WO2021213540A1 - Three-dimensional safe route planning method for unmanned aerial vehicle - Google Patents

Three-dimensional safe route planning method for unmanned aerial vehicle Download PDF

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WO2021213540A1
WO2021213540A1 PCT/CN2021/095252 CN2021095252W WO2021213540A1 WO 2021213540 A1 WO2021213540 A1 WO 2021213540A1 CN 2021095252 W CN2021095252 W CN 2021095252W WO 2021213540 A1 WO2021213540 A1 WO 2021213540A1
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韩鹏
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中国民航大学
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Abstract

Disclosed is a three-dimensional safe route planning method for an unmanned aerial vehicle. The method comprises the steps of: performing three-dimensional rasterization on a flight airspace of an unmanned aerial vehicle so as to obtain a plurality of cubic grids; quantitatively describing the flight risk of the unmanned aerial vehicle in the grids by means of a grid safety factor; constructing a route planning total cost estimation expectation function on the basis of the grid safety factor and a route distance of the unmanned aerial vehicle; and taking the route planning total cost estimation expectation function as an objective function of an A*algorithm for improvement, using the improved A*algorithm to perform iterative calculation, and finally obtaining a three-dimensional expected flight path after dual optimization of the route safety and route cost, etc.

Description

三维无人机安全航路规划方法Three-dimensional UAV safe route planning method
相关申请的引用References to related applications
本公开要求于2020年9月23日向中华人民共和国国家知识产权局提交的申请号为202011010068.X、名称为“一种三维无人机安全航路规划方法”的发明专利申请的全部权益，并通过引用的方式将其全部内容并入本文。This disclosure requires all the rights and interests of the invention patent application filed with the State Intellectual Property Office of the People’s Republic of China on September 23, 2020, with the application number 202011010068.X, titled "A safe route planning method for three-dimensional drones", and passed The entire content is incorporated into this article by way of reference.
技术领域Technical field
本公开属于无人机航路规划技术领域，特别是涉及三维无人机安全航路规划方法。The present disclosure belongs to the technical field of UAV route planning, and particularly relates to a three-dimensional UAV safe route planning method.
背景技术Background technique
无人机航路规划是指在特定约束条件下,寻找从起始点到目标点并满足无人机性能指标的最优或可行的航路。现有无人机航路规划技术有两类，其一是基于展开数值算法的无人机路径规划研究，如仿生或粒子群等智能算法；其二是基于图形算法的路径规划研究，如Voronoi图和Laguerre图等。现有技术包括基于蚁群和遗传算法等智能仿生算法展开无人机路径规划研究、基于万有引力搜索算法和粒子群等不同算法规划无人机路径、以及各类无人机静态和动态实时避障路径规划。虽然现有无人机航路规划方法比较多，但尚未有一种航路规划方法能够有效地将无人机飞行对地面人员造成的安全风险考虑在内，使无人机的飞行航路具备安全属性，尽量减少因无人机飞行造成的地面人员伤亡。UAV route planning refers to finding the optimal or feasible route from the starting point to the target point and meeting the UAV's performance indicators under certain constraints. There are two types of existing UAV route planning technologies. One is the study of UAV path planning based on unfolding numerical algorithms, such as intelligent algorithms such as bionics or particle swarms; the other is the study of path planning based on graphics algorithms, such as Voronoi diagrams. And Laguerre diagrams and so on. Existing technologies include research on UAV path planning based on intelligent bionic algorithms such as ant colony and genetic algorithm, UAV path planning based on different algorithms such as gravitational search algorithm and particle swarm, and various types of UAV static and dynamic real-time obstacle avoidance route plan. Although there are many existing UAV route planning methods, there is not yet a route planning method that can effectively take into account the safety risks caused by UAV flight to ground personnel, so that the flight path of UAVs has safety attributes. Reduce ground casualties caused by drone flights.
公开内容Public content
本公开提供的三维无人机安全航路规划方法包括按顺序进行的下列步骤：The three-dimensional UAV safe route planning method provided by the present disclosure includes the following steps in sequence:
1)对无人机飞行空域三维空间进行栅格化，获得多个正方体形栅格；1) Rasterize the three-dimensional space of the UAV flight airspace to obtain multiple cube-shaped grids;
2)以栅格安全因子定量化描述上述正方体形栅格中无人机的飞行风险；2) Use the grid safety factor to quantitatively describe the flying risk of the drone in the cube-shaped grid;
3)构建基于步骤2)获得的栅格安全因子和无人机航路距离的航路规划总成本估价期望函数；以及3) Constructing the expectation function of total route planning cost estimation based on the grid safety factor and the UAV route distance obtained in step 2); and
4)以上述航路规划总成本估价期望函数作为A*算法的目标函数而对A*算法进行改进，利用改进A*算法进行迭代计算，最终获得航路安全与航路成本双重优化后的三维期望飞行路径。4) Improve the A* algorithm with the above-mentioned estimated total cost of route planning function as the objective function of the A* algorithm, and use the improved A* algorithm to perform iterative calculations, and finally obtain the three-dimensional expected flight path after double optimization of route safety and route cost .
