CN117492474A - Unmanned aerial vehicle track autonomous navigation acquisition method and unmanned aerial vehicle reconnaissance approaching control method - Google Patents
Unmanned aerial vehicle track autonomous navigation acquisition method and unmanned aerial vehicle reconnaissance approaching control method Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle track autonomous navigation acquisition method and an unmanned aerial vehicle reconnaissance approaching control method. The method comprises the following steps: designing the unmanned aerial vehicle to fly along a straight track after performing a first turn from the current position, and reaching a target point after performing a second turn; acquiring a plurality of circle center coordinates in the first turning according to the current position of the unmanned aerial vehicle, the corresponding real-time attitude information of the unmanned aerial vehicle and the first turning radius; acquiring circle center coordinates of a plurality of second turns according to the positions of the target points and the corresponding real-time attitude information of the unmanned aerial vehicle and the second turning radius; respectively determining a circle center coordinate from a plurality of circle center coordinates during first and second turns; according to the determined circle center coordinates, calculating coordinates of a first turning ending point and coordinates of a second turning starting point; and acquiring the unmanned aerial vehicle track according to the step parameters. According to the invention, the twice-turning flight path is screened and the key points on the flight path are resolved, so that an optimal path for reaching the target point is obtained, and the reconnaissance approaching efficiency of the unmanned aerial vehicle is greatly improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle system flight management and control, and relates to an unmanned aerial vehicle track autonomous navigation acquisition method and an unmanned aerial vehicle reconnaissance approaching control method.
Background
The unmanned aerial vehicle system comprises an unmanned aerial vehicle platform and a ground station, wherein the unmanned aerial vehicle refers to an aircraft which is manually or automatically controlled through an onboard computer program control system or radio communication equipment, and the ground station comprises an unmanned aerial vehicle ground command control station and a ground data terminal. The unmanned aerial vehicle system can quickly detect the target and acquire reliable information under the condition of guaranteeing the safety of personnel to the greatest extent, and further assist operators of the ground station to control the unmanned aerial vehicle to complete corresponding tasks.
At present, the autonomous navigation control technology of unmanned aerial vehicles is mature, and the application fields are wider and wider, such as autonomous regional target reconnaissance, disaster assessment and the like. In the field of target reconnaissance striking, an unmanned aerial vehicle can search for a target in large scale in the air, and after the target is found, the target is difficult to quickly approach in a short distance. In particular to a reconnaissance and striking integrated long-endurance unmanned aerial vehicle system, in the flight process of unmanned aerial vehicle tasks, a time-sensitive target or area determined by dynamic perception in the air is faced, and the reconnaissance and the striking tasks are required to be efficiently and quickly abutted. Based on this, a reconnaissance approaching control strategy is needed in the technical field of unmanned aerial vehicle control.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art or related art.
Therefore, the invention provides an unmanned aerial vehicle track autonomous navigation acquisition method and an unmanned aerial vehicle reconnaissance approaching control method.
The technical scheme of the invention is as follows:
according to an aspect, there is provided an unmanned aerial vehicle track autonomous navigation acquisition method, the method comprising:
designing the unmanned aerial vehicle to fly along a straight track after performing a first turn from the current position, and reaching a target point after performing a second turn;
acquiring a plurality of circle center coordinates in the first turning according to the current position of the unmanned aerial vehicle, the corresponding real-time attitude information of the unmanned aerial vehicle and the first turning radius;
acquiring circle center coordinates of a plurality of second turns according to the positions of the target points and the corresponding real-time attitude information of the unmanned aerial vehicle and the second turning radius;
determining a circle center coordinate from the circle center coordinates in the first turning as a first circle center coordinate, and determining a circle center coordinate from the circle center coordinates in the second turning as a second circle center coordinate;
calculating the coordinates of the first turning ending point and the coordinates of the second turning starting point according to the first circle center coordinates, the second circle center coordinates, the first turning radius and the second turning radius;
and acquiring the flight path of the unmanned aerial vehicle according to the current position of the unmanned aerial vehicle, the coordinates of the first turning end point, the coordinates of the second turning start point, the target position, the first turning radius, the second turning radius, the first circle center coordinates and the second circle center coordinates.
