Flight path planning method, flight path planning device, aircraft and computer readable storage medium
A trajectory planning and aircraft technology, applied in the field of aircraft, can solve problems such as increasing the complexity of trajectory planning
Inactive Publication Date: 2019-11-29
BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD +1
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Problems solved by technology
However, often due to factors such as threat areas and obstacle areas, the aircraft needs to avoid some areas, which increases the complexity of trajectory planning
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[0063] The technical solution of the present disclosure will be described in further detail below with reference to the drawings and embodiments.
[0064] The flow chart of some embodiments of the trajectory planning method of the present disclosure is as follows figure 1 shown.
[0065] In step 101, the threat area is determined according to the position of the obstacle and the no-fly zone, and the threat cost of each node in the threat area and the non-threat area is set. In some embodiments, the threat cost of the threat area can be set as positive infinity, and the threat cost of the non-threat area is 0, so as to ensure that the aircraft will not enter the threat area.
[0066] In step 102, a distance cost is determined according to the distance between the next node and the current node. In some embodiments, the distance cost is positively related to the distance length.
[0067] In step 103, according to the distance cost and the threat cost, the maximum yaw angle of...
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The invention provides a flight path planning method, a flight path planning device, an aircraft and a computer readable storage medium and belongs to the technical field of aircrafts. The flight pathplanning method comprises the following steps that: a threat area is determined according to the positions of an obstacle and a flight-forbidden zone, and the threat cost of each node in space is set; distance cost is determined according to a distance between the next node and the current node; and according to the distance cost and the threat cost, the flight path planning is carried out basedon an A-Star algorithm with the maximum yaw angle of an aircraft adopted as a limiting condition. With the method adopted, the threat area and the distance factor can be quantified into the threat cost and the distance cost, meanwhile, the limitation of the maximum yaw angle of the aircraft is considered, therefore, the feasibility of flight path planning is guaranteed; and the A-Star algorithm isused for flight path planning, and therefore, the efficiency of the flight path planning is improved.
Description
technical field [0001] The present disclosure relates to the field of aircraft technology, in particular to a flight path planning method, device, aircraft and computer-readable storage medium. Background technique [0002] Aircraft trajectory planning refers to generating feasible paths between the starting point and the target point, and selecting the optimal or suboptimal route flight from the feasible paths. [0003] In theory, taking a straight line from the starting point to the target point can achieve higher flight efficiency and reduce energy loss. However, due to the influence of factors such as threat areas and obstacle areas, the aircraft needs to avoid some areas, which increases the complexity of trajectory planning. Planning a feasible and reasonable trajectory for the aircraft on the basis of considering the regional influence factors can improve the flight safety of the aircraft, and can also expand the flight range of the aircraft under the condition of th...
Claims
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 门春雷
Owner BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD