WO2021208320A1 - 无人机的飞行轨迹处理方法、装置、电子设备与存储介质 - Google Patents
无人机的飞行轨迹处理方法、装置、电子设备与存储介质 Download PDFInfo
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- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- the invention relates to the field of unmanned aerial vehicles, and in particular to a method, device, electronic equipment and storage medium for processing the flight trajectory of an unmanned aerial vehicle.
- the invention provides a flight trajectory processing method, device, electronic equipment and storage medium of an unmanned aerial vehicle, so as to solve the problem of lack of a flight trajectory estimation scheme for multiple unmanned aerial vehicles.
- a flight trajectory processing method of an unmanned aerial vehicle including:
- each location point is a location that a UAV is located in this cycle
- the optimal corresponding way is determined according to the multiple relative distance information; in each corresponding way, one position point corresponds to one flight trajectory, and Different flight trajectories correspond to different position points; where N and M are integers greater than or equal to 2;
- any one of the target flight trajectories of the M flight trajectories has a corresponding target position point that is successfully matched, then the target flight trajectory is updated according to the target position point, where , For the position point and flight trajectory that are successfully matched, the relative distance information is less than the preset successful match threshold.
- a flight trajectory processing device of an unmanned aerial vehicle including:
- the location point determination module is used to determine discrete N location points; each location point is a location that a UAV is located in this cycle;
- the relative distance calculation module is used to calculate the distance of each position point relative to each flight trajectory for the M existing flight trajectories and the N position points to obtain multiple relative distance information;
- the optimal corresponding mode determination module is used to determine the optimal corresponding mode according to the multiple relative distance information among all the corresponding modes of the N position points and the M flight trajectories; in each corresponding mode, one Or multiple position points correspond to one flight trajectory, and different flight trajectories correspond to different position points; where N and M are integers greater than or equal to 2;
- the trajectory update module is configured to update all target locations according to the target location points if any one of the target flight trajectories in the M flight trajectories has a corresponding target location point in the optimal corresponding manner.
- the relative distance information of the position point and the flight trajectory that are successfully matched is less than the preset successful matching threshold.
- an electronic device including a processor and a memory
- the memory is used to store codes and related data
- the processor is configured to execute the code in the memory to implement the flight trajectory processing method of the drone involved in the first aspect and its optional solutions.
- a storage medium on which a computer program is stored, and when the program is executed by a processor, it realizes the flight trajectory processing method of the UAV involved in the first aspect and its optional solutions.
- the flight trajectory processing method, device, electronic equipment and storage medium of the unmanned aerial vehicle provided by the present invention can calculate the relative distance information between the position point and the existing flight trajectory for the discrete position points tracked, and further, Based on the relative distance information, the position points can be corresponded to the existing flight trajectory, and the flight trajectory can be updated accordingly. It can be seen that the present invention can characterize the chaotic and discrete positioning results as the smooth flight trajectory of multiple UAVs (for example, The curve of the flight trajectory). At the same time, because it is based on the real relative distance information, the processed flight trajectory is more similar to the real trajectory and has better accuracy. Therefore, the present invention can facilitate the realization of the UAV Effective monitoring of flight trajectories.
- Fig. 1 is a schematic diagram of an application scenario in an embodiment of the present invention
- Fig. 2 is a first flow diagram of a method for processing a flight trajectory of an unmanned aerial vehicle in an embodiment of the present invention
- FIG. 3 is a schematic flowchart of step S11 in an embodiment of the present invention.
- FIG. 4 is a schematic diagram of center distance information in an embodiment of the present invention.
- FIG. 5 is a schematic diagram of the second flow chart of a method for processing a flight trajectory of an unmanned aerial vehicle in an embodiment of the present invention
- Fig. 6 is a schematic diagram of relative distance information in an embodiment of the present invention.
- FIG. 7 is a first schematic diagram of the flow of step S13 in an embodiment of the present invention.
- FIG. 8 is a second schematic diagram of the flow of step S13 in an embodiment of the present invention.
- FIG. 9 is a third flowchart of a method for processing a flight trajectory of a drone in an embodiment of the present invention.
- FIG. 10 is a schematic diagram of a program module of a flight trajectory processing device of a drone in an embodiment of the present invention.