在步骤1)中，所述的对无人机飞行空域空间进行三维立体栅格化是将飞行空间构成的三维空间划分成多个正方体形栅格；栅格的边长由无人机的类型、设计尺寸确定；In step 1), the three-dimensional rasterization of the drone flight airspace space is to divide the three-dimensional space formed by the flight space into multiple cube-shaped grids; the side length of the grid is determined by the type of the drone. , The design size is determined;
无人机的类型分为固定翼无人机和多旋翼无人机；The types of UAVs are divided into fixed-wing UAVs and multi-rotor UAVs;
对于固定翼无人机，栅格的设计尺寸为L grid＝max(L UAV+2R person,W UAV+2R person)，其中，L UAV为固定翼无人机的翼展，W UAV为固定翼无人机的机长，R person为人体平均半径； For a fixed-wing UAV, the design size of the grid is L grid =max(L UAV +2R person ,W UAV +2R person ), where L UAV is the wingspan of the fixed-wing UAV, and W UAV is the fixed-wing The captain of the drone, R person is the average radius of the human body;
对于多旋翼无人机，栅格的设计尺寸为L grid＝D UAV+2R person，其中，D UAV为多旋翼无人机的翼展直径。 For a multi-rotor UAV, the design size of the grid is L grid =D UAV +2R person , where D UAV is the wingspan diameter of the multi-rotor UAV.
在步骤2)中，所述的栅格安全因子定义为栅格内无人机地面撞击事故的发生概率和无人机地面撞击事故严重程度的乘积s；In step 2), the grid safety factor is defined as the product s of the probability of occurrence of UAV ground impact accidents in the grid and the severity of UAV ground impact accidents;
其中无人机地面撞击事故的发生概率选取的量化指标是每飞行小时无人机地面撞击事故的发生概率P U； Among them, the quantitative index selected for the probability of UAV ground impact accidents is the probability of UAV ground impact accidents per flight hour P U ;
无人机地面撞击事故严重程度选取的量化指标是无人机每飞行小时地面撞击事故伤亡人数N f；其中无人机每飞行小时地面撞击事故伤亡人数N f可以表示为受事故影响的地面人数N e和无人机每飞行小时地面撞击事故中人员伤亡率P f的乘积，其计算公式为： The quantitative index selected for the severity of UAV ground impact accidents is the number of UAV ground impact accident casualties per flight hour N f ; Among them, the number of UAV ground impact accident casualties per flight hour N f can be expressed as the number of people on the ground affected by the accident The product of N e and the casualty rate P f in the ground impact accident of the UAV per flight hour, the calculation formula is:
N f＝P f×N e             (1) N f ＝P f ×N e (1)
那么栅格安全因子的计算公式为：Then the calculation formula of the grid safety factor is:
s＝P U×P f×N e            (2) s=P U ×P f ×N e (2)
将上述受事故影响的地面人数N e用地面撞击事故的影响区域面积A g与事故发生区域人口密度ρ的乘积表示，那么式(2)可以表示为： The above-mentioned number of people on the ground affected by the accident N e is expressed by the product of the area A g of the affected area of the ground impact accident and the population density ρ of the area where the accident occurred, then the formula (2) can be expressed as:
s＝P U×P f×A gρ(j)         (3)。 s=P U ×P f ×A g ρ(j) (3).
所述无人机每飞行小时地面撞击事故中人员伤亡率P f的计算方法： The calculation method of the human casualty rate P f in the ground impact accident of the UAV per flight hour:
无人机每飞行小时地面撞击事故中栅格j的人员伤亡率P f(j)的计算公1式为： The formula 1 for calculating the casualty rate P f (j) of the grid j in the ground impact accident of the drone per flight hour is:
Figure PCTCN2021095252-appb-000001
Figure PCTCN2021095252-appb-000001
式中：P S(j)为栅格j中地面遮蔽物的保护系数，其值与栅格内各类地面遮蔽物的类型及其栅格面积有关，计算公式如式(5)所示；n为校正因子，取
Figure PCTCN2021095252-appb-000002
In the formula: P S (j) is the protection coefficient of ground shelters in grid j, and its value is related to the types of ground shelters in the grid and the grid area. The calculation formula is shown in formula (5); n is the correction factor, take
Figure PCTCN2021095252-appb-000002
Figure PCTCN2021095252-appb-000003
Figure PCTCN2021095252-appb-000003
式中：h为表1中地面遮蔽物的类型；
Figure PCTCN2021095252-appb-000004
为地面遮蔽物h的保护系数；S h为栅格j中地面遮蔽物h的面积；S j为栅格j的面积； Where: h is the type of ground shelter in Table 1;
Figure PCTCN2021095252-appb-000004
Protection factor of the ground shield h; h, S h in the surface area of the shield grid j; S j, j is a raster area;
表1为不同地面遮蔽物的类型及其保护系数；Table 1 shows the types of different ground shelters and their protection coefficients;
表1、地面遮蔽物的类型及其保护系数Table 1. Types of ground shelters and their protection coefficients
Figure PCTCN2021095252-appb-000005
Figure PCTCN2021095252-appb-000005
α为当地面遮蔽物的保护系数P S＝6时，人员伤亡率为50％所需的冲击能量，取100kJ；β为当地面遮蔽物的保护系数P S趋向于0时人员伤亡的能量阈值，取34J；E i为地面撞击事故发生时的无人机动能，记为
Figure PCTCN2021095252-appb-000006
其中V i取1.4倍设计速度与无人机垂直坠落速度的最大值，记为V i＝max(1.4*V op,V y)； α is a coefficient of the protective shield of the ground is P S = 6, casualty rate of 50% required for impact energy, taking 100kJ; β protective shield for the local surface coefficient P S tends to zero energy threshold casualty , Take 34J; E i is the kinetic energy of the UAV at the time of the ground impact accident, recorded as
Figure PCTCN2021095252-appb-000006
Wherein V i takes the maximum design speed 1.4 times the speed of the drone plummeted, referred to as V i = max (1.4 * V op, V y);
所述地面撞击事故的影响区域面积A g的计算方法： The calculation method of the area A g of the affected area of the ground impact accident:
定义无人机地面撞击事故影响区域为人体圆柱体受到无人机圆柱体侵犯的最大范围；在仅考虑无人机垂直坠落时，地面撞击事故的影响区域面积A g的计算公式如式(6)所示，其中r u为无人机等效翼展半径，r p为人体半径； Define the impact area of the UAV ground impact accident as the maximum range of the human cylinder being violated by the UAV cylinder; when only the UAV is falling vertically, the calculation formula of the area A g of the impact area of the ground impact accident is as (6) ), where ru is the equivalent wingspan radius of the UAV, and r p is the radius of the human body;
A g＝π(r u+2r p) 2      (6) A g =π(r u +2r p ) 2 (6)
当无人机坠落中有横向位移时，在无人机与人员发生撞击后仍需考虑其横向位移，横移量满足式(7)，其中h p为人体高度，γ为无人机与人体相撞的接触角，此时地面撞击事故的影响区域面积A g的计算公式如式(8)所示： When the drone has a lateral displacement during the fall, the lateral displacement of the drone and the person still needs to be considered after the collision. The amount of lateral displacement satisfies the formula (7), where h p is the height of the human body, and γ is the height of the drone and the human body. The contact angle of the collision, the calculation formula of the area A g of the affected area of the ground collision accident at this time is shown in formula (8):
Figure PCTCN2021095252-appb-000007
Figure PCTCN2021095252-appb-000007
A g＝2π(r u+2r p) 2+(r u+2r p)d    (8)。 A g = 2π(r u +2r p ) 2 +( ru +2r p )d (8).
