Sailing planning algorithm design based on grid failure

A track planning and grid division technology, applied in navigation calculation tools, navigation, surveying and navigation, etc., can solve the difficulties of real-time track planning, easy to fall into local search, and high computational complexity of UAV track planning, etc. question

Active Publication Date: 2014-01-22
CHINA AEROSPACE TIMES ELECTRONICS CORP
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AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to solve the problems of unmanned aerial vehicle track planning calculation complexity is too large, real-time track planning is difficult, etc., and it is easy to fall into local search, and a track planning method based on environment grid division is proposed

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  • Sailing planning algorithm design based on grid failure
  • Sailing planning algorithm design based on grid failure
  • Sailing planning algorithm design based on grid failure

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Embodiment Construction

[0022] The following parts will describe the specific embodiments of the present invention in detail in conjunction with the accompanying drawings:

[0023] Step 1. Initialize

[0024] Load the map and elevation data, determine the map range corresponding to the flight area and the unit length of the division length, width and height, so as to determine the size n of the three-dimensional space to be established 1 , n 2 and n 3 . Load various radar, artillery threat data. Given departure and destination information.

[0025] Step 2. Environment Modeling

[0026] The three-dimensional space of UAV flight environment planning is expressed as geometric space area {(x,y,z)|0≤x≤n 1 ,0≤y≤n 2 ,0≤z≤n 3}. In 2D modeling, the UAV flight environment is horizontally divided into 2D n 1 ×n 2 Mesh (Mesh, denoted as M 2 ). by n 3 M 2 Stacked up according to the unit distance, and connected the corresponding nodes to form a three-dimensional n 1 ×n 2 ×n 3 grid (denoted as M ...

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Abstract

The invention provides a grid division sailing planning method based on an environment, and the method is used for unmanned aircraft sailing planning. According to the method, the flying coverage area is divided into two-dimensional grids and / or three-dimensional grids, topographical obstacles and various threats are modeled into failure nodes in grids, the planning method comprises the steps of initialization, environment modeling and node labeling, recognition of minimum communication failure blocks and construction of boundaries thereof, and computation of shortest route. The complexity of the sailing planning method and the number of grid nodes in the design are in linear relationship, and the complexity is low.

Description

technical field [0001] The invention relates to a track planning method for an unmanned aerial system (Unmanned Aerial System, UAS), in particular to a track planning method based on two-dimensional and three-dimensional grid division of a flight area, and belongs to the UAS track planning technology field. technical background [0002] The task of the trajectory planning system is to generate the best path according to various factors such as flight mission, threat, weather, air position and terrain data. Generally, two indicators need to be met: First, in the planning process, all kinds of threats are required to be as far as possible. Small; second, the path is required to be as short as possible. [0003] Track planning mainly solves the following two problems: [0004] (a) Battlefield environment modeling. The battlefield environment consists of two parts: one is the natural environment model. There are mainly terrain and various climate models, which have different...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/005G01C21/20
Inventor 向永红于洋姜梁郭茜张国勇吴国强王静尹中义
Owner CHINA AEROSPACE TIMES ELECTRONICS CORP
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