- FIG. 11 is a second schematic diagram of a program module of a flight trajectory processing device of a drone in an embodiment of the present invention.
- FIG. 12 is a third schematic diagram of a program module of a flight trajectory processing device of a drone in an embodiment of the present invention.
- FIG. 13 is a fourth schematic diagram of a program module of the flight trajectory processing device of an unmanned aerial vehicle in an embodiment of the present invention.
- FIG. 14 is a schematic diagram of the structure of an electronic device in an embodiment of the present invention.
- Fig. 1 is a schematic diagram of an application scenario in an embodiment of the present invention.
- the flight trajectory processing method, device, electronic equipment, and storage medium of the drone involved in this embodiment can be applied to any device that supervises the drone 2, and the device may be, for example, the supervision device 1 shown in FIG. 1 , It can also be a device that is not dedicated to monitoring drones, for example, it can also be a suppression device that suppresses drones, or it can be a monitoring device that monitors other aircraft or all aircraft. No matter what kind of equipment it is applied to, it does not deviate from the description of this embodiment.
- UAV 2 can be understood as any unmanned aircraft, which can be flown under automatic control according to a predefined program, or it can be flown under human control, regardless of its structure, purpose, and working mode.
- UAV 2 can be understood as any unmanned aircraft, which can be flown under automatic control according to a predefined program, or it can be flown under human control, regardless of its structure, purpose, and working mode.
- the flight trajectory can refer to a trajectory formed by continuous lines in a two-dimensional plane, or a trajectory formed by continuous lines in a three-dimensional space.
- Fig. 2 is a first flowchart of a method for processing a flight trajectory of an unmanned aerial vehicle in an embodiment of the present invention.
- the flight trajectory processing method of the UAV includes:
- S11 Determine discrete N location points; each location point is a location that a UAV is located in this cycle;
- the position point can be understood as the result of positioning the drone. It is any position that can be described using information.
- coordinate information can be used (for example, it can be a relative coordinate referenced to a reference object, or it can be GPS coordinates) can also be described using vector information. As long as different positions can be described differently, it does not deviate from the scope of this embodiment.
- a drone can be located to one location point, or it can be located to more than one location point, or part of the drone. Being located at one location, some drones are located at more than one location.
- the steps in this embodiment are effective for various possibilities.
- each corresponding way can also be regarded as a possible permutation and combination of N position points and M flight trajectories.
- each position point has the possibility of M combinations, then: N location points are different drones, there may be M! The possibility of a combination, namely M! A possible way of corresponding.
- step S13 the optimal corresponding way can be found based on the relative distance information.
- the optimal corresponding method can be understood as all or part of the corresponding methods that are evaluated as the optimal corresponding method for one or several custom indicators. According to the different defined indicators, the best corresponding method is obtained.
- the optimal correspondence mode can be different.
- the evaluation is based on relative distance information.
- the maximum number of matches or expressed as: making the number of successful matches involved in the hereinafter referred to as the maximum
- the minimum matching distance or expressed as: Make the statistical information of the matching distance involved in the following to be the minimum
- this embodiment does not exclude implementations that use other indicators or combined with other indicators for evaluation. For example, indicators related to factors such as speed, displacement, and direction can also be used for evaluation.
- the relative distance information can reflect to a certain extent the possibility of whether a location point and an existing flight trajectory belong to the same drone (for example, the closer it is, the more likely it belongs to the same drone). Then, take this as According to this, it is easy to find a possibility that fits the real situation. Further, this embodiment is evaluated based on at least part of N position points and M existing flight trajectories, and is aimed at any position point and The possibility of flight trajectory, whether it belongs to the same drone, will constrain other location points and flight trajectories, and will also be constrained by other location points and flight trajectories. Furthermore, through comprehensive consideration in this embodiment, it is convenient to take into account other locations.
- this embodiment can facilitate the realization of unmanned Effective monitoring of aircraft flight trajectory.
- step S14 it is also necessary to point out that even if the optimal corresponding method is determined, the flight trajectory may not be successfully matched with the location point. At the same time, it is not ruled out that all existing flight trajectories have not successfully matched the location point. , The unmatched location points can be used to form a new flight trajectory.
