.>
Figure QLYQS_22
Constraint with climbing angle->
Figure QLYQS_24
Adjusting the elevation value of H (I), i.e. if +.>
Figure QLYQS_26
Satisfying the constraint, the elevation H (I) remains unchanged if +.>
Figure QLYQS_27
Exceeding the limitConstraint, the elevation is adjusted to the climbing angle +.>
Figure QLYQS_20
There is
Figure QLYQS_28
；
Step 5.2.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;
and 5.2.5, outputting the flying heights generated towards the end point direction, namely all the saved points including the position and the flying heights.
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CN117664142B (en) * 2024-02-01 2024-05-17 山东欧龙电子科技有限公司 Method for planning flight vehicle path based on three-dimensional map

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