Unmanned plane three dimensional route program method based on disturbed fluid dynamic system

Abstract

The invention discloses an unmanned plane three dimensional route program method based on a disturbed fluid dynamic system. An unmanned plane low-attitude flight three dimensional route program problem under a complex landform environment containing enemy ground air defence firepower is abstracted into a three dimensional streamline solution problem during fluid obstacle avoidance. Through the method, solution of a fluid equation having complex boundary conditions is not required, a flow field equation generated by obstacle disturbance is directly constructed, and computational complexity is relatively low. The unmanned plane three dimensional route program method specifically comprises steps that: (1), equivalent processing on an landform obstacle, an enemy radar and a ground firepower threat in an unmanned plane flight area is carried out through regular geometries such as cylinders, cones, balls and parallelepipeds to acquire positions and surface equations of the geometry obstacles; (2), point convergence is set at a target point to acquire a flow field flow velocity under the conditions of no obstacle disturbance; (3), when the obstacle position and the obstacle surface equation are known, a flow field flow velocity after obstacle disturbance is constructed according to non-penetrable conditions of the obstacle; (4), integration for the flow field flow velocity is carried out from a start point to acquire an obstacle avoidance streamline from the start point to a target point, and the obstacle avoidance streamline is taken as the unmanned plane flight route; and (5), the unmanned plane is controlled to flight along the programmed route.

Description

technical field [0001] The invention relates to a three-dimensional route planning method for an unmanned aerial vehicle based on a disturbance fluid dynamic system, and belongs to the technical field of unmanned aerial vehicle navigation guidance and control. Background technique [0002] UAV, also known as unmanned aerial vehicle or remote piloted aircraft, is a non-manned aircraft controlled by radio remote control equipment or pre-programmed. It has many advantages that manned aircraft do not have, and has a wide range of applications. prospect. [0003] Reconnaissance, surveillance, damage assessment, and ground attack are the main tasks of UAVs in the military field. In addition, drones can also undertake tasks such as aerial remote sensing, resource detection, communication relay, and disaster assessment, and play an important role in the civilian field. With the continuous expansion of the application field of UAVs, the call for improving the autonomous flight capa...

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Problems solved by technology

[0012] The purpose of the present invention is to solve the above problems, and propose a three-dimensional route planning method suitable for convex obstacles such as spheres, cylinders, cones, and parallelepipeds and their combinations. Anti-aircraft firepower, etc. are abstracted into typical obstacle shapes such as cylinders, cones, spheres, and parallelepipeds, and their combinations, so that the problem of UAV low-altitude flight 3D route planning in complex terrain environments containing enemy ground air defense firepower is abstracted as fluid obstacle avoidance 3D streamline solving problem in

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