- step S13 it may further include:
- a new flight trajectory is generated according to the K position points, where K is less than or equal to N.
- Fig. 3 is a schematic diagram of the flow of step S11 in an embodiment of the present invention
- Fig. 4 is a schematic diagram of center distance information in an embodiment of the present invention.
- all the acquired position points can be directly used as the N position points, so as to be applied to subsequent processing.
- step S11 includes:
- S1102 Calculate the distance of each of the multiple position points relative to the preset center position, and obtain the center distance information of each position point;
- S1103 Filter the multiple position points according to the center distance information and a preset center distance threshold, and determine the N position points.
- step S1101 by monitoring the drone in flight, the positioning results of discrete points on the flight trajectory of the drone can be obtained, so as to determine multiple discrete position points.
- the position of four points as an example, L a, L b, L c, L d is the distance from the center point to the position of the four positions, where the center position of the center of the site can be The location of, does not exclude it as any other pre-defined location.
- all positioning results greater than the center distance threshold can be discarded.
- the position point d in FIG. 4 may be discarded, so that the remaining position points are used as the N position points that need to participate in subsequent processing.
- the center distance threshold T0 may be 8 kilometers, for example.
- Fig. 5 is a second flowchart of a method for processing a flight trajectory of an unmanned aerial vehicle in an embodiment of the present invention.
- the method may further include:
- step S16 can be implemented: generating a new flight trajectory according to the N position points.
- step S15 and step S16 can also be implemented in conjunction with steps S1101 to S1103 mentioned above, and furthermore, all positioning results that meet the center distance threshold can be used to generate a new flight trajectory, which can be used as the starting position of the flight trajectory .
- FIG. 6 is a schematic diagram of relative distance information in an embodiment of the present invention
- FIG. 7 is a schematic diagram 1 of the flow of step S13 in an embodiment of the present invention
- FIG. 8 is a schematic diagram 2 of the flow of step S13 in an embodiment of the present invention.
- the relative distance information calculated in step S13 may be l ij as an example, where different i can represent different flight trajectories, for example, can refer to the sequence number of the flight trajectory, and different j can represent different The location point, or can be understood as different positioning results. Furthermore, l ij may, for example, represent relative distance information between the i-th flight trajectory and the j-th position point. The relative distance information may, for example, take the shortest distance between the position point and the flight trajectory.
- a distance relationship matrix can be formed. Since each element records a relative distance information, it actually represents a corresponding flight trajectory and a corresponding flight path. Location point.
- the number of successful matching between the position point and the flight trajectory in the optimal correspondence mode is the largest in all or part of the correspondence modes, which can also be understood as the maximum number of matches as an evaluation index, where success
- the matched position point and flight trajectory can be defined as the relative distance information is less than the preset successful matching threshold. In other words, for the position point and flight trajectory corresponding to each other in the corresponding relationship, it can be calculated whether the relative distance information is less than the successful matching threshold. , If it is less than, the two are considered to be successfully matched, otherwise, the two are considered to be unsuccessfully matched. Furthermore, the number of successful matches can better reflect whether the corresponding relationship fully and truly fits the real situation.
- the successful matching threshold corresponding to the first flight trajectory is the first successful matching threshold
- the successful matching threshold corresponding to the second flight trajectory is the second successful matching threshold.
- the first successful matching threshold T1 may be n times a unit distance (the unit distance may be, for example, 75m), and n is less than the stop-and-shift period threshold mentioned later. Integer.
- the second successful matching threshold T2 may be a preset fixed value (the fixed value may be, for example, 150 m).
- the statistical information of the matching distance in the optimal corresponding manner is the smallest among all or part of the corresponding methods; it can also be understood as the minimum matching distance as an evaluation index, wherein the statistical information of the matching distance It is used to characterize the sum of the relative distance information between the successfully matched position point and the flight trajectory in the corresponding corresponding method. For example, in a corresponding method, the number of successful matching is 10 times, then the matching distance statistical information can be the corresponding 10 relative distances The sum of the information itself can also be the average of the sum, or other statistical data associated with the sum. The statistical information of the matching distance can better reflect whether the corresponding relationship as a whole fits the real situation.
