Unmanned aerial vehicle three-dimensional air route generation method based on hydrodynamics

A fluid mechanics, unmanned aerial vehicle technology, applied in the direction of navigation computing tools, etc.

Active Publication Date: 2012-10-24
BEIHANG UNIV
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Problems solved by technology

[0006] Aiming at the problems existing in the prior art, the present invention proposes a method for generating a three-dimensional UAV route based on fluid mechanics. Through

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  • Unmanned aerial vehicle three-dimensional air route generation method based on hydrodynamics
  • Unmanned aerial vehicle three-dimensional air route generation method based on hydrodynamics
  • Unmanned aerial vehicle three-dimensional air route generation method based on hydrodynamics

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Embodiment Construction

[0048] The specific implementation steps of the present invention will be further described below in conjunction with the accompanying drawings.

[0049] The invention proposes a method for generating a three-dimensional route of an unmanned aerial vehicle based on fluid mechanics. First, calculate the streamline around the spherical obstacle located at the origin along the incoming flow direction of the X-axis, and use the rotation and translation matrix to obtain the streamline around the arbitrary incoming flow direction and any obstacle position in the XY plane. According to whether the streamline satisfies partial overlap The condition uses two methods to merge all the streamlines into one streamline, and then process the 3D streamlines according to the constraints of the UAV to obtain the 3D route of the UAV.

[0050] The present invention proposes a method for generating a three-dimensional route of an unmanned aerial vehicle based on fluid mechanics, which specifically...

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Abstract

The invention discloses an unmanned aerial vehicle three-dimensional air route generation method based on hydrodynamics, and belongs to the air route programming field; according to the invention, a spherical obstacle flow steamline located at an original point along an X-axis incoming flow direction is firstly calculated; with a rotary translation matrix, a spherical obstacle flow steamline at any obstacle position in any incoming flow direction in a plane can be obtained; all the steamlines are merged into one steamline in two modes in accordance with whether a partial superposition condition is met; then the three-dimensional steamline is treated according to unmanned aerial vehicle restraint so as to obtain the unmanned aerial vehicle three-dimensional air route. The invention uses the phenomenon that running water can avoid rocks in the nature for reference, combines fluid calculation with air route programming, also considers the unmanned aerial vehicle restraint, and realizes the programming of a three-dimensional flying obstacle-avoided air route which is smooth and easy to fly. The invention is simple in landform modeling, few in calculation amount, can meet the unmanned aerial vehicle restraint, and is convenient for realization.

Description

technical field [0001] The invention belongs to the field of route planning, and specifically refers to a method for generating a three-dimensional route of an unmanned aerial vehicle based on fluid mechanics. Background technique [0002] Route planning is a key technology that affects the use and flight safety of UAVs. It has been highly valued by all parties. After decades of research and development, a large number of research results have been achieved, which has laid a foundation for the current development of UAVs. As the airspace of drones continues to expand from medium and high altitudes to low altitudes and even ultra-low altitudes, the ability of drone route planning under complex terrain has increasingly become a bottleneck restricting the development of drones. As the flight altitude continues to decrease, the influence of terrain will become an important factor to be considered in route planning, and it will also become a key factor for complex terrain conditi...

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Application Information

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IPC IPC(8): G01C21/20
Inventor 王宏伦梁宵李大伟
Owner BEIHANG UNIV
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