Further, the center coordinates of any first turn and the center coordinates of any second turn are obtained by the following formulas:
wherein, (TurnLon) 1 、TurnLat 1 ) The current position of the unmanned aerial vehicle; RD (RD) 1 Is a first radius of rotation; psi phi type Pre1 The current course angle of the unmanned aerial vehicle corresponding to the first turning is set; (dLongO) 1 、dLatiO 1 ) Is the center coordinates of any first turn; (TurnLon) 2 、TurnLat 2 ) Longitude and latitude of the target position; RD (RD) 2 Is the radius of the second turn; psi phi type Pre2 The current course angle of the unmanned aerial vehicle corresponding to the second turning is set; (dLongO) 2 、dLatiO 2 ) Is the center coordinates of any second turn; D2R is a constant value; nTurnDirect represents the turning direction, and takes-1 when turning left and takes 1 when turning right; D2R is a constant value; nTurnDirect represents the turning direction, and takes-1 when turning left and takes 1 when turning right;
further, the first turning radius and the second turning radius are each obtained by:
wherein phi is F1 ,φ F2 Program roll angle in first turning and program roll angle in second turning; v (V) gnd1 ,V gnd2 The current ground speed of the unmanned aerial vehicle corresponding to the first turning and the current ground speed of the unmanned aerial vehicle corresponding to the second turning are respectively; k is a safety coefficient; g is gravitational acceleration.
Further, the first center coordinates and the second center coordinates are determined by:
combining the circle center coordinates in the first turning and the circle center coordinates in the second turning in pairs, and obtaining circle center distances corresponding to the combinations;
selecting a center distance which meets the requirement of being larger than the sum of the first turning radius and the second turning radius and has the smallest distance from the plurality of center distances;
the two circular coordinates corresponding to the screened circle center distance are a first circle center coordinate and a second circle center coordinate respectively.
Further, the coordinates of the first turning end point and the coordinates of the second turning start point are calculated according to the first circle center coordinates, the second circle center coordinates, the first turning radius and the second turning radius:
acquisition ofAnd->Included angle phi between A ，/>And->Included angle phi between B Wherein, the point A is the end point of the first turning and the point B is the start point of the second turning; o (O) d1 ,O d2 Respectively determining a first circle center and a second circle center;
according to the included angle phi A Acquiring coordinates of a first turning ending point by the first circle center coordinates and the first turning radius;
according to the included angle phi B And the second center coordinates and the second turning radius acquire coordinates of a starting point of the second turning.
Further, the included angle φ is obtained by A And phi B ：
First case:
second case:
third scenario:
fourth scenario:
the first situation is that the unmanned aerial vehicle makes a right turn from the current position and flies to the target in a right turn mode; the second situation refers to that the unmanned aerial vehicle makes a right turn from the current position and flies to the target in a left turn manner; the third situation refers to that the unmanned aerial vehicle makes a left turn from the current position and flies to the target in a right turn manner; the fourth situation refers to that the unmanned aerial vehicle makes a left turn from the current position and flies to the target in a left turn manner; l is the distance between the first circle center and the second circle center.
Further, the coordinates of the end point of the first turn and the coordinates of the start point of the second turn are obtained by the following formulas:
wherein, (dLongA, dLatiA) is the coordinates of the end point of the first turn;for unmanned plane edge O 2 O 1 Heading angle of direction; (longO) d1 、LatO d1 ) Is the first center coordinates;(dLongB, dLatiB) is the coordinates of the end point of the first turn (LongO d2 、LatO d2 ) Is the second center coordinates; />For unmanned plane edge O 1 O 2 Heading angle of direction.
Further, the unmanned aerial vehicle track is an arc P 1 A+ straight line AB+ circular arc BP 2 Wherein P is 1 ,P 2 The current position point and the target point of the unmanned plane are respectively.
According to an aspect, there is provided an unmanned aerial vehicle reconnaissance approaching control method, the control method including:
the unmanned aerial vehicle automatically navigates and flies to the reconnaissance area according to the longitude and latitude of the center of the bound reconnaissance area, and searches the reconnaissance area;
the unmanned aerial vehicle transmits the reconnaissance image back to the ground station in real time in the area searching process;
the ground station confirms the target according to the image information received in real time, and the unmanned aerial vehicle transmits the position information of the target point to the ground station after confirming the target;
the unmanned aerial vehicle acquires an optimal track route according to the method and autonomously navigates to the target point position;
completing an autonomous approaching control task after the unmanned aerial vehicle reaches a target point;
the ground station issues a near control task ending instruction to the unmanned aerial vehicle;
the unmanned aerial vehicle automatically returns to voyage or enters other flight routes after receiving the ending instruction, and sends an instruction of successful execution of the approaching control task to the ground station system;
the ground station confirms that the proximity control task is over.
According to yet another aspect, there is provided a computer device including a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any one of the above-mentioned unmanned aerial vehicle track autonomous navigation acquisition methods when executing the computer program.
According to the technical scheme, the unmanned aerial vehicle is designed to fly along the straight-line track after being turned by the current position, reaches the target point after being turned for the second time, screens the twice-turning track and solves the key points on the track, so that the optimal path reaching the target point is obtained, and the reconnaissance approaching efficiency of the unmanned aerial vehicle is greatly improved. In addition, the invention also uses two subsystems of the unmanned plane and the ground station to carry out autonomous cooperative control to detect a specific target area, carries out information interaction by utilizing radio, and autonomously completes the optimal planning of the unmanned plane task track according to the autonomous navigation positioning and path planning technology, thereby greatly reducing the operation burden of ground operators, improving the task execution efficiency and flexibility, and realizing the rapid close-range approach of the unmanned plane to the target.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 shows a schematic view of a state of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 shows a schematic diagram of a ground station according to an embodiment of the present invention;
fig. 3 shows a flowchart of autonomous collaborative reconnaissance approaching between an unmanned aerial vehicle and a ground station according to an embodiment of the present invention;
fig. 4 shows a schematic diagram of unmanned aerial vehicle track autonomous navigation solution provided by an embodiment of the invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The following description of the embodiments of the present invention 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 invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 4, in one embodiment of the present invention, there is provided a method for acquiring unmanned aerial vehicle track autonomous navigation, the method comprising:
s10, designing the unmanned aerial vehicle to fly along a straight track after performing a first turn from the current position, and reaching a target point after performing a second turn;
s20, acquiring a plurality of circle center coordinates in the first turning according to the current position of the unmanned aerial vehicle, the corresponding real-time attitude information of the unmanned aerial vehicle and the first turning radius;
s30, acquiring circle center coordinates of a plurality of second turns according to the positions of the target points, the corresponding real-time attitude information of the unmanned aerial vehicle and the second turning radius;
s40, determining a circle center coordinate from a plurality of circle center coordinates in the first turning process as a first circle center coordinate, and determining a circle center coordinate from a plurality of circle center coordinates in the second turning process as a second circle center coordinate;
s50, calculating the coordinates of the first turning ending point and the coordinates of the second turning starting point according to the first circle center coordinates, the second circle center coordinates, the first turning radius and the second turning radius;
s60, acquiring the unmanned aerial vehicle track according to the current position of the unmanned aerial vehicle, the coordinates of the first turning end point, the coordinates of the second turning start point, the target position, the first turning radius, the second turning radius, the first circle center coordinates and the second circle center coordinates.
Therefore, the embodiment of the invention designs the unmanned aerial vehicle to fly along the straight-line flight path after the unmanned aerial vehicle makes the first turn from the current position, and reaches the target point after the unmanned aerial vehicle makes the second turn, screens the twice-turn flight path and calculates the key points on the flight path, thereby obtaining the optimal path reaching the target point, greatly improving the reconnaissance approaching efficiency of the unmanned aerial vehicle, and realizing the rapid close-distance approaching of the unmanned aerial vehicle.
In the above embodiment, in order to accurately acquire the center coordinates of two turns, the center coordinates of any first turn and the center coordinates of any second turn are acquired by the following formulas:
wherein, (TurnLon) 1 、TurnLat 1 ) Representing longitude and latitude for the current position of the unmanned aerial vehicle; RD (RD) 1 Is a first radius of rotation; psi phi type Pre1 The current course angle of the unmanned aerial vehicle corresponding to the first turning is set; (dLongO) 1 、dLatiO 1 ) Is the center coordinates of any first turn, and represents; (TurnLon) 2 、TurnLat 2 ) Longitude and latitude of the target position; RD (RD) 2 Is the radius of the second turn; psi phi type Pre2 The current course angle of the unmanned aerial vehicle corresponding to the second turning is set; (dLongO) 2 、dLatiO 2 ) Is the center coordinates of any second turn, and represents; D2R is a constant value; nTurnDirect represents the turning direction, and takes-1 when turning left and takes 1 when turning right; D2R is a constant value; nTurnDirect represents the turning direction, taken as-1 for left turn and 1 for right turn.
