CN117130393A - Unmanned aerial vehicle no-fly zone around-the-fly analysis method and system - Google Patents
Unmanned aerial vehicle no-fly zone around-the-fly analysis method and system Download PDFInfo
- Publication number
- CN117130393A CN117130393A CN202311396900.8A CN202311396900A CN117130393A CN 117130393 A CN117130393 A CN 117130393A CN 202311396900 A CN202311396900 A CN 202311396900A CN 117130393 A CN117130393 A CN 117130393A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- fly zone
- fly
- around
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004458 analytical method Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 38
- 239000013598 vector Substances 0.000 claims description 31
- 238000004804 winding Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 9
- 238000000926 separation method Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 238000012216 screening Methods 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 230000001788 irregular Effects 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 7
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a method and a system for analyzing the detour of an unmanned aerial vehicle no-fly zone, which relate to the field of no-fly of unmanned aerial vehicles, and comprise the steps of s1, confirming information of the no-fly zone and performing self-checking; s2, continuously judging whether the unmanned plane path passes through a no-fly zone, if not, carrying out S3; if so, constructing an circumscribed circle according to the crossing line, judging the detour direction, calculating and flying to a detour point on the circular arc, correcting the unmanned plane path, repeating s2, and regarding the circumscribed circle: two end points of the intersection line of the unmanned plane path and the no-fly zone, the current position of the unmanned plane is nearest to the sequential boundary point, and the three points form an circumscribed circle; and s3, carrying out expected path flight. According to the unmanned aerial vehicle no-fly zone around-flight analysis method and system, the irregular no-fly zone is subjected to around-flight, the no-fly zone can be smoothly avoided, the unmanned aerial vehicle no-fly zone is legal and efficient in flight, the method is simple and convenient, and the calling of calculation resources is few.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle no-fly, in particular to a method and a system for analyzing the winding flight of an unmanned aerial vehicle no-fly zone.
Background
The unmanned aerial vehicle encounters a no-fly zone, an intelligent processing algorithm is needed to guide the flight, and in the prior art, CN116382352B avoids complex turning and frequent acceleration and deceleration of the unmanned aerial vehicle in the flight process of bypassing the no-fly zone; by planning a smooth flight path suitable for operation for the unmanned aerial vehicle to bypass the no-fly zone, the unmanned aerial vehicle is controlled to fly stably, so that the flying speed of the fixed-wing unmanned aerial vehicle is not lower than a specified value, and the safe and efficient operation of the unmanned aerial vehicle is ensured;
in the prior art EP3001861A4, a device for providing a flight response to a flight restricted area is disclosed. The position of the Unmanned Aerial Vehicle (UAV) may be compared to the position of the flight restriction area. If necessary, the unmanned aerial vehicle can take flight reaction measures to prevent the unmanned aerial vehicle from flying in the no-fly zone. Different flight response measures can be taken according to the distance between the unmanned aerial vehicle and the flight limited area and the jurisdiction in which the unmanned aerial vehicle is located.
The application avoids global path planning, adopts a local detour mode, and provides a novel no-fly zone detour technology based on dynamic geometric constraint.
Disclosure of Invention
The application discloses a method and a system for analyzing the winding flight of an unmanned aerial vehicle in a no-fly zone, which solve the problems in the prior art.
In a first aspect, a method for analyzing a fly around of a no-fly zone of an unmanned aerial vehicle includes:
s1, confirming information and performing self-checking on a no-fly zone;
s2, continuously judging whether the unmanned plane path passes through a no-fly zone, if not, carrying out S3;
if so, constructing an circumscribed circle according to the crossing line, judging the detour direction, calculating and flying to a detour point on the circular arc, correcting the unmanned plane path, repeating s2, and regarding the circumscribed circle: two end points of the intersection line of the unmanned plane path and the no-fly zone, the current position of the unmanned plane is nearest to the sequential boundary point, and the three points form an circumscribed circle;
and s3, carrying out expected path flight.
Further, s2 specifically includes: s21, analyzing the relation between the speed direction of the current position of the unmanned aerial vehicle and the connecting line of the current position and the circumscribed circle, determining the winding direction, selecting the circumscribed circle tangent line consistent with the winding direction, and flying towards the tangent point arc line of the circumscribed circle in the speed direction of the current position;
and S22, after the unmanned aerial vehicle flies to the tangent point, constructing the tangent point and the end point to form a desired path, if the desired path and the circumscribed circle are only tangent points, executing S3, if the desired path and the circumscribed circle have two intersection points, taking the other intersection point except the tangent point as an intermediate separation point, and executing S2 after the unmanned aerial vehicle flies around the circumscribed circle along the arc of the circumscribed circle to the intermediate separation point.
