CN116819528A - Unmanned plane situation image drawing and route adjustment method, device, equipment and medium - Google Patents
Unmanned plane situation image drawing and route adjustment method, device, equipment and medium Download PDFInfo
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Abstract
The application discloses a method, a device, equipment and a medium for drawing unmanned aerial vehicle situation images and adjusting a route, which relate to the technical field of computers and comprise the steps of analyzing regional telemetry data to obtain working region parameter information; calculating position information, attitude information and working area parameter information to obtain imaging area information; calculating imaging area information to obtain coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image; generating an area identifier, judging whether imaging area information is abnormal or not according to the area identifier, if so, inputting the imaging area information into an unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening out navigation points to be adjusted, which are of non-flying types, and dynamically adjusting the navigation points to be adjusted to obtain a target navigation point set.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method, a device, equipment and a medium for drawing situation images and adjusting a route of an unmanned aerial vehicle.
Background
Synthetic aperture radar (Synthetic Aperture Radar, SAR) systems have the unique advantage of all weather over the day in earth observation and reconnaissance. Along with the development of scientific technology, the advent of multi-mode, multi-angle, multi-dimension, large breadth, high resolution, multi-base collaboration and the like SAR technology represents the arrival of a novel SAR era, and along with the development of unmanned aerial vehicles and ground station systems thereof, the SAR plays an increasingly important role in the fields of civil use, military use and the like, and the application scene and mode thereof are also increasingly abundant. The unmanned aerial vehicle has increasingly high load carrying capacity, and can more flexibly, conveniently and accurately finish tasks such as observation, reconnaissance, striking and the like by using different load carrying proportions. Most tasks need to acquire information of a target area through SAR, so that key information support and task execution decision are better provided for the tasks. Unlike a man-machine, on an unmanned plane, the data acquired by the partial load needs to be transmitted to the ground through a data link for processing and visual display, so that ground station personnel can refer to the ground for analysis and then make decisions. For the returned SAR information, some are numerical type data. At present, most unmanned aerial vehicle situation information is displayed in a graphical and graphical mode by executing task related data, and if ground station personnel need to quickly know the geographic position of an irradiation range or confirm whether a target in the situation information falls in an SAR imaging region, SAR information and situation information in a geographic information system (Geographic Information System, GIS) need to be displayed in a fused mode. There are many existing mainstream GIS platform systems of third parties, such as ArcGIS, MGIS (military geographic information system), mapGIS, superMap, googleEarth, mapinfo, etc. However, the unmanned aerial vehicle cannot observe the scanning and scanned areas when executing the task, so that visual basis cannot be provided for timely and accurate execution of the task.
From the above, how to solve the problem that the unmanned aerial vehicle cannot observe the scanning and scanned areas when executing the task, and provide visual, abundant, accurate and real-time basis for task execution is a problem to be solved in the field.
Disclosure of Invention
In view of the above, the application aims to provide a method, a device, equipment and a medium for drawing situation images and adjusting a route of an unmanned aerial vehicle, which can solve the problem that the unmanned aerial vehicle cannot observe a scanned area when executing a task and provide visual, rich, accurate and real-time basis for task execution. The specific scheme is as follows:
the application discloses a method for drawing a situation image of an unmanned aerial vehicle and adjusting a navigation path, which comprises the following steps:
acquiring region telemetry data of a working region of the unmanned aerial vehicle synthetic aperture radar, and analyzing the region telemetry data to obtain working region parameter information;
acquiring position information and attitude information of the unmanned aerial vehicle synthetic aperture radar, and performing imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information;
invoking a preset calculation function to calculate the coverage area of the synthetic aperture radar for the imaging area information to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar;
And generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set.
Optionally, before the acquiring the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region, the method further includes:
acquiring equipment state parameters of the unmanned aerial vehicle synthetic aperture radar;
and judging whether the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started or not based on the equipment state parameters, and executing the acquisition flow of the regional telemetry data if the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started.
Optionally, the acquiring the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region includes:
acquiring initial region telemetry data sent by communication equipment corresponding to the unmanned aerial vehicle by using a local communication module;
Analyzing the initial region telemetry data according to a communication protocol to obtain the region telemetry data, and sending the region telemetry data to a local situation fusion processing display module.
Optionally, the analyzing the area telemetry data to obtain the working area parameter information includes:
the regional telemetry data are respectively sent to each sub-module in the situation fusion processing display module, so that each sub-module respectively analyzes and calculates the regional telemetry data according to the functions of the sub-module to obtain working regional parameter information; the functions comprise task route display, historical track display and historical target point display.