- the number of successful matches or the statistical information of the matching distance can be selected to evaluate the optimal corresponding method, and the number of successful matches and the statistical information of the matching distance can also be used to evaluate the optimal corresponding method.
- priority can also be configured for both, for example, the priority of the number of successful matches can be higher than the statistical information of the matching distance.
- a certain relative distance information is less than the corresponding successful matching threshold (for example: judging whether the relative distance information between the non-continuously updated flight trajectory and its corresponding location point is less than the first successful matching threshold, or: whether the relative distance information between the continuously updated flight trajectory and its corresponding location point is less than the second Successful matching threshold), if it is less than, the position point of the relative distance information and the flight trajectory are successfully matched, otherwise, it is determined that the two are not successfully matched.
- the relative distance information l ij can be set to Infinity, or set to other specific values, and further, by judging the number of relative distance information l ij in a corresponding relationship that is not set to infinity (or other specific values) or is set to infinity (or other specific values) ) To count the number of successful matches.
- Step S13 may include:
- step S1304 can be implemented: determining that the candidate corresponding mode is the optimal corresponding mode;
- step S103 If the judgment result of step S103 is no, that is, the number of candidate corresponding modes is at least two, the following steps can be implemented:
- S1306 Determine the optimal corresponding mode according to the matching distance statistical information of each candidate corresponding mode.
- the algorithm of the above processing process can be understood as a calculation process based on an exhaustive algorithm.
- all permutations and combinations for example, M! permutations and combinations
- the distance relationship matrix can be calculated based on the exhaustive algorithm.
- the number of successful matching of each candidate corresponding method determined in step S1302 may be the same. In another example, the number of successful matching of each candidate corresponding method may also be different, and the candidate corresponding method may be, for example, successful matching.
- the K correspondences ranked first by the number of times may also be multiple correspondences whose times difference between the first K correspondences and the first correspondence is smaller than a certain threshold.
- Step S13 may include:
- step S1310 can be implemented: determining the local optimal corresponding way as the new optimal corresponding way;
- step S1311 can be implemented: randomly determine whether the number of times of multiple corresponding methods reaches the cycle number threshold;
- step S1312 can be implemented: determining that the optimal corresponding way at this time is the final optimal corresponding way;
- step S1311 If the judgment result of step S1311 is no, return to step S1307, again randomly determine multiple corresponding modes, and repeat step S1307 to step S1311 again until the threshold of the number of cycles is reached.
- the local optimal corresponding method can be determined by referring to the process from step S1302 to step S1306. Specifically, the corresponding method with the largest number of successful matches can be determined as the candidate corresponding method. If the number is one, the candidate corresponding method is determined to be the local optimal corresponding method. If the number of candidate corresponding methods is at least two, then the matching distance statistical information in each candidate corresponding method is calculated, and the matching according to each candidate corresponding method The distance statistical information determines the local optimal corresponding manner. In other examples, only the number of successful matches or matching example information may be considered.
- step S1309 in an example, the number of successful matching between the previously determined optimal corresponding method and the local optimal corresponding method may be compared first. If the local optimal corresponding method has more successful matching times, the local optimal corresponding method is determined. The corresponding method is better than the previously determined optimal corresponding method. Otherwise, the determined optimal corresponding method is still the previous optimal corresponding method.
- the algorithm of the above processing process can be understood as a calculation process based on the greedy algorithm.
- the calculation process based on the exhaustive algorithm and the calculation process based on the greedy algorithm in one embodiment, only one of them can be used, and in another embodiment, two algorithms can be configured at the same time. The calculation process, and then, can automatically choose which algorithm to use according to the actual situation.
- step S13 may also include:
- the algorithm selection threshold can be understood as: if the algorithm selection threshold is exceeded, the greedy algorithm shown in FIG. 8 is adopted, and if the threshold is not exceeded, the exhaustive algorithm shown in FIG. 7 is adopted, for example.
- the algorithm selection threshold G may be 6, for example.
- the algorithm selection threshold G may be 6, for example.
- the number of trajectories appearing is less than 6, use the exhaustive algorithm to select the global optimal corresponding method; otherwise, use the greedy algorithm to select the local optimal matching, and then get the final optimal corresponding method based on this.
