WO2009093276A1 - Dispositif et procédé de planification d’une mission de surveillance de zones d’intérêt susceptible d’être accomplie à l’aide d’un système de reconnaissance utilisant un avion de reconnaissance - Google Patents

Dispositif et procédé de planification d’une mission de surveillance de zones d’intérêt susceptible d’être accomplie à l’aide d’un système de reconnaissance utilisant un avion de reconnaissance Download PDF

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Publication number
WO2009093276A1
WO2009093276A1 PCT/IT2008/000063 IT2008000063W WO2009093276A1 WO 2009093276 A1 WO2009093276 A1 WO 2009093276A1 IT 2008000063 W IT2008000063 W IT 2008000063W WO 2009093276 A1 WO2009093276 A1 WO 2009093276A1
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area
dmr
areas
flight
observability
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PCT/IT2008/000063
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English (en)
Inventor
Valerio Manetti
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Galileo Avionica S.P.A.
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Application filed by Galileo Avionica S.P.A. filed Critical Galileo Avionica S.P.A.
Priority to EP08751462A priority Critical patent/EP2240742A1/fr
Priority to PCT/IT2008/000063 priority patent/WO2009093276A1/fr
Publication of WO2009093276A1 publication Critical patent/WO2009093276A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • the present invention relates to a device and a method for planning a surveillance mission on areas of interest with a reconnoitring system using a reconnaissance aircraft.
  • reconnoitring systems have the function of identifying the presence of targets of interest of a civil or military nature potentially present within pre-set areas of a territory.
  • the reconnoitring systems cited above typically comprise a unmanned reconnaissance aircraft, typically referred to as UAV
  • an image-acquisition device provided with one or more telecameras mounted on board the reconnaissance aircraft for acquiring the images of the territory flown over thereby, and a remote surveillance station, which is in turn provided with: a control system, designed to pilot the reconnaissance aircraft according to a plan of flight; a communications system capable of transceiving signals/data to and from the reconnaissance aircraft in order to receive the images acquired by the telecamera; display devices, designed to display on a monitor the images of the territory filmed at a certain scrolling rate; and a control interface, through which an operator is able to remotely control the image-acquisition apparatus.
  • a control system designed to pilot the reconnaissance aircraft according to a plan of flight
  • a communications system capable of transceiving signals/data to and from the reconnaissance aircraft in order to receive the images acquired by the telecamera
  • display devices designed to display on a monitor the images of the territory filmed at a certain scrolling rate
  • a control interface through which an operator is able to remotely control the image-acquisition apparatus.
  • Carrying out of a surveillance mission by the reconnoitring systems of the type described above envisages a preventive step of "flight planning" , in which an operator identifies on a cartographic map the area or areas to be surveyed and establishes, on the basis of the areas identified, the flight paths that the aircraft will have to traverse during reconnoitring .
  • the aforesaid flight planning is established in a way altogether uncorrelated from and independent of the capacity of observation of the images by the system in the course of reconnoitring of the area by the aircraft. If on the one hand the preventive step of flight planning referred to above can prove advantageous from the standpoint of correct execution of the reconnoitring flight by the aircraft over the different areas, on the other hand it can prove altogether inadequate for correct and/or complete observation of the areas to be monitored.
  • the aim of the present invention is consequently to provide a device and a method that will enable planning of a surveillance mission according to the real capabilities of observation of the target by the reconnoitring system in the conditions of visibility encountered during reconnoitring, ensuring a complete observation of the areas, and that will be able to plan in an altogether automatic way the flight and observation path most suited to the areas to be observed.
  • a method for planning a surveillance mission that can be performed with a reconnoitring system using a reconnaissance aircraft, as specified in Claim 1 and preferably, but not necessarily, in any one of the claims that depend directly or indirectly upon Claim 1.
  • a device for planning a surveillance mission that can be performed with a -reconnoitring system using a reconnaissance aircraft, as specified in Claim 28.
  • Figure 1 is a schematic illustration of a reconnoitring system provided with a device for planning a surveillance mission over areas of interest made according to the teachings of the present invention
  • FIG. 2 shows a flowchart of the operations implemented by the device shown in Figure 1 during planning of the surveillance mission
  • FIG. 3 shows a flowchart of the operations implemented by the device shown in Figure 1 during a step of initialization of the parameters used for planning the surveillance mission;
  • FIG. 4 shows a flowchart of the operations implemented by the device shown in Figure 1 during a first planning strategy envisaged by the system shown in Figure 1;
  • - Figure 5 shows a possible example of surveillance mission planned on a two-dimensional area of vast proportions envisaged by the first planning strategy;
  • Figure 6 shows a possible example of the surveillance mission planned on a two-dimensional area of vast proportions envisaged by a second planning strategy
  • Figure 7 shows a possible example of the surveillance mission planned on a two-dimensional area of vast proportions in the absence of the stand-off constraint
  • FIG. 8 shows a flowchart of the operations implemented by the device shown -in Figure 1 according to a third planning strategy
  • FIG. 9 shows a possible example of a surveillance mission planned on a portion of territory having a substantially striplike shape
  • Figures 10 and 11 show as many possible examples of surveillance mission planned on a two-dimensional area of limited proportions.