Further, s2, continuously determining whether the unmanned plane path passes through the no-fly zone, if not, performing s3, which specifically includes:
regarding determining whether the unmanned aerial vehicle path crosses the no-fly zone:
the unmanned plane receives the information of the no-fly zone, self-checks, reduces the dimension, and then on a two-dimensional horizontal plane, for a horizontal or vertical straight line passing through the position point of the unmanned plane, the straight line passes through a plurality of closed no-fly zone vectors connected end to end, calculating the cross multiplication of the passing no-fly zone vector and the position point vector of the no-fly zone vector from the head end of the no-fly zone vector to the unmanned plane, calculating the vector cross multiplication of the two vectors comprising the straight line passing no-fly zone vector, counting the change times of the cross direction, judging that the unmanned plane is outside the no-fly zone when the change times are odd, otherwise, the method is reverse.
Further, s1, performing information confirmation and self-checking on the no-fly zone, includes:
the unmanned aerial vehicle sends GPS information to the base station;
the base station screens adjacent no-fly zones based on GPS information, and the screening is completed to send no-fly zone information to the unmanned aerial vehicle;
the base station confirms the no-fly zone instruction;
the base station judges whether to start a no-fly zone;
when the base station judges that the no-fly zone is opened, the base station sends a no-fly zone limiting instruction to the unmanned aerial vehicle and builds exclusive communication with the unmanned aerial vehicle;
and at the self-checking moment, forming a polygon of a no-fly zone, enabling the unmanned aerial vehicle to be static relative to the no-fly zone, numbering and connecting the outer end points of the forming closed zone of the no-fly zone, forming a plurality of no-fly zone vectors with end-to-end connection vectors of 0, and constructing the same coordinate system of GPS information of the unmanned aerial vehicle and no-fly zone vector information, wherein the same coordinate system is a coordinate system of a two-dimensional horizontal plane.
Further, when the change is even and repeated, the unmanned aerial vehicle is in the forbidden zone, and the power core of the unmanned aerial vehicle is blocked.
Further, when the change is odd times, the unmanned aerial vehicle is outside the no-fly zone, whether the route of the unmanned aerial vehicle passes through the no-fly zone is judged, and when the route of the unmanned aerial vehicle passes through the no-fly zone, the speed of the unmanned aerial vehicle is limited on the running path, and the method comprises the following steps:
judging whether the nearest distance between the unmanned aerial vehicle and the no-fly zone is greater than the safe distance,
when the nearest distance is smaller than the safety distance, limiting speed and stopping;
when the nearest distance is larger than the safety distance, limiting the unmanned aerial vehicle to limit the current maximum speed according to the maximum braking acceleration of the unmanned aerial vehicle;
the shortest distance between the unmanned aerial vehicle and the no-fly zone is the distance between the unmanned aerial vehicle and the intersection point of the no-fly zone boundary on the extension line according to the calculated current speed direction.
Further, the method further comprises the step of judging the relative positions of the unmanned aerial vehicle and the no-fly zone, when the unmanned aerial vehicle is outside the no-fly zone for odd times, judging that the unmanned aerial vehicle is positioned on the left side, the right side, the upper side, the lower side or the vector of the passing no-fly zone according to the positive and negative of the cross multiplication of the passing no-fly zone vector and the position point vector of the no-fly zone vector from the head end to the unmanned aerial vehicle, and traversing and judging to obtain the position relation of the unmanned aerial vehicle outside the no-fly zone.
Further, the method also comprises the dynamic constraint on the unmanned aerial vehicle, comprising:
limiting the arc of the unmanned aerial vehicle to fly around, setting a safety radius according to the current radius of the fly around, adding the safety radius and the fly around radius as the expansion fly around radius, obtaining maximum expanded fly around data, and dynamically restricting the flying speed of the unmanned aerial vehicle according to the fly around data, the distance from the current position to the middle separation point and the maximum braking speed of the airplane, and simultaneously obtaining the turning rate data of the fly around.
In a second aspect, the application provides an unmanned aerial vehicle no-fly zone around-fly analysis system, which comprises an unmanned aerial vehicle and a base station, wherein the unmanned aerial vehicle and the base station are matched to realize the unmanned aerial vehicle no-fly zone around-fly analysis method according to any one of the first aspect, the base station interacts with the unmanned aerial vehicle, and the relative relation between the unmanned aerial vehicle and the no-fly zone is analyzed under the combined action of the base station and the unmanned aerial vehicle, so that the movement of the unmanned aerial vehicle relative no-fly zone is limited, and the unmanned aerial vehicle around-fly no-fly zone is realized.
The principle of the application is as follows:
firstly, judging the position relation between the unmanned aerial vehicle and the no-fly zone, converting gps data into two-dimensional coordinate data, combining information of a base station on the no-fly zone, carrying out vector processing, converting a three-dimensional cross product into two-dimensional cross multiplication, wherein positive and negative modes exist in the cross multiplication, and the positive and negative changes caused by sequential cross multiplication reveal the relative positions of the unmanned aerial vehicle and the no-fly zone, namely, when the change is carried out for odd times, the unmanned aerial vehicle is outside the no-fly zone, otherwise, the three-dimensional cross product is changed into two-dimensional cross multiplication. Then when the unmanned aerial vehicle is outside the no-fly zone, and the unmanned aerial vehicle passes through the around-fly zone, executing the around-fly analysis, and executing the irregular no-fly zone around-fly strategy as a minimum unit around-fly strategy: the circumscribed circle flies around, and the circular arc flies around to the middle separation point; and opening the next minimum unit fly-around strategy. And the method also comprises the step of dynamically restraining the unmanned aerial vehicle according to the maximum braking speed in the process.
The application has the beneficial effects that:
according to the unmanned aerial vehicle no-fly zone around-flight analysis method and system, the irregular no-fly zone is subjected to around-flight, the no-fly zone can be smoothly avoided, the unmanned aerial vehicle no-fly zone is legal and efficient in flight, the method is simple and convenient, and the calling of calculation resources is few.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
fig. 1 is a schematic diagram of a method for analyzing a fly around of an unmanned aerial vehicle in an off-air zone according to an exemplary embodiment of the present application.
Fig. 2 is a schematic diagram of another method for analyzing a fly around of an unmanned aerial vehicle in accordance with an exemplary embodiment of the present application.
Fig. 3 is a flowchart of a method for analyzing a fly around of a no-fly zone of an unmanned aerial vehicle according to still another exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The unmanned aerial vehicle encounters a no-fly zone, an intelligent processing algorithm is needed to guide the flight, and in the prior art, CN116382352B avoids complex turning and frequent acceleration and deceleration of the unmanned aerial vehicle in the flight process of bypassing the no-fly zone; by planning a smooth flight path suitable for operation for the unmanned aerial vehicle to bypass the no-fly zone, the unmanned aerial vehicle is controlled to fly stably, so that the flying speed of the fixed-wing unmanned aerial vehicle is not lower than a specified value, and the safe and efficient operation of the unmanned aerial vehicle is ensured;
in the prior art EP3001861A4, a device for providing a flight response to a flight restricted area is disclosed. The position of the Unmanned Aerial Vehicle (UAV) may be compared to the position of the flight restriction area. If necessary, the unmanned aerial vehicle can take flight reaction measures to prevent the unmanned aerial vehicle from flying in the no-fly zone. Different flight response measures can be taken according to the distance between the unmanned aerial vehicle and the flight limited area and the jurisdiction in which the unmanned aerial vehicle is located.
The application avoids global path planning, adopts a local detour mode, and provides a novel no-fly zone detour technology based on dynamic geometric constraint.
The application scene of the application is that the unmanned plane carries the flight strategy conventionally.