- the final updated trajectory is similar to the real trajectory, so as to monitor the flight trajectory of the UAV.
- step S14 during the update, for any one of the fourth flight trajectory and the fourth position point corresponding to the fourth flight trajectory in the optimal corresponding manner and successfully matched, the fourth flight trajectory may be updated to pass through the
- the fourth position point, the fourth position point can be understood as the target position point mentioned above, and further, the number of position points passed by each flight trajectory can be determined.
- Fig. 9 is a third flowchart of a method for processing a flight trajectory of an unmanned aerial vehicle in an embodiment of the present invention.
- step S14 it may further include:
- step S18 can be implemented: for any one of the third flight trajectories, whether the number of position points passed by the flight trajectory is less than the preset number of position points threshold, and The stop-and-shift period information of the third flight trajectory is greater than the preset stop-and-shift period threshold;
- step S19 can be implemented: deleting the third flight trajectory.
- the stop period information is used to characterize the number of periods in which the corresponding flight trajectory has not been continuously updated.
- the period can be understood as: the positioning of the position point can be implemented periodically, and further, the stop period information here can be, for example: after a periodic positioning occurs, if step S14 is not implemented for a certain flight trajectory
- the stop period information of the flight trajectory can be accumulated once, and if step S14 is performed for the update for a certain flight trajectory, the cumulative stop period information of the flight trajectory can be cleared.
- the stop-and-shift period information can also be used to determine whether the flight trajectory was updated in the previous period. For example, if the stop-and-shift period information is 0, it is determined that the flight trajectory was updated in the previous period. If the information is not 0, it is determined that the flight trajectory has not been updated in the previous cycle.
- the threshold for the number of trajectories may be, for example, 5, the threshold for the number of position points may be, for example, 2, and the stop period threshold may be, for example, 5.
- the relative distance information between the position point and the existing flight trajectory can be calculated for the discrete position points tracked, and then the relative distance information is taken as According to this, the position points can be corresponded to the existing flight trajectory, and the flight trajectory can be updated accordingly.
- this embodiment can characterize the chaotic and discrete positioning results as the smooth flight trajectory of multiple drones (for example, the flight trajectory of the drone). Curve).
- the processed flight trajectory is similar to the real trajectory and has better accuracy. Therefore, this embodiment can facilitate the realization of the flight trajectory of the drone. Effective monitoring.
- FIG. 10 is a schematic diagram of a program module of the flight trajectory processing device of a drone in an embodiment of the present invention
- FIG. 11 is a schematic diagram of a program module of the flight trajectory processing device of a drone in an embodiment of the present invention
- FIG. 13 is the fourth schematic diagram of the program module of the UAV flight trajectory processing device in an embodiment of the present invention.
- the flight trajectory processing device 200 of the UAV includes:
- the location point determination module 201 is used to determine discrete N location points; each location point is a location that a UAV is located in this cycle;
- the relative distance calculation module 202 is configured to calculate the distance of each position point relative to each flight trajectory for the M existing flight trajectories and the N position points to obtain multiple relative distance information;
- the optimal corresponding manner determining module 203 is configured to determine the optimal corresponding manner based on the multiple relative distance information among all the corresponding manners of the N position points and the M flight trajectories; in each corresponding manner, One position point corresponds to one flight trajectory, and different flight trajectories correspond to different position points; where N and M are integers greater than or equal to 2;
- the trajectory update module 204 is configured to update according to the target location point if any one of the target flight trajectories in the M flight trajectories has a corresponding target location point that is successfully matched in the optimal corresponding manner In the target flight trajectory, the relative distance information of the position point and the flight trajectory that are successfully matched is less than a preset successful matching threshold.
- the number of successful matching between the position point and the flight trajectory in the optimal correspondence manner is the largest among all correspondence manners, and/or: the matching distance statistical information in the optimal correspondence manner is the smallest among all correspondence manners of;
- the relative distance information is less than the preset successful matching threshold, and the matching distance statistical information is used to characterize the relative distance information between the position point and the flight trajectory that are successfully matched in the corresponding manner.
- the optimal corresponding mode determining module 203 is specifically configured to:
- the corresponding method with the largest number of successful matches is determined as the candidate corresponding method
- the matching distance statistical information in each candidate corresponding mode is calculated, and the optimal corresponding mode is determined according to the matching distance statistical information of each candidate corresponding mode.
