Unmanned aerial vehicle flight path planning method in concave polygon area based on remote sensing task

Abstract

The invention discloses a concave polygon area unmanned aerial vehicle flight path planning method based on a remote sensing task, and the method carries out the flight path planning of multiple unmanned aerial vehicles according to the specific remote sensing task mapping demand, gives the specific aerial photography point information, and guarantees the shortest total flight under the condition of guaranteeing the full coverage of an observation area. According to the concave polygon area unmanned aerial vehicle flight path planning based on the remote sensing task, on the basis of flight path planning (multiple loads, multiple aircrafts, an actual geographical base map, course overlapping degree, lateral overlapping degree, resolution and the like) of the remote sensing task, acquisition of aerial photography points corresponding to the geographical base map and the flight path planning is considered, the requirement of the remote sensing task can be met, and the method is more practical. According to the method, shooting of aerial images in the flight process of the unmanned aerial vehicle and later image splicing are considered, the action effect is remarkable, and the method is suitable for wide popularization.

Description

technical field

[0001] The present invention relates to the technical field of track planning, in particular to a track planning for a UAV in a concave polygon area based on a remote sensing task. Background technique

[0002] Existing UAV trajectory planning has many different application scenarios. Many UAV trajectory planning algorithms currently proposed do not consider the particularity of remote sensing tasks, but only consider it from the perspective of UAV flight. They use the turning radius of the drone to calculate the distance between the drone's flight belts, and this algorithm cannot be applied to remote sensing tasks.

[0003] At present, most of the algorithms for UAV track planning are considered in the category of convex polygons. There are also a few people who have studied the track planning of concave polygons. Most of them consider using the scan line method as the basic algorithm. However, the existing algorithm is relatively simple, which belongs to t...

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