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Real-time dynamic flight path planning method based on linear programming

A track planning, real-time dynamic technology, applied in navigation, surveying and mapping and navigation, navigation calculation tools, etc., can solve the problem that the track planning cannot be realized automatically

Inactive Publication Date: 2014-11-26
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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Problems solved by technology

[0009] The embodiment of the present application provides a real-time track planning method based on linear programming, which solves the technical problem that the track planning cannot be automatically realized in the prior art, and then realizes the technical effect that the track planning can be automatically realized

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  • Real-time dynamic flight path planning method based on linear programming
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Embodiment Construction

[0033] The embodiment of the present application provides a real-time dynamic track planning method based on linear programming, which solves the technical problem that track planning cannot be automatically realized in the prior art, and achieves the technical effect of automatically realizing track planning.

[0034] In order to solve the above-mentioned technical problems that cannot automatically realize track planning, the general idea is as follows:

[0035] First, in the navigation coordinate system, according to the determined morphological feature coordinates of the obstacle, obtain the set of coordinate points contained in the boundary coordinates of the obstacle; then, according to the established discrete time model, obtain the dynamic parameter constraint set of the aircraft; finally, according to The set of coordinate points contained in the obstacle boundary coordinates obtained above, the dynamic parameter constraint set of the aircraft, and the optimal track ob...

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Abstract

The invention discloses a real-time dynamic flight path planning method based on linear programming. The real-time dynamic flight path planning method based on linear programming comprises the following steps: obtaining a coordinate point set included by obstacle boundary coordinate points according to morphological characteristic coordinates of an obstacle in a navigation coordinate system; obtaining a dynamic parameter constraint set of an aircraft according to an established discrete time model; and obtaining a flight path coordinate point set in the navigation coordinate system according to an optimal flight path target function on the basis of the coordinate point set included by the obstacle boundary coordinate points and the flight dynamic parameter constraint set. By virtue of the real-time dynamic flight path planning method based on linear programming, the technical problem in the prior art that the flight path cannot be automatically planned is solved; furthermore, the technical effect of automatically planning the flight path is achieved.

Description

technical field [0001] The invention relates to the technical field of track planning, in particular to a real-time dynamic track planning method based on linear programming. Background technique [0002] In recent years, unmanned helicopters (Unmanned Aerial Vehicle, UAV) are suitable for working in dangerous and harsh environments instead of humans because of their vertical take-off and landing, autonomous flight and other characteristics. Its application has achieved unprecedented development no matter in military aspect or civilian aspect, which is also a development trend of aircraft in the future. A major feature of unmanned helicopters is that they are unmanned, which requires the mission planning system to be able to control the autonomous flight of unmanned helicopters. [0003] Track planning is a key technology for the autonomous flight of UAVs. It is based on certain constraints (such as obstacles on the flight path), according to one or several performance indi...

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/20
Inventor 葛树志王刚周红坤王维钱杰韩东斐薛远奎
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA
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