- the optimal corresponding method determining module 203 is further configured to: before determining that the corresponding method with the largest number of successful matches is the candidate corresponding method:
- the optimal corresponding mode determining module 203 is specifically configured to:
- multiple corresponding methods are randomly determined multiple times
- the optimal corresponding mode at this time is the final optimal corresponding mode.
- the optimal corresponding manner determining module 203 is further configured to: before randomly determining multiple corresponding manners for multiple times:
- the successful matching threshold corresponding to the first flight trajectory is the first successful matching threshold
- the successful matching threshold corresponding to the second flight trajectory is the second successful matching threshold.
- the position point determination module 201 is specifically configured to:
- the multiple position points are screened, and the N position points are determined.
- the flight trajectory processing device of the UAV further includes:
- the first new trajectory generation module 205 is configured to generate a new flight trajectory according to the N position points if the number of existing flight trajectories is 0.
- the flight trajectory processing device 200 of the UAV further includes:
- the trajectory deletion module 206 is configured to, if the number of existing flight trajectories exceeds the trajectory number threshold, the number of position points passed by any one of the third flight trajectories is less than the preset position point number threshold, and the third If the stop period information of the flight trajectory is greater than the preset stop period threshold, the third flight trajectory is deleted, and the stop period information is used to represent the number of consecutive cycles of the corresponding flight trajectory that have not been updated.
- the flight trajectory processing device 200 of the drone further includes:
- the new trajectory second generation module 207 is used to generate a new flight trajectory according to the K position points that are not successfully matched in the optimal correspondence mode, where K is less than or equal to N .
- the relative distance information between the position point and the existing flight trajectory can be calculated for the discrete position points tracked, and further, the relative distance information is taken as According to this, the position points can be corresponded to the existing flight trajectory, and the flight trajectory can be updated accordingly.
