A route planning method, device, and flight equipment for airborne laser radar

Abstract

The present application discloses a flight route planning method, device and airborne laser radar flight equipment. Obtain the elevation maximum point set and elevation minimum point set of the polygon survey area. According to the elevation maximum value corresponding to the point in the elevation maximum point set, the elevation minimum value corresponding to the point in the elevation minimum point set, and the maximum climb angle of the flight equipment of the airborne lidar, the non-recommended route angle is obtained list. When the list is not empty, plan the route of the flight equipment of the airborne lidar to the polygon survey area according to the list of reference route angles and non-recommended route angles. The reference route angle is the route angle corresponding to the route planned for the polygon survey area according to the preset constraints , the preset constraint condition is the shortest total voyage. According to the list of reference route angles and non-recommended route angles, the route of the flight equipment of the airborne lidar to the polygon survey area can be planned, which can avoid the non-recommended route angles, improve the safety of the flight equipment, and ensure the data quality of the lidar.

Description

technical field [0001] The present application relates to the field of communication technology, in particular to a route planning method, device and flight equipment for airborne laser radar. Background technique [0002] In recent years, with the rapid development of lidar technology and UAV technology, UAV-borne lidar systems have become more and more widely used in various fields. Such as surveying and mapping, agricultural plant protection, forestry survey and power inspection, etc. Due to the fast flight speed of fixed-wing drones and long time in the air, the operation efficiency of fixed-wing drone-borne lidar is very high, and it is highly sought after by users in the surveying and mapping industry. [0003] Lidar is especially suitable for forestry surveys and topographic mapping due to its strong laser point penetration and the ability to obtain multiple echo data. Traditional surveying and mapping applications usually select a polygonal survey area and then for...

AI Technical Summary

Problems solved by technology

When the slope angle of the ground is greater than the maximum climb angle of the aircraft, it will cause the ground imitation flight to be impossible

That is to say, the relative height of the aircraft to the ground in certain flight segments will be less than a given height, and the relative flight height of the UAV to the ground cannot be kept fixed, which will lead to a decrease in the data quality of the lidar, such as uneven point cloud density Wait

In some special cases, if the distance between the aircraft and the ground is too close, some protection mechanisms of the aircraft may be triggered, such as return flight, etc., but due to terrain restrictions, the return route of the aircraft may trigger the risk of collision with mountains, which will cause serious harm to users. huge loss

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