  • the reference number 1 designates as a whole a reconnoitring system, which is able to identify one or more targets of a civil, military or similar nature, located within pre-set areas of interest of a given territory.
  • the reconnoitring system 1 basically comprises a reconnaissance aircraft 2, and an image-acquisition apparatus 3, which is preferably, but not necessarily, provided with a photographic camera or telecamera 3a operating in the range of the visible and/or of the infrared, which is provided with one or more electro-optical sensors and an optical system (not illustrated) and is mounted on the aircraft 2 with its own pointing axis, that can be oriented freely in the space so as to enable acquisition of the images of the underlying territory, and a mechanical positioning member 3b, which is designed, upon command, to move the telecamera 3a with respect to the aircraft 2 in order to vary the angles of pointing thereof .
  • the aircraft 2 can be preferably, but not necessarily, a UAV or else a manned aircraft, equipped with a flight control system (FCS) , which will enable automatic execution of pointing of the electro- optical sensors and/or automatic execution of the flight according to plan.
  • FCS flight control system
  • the reconnoitring system 1 moreover comprises an apparatus 4, for example a GPS (Global Positioning System) receiver, preferably coupled to an inertial navigator (known and not illustrated herein) , which has the function of detecting, instant by instant, both the position of the aircraft 2 in space with respect to a spatial reference system, which in the examples shown in attached figures is of a cartesian type X, Y, Z, and the roll and pitch attitudes and the orientation with respect to the geographical North of the bow of the aircraft 2.
  • GPS Global Positioning System
  • inertial navigator known and not illustrated herein
  • the reconnoitring system 1 moreover comprises an on-board computer 2a, designed for performing automatically the surveillance mission programmed, and a remote surveillance station 5, which is provided with: a control system 5a, designed to pilot the reconnaissance aircraft 2 according to a given flight plan; a communications system 5b able to carrying out transceiving signals/data to and from the aircraft 2 in order to receive the images acquired from the telecamera or telecameras 3a; and a display device 5c provided, for example, with a monitor designed to display the images of the territory acquired by the telecamera 3a.
  • a control system 5a designed to pilot the reconnaissance aircraft 2 according to a given flight plan
  • a communications system 5b able to carrying out transceiving signals/data to and from the aircraft 2 in order to receive the images acquired from the telecamera or telecameras 3a
  • a display device 5c provided, for example, with a monitor designed to display the images of the territory acquired by the telecamera 3a.
  • the image-acquisition apparatus 3, the on-board computer 2a, the apparatus 4, the control system 5a, the communications system 5b, and the display device 5c are apparatuses that are known and will consequently not be described any further herein.
  • the reconnoitring system 1 moreover comprises a computing device 10, which is able to signal the possibility or impossibility of planning a surveillance mission according to the real capabilities of observation of the target by the reconnoitring system in the conditions of visibility envisaged during reconnoitring and, if so, plans the surveillance mission itself in an altogether automatic way, without, that is, the aid of a direct programming performed by an operator.
  • the computing device 10 is able to implement a method that plans, i.e., programs, the surveillance mission of the aircraft 2, on the basis of the characteristics of the target and/or on the basis of the areas of interest to be monitored, and/or on the basis of a set of environmental parameters, such as visibility, temperature, atmospheric pressure, and/or on the basis of the lighting conditions, and/or according to a set of parameters that characterize the image-acquisition apparatus 3.
  • plans i.e., programs
  • a set of environmental parameters such as visibility, temperature, atmospheric pressure, and/or on the basis of the lighting conditions
  • the surveillance mission basically comprises an "overall” plan of flight of the aircraft 2, and a “overall” plan of observation of the territory that can be carried out through the apparatus 3, in the course of execution of the flight by the aircraft 2.
  • the overall flight plan corresponds to the flight that the aircraft 2 performs in the course of the entire surveillance mission and is characterized by one or more "local" flight plans, each of which comprises, in turn, one or more flight paths that the aircraft 2 must traverse during surveillance of a corresponding area.
  • Each local flight plan is moreover characterized by: a speed of advance of the aircraft 2 over the area,- a minimum reconnoitring height that the aircraft 2 must keep to with respect to the territory/area to be observed; and preferably, but not necessarily, one or more states of standby of the aircraft 2, each of which is performed by the aircraft 2 traversing a circular standby- orbit centred in a point located along the flight path envisaged by the local flight plan.
  • this represents the set of the scans that the apparatus 3 must perform during the entire mission of surveillance of the areas and comprises one or more local observation plans, each of which is characterized by a scanning path constituted by a series of segments of scanning of an area, by a total number of samplings, i.e., by a number of image acquisitions to be carried out necessarily on each area for enabling a complete display of the entire area under observation, and by the dimensions of the portions of area of the territory that can be represented in each image sampled.