- this embodiment can characterize the chaotic and discrete positioning results as the smooth flight trajectory of multiple drones (for example, the flight trajectory of the drone). Curve).
- the processed flight trajectory is similar to the real trajectory and has better accuracy. Therefore, this embodiment can facilitate the realization of the flight trajectory of the drone. Effective monitoring.
- FIG. 14 is a schematic diagram of the structure of an electronic device in an embodiment of the present invention.
- an electronic device 30 including:
- the memory 32 is configured to store executable instructions of the processor
- the processor 31 is configured to execute the above-mentioned methods by executing the executable instructions.
- the processor 31 can communicate with the memory 32 through the bus 33.
- This embodiment also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned methods are implemented.
- a person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware.
- the aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.
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Abstract
Description
Claims (22)
- 一种无人机的飞行轨迹处理方法,其中无人机的数量为多架;其特征在于,包括:确定离散的N个位置点;每个位置点为一个无人机在本周期内被定位到的一个位置;针对于M条已有的飞行轨迹,以及所述N个位置点,计算每个位置点相对于每一条飞行轨迹的距离,得到多个相对距离信息;在所述N个位置点与M条飞行轨迹的所有对应方式中,根据所述多个相对距离信息,确定最优对应方式;在每个对应方式中,一个位置点对应于一个飞行轨迹,且不同飞行轨迹对应于不同位置点;其中的N、M均为大于或等于2的整数;若在所述最优对应方式中,所述M条飞行轨迹中任意之一目标飞行轨迹具有对应的一个成功匹配的目标位置点,则根据所述目标位置点,更新所述目标飞行轨迹,其中,针对于成功匹配的位置点与飞行轨迹,其相对距离信息小于预设的成功匹配阈值;若已有的飞行轨迹的数量超出轨迹数量阈值,其中任意之一第三飞行轨迹所经过的位置点的数量少于预设的位置点数量阈值,且所述第三飞行轨迹的停更周期信息大于预设的停更周期阈值,则删除所述第三飞行轨迹,所述停更周期信息用于表征对应飞行轨迹连续未被更新的周期数。
- 根据权利要求1所述的无人机的飞行轨迹处理方法,其特征在于,所述最优对应方式中位置点与飞行轨迹的成功匹配次数是所有或部分对应方式中最多的,和/或:所述最优对应方式中的匹配距离统计信息是所有或部分对应方式中最小的;其中,所述匹配距离统计信息用于表征所属对应方式中成功匹配的位置点与飞行轨迹的相对距离信息的总和。
- 根据权利要求2所述的无人机的飞行轨迹处理方法,其特征在于,其特征在于,在所述N个位置点与M条飞行轨迹的所有对应方式中,根据所述多个相对距离信息,确定最优对应方式,包括:在所有对应方式中,确定成功匹配次数最多的对应方式为候选对应方式;若所述候选对应方式的数量为一个,则确定该候选对应方式为所述最优对应方式;若所述候选对应方式的数量为至少两个,则计算每个候选对应方式中的匹配距离统计信息,并根据各候选对应方式的匹配距离统计信息,确定所述最优对应方式。
- 根据权利要求3所述的无人机的飞行轨迹处理方法,其特征在于,在所有对应方式中,确定成功匹配次数最多的对应方式为候选对应方式之前,还包括:确定其中的M未超出预设的算法选择阈值。
- 根据权利要求2所述的无人机的飞行轨迹处理方法,其特征在于,在所述N个位置点与M条飞行轨迹的所有对应方式中,根据所述多个相对距离信息,确定最优对应方式,包括:在所有对应方式中,多次随机确定多个对应方式;在每次随机确定多个对应方式后,均在所述多个对应方式中确定一个局部最优对应方式;若所述局部最优对应方式优于之前确定的最优对应方式,则确定所述局部最优对应方式作为新的最优对应方式;在随机确定多个对应方式的次数到达循环次数阈值时,确定此时的最优对应方式为最终的最优对应方式。
