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A Geofencing Algorithm for Autonomous Flying UAVs

A geo-fencing and UAV technology, applied in the directions of instruments, three-dimensional position/channel control, control/adjustment systems, etc., can solve the problems of UAV inclusion, and achieve the effect of avoiding cross-border and ensuring flight safety.

Active Publication Date: 2021-10-26
AIR FORCE UNIV PLA
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AI Technical Summary

Problems solved by technology

However, if the drone crosses the boundary and then warns or intervenes in the control of the drone, the drone will not be strictly included by the geofence and will just stay near the boundary of the geofence
This seemingly small geographical fence crossing may have devastating consequences in complex and dangerous environments (such as air no-fly zones, air danger zones, etc.)

Method used

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  • A Geofencing Algorithm for Autonomous Flying UAVs
  • A Geofencing Algorithm for Autonomous Flying UAVs
  • A Geofencing Algorithm for Autonomous Flying UAVs

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Embodiment

[0059] The present invention provides an autonomously flying unmanned aerial vehicle geofencing algorithm, comprising:

[0060] Step 1. Generate a geofence pre-control layer:

[0061] 1. Geofence scaling algorithm

[0062] The specific steps of the equidistant scaling algorithm are as follows:

[0063] Step 1. Set zoom distance δ b , to obtain the geofence vertex set g=(p 1 ,...,p n )=[(x 1 ,y 1 ),(x 2 ,y 2 ),...,(x n ,y n )], scaling the geofence to initialize:

[0064] g'=g (1)

[0065] Step 2. Calculate the slope of each side of the geofence:

[0066]

[0067] Intercept on sides:

[0068] b i =y i -x i *m i (3)

[0069] and the half-angle size θ of each interior angle i ;

[0070] Step 3, if figure 2 As shown, the calculation makes the distance between the old and new sides after scaling be δ b Distances on the bisectors of the angles of :

[0071]

[0072] will θ i Transform to the global coordinate system:

[0073]

[0074] Step 4 if δ ...

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Abstract

The invention discloses a geofence algorithm for an autonomous flying UAV, which includes: equidistant scaling on the basis of the original geofence to generate a geofence pre-control layer; Fence cross-border detection; if the waypoint on the planned flight path crosses the boundary relative to the geo-fence pre-control layer, re-plan the cross-border waypoint to obtain the corrected flight path; based on the geo-fence autonomous control control law, the UAV follows the revised The flight path to complete the corresponding task. The present invention generates a geo-fence pre-control layer to ensure that the UAV can trigger the boundary of the geo-fence early enough to maintain an autonomous control control law during flight to avoid crossing the geo-fence, thereby ensuring the flight safety of the UAV.

Description

technical field [0001] The invention belongs to the technical field of air traffic control, relates to a low-altitude unmanned aerial vehicle traffic management system, and in particular relates to an autonomously flying unmanned aerial vehicle geofence algorithm. Background technique [0002] With the rapid development of the unmanned aerial vehicle (UAS, Unmanned Aircraft System) industry, the number of unmanned aerial vehicles has increased sharply, which poses a serious threat to the personal and property safety of ground personnel and aircraft in the air. There is an urgent need to develop a UAS Traffic Management System (UTM, UAS Traffic Management System) to ensure the safe and orderly flight of UAVs in the airspace. [0003] The on-board geo-fence of the UAV is an important part of UTM. After obtaining the geo-fence data released and shared by authoritative sources, the geo-fence divides the airspace into an available airspace (no access to the geo-fence) and a no-fl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 梁晓龙付其喜张佳强何吕龙王维佳范翔宇胡利平王玉冰侯岳奇
Owner AIR FORCE UNIV PLA
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