Unmanned aerial vehicle flight path autonomous planning device and method for spectrum mapping

Abstract

The application discloses a kind of unmanned aerial vehicle flight path autonomous planning device methods for spectrum mapping, wherein device includes ground platform unit and unmanned aerial vehicle platform unit, ground platform unit is used to calculate unmanned aerial vehicle path, it is converted into control instruction and sent to unmanned aerial vehicle platform unit, and real-time receive the spectrum data that unmanned aerial vehicle platform unit gathers, unmanned aerial vehicle platform unit is used to gather the spectrum data at path point, and send to ground platform unit.The unmanned aerial vehicle flight path autonomous planning device of the application for spectrum mapping can realize unmanned aerial vehicle path autonomous planning for electromagnetic spectrum map.Simultaneously the method of the application estimates radiation source position by initial flight, and then further plans flight path, does not need priori information knowledge of environment, suitable for unmanned aerial vehicle path autonomous planning for spectrum mapping.

Description

Technical Field

[0001] This invention relates to an autonomous flight path planning device and method for UAVs for spectrum mapping, particularly for the application of UAVs in spectrum mapping, and belongs to the field of wireless information transmission. Background Technology

[0002] With the rapid development of the information age, the electromagnetic spectrum, as an important national strategic resource, has attracted much attention and is crucial to the establishment of national informatization development strategies and advantages in information warfare. However, with the increase in users, electromagnetic spectrum resources are becoming increasingly scarce, and illegal frequency use has brought severe challenges to electromagnetic spectrum management. In order to effectively utilize spectrum resources and strengthen the control of illegal frequency use, it is essential to construct an accurate electromagnetic spectrum map.

[0003] In recent years, with the development of drone technology, it has been widely applied in fields such as aerial photography, agriculture, and plant protection. Among these applications, flight path planning technology is a crucial research area, encompassing the search for optimal paths using path planning algorithms, obstacle avoidance, and shortest path searching. In the field of drone-based electromagnetic spectrum mapping, efficient spectrum mapping and optimal flight paths for data acquisition are key challenges that need to be addressed. Summary of the Invention

[0004] This invention proposes an autonomous flight path planning method and device for UAVs oriented towards spectrum mapping to solve the above-mentioned problems. By first collecting data during flight to estimate the location of radiation sources, and then collecting data from the radiation source locations in a concentrated manner, a high-precision electromagnetic spectrum map can be mapped with less collected data. This method is suitable for electromagnetic spectrum mapping in unknown environments.

[0005] This invention adopts the following technical solution: an autonomous flight path planning method for UAVs oriented towards spectrum mapping, comprising the following steps:

[0006] The first step involves the user inputting initial parameters into the user input module of the ground platform unit. These initial parameters specifically include the length of the area to be measured. and width Drone flight altitude Spectrum map Axial resolution and Axial resolution ;

[0007] The second step is for the path calculation module to generate the initial flight path of the UAV based on the initial parameters input by the user, and then convert the path information into control commands through the control command module and send them to the flight control module of the UAV platform unit.

[0008] Thirdly, after receiving the control commands from the control command module, the flight control module of the UAV platform unit begins flight and collects data in real time. The collected spectrum data is then processed by the data acquisition module. The data is transmitted from the data transmission module to the ground platform unit's data receiving module.

[0009] Fourth, the ground platform unit's data receiving module receives the spectrum data from the UAV platform unit and transmits it to the data completion module. The data completion module completes the data and then transmits it to the positioning algorithm module, which uses this data to estimate the position. The location of each radiation source is denoted as . And transmit it to the path calculation module;

[0010] Fifth, after receiving the radiation source location information from the positioning algorithm module (1-4), the path calculation module calculates the location of the endpoint of the initial parallel path. The above information is used to calculate the drone's path information, including the order in which it visits the radiation source and the path information of its flight around the radiation source.

