Method and system for flight navigation of unmanned aerial vehicle

Abstract

The invention discloses a method and a system for the flight navigation of an unmanned aerial vehicle. The method comprises the following steps of obtaining a starting point and a target point, from and to which the unmanned aerial vehicle is planned to fly; carrying out obstruction detection on the target point, determining a vectoring point, vector the unmanned aerial vehicle to fly for avoiding an obstacle, and generating a flight route of the unmanned aerial vehicle according to the vectoring point; determining a final flight route of the unmanned aerial vehicle; carrying out node expansion according to the final flight route, switching the vectoring point to continuously carry out the node expansion, and generate a track line of the unmanned aerial vehicle; making the unmanned aerial vehicle fly according to the navigation of the track line. By adopting the method and the system which are provided by the invention, the vectoring point can be autonomously detected and generated along a constraint direction according to the difference of a direction constraint in a threatening area of the target point; the shortage of manual setting is avoided; the precision is improved. Meanwhile, due to the generation of the vectoring point, the direction guidance is provided for the autonomous flight of the unmanned aerial vehicle; the flight efficiency is improved; the real-time requirement of the autonomous flight of the unmanned aerial vehicle is met.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a method and system for flying and navigating an unmanned aerial vehicle. Background technique [0002] Before the UAV flies, it first needs to plan the trajectory of the trajectory, and then use the trajectory to navigate and execute the flight mission. UAV track planning refers to the use of information such as terrain and intelligence in the planning space, while considering the performance constraints and task requirements of the UAV itself, to plan a penetration trajectory with the least cost from the starting point to the target point. . As the core of UAV autonomous combat, trajectory planning is equivalent to the "brain" of human beings. Accompanied by the successful application of drones in modern warfare, post-disaster rescue, security early warning, etc. More and more domestic and foreign scholars have devoted themselves to the research of UAV trajectory plan...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method and system for unmanned aerial vehicle flight navigation, which avoids obstacles and generates guide points through the method based on circle expansion along the constraint direction, and selects the guide point with the smallest cost as the target guide point through the cost value function , to search for the guide point area, thereby generating the UAV track line, and navigating the UAV flight, so as to solve the problem that the traditional algorithm cannot effectively avoid obstacles, resulting in low efficiency of trajectory planning

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