在步骤3)中，所述构建基于步骤2)获得的栅格安全因子和无人机航路距离的航路规划总成本估价期望函数的方法是：In step 3), the method for constructing a total route planning cost estimate expectation function based on the grid safety factor obtained in step 2) and the UAV route distance is:
航路规划总成本估价期望函数由两部分构成，分别为安全估价和距离估价； 其中安全估价是指无人机飞行路径所经过栅格的栅格安全因子之和；距离估价取无人机飞行路径的长短作为评价指标；The expectation function of the total cost of route planning is composed of two parts, namely the safety evaluation and the distance evaluation; the safety evaluation refers to the sum of the grid safety factors of the drone flight path; the distance evaluation takes the flight path of the drone As the evaluation index;
构建在安全估价和距离估价双重约束条件下的航路规划总成本估价期望函数，如式(9)所示：Construct a total cost estimate expectation function of route planning under the dual constraints of safety assessment and distance assessment, as shown in equation (9):
f j＝λ*d j+μ*s j      (9) f j ＝λ*d j +μ*s j (9)
式中：f j为从点j到终点的航路规划总成本估价期望值；d j为从点j到终点的距离；s j为点j的栅格风险因子；λ为距离启发因子，为用于表征距离重要程度的系数；μ为安全启发因子，为用于表征安全重要程度的系数。 Where: f j is the estimated value of the total cost of route planning from point j to the end point; d j is the distance from point j to the end point; s j is the grid risk factor of point j; λ is the distance heuristic factor, which is used for A coefficient that characterizes the importance of distance; μ is a safety heuristic factor, which is a coefficient used to characterize the importance of safety.
在步骤4)中，所述以上述航路规划总成本估价期望函数作为A*算法的目标函数而对A*算法进行改进，利用改进A*算法进行迭代计算，最终获得航路安全与航路成本双重优化后的三维期望飞行路径的方法是：In step 4), the above-mentioned route planning total cost estimate expectation function is used as the objective function of the A* algorithm to improve the A* algorithm, and the improved A* algorithm is used for iterative calculation, and finally the double optimization of route safety and route cost is obtained The following three-dimensional desired flight path method is:
以上述航路规划总成本估价期望函数作为A*算法的目标函数而对A*算法进行改进，利用改进A*算法，分别从起点栅格出发，搜索其无障碍邻域栅格，并利用上述航路规划总成本估价期望函数计算出各邻域栅格的通行合理值，选择最合理的栅格，直至到达终点；经历数次循环后，最终得到航路安全与航路成本双重优化后的三维期望飞行路径。The A* algorithm is improved by taking the above-mentioned route planning total cost evaluation expectation function as the objective function of the A* algorithm. Using the improved A* algorithm, starting from the starting point grid, searching for its barrier-free neighborhood grid, and using the above-mentioned route The estimated total cost of the planning function calculates the reasonable value of the grid in each neighborhood, and selects the most reasonable grid until it reaches the end; after several cycles, the three-dimensional expected flight path is finally obtained after double optimization of airway safety and airway cost. .
所述改进A*算法的计算方法如下：The calculation method of the improved A* algorithm is as follows:
计算从初始节点经由节点k到达目标点节的估价函数，计算公式如式(10)所示：Calculate the evaluation function from the initial node to the target node via node k, the calculation formula is shown in equation (10):
f k＝g k+S k        (10) f k = g k +S k (10)
式中，f k为从初始节点经由节点k到达目标节点的估价函数；g k为从状态空间中从初始节点到节点k的实际代价；S k为从节点k到目标节点的可接受风 险和距离总成本估计代价。 Where f k is the evaluation function from the initial node to the target node via node k; g k is the actual cost from the initial node to node k in the state space; Sk is the acceptable risk from node k to the target node and Estimated cost of distance total cost.
