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Unmanned aerial vehicle robust trajectory planning method in non-deterministic interference environment

A trajectory planning, UAV technology, applied in the field of UAV communication, can solve the problems of insufficient accuracy, difficult to obtain the position and power information of the radiation source, etc., to achieve the effect of improving reliability

Active Publication Date: 2021-10-26
TONGJI UNIV
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Problems solved by technology

In addition, due to the lack of accuracy of existing detection equipment, it is often difficult to obtain accurate radiation source position and power information

Method used

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  • Unmanned aerial vehicle robust trajectory planning method in non-deterministic interference environment

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Embodiment Construction

[0097] The purpose and effects of the present invention will become more apparent by describing the present invention in detail below in conjunction with the accompanying drawings.

[0098] The present embodiment provides a method for robust trajectory planning of UAVs in a non-deterministic interference environment, the method comprising the following steps:

[0099] S1: Establish a UAV trajectory planning system model;

[0100] Such as figure 1 As shown, consider a three-dimensional coordinate system. Let the flying height of the UAV be H, the flight time be T, and take the preset starting point {x I ,y I ,H}(x I ,y I represents the horizontal and vertical coordinates of the starting point) to the specified end point {x F ,y F ,H}flight(x F ,y F represents the horizontal and vertical coordinates of the end point); there is a control station on the ground, the height is 0, and the horizontal position is w s =[x s ,y s ](x s ,y s represent the horizontal and vert...

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Abstract

The invention discloses an unmanned aerial vehicle robust trajectory planning method in a non-deterministic interference environment. The method comprises the following steps: firstly, determining a starting point, a terminal point, authorized flight parameters, estimated radiation source parameters, a flight energy consumption upper limit and environmental parameters of an unmanned aerial vehicle; constructing a trajectory planning problem of a unmanned aerial vehicle system; then, adopting an S-Procedure algorithm and a continuous convex optimization algorithm to iteratively optimize the problem until the algorithm converges; and based on the interference environment information, enabling a ground control unit to use the above algorithm to plan the flight trajectory of the unmanned aerial vehicle before flight, and completing the robust trajectory design of unmanned aerial vehicle communication. The unmanned aerial vehicle robust trajectory planning method has the beneficial effects that the unmanned aerial vehicle robust trajectory planning method can improve the quality of received signals on the premise of meeting constraints.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle communication, and specifically relates to the design of a robust trajectory planning method for unmanned aerial vehicles under non-deterministic interference environments. Background technique [0002] With the rapid development of UAV systems, UAV communication technology has gradually become a research hotspot in academia and industry. UAVs improve the success rate of missions and are widely used in military reconnaissance, battlefield assessment, communication relay and other fields. However, due to the limited network resources available to UAVs, UAV communication is facing a severe test. On the one hand, due to the blowout business and the highly uncertain battlefield environment, UAVs need to quickly make trajectory planning in a very short period of time, which tests the timeliness of communication; on the other hand, UAV combat data The transmission link is extremely sus...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101Y02T10/40
Inventor 周凌云朱华泽史清江
Owner TONGJI UNIV
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