Unmanned aerial vehicle flight path planning method in denial environment based on visual positioning

Abstract

The invention discloses an unmanned aerial vehicle flight path planning method in a denial environment based on visual positioning. The method comprises the steps of image control point coordinate acquisition, unmanned aerial vehicle autonomous positioning and flight path planning, wherein the image control point coordinate acquisition comprises the following steps of: shooting a ground target by using an unmanned aerial vehicle to acquire an aerial picture, performing retrieval matching with a preset image control point, and extracting an image point coordinate and a geodetic coordinate of an image control point target, the unmanned aerial vehicle autonomous positioning comprises: establishing a mathematical model based on an inner triangle centroid positioning algorithm, and resolving the current coordinates of the unmanned aerial vehicle by taking image control point data as an input value, and the flight path planning comprises: taking the obtained current coordinate of the unmanned aerial vehicle as a starting point, taking the next waypoint coordinate as an end point, and performing flight path planning through an improved RRT algorithm. According to the invention, the safety and timeliness of flight are effectively improved, and the problem of flight path planning of the unmanned aerial vehicle in a denial environment is solved.

Description

technical field [0001] The present invention relates to a track planning method, in particular to a track planning method for unmanned aerial vehicles in a denial environment based on visual positioning. Background technique [0002] Unmanned Aerial Vehicle (UAV) is a powered, controllable, unmanned aerial vehicle that can carry a variety of mission equipment, perform a variety of tasks, and can be reused. Compared with other platforms, the UAV platform camera has the characteristics of high resolution, and can observe the same target scene multiple times to form multi-view and multi-position imaging. With the rapid development of the drone industry in recent years, it has become more and more widely used in urban management, water conservancy law enforcement, poppy investigation, public safety, pipeline inspection, road maintenance and other fields. Since the flying environment is mostly in the sky above the building market, the electromagnetic interference is serious, or ...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a UAV track planning method in a denied environment based on visual positioning to solve the problem of UAV track planning in a denied environment; The geodetic coordinates of the target, establish a mathematical model through the center of mass positioning algorithm of the inner triangle, solve the current coordinates of the UAV in the denial environment, and then use the current coordinates as the starting point and the next waypoint coordinates as the target point through the improved RRT algorithm to carry out navigation Track planning; through the autonomous positioning of drones based on vision, the precise acquisition of drone coordinates in denied environments is provided, which provides prerequisites for track planning, and point-to-point track planning is realized through the improved RRT algorithm, effectively improving Safety and timeliness of flight; solves the problem of trajectory planning of UAVs in denial environments

Images