本公开提供的三维无人机安全航路规划方法的某些实施方案具有如下有益效果：对无人机地面撞击事故概率和严重程度的评估，确定其飞行空域三维空间栅格的安全因子。构建栅格安全因子和航路距离双重约束下的航路总估价函数，并通过改进A*算法进行安全航路规划。使规划的无人机三维航路具备地面人员安全屏障的作用。更进一步在战略阶段减缓无人机坠毁伤人事故的严重后果，做到风险缓解的前移。Certain implementations of the safe route planning method for the three-dimensional UAV provided by the present disclosure have the following beneficial effects: the probability and severity of the UAV ground impact accident are evaluated, and the safety factor of the three-dimensional space grid of the flight airspace is determined. Construct a total route evaluation function under the dual constraints of grid safety factor and route distance, and carry out safe route planning by improving the A* algorithm. So that the planned three-dimensional UAV route has the function of a safety barrier for ground personnel. In the strategic stage, the serious consequences of drone crashes and injuries were further mitigated, so as to move forward in risk mitigation.
附图说明Description of the drawings
图1为本公开中栅格安全因子构成示意图。Figure 1 is a schematic diagram of the grid safety factor structure in this disclosure.
图2为本公开中无人机地面撞击事故影响区域分析图。Figure 2 is an analysis diagram of the area affected by the UAV ground impact accident in this disclosure.
具体实施方式Detailed ways
下面结合附图及具体实施例对本公开做进一步的说明，但下述实施例绝非对本公开有任何限制。The present disclosure will be further described below with reference to the drawings and specific embodiments, but the following embodiments do not limit the present disclosure in any way.
如图1所示，本公开提供的三维无人机安全航路规划方法包括按顺序进行的下列步骤1)、2)、3)和4)：As shown in Figure 1, the safe route planning method for a three-dimensional UAV provided by the present disclosure includes the following steps 1), 2), 3) and 4) in order:
1)对无人机飞行空域空间进行三维立体栅格化，获得多个正方体形栅格；1) Carry out three-dimensional rasterization of the UAV flight airspace space to obtain multiple cube-shaped grids;
无人机飞行空域根据其飞行作业的任务范围确定，飞行空域在地图中由经纬度坐标和距地面的高度表示。The flight airspace of the UAV is determined according to the mission scope of its flight operations. The flight airspace is represented by the latitude and longitude coordinates and the height from the ground on the map.
对无人机飞行空域空间进行三维立体栅格化是将飞行空间构成的三维空间划分成多个正方体形栅格。栅格的边长由无人机的类型、设计尺寸确定。The three-dimensional rasterization of the airspace space of the UAV is to divide the three-dimensional space formed by the flight space into multiple cube-shaped grids. The side length of the grid is determined by the type and design size of the drone.
无人机的类型分为固定翼无人机和多旋翼无人机；The types of UAVs are divided into fixed-wing UAVs and multi-rotor UAVs;
对于固定翼无人机，栅格的设计尺寸为L grid＝max(L UAV+2R person,W UAV+2R person)，其中，L UAV为固定翼无人机的翼展，W UAV为固定翼无人机的机长，R person为人体平均半径。 For a fixed-wing UAV, the design size of the grid is L grid =max(L UAV +2R person ,W UAV +2R person ), where L UAV is the wingspan of the fixed-wing UAV, and W UAV is the fixed-wing The captain of the drone, R person is the average radius of the human body.
对于多旋翼无人机，栅格的设计尺寸为L grid＝D UAV+2R person，其中，D UAV为多旋翼无人机的翼展直径。 For a multi-rotor UAV, the design size of the grid is L grid =D UAV +2R person , where D UAV is the wingspan diameter of the multi-rotor UAV.
2)以栅格安全因子定量化描述上述正方体形栅格中无人机的飞行风险；2) Use the grid safety factor to quantitatively describe the flying risk of the drone in the cube-shaped grid;
所述的栅格安全因子定义为栅格内无人机地面撞击事故的发生概率和无人机地面撞击事故严重程度的乘积s。The grid safety factor is defined as the product s of the probability of occurrence of a UAV ground impact accident in the grid and the severity of the UAV ground impact accident.
其中无人机地面撞击事故的发生概率选取的量化指标是每飞行小时无人机地面撞击事故的发生概率P U； Among them, the quantitative index selected for the probability of UAV ground impact accidents is the probability of UAV ground impact accidents per flight hour P U ;
无人机地面撞击事故严重程度选取的量化指标是无人机每飞行小时地面撞击事故伤亡人数N f；其中无人机每飞行小时地面撞击事故伤亡人数N f可以表示为受事故影响的地面人数N e和无人机每飞行小时地面撞击事故中人员伤亡率P f的乘积，其计算公式为： The quantitative index selected for the severity of UAV ground impact accidents is the number of UAV ground impact accident casualties per flight hour N f ; Among them, the number of UAV ground impact accident casualties per flight hour N f can be expressed as the number of people on the ground affected by the accident The product of N e and the casualty rate P f in the ground impact accident of the UAV per flight hour, the calculation formula is:
N f＝P f×N e      (1) N f ＝P f ×N e (1)
那么栅格安全因子的计算公式为：Then the calculation formula of the grid safety factor is:
s＝P U×P f×N e      (2) s=P U ×P f ×N e (2)
将上述受事故影响的地面人数N e用地面撞击事故的影响区域面积A g与事故发生区域人口密度ρ的乘积表示，那么式(2)可以表示为： The above-mentioned number of people on the ground affected by the accident N e is expressed by the product of the area A g of the affected area of the ground impact accident and the population density ρ of the area where the accident occurred, then the formula (2) can be expressed as:
s＝P U×P f×A gρ(j)      (3) s=P U ×P f ×A g ρ(j) (3)