- 根据权利要求5所述的无人机的飞行轨迹处理方法,其特征在于,在所有对应方式中,多次随机确定多个对应方式之前,还包括:确定其中的M超出预设的算法选择阈值。
- 根据权利要求1至6任一项所述的无人机的飞行轨迹处理方法,其特征在于,若任意之一第一飞行轨迹在上一个周期中未被更新,则所述第一飞行轨迹对应的成功匹配阈值为第一成功匹配阈值;若任意之一第二飞行轨迹未在上一个周期中被更新了,则所述第二飞行轨迹对应的成功匹配阈值为第二成功匹配阈值。
- 根据权利要求1至6任一项所述的无人机的飞行轨迹处理方法,其特征在于,确定离散的N个位置点,包括:确定离散的多个位置点;计算所述多个位置点中每个位置点相对于预设的中心位置的距离,得到每个位置点的中心距离信息;根据所述中心距离信息,以及预设的中心距离阈值,筛选所述多个位置点,确定所述N个位置点。
- 根据权利要求1至6任一项所述的无人机的飞行轨迹处理方法,其特征在于,确定所述N个位置点之后,还包括:若已有飞行轨迹的数量为0,则根据所述N个位置点,产生新的飞行轨迹。
- 根据权利要求1至6任一项所述的无人机的飞行轨迹处理方法,其特征与,根据所述多个相对距离信息,确定最优对应方式,还包括:针对于所述最优对应方式中未被成功匹配的K个位置点,根据所述K个位置点,产生新的飞行轨迹,其中的K小于或等于N。
- 一种无人机的飞行轨迹处理装置,其中无人机的数量为多架;其特征在于,包括:位置点确定模块,用于确定离散的N个位置点;每个位置点为一个无人机在本周期内被定位到的一个位置;相对距离计算模块,用于针对于M条已有的飞行轨迹,以及所述N个位置点,计算每个位置点相对于每一条飞行轨迹的距离,得到多个相对距离信息;最优对应方式确定模块,用于在所述N个位置点与M条飞行轨迹的所有对应方式中,根据所述多个相对距离信息,确定最优对应方式;在每个对应方式中,一个位置点对应于一个飞行轨迹,且不同飞行轨迹对应于不同位置点;其中的N、M均为大于或等于2的整数;轨迹更新模块,用于若在所述最优对应方式中,所述M条飞行轨迹中任意之一目标飞行轨迹具有对应的一个成功匹配的目标位置点,则根据所述目标位置点,更新所述目标飞行轨迹,其中,针对于成功匹配的位置点与飞行轨迹,其相对距离信息小于预设的成功匹配阈值;轨迹删除模块,用于若已有的飞行轨迹的数量超出轨迹数量阈值,其中任意之一第三飞行轨迹所经过的位置点的数量少于预设的位置点数量阈值,且所述第三飞行轨迹的停更周期信息大于预设的停更周期阈值,则删除所述 第三飞行轨迹,所述停更周期信息用于表征对应飞行轨迹连续未被更新的周期数。
- 根据权利要求11所述的无人机的飞行轨迹处理装置,其特征在于,所述最优对应方式中位置点与飞行轨迹的成功匹配次数是所有或部分对应方式中最多的,和/或:所述最优对应方式中的匹配距离统计信息是所有或部分对应方式中最小的;其中,所述匹配距离统计信息用于表征所属对应方式中成功匹配的位置点与飞行轨迹的相对距离信息的总和。
- 根据权利要求12所述的无人机的飞行轨迹处理装置,其特征在于,其特征在于,所述对应方式确定模块,具体用于:在所有对应方式中,确定成功匹配次数最多的对应方式为候选对应方式;若所述候选对应方式的数量为一个,则确定该候选对应方式为所述最优对应方式;若所述候选对应方式的数量为至少两个,则计算每个候选对应方式中的匹配距离统计信息,并根据各候选对应方式的匹配距离统计信息,确定所述最优对应方式。
- 根据权利要求13所述的无人机的飞行轨迹处理装置,其特征在于,所述最优对应方式确定模块在确定成功匹配次数最多的对应方式为候选对应方式之前,还用于:确定其中的M未超出预设的算法选择阈值。
- 根据权利要求12所述的无人机的飞行轨迹处理装置,其特征在于,所述最优对应方式确定模块,具体用于:在所有对应方式中,多次随机确定多个对应方式;在每次随机确定多个对应方式后,均在所述多个对应方式中确定一个局部最优对应方式;若所述局部最优对应方式优于之前确定的最优对应方式,则确定所述局部最优对应方式作为新的最优对应方式;在随机确定多个对应方式的次数到达循环次数阈值时,确定此时的最优对应方式为最终的最优对应方式。
- 根据权利要求15所述的无人机的飞行轨迹处理装置,其特征在于,所述最优对应方式确定模块在多次随机确定多个对应方式之前,还用于:确定其中的M超出预设的算法选择阈值。
- 根据权利要求11至16任一项所述的无人机的飞行轨迹处理装置,其特征在于,若任意之一第一飞行轨迹在上一个周期中未被更新,则所述第一飞行轨迹对应的成功匹配阈值为第一成功匹配阈值;若任意之一第二飞行轨迹未在上一个周期中被更新了,则所述第二飞行轨迹对应的成功匹配阈值为第二成功匹配阈值。
- 根据权利要求11至16任一项所述的无人机的飞行轨迹处理装置,其特征在于,所述位置点确定模块,具体用于:确定离散的多个位置点;计算所述多个位置点中每个位置点相对于预设的中心位置的距离,得到每个位置点的中心距离信息;根据所述中心距离信息,以及预设的中心距离阈值,筛选所述多个位置点,确定所述N个位置点。
- 根据权利要求11至16任一项所述的无人机的飞行轨迹处理装置,其特征在于,还包括:新轨迹第一产生模块,用于若已有飞行轨迹的数量为0,则根据所述N个位置点,产生新的飞行轨迹。
- 根据权利要求11至16任一项所述的无人机的飞行轨迹处理装置,其特征在于,还包括:新轨迹第二产生模块,用于针对于所述最优对应方式中未被成功匹配的K个位置点,根据所述K个位置点,产生新的飞行轨迹,其中的K小于或等于N。
- 一种电子设备,其特征在于,包括处理器与存储器,所述存储器,用于存储代码和相关数据;所述处理器,用于执行所述存储器中的代码用以实现权利要求1至10任一项所述的无人机的飞行轨迹处理方法。
- 一种存储介质,其上存储有计算机程序,该程序被处理器执行时实现权利要求1至10任一项所述的无人机的飞行轨迹处理方法。
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