[0011] The specific steps for locating the radiation source in step four are as follows:

[0012] 4.1) The data completion module receives the spectrum data. Next, the data is completed using the following method:

[0013] (1)

[0014] in, These are weighting coefficients, calculated as follows:

[0015] (2)

[0016] (3)

[0017] (4)

[0018] In the formula, , The Euclidean distance between the point to be completed and the sampled data point is expressed as follows:

[0019] (5)

[0020] 4.2). Based on the spectrum data obtained from (4.1), complete the data. Calculate the maximum path loss error The calculation method is as follows:

[0021] (6)

[0022] in, and Let the signal strength be any two points. This refers to the path loss between two points;

[0023] 4.3) Based on the completed spectrum data Calculate the minimum path loss error for each point. The calculation method is as follows:

[0024] (7)

[0025] in, The signal strength of the points to be clustered.

[0026] 4.4). According to Select cluster centers, and according to Each point is assigned to the nearest class, resulting in... Location of each radiation source .

[0027] Furthermore, the specific implementation steps for generating the initial flight path in the second step are as follows:

[0028] 2.1). Let the initial position of the drone be... The initial direction of movement is along Negative direction of the axis;

[0029] 2.2) The drone travels along... The coordinates of each point along the flight path are: [axis motion, coordinates of each point along the flight path are...] The calculation method is as follows:

[0030] (8)

[0031] (9)

[0032] (10)

[0033] in, Time and The time points represent the next path point and the current path point, respectively. ,symbol" "This indicates that when the drone heads towards..." When moving in the negative direction of the axis When the drone heads towards When moving in the positive direction of the axis ;when or At that time, the drone changed its flight direction to Positive direction of the axis;

[0034] 2.3). After changing its flight direction, the UAV followed... For movement along the positive axis, the coordinates of the path points are calculated as follows:

[0035] (11)

[0036] (12)

[0037] (13)

[0038] in, , The drone began along The coordinates when moving in the positive direction of the axis are When satisfied and At that time, the drone changed its flight direction to Positive direction of the axis; when the following conditions are met and At that time, the drone changed its flight direction to Negative direction of the axis;

[0039] 2.4) Repeat steps 2.2) to 2.3) until the data collected by the drone meets the recovery threshold.

[0040] Furthermore, the specific implementation steps for path calculation in step five are as follows:

[0041] 5.1) Consider the order of visits to radiation sources based on their locations, assuming the initial flight path endpoint location. The order of accessing radiation sources is as follows arrive The permutations and combinations of two adjacent radiation sources and The distance is , The calculation method is as follows:

[0042] (14)

[0043] The distance between the initial flight path endpoint and the radiation source is The calculation method is as follows:

[0044] (15)

[0045] in, Number the first radiation source visited;

[0046] according to The minimum order of access to the radiation sources can be determined using the following calculation method:

[0047] (16)

[0048] 5.2). The flight path to the radiation source includes the path from the end of the initial flight path to the radiation source and the path from one radiation source to another, wherein the path points from the end of the initial flight path to the radiation source are: , The calculation method is as follows:

[0049] (17)

[0050] (18)

[0051] (19)

[0052] in, The first radiation source visited coordinate;

[0053] The path points from one radiation source to another are , The calculation method is as follows:

[0054] (20)

[0055] (twenty one)

[0056] (twenty two)

[0057] in, , These represent the current radiation source and the next radiation source to be visited, respectively.

[0058] When the drone flies around the radiation source, the flight path points are: , The calculation method is as follows:

[0059] (twenty three)

[0060] (twenty four)

[0061] (25)

[0062] in, .

[0063] The present invention also adopts the following technical solution: an autonomous flight path planning device for UAVs oriented to spectrum mapping, used to implement the autonomous flight path planning method for UAVs oriented to spectrum mapping described in any of the preceding claims, including a ground platform unit and a UAV platform unit;

[0064] The ground platform unit is used to calculate the UAV path, convert it into control commands and send them to the UAV platform unit, and receive spectrum data collected by the UAV platform unit in real time. The UAV platform unit is used to collect spectrum data at path points and send it to the ground platform unit.