In the case of example 1,
the application provides a method for analyzing the winding flight of an unmanned aerial vehicle in a no-fly zone, which comprises the following steps:
a wraparound analysis and implementation including a plurality of minimum units;
in the fly-around analysis and implementation of a minimum unit, the method comprises the following steps:
judging that the flying coil is in the process of winding: information confirmation and self-checking are carried out on the no-fly zone,
if the flying object is not in the winding flight, judging whether the expected path passes through the no-fly zone: continuously judging whether the unmanned plane path passes through the no-fly zone;
if the expected path does not pass through the no-fly zone, the expected path is flown directly, and meanwhile, the winding and flying state is clear;
if the expected path passes through the no-fly zone, calculating a fly-around point, and then changing the target position, namely adding the fly-around point on the expected path of the current unmanned aerial vehicle reaching the terminal point, and setting a fly-around state;
if the flying spot is around, judging whether the flying spot is around, and if the flying spot is around, ending, wherein the flying spot is analyzed as follows:
constructing an circumscribed circle according to the crossing line, judging the detour direction, calculating and flying to a detour point on the circular arc, correcting the path of the unmanned aerial vehicle, and regarding the circumscribed circle: two end points of the intersection line of the unmanned plane path and the no-fly zone, the current position of the unmanned plane is nearest to the sequential boundary point, and the three points form an circumscribed circle; analyzing the relation between the speed direction of the current position of the unmanned aerial vehicle and the connecting line of the current position and the circumscribed circle, determining the winding direction, selecting the circumscribed circle tangent line consistent with the winding direction, setting the winding state in the speed direction of the current position, and flying towards the tangent point arc line of the circumscribed circle; after the unmanned aerial vehicle flies to the tangent point, constructing a tangent point and an end point to form a desired path, if the desired path and the circumscribed circle only have the tangent point, executing the flight of the desired path, if the desired path and the circumscribed circle have two intersection points, taking the other intersection point except the tangent point as an intermediate separation point, setting a fly-around state, and enabling the unmanned aerial vehicle to fly around the arc of the circumscribed circle to the intermediate separation point and then executing the flight of the desired path;
in embodiment 1, in the technical scheme of implementing the method for analyzing the fly-around of the no-fly zone of the unmanned aerial vehicle, the base station transmits Longitude and Latitude (LLA) data of boundary points of the no-fly zone, and the unmanned aerial vehicle acquires a current GPS position (LLA), namely a Longitude and Latitude (longitudes), latitude (latitudes) and Altitude (altitudes) LLA coordinate system. Since the earth is a sphere, the following applies: arc length=radius of curvature=radian, and the arc length (corresponding to the distance between both sides) can be obtained, and the radius of curvature is known (here, the radius of earth).
In the several embodiments provided by the present application, it should be understood that the disclosed systems and methods may be implemented in other ways. For example, the system embodiments described above are merely illustrative, e.g., the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in hardware plus software functional modules.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
It will be appreciated by those skilled in the art that embodiments of the application may be provided as methods or systems. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
It should also be noted that 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 an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (9)
1. The method for analyzing the detour of the no-fly zone of the unmanned aerial vehicle is characterized by comprising the following steps of:
s1, confirming information and performing self-checking on a no-fly zone;
s2, continuously judging whether the unmanned plane path passes through a no-fly zone, if not, carrying out S3;
if so, constructing an circumscribed circle according to the crossing line, judging the detour direction, calculating and flying to a detour point on the circular arc, correcting the unmanned plane path, repeating s2, and regarding the circumscribed circle: two end points of the intersection line of the unmanned plane path and the no-fly zone, the current position of the unmanned plane is nearest to the sequential boundary point, and the three points form an circumscribed circle;
and s3, carrying out expected path flight.
2. The unmanned aerial vehicle no-fly zone around-the-fly analysis method according to claim 1, wherein s2 specifically comprises: s21, analyzing the relation between the speed direction of the current position of the unmanned aerial vehicle and the connecting line of the current position and the circumscribed circle, determining the winding direction, selecting the circumscribed circle tangent line consistent with the winding direction, and flying towards the tangent point arc line of the circumscribed circle in the speed direction of the current position;
and S22, after the unmanned aerial vehicle flies to the tangent point, constructing the tangent point and the end point to form a desired path, if the desired path and the circumscribed circle are only tangent points, executing S3, if the desired path and the circumscribed circle have two intersection points, taking the other intersection point except the tangent point as an intermediate separation point, and executing S2 after the unmanned aerial vehicle flies around the circumscribed circle along the arc of the circumscribed circle to the intermediate separation point.
3. The method for analyzing the detour of the no-fly zone of the unmanned aerial vehicle according to claim 2, wherein s2 is continuously determined whether the path of the unmanned aerial vehicle passes through the no-fly zone, and if not, s3 is performed, which specifically comprises:
regarding determining whether the unmanned aerial vehicle path crosses the no-fly zone:
the unmanned plane receives the information of the no-fly zone, self-checks, reduces the dimension, and then on a two-dimensional horizontal plane, for a horizontal or vertical straight line passing through the position point of the unmanned plane, the straight line passes through a plurality of closed no-fly zone vectors connected end to end, calculating the cross multiplication of the passing no-fly zone vector and the position point vector of the no-fly zone vector from the head end of the no-fly zone vector to the unmanned plane, calculating the vector cross multiplication of the two vectors comprising the straight line passing no-fly zone vector, counting the change times of the cross direction, judging that the unmanned plane is outside the no-fly zone when the change times are odd, otherwise, the method is reverse.