  • the method defines the "local" observation path and hence determines the displacements to be imparted on the telecamera 3a in space during motion of the aircraft 2 so that the optical axis of the telecamera 3a itself will intersect the territory along the scanning path determined, and at the same time determines the angular opening to be set, instant by instant, on the optical system of the telecamera 3a itself so that the image acquired thereby will contain a portion of territory having the dimensions envisaged.
  • the computing device 10 moreover comprises a processing unit 11 designed to implement the method for planning the surveillance mission, and an interface unit 12 through which an operator can supply data and/or information to the processing unit 11.
  • the processing unit 11 can comprise a computer or any other similar electronic device able to process appropriately the information according to the method for planning the surveillance mission described hereinafter, whereas the interface unit 12 can be defined, for example, by a control keypad, and/or by a mouse or any other device that will enable an operator to .interact with and issue commands to the processing unit 11.
  • the method for planning the surveillance mission envisages an initialization step (block 100), during which the processing unit 11 receives at input: a set of parameters that characterize the type or types of the area or areas to be observed; for each area, a set of parameters that characterize the target to be sought/surveyed; a set of parameters that characterize the optical system and/or the electro-optical sensors of the telecamera 3a; and a set of parameters that characterize the conditions of environmental visibility.
  • the method for planning the surveillance mission moreover comprises a processing/calculation step (block 200) , in which the processing unit 11 determines the overall flight plan and the overall observation plan and carries out a final check of the plans determined according to the modalities described in detail hereinafter.
  • the method processes the parameters referred to above to determine the corresponding optimal local observation plan and the optimal local flight plan associated to the area to be surveyed itself.
  • the planning-initialization step of the method basically envisages the following steps: a step of definition of the areas to be reconnoitred (block 110) ; for each area to be surveyed, a step of definition of the characteristics of the target to be surveyed/sought within the area itself (block 120) ; a step of definition of the flight constraints of the aircraft 2 (block 130) ; a step of definition of first parameters correlated to the characteristics of the optical system and/or of the electro-optical sensors of the telecamera 3a (block 140) ; a step of definition of second parameters correlated to the environmental conditions (block 150) ; and a step of definition of a constraint correlated to the minimum contrast of the images acquired by the telecamera 3a that can be displayed by the display devices 5c (block 160) .
  • the step of definition of the areas to be reconnoitred comprises the step of delimiting the perimeter of each area to be observed on a digital map displayed, for example, through the monitor of the display devices 5c.
  • the delimitation of each area can be carried out by the operator by drawing on the digital map itself a selection frame of a rectangular, or square, or else circular shape, containing the area within which observation for detection of the potential target is required.
  • the method establishes the dimensions of the area to be surveyed, a "preliminary" local- scanning-path model, and a “preliminary” local-flight-path model, and, according to the parameters set during the initialization step, characterizes for each area the local- flight-path model and the local-scanning-path model optimized for the area to be surveyed.
  • the areas to be surveyed envisaged by the method can be divided basically into the following three categories: two-dimensional surface portions which can be delimited on the digital map by selecting a frame of a rectangular or square shape,- strips of small width having an elongated shape and associated, for example, to stretches of roads, and/or coasts, and/or state boundaries, which can be delimited on the digital map with a broken line that can be superimposed on the strip and has a width substantially equal to the strip itself; and point elements of known co-ordinates, which can be delimited by the operator on the digital map using a circular frame centred in the point element itself.
  • the two-dimensional surface portions can moreover, in turn, be divided according to their dimensions, into "vast" two- dimensional surface portions and "limited” two-dimensional surface portions .
  • the step of definition of the areas moreover comprises: the steps of establishing the sequential order of observation of the areas selected during the flight; for each area selected, the step of defining a point of start-of- reconnoitring WPVi positioned preferably, but not necessarily, in a point corresponding to a first vertex of the selection frame, and a point of end-of-reconnoitring WPVfi positioned preferably, but not necessarily, in a point corresponding to an opposite vertex of the selection frame.
  • the step of definition of the areas comprises the step of establishing a maximum time of observation of each area TMax.
  • the step of definition of the constraints correlated to the characteristics of the target comprises the steps of establishing: the minimum dimensions of the target DOmin in terms of width and length; a value indicating the percentage contrast of the target with respect to the terrain, in the case where the telecamera 3a operates in the range of the visible, and/or a value indicating the minimum difference of temperature DTmin of the target, in the case where the telecamera 3a operates in the range of the infrared; an index of observability Io of the target consisting in the minimum time of scrolling of the image that enables a sufficient permanence of the target on the monitor in order to enable display/reconnoitring of the target and its analysis in real t-ime by the operator.
  • this comprises the step of establishing preliminarily for each area selected: a minimum reconnoitring height hv of the aircraft 2 envisaged in each area to be reconnoitred with respect to the ground; the minimum speed Vm that the aircraft 2 can maintain over the area; the radius R of each circular standby orbit that will be described by the aircraft 2 along a flight path during reconnoitring of an area in the case of standby; the co- ordinates and orientation of the runways PIST for take-off and/or landing of the aircraft 2 envisaged in the surveillance mission; the flight path TPIST followed by the aircraft in the course of take-off and the flight path followed by the aircraft in the course of landing; the height of flight of the aircraft 2 at the end of take-off and the height of flight of the aircraft 2 at start of landing; the wind conditions on the ground, in an area corresponding to the take-off and landing runways PIST, and the wind conditions at the reconnoitring height hv.
