A UAV path dynamic planning method based on 2D and 3D integration

Abstract

The invention provides a method for dynamic planning of UAV path based on 2D and 3D integration. The steps of the method are as follows: Step 1: Oblique photographic modeling of the UAV path planning area; Step 2: Planning the initial UAV path and height attribute values ​​in the two-dimensional map window; Step 3: Judging based on the GIS limiting surface analysis algorithm Whether the waypoint in the 3D map window is outside the ground object; step 4: judge the visibility between waypoints in the 3D map window based on the GIS visibility algorithm; step 5: judge whether the new waypoint is in the 3D map window External; Step 6: Obtain the UAV path waypoint position and height attribute value in the two-dimensional map window. Compared with the traditional UAV path planning method, the method of the present invention can meet the UAV path security requirements in a complex real environment on the one hand, and can greatly improve the UAV path planning efficiency on the other hand.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a dynamic planning method for an unmanned aerial vehicle path based on two-dimensional and three-dimensional integration. Background technique [0002] On the one hand, with the development of parallel computing and computer graphics, the oblique photographic model produced by UAV aerial photogrammetry is widely used in land planning, resource surveying, " Digital Earth" and other fields. On the other hand, the idea of ​​integration between two-dimensional maps and three-dimensional scene maps was first applied in military training, and its purpose is to solve the problem of disorientation caused by soldiers in the virtual environment. 2D and 3D linkage technology is based on the visualization of 2D electronic map and 3D electronic map, and realizes the two-way communication between the 2D electronic map and the corresponding 3D virtual scene. , so ...

AI Technical Summary

Problems solved by technology

[0004] (1) Two-dimensional dynamic path planning lacks high security constraints

[0005] Although the two-dimensional path dynamic planning is higher than the three-dimensional path dynamic planning in terms of search space efficiency, it is only used in theoretical aspects because it lacks the high security constraints of the UAV path and is quite different from the real path of the UAV. There is a big difference between research and practical application

[0006] (2) 3D dynamic path planning search space efficiency is low

[0007] Although the current dynamic planning of 3D UAV paths satisfies the high security constraints of the real path of UAVs, on the one hand, due to the increase of high security constraints, the search space efficiency increases exponentially; There is a big difference between the planning environment and the real environment, and most UAV path planning is to calculate the path set through the relevant three-dimensional path algorithm, and then manually correct the waypoints on the spot

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