In the embodiment of the invention, the current position point and the target point of the unmanned aerial vehicle are both points on a turning circle, the current position point of the unmanned aerial vehicle is a starting point in the first turning, and the target point is an ending point in the second turning.
For example, as shown in fig. 4, the unmanned aerial vehicle can turn left or right at the current position, so that two circle centers can be confirmed, and similarly, when the unmanned aerial vehicle flies to the target point, the unmanned aerial vehicle can also turn left or right to the target point, and O is recorded 1 Clockwise, O 2 Clockwise being the first movement pattern, O 1 Clockwise, O 2 Anticlockwise is the second movement mode, O 1 Anticlockwise, O 2 Clockwise is the third movement mode, O 1 Anticlockwise, O 2 The anticlockwise motion mode is the fourth motion mode, so that four tracks l can be obtained 1 、l 2 、l 3 、l 4 。
In the above embodiment, in order to ensure the accuracy of the acquisition of the turning circle center, the first turning radius and the second turning radius are both acquired by the following formulas:
wherein phi is F1 ,φ F2 Program roll angle in first turning and program roll angle in second turning; v (V) gnd1 ,V gnd2 The current ground speed of the unmanned aerial vehicle corresponding to the first turning and the current ground speed of the unmanned aerial vehicle corresponding to the second turning are respectively; k is a safety coefficient; g is gravitational acceleration.
In the above embodiment, in order to acquire the optimal track, the first center coordinates and the second center coordinates are determined by:
combining the circle center coordinates in the first turning and the circle center coordinates in the second turning in pairs, and obtaining circle center distances corresponding to the combinations;
selecting a center distance which meets the requirement of being larger than the sum of the first turning radius and the second turning radius and has the smallest distance from the plurality of center distances;
the two circular coordinates corresponding to the screened circle center distance are a first circle center coordinate and a second circle center coordinate respectively.
For example, as shown in FIG. 2, the center distances, i.e., O, for the above 4 motion patterns can be calculated 1 O 2 、O 1 'O 2 、O 1 O 2 ' and O 1 'O 2 ' distance between two circles according to radius RD of two circles at the same time 1 And RD (RD) 2 The center distance of four circle centers is selected to be larger than RD 1 +RD 2 And the distance is the smallest, namely the optimal path.
In the above embodiment, in order to accurately acquire the twice-turning path, the coordinates of the first-turning end point and the coordinates of the second-turning start point are calculated from the first center coordinates, the second center coordinates, the first turning radius, and the second turning radius:
acquisition ofAnd->Included angle phi between A ，/>And->Included angle phi between B The clockwise is positive, the anticlockwise is negative, wherein the point A is a first turning end point, and the point B is a second turning start point; o (O) d1 ,O d2 Respectively determining a first circle center and a second circle center;
according to the included angle phi A Acquiring coordinates of a first turning ending point by the first circle center coordinates and the first turning radius;
according to the included angle phi B And the second center coordinates and the second turning radius acquire coordinates of a starting point of the second turning.
That is, the first turning end point and the second turning start point are two tangent points, which are tangent to the two circles, respectively, and the coordinates of the tangent points are calculated by the rotation vectorAnd->Get vector +.>And->Therefore, calculation is requiredRotate to +.>Rotate to +.>An included angle between the two. Under four exercise modes, the person is treated with->And->Included angle phi between A ，/>And->Included angle phi between B Clockwise is positive and counterclockwise is negative.
In the embodiment of the invention, the included angle phi can be obtained by the following method A And phi B ：
First case:
second case:
third scenario:
fourth scenario:
the first situation is that the unmanned aerial vehicle makes a right turn from the current position and flies to the target in a right turn mode; the second situation refers to that the unmanned aerial vehicle makes a right turn from the current position and flies to the target in a left turn manner; the third situation refers to that the unmanned aerial vehicle makes a left turn from the current position and flies to the target in a right turn manner; the fourth situation refers to that the unmanned aerial vehicle makes a left turn from the current position and flies to the target in a left turn manner; l is the distance between the first circle center and the second circle center.
