Unmanned aerial vehicle route planning method based on positioning error correction

Abstract

The invention belongs to the technical field of unmanned aerial vehicle route planning and discloses an unmanned aerial vehicle route planning method based on positioning error correction. On the basis of a mathematical modeling thought and an optimization method theory, because of problems existing in the prior art, a route planning problem is formalized into a multi-objective optimization problem with the route length and the correction frequency as optimization objectives and a positioning error threshold value as constraint conditions. The optimization problem considers the influence of the dynamic change of the flight environment of the unmanned aerial vehicle on the route planning, and the length of the route is optimized on the premise of ensuring that the positioning error is effectively corrected. Meanwhile, an A * algorithm and a Q-learning method are adopted to solve the model and correct errors; the flight positioning precision of the unmanned aerial vehicle can be effectively ensured, the route length of the unmanned aerial vehicle is reduced; and compared with other unmanned aerial vehicle route planning methods, the method is more suitable for actual scene application, and rapid unmanned aerial vehicle route planning under multi-constraint conditions is realized.

Description

technical field [0001] The invention belongs to the technical field of UAV track planning, and in particular relates to a UAV track planning method based on positioning error correction. Background technique [0002] With the advancement of computer, communication technology, and automation control technology, drones have developed rapidly in recent years. Unmanned aerial vehicles have the advantages of strong adaptability, flexibility and portability. To a certain extent, they can replace manned operations and complete work tasks with higher efficiency and lower cost. It has an important impact on both military and civilian fields. The UAV trajectory planning is to search for a flight path from the source point to the target point according to the mission target, which is the core technology in the UAV mission planning problem. [0003] Existing technology 1 proposes a trajectory planning method based on geometric figures, which solves the problem of the direction of the i...

AI Technical Summary

Problems solved by technology

[0006] (1) The existing technology uses geometric modeling to plan the UAV trajectory. While obtaining a better trajectory, it does not consider the problem of UAV positioning errors, and the errors will gradually accumulate and may lead to mission failures. failure occurs

[0007] (2) Prior art 2 corrects the positioning error of the UAV by setting correction points, but it does not take into account that the flight environment of the UAV may change dynamically over time, and the correction points may fail due to external factors and cannot be corrected. Positioning errors are corrected

The difficulty in solving the above technical problems lies in how to make the number of corrections as small as possible under the premise of keeping the track as short as possible, and the flight error of the UAV does not exceed the positioning error threshold

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