Unmanned aerial vehicle three-dimensional air route planning method based on calculation of ideal fluid numerical value

An ideal fluid, numerical calculation technology, applied in navigation calculation tools, navigation, mapping and navigation, etc.

Inactive Publication Date: 2015-03-04
SHENYANG AEROSPACE UNIVERSITY
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AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems existing in the prior art, the purpose of the present invention is to propose a three-dimensional route planning method for unmanned aerial vehicles based on the ideal fluid numerical calculation. This method can quickly generate a path that satisfies the requirements of unmanned vehicles in the case of complex terrain. Smooth 3D obstacle avoidance flight path constrained by machine

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  • Unmanned aerial vehicle three-dimensional air route planning method based on calculation of ideal fluid numerical value
  • Unmanned aerial vehicle three-dimensional air route planning method based on calculation of ideal fluid numerical value
  • Unmanned aerial vehicle three-dimensional air route planning method based on calculation of ideal fluid numerical value

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Embodiment Construction

[0041] First, the obstacles in the terrain are preprocessed according to the constraints of the UAV, and then the spherical obstacle located at the origin along the direction of the X-axis flow is ideally calculated to circumvent the obstacle avoidance route. Complex terrain UAV route. Specifically include the following steps:

[0042] Step 1: Determine the turning radius of the drone, and compare it with the radius of all obstacles in the terrain, and perform terrain preprocessing according to the relationship between the turning radius and the obstacle radius, and the relative position between obstacles. The specific method is as follows:

[0043] 1. When obstacles overlap, such as figure 1 , calculate the virtual obstacle that is inscribed with two obstacles at the same time, and treat the virtual obstacle as a single obstacle for obstacle avoidance. o i and O i+1 represent the centers of the i-th and i+1-th obstacles respectively, R i and R i+1 Respectively represen...

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Abstract

The invention discloses an unmanned aerial vehicle three-dimensional air route generation method based on fluid mechanics, and belongs to the field of air route planning. The method comprises the steps of firstly calculating a ball obstacle flow-around flow line on an original point along an x-axis incoming flow direction, obtaining a flow-around flow line of any incoming flow direction and any obstacle position in a plane by utilizing a rotary translation matrix, merging all flow lines into one flow line by adopting two ways according to the situation that whether the flow lines are partially overlapped or not, and finally processing the three-dimensional flow line according to the constraint of the unmanned aerial vehicle to obtain an unmanned aerial vehicle three-dimensional air route. By referring to the phenomenon that running water in the nature can avoid rocks, the fluid calculation is combined with the air route planning; meanwhile, considering the flight constraint of the unmanned aerial vehicle, when the terrain is relatively complicated, the three-dimensional flight obstacle avoiding air route which is smooth and easy for the unmanned aerial vehicle to fly can be planned. According to the method, simplicity in terrain modeling can be realized, the calculation workload is small, the constraint of the unmanned aerial vehicle can be satisfied, and convenience in realization is achieved.

Description

technical field [0001] The invention belongs to the field of route planning, and specifically refers to a three-dimensional route planning method for an unmanned aerial vehicle based on ideal fluid numerical calculation. Background technique [0002] Due to the superior flexibility and high cost performance of UAVs, it has an extremely wide range of applications in both civilian and military fields. An important branch of UAV autonomous flight technology is UAV route planning. UAV route planning refers to finding a flight route that enables the UAV to follow a better flight path from the starting point to the target point under a specific task background. This flight path should satisfy the physical constraints of the UAV itself, and at the same time, it should be able to avoid obstacles and enemy threats. In modern warfare where air defense technology is becoming more and more perfect, UAV route planning is an effective means to improve the combat energy efficiency of UAV...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/20
Inventor 梁宵孟光磊田丰陈国栋
Owner SHENYANG AEROSPACE UNIVERSITY
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