In the embodiment of the invention, the coordinates of the end point of the first turn and the coordinates of the start point of the second turn are obtained through the following steps:
wherein, (dLongA, dLatiA) is the coordinates of the end point of the first turn;is that; (longO) d1 、LatO d1 ) Is the first center coordinates; (dLongB, dLatiB) is the coordinates of the end point of the first turn (LongO d2 、LatO d2 ) Is the second center coordinates; />Is the following.
In the embodiment of the present invention, as shown in fig. 4, the unmanned aerial vehicle track is an arc P 1 A+ straight lineAB+arc BP 2 Wherein P is 1 ,P 2 The current position point and the target point of the unmanned plane are respectively.
According to another embodiment, there is also provided a computer device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing any one of the above unmanned aerial vehicle track autonomous navigation acquisition methods when executing the computer program.
In another embodiment of the present invention, as shown in fig. 1-3, there is also provided a method for controlling reconnaissance and proximity of an unmanned aerial vehicle, the method comprising:
the unmanned aerial vehicle automatically navigates and flies to the reconnaissance area according to the longitude and latitude of the center of the bound reconnaissance area, and searches the reconnaissance area;
the unmanned aerial vehicle transmits the reconnaissance image back to the ground station in real time in the area searching process;
the ground station confirms the target according to the image information received in real time, and the unmanned aerial vehicle transmits the position information of the target point to the ground station after confirming the target;
the unmanned aerial vehicle acquires an optimal track route according to the method and autonomously navigates to the target point position;
completing an autonomous approaching control task after the unmanned aerial vehicle reaches a target point;
the ground station issues a near control task ending instruction to the unmanned aerial vehicle;
the unmanned aerial vehicle automatically returns to voyage or enters other flight routes after receiving the ending instruction, and sends an instruction of successful execution of the approaching control task to the ground station system;
the ground station confirms that the proximity control task is over.
Therefore, the invention also uses two subsystems of the unmanned plane and the ground station to perform autonomous cooperative control to detect a specific target area, uses radio to perform information interaction, and autonomously completes the optimal planning of the unmanned plane task track according to the autonomous navigation positioning and path planning technology, thereby greatly reducing the operation burden of ground operators, improving the task execution efficiency and flexibility, and realizing the rapid close-range approach of the unmanned plane to the target.
As shown in fig. 1-3, the reconnaissance approaching control strategy provided by the invention is mainly completed by the cooperation of the unmanned aerial vehicle and the ground station.
Specifically, in order to achieve autonomous navigation and cooperation with a ground station of an unmanned aerial vehicle, as shown in fig. 1, the unmanned aerial vehicle mainly includes an unmanned aerial vehicle platform, a radio device, and a photoelectric ball. The unmanned plane platform is used for carrying a satellite receiver, radio equipment and a photoelectric ball; the radio equipment is mainly used for receiving the instruction sent by the ground station and the position of the target in real time and sending information to the ground station; the photoelectric ball is used for searching targets, the reconnaissance image is transmitted back to the ground station in real time, and the current position of the unmanned aerial vehicle is transmitted back to the ground station.
The ground station mainly comprises an unmanned aerial vehicle wireless communication module and a wireless reconnaissance target identification module as shown in fig. 2. The unmanned aerial vehicle wireless communication module mainly comprises a task starting instruction and position information of related scout targets, a task ending instruction and a scout image receiving module; the wireless reconnaissance target recognition module mainly comprises recognition of unmanned aerial vehicle reconnaissance images.
