Fixed-wing unmanned aerial vehicle route re-planning method

A technology of unmanned aerial vehicles and fixed wings, which is applied in three-dimensional position/course control, vehicle position/route/altitude control, instruments, etc., can solve the problems of long turning convergence process and insufficient use of the aircraft's turning ability, and achieve the elimination of flight paths The effect of sudden changes in direction

Pending Publication Date: 2021-10-19
XIAN AISHENG TECH GRP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Turning in advance avoids a large overshoot during the turning process, but the convergence process of turning in advance is longer, and the turning ability of the aircraft is not fully utilized

Method used

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  • Fixed-wing unmanned aerial vehicle route re-planning method
  • Fixed-wing unmanned aerial vehicle route re-planning method
  • Fixed-wing unmanned aerial vehicle route re-planning method

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Embodiment Construction

[0021] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention.

[0022] see Figure 1-Figure 5 , the technical solution of the present invention is: as shown in the figure, there are three waypoints on a route, when the flight segment (k-1, k) is switched to the flight segment (k, k+1),

[0023] (1): Ca...

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Abstract

The invention relates to a fixed-wing unmanned aerial vehicle route re-planning method. The method comprises the steps of preprocessing a route consisting of broken line segments into a route consisting of straight line segments and arc segments, eliminating sudden change of the direction of the route, and continuously changing the direction of the route, so that a course instruction is continuous and step-free when an aircraft flies along the route, the turning radius is the minimum turning radius of the aircraft, and the turning performance of the aircraft is fully exerted. According to the method, the turning performance of the aircraft is fully exerted, and an accurate and feasible flight route is provided in occasions where the flight path needs to be accurately controlled, such as reconnaissance tasks, formation flight and the like.

Description

technical field [0001] The invention belongs to the technical field of route planning for fixed-wing aircraft, and in particular relates to a route re-planning method for a fixed-wing unmanned aerial vehicle. Background technique [0002] When tracking the track of a fixed-wing aircraft, the preset track is generally a broken line segment connected by sequential waypoints. When the direction of the target route is deflected, that is, when the fixed-wing aircraft needs to turn, the deflection angle of the preset track will change step by step. , the actual flight trajectory of the fixed-wing aircraft produces a step response in the turning section, which takes a long time to converge, and there is a long section of the flight path that cannot be accurately tracked during the turn. In fact, due to the abrupt trajectory deflection and the limitation of its own turning radius, the fixed-wing aircraft cannot achieve accurate tracking of the track formed by the broken line segment...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 李青原周志广许孟孟高朋飞龚麟汤文杰景晨
Owner XIAN AISHENG TECH GRP
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