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UAV Turning Track Planning Algorithm Based on Minimum Turning Radius

A technology of turning radius and track planning, applied in navigation calculation tools and other directions, can solve problems such as poor engineering practicability and algorithmic path cost to be optimized, and achieve the effect of improving universality and reducing path cost

Active Publication Date: 2020-09-08
ARMY ENG UNIV OF PLA
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Problems solved by technology

[0004] In short, although the above algorithm has been innovated and improved for the problem of turning track planning, there are still problems such as poor engineering practicability, and the path cost of the algorithm needs to be optimized.

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  • UAV Turning Track Planning Algorithm Based on Minimum Turning Radius
  • UAV Turning Track Planning Algorithm Based on Minimum Turning Radius
  • UAV Turning Track Planning Algorithm Based on Minimum Turning Radius

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Embodiment Construction

[0031] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0032] like figure 1 and 2 As shown, a UAV turning track planning algorithm based on the minimum turning radius, the specific steps are as follows:

[0033] Step 1: Obtain algorithm parameters. Obtain UAV parameters, load parameters, and the starting and ending coordinates of the turning track; the specific method is:

[0034] (101) Obtain the flight speed, maximum roll angle, flight height, lateral overlap rate, load field of view angle, and starting and ending coordinates of the turning track of the UAV.

[0035] Step 2: Find the minimum turning radius R min . According to the parameters of the UAV, the value of the minimum turning radius of the UAV is solved; the specific method is:

[0036] (201) According to th...

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Abstract

The invention discloses a turning track planning algorithm of an unmanned aerial vehicle based on a minimum turning radius, which relates to the field of unmanned aerial vehicle track planning. According to the relevant parameters, the minimum turning radius and a flight strip interval are calculated, a turning strategy meeting the requirement of the flight direction is selected according to the relation between the minimum turning radius and the size of the distance of the flight strip and the angle relation between the line segment AB and the flight strip. Compared with a fundamental method,the method improves the engineering practicability and universality of the turning track planning algorithm, reduces the path cost of the algorithm, and is an important improvement on the prior art.

Description

technical field [0001] The present invention relates to the technical field of aircraft guidance and navigation and track planning, in particular to a UAV turning track planning algorithm based on minimum turning radius. Background technique [0002] With the development of guidance and navigation technology, trajectory planning technology has gradually become a hot topic of research, and it has been more and more widely used in drones, cruise missiles and other aircraft. As one of the research contents of UAV trajectory planning technology, turn trajectory planning is still a difficult problem due to the lack of consideration of the performance constraints of UAVs and the optimization of the path cost of the algorithm. [0003] Scholars have conducted in-depth research in this field in recent years: Xu Bo et al. proposed a route planning algorithm for irregular area operations based on operating headings, which realized how to give Optimal operating heading and track. How...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 胡永江李文广李爱华褚丽娜张玉华赵月飞
Owner ARMY ENG UNIV OF PLA
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