上述无人机每飞行小时地面撞击事故中人员伤亡率P f的计算方法： The calculation method of the human casualty rate P f in the ground impact accident of the above-mentioned UAV per flight hour:
无人机每飞行小时地面撞击事故中人员伤亡率P f与诸多因素有关，其中与无人机相关的因素主要为无人机运行高度和飞行速度，与栅格相关的因素主要为栅格内的地面遮蔽物对地面人员提供的保护能力。无人机每飞行小时地面撞击事故中栅格j的人员伤亡率P f(j)的计算公1式为： The personal injury rate P f in the ground impact accident of the drone per flight hour is related to many factors, among which the factors related to the drone are mainly the altitude and flight speed of the drone, and the factors related to the grid are mainly in the grid. The protective capacity provided by the ground shelter for ground personnel. The formula 1 for calculating the casualty rate P f (j) of the grid j in the ground impact accident of the drone per flight hour is:
Figure PCTCN2021095252-appb-000008
Figure PCTCN2021095252-appb-000008
式中：P S(j)为栅格j中地面遮蔽物的保护系数，其值与栅格内各类地面遮蔽物的类型及其栅格面积有关，计算公式如式(5)所示；n为校正因子，取
Figure PCTCN2021095252-appb-000009
In the formula: P S (j) is the protection coefficient of ground shelters in grid j, and its value is related to the types of ground shelters in the grid and the grid area. The calculation formula is shown in formula (5); n is the correction factor, take
Figure PCTCN2021095252-appb-000009
Figure PCTCN2021095252-appb-000010
Figure PCTCN2021095252-appb-000010
式中：h为表1中地面遮蔽物的类型；
Figure PCTCN2021095252-appb-000011
为地面遮蔽物h的保护系数；S h为栅格j中地面遮蔽物h的面积；S j为栅格j的面积。 Where: h is the type of ground shelter in Table 1;
Figure PCTCN2021095252-appb-000011
To protect the coefficient h of the ground shield; S j, h is a grid of the area of the ground shield h; j S j raster area.
表1为不同地面遮蔽物的类型及其保护系数。Table 1 shows the types of different ground shelters and their protection coefficients.
表1、地面遮蔽物的类型及其保护系数Table 1. Types of ground shelters and their protection coefficients
Figure PCTCN2021095252-appb-000012
Figure PCTCN2021095252-appb-000012
α为当地面遮蔽物的保护系数P S＝6时，人员伤亡率为50％所需的冲击能量，取100kJ；β为当地面遮蔽物的保护系数P S趋向于0时人员伤亡的能量阈值，取 34J；E i为地面撞击事故发生时的无人机动能，记为
Figure PCTCN2021095252-appb-000013
其中V i取1.4倍设计速度与无人机垂直坠落速度的最大值，记为V i＝max(1.4*V op,V y)。 α is a coefficient of the protective shield of the ground is P S = 6, casualty rate of 50% required for impact energy, taking 100kJ; β protective shield for the local surface coefficient P S tends to zero energy threshold casualty , Take 34J; E i is the kinetic energy of the UAV at the time of the ground impact accident, recorded as
Figure PCTCN2021095252-appb-000013
Wherein V i takes the maximum design speed 1.4 times the speed of the drone plummeted, referred to as V i = max (1.4 * V op, V y).
上述地面撞击事故的影响区域面积A g的计算方法： The calculation method of the area A g of the affected area of the above-mentioned ground impact accident:
图2为无人机地面撞击事故影响区域分析图。如图2所示，定义无人机地面撞击事故影响区域为人体圆柱体受到无人机圆柱体侵犯的最大范围。在仅考虑无人机垂直坠落时，地面撞击事故的影响区域面积A g的计算公式如式(6)所示，其中r u为无人机等效翼展半径，r p为人体半径。 Figure 2 is the analysis diagram of the area affected by the UAV ground impact accident. As shown in Figure 2, the area affected by the UAV ground impact accident is defined as the maximum range of the human cylinder being violated by the UAV cylinder. Effects area of formula A g when considering only the UAV vertical fall ground impact accidents the formula (6), where r u UAVs wingspan equivalent radius, r p is the radius of the body.
A g＝π(r u+2r p) 2     (6) A g =π(r u +2r p ) 2 (6)
当无人机坠落中有横向位移时，在无人机与人员发生撞击后仍需考虑其横向位移，横移量满足式(7)，其中h p为人体高度，γ为无人机与人体相撞的接触角，此时地面撞击事故的影响区域面积A g的计算公式如式(8)所示： When the drone has a lateral displacement during the fall, the lateral displacement of the drone and the person still needs to be considered after the collision. The amount of lateral displacement satisfies the formula (7), where h p is the height of the human body, and γ is the height of the drone and the human body. The contact angle of the collision, the calculation formula of the area A g of the affected area of the ground collision accident at this time is shown in formula (8):
Figure PCTCN2021095252-appb-000014
Figure PCTCN2021095252-appb-000014
A g＝2π(r u+2r p) 2+(r u+2r p)d      (8) A g = 2π(r u +2r p ) 2 +(r u +2r p )d (8)
3)构建基于步骤2)获得的栅格安全因子和无人机航路距离的航路规划总成本估价期望函数；3) Constructing the expectation function of total route planning cost estimation based on the grid safety factor and the UAV route distance obtained in step 2);
航路规划总成本估价期望函数由两部分构成，分别为安全估价和距离估价。其中安全估价是指无人机飞行路径所经过栅格的栅格安全因子之和，安全估价越大，表示无人机飞行安全性越差；距离估价是指无人机航路距离，距离估价越大，表示无人机飞行路径越长。The expectation function of total cost evaluation of route planning is composed of two parts, namely safety evaluation and distance evaluation. The safety evaluation refers to the sum of the grid safety factors of the drone's flight path. The greater the safety evaluation, the worse the flight safety of the drone; the distance evaluation refers to the distance of the flight path of the drone, and the greater the distance evaluation is. Large means the longer the UAV flight path.