  • the constraints of the surveillance mission can moreover comprise an indication on the presence or otherwise of a stand-off constraint.
  • the stand-off constraint imposes a distance, designated hereinafter by Dso, that the aircraft 2 will have to maintain during observation of an area with respect to the perimeter of the surveyed area itself.
  • this comprises the step of defining a transfer function of the optical/electronic system and/or of the electro-optical sensors of the telecamera 3a, and the minimum/maximum field of view associated to the telecamera or telecameras 3a. It should be pointed out that the method is able to determine the transfer function of the optical/electronic system and/or of the electro-optical sensors of the telecamera 3a by applying a calculation algorithm of a known type and consequently not described in detail .
  • this comprises the step of receiving a set of data correlated to the environmental visibility in order to define a transfer function of the atmosphere in the area to be monitored.
  • the transfer function of the atmosphere can be determined in the range of frequencies of light comprised in the IR and/or visible spectrum and/or laser spectrum.
  • the method is able to implement an algorithm of a known type that calculates the transfer function of the atmosphere on the basis of the visibility, and/or of the season, and/or of the time, and/or of the meteorological situation corresponding to a state of clear sky, or a state of overcast sky or a state of rain, and/or according to the relative humidity, temperature, wind speed, and/or the type of atmospheric aerosol in an area corresponding to agricultural terrains, desert terrains, lakes, centres of population, industrial estates, wooded areas, etc.
  • the processing step (block 200) comprises the step of calculating for each area to be surveyed selected by the operator, a maximum threshold of theoretical observability referred to hereinafter as "maximum allowed distance of observation DMOC" of the aircraft 2 with respect to the target (block 210) .
  • the maximum threshold of theoretical observability i.e., the maximum allowed distance of observation DMOC, consists in the distance that the- aircraft 2 must keep from the target for guaranteeing that the operator has a sufficient view of the target represented in the images acquired by the telecamera 3a and displayed by the monitor.
  • the observation of the target at a distance greater than the maximum threshold of theoretical observability, i.e., the maximum allowed distance of observation DMOC, would entail a view that is potentially insufficient or degraded of the target itself by an operator.
  • the maximum threshold of theoretical observability i.e., the maximum allowed distance of observation DMOC
  • the minimum dimension of the target DOmin the meteorological conditions, the transfer function of the optical/electronic system and of the electro-optical sensor of the telecamera 3a, the minimum/maximum field of view associated to the telecamera 3a; the transfer function of the atmosphere; and the minimum contrast set by the operator.
  • the algorithm for calculation of the maximum allowed distance of observation DMOC can be contained in a known program, such as, for example, the program known as EOTDA (electro-optic tactical decision aid) , or the program known as LOWTRAN 6/7, or else the program known as MODTRAN. Said algorithm is known and consequently will not be described any further .
  • the processing step (block 200) moreover comprises the step of recognizing for each area the type of area selected (block 220) .
  • recognition of the area can be carried out by the method on the basis of the dimensions and/or shape of the selection frame that delimits the area.
  • the method can recognize a vast two-dimensional area; if the length and the width of the selection frame are smaller than the two pre-set maximum thresholds, but greater than two pre-set intermediate thresholds, the method can recognize a limited two-dimensional area,- if, instead, the width of the frame is smaller than a pre-set minimum threshold but the length is greater than the pre-set maximum threshold, the method can recognize a strip; and, finally, if the width and the length of the frame are both smaller than two pre-set minimum thresholds, the method can recognize a point element.
  • the method checks the presence or otherwise of the stand-off constraint (block 240) .
  • the method calculates a maximum possible reconnoitring distance DMR of the aircraft 2 with respect to the target (block 250) .
  • the vast two-dimensional area is delimited by a selection frame 26 of a rectangular shape having a longitudinal axis AL set parallel to the cartesian axis Y, and in which the two major sides of the frame 26 are parallel to the longitudinal axis AL and have a length L, whereas the two minor sides thereof are transverse to the longitudinal axis AL and have a length H.
  • the method determines that the constraints imposed in the initialization step are acceptable, i.e., that the area to be monitored is altogether observable via a surveillance mission defined by a first planning strategy (block 270) described in detail hereinafter.
  • the method determines that the constraints imposed in the initialization step are acceptable, i.e., that the area can be observed via a surveillance mission defined by a second planning strategy (block 280) described in detail hereinafter.
  • the method If, instead, in the course of the first check of observability (block 260) the first condition of observability a) is satisfied, i.e., DMR>DMOC, then the method signals that the area is not completely observable and that it is not possible to plan an adequate local observation plan and a corresponding local flight plan (block 290) . In this case, the method indicates to the operator the need to change some constraints imposed in the initialization step.