In one embodiment of the present invention, a schematic diagram of an autonomous reconnaissance approach strategy of a drone and a ground station is shown in fig. 3, and is specifically as follows:
step one: the unmanned aerial vehicle completes the preparation process, enters a task starting waiting state, and receives the longitude and latitude and take-off instructions of the center of the reconnaissance area sent by the ground station;
step two: the ground station completes the preparation process, operators confirm the validity of the longitude and latitude of the bound reconnaissance area center, and wait for sending a task starting instruction;
step three: the ground operator sends a take-off instruction, and the unmanned aerial vehicle enters a take-off state to complete autonomous take-off;
step four: the unmanned aerial vehicle automatically navigates and flies to the reconnaissance area according to the longitude and latitude of the center of the bound reconnaissance area, and searches the reconnaissance area;
step five: in the area searching process, the unmanned aerial vehicle transmits the reconnaissance image back to the ground station in real time. The ground station confirms the target according to the information received in real time, and the unmanned aerial vehicle transmits the position information of the target point to the ground station;
step six: the unmanned aerial vehicle autonomously plans an optimal track route between the current position and the target point position according to the autonomous navigation positioning and path planning technology, and autonomously navigates to the target point position;
step seven: after the unmanned aerial vehicle reaches a target point according to planning, an autonomous approaching control task is completed;
step eight: the ground station issues a close control task ending instruction to the unmanned aerial vehicle, the unmanned aerial vehicle returns to the voyage or enters other flight routes, and a close control task execution success instruction is sent to the ground station system;
step nine: the ground station confirms that the proximity control task is over.
Therefore, in the embodiment of the invention, the unmanned aerial vehicle and the ground station adopt various sensors to acquire real-time information for bidirectional communication, the specific target area is detected, and the optimal planning of the unmanned aerial vehicle task track is automatically completed according to the designed autonomous navigation positioning and path planning technology, so that the control burden of ground operators is greatly reduced, and the task execution efficiency and flexibility are improved.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The method of the invention can be realized by hardware or by combining hardware with software. The present invention relates to a computer readable program which, when executed by a logic means, enables the logic means to carry out the apparatus or constituent means described above, or enables the logic means to carry out the various methods or steps described above. The present invention also relates to a storage medium such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, or the like for storing the above program.
The many features and advantages of the embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of the embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The invention is not described in detail in a manner known to those skilled in the art.
Claims (10)
1. The unmanned aerial vehicle track autonomous navigation acquisition method is characterized by comprising the following steps:
designing the unmanned aerial vehicle to fly along a straight track after performing a first turn from the current position, and reaching a target point after performing a second turn;
acquiring a plurality of circle center coordinates in the first turning according to the current position of the unmanned aerial vehicle, the corresponding real-time attitude information of the unmanned aerial vehicle and the first turning radius;
acquiring circle center coordinates of a plurality of second turns according to the positions of the target points and the corresponding real-time attitude information of the unmanned aerial vehicle and the second turning radius;
determining a circle center coordinate from the circle center coordinates in the first turning as a first circle center coordinate, and determining a circle center coordinate from the circle center coordinates in the second turning as a second circle center coordinate;
calculating the coordinates of the first turning ending point and the coordinates of the second turning starting point according to the first circle center coordinates, the second circle center coordinates, the first turning radius and the second turning radius;
and acquiring the flight path of the unmanned aerial vehicle according to the current position of the unmanned aerial vehicle, the coordinates of the first turning end point, the coordinates of the second turning start point, the target position, the first turning radius, the second turning radius, the first circle center coordinates and the second circle center coordinates.
2. The unmanned aerial vehicle track autonomous navigation acquiring method according to claim 1, wherein the center coordinates of any first turn and the center coordinates of any second turn are acquired by the following formulas:
wherein, (TurnLon) 1 、TurnLat 1 ) The current position of the unmanned aerial vehicle; RD (RD) 1 Is a first radius of rotation; psi phi type Pre1 The current course angle of the unmanned aerial vehicle corresponding to the first turning is set; (dLongO) 1 、dLatiO 1 ) Is the center coordinates of any first turn; (TurnLon) 2 、TurnLat 2 ) Longitude and latitude of the target position; RD (RD) 2 Is the radius of the second turn; psi phi type Pre2 The current course angle of the unmanned aerial vehicle corresponding to the second turning is set; (dLongO) 2 、dLatiO 2 ) Is the center coordinates of any second turn; D2R is a constant value; nTurnDirect represents the turning direction, and takes-1 when turning left and takes 1 when turning right; D2R is a constant value; nTurnDirect represents the turning direction, taken as-1 for left turn and 1 for right turn.