4. The method for analyzing the detour of the no-fly zone of the unmanned aerial vehicle according to claim 3, wherein s1, the information confirmation and the self-checking of the no-fly zone comprise the following steps:
the unmanned aerial vehicle sends GPS information to the base station;
the base station screens adjacent no-fly zones based on GPS information, and the screening is completed to send no-fly zone information to the unmanned aerial vehicle;
the base station confirms the no-fly zone instruction;
the base station judges whether to start a no-fly zone;
when the base station judges that the no-fly zone is opened, the base station sends a no-fly zone limiting instruction to the unmanned aerial vehicle and builds exclusive communication with the unmanned aerial vehicle;
and at the self-checking moment, forming a polygon of a no-fly zone, enabling the unmanned aerial vehicle to be static relative to the no-fly zone, numbering and connecting the outer end points of the forming closed zone of the no-fly zone, forming a plurality of no-fly zone vectors with end-to-end connection vectors of 0, and constructing the same coordinate system of GPS information of the unmanned aerial vehicle and no-fly zone vector information, wherein the same coordinate system is a coordinate system of a two-dimensional horizontal plane.
5. The method for analyzing the fly around of a no-fly zone of an unmanned aerial vehicle according to claim 4, wherein,
when the change is even and frequent, the unmanned aerial vehicle is in the forbidden zone, and the power core of the unmanned aerial vehicle is blocked.
6. The method for analyzing the fly around of a no-fly zone of an unmanned aerial vehicle according to claim 4, wherein,
when the change is odd, the unmanned aerial vehicle is outside the no-fly zone, whether the route of the unmanned aerial vehicle passes through the no-fly zone is judged, and when the route of the unmanned aerial vehicle passes through the no-fly zone, the speed of the unmanned aerial vehicle on the running path is limited, and the method comprises the following steps:
judging whether the nearest distance between the unmanned aerial vehicle and the no-fly zone is greater than the safe distance,
when the nearest distance is smaller than the safety distance, limiting speed and stopping;
when the nearest distance is larger than the safety distance, limiting the unmanned aerial vehicle to limit the current maximum speed according to the maximum braking acceleration of the unmanned aerial vehicle;
the shortest distance between the unmanned aerial vehicle and the no-fly zone is the distance between the unmanned aerial vehicle and the intersection point of the no-fly zone boundary on the extension line according to the calculated current speed direction.
7. The method for analyzing the flying-around of the unmanned aerial vehicle according to claim 4, further comprising judging the relative positions of the unmanned aerial vehicle and the flying-around area, when the unmanned aerial vehicle is outside the flying-around area for odd times, judging that the unmanned aerial vehicle is positioned on the left side, the right side, the upper side, the lower side or the vectors of the passing flying-around area according to the positive and negative of the cross of the passing flying-around area vector and the head end of the flying-around area vector to the position point vector of the unmanned aerial vehicle, and traversing and judging to acquire the position relation of the unmanned aerial vehicle outside the flying-around area.
8. The unmanned aerial vehicle no-fly zone around-the-fly analysis method of claim 2, further comprising dynamic constraints on the unmanned aerial vehicle, comprising:
limiting the arc of the unmanned aerial vehicle to fly around, setting a safety radius according to the current radius of the fly around, adding the safety radius and the fly around radius as the expansion fly around radius, obtaining maximum expanded fly around data, and dynamically restricting the flying speed of the unmanned aerial vehicle according to the fly around data, the distance from the current position to the middle separation point and the maximum braking speed of the airplane, and simultaneously obtaining the turning rate data of the fly around.
