Dynamic route planning method of unmanned aerial vehicle

Abstract

The invention relates to a dynamic route planning method of an unmanned aerial vehicle, which adopts the following steps: 1) establishing a route cost estimation model: a communication signal threat model and a terrain surface threat model are constructed, and the communication signal threat model and the terrain surface threat model are weighted and superimposed to form a comprehensive threat model, and on the basis of the comprehensive threat model the planning route evaluation is achieved; 2) computing a flight route: a comprehensive coordinate set random flight path set is constructed, thedynamic renewal of the flight path set according to the threat change situation is achieved, and a track point set in the planned flight path is optimized to select the most safe flight path for eachaircraft. The dynamic route planning method of an unmanned aerial vehicle takes into account flight route selection problems such as flight safety, flight range and aircraft performance. The resultsshow that the real-time planning and route optimization of global optimal flight path in complex environment can avoid all kinds of dynamic threats in time and improve flight safety and reliability.

Description

technical field [0001] The invention belongs to the field of UAV route planning, and relates to a method for planning an optimal flight route using information such as UAV performance and environmental threats, in particular to a UAV dynamic route planning method. Background technique [0002] So far, domestic and foreign research on route planning in complex environments is still relatively preliminary, and a complete and systematic UAV dynamic flight route planning model and method have not yet been formed. The dynamic route planning of UAVs in complex geographical environments has not yet been well resolved. How to apply the artificial cluster algorithm to plan the flight route with the greatest safety performance, avoid dynamic threats and realize aviation safety rescue is an urgent problem to be solved. This problem The solution has extremely important application value both for military use and civilian use. Contents of the invention [0003] The purpose of the pres...

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Problems solved by technology

[0002] So far, domestic and foreign research on route planning in complex environments is still relatively preliminary, and a complete and systematic UAV dynamic flight route planning model and method have not yet been formed.

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