[0065] Furthermore, the ground platform unit includes a user input module, a path calculation module, a positioning algorithm module, a data completion module, a data receiving module, and a control command module. The user input module is used for the user to input initial parameters; the path calculation module is used to calculate the path of the UAV based on the user input parameters obtained from the user input module or the radiation source location obtained from the positioning algorithm module; the positioning algorithm module is used to calculate the location of the radiation source based on the spectrum data obtained from the data completion module; the data completion module completes the spectrum data of the entire spectrum map based on the spectrum data collected by the UAV platform unit; the data receiving module is used to receive the spectrum data sent by the UAV platform unit; and the control command module is used to convert the path information obtained from the path calculation module into control commands and send them to the UAV platform unit.

[0066] Furthermore, the UAV platform unit includes a data acquisition module, a data transmission module, and a flight control module. The data acquisition module is used to collect spectrum intensity information at path points during UAV flight. The data transmission module is used to transmit the spectrum data collected by the data acquisition module to the ground platform unit. The flight control module is used to control the flight of the UAV based on the control commands from the ground platform unit.

[0067] The present invention has the following beneficial effects:

[0068] 1) This invention proposes an autonomous flight path planning device for UAVs oriented to spectrum mapping, which can realize autonomous flight path planning for UAVs oriented to electromagnetic spectrum maps.

[0069] 2) This invention proposes an autonomous flight path planning method for UAVs oriented towards spectrum mapping. This method estimates the location of radiation sources through initial flight and then plans the flight path. It does not require prior environmental information and is suitable for autonomous flight path planning of UAVs oriented towards spectrum mapping. Attached Figure Description

[0070] Figure 1This is a schematic diagram of the structure of the UAV flight path autonomous planning device for spectrum mapping according to the present invention.

[0071] Figure 2 This is a flowchart of the UAV flight path autonomous planning method for spectrum mapping according to the present invention.

[0072] Figure 3 This is a diagram showing the path planning results based on the location of the radiation source in this invention. Detailed Implementation

[0073] The invention will now be further described with reference to the accompanying drawings.

[0074] The UAV flight path autonomous planning device for spectrum mapping of the present invention includes a ground platform unit 1-1 and a UAV platform unit 1-2.

[0075] Ground platform unit 1-1 calculates the UAV path, converts it into control commands, and sends them to UAV platform unit 1-2. It also receives spectrum data collected by UAV platform unit 1-2 in real time. UAV platform unit 1-2 collects spectrum data at path points and sends it to ground platform unit 1-1.

[0076] Ground platform unit 1-1 includes a user input module 1-3, a path calculation module 1-5, a positioning algorithm module 1-4, a data completion module 1-7, a data receiving module 1-8, and a control command module 1-6. The user input module 1-3 is used for user input of initial parameters. The path calculation module 1-5 calculates the UAV's path based on the user input parameters obtained from the user input module 1-3 or the radiation source location obtained from the positioning algorithm module 1-4. The positioning algorithm module 1-4 calculates the radiation source location based on the spectrum data obtained from the data completion module 1-7. The data completion module 1-7 completes the spectrum map based on the spectrum data collected by UAV platform unit 1-2. The data receiving module 1-8 receives the spectrum data sent from UAV platform unit 1-2. The control command module 1-6 converts the path information obtained from the path calculation module 1-5 into control commands and sends them to UAV platform unit 1-2.

[0077] The UAV platform unit 1-2 includes a data acquisition module 1-10, a data transmission module 1-11, and a flight control module 1-9. The data acquisition module 1-10 is used to collect spectral intensity information at path points during UAV flight. The data transmission module 1-11 is used to transmit the spectral data collected by the data acquisition module 1-10 to the ground platform unit 1-1. The flight control module 1-9 is used to control the flight of the UAV based on control commands from the ground platform unit 1-1.

[0078] An autonomous flight path planning method for UAVs oriented towards spectrum mapping includes the following steps:

[0079] The first step involves the user inputting initial parameters into the user input module 1-3 of the ground platform unit 1-1. These initial parameters specifically include the length of the area to be measured. and width Drone flight altitude Spectrum map Axial resolution and Axial resolution ;

[0080] The second step is that the path calculation module 1-5 generates the initial flight path of the UAV based on the initial parameters input by the user, and converts the path information into control commands through the control command module 1-6 and sends them to the flight control module 1-9 of the UAV platform unit 1-2.

