Method for real time bookbinding and processing navigating point for unmanned aerial vehicle

Abstract

The invention discloses a waypoint real-time collating and processing method applied on an unmanned aircraft. Through the storage mode of an array integrated with linked lists, the real-time planning operations of a plurality of waypoints on a plurality of airways are realized with the waypoint structural variables as base data elements to define a two-dimensional array of waypoint structural type, wherein each element in the array is corresponding to a waypoint, the first dimension is corresponding to a line number, and the second dimension is corresponding to a point number; each airway in the array is constructed into a double linked list, wherein the precedence order of the nodes in the linked list is corresponding to the precedence order of the waypoints in the airway; the realizable operations on the waypoints comprise waypoint collating, waypoint modifying, waypoint inserting, waypoint inquiring, waypoint deleting, airway inquiring, starting point setting, waypoint shifting, etc. The waypoint real-time collating and processing method can meet various real-time operation requirements on the airways and waypoints of the unmanned aircraft with simple realization of the program and static allocation of the airway storage space, thereby realizing the reliability and quickness of the waypoint operations.

Description

technical field [0001] The invention belongs to the field of aviation automation control, and in particular relates to a real-time and reliable binding and processing method for a large number of waypoints applied to an unmanned aerial vehicle. Background technique [0002] UAVs usually pre-book routes before performing missions. After the plane takes off, it first cuts into the route from the set starting point, and then flies along the route. During the flight, the task may change, and a new route needs to be rebooked, and a starting point should be set to quickly guide the aircraft to the new route. Or, the flight route needs to be adjusted, such as waypoint modification, waypoint deletion, waypoint insertion, etc. Sometimes, it is also necessary to check and confirm the route or waypoint on the plane, such as waypoint inquiry and route inquiry. [0003] For UAVs with long flight time and long range, it is necessary to book a large number of waypoints on multiple route...

AI Technical Summary

Problems solved by technology

However, the existing waypoint binding and processing methods using an array or a single linked list are difficult to meet the fast, real-time, accurate and reliable operation of a large number of waypoints.

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