Design method of low-altitude public route for unmanned aerial vehicles

Abstract

The invention belongs to the technical field of air route planning, and discloses an unmanned aerial vehicle low-altitude public air route design method. The method comprises the steps of constructingan unmanned aerial vehicle low-altitude flight environment mathematical model; Performing horizontal slicing on the digitalized unmanned aerial vehicle low-altitude flight environment mathematical model at a preset flight height to obtain a digitalized two-dimensional low-altitude flight environment mathematical model at the preset flight height; Based on an ant colony algorithm, carrying out two-dimensional path search in the digitalized two-dimensional low-altitude environment mathematical model to obtain a two-dimensional route; Obtaining a three-dimensional route according to the two-dimensional route and the reference terrain data; In the ant colony algorithm, forming a search space by performing variable-distance buffering by using a connecting line between a starting node and a terminating node, and gradually increasing the buffering distance from an initial value to a search step length until an optimal airway solution exists in the search space. According to the technical scheme, when the low-altitude public route of the unmanned aerial vehicle is designed, the searching efficiency is higher, and the consumed time is shorter.

Description

technical field [0001] The invention belongs to the technical field of route planning, in particular to a method for designing low-altitude public routes for unmanned aerial vehicles. Background technique [0002] At present, with the rapid increase in the number of UAVs, the increasingly frequent operations of the UAV industry, and the subsequent tightening of airspace policies caused by the black flights of UAVs, the public is concerned about the flying and safe routes of UAVs. The demand is increasingly urgent, but the flight of UAVs is closely related to terrain and human activities. The route planning of UAVs needs the support of massive and accurate surface information, and considers the airspace policy for UAVs. The related methods of path planning in the prior art are still It is not enough to support, and it mainly has the following problems: [0003] 1) When designing a three-dimensional route, the grid-based three-dimensional route search method is mainly used. W...

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Problems solved by technology

[0006] In order to at least solve the problems existing in the prior art: the three-dimensional route search method is prone to the problem of "combination explosion" with the expansion of the search space and the increase of dimensions, resulting in a decrease in search efficiency. The present invention provides a low-altitude public route design for UAVs The method includes: constructing a mathematical model of the low-altitude flight environment of the unmanned aerial vehicle; horizontally slicing the digitalized mathematical model of the low-altitude flight environment of the unmanned aerial vehicle at a preset flight height to obtain the digitalized data at the preset flight height. Two-dimensional low-altitude environment mathematical model; two-dimensional path search is performed in the digital two-dimensional low-altitude environment mathematical model based on ant colony algorithm to obtain a two-dimensional route; according to the two-dimensional route and reference terrain data, a three-dimensional route is obtained; wherein , in the ant colony algorithm, the search space is formed by a variable-distance buffer with a connection between the start node and the end node, and the buffer distance gradually increases from the initial value with 1 search step until the search space has optimal route solution

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