  • Said change can envisage: a reduction in the stand-off distance Dso; and/or a reduction in the radius R of the standby orbits; and/or an increase in the minimum contrast accepted; and/or an increase in the minimum dimensions DOmin of the target; and/or a reduction in the dimensions of -the area to be reconnoitred.
  • the method repeats the calculation of the maximum possible reconnoitring distance DMR (block 250) , implements the first check of observability envisaged by block 260 and, according to the result of the check, defines the flight planning strategy envisaged.
  • the first planning strategy envisages a local-flight-path model associated to the type of area recognized (block 500) .
  • the first planning strategy envisages a flight path 22 located outside of the area itself ( Figure 5) .
  • the method envisages that the local-flight-path model comprises a local flight path 22 set parallel to the longitudinal axis AL and facing a major side of the frame 26 at a distance Dso.
  • the local-flight-path model selected automatically by the method can envisage, along the flight path 22, a number of circular standby orbits 23 of the aircraft 2, each of which is associated to a standby time corresponding to the time of scanning of the area by the telecamera 3a, and is characterized by the radius R, and by a centre Cti (with i ranging between 1 and Nl) positioned along the flight path 22 itself (block 500 in Figure 4) .
  • the method moreover identifies a local-scanning- path model associated to the area recognized (block 500) , comprising a series of transverse scanning stretches 24 that develop in a direction transverse to the longitudinal axis AL within the area and are set at a distance apart from one another, and a series of longitudinal scanning stretches 25, which develop within the area in a direction parallel to the longitudinal axis- AL.
  • the transverse scanning stretches 24 and longitudinal scanning stretches 25 of the observation plan are set at intervals apart from one another in such a way as to form within the frame 26 a scanning path that is substantially fret-shaped.
  • the fret of the observation plan comprises a series of semi-portions of scanning lines, each of which comprises a transverse scanning stretch 24 and a consecutive longitudinal scanning stretch 25.
  • the flight plan and the observation plan identified are adapted by the method to the area to be surveyed through the calculation of a series of calculation factors, such as the transverse dimensions of the field of view hi and the longitudinal dimensions Ii thereof, and the number Nsp of semi-portions included in the observation plan.
  • the method defines the scanning-path model (block 630) shaped like a Greek fret with a number of scans Nsp.
  • the scanning-path model comprises a plurality of transverse scanning stretches 24 joined together by as many longitudinal scanning stretches 25 in positions corresponding to a set of points Psj (with j comprised between 1 and 2*Nsp) .
  • the method configures the scanning-path model by defining the points Psj that join the transverse scanning stretches 24 and longitudinal scanning stretches 25.
  • the third component ZSj of each point corresponds preferably, but not necessarily, to the height from ground and is given by the method according to the information contained on the digital cartographic map in a region corresponding to the points of co-ordinates Xsj and Ysj .
  • the second planning strategy envisages dividing the area to be observed into at least two distinct sub-areas 27' and 27'' (as shown in Figure 6) , divided from one another by a midplane orthogonal to the area itself.
  • the method configures for each sub-area 27' and 27'' the flight plan and the observation plan, implementing the same operations implemented by blocks 500-630 described above. It is evident that in this case the flight path comprises two paths 22' and 22'' having respective circular standby orbits 23' and 23''.
  • the method makes a second check of observability (block 245) calculating the maximum distance of observation possible DMR of the area through the following relation:
  • the method determines that the constraints imposed in the initialization step are acceptable, i.e., that the area is entirely observable via a surveillance mission.
  • the method implements a third planning strategy (block 300) comprising a local-flight-path model without standby orbits (Figure I) 1 which envisages: dividing the area into a series of sub-areas 27', 27'', and 27''' (three of which are shown in the example of Figure 7) having preferably, but not necessarily, the same dimensions,- and tracing the flight paths 22 in a direction coinciding with the longitudinal axis ALi (with i comprised between 1 and the number of sub-areas) of each sub-area 27', 27'', and 27'''.
  • a third planning strategy comprising a local-flight-path model without standby orbits (Figure I) 1 which envisages: dividing the area into a series of sub-areas 27', 27'', and 27''' (three of which are shown in the example of Figure 7) having preferably, but not necessarily, the same dimensions,- and tracing the flight paths 22 in a direction coinciding with the longitudinal axis ALi (
  • the method envisages configuration of the observation plan implementing for each sub-area 27', 27'' and 27''' to be observed the steps outlined in what follows.
  • the method can envisage increasing, preferably, but not necessarily, by one unit the number of paths Nl according to the relative position between the entry point WPVi and the end point WPVfi of the flight plan envisaged.
  • Nl will be calculated in such a way as to be even, whereas, otherwise, i.e., if WPVi and WPVfi face the opposite sides of the area to be reconnoitred, Nl will be calculated in such a way as to be odd. Consequently, the method is able to decide each time whether to add or not a unit value to the number of paths Nl calculated in block 750 according to the mutual position of the two points of start and end of the flight path envisaged with respect to the sub-area to be observed.
  • the definition of the observation plan envisages calculating cyclically, with i ranging between 1 and Nl, the co-ordinates of the scanning path.
