A UAV take-off and landing routing method suitable for terrain constraints

Abstract

The invention discloses a method for arranging traffic patterns of unmanned aerial vehicles on the terrain constraint condition and belongs to the field of route planning of unmanned aerial vehicles. According to the method, under the background that a plurality of orographic barriers exist nearby an airport, on the basis of existing methods for arranging traffic patterns of unmanned aerial vehicles, measures are adjusted according to local conditions, and candidate route points which form air lines are searched according to factors such as switching distances D between destinations, the maximum landing gear retraction and extension duration T and turning angles formed by adjacent air lines within a limited headroom area of the airport, so that unmanned aerial vehicles can take off, land and fly safely and independently. According to the method, an observation point M for retraction and extension of landing gears is added, so that the safety guaranteeing capability of unmanned aerial vehicles is improved; the maximum time required for safe retraction and extension of landing gears is set as the constraint condition, so that the coupling effects of retraction and extension of landing gears on the course control of unmanned aerial vehicles are reduced; and the arranging method is simple and easy to operate.

Description

technical field [0001] The invention relates to a method for arranging flight routes for unmanned aerial vehicles under terrain constraints, and belongs to the field of route planning for unmanned aerial vehicles. Background technique [0002] Arrival and landing patterns provide specific routes for aircraft takeoff, departure, arrival, and landing. In manned systems, in order to ensure that aircraft enter and leave airports in an orderly manner, it is necessary to establish specific takeoff and landing patterns and traffic control procedures at designated airports, including the direction and structure of takeoff and landing patterns, the altitude of flight, and entry and exit takeoffs and landings Airline procedures. At present, the technology is relatively mature and the most widely used is the five-sided route, such as figure 1 , the five-sided route is composed of the following five sides: the first side (upwind, the departure side), the second side (crosswind, the cr...

AI Technical Summary

Problems solved by technology

However, some areas are often dominated by mountains, hills, plains or basins, and the distribution is criss-crossed, which seriously restricts the effective area of ​​the airport, and at the same time restricts the symmetrical layout of the pentagonal flight routes and the arrangement of waypoints.

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