距离估价取无人机飞行路径的长短作为评价指标。The distance evaluation takes the length of the UAV flight path as the evaluation index.
构建在安全估价和距离估价双重约束条件下的航路规划总成本估价期望函 数，如式(9)所示：The expectation function of total cost of route planning under the dual constraints of safety evaluation and distance evaluation is constructed, as shown in equation (9):
h j＝λ*d j+μ*s j      (9) h j =λ*d j +μ*s j (9)
式中：h j为从点j到终点的航路规划总成本估价期望值；d j为从点j到终点的距离；s j为点j的栅格风险因子；λ为距离启发因子，为用于表征距离重要程度的系数；μ为安全启发因子，为用于表征安全重要程度的系数。 In the formula: h j is the estimated value of the total cost of route planning from point j to the end point; d j is the distance from point j to the end point; s j is the raster risk factor of point j; λ is the distance heuristic factor for A coefficient that characterizes the importance of distance; μ is a safety heuristic factor, which is a coefficient used to characterize the importance of safety.
4)以上述航路规划总成本估价期望函数作为A*算法的目标函数而对A*算法进行改进，利用改进A*算法进行迭代计算，最终获得航路安全与航路成本双重优化后的三维期望飞行路径。4) Improve the A* algorithm with the above-mentioned estimated total cost of route planning function as the objective function of the A* algorithm, and use the improved A* algorithm to perform iterative calculations, and finally obtain the three-dimensional expected flight path after double optimization of route safety and route cost .
以上述航路规划总成本估价期望函数作为A*算法的目标函数而对A*算法进行改进，利用改进A*算法，分别从起点栅格出发，搜索其无障碍邻域栅格，并利用上述航路规划总成本估价期望函数计算出各邻域栅格的通行合理值，选择最合理的栅格，直至到达终点；经历数次循环后，最终得到航路安全与航路成本双重优化后的三维期望飞行路径。The A* algorithm is improved by taking the above-mentioned route planning total cost evaluation expectation function as the objective function of the A* algorithm. Using the improved A* algorithm, starting from the starting point grid, searching for its barrier-free neighborhood grid, and using the above-mentioned route The estimated total cost of the planning function calculates the reasonable value of the grid in each neighborhood, and selects the most reasonable grid until it reaches the end; after several cycles, the three-dimensional expected flight path is finally obtained after double optimization of airway safety and airway cost. .
所述改进A*算法的计算方法如下：The calculation method of the improved A* algorithm is as follows:
计算从初始节点经由节点k到达目标节点的估价函数，计算公式如式(10)所示：Calculate the evaluation function from the initial node to the target node via node k, the calculation formula is shown in equation (10):
f k＝g k+S k          (10) f k = g k +S k (10)
式中，f k为从初始节点经由节点k到达目标节点的估价函数；g k为从状态空间中从初始节点到节点k的实际代价；S k为从节点k到目标节点的可接受风险和距离总成本估计代价。 Where f k is the evaluation function from the initial node to the target node via node k; g k is the actual cost from the initial node to node k in the state space; Sk is the acceptable risk from node k to the target node and Estimated cost of distance total cost.

Claims (7)

  1. 三维无人机安全航路规划方法，其中：所述的三维无人机安全航路规划方法包括按顺序进行的下列步骤：The safe route planning method of the three-dimensional UAV, wherein: the safe route planning method of the three-dimensional UAV includes the following steps in sequence:
    1)对无人机飞行空域空间进行三维立体栅格化，获得多个正方体形栅格；1) Carry out three-dimensional rasterization of the UAV flight airspace space to obtain multiple cube-shaped grids;
    2)以栅格安全因子定量化描述上述正方体形栅格中无人机的飞行风险；2) Use the grid safety factor to quantitatively describe the flying risk of the drone in the cube-shaped grid;
    3)构建基于步骤2)获得的栅格安全因子和无人机飞行路径长度的航路规划总成本估价期望函数；以及3) Constructing the expectation function of the total cost of route planning based on the grid safety factor obtained in step 2) and the flight path length of the UAV; and
    4)以上述航路规划总成本估价期望函数作为A*算法的目标函数而对A*算法进行改进，利用改进A*算法进行迭代计算，最终获得航路安全与航路成本双重优化后的三维期望飞行路径。4) Improve the A* algorithm with the above-mentioned estimated total cost of route planning function as the objective function of the A* algorithm, and use the improved A* algorithm to perform iterative calculations, and finally obtain the three-dimensional expected flight path after double optimization of route safety and route cost .
  2. 如权利要求1所述的三维无人机安全航路规划方法，其中：在步骤1)中，所述的对无人机飞行空域空间进行三维立体栅格化是将飞行空间构成的三维空间划分成多个正方体形栅格；栅格的边长由无人机的类型、设计尺寸确定；The three-dimensional UAV safe route planning method according to claim 1, wherein: in step 1), the three-dimensional rasterization of the UAV flight airspace is to divide the three-dimensional space formed by the flight space into Multiple cube-shaped grids; the side length of the grid is determined by the type and design size of the UAV;
    无人机的类型分为固定翼无人机和多旋翼无人机；The types of UAVs are divided into fixed-wing UAVs and multi-rotor UAVs;
    对于固定翼无人机，栅格的设计尺寸为L grid＝max(L UAV+2R person,W UAV+2R person)，其中，L UAV为固定翼无人机的翼展，W UAV为固定翼无人机的机长，R person为人体平均半径； For a fixed-wing UAV, the design size of the grid is L grid =max(L UAV +2R person ,W UAV +2R person ), where L UAV is the wingspan of the fixed-wing UAV, and W UAV is the fixed-wing The captain of the drone, R person is the average radius of the human body;
    对于多旋翼无人机，栅格的设计尺寸为L grid＝D UAV+2R person，其中，D UAV为多旋翼无人机的翼展直径。 For a multi-rotor UAV, the design size of the grid is L grid =D UAV +2R person , where D UAV is the wingspan diameter of the multi-rotor UAV.