  • the model of the scanning path has for each sub-area 27' and/or 27'' and/or 27''' a path shaped like a fret comprising a plurality of transverse scanning stretches 24 joined together by as many longitudinal scanning stretches 25 in positions corresponding to a series of points Psi,j, the number of which is equal to 2*Nsp-l.
  • the method configures the scanning-path model by defining the points Psi,j that delimit the transverse scanning stretches 24 and longitudinal scanning stretches 25.
  • the method checks the presence or otherwise of the stand-off constraint (block 810) .
  • the strip 40 to be observed (shown in Figure 9) is divided into a broken line made up of a series of segments 41, defined by a series of rectangles having each a reduced length L and width Hi, joined together in such a way as to have the ends at least partially overlapping so as to cover entirely the strip 40.
  • the method verifies that the first condition of observability DMR>DM0C is satisfied, then the area is not completely observable.
  • the method identifies a state of impossibility of planning a local observation plan and a corresponding flight plan able to meet the constraints imposed and signals to the operator the need to change some constraints set in the initialization step according to what is implemented in block 290 described above.
  • Said change can envisage: a reduction in the stand-off distance; and/or a reduction in the radius R of the orbits; and/or an increase in the minimum contrast accepted; and/or an increase in the minimum dimensions DOmin of the target, and/or a reduction in the dimensions of the area to be reconnoitred.
  • the method determines that the constraints imposed in the initialization step are acceptable, i.e., that the area is entirely observable via a surveillance mission. At this point, the method reiterates for each segment 41 the operations described in block 270 corresponding to the first planning strategy (block 820) .
  • the flight paths 22 of each segment 41 are set parallel to the longitudinal axes ALi of the segments 41 at a distance from the major side of the segments 41 equal to (Dso+Hi/2) (with i comprised between 1 and the number of segments) .
  • the method determines moreover, for each path 22, the point WPVfi of intersection of the path 22 itself with the subsequent path 22.
  • the method moreover calculates the length Li eg (i) of each path 22.
  • the method is able to determine the average speed Vmv of the aircraft 2 as a function of the length Li eg (i) of the paths 22.
  • the method then calculates the number of standby orbits Nl according to the same modality of calculation implemented in block 270 and on the basis of the average speed Vmv (block 830) .
  • Dos a pre-set minimum value preferably, but not necessarily, equal to Himax/2 (block 860) .
  • the method determines that the constraints imposed in the initialization step are acceptable, and plans the observation plan implementing the operations of block 270. Also in this case, the flight paths 22 of each segment 41 of the broken line, instead of being determined as indicated in block 270, are determined through the steps implemented in block 830 described above.
  • the method verifies that the first condition of observability DMR>DM0C is true, then the area is not completely observable. In this case, the method identifies a state of impossibility of planning a local observation plan and a corresponding flight plan able to satisfy the constraints imposed and signals to the operator the need to change some constraints set in the initialization step (block 290) .
  • the method determines that the constraints imposed in the initialization step are acceptable and plans the observation plan implementing the operations envisaged by block 280 described above.
  • the flight paths 22 of each segment 41 of the broken line instead of being external to the segments 41, coincide with the median lines, i.e., with the axes ALi of each segment 41 and divide the area covered by the segment 41 itself into two specular parts.
  • the flight paths 22 of each segment 41 of the broken line instead of being determined as indicated in block 280, are determined as follows: paths 22 sharing the longitudinal axes ALi of the segments 41 of the broken line are traced and the points of intersection of the paths 22 (block 880) are calculated.
  • the point WPVfi of intersection between each path and the next path 22 represents the end of the first path 22 and the start of the following path 22.
  • the method verifies that the first condition of observability DMR>DMOC is true, then the area is not completely observable. In this case, the method identifies a state of impossibility of planning a local observation plan and a corresponding flight plan able to satisfy the constraints imposed and signals to the operator the need to change some constraints set in the initialization step (block 290) .
  • the method determines that the constraints imposed in the initialization step are acceptable, and selects a closed-flight-path model, which, in the case of the rectangular frame, comprises two rectilinear paths 22 parallel to the longitudinal axis AL of the area radiused to one another at the opposite ends by two semi-circles of radius R, whilst in the case of a square frame 26' it envisages a single circular path 22' of radius R (block 910) .
  • the flight path envisaged by the model can fall completely outside of the area to be reconnoitred in such a way that the two paths 22, or the path 22', face the same side of the selection frame 26 ( Figure 10) or else faces each a respective side of the frame 26 on opposite sides of the midplane of the frame 26 itself in such a way as to contain the frame 26 itself (as shown in Figure 11) .
  • the method plans a fret-shaped observation plan in which the co-ordinates of the stretches of transverse scan 24 and longitudinal scan 25 and the respective points of intersection Psi are determined through the steps implemented in block 270.
  • the method is able to determine the point of exit of the aircraft from the flight path as a function of the maximum time of observation of each area TMax.
  • the exit point can correspond to the point of tangency to the closed path of the straight line that passes through the first point WP of the next area when the maximum time of observation of each area TMax has elapsed.
