Wide-range cruising path planning model for UAV (unmanned aerial vehicle) and method

A path planning and UAV technology, applied in the direction of navigation calculation tools, etc., can solve problems such as the inability to focus on supervision of water area supervision operations.

Active Publication Date: 2017-05-17
BEIJING UNION UNIVERSITY
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In actual flight operations, UAV supervision operations are mainly constrained by objective conditions such as its own endurance, no-fly zones, and severe weather conditions. UAVs are limited by their endurance. For sea areas where the cruising range is too large, they often cannot Realize the supervision of all key regulatory waters

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  • Wide-range cruising path planning model for UAV (unmanned aerial vehicle) and method
  • Wide-range cruising path planning model for UAV (unmanned aerial vehicle) and method
  • Wide-range cruising path planning model for UAV (unmanned aerial vehicle) and method

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Embodiment Construction

[0084] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0085] The large-scale cruising path planning model of the unmanned aerial vehicle disclosed by the present invention, the establishment steps include:

[0086] S10: Aiming at the largest effective cruising range and the shortest cruising operation time, establish a path planning model;

[0087] S101: Establishing an objective function with the largest effective cruising range;

[0088] Let N be the set of key regulatory waters, i (i=1, 2, 3, ..., n) be the number of key regulatory waters, then i∈N, and set the area of ​​the i-th key regulatory waters as a i , the risk value is , then the effective cruising area of ​​the i-th key regulatory waters is expressed as Let S be the set of key regulatory waters for a single operation cruise of the UAV, and , then the jth (j=1, 2, 3,..., n 1 , j∈S) The effective cruising area of ​​cruising wat...

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Abstract

The invention provides a wide-range cruising path planning model for a UAV (unmanned aerial vehicle) and a method. Firstly, according to problem description of a UAV cruising path in wide-range seas, determining a path planning model with the maximum effective cruising range and the shortest cruising operation time as goals, determining constraint condition models containing a cruising ability constraint condition model, a constraint condition model under environment influence such as weather and the like and a constraint condition model under influence of a no-fly zone according to objective constraint conditions of the UAV, and readjusting and determining a path planning model according to the constraint conditions; selecting the optimal path for cruising of the UAV in the wide-range seas from a search water area network according to the determined path planning model in combination with the various constraint conditions. The maximum key supervision water area range covered by the UAV can be realized, meanwhile, the shortest cruising distance is guaranteed in the cruising ability range of the UAV, and the optimal planning scheme is provided for wide-range path search of the UAV for maritime affairs.

Description

technical field [0001] The invention relates to a large-scale cruising path planning model and method of an unmanned aerial vehicle, belonging to the technical field of large-scale sea area cruising of an unmanned aerial vehicle. Background technique [0002] At present, my country mainly uses large-scale maritime patrol ships to carry out patrolling and supervision of high seas and large-scale seas. Large-scale maritime patrol ships have stable and reliable performance and are not easily affected by environmental factors such as weather. Certain vocational skills are required. [0003] With the rapid development of UAV remote sensing technology, the advantages of large-scale long-range fixed-wing UAVs are highlighted, with fast cruising speed, strong endurance, wide coverage, low cruising cost, and strong environmental adaptability, especially suitable for Large-scale cruise supervision operations at sea. In actual flight operations, UAV supervision operations are mainly c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 孙迪高学英方建军张世德
Owner BEIJING UNION UNIVERSITY
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