An air-ground cooperative UAV perception and avoidance system and its avoidance method

Abstract

The invention discloses an air-ground coordination unmanned aerial vehicle sensing and avoiding system. The air-ground coordination unmanned aerial vehicle sensing and avoiding system comprises a visual sensing system, an image processing system and a flight control system which are arranged on an airplane. The visual sensing system is used for collecting image information of a target, and then transmitting the image information to the image processing system. The image processing system outputs the image information of the target in two paths. In one path, unprocessed image information is directly transmitted out to a ground system; in the other path, processed target waypoint information is transmitted to the flight control system, and the flight control system interacts with the ground system. The invention further provides an air-ground coordination unmanned aerial vehicle sensing and avoiding method. The uncertainty caused by pure-ground-control unmanned aerial vehicle flight trajectory avoiding is avoided, and the uncertainty caused when the pure unmanned aerial vehicle independently avoids barriers in air is avoided.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an air-ground cooperative unmanned aerial vehicle perception avoidance system and an avoidance method thereof. Background technique [0002] Recently, with the increasingly strong demand for UAVs in military applications and civilian fields, coupled with the further opening of my country's civil airspace, the future airspace will present a situation where various types of functional UAVs and manned aircraft will share and integrate airspace , the airspace will become increasingly dense. In this case, the UAV's Sense and Avoid (SAA) capability will become a prerequisite for entering the airspace and ensuring the safety of UAV flight. UAV perception and avoidance means that UAVs use airborne sensors or ground surveillance systems to monitor the airspace flight environment and obtain the status of flying targets, plan evasive paths for targets with poten...

AI Technical Summary

Problems solved by technology

[0004] Verify that SAA technology is limited by various objective factors, and it cannot be used for threat assessment and evasion decision-making in the air by UAVs completely autonomously

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