A rapid return method for UAV in threat environment

Abstract

The invention relates to a rapid return method for an unmanned aerial vehicle in a threat environment. When the unmanned aerial vehicle receives a return instruction, it is judged whether the projection in the horizontal direction of the line connecting the current position of the unmanned aerial vehicle and the starting point in the horizontal direction passes through the threat area. If so, continue to judge the next waypoint according to the waypoint sequence number. That is, according to the order of the waypoints, it is judged in turn whether the projection of the line from the position of the drone to the range point in the horizontal direction passes through the threat area, until the drone can pass safely, the drone will first fly to the range point, and then Continue to judge to complete the return flight. Whether to cross the threat area is judged by the intersection of line segments, and the intersection of line segments is judged by the method of straddling, that is, if two line segments intersect, they must be straddling.

Description

Technical field [0001] The present invention belongs to the field of UAV control, specifically relates to a threat environment of the UAV rapid return method, mainly used in the UAV autonomous return process. Background [0002] In modern warfare, the most influential thing is undoubtedly air supremacy, and because unmanned aerial vehicles have the advantages of low value, high safety, and strong practicality, they have gradually become an important member of air combat. The main requirements for the UAV are the ability to perform the task and the ability to return quickly and safely, in a complex threat environment (into the enemy radar detection range and alpine areas, etc.), so that the UAV can safely and quickly complete the return has great practical significance. When the drone enters the threat area and the link is locked, or when the return command is received and automatically enters the return mode, the navigation program is required to control the drone to return to th...

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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