Method for perceiving and evading light unmanned aerial vehicle autonomously

Abstract

The invention discloses a method for perceiving and evading a light unmanned aerial vehicle autonomously, which belongs to the field of air route programming, and particularly relates to a method for evading an aerial target when the light unmanned aerial vehicle performs over-the-horizon flight. The method comprises the steps of collecting a video image through a foresight monocular fixed focus camera at first, and then calculating the length, height and position of the image in the rectangular coordinate system of the image; inferring a target position and movement trend in the coordinate system of the camera; maneuvering along the angular bisector of the included angle of radials where two targets with the maximum azimuth angle difference value are located in a space rectangular coordinate system and along a plane confirmed by the course before maneuvering, and confirming target lengths; calculating the specific target position and movement trend in the coordinate system of the camera; finally, if danger approaches, evading along the angular bisector of the included angle of the radials where the two targets with the maximum azimuth angle difference value are located in the space rectangular coordinate system and along the plane confirmed by the course before maneuvering, and after evading, the minimum distance between a target and an optical center is the minimum safe distance. The method for perceiving and evading the light unmanned aerial vehicle autonomously has the advantages that autonomous perceiving is realized, all targets are evaded once, and the maneuvering distance is short.

Description

technical field [0001] The invention belongs to the field of route planning, and in particular relates to a method for autonomous perception and avoidance of a light unmanned aerial vehicle flying beyond visual range in an isolated airspace. Background technique [0002] According to the "Interim Regulations on Civilian Unmanned Aircraft System Pilot Management", large UAVs operating in converged airspace must be equipped with UAV perception and avoidance systems, so that large UAVs have the ability to detect and avoid. There is no mandatory requirement for drones to install drone sense and avoid systems. Light UAVs refer to UAVs with an empty mass of more than 7 kg but less than or equal to 116 kg, and in level flight at full power, with a corrected airspeed of less than 100 km / h and a ceiling of less than 3,000 meters. Light drones are widely used and need to have perception and avoidance capabilities. When flying in isolated airspace, they may approach or collide dangero...

AI Technical Summary

Problems solved by technology

It can solve the problem that the light UAV is dangerously close to the UAV and the airship when the light UAV is flying beyond the visual range, and the problem of air collision occurs, ensuring that the light UAV and the air target (hereinafter referred to as the target) maintain the same distance. certain safe flight interval

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