A method and device for trajectory planning of an unmanned aerial vehicle

Abstract

An embodiment of the present invention provides a UAV trajectory planning method and device. The method includes: decomposing the trajectory variable of the UAV in a mission cycle in a Cartesian coordinate system to obtain trajectory variable components in three directions; based on The trajectory variable component obtains a fitting coefficient of the fitting trajectory variable; based on the fitting coefficient, the UAV trajectory is planned. By decomposing the trajectory variable of the UAV in the Cartesian coordinate system to obtain the trajectory variable components in three directions, and obtaining the fitting coefficient of the fitting trajectory variable, the trajectory of the UAV is planned according to the fitting coefficient , which reduces the amount of calculation in the process of UAV trajectory planning and improves the efficiency of UAV trajectory planning.

Description

technical field [0001] The invention relates to the technical field of UAV trajectory planning, in particular to a UAV trajectory planning method and device. Background technique [0002] UAVs are widely used in auxiliary communication scenarios due to their advantages such as mobility and high flexibility. Compared with the traditional facility communication system, a key issue of UAV-assisted communication system is how to design the flight trajectory of UAV to obtain better communication performance. The UAV trajectory design problem is generally solved by modeling to obtain the maximum utility function value, but it is very difficult to design the UAV trajectory with the largest utility function, because the UAV trajectory is a continuous function of time and contains infinitely many design variables . [0003] Existing solutions are to discretize the continuous trajectory into a limited number of discrete trajectory variables, and assume that the position of the UAV i...

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Problems solved by technology

[0005] Embodiments of the present invention provide a UAV trajectory planning method and device, which are used to solve the defects of large amount of calculation and low efficiency in the UAV trajectory design process in the prior art, and realize the reduction of calculation in the UAV trajectory planning process. The purpose of improving the efficiency of UAV trajectory planning

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