9. An unmanned aerial vehicle no-fly zone around-fly analysis system, which is characterized by comprising an unmanned aerial vehicle and a base station, wherein the unmanned aerial vehicle and the base station are matched to realize the unmanned aerial vehicle no-fly zone around-fly analysis method according to any one of claims 1-8, the base station interacts with the unmanned aerial vehicle, and the relative relation between the unmanned aerial vehicle and the no-fly zone is analyzed by the combined action to limit the movement of the unmanned aerial vehicle relative to the no-fly zone so as to realize the unmanned aerial vehicle around-fly no-fly zone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311396900.8A CN117130393B (en) | 2023-10-26 | 2023-10-26 | Unmanned aerial vehicle no-fly zone around-the-fly analysis method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311396900.8A CN117130393B (en) | 2023-10-26 | 2023-10-26 | Unmanned aerial vehicle no-fly zone around-the-fly analysis method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117130393A true CN117130393A (en) | 2023-11-28 |
| CN117130393B CN117130393B (en) | 2024-01-26 |
Family
ID=88851206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311396900.8A Active CN117130393B (en) | 2023-10-26 | 2023-10-26 | Unmanned aerial vehicle no-fly zone around-the-fly analysis method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117130393B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117406783A (en) * | 2023-12-01 | 2024-01-16 | 成都时代星光科技有限公司 | Unmanned aerial vehicle no-fly zone analysis method and system |
Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150254988A1 (en) * | 2014-04-17 | 2015-09-10 | SZ DJI Technology Co., Ltd | Flight control for flight-restricted regions |
| CN106813667A (en) * | 2017-02-20 | 2017-06-09 | 北京经纬恒润科技有限公司 | A kind of Route planner and device based on no-fly zone constraint |
| CN106909144A (en) * | 2017-01-22 | 2017-06-30 | 无锡卡尔曼导航技术有限公司 | For the unpiloted field obstacle-avoiding route planning of agricultural machinery and its control method |
| CN106959702A (en) * | 2017-05-23 | 2017-07-18 | 广东容祺智能科技有限公司 | A kind of autonomous preventing collision method of unmanned plane and system |
| CN107621198A (en) * | 2017-08-28 | 2018-01-23 | 北京航空航天大学 | A kind of multistep decision-making trajectory planning method around more no-fly zones |
| CN107911793A (en) * | 2017-10-30 | 2018-04-13 | 东南大学 | A kind of unmanned plane arbitrary graphic no-fly zone navigation by recognition system |
| CN108426576A (en) * | 2017-09-15 | 2018-08-21 | 辽宁科技大学 | Aircraft paths planning method and system based on identification point vision guided navigation and SINS |
| KR20190082176A (en) * | 2019-06-28 | 2019-07-09 | 아주대학교산학협력단 | Method and apparatus for providing path for avoiding no drone zone |
| CN110320931A (en) * | 2019-06-20 | 2019-10-11 | 西安爱生技术集团公司 | Unmanned plane avoidance Route planner based on Heading control rule |
| CN110470299A (en) * | 2019-07-30 | 2019-11-19 | 南京理工大学 | A kind of seaway planning algorithm evaded based on round roadblock |
| CN112229414A (en) * | 2020-10-22 | 2021-01-15 | 广州极飞科技有限公司 | Method and device for generating obstacle avoidance route, unmanned equipment and storage medium |
| CN112241178A (en) * | 2020-09-30 | 2021-01-19 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle autonomous safety control method |
| CN112462791A (en) * | 2020-12-02 | 2021-03-09 | 成都时代星光科技有限公司 | Full-automatic high-precision flight landing system and method for airport of vehicle-mounted unmanned aerial vehicle |
| US20210124376A1 (en) * | 2019-10-29 | 2021-04-29 | Honeywell International Inc. | Uav flight management planner |
| CN112859864A (en) * | 2021-01-15 | 2021-05-28 | 大连海事大学 | Unmanned ship-oriented geometric path planning method |
| CN113359840A (en) * | 2021-06-28 | 2021-09-07 | 中国人民解放军国防科技大学 | Rapid construction method and system for three-dimensional space flight path of unmanned aerial vehicle |
| CN113741520A (en) * | 2021-09-01 | 2021-12-03 | 中国航空工业集团公司西安飞行自动控制研究所 | Fixed wing unmanned aerial vehicle no-fly zone avoiding and bypassing method |
