Low-altitude unmanned aerial vehicle path planning method for ensuring communication quality

Abstract

The application belongs to the intersection of unmanned aerial vehicle navigation and communication technology, and particularly relates to a low-altitude unmanned aerial vehicle path planning method for guaranteeing communication quality, comprising the following steps: firstly, discretizing the flight space into a three-dimensional grid with vertices as path points; then, determining the line-of-sight / non-line-of-sight state of the path points and base stations and calculating the occlusion coefficient through a Bresenham three-dimensional straight line algorithm, combining a Rician / Rayleigh fading model to complete signal-to-noise ratio quantization, and screening out reliable path points meeting the communication and safety double constraints; subsequently, planning an optimal reliable flight path by using 26-dimensional full-dimensional neighborhood search and double cost function calculation based on an improved CAD algorithm; and in the flight process, triggering dynamic re-planning through real-time SNR monitoring to adapt to sudden changes in the environment. The application realizes communication guarantee for the whole flight of the unmanned aerial vehicle, has reproducibility and robustness, effectively avoids the risk of communication interruption, and provides a key technology for reliable flight of urban low-altitude unmanned aerial vehicle logistics, inspection and other scenes.

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