Method and system for flying and navigating an unmanned aerial vehicle

Abstract

The invention discloses a method and system for flying and navigating an unmanned aerial vehicle. The method obtains the starting point and the target point of the planned flight of the unmanned aerial vehicle; detects obstacles on the target point, determines the guiding point, and guides the unmanned aerial vehicle to fly and avoid Open the obstacle, generate the flight path of the UAV according to the guide point; determine the final flight path of the UAV; perform node expansion according to the final flight path, and switch the guidance point to continue node expansion, generate The track line of the unmanned aerial vehicle; the unmanned aerial vehicle flies according to the navigation of the track line. By adopting the method and system of the present invention, it is possible to autonomously detect and generate guide points along the constraint direction in the threat area of ​​the target point according to different direction constraints, thereby avoiding the deficiency of manual setting and improving accuracy. At the same time, due to the generation of the guide point, it provides direction guidance for the autonomous flight of the UAV, improves the flight efficiency, and meets the real-time requirements of the autonomous flight of the UAV.

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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