  • the method moreover selects a pre-set flight-path model associated to the point element itself, which can be defined preferably, but not necessarily, by a circular orbit, which can be centred on the element itself or else be located at a pre-set distance from the element, in the case where, for example, a stand-off distance is envisaged.
  • observation path it envisages intersecting the optical axis of the telecamera 3a with the target when the circular orbit is being followed by the aircraft 2.
  • the method verifies that the first condition of observability DMR>DMOC is true, then the point element is not completely observable. In this case, the method identifies a state of impossibility of planning a local observation plan and a corresponding flight plan able to satisfy the constraints imposed and signals to the operator the need to change some constraints set in the initialization step (block 290) .
  • the method determines that the constraints imposed in the initialization step are acceptable and hence the method maintains the predefined flight path and scanning path (block 1010) .
  • the method processes them in such a way as to orient them according to a common reference system.
  • the local observation plans and the corresponding local flight plans calculated for each area with respect to a reference of local co-ordinates are repositioned on the points of the territory according to a common reference.
  • Said processing can envisage that all the co-ordinates of the paths of the observation plan and of the flight plan will be recalculated, for example, via an operation of roto-translation (block 1020) .
  • the local flight plans set according to the same reference are radiused to one another via stretches 28 that connect the end of the local flight plan of an individual area to the start of the local flight plan of the next area ( Figure 12) .
  • the closed paths linked to the limited areas or to the orbits in a point they are connected with the straight- line TU tangential to the flight plan that passes through the point WPVi of start of the flight plan associated to the next area.
  • the first path 28 will connect the point WPVf of the end-of-runway path TPIST with the first point WPVi of the path 22 assigned to the first area, and the last path 28 will connect the point WPVfi of the last path 22 of the overall flight plan to the end point WPVi of the landing path TPIST (block 1030) .
  • the method envisages preferably, but not necessarily, performing automatically a series of final verifications (block 1040) such as, for example: calculation of the length of the overall flight plan; control of the residual autonomy of the aircraft according to the length of the overall flight plan; control of the total time of flight that has elapsed; minimum height from ground defined by the intersection of the overall flight plan with the salient elements of the territory present in the digital map; check of possible areas in the observation of the territory in the shade on account of the orography of the ground and of the angle of observation envisaged; possible interruptions in the line of radio communications due to the orographic impediments identified; contrast; and/or probability of discovery of the target defined as a function of the variable characteristics such as the distance and atmospheric characteristics.
  • the method can supply information on the maximum distance whereby the contrast falls below the minimum values programmed .
  • the method makes these data available to the operator for each path 22 of flight envisaged in the overall flight plan planned.
  • the operator can thus advantageously modify some initialization data such as the height, and/or the stand-off distance, and/or the target and activate again the method according to what has been described above.
  • the method performs once again the calculation and reproposes a new plan to the operator .
  • the method hence conveniently makes available to the operator: the flight plan defined by the sequence of the paths 22 with corresponding height and speed that the aircraft will have to observe automatically; the observation plan defined by the sequence of scans with associated thereto the angular opening of the objective that the telecamera 3a will have to follow automatically; possible areas in which the contrast of the hypothetical target is lower than the minimum detectable value; possible residual areas of observation in the shade; residual autonomy at the end of the mission; and total flight time .
  • the operator is advantageously able to carry out real-time updating of some data used in the initialization step in such a way as to enable the method to plan the flight plan and/or the observation plan again according to the new parameters.
  • the method described above is extremely advantageous in so far as it determines in an altogether automatic way both a plan of observation of the areas to be observed and a plan of flight for the reconnaissance aircraft according to the real capacity of observation of the target in the real conditions of visibility, thus ensuring full coverage of the observation area.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de planification d’une mission de surveillance d’une ou de plusieurs zones à l’aide d’un avion (2) de reconnaissance, le procédé comportant les étapes consistant à : établir (120) au moins une première contrainte d’affichage liée à un état de visibilité de l’objectif au sein d’une zone et au moins une deuxième contrainte d’affichage liée à la dimension minimale (DOmin) de l’objectif dans la zone ; déterminer (140) un jeu de paramètres principaux liés à la capacité d’observation de la zone et un jeu de paramètres secondaires liés aux conditions de visibilité environnementale ; calculer (210) un seuil maximal d’observabilité (DMOC) de l’objectif ; et calculer une distance maximale de reconnaissance (DMR) de l’avion (2) en fonction de la zone afin de signaler une condition d’impossibilité de planification de la mission de surveillance lorsque la distance maximale de reconnaissance (DMR) et le seuil maximal d’observabilité (DMOC) satisfont conjointement une première condition prédéfinie d’observabilité.