3. The unmanned aerial vehicle track autonomous navigation acquisition method of claim 1, wherein the first turning radius and the second turning radius are each acquired by:
wherein phi is F1 ,φ F2 Respectively when turning for the first timeProgram roll angle at the second turn; v (V) gnd1 ,V gnd2 The current ground speed of the unmanned aerial vehicle corresponding to the first turning and the current ground speed of the unmanned aerial vehicle corresponding to the second turning are respectively; k is a safety coefficient; g is gravitational acceleration.
4. The unmanned aerial vehicle track autonomous navigation acquisition method of claim 1, wherein the first center coordinates and the second center coordinates are determined by:
combining the circle center coordinates in the first turning and the circle center coordinates in the second turning in pairs, and obtaining circle center distances corresponding to the combinations;
selecting a center distance which meets the requirement of being larger than the sum of the first turning radius and the second turning radius and has the smallest distance from the plurality of center distances;
the two circular coordinates corresponding to the screened circle center distance are a first circle center coordinate and a second circle center coordinate respectively.
5. The unmanned aerial vehicle track autonomous navigation acquiring method according to claim 1, wherein the coordinates of the first turning end point and the coordinates of the second turning start point are calculated according to the first circle center coordinates, the second circle center coordinates, the first turning radius and the second turning radius:
acquisition ofAnd->Included angle phi between A ，/>And->Included angle phi between B Wherein, the point A is the first rotationThe curve end point, the point B is the starting point of the second curve; o (O) d1 ,O d2 Respectively determining a first circle center and a second circle center;
according to the included angle phi A Acquiring coordinates of a first turning ending point by the first circle center coordinates and the first turning radius;
according to the included angle phi B And the second center coordinates and the second turning radius acquire coordinates of a starting point of the second turning.
6. The unmanned aerial vehicle track autonomous navigation acquisition method according to claim 1, wherein the included angle phi is acquired by the following formula A And phi B ：
First case:
second case:
third scenario:
fourth scenario:
the first situation is that the unmanned aerial vehicle makes a right turn from the current position and flies to the target in a right turn mode; the second situation refers to that the unmanned aerial vehicle makes a right turn from the current position and flies to the target in a left turn manner; the third situation refers to that the unmanned aerial vehicle makes a left turn from the current position and flies to the target in a right turn manner; the fourth situation refers to that the unmanned aerial vehicle makes a left turn from the current position and flies to the target in a left turn manner; l is the distance between the first circle center and the second circle center.
7. The unmanned aerial vehicle track autonomous navigation acquiring method according to claim 1, wherein the coordinates of the first turning end point and the coordinates of the second turning start point are acquired by:
wherein, (dLongA, dLatiA) is the coordinates of the end point of the first turn;for unmanned plane edge O 2 O 1 Heading angle of direction; (longO) d1 、LatO d1 ) Is the first center coordinates; (dLongB, dLatiB) is the coordinates of the end point of the first turn (LongO d2 、LatO d2 ) Is the second center coordinates; />For unmanned plane edge O 1 O 2 Heading angle of direction.
8. The unmanned aerial vehicle track autonomous navigation acquisition method according to claim 1, wherein the unmanned aerial vehicle track is an arc P 1 A+ straight line AB+ circular arc BP 2 Wherein P is 1 ,P 2 The current position point and the target point of the unmanned plane are respectively.
9. The unmanned aerial vehicle reconnaissance approaching control method is characterized by comprising the following steps of:
the unmanned aerial vehicle automatically navigates and flies to the reconnaissance area according to the longitude and latitude of the center of the bound reconnaissance area, and searches the reconnaissance area;
the unmanned aerial vehicle transmits the reconnaissance image back to the ground station in real time in the area searching process;
the ground station confirms the target according to the image information received in real time, and the unmanned aerial vehicle transmits the position information of the target point to the ground station after confirming the target;
the unmanned aerial vehicle obtains an optimal track route and autonomously navigates to a target point position according to the method of any one of claims 1-8;
completing an autonomous approaching control task after the unmanned aerial vehicle reaches a target point;
the ground station issues a near control task ending instruction to the unmanned aerial vehicle;
the unmanned aerial vehicle automatically returns to voyage or enters other flight routes after receiving the ending instruction, and sends an instruction of successful execution of the approaching control task to the ground station system;
the ground station confirms that the proximity control task is over.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the unmanned aerial vehicle track autonomous navigation acquisition method of any of claims 1-8 when the computer program is executed.
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