Rapid course reversal method of unmanned aerial vehicle in threat environment

Abstract

The invention relates to a rapid course reversal method of an unmanned aerial vehicle in a threat environment. The method comprises the steps of: when the unmanned aerial vehicle receives a course reversal instruction, judging whether a projection of a connecting line of a current position and a starting point of the unmanned aerial vehicle in the horizontal direction passes through a threat area,if so, continuing to judge the next course reversal point in sequence according to the serial numbers of the course reversal points, that is, judging whether the projection of the connecting line ofthe position of the unmanned aerial vehicle to the course reversal point in the horizontal direction passes through the threat area in sequence, until the unmanned aerial vehicle can safely pass, firstly causing the unmanned aerial vehicle to fly to the course reversal point, and then continuing the judgement to complete the course reversal. Whether the projection passes through the threat area isjudged according to line segment intersection, the line segment intersection is judged by using a straddle method, that is, if two line segments intersect, it is necessary to straddle.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, and in particular relates to a rapid return method of an unmanned aerial vehicle in a threat environment, which is mainly applied in the autonomous return process of the unmanned aerial vehicle. Background technique [0002] In modern warfare, air supremacy is undoubtedly the one that can most affect the battle situation. Due to the advantages of low value, high safety, and strong practicability, drones have gradually become an important member of air combat. The main requirements for UAVs are the ability to perform tasks and the ability to return quickly and safely. In a complex threat environment (entering the enemy's radar detection range and high mountain areas, etc.), UAVs can safely and quickly Completing the return flight has great practical significance. When the UAV enters the threat area and the link is out of lock, or when it automatically enters the return mode after re...

AI Technical Summary

Problems solved by technology

The usual return mode has two ways: return along the route and return directly. The former is to return to the starting point from the current position of the UAV against the journey point. It has the advantages of high reliability and relative safety, but the return route is longer and the flight process The fuel consumption is high; the latter is where the drone receives the return command and flies directly to the starting point. This mode has the characteristics of short route distance and low fuel consumption, but it may pass through the threat area, causing personal and property losses.

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