[0081] Thirdly, after receiving the control command from the control command module 1-6, the flight control module 1-9 of the UAV platform unit 1-2 begins flight and collects data in real time. The collected spectrum data is then processed by the data acquisition module 1-10. The data is transmitted via data transmission module 1-11 to data receiving module 1-8 of ground platform unit 1-1;

[0082] In the fourth step, the data receiving module 1-8 of the ground platform unit 1-1 receives the spectrum data from the UAV platform unit 1-2 and transmits it to the data completion module 1-7. The data completion module 1-7 completes the data and then transmits it to the positioning algorithm module 1-4. The positioning algorithm module 1-4 estimates the position based on this data. The location of each radiation source is denoted as . And transmit it to path calculation modules 1-5;

[0083] Fifth, after receiving the radiation source location information from the positioning algorithm module (1-4), the path calculation module (1-5) calculates the location of the radiation source based on the endpoint location of the initial parallel path. The above information is used to calculate the drone's path information, including the order in which it visits the radiation source and the path information of its flight around the radiation source.

[0084] Furthermore, the specific steps for locating the radiation source in the fourth step are as follows:

[0085] 4.1) The data completion module receives the spectrum data. Next, the data is completed using the following method:

[0086] (1)

[0087] in, These are weighting coefficients, calculated as follows:

[0088] (2)

[0089] (3)

[0090] (4)

[0091] In the formula, , The Euclidean distance between the point to be completed and the sampled data point is expressed as follows:

[0092] (5)

[0093] 4.2). Based on the spectrum data obtained from (4.1), complete the data. Calculate the maximum path loss error The calculation method is as follows:

[0094] (6)

[0095] in, and Let the signal strength be any two points. This refers to the path loss between two points.

[0096] 4.3) Based on the completed spectrum data Calculate the minimum path loss error for each point. The calculation method is as follows:

[0097] (7)

[0098] in, The signal strength of the points to be clustered.

[0099] 4.4). According to Select cluster centers, and according to Each point is assigned to the nearest class, resulting in... Location of each radiation source .

[0100] Furthermore, the specific steps for generating the initial flight path in the second step are as follows:

[0101] 2.1) Let the initial position of the drone be... The initial direction of movement is along Negative direction of the axis;

[0102] 2.2) The drone travels along... The coordinates of each point along the flight path are: [axis motion, coordinates of each point along the flight path are...] The calculation method is as follows:

[0103] (8)

[0104] (9)

[0105] (10)

[0106] in, Time and The time points represent the next path point and the current path point, respectively. ,symbol" "This indicates that when the drone heads towards..." When moving in the negative direction of the axis When the drone heads towards When moving in the positive direction of the axis ;when or At that time, the drone changed its flight direction to Positive direction of the axis.

[0107] 2.3). After changing its flight direction, the UAV followed... For movement along the positive axis, the coordinates of the path points are calculated as follows:

[0108] (11)

[0109] (12)

[0110] (13)

[0111] in, , The drone began along The coordinates when moving in the positive direction of the axis are When satisfied and At that time, the drone changed its flight direction to Positive direction of the axis; when the following conditions are met and At that time, the drone changed its flight direction to Negative direction of the axis.

[0112] 2.4) Repeat steps 2.2) to 2.3) until the data collected by the drone meets the recovery threshold.

[0113] Furthermore, the specific implementation steps for path calculation in step five are as follows:

[0114] 5.1) Consider the order of visits to radiation sources based on their locations, assuming the initial flight path endpoint location. The order of accessing radiation sources is as follows arrive The permutations and combinations of two adjacent radiation sources and The distance is , The calculation method is as follows:

[0115]

[0116] The distance between the initial flight path endpoint and the radiation source is The calculation method is as follows:

[0117]

[0118] in, Number the first radiation source visited.

[0119] according to The minimum order of access to the radiation sources can be determined using the following calculation method:

[0120]

[0121] 5.2). The flight path to the radiation source includes the path from the end of the initial flight path to the radiation source and the path from one radiation source to another, wherein the path points from the end of the initial flight path to the radiation source are: , The calculation method is as follows:

[0122]

[0123]

[0124]

[0125] in, The first radiation source visited coordinate.

[0126] The path points from one radiation source to another are , The calculation method is as follows:

[0127]

[0128]

[0129]

[0130] in, , These represent the current radiation source and the next radiation source to be visited, respectively.

[0131] When the drone flies around the radiation source, the flight path points are: , The calculation method is as follows:

[0132]

[0133]

[0134]

[0135] in, .

[0136] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions will be described more clearly and completely below through a specific embodiment.

[0137] The specific implementation steps are as follows:

[0138] The first step involves the user inputting initial parameters into the user input module 1-3 of the ground platform unit 1-1, including the length of the area to be measured. and width Drone flight altitude Spectrum map Axial resolution and Axial resolution The specific parameters are shown in Table 1.

[0139] Table 1 User Input Parameters

[0140]

[0141] In the second step, the path calculation module 1-5 generates an initial flight path based on the parameters input by the user input module 1-3 and the starting coordinates. The control command module 1-6 converts the path information from the path calculation module 1-5 into control commands and sends them to the flight control module 1-9.

[0142] Furthermore, the specific steps for generating the initial flight path in the second step are as follows:

[0143] 2.1) The coordinate system used is a spatial rectangular coordinate system. The initial position of the UAV is (2.5, 497.5, 40), and the initial movement direction is along... Negative direction of the axis;

[0144] 2.2) Drones in The coordinates of the path points during movement along the axis can be determined using the formula. , , It is concluded that When satisfied or At that time, the drone changed its flight direction to Positive direction of the axis;

[0145] 2.3) Drones in When moving in the positive direction of the axis, the UAV's path point can be determined according to the formula. , , It is concluded that The drone began along The coordinates when moving in the positive direction of the axis are When satisfied and At that time, the drone changed its flight direction to Positive direction of the axis; when the following conditions are met and At that time, the drone changed its flight direction to Negative direction of the axis;

[0146] 2.4) Repeat steps 2.2) and 2.3) until the data collected by the drone meets the recovery threshold.

[0147] The path point information of the UAV obtained based on the above method is shown in Table 2 below:

[0148] Table 2 Initial flight path point coordinates

[0149]

[0150] Thirdly, after receiving the control commands from the control command module 1-6 of the ground platform unit 1-1, the flight control module 1-9 of the UAV platform unit 1-2 begins flight and collects data in real time. The collected spectrum data is then processed by the data acquisition module 1-10. The data is transmitted via data transmission module 1-11 to data receiving module 1-8 of ground platform unit 1-1. The spectrum data obtained from the UAV flight path in the second step is shown in Table 3 below:

[0151] Table 3 Spectral Intensity at Initial Flight Path Point

[0152]

[0153]

[0154] Fourth step, the data receiving module 1-8 of the ground platform unit 1-1 receives the spectrum data from the UAV platform unit 1-1. Then, the data is sent to data completion modules 1-7, which use the collected spectrum data to complete the spectrum data of the uncollected points. The completed data is then transmitted to positioning algorithm modules 1-4; positioning algorithm modules 1-4 determine the location based on the completed spectrum data. Location of each radiation source The radiation source location information is then sent to path calculation modules 1-5.

[0155] Furthermore, the specific implementation steps for the completion and positioning methods in step four are as follows:

[0156] 4.1) Based on the data collected in step 3, using the formula... The spectral data of the unsampled points can be obtained. ;

[0157] 4.2) Based on the spectrum data obtained from 4.1), complete the data. Using the formula Calculate the maximum path loss error ;

[0158] 4.3) Based on the spectrum data obtained from 4.1), complete the data. Using the formula Calculate the minimum path loss error for each point. ;

[0159] 4.4). According to Select cluster centers, and according to Each point is assigned to the nearest class, and the positions of the three radiation sources are (390,415,0), (165,230,0), and (320,50,0).