PCT/IT2008/000063 2008-01-21 2008-01-21 Dispositif et procédé de planification d’une mission de surveillance de zones d’intérêt susceptible d’être accomplie à l’aide d’un système de reconnaissance utilisant un avion de reconnaissance WO2009093276A1 (fr)

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PCT/IT2008/000063 WO2009093276A1 (fr) 2008-01-21 2008-01-21 Dispositif et procédé de planification d’une mission de surveillance de zones d’intérêt susceptible d’être accomplie à l’aide d’un système de reconnaissance utilisant un avion de reconnaissance

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WO2015081383A1 (fr) * 2013-12-04 2015-06-11 Spatial Information Systems Research Ltd Procédé et appareil d'élaboration de trajet de vol
CN104792313A (zh) * 2015-03-31 2015-07-22 深圳一电科技有限公司 无人侦查系统的测绘控制方法、装置及系统
CN107272739A (zh) * 2017-07-24 2017-10-20 湘潭大学 一种基于子母系统的喷药系统及方法
US20180081065A1 (en) * 2012-12-19 2018-03-22 Elwha Llc Unoccupied flying vehicle (ufv) location assurance
CN108803665A (zh) * 2018-09-10 2018-11-13 朱彬 全自动无人机集群作业装置及方法
FR3079296A1 (fr) * 2018-03-22 2019-09-27 Thales Procede et systeme d'aide a un operateur pour elaborer un plan de vol d'un aeronef passant par un ensemble de zones de mission a couvrir
US10518877B2 (en) 2012-12-19 2019-12-31 Elwha Llc Inter-vehicle communication for hazard handling for an unoccupied flying vehicle (UFV)
CN111578905A (zh) * 2020-05-13 2020-08-25 中测新图(北京)遥感技术有限责任公司 一种倾斜相机航线敷设方法以及装置
CN115639834A (zh) * 2022-09-05 2023-01-24 中国航空工业集团公司洛阳电光设备研究所 一种基于图像质量的无人机侦察规划设计方法
FR3131968A1 (fr) * 2022-01-18 2023-07-21 Thales Procédé de calcul d'une trajectoire optimal d'un porteur pour réaliser une mission de surveillance multi-cible et multi-objectif et programme d'ordinateur associé
CN118349019A (zh) * 2024-06-11 2024-07-16 无锡广盈集团有限公司 一种基于智能优化算法的无人机路径规划优化方法
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CN111352417B (zh) * 2020-02-10 2022-08-02 合肥工业大学 异构多无人机协同路径的快速生成方法

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US20180081065A1 (en) * 2012-12-19 2018-03-22 Elwha Llc Unoccupied flying vehicle (ufv) location assurance
US10518877B2 (en) 2012-12-19 2019-12-31 Elwha Llc Inter-vehicle communication for hazard handling for an unoccupied flying vehicle (UFV)
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EP3077881A4 (fr) * 2013-12-04 2017-09-13 Spatial Information Systems Research Ltd. Procédé et appareil d'élaboration de trajet de vol
WO2015081383A1 (fr) * 2013-12-04 2015-06-11 Spatial Information Systems Research Ltd Procédé et appareil d'élaboration de trajet de vol
CN104792313A (zh) * 2015-03-31 2015-07-22 深圳一电科技有限公司 无人侦查系统的测绘控制方法、装置及系统
CN107272739B (zh) * 2017-07-24 2020-09-29 湘潭大学 一种基于子母系统的喷药系统及方法
CN107272739A (zh) * 2017-07-24 2017-10-20 湘潭大学 一种基于子母系统的喷药系统及方法
FR3079296A1 (fr) * 2018-03-22 2019-09-27 Thales Procede et systeme d'aide a un operateur pour elaborer un plan de vol d'un aeronef passant par un ensemble de zones de mission a couvrir
EP3543654A3 (fr) * 2018-03-22 2019-12-11 Thales Procédé et système d'aide a un operateur pour élaborer un plan de vol d'un aéronef passant par un ensemble de zones de mission à couvrir
CN108803665A (zh) * 2018-09-10 2018-11-13 朱彬 全自动无人机集群作业装置及方法
CN108803665B (zh) * 2018-09-10 2024-05-14 朱彬 全自动无人机集群作业装置及方法
CN111578905A (zh) * 2020-05-13 2020-08-25 中测新图(北京)遥感技术有限责任公司 一种倾斜相机航线敷设方法以及装置
CN111578905B (zh) * 2020-05-13 2022-03-22 中测新图(北京)遥感技术有限责任公司 一种倾斜相机航线敷设方法以及装置
FR3131968A1 (fr) * 2022-01-18 2023-07-21 Thales Procédé de calcul d'une trajectoire optimal d'un porteur pour réaliser une mission de surveillance multi-cible et multi-objectif et programme d'ordinateur associé
CN115639834A (zh) * 2022-09-05 2023-01-24 中国航空工业集团公司洛阳电光设备研究所 一种基于图像质量的无人机侦察规划设计方法
CN115639834B (zh) * 2022-09-05 2024-04-26 中国航空工业集团公司洛阳电光设备研究所 一种基于图像质量的无人机侦察规划设计方法
CN118349019A (zh) * 2024-06-11 2024-07-16 无锡广盈集团有限公司 一种基于智能优化算法的无人机路径规划优化方法
CN118362135A (zh) * 2024-06-20 2024-07-19 中国人民解放军国防科技大学 一种无人机侦察规划方法

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