Optionally, the obtaining the position information and the posture information of the synthetic aperture radar of the unmanned aerial vehicle includes:
acquiring first position information and first posture information of the unmanned aerial vehicle synthetic aperture radar in a strip mode, and acquiring second position information and second posture information of the unmanned aerial vehicle synthetic aperture radar in a beam-focusing mode; the location information includes the first location information and the second location information; the gesture information includes the first gesture information and the second gesture information.
Optionally, the performing real-time calculation of the imaging area range on the position information, the gesture information and the working area parameter information to obtain imaging area information includes:
establishing an unmanned aerial vehicle synthetic aperture radar geometric model based on the first position information, the second position information, the first gesture information and the second gesture information;
and carrying out real-time calculation on the imaging area range based on the unmanned aerial vehicle synthetic aperture radar geometric model and the working area parameter information so as to obtain imaging area information.
Optionally, the step of calling a preset calculation function to calculate the coverage area of the synthetic aperture radar for the imaging area information to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar includes:
performing parameter conversion on the imaging region information to obtain region parameters, and inputting the region parameters into a preset calculation function to perform synthetic aperture radar coverage region calculation to obtain synthetic aperture radar coverage region information;
drawing an unmanned aerial vehicle situation image by using a preset situation image layer based on the coverage area information of the synthetic aperture radar; the unmanned aerial vehicle situation image comprises a real-time scanning area graph and a historical scanning area graph.
The application discloses a device for drawing situation images and adjusting a navigation path of an unmanned aerial vehicle, which comprises the following components:
the data analysis module is used for acquiring the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region and analyzing the region telemetry data to obtain the working region parameter information;
the imaging area range real-time calculation module is used for acquiring the position information and the attitude information of the unmanned aerial vehicle synthetic aperture radar, and carrying out imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information;
the unmanned aerial vehicle situation image drawing module is used for calling a preset calculation function to calculate the coverage area of the synthetic aperture radar on the imaging area information so as to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar;
the navigation point adjustment module is used for generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set.
In a third aspect, the present application discloses an electronic device, comprising:
a memory for storing a computer program;
and the processor is used for executing the computer program to realize the unmanned aerial vehicle situation image drawing and route adjustment method.
In a fourth aspect, the present application discloses a computer storage medium for storing a computer program; the method comprises the steps of drawing a situation image of an unmanned aerial vehicle and adjusting a route, wherein the steps of the method for drawing the situation image of the unmanned aerial vehicle and adjusting the route are realized when the computer program is executed by a processor.
It can be seen that the application provides a unmanned aerial vehicle situation image drawing and route adjustment method, which comprises the steps of obtaining the region telemetry data of an unmanned aerial vehicle synthetic aperture radar working region, and analyzing the region telemetry data to obtain the working region parameter information; acquiring position information and attitude information of the unmanned aerial vehicle synthetic aperture radar, and performing imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information; invoking a preset calculation function to calculate the coverage area of the synthetic aperture radar for the imaging area information to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar; and generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set. According to the application, the geographic information system is used as a map component for displaying situation information, and is combined with the data of the onboard synthetic aperture radar imaging area of the unmanned aerial vehicle, the data of the scanning area of the synthetic aperture radar is combined with the data of the geographic information system to display more clearly, accurately and timely, the irradiation range of the data is calculated and displayed in a superimposed manner with the situation map of the existing unmanned aerial vehicle, the scanning area analysis is carried out by fusing the multivariate data, more accurate and efficient basis is provided for task execution, the problem that the scanning area and the scanned area cannot be observed when the unmanned aerial vehicle executes the task is solved, and the real-time adjustment of unmanned aerial vehicle route planning is realized by judging whether the unmanned aerial vehicle route is abnormal or not, so that the emergency situation appears in unmanned aerial vehicle situation image drawing is solved, and the work of other load devices on the unmanned aerial vehicle can be automatically triggered according to the coverage situation of the scanning area and the target point or the target area, so that the application scene of the unmanned aerial vehicle for automatically and intelligently executing the task is enriched.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for drawing unmanned aerial vehicle situation images and adjusting a route;
FIG. 2 is a diagram illustrating an exemplary operation of a stripe mode of the present disclosure;
FIG. 3 is a diagram illustrating an exemplary operation of a bunching mode of the present disclosure;
FIG. 4 is a detailed flow chart of a dynamic routing disclosed in the present application;
FIG. 5 is a flowchart of another unmanned aerial vehicle situation image drawing and course adjustment method disclosed by the application;
FIG. 6 is an exemplary diagram of a SAR geometric model of the present disclosure;
FIG. 7 is an exemplary diagram of a SAR situation fusion display system framework disclosed in the present disclosure;
FIG. 8 is a schematic diagram of a vector map SAR scan of the present disclosure;
fig. 9 is a schematic diagram of SAR scanning of an image map according to the present application;
Fig. 10 is a schematic structural diagram of an unmanned aerial vehicle situation image drawing and course adjustment device disclosed by the application;
fig. 11 is a block diagram of an electronic device according to the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Synthetic aperture radar (Synthetic Aperture Radar, SAR) systems have the unique advantage of all weather over the day in earth observation and reconnaissance. Along with the development of scientific technology, the advent of multi-mode, multi-angle, multi-dimension, large breadth, high resolution, multi-base collaboration and the like SAR technology represents the arrival of a novel SAR era, and along with the development of unmanned aerial vehicles and ground station systems thereof, the SAR plays an increasingly important role in the fields of civil use, military use and the like, and the application scene and mode thereof are also increasingly abundant. The unmanned aerial vehicle has increasingly high load carrying capacity, and can more flexibly, conveniently and accurately finish tasks such as observation, reconnaissance, striking and the like by using different load carrying proportions. Most tasks need to acquire information of a target area through SAR, so that key information support and task execution decision are better provided for the tasks. Unlike a man-machine, on an unmanned plane, the data acquired by the partial load needs to be transmitted to the ground through a data link for processing and visual display, so that ground station personnel can refer to the ground for analysis and then make decisions. For the returned SAR information, some are numerical type data. At present, most unmanned aerial vehicle situation information is displayed in a graphical and graphical mode by executing task related data, and if ground station personnel need to quickly know the geographic position of an irradiation range or confirm whether a target in the situation information falls in an SAR imaging region, SAR information and situation information in a geographic information system (Geographic Information System, GIS) need to be displayed in a fused mode. There are many existing mainstream GIS platform systems of third parties, such as ArcGIS, MGIS (military geographic information system), mapGIS, superMap, googleEarth, mapinfo, etc. However, the unmanned aerial vehicle cannot observe the scanning and scanned areas when executing the task, so that visual basis cannot be provided for timely and accurate execution of the task. From the above, how to solve the problem that the unmanned aerial vehicle cannot observe the scanning and scanned areas when executing the task, and provide visual, abundant, accurate and real-time basis for task execution is a problem to be solved in the field.
Referring to fig. 1, the embodiment of the invention discloses a method for drawing a situation image and adjusting a route of an unmanned aerial vehicle, which specifically comprises the following steps:
step S11: and acquiring the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region, and analyzing the region telemetry data to obtain the working region parameter information.
In this embodiment, before acquiring the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region, the method further includes: acquiring equipment state parameters of the unmanned aerial vehicle synthetic aperture radar; and judging whether the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started or not based on the equipment state parameters, and executing the acquisition flow of the regional telemetry data if the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started.
Step S12: and acquiring position information and attitude information of the unmanned aerial vehicle synthetic aperture radar, and performing imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information.
In this embodiment, first position information and first posture information in a stripe mode of a working mode of the unmanned aerial vehicle synthetic aperture radar are obtained, and second position information and second posture information in a beam-focusing mode of the working mode of the unmanned aerial vehicle synthetic aperture radar are obtained; the location information includes the first location information and the second location information; the attitude information comprises the first attitude information and the second attitude information, an unmanned aerial vehicle synthetic aperture radar geometric model is built based on the first position information, the second position information, the first attitude information and the second attitude information, and imaging area range real-time calculation is conducted based on the unmanned aerial vehicle synthetic aperture radar geometric model and the working area parameter information to obtain imaging area information.
The SAR illumination area processed and displayed by the present application is SAR operating in both Strip-map and Spotlight modes of operation. Stripe pattern (Strip-map): the radar antenna is in a most basic SAR imaging mode, the radar antenna in the mode is unchanged in pointing direction, an imaging object is a ground band parallel to the moving direction of a radar sensor carrying platform, and the imaging bandwidth is variable, and can be from a few kilometers to hundreds of kilometers, as shown in fig. 2. The stripe mode is suitable for imaging without interruption in a large range, but due to the series of problems such as antenna gain, the azimuth resolution cannot be increased randomly according to the reduction of the length of the antenna, and the maximum is not more than half of the length of the antenna. Beam mode (Spotlight): i.e., spot imaging, with adjustments to the azimuth antenna beam pointing, the beam is always focused within a ground target range, as shown in fig. 3. Since the SAR continuously transmits signals to the same target range along the moving path, the coherence time of the azimuth direction becomes long, so that the synthetic aperture length becomes large, and the antenna beam width no longer constrains the azimuth resolution. However, imaging is performed using a beam-forming device, and the image coverage area is usually small, and the maximum range is the beam width of the antenna. It differs from the stripe pattern mainly in that: the beaming mode can provide better azimuth resolution when using the same physical antenna; the beaming mode provides more viewing angles in one area that is likely to be imaged; the beamforming mode may more effectively acquire multiple small areas.
Step S13: and calling a preset calculation function to calculate the coverage area of the synthetic aperture radar for the imaging area information so as to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar.
Step S14: and generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set.
In this embodiment, unmanned aerial vehicle route planning refers to planning a feasible optimal route under multiple constraint conditions such as battlefield threat and unmanned aerial vehicle performance. The unmanned aerial vehicle flight environment refers to a physical space that the unmanned aerial vehicle flies through when performing a flight task. There are various threats to the physical space, such as terrain elevation, meteorological environment, local air fire and radar deployment. When the state of the SAR scan region changes (e.g., becomes a threat region) and overlaps with the currently non-executed flight path, the present invention should have the ability to dynamically route the imaged region as a threat region. The specific dynamic routing process steps are shown in fig. 4. The dynamic route planning comprises the following steps: (1) selection and formatting of flight threat zones. The method comprises the steps that the determination of a flight threat area is determined according to an area identifier generated by area telemetry data, when the area identifier is 'threat', dynamic route planning is executed, and imaging area information in an SAR scanning data area management module is input into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information; (2) The navigation point type is the navigation point to be adjusted which is not flown, and the navigation point to be adjusted in the current navigation route which is not flown yet is a straight line connected by a series of navigation points. The information of the navigation point can be described as: wayPoint= { x, y, (S1, S2 …, sn) }, wherein x, y are navigation point space coordinates, real number codes, (S1, S2 …, sn) represent the state of navigation points, record whether navigation points have already flown; (3) Dynamically adjusting the navigation point to be adjusted based on the region identification, the imaging region information and the service requirement: in the flight process, besides being constrained by the wiry area, in the course of selecting a route, a certain factor needs to be considered to dynamically adjust the navigation point to be adjusted, for example, the weight L of the residual fuel, because the unmanned aerial vehicle carries the fuel with itself to be limited, the maximum range or the residual range of the route must be limited in order to ensure that the unmanned aerial vehicle can return smoothly; the minimum straight flight distance S is required to keep a section of straight flight state before and after turning maneuver of the unmanned aerial vehicle in order to ensure that the unmanned aerial vehicle flies more safely and accurately, and the minimum straight flight distance becomes the minimum flight distance; maximum corner θ. Since the route is composed of a series of short straight lines, the so-called corner, i.e. the angle between the short straight lines connecting the two ends, the maximum corner θmax=max, the unmanned aerial vehicle usually has a minimum turning radius, and the maximum corner of the route is determined by the minimum turning radius; and transmitting the region identification, the imaging region information and the service requirements into a dynamic route planning module for operation to obtain a target navigation point set. (5) And replacing the navigation points to be adjusted, which are of the type of the navigation points and are not flown, with the target navigation point set.
In the embodiment, acquiring region telemetry data of a working region of the unmanned aerial vehicle synthetic aperture radar, and analyzing the region telemetry data to obtain working region parameter information; acquiring position information and attitude information of the unmanned aerial vehicle synthetic aperture radar, and performing imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information; invoking a preset calculation function to calculate the coverage area of the synthetic aperture radar for the imaging area information to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar; and generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set. According to the application, the geographic information system is used as a map component for displaying situation information, and is combined with the data of the onboard synthetic aperture radar imaging area of the unmanned aerial vehicle, the data of the scanning area of the synthetic aperture radar is combined with the data of the geographic information system to display more clearly, accurately and timely, the irradiation range of the data is calculated and displayed in a superimposed manner with the situation map of the existing unmanned aerial vehicle, the scanning area analysis is carried out by fusing the multivariate data, more accurate and efficient basis is provided for task execution, the problem that the scanning area and the scanned area cannot be observed when the unmanned aerial vehicle executes the task is solved, and the real-time adjustment of unmanned aerial vehicle route planning is realized by judging whether the unmanned aerial vehicle route is abnormal or not, so that the emergency situation appears in unmanned aerial vehicle situation image drawing is solved, and the work of other load devices on the unmanned aerial vehicle can be automatically triggered according to the coverage situation of the scanning area and the target point or the target area, so that the application scene of the unmanned aerial vehicle for automatically and intelligently executing the task is enriched.
Referring to fig. 5, the embodiment of the application discloses a method for drawing a situation image and adjusting a route of an unmanned aerial vehicle, which specifically comprises the following steps:
step S21: acquiring initial region telemetry data sent by communication equipment corresponding to the unmanned aerial vehicle by using a local communication module, analyzing the initial region telemetry data according to a communication protocol to obtain the region telemetry data, sending the region telemetry data to a local situation fusion processing display module, and respectively sending the region telemetry data to each sub-module in the situation fusion processing display module, so that each sub-module respectively analyzes and calculates the region telemetry data according to the functions of the sub-module to obtain working region parameter information; the functions comprise task route display, historical track display and historical target point display.
The application adopts the map navigation function (map loading, map display and map layer management) provided by the ArcGIS geographic information system secondary development tool, the map element drawing function, SAR scanning data and SAR configuration parameter data downloaded by a data chain, calculates an irradiation area in real time through the operation of the position relation data of an unmanned aerial vehicle, and superimposes and draws the irradiation area with other situation information in a situation map to form a graphical fusion display situation map containing information required by a task. The front-side view airborne SAR geometric model is shown in fig. 6, and an O-XYZ coordinate system (hereinafter referred to as "space coordinate system") is established in space, wherein OXY represents the ground plane; the straight line L represents the flight track of the unmanned aerial vehicle, namely the azimuth direction, and is parallel to the Y axis; assuming that the unmanned aerial vehicle is located at the S point at a certain moment; point P represents the projection of the radar on the ground plane; θl represents a radar antenna down view angle; t is the center of the antenna beam on the ground plane, and r0 represents the slant distance of the T point at the center moment of the synthetic aperture. Then, the coordinates of the drone S may be expressed as The coordinates of the target point T point can be expressed as +.> Based on the geometric model, the attitude parameters (such as pitch angle and roll angle of the unmanned aerial vehicle) of the unmanned aerial vehicle and the information such as parameters of a synthetic aperture radar system, antenna parameters, geometric parameters, scene parameters and the like are combined, coverage information of the synthetic aperture radar is calculated, and the information is developed for the second time by using a GIS system and then displayed on a user interface.
Step S22: and acquiring position information and attitude information of the unmanned aerial vehicle synthetic aperture radar, and performing imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information.
Step S23: performing parameter conversion on the imaging region information to obtain region parameters, and inputting the region parameters into a preset calculation function to perform synthetic aperture radar coverage region calculation to obtain synthetic aperture radar coverage region information; drawing an unmanned aerial vehicle situation image by using a preset situation image layer based on the coverage area information of the synthetic aperture radar; the unmanned aerial vehicle situation image comprises a real-time scanning area graph and a historical scanning area graph.
Step S24: and generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set.
The system architecture design of the present application is shown in fig. 7, comprising: (1) The data link/communication module receives regional telemetry data from communication equipment such as a network, a serial port, a satellite and the like, analyzes the regional telemetry data according to a communication protocol, and then transmits the analyzed regional telemetry data to the situation fusion display module; (2) The task planning module is divided into a static planning sub-module and a dynamic planning sub-module, and the dynamic planning sub-module is mainly realized and used in the application; (3) The GIS-based situation fusion display module processes the transmitted regional telemetry data, determines the attribution module of the data according to different frame identifications, transmits the data to the corresponding sub-display modules for further analysis and calculation, and then fuses and displays the drawing results of all the display modules on a GIS layer; (4) Mission course displays, which relate to the target area where SAR scanning is required. The planned route should combine the detection capability of the current loading SAR to cover the scanned area as much as possible, and when the unmanned aerial vehicle flies to the target area range, SAR equipment is started to image the target area; (5) The unmanned aerial vehicle and the historical track display, in order to know the real-time position of the unmanned aerial vehicle and the relative position relation when the SAR is started for scanning, the position of the aircraft and the historical track need to be displayed in real time, so that the historical data analysis can be conveniently carried out later; (6) Displaying SAR scanning areas, and displaying imaging areas of SAR in different working modes; (7) The target point display, in order to observe or scout the target point, the target point needs to be displayed on a situation map in an image mode, and when a real-time or historical SAR scanning area covers the target point, the observation or scout is effective; (8) And other situation information is fused and displayed on the situation map, and the other situation information related to the task is displayed. The method comprises the following specific steps: (1) Judging whether the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started or not according to the SAR equipment working state parameters, and if the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar and the flow SAR data management function can be started, executing the acquisition of the regional telemetry data. (2) Determining regional parameter information of SAR equipment during working, and acquiring through telemetry data, such as antenna azimuth, pitch angle, working mode, strip imaging close range, strip imaging long range, bunching imaging center distance, bunching imaging scanning radius and the like; (3) Determining position information and attitude information of the unmanned aerial vehicle, such as longitude and latitude height, course angle, pitch angle, roll angle and the like of the aircraft; (4) Calculating imaging region information in a bunching mode or a stripe mode through a coordinate transformation algorithm and a position relation algorithm; (5) Converting the imaging region information into an input parameter object of a GIS system secondary development drawing module, and calling a GIS interface to draw a real-time scanning region graph and a historical scanning region graph on a situation map layer; (6) And monitoring the state of the SAR real-time scanning area, and judging whether threat identification occurs. When the threat identification is generated, judging whether the current non-executed flight path passes through a threat zone, if the non-executed flight path is covered by the threat zone, adding the threat zone (SAR real-time scanning zone) into a path dynamic planning module to generate a new non-executed flight path; (7) According to different execution task types, based on the program framework, the application scenes such as automatic calculation, automatic addition of target points, calculation of target area coverage rate and the like can be expanded.
And finally, transmitting the regional parameters into corresponding SAR irradiation range calculation functions, obtaining scanning regional information through operation, converting the scanning regional information through GIS, obtaining coverage region information of the synthetic aperture radar, and drawing and displaying the coverage region information in the GIS. According to the types of the maps, the GIS is generally divided into two types, namely a vector map and an image map, and after a user selects to load the vector map or the image map according to the needs, the scanning area information of SAR is overlapped on the vector/image map in a semitransparent mode. Fig. 8 is a schematic view of a vector map SAR scan, and fig. 9 is a schematic view of an image map SAR scan.
In the embodiment, acquiring region telemetry data of a working region of the unmanned aerial vehicle synthetic aperture radar, and analyzing the region telemetry data to obtain working region parameter information; acquiring position information and attitude information of the unmanned aerial vehicle synthetic aperture radar, and performing imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information; invoking a preset calculation function to calculate the coverage area of the synthetic aperture radar for the imaging area information to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar; and generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set. According to the application, the geographic information system is used as a map component for displaying situation information, and is combined with the data of the onboard synthetic aperture radar imaging area of the unmanned aerial vehicle, the data of the scanning area of the synthetic aperture radar is combined with the data of the geographic information system to display more clearly, accurately and timely, the irradiation range of the data is calculated and displayed in a superimposed manner with the situation map of the existing unmanned aerial vehicle, the scanning area analysis is carried out by fusing the multivariate data, more accurate and efficient basis is provided for task execution, the problem that the scanning area and the scanned area cannot be observed when the unmanned aerial vehicle executes the task is solved, and the real-time adjustment of unmanned aerial vehicle route planning is realized by judging whether the unmanned aerial vehicle route is abnormal or not, so that the emergency situation appears in unmanned aerial vehicle situation image drawing is solved, and the work of other load devices on the unmanned aerial vehicle can be automatically triggered according to the coverage situation of the scanning area and the target point or the target area, so that the application scene of the unmanned aerial vehicle for automatically and intelligently executing the task is enriched.
Referring to fig. 10, the embodiment of the invention discloses an unmanned aerial vehicle situation image drawing and course adjustment device, which specifically comprises:
the data analysis module 11 is used for acquiring the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region and analyzing the region telemetry data to obtain the working region parameter information;
the imaging area range real-time calculation module 12 is configured to obtain position information and pose information of the unmanned aerial vehicle synthetic aperture radar, and calculate an imaging area range in real time for the position information, the pose information and the working area parameter information to obtain imaging area information;
the unmanned aerial vehicle situation image drawing module 13 is used for calling a preset calculation function to calculate the coverage area of the synthetic aperture radar on the imaging area information so as to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar;
the navigation point adjustment module 14 is configured to generate an area identifier based on the area telemetry data, determine whether the imaging area information is abnormal according to the area identifier, if the imaging area information is abnormal, input the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screen navigation points to be adjusted, which are not flown, from the route information, and dynamically adjust the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set.
In the embodiment, acquiring region telemetry data of a working region of the unmanned aerial vehicle synthetic aperture radar, and analyzing the region telemetry data to obtain working region parameter information; acquiring position information and attitude information of the unmanned aerial vehicle synthetic aperture radar, and performing imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information; invoking a preset calculation function to calculate the coverage area of the synthetic aperture radar for the imaging area information to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar; and generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set. According to the application, the geographic information system is used as a map component for displaying situation information, and is combined with the data of the onboard synthetic aperture radar imaging area of the unmanned aerial vehicle, the data of the scanning area of the synthetic aperture radar is combined with the data of the geographic information system to display more clearly, accurately and timely, the irradiation range of the data is calculated and displayed in a superimposed manner with the situation map of the existing unmanned aerial vehicle, the scanning area analysis is carried out by fusing the multivariate data, more accurate and efficient basis is provided for task execution, the problem that the scanning area and the scanned area cannot be observed when the unmanned aerial vehicle executes the task is solved, and the real-time adjustment of unmanned aerial vehicle route planning is realized by judging whether the unmanned aerial vehicle route is abnormal or not, so that the emergency situation appears in unmanned aerial vehicle situation image drawing is solved, and the work of other load devices on the unmanned aerial vehicle can be automatically triggered according to the coverage situation of the scanning area and the target point or the target area, so that the application scene of the unmanned aerial vehicle for automatically and intelligently executing the task is enriched.
In some specific embodiments, the data parsing module 11 may specifically include:
the parameter acquisition module is used for acquiring equipment state parameters of the unmanned aerial vehicle synthetic aperture radar;
and the judging module is used for judging whether the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started or not based on the equipment state parameters, and executing the acquisition flow of the regional telemetry data if the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started.
In some specific embodiments, the data parsing module 11 may specifically include:
the initial region telemetry data acquisition module is used for acquiring initial region telemetry data sent by communication equipment corresponding to the unmanned aerial vehicle by utilizing the local communication module;
the analysis module is used for analyzing the initial region telemetry data according to a communication protocol to obtain the region telemetry data, and sending the region telemetry data to the local situation fusion processing display module.
In some specific embodiments, the data parsing module 11 may specifically include:
the analysis calculation module is used for respectively sending the region telemetry data to each sub-module in the situation fusion processing display module so that each sub-module respectively carries out analysis calculation on the region telemetry data according to the function of the sub-module so as to obtain working region parameter information; the functions comprise task route display, historical track display and historical target point display.
In some specific embodiments, the imaging area range real-time calculation module 12 may specifically include:
the information acquisition module is used for acquiring first position information and first posture information of the unmanned aerial vehicle synthetic aperture radar in a strip mode and acquiring second position information and second posture information of the unmanned aerial vehicle synthetic aperture radar in a beam-focusing mode at the same time; the location information includes the first location information and the second location information; the gesture information includes the first gesture information and the second gesture information.
In some specific embodiments, the imaging area range real-time calculation module 12 may specifically include:
the model building module is used for building an unmanned aerial vehicle synthetic aperture radar geometric model based on the first position information, the second position information, the first gesture information and the second gesture information;
and the real-time calculation module is used for carrying out real-time calculation on the imaging area range based on the unmanned aerial vehicle synthetic aperture radar geometric model and the working area parameter information so as to obtain imaging area information.
In some specific embodiments, the unmanned aerial vehicle situation image drawing module 13 may specifically include:
The calculation module is used for carrying out parameter conversion on the imaging area information to obtain area parameters, and inputting the area parameters into a preset calculation function to calculate a coverage area of the synthetic aperture radar so as to obtain coverage area information of the synthetic aperture radar;
the image drawing module is used for drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar and by utilizing a preset situation layer; the unmanned aerial vehicle situation image comprises a real-time scanning area graph and a historical scanning area graph.
Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input output interface 25, and a communication bus 26. The memory 22 is configured to store a computer program, where the computer program is loaded and executed by the processor 21 to implement relevant steps in the unmanned aerial vehicle situation image drawing and course adjustment method performed by the electronic device disclosed in any of the foregoing embodiments.
In this embodiment, the power supply 23 is configured to provide an operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and an external device, and the communication protocol to be followed is any communication protocol applicable to the technical solution of the present application, which is not specifically limited herein; the input/output interface 25 is used for acquiring external input data or outputting external output data, and the specific interface type thereof may be selected according to the specific application requirement, which is not limited herein.
The memory 22 may be a carrier for storing resources, such as a read-only memory, a random access memory, a magnetic disk, or an optical disk, and the resources stored thereon include an operating system 221, a computer program 222, and data 223, and the storage may be temporary storage or permanent storage.
The operating system 221 is used for managing and controlling various hardware devices on the electronic device 20 and the computer program 222, so as to implement the operation and processing of the data 223 in the memory 22 by the processor 21, which may be Windows, unix, linux or the like. The computer program 222 may further include a computer program that can be used to perform other specific tasks in addition to the computer program that can be used to perform the unmanned aerial vehicle situation image rendering and course adjustment methods performed by the electronic device 20 disclosed in any of the foregoing embodiments. The data 223 may include, in addition to data received by the unmanned plane situation image drawing and route adjustment device and transmitted by an external device, data collected by the own input/output interface 25, and the like.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Further, the embodiment of the application also discloses a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is loaded and executed by a processor, the steps of the unmanned plane situation image drawing and route adjustment method disclosed in any embodiment are realized.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The method, the device, the equipment and the storage medium for drawing the situation image and adjusting the navigation path of the unmanned aerial vehicle provided by the invention are described in detail, and specific examples are applied to the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. The unmanned aerial vehicle situation image drawing and course adjusting method is characterized by comprising the following steps of:
acquiring region telemetry data of a working region of the unmanned aerial vehicle synthetic aperture radar, and analyzing the region telemetry data to obtain working region parameter information;
acquiring position information and attitude information of the unmanned aerial vehicle synthetic aperture radar, and performing imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information;
invoking a preset calculation function to calculate the coverage area of the synthetic aperture radar for the imaging area information to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar;
And generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set.
2. The unmanned aerial vehicle situation image drawing and course adjustment method according to claim 1, wherein before obtaining the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region, further comprises:
acquiring equipment state parameters of the unmanned aerial vehicle synthetic aperture radar;
and judging whether the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started or not based on the equipment state parameters, and executing the acquisition flow of the regional telemetry data if the data receiving and processing function of the unmanned aerial vehicle synthetic aperture radar can be started.
3. The unmanned aerial vehicle situation image drawing and course adjustment method according to claim 1, wherein the acquiring the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region comprises:
Acquiring initial region telemetry data sent by communication equipment corresponding to the unmanned aerial vehicle by using a local communication module;
analyzing the initial region telemetry data according to a communication protocol to obtain the region telemetry data, and sending the region telemetry data to a local situation fusion processing display module.
4. The unmanned aerial vehicle situation image drawing and course adjustment method of claim 3, wherein the analyzing the region telemetry data to obtain the operating region parameter information comprises:
the regional telemetry data are respectively sent to each sub-module in the situation fusion processing display module, so that each sub-module respectively analyzes and calculates the regional telemetry data according to the functions of the sub-module to obtain working regional parameter information; the functions comprise task route display, historical track display and historical target point display.
5. The unmanned aerial vehicle situation image drawing and course adjustment method according to claim 1, wherein the acquiring the position information and the attitude information of the unmanned aerial vehicle synthetic aperture radar comprises:
acquiring first position information and first posture information of the unmanned aerial vehicle synthetic aperture radar in a strip mode, and acquiring second position information and second posture information of the unmanned aerial vehicle synthetic aperture radar in a beam-focusing mode; the location information includes the first location information and the second location information; the gesture information includes the first gesture information and the second gesture information.
6. The unmanned aerial vehicle situation image drawing and course adjustment method according to claim 5, wherein the performing imaging region range real-time calculation on the position information, the posture information and the working region parameter information to obtain imaging region information comprises:
establishing an unmanned aerial vehicle synthetic aperture radar geometric model based on the first position information, the second position information, the first gesture information and the second gesture information;
and carrying out real-time calculation on the imaging area range based on the unmanned aerial vehicle synthetic aperture radar geometric model and the working area parameter information so as to obtain imaging area information.
7. The unmanned aerial vehicle situation image drawing and course adjustment method according to any one of claims 1 to 6, wherein the calling a preset calculation function to calculate the synthetic aperture radar coverage area of the imaging area information to obtain synthetic aperture radar coverage area information, drawing an unmanned aerial vehicle situation image based on the synthetic aperture radar coverage area information, comprises:
performing parameter conversion on the imaging region information to obtain region parameters, and inputting the region parameters into a preset calculation function to perform synthetic aperture radar coverage region calculation to obtain synthetic aperture radar coverage region information;
Drawing an unmanned aerial vehicle situation image by using a preset situation image layer based on the coverage area information of the synthetic aperture radar; the unmanned aerial vehicle situation image comprises a real-time scanning area graph and a historical scanning area graph.
8. Unmanned aerial vehicle situation image draws and route adjusting device, its characterized in that includes:
the data analysis module is used for acquiring the region telemetry data of the unmanned aerial vehicle synthetic aperture radar working region and analyzing the region telemetry data to obtain the working region parameter information;
the imaging area range real-time calculation module is used for acquiring the position information and the attitude information of the unmanned aerial vehicle synthetic aperture radar, and carrying out imaging area range real-time calculation on the position information, the attitude information and the working area parameter information to obtain imaging area information;
the unmanned aerial vehicle situation image drawing module is used for calling a preset calculation function to calculate the coverage area of the synthetic aperture radar on the imaging area information so as to obtain the coverage area information of the synthetic aperture radar, and drawing an unmanned aerial vehicle situation image based on the coverage area information of the synthetic aperture radar;
the navigation point adjustment module is used for generating an area identifier based on the area telemetry data, judging whether the imaging area information is abnormal or not according to the area identifier, if the imaging area information is abnormal, inputting the imaging area information into a preset unmanned aerial vehicle dynamic route planning adjustment algorithm to obtain route information, screening navigation points to be adjusted, of which the navigation point types are not flown, from the route information, and dynamically adjusting the navigation points to be adjusted based on the area identifier, the imaging area information and service requirements to obtain a target navigation point set.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the unmanned aerial vehicle situation image drawing and course adjustment method according to any one of claims 1 to 7.
10. A computer-readable storage medium for storing a computer program; wherein the computer program when executed by a processor implements the unmanned aerial vehicle situation image drawing and course adjustment method according to any one of claims 1 to 7.
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