[0160] Fifth, after receiving the radiation source location information from the positioning algorithm module 1-4, the path calculation module 1-5 calculates the location of the endpoint of the initial flight path. The above information is used to calculate the drone's path information, including the order in which it visits radiation sources and the path information around the radiation sources.

[0161] Furthermore, the specific implementation steps of the path calculation method in step five are as follows:

[0162] 5.1) Based on the path information in step two, the endpoint of its flight path can be obtained as (482.5, 2.5, 40). Using the formula... , , The order of radiation source visits can be determined as (320,50,0), (165,230,0), (390,415,0).

[0163] 5.2) When the UAV has not reached the radiation source, its coordinates are given by the formula... , , , , , It is concluded that when the drone reaches the vicinity of the radiation source, it performs concentrated data collection on the radiation source, and its coordinates are obtained from the formula. , , It is concluded that, The path information of the drone is shown in Table 4 below:

[0164] Table 4. Path point coordinates considering the location of the radiation source

[0165]

[0166]

[0167] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be considered within the scope of protection of the present invention.

Claims

1. A method for autonomous flight path planning of unmanned aerial vehicles (UAVs) for spectrum mapping, characterized in that: The steps include the following: The first step involves the user inputting initial parameters into the user input module (1-3) of the ground platform unit (1-1). These initial parameters specifically include the length of the area to be measured. and width Drone flight altitude Spectrum map Axial resolution and Axial resolution ; The second step is that the path calculation module (1-5) generates the initial flight path of the UAV based on the initial parameters input by the user, and converts the path information into control commands through the control command module (1-6) and sends them to the flight control module (1-9) of the UAV platform unit (1-2). Thirdly, after receiving the control command from the control command module (1-6), the flight control module (1-9) of the UAV platform unit (1-2) begins flight and collects data in real time. The collected spectrum data is then processed by the data acquisition module (1-10). The data is transmitted via the data transmission module (1-11) to the data receiving module (1-8) of the ground platform unit (1-1); In the fourth step, the data receiving module (1-8) of the ground platform unit (1-1) receives the spectrum data from the UAV platform unit (1-2) and transmits it to the data completion module (1-7). The data completion module (1-7) completes the data and transmits it to the positioning algorithm module (1-4). The positioning algorithm module (1-4) then estimates the position based on this data. The location of each radiation source is denoted as . And transmit it to the path calculation module (1-5); In the fifth step, after receiving the radiation source location information from the positioning algorithm module (1-4), the path calculation module (1-5) calculates the location of the radiation source based on the endpoint location of the initial parallel path. The above information is used to calculate the drone's path information, including the order in which it visits the radiation source and the path information of its flight around the radiation source. The specific steps for locating the radiation source in step four are as follows: 4.1) The data completion module receives the spectrum data. Next, the data is completed using the following method: （1） in, These are weighting coefficients, calculated as follows: （2） （3） （4） In the formula, , The Euclidean distance between the point to be completed and the sampled data point is expressed as follows: （5） 4.2). Based on the spectrum data obtained from (4.1), complete the data. Calculate the maximum path loss error The calculation method is as follows: （6） in, and Let the signal strength be any two points. This refers to the path loss between two points; 4.3) Based on the completed spectrum data Calculate the minimum path loss error for each point. The calculation method is as follows: （7） in, The signal strength of the points to be clustered; 4.4). According to Select cluster centers, and according to Each point is assigned to the nearest class, resulting in... Location of each radiation source .