  3. 如权利要求1所述的三维无人机安全航路规划方法，其中：在步骤2)中，所述的栅格安全因子定义为栅格内无人机地面撞击事故的发生概率和无人机地面撞击事故严重程度的乘积s；The three-dimensional UAV safe route planning method according to claim 1, wherein: in step 2), the grid safety factor is defined as the probability of the UAV ground impact accident in the grid and the UAV ground The product s of the severity of the crash;
    其中无人机地面撞击事故的发生概率选取的量化指标是每飞行小时无人机 地面撞击事故的发生概率P U； Among them, the quantitative index selected for the probability of UAV ground impact accidents is the probability of UAV ground impact accidents per flight hour P U ;
    无人机地面撞击事故严重程度选取的量化指标是无人机每飞行小时地面撞击事故伤亡人数N f；其中无人机每飞行小时地面撞击事故伤亡人数N f可以表示为受事故影响的地面人数N e和无人机每飞行小时地面撞击事故中人员伤亡率P f的乘积，其计算公式为： The quantitative index selected for the severity of UAV ground impact accidents is the number of UAV ground impact accident casualties per flight hour N f ; Among them, the number of UAV ground impact accident casualties per flight hour N f can be expressed as the number of people on the ground affected by the accident The product of N e and the casualty rate P f in the ground impact accident of the UAV per flight hour, the calculation formula is:
    N f＝P f×N e  (1) N f ＝P f ×N e (1)
    那么栅格安全因子的计算公式为：Then the calculation formula of the grid safety factor is:
    s＝P U×P f×N e  (2) s=P U ×P f ×N e (2)
    将上述受事故影响的地面人数N e用地面撞击事故的影响区域面积A g与事故发生区域人口密度ρ的乘积表示，那么式(2)可以表示为： The above-mentioned number of people on the ground affected by the accident N e is expressed by the product of the area A g of the affected area of the ground impact accident and the population density ρ of the area where the accident occurred, then the formula (2) can be expressed as:
    s＝P U×P f×A gρ(j)  (3)。 s=P U ×P f ×A g ρ(j) (3).
  4. 如权利要求3所述的三维无人机安全航路规划方法，其中：所述无人机每飞行小时地面撞击事故中人员伤亡率P f的计算方法： The three-dimensional UAV safe route planning method according to claim 3, wherein: the calculation method of the casualty rate P f in the ground impact accident of the UAV per flight hour:
    无人机每飞行小时地面撞击事故中栅格j的人员伤亡率P f(j)：的计算公式为： The casualty rate P f (j) of grid j in the ground impact accident of the UAV per flight hour: The calculation formula is:
    Figure PCTCN2021095252-appb-100001
    Figure PCTCN2021095252-appb-100001
    式中：P S(j)为栅格j中地面遮蔽物的保护系数，其值与栅格内各类地面遮蔽物的类型及其栅格面积有关，计算公式如式(5)所示；n为校正因子，取
    Figure PCTCN2021095252-appb-100002
    In the formula: P S (j) is the protection coefficient of ground shelters in grid j, and its value is related to the types of ground shelters in the grid and the grid area. The calculation formula is shown in formula (5); n is the correction factor, take
    Figure PCTCN2021095252-appb-100002
    Figure PCTCN2021095252-appb-100003
    Figure PCTCN2021095252-appb-100003
    式中：h为表1中地面遮蔽物的类型；
    Figure PCTCN2021095252-appb-100004
    为地面遮蔽物h的保护系数；S h为栅格j中地面遮蔽物h的面积；S j为栅格j的面积；     Where: h is the type of ground shelter in Table 1;
    Figure PCTCN2021095252-appb-100004
    Protection factor of the ground shield h; h, S h in the surface area of the shield grid j; S j, j is a raster area;
    表1为不同地面遮蔽物的类型及其保护系数；Table 1 shows the types of different ground shelters and their protection coefficients;
    表1、地面遮蔽物的类型及其保护系数Table 1. Types of ground shelters and their protection coefficients
    Figure PCTCN2021095252-appb-100005
    Figure PCTCN2021095252-appb-100005
    α为当地面遮蔽物的保护系数P S＝6时，人员伤亡率为50％所需的冲击能量，取100kJ；β为当地面遮蔽物的保护系数P S趋向于0时人员伤亡的能量阈值，取34J；E i为地面撞击事故发生时的无人机动能，记为
    Figure PCTCN2021095252-appb-100006
    其中V i取1.4倍设计速度与无人机垂直坠落速度的最大值，记为V i＝max(1.4*V op,V y)；     α is a coefficient of the protective shield of the ground is P S = 6, casualty rate of 50% required for impact energy, taking 100kJ; β protective shield for the local surface coefficient P S tends to zero energy threshold casualty , Take 34J; E i is the kinetic energy of the UAV at the time of the ground impact accident, recorded as
    Figure PCTCN2021095252-appb-100006
    Wherein V i takes the maximum design speed 1.4 times the speed of the drone plummeted, referred to as V i = max (1.4 * V op, V y);
    所述地面撞击事故的影响区域面积A g的计算方法： The calculation method of the area A g of the affected area of the ground impact accident:
    定义无人机地面撞击事故影响区域为人体圆柱体受到无人机圆柱体侵犯的最大范围；在仅考虑无人机垂直坠落时，地面撞击事故的影响区域面积A g的计算公式如式(6)所示，其中r u为无人机等效翼展半径，r p为人体半径； Define the impact area of the UAV ground impact accident as the maximum range of the human cylinder being violated by the UAV cylinder; when only the UAV is falling vertically, the calculation formula of the area A g of the impact area of the ground impact accident is as (6) ), where ru is the equivalent wingspan radius of the UAV, and r p is the radius of the human body;
    A g＝π(r u+2r p) 2  (6) A g =π(r u +2r p ) 2 (6)
    当无人机坠落中有横向位移时，在无人机与人员发生撞击后仍需考虑其横向位移，横移量满足式(7)，其中h p为人体高度，γ为无人机与人体相撞的接触角，此时地面撞击事故的影响区域面积A g的计算公式如式(8)所示： When the drone has a lateral displacement during the fall, the lateral displacement of the drone and the person still needs to be considered after the collision. The amount of lateral displacement satisfies the formula (7), where h p is the height of the human body, and γ is the height of the drone and the human body. The contact angle of the collision, the calculation formula of the area A g of the affected area of the ground collision accident at this time is shown in formula (8):
    Figure PCTCN2021095252-appb-100007
    Figure PCTCN2021095252-appb-100007
    A g＝2π(r u+2r p) 2+(r u+2r p)d  (8)。 A g = 2π(r u +2r p ) 2 +( ru +2r p )d (8).