| US20220084414A1 (en) * | 2019-01-08 | 2022-03-17 | Suzhou Eavision Robotic Technologies Co., Ltd. | Aircraft operation path planning method, control device and control equipment |
| CN114721427A (en) * | 2022-03-25 | 2022-07-08 | 中国航空无线电电子研究所 | Multi-unmanned aerial vehicle collaborative search and rescue reconnaissance planning method in dynamic environment |
| CN115690741A (en) * | 2022-11-02 | 2023-02-03 | 柳州市东科智慧城市投资开发有限公司 | Unmanned automatic tracking method and device and computer equipment |
| WO2023015864A1 (en) * | 2021-08-13 | 2023-02-16 | 中国民航大学 | Safety-based course changing method in scattered thunderstorm dangerous weather |
| CN115729266A (en) * | 2022-11-29 | 2023-03-03 | 西安电子科技大学 | Unmanned aerial vehicle obstacle avoidance method for effectively tracking preset air route |
| CN115933659A (en) * | 2022-12-07 | 2023-04-07 | 广东嘉腾机器人自动化有限公司 | Mobile robot obstacle avoidance method, storage medium and system |
| CN116382352A (en) * | 2023-06-05 | 2023-07-04 | 中国民用航空飞行学院 | Unmanned aerial vehicle detouring no-fly zone track planning method |
| CN116823604A (en) * | 2023-05-29 | 2023-09-29 | 山东省公安厅机场公安局 | Airport no-fly zone black fly processing method and system |
-
2023
- 2023-10-26 CN CN202311396900.8A patent/CN117130393B/en active Active
Patent Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150254988A1 (en) * | 2014-04-17 | 2015-09-10 | SZ DJI Technology Co., Ltd | Flight control for flight-restricted regions |
| CN106909144A (en) * | 2017-01-22 | 2017-06-30 | 无锡卡尔曼导航技术有限公司 | For the unpiloted field obstacle-avoiding route planning of agricultural machinery and its control method |
| CN106813667A (en) * | 2017-02-20 | 2017-06-09 | 北京经纬恒润科技有限公司 | A kind of Route planner and device based on no-fly zone constraint |
| CN106959702A (en) * | 2017-05-23 | 2017-07-18 | 广东容祺智能科技有限公司 | A kind of autonomous preventing collision method of unmanned plane and system |
| CN107621198A (en) * | 2017-08-28 | 2018-01-23 | 北京航空航天大学 | A kind of multistep decision-making trajectory planning method around more no-fly zones |
| CN108426576A (en) * | 2017-09-15 | 2018-08-21 | 辽宁科技大学 | Aircraft paths planning method and system based on identification point vision guided navigation and SINS |
| CN107911793A (en) * | 2017-10-30 | 2018-04-13 | 东南大学 | A kind of unmanned plane arbitrary graphic no-fly zone navigation by recognition system |
| US20220084414A1 (en) * | 2019-01-08 | 2022-03-17 | Suzhou Eavision Robotic Technologies Co., Ltd. | Aircraft operation path planning method, control device and control equipment |
| CN110320931A (en) * | 2019-06-20 | 2019-10-11 | 西安爱生技术集团公司 | Unmanned plane avoidance Route planner based on Heading control rule |
| KR20190082176A (en) * | 2019-06-28 | 2019-07-09 | 아주대학교산학협력단 | Method and apparatus for providing path for avoiding no drone zone |
| CN110470299A (en) * | 2019-07-30 | 2019-11-19 | 南京理工大学 | A kind of seaway planning algorithm evaded based on round roadblock |
| US20210124376A1 (en) * | 2019-10-29 | 2021-04-29 | Honeywell International Inc. | Uav flight management planner |
| CN112241178A (en) * | 2020-09-30 | 2021-01-19 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle autonomous safety control method |
| CN112229414A (en) * | 2020-10-22 | 2021-01-15 | 广州极飞科技有限公司 | Method and device for generating obstacle avoidance route, unmanned equipment and storage medium |
| CN112462791A (en) * | 2020-12-02 | 2021-03-09 | 成都时代星光科技有限公司 | Full-automatic high-precision flight landing system and method for airport of vehicle-mounted unmanned aerial vehicle |
| CN112859864A (en) * | 2021-01-15 | 2021-05-28 | 大连海事大学 | Unmanned ship-oriented geometric path planning method |
| CN113359840A (en) * | 2021-06-28 | 2021-09-07 | 中国人民解放军国防科技大学 | Rapid construction method and system for three-dimensional space flight path of unmanned aerial vehicle |
| WO2023015864A1 (en) * | 2021-08-13 | 2023-02-16 | 中国民航大学 | Safety-based course changing method in scattered thunderstorm dangerous weather |
| CN113741520A (en) * | 2021-09-01 | 2021-12-03 | 中国航空工业集团公司西安飞行自动控制研究所 | Fixed wing unmanned aerial vehicle no-fly zone avoiding and bypassing method |
| CN114721427A (en) * | 2022-03-25 | 2022-07-08 | 中国航空无线电电子研究所 | Multi-unmanned aerial vehicle collaborative search and rescue reconnaissance planning method in dynamic environment |
