A dynamic route planning method for unmanned aerial vehicles

Abstract

The present invention relates to a method for dynamic route planning of an unmanned aerial vehicle. The following steps are adopted: 1) Establishing a route cost estimation model: constructing a communication signal threat model and a terrain surface threat model, which are composed of a communication signal threat model and a terrain surface threat model. Comprehensive threat model, and realize the evaluation of the planned route on the basis of the comprehensive threat model; 2) Calculate the flight route: construct a random route set in the comprehensive coordinate set, realize the dynamic update of the route set according to the threat change situation, and calculate the trajectory of the planned route The point set is optimized, and the flight route with the maximum safety performance and flightability is selected for each aircraft. The present invention considers flight safety, voyage range and aircraft performance, etc. to select the optimal route. The calculation example results show that the planned flight route realizes the real-time planning and route optimization of the global optimal route in a complex environment, and can avoid various dynamic threats in time, thereby improving the safety and reliability of flight.

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...

AI Technical Summary

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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