  5. 如权利要求1所述的三维无人机安全航路规划方法，其中：在步骤3)中，所述构建基于步骤2)获得的栅格安全因子和无人机航路距离的航路规划总成本估价期望函数的方法是：The three-dimensional UAV safe route planning method according to claim 1, wherein: in step 3), the construction is based on the grid safety factor obtained in step 2) and the total route planning cost estimate expectation of the UAV route distance The function method is:
    航路规划总成本估价期望函数由两部分构成，分别为安全估价和距离估价；其中安全估价是指无人机飞行路径所经过栅格的栅格安全因子之和；距离估价取无人机飞行路径的长短作为评价指标；The expectation function of the total cost of route planning is composed of two parts, namely the safety evaluation and the distance evaluation; the safety evaluation refers to the sum of the grid safety factors of the drone's flight path; the distance evaluation takes the flight path of the drone As the evaluation index;
    构建在安全估价和距离估价双重约束条件下的航路规划总成本估价期望函数，如式(9)所示：Construct a total cost estimate expectation function of route planning under the dual constraints of safety assessment and distance assessment, as shown in equation (9):
    f j＝λ*d j+μ*s j  (9) f j ＝λ*d j +μ*s j (9)
    式中：f j为从点j到终点的航路规划总成本估价期望值；d j为从点j到终点的距离；s j为点j的栅格风险因子；λ为距离启发因子，为用于表征距离重要程度的系数；μ为安全启发因子，为用于表征安全重要程度的系数。 Where: f j is the estimated value of the total cost of route planning from point j to the end point; d j is the distance from point j to the end point; s j is the grid risk factor of point j; λ is the distance heuristic factor, which is used for A coefficient that characterizes the importance of distance; μ is a safety heuristic factor, which is a coefficient used to characterize the importance of safety.
  6. 如权利要求1所述的三维无人机安全航路规划方法，其中：在步骤4)中，所述以上述航路规划总成本估价期望函数作为A*算法的目标函数而对A*算法进行改进，利用改进A*算法进行迭代计算，最终获得航路安全与航路成本双重优化后的三维期望飞行路径的方法是：The three-dimensional UAV safe route planning method according to claim 1, wherein: in step 4), the A* algorithm is improved by using the estimated expected function of the total cost of the route planning as the objective function of the A* algorithm, Using the improved A* algorithm for iterative calculations, the method to finally obtain the three-dimensional expected flight path after the double optimization of route safety and route cost is:
    以上述航路规划总成本估价期望函数作为A*算法的目标函数而对A*算法进行改进，利用改进A*算法，分别从起点栅格出发，搜索其无障碍邻域栅格，并利用上述航路规划总成本估价期望函数计算出各邻域栅格的通行合理值，选 择最合理的栅格，直至到达终点；经历数次循环后，最终得到航路安全与航路成本双重优化后的三维期望飞行路径。The A* algorithm is improved by taking the above-mentioned route planning total cost evaluation expectation function as the objective function of the A* algorithm. Using the improved A* algorithm, starting from the starting point grid, searching for its barrier-free neighborhood grid, and using the above-mentioned route The estimated total cost of the planning function calculates the reasonable value of the grid in each neighborhood, and selects the most reasonable grid until it reaches the end; after several cycles, the three-dimensional expected flight path is finally obtained after double optimization of airway safety and airway cost. .
  7. 如权利要求6所述的三维无人机安全航路规划方法，其中：所述改进A*算法的计算方法如下：The safe route planning method for a three-dimensional UAV according to claim 6, wherein: the calculation method of the improved A* algorithm is as follows:
    计算从初始节点经由节点k到达目标节点的估价函数，计算公式如式(10)所示：Calculate the evaluation function from the initial node to the target node via node k, the calculation formula is shown in equation (10):
    f k＝g k+S k  (10) f k = g k +S k (10)
    式中，f k为从初始节点经由节点k到达目标节点的估价函数；g k为从状态空间中从初始节点到节点k的实际代价；S k为从节点k到目标节点的可接受风险和距离总成本估计代价。 Where f k is the evaluation function from the initial node to the target node via node k; g k is the actual cost from the initial node to node k in the state space; Sk is the acceptable risk from node k to the target node and Estimated cost of distance total cost.
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