| CN115690741A (en) * | 2022-11-02 | 2023-02-03 | 柳州市东科智慧城市投资开发有限公司 | Unmanned automatic tracking method and device and computer equipment |
| CN115729266A (en) * | 2022-11-29 | 2023-03-03 | 西安电子科技大学 | Unmanned aerial vehicle obstacle avoidance method for effectively tracking preset air route |
| CN115933659A (en) * | 2022-12-07 | 2023-04-07 | 广东嘉腾机器人自动化有限公司 | Mobile robot obstacle avoidance method, storage medium and system |
| CN116823604A (en) * | 2023-05-29 | 2023-09-29 | 山东省公安厅机场公安局 | Airport no-fly zone black fly processing method and system |
| CN116382352A (en) * | 2023-06-05 | 2023-07-04 | 中国民用航空飞行学院 | Unmanned aerial vehicle detouring no-fly zone track planning method |
Non-Patent Citations (8)
| Title |
|---|
| 于鸿达: "复杂环境下无人机航迹规划方法研究", 《中国优秀硕士学位论文电子全文库 工程科技Ⅱ辑》 * |
| 倪天权等: "交叉粒群算法在无人机航路规划中的应用", 系统工程与电子技术, no. 04 * |
| 冯增喜等: "基于单纯形法的MFAC参数寻优", 控制工程, no. 03 * |
| 孙明玮等: "飞行器定时航迹规划及其交互仿真平台设计", 系统仿真学报, no. 08 * |
| 梁静静等: "基于长方体禁飞区的安全绕飞轨迹设计", 空间控制技术与应用, no. 01 * |
| 王燕等: "智能机器人的一种新路径规划算法", 控制工程, no. 2 * |
| 蔡诚: "基于节点优化策略的移动机器人路径规划", 《中国优秀硕士学位论文电子全文库 信息科技辑》 * |
| 邹益民等: "一种基于Dijkstra算法的机器人避障问题路径规划", 数学的实践与认识, no. 10 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117406783A (en) * | 2023-12-01 | 2024-01-16 | 成都时代星光科技有限公司 | Unmanned aerial vehicle no-fly zone analysis method and system |
| CN117406783B (en) * | 2023-12-01 | 2024-04-05 | 成都时代星光科技有限公司 | Unmanned aerial vehicle no-fly zone analysis method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117130393B (en) | 2024-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11893160B2 (en) | Flying vehicle | |
| US11675324B2 (en) | Air transportation systems and methods | |
| US9513125B2 (en) | Computing route plans for routing around obstacles having spatial and temporal dimensions | |
| Sunil et al. | Metropolis: Relating airspace structure and capacity for extreme traffic densities | |
| US8082102B2 (en) | Computing flight plans for UAVs while routing around obstacles having spatial and temporal dimensions | |
| CN117130393B (en) | Unmanned aerial vehicle no-fly zone around-the-fly analysis method and system | |
| US10504374B2 (en) | Travel path setting apparatus, method of setting travel path, and recording medium | |
| US10410532B1 (en) | Automatic real-time system and method for centralized air traffic control of aerial vehicles in urban environment | |
| CN104183159B (en) | A kind of based on the air navigation of oriented element cellular automaton and conflict Resolution method | |
| US11262746B1 (en) | Simultaneously cost-optimized and policy-compliant trajectory generation for unmanned aircraft | |
| ES2241152T3 (en) | COOPERATIVE RESOLUTION OF AIR TRAFFIC CONFLICTS. | |
| US9626873B2 (en) | Method, system and computer program for providing, on a human-machine interface, data relating to an aspect of the operation of an aircraft | |
| KR20190010274A (en) | Path planning decision method for unmanned aerial vehicles | |
| Bertram et al. | An efficient algorithm for self-organized terminal arrival in urban air mobility | |
| Oosedo et al. | Unmanned aircraft system traffic management (UTM) simulation of drone delivery models in 2030 Japan | |
| Iovine et al. | Safe human-inspired mesoscopic hybrid automaton for autonomous vehicles | |
| Mao et al. | Stability of intersecting aircraft flows under decentralized conflict avoidance rules | |
| Akinboro et al. | Mobile road traffic management system using weighted sensors | |
| Hu et al. | UAS conflict resolution integrating a risk-based operational safety bound as airspace reservation with reinforcement learning | |
| Sedov et al. | Decentralized self-propagating ground delay for UTM: Capitalizing on domino effect | |
| Schwalb et al. | Improving redundancy and safety of UTM by leveraging multiple UASS | |
| CN117406783B (en) | Unmanned aerial vehicle no-fly zone analysis method and system | |
| Lamba et al. | Path planning scheme for collision avoidance in unmanned aerial vehicle traffic management system | |
| Ditta et al. | A 3D Urban Aerial Network for New Mobility Solutions | |
| US20240176359A1 (en) | Method for controlling an unmanned aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |