Method for generating geometric structure of low-altitude airway network for safe distance constraint

A distance constraint and geometric structure technology, applied in navigation calculation tools, three-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of inapplicability of point-line route network

Active Publication Date: 2020-07-31
飞牛智能科技(南京)有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

With the further popularization of UAV applications, the trad...

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  • Method for generating geometric structure of low-altitude airway network for safe distance constraint
  • Method for generating geometric structure of low-altitude airway network for safe distance constraint
  • Method for generating geometric structure of low-altitude airway network for safe distance constraint

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specific Embodiment 1

[0065] The invention provides a low-altitude air route network design method based on a vertical take-off and landing unmanned aerial vehicle, and provides a new method for establishing a low-altitude air route network for the unmanned aerial vehicle. The specific implementation steps are as follows:

[0066] Step 1: Establishment of general model of route network

[0067] Similar to the flight corridor in civil aviation, the abstract drone route is expanded into a drone pipeline, thus establishing a figure 2 The three-dimensional schematic diagram of the UAV route network is shown. Wherein, the intersection refers to the intersection or end point of each air route, which may be an airport or a piece of free-flying airspace. Usually the UAV needs to go to the next route through the intersection, so it is designed as a cylinder with a certain volume to provide turning space for the UAV. All M intersections are denoted by V in graph theory. The route refers to the UAV fligh...

specific Embodiment 2

[0102] Taking a local low-altitude airspace with a length of 500m, a width of 400m and a height of 20m as an example, the present invention designs and displays the results of the route network in the low-altitude airspace based on MATLAB. The simulation and calculation process is carried out on a computer with a main frequency of 3.70Ghz, a memory of 32.0GB, and MATLABR2018b under the Win10 professional operating system. The specific implementation steps of the method are as follows:

[0103] Step 1: Establishment of general model of route network

[0104] The establishment of the general model of the route network requires two parameters: and V={I 1,2 ,I 1,3,4 ,I 2,5,6 ,I 3,5,7，8 ,I 4,7,9 ,I 8,9，10 ,I 11，12 ,I 6,11 ,I 10,12}, thus obtaining a directed graph G=(V,E) containing M=9 intersections and N=12 airways.

[0105] Step 2: Route structure design

[0106] according to Figure 4 As shown in the basic structure design route, set the parameter h for each route...

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Abstract

The invention discloses a method for generating a geometric structure of a low-altitude airway network for safe distance constraint. The method comprises the following steps: establishing an airway network general model; generating a route structure: on the basis of generating a route basic geometric structure, determining basic structure parameters of each route, and calculating to obtain safetydistance constraint conditions of all routes and corresponding isolation belt widths by taking the purpose that the distance between unmanned aerial vehicles in different channels is greater than an obstacle avoidance distance; and generating an intersection structure: on the basis of generating the basic geometric structure of the intersection, calculating to obtain safe distance constraint conditions and corresponding radiuses of all intersections by taking the distance between unmanned aerial vehicles located in the intersection as a purpose of being greater than an obstacle avoidance distance, and updating isolation strip widths of part of airways. According to the invention, the airway network model composed of a plurality of geometric structural bodies can be automatically generated,the pressure of a low-altitude traffic control system is reduced, and safe and orderly operation of air traffic is facilitated.

Description

technical field [0001] The invention relates to the technical field of UAV route network management, in particular to a method for generating a geometric structure of a low-altitude route network oriented to safety distance constraints. Background technique [0002] Due to the characteristics of low cost, convenient take-off and landing, and strong mobility, vertical take-off and landing UAVs are widely used in practical fields such as logistics transportation, cruise inspection, and agricultural plant protection in low-altitude airspace. However, low-altitude airspace is susceptible to magnetic interference, GPS interference, weather, and complex terrain. The disorderly flight of a large number of low-altitude drones may bring harm to ground facilities, public safety, and manned aircraft in the air. Design a low-altitude route network for vertical take-off and landing UAVs, so that UAVs can fly in the planned route network. This can not only reduce the pressure on the low...

Claims

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Application Information

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IPC IPC(8): G08G5/00G08G5/04G05D1/10G01C21/20
CPCG01C21/20G05D1/101G08G5/0043G08G5/045
Inventor 全权李梦芯
Owner 飞牛智能科技(南京)有限公司
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