2. The autonomous flight path planning method for UAVs oriented towards spectrum mapping as described in claim 1, characterized in that: The specific steps for generating the initial flight path in the second step are as follows: 2.1). Let the initial position of the drone be... The initial direction of movement is along Negative direction of the axis; 2.2) The drone travels along... The coordinates of each point along the flight path are: [axis motion, coordinates of each point along the flight path are...] The calculation method is as follows: （8） （9） （10） in, Time and The time points represent the next path point and the current path point, respectively. ,symbol" "This indicates that when the drone heads towards..." When moving in the negative direction of the axis When the drone heads towards When moving in the positive direction of the axis ;when or At that time, the drone changed its flight direction to Positive direction of the axis; 2.3). After changing its flight direction, the UAV followed... For movement along the positive axis, the coordinates of the path points are calculated as follows: （11） （12） （13） in, , The drone began along The coordinates when moving in the positive direction of the axis are When satisfied and At that time, the drone changed its flight direction to Positive direction of the axis; when the following conditions are met and At that time, the drone changed its flight direction to Negative direction of the axis; 2.4) Repeat steps 2.2) to 2.3) until the data collected by the drone meets the recovery threshold.

3. The autonomous flight path planning method for UAVs oriented towards spectrum mapping as described in claim 2, characterized in that: The specific steps for path calculation in step five are as follows: 5.1) Consider the order of visits to radiation sources based on their locations, assuming the initial flight path endpoint location. The order of accessing radiation sources is as follows arrive The permutations and combinations of two adjacent radiation sources and The distance is , The calculation method is as follows: （14） The distance between the initial flight path endpoint and the radiation source is The calculation method is as follows: （15） in, Number the first radiation source visited; according to The minimum order of access to the radiation sources can be determined using the following calculation method: （16） 5.2). The flight path to the radiation source includes the path from the end of the initial flight path to the radiation source and the path from one radiation source to another, wherein the path points from the end of the initial flight path to the radiation source are: , The calculation method is as follows: （17） （18） （19） in, The first radiation source visited coordinate; The path points from one radiation source to another are , The calculation method is as follows: （20） （21） （22） in, , These represent the current radiation source and the next radiation source to be visited, respectively. When the drone flies around the radiation source, the flight path points are: , The calculation method is as follows: （23） （24） （25） in, .

4. A device for autonomous flight path planning of unmanned aerial vehicles (UAVs) for spectrum mapping, used to implement the autonomous flight path planning method for UAVs for spectrum mapping as described in any one of claims 1-3, characterized in that: It includes a ground platform unit (1-1) and an unmanned aerial vehicle (UAV) platform unit (1-2); The ground platform unit (1-1) is used to calculate the UAV path, convert it into control commands and send them to the UAV platform unit (1-2), and receive the spectrum data collected by the UAV platform unit (1-2) in real time. The UAV platform unit (1-2) is used to collect the spectrum data at the path points and send it to the ground platform unit (1-1).

5. The autonomous flight path planning device for UAVs oriented towards spectrum mapping as described in claim 4, characterized in that: The ground platform unit (1-1) includes a user input module (1-3), a path calculation module (1-5), a positioning algorithm module (1-4), a data completion module (1-7), a data receiving module (1-8), and a control command module (1-6). The user input module (1-3) is used for the user to input initial parameters. The path calculation module (1-5) is used to calculate the path of the UAV based on the user input parameters obtained by the user input module (1-3) or the radiation source location obtained by the positioning algorithm module (1-4). The positioning algorithm module (1-4) is used to calculate the location of the radiation source based on the spectrum data obtained by the data completion module (1-7). The data completion module (1-7) completes the spectrum data of the entire spectrum map based on the spectrum data collected by the UAV platform unit (1-2). The data receiving module (1-8) is used to receive the spectrum data sent by the UAV platform unit (1-2). The control command module (1-6) is used to convert the path information obtained by the path calculation module (1-5) into control commands and send them to the UAV platform unit (1-2).

6. The autonomous flight path planning device for UAVs oriented towards spectrum mapping as described in claim 5, characterized in that: The UAV platform unit (1-2) includes a data acquisition module (1-10), a data transmission module (1-11), and a flight control module (1-9). The data acquisition module (1-10) is used to collect spectral intensity information at path points during UAV flight. The data transmission module (1-11) is used to transmit the spectral data collected by the data acquisition module (1-10) to the ground platform unit (1-1). The flight control module (1-9) is used to control the flight of the UAV based on the control commands from the ground platform unit (1-1).

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