An unmanned aerial vehicle route navigation point switching method, system, device and medium

Abstract

The application discloses a kind of unmanned vehicle air route navigation point switching method, system, equipment and medium, comprising: the remaining navigation point number of the preset air route path of unmanned vehicle is acquired, the remaining navigation point number is judged;If the remaining navigation point number is greater than 1, the coordinate information of relevant navigation point is acquired according to the preset air route path of unmanned vehicle;According to the current position coordinate information of unmanned vehicle navigation positioning system, the current position coordinate information of unmanned vehicle is acquired;According to the coordinate information of relevant navigation point, the unit vector of current air route direction, the unit vector of next air route direction and the angle bisector direction between them are calculated;According to the current position coordinate information of unmanned vehicle and the coordinate information of current navigation point, the position vector of unmanned vehicle current position and current target navigation point is calculated;According to position vector and angle bisector direction, the air route switching amount is calculated;And according to air route switching amount, next navigation point switching is carried out.The application overcomes the problem that large turning radius cannot realize air route navigation point switching.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) navigation and control, specifically to a method, system, device, and medium for switching navigation points on UAV routes, particularly for flight path tracking and control of fixed-wing UAVs. Background Technology

[0002] Unmanned aerial vehicles (UAVs) possess advantages such as small size, low cost, ease of use, low requirements for civilian and military operational environments, and strong battlefield survivability, leading to their widespread application in both the national economy and defense sectors. When performing a mission, a UAV pre-programs or generates a fixed flight path based on its mission profile. This path consists of a series of ordered waypoints, which the UAV sequentially follows during flight. The method of switching waypoints determines the flight path tracking strategy and significantly impacts the accuracy of UAV trajectory tracking.

[0003] Traditional drone waypoint switching methods involve defining a target waypoint neighborhood. When the drone reaches a predetermined distance from the target waypoint, the drone automatically switches to the next waypoint, thus completing the target waypoint switch. This method achieves good flight path control for rotary-wing drones and drones with small turning radii. However, for fixed-wing drones with large turning radii, when the flight path does not pass through the target waypoint and the turning radius exceeds the set waypoint switching distance range, the drone will continuously circle the waypoint (i.e., the drone will keep circling around the waypoint), failing to complete the waypoint switch. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that existing UAV route navigation point switching methods cannot achieve route navigation point switching when the turning radius is large. That is, for fixed-wing UAVs with a large turning radius, when the flight trajectory does not pass through the target waypoint and the turning radius is greater than the set navigation point switching distance range, the UAV will keep flying around the navigation point (i.e., the UAV will keep flying in circles around the navigation point) and cannot complete the route navigation point switching.

[0005] The purpose of this invention is to provide a method, system, device, and medium for switching UAV route navigation points. The UAV route navigation point switching method of this invention calculates the route switching amount by combining the position vectors of the current position and the current target navigation point, the unit vector of the current route direction, and the unit vector of the next route direction. Based on the magnitude of the route switching amount, the next navigation point is switched; thereby overcoming the problem that a large turning radius makes it impossible to switch route navigation points.

[0006] This invention is achieved through the following technical solution:

[0007] In a first aspect, the present invention provides a method for switching navigation points on a UAV flight path, the method comprising:

[0008] Obtain the remaining navigation points of the drone's preset flight path and make a judgment on the remaining navigation points;

[0009] If the number of remaining navigation points is greater than 1, the coordinate information of the relevant navigation points is obtained according to the UAV's preset flight path; the coordinate information of the relevant navigation points includes the coordinate information of the current flight path navigation point, the coordinate information of the previous navigation point, and the coordinate information of the next navigation point;

[0010] Obtain the current location coordinates of the drone based on the drone navigation and positioning system;

[0011] Based on the coordinate information of the relevant navigation points, calculate the unit vector of the current route direction, the unit vector of the next route direction, and the angle bisector between the two.

[0012] Calculate the position vector between the UAV's current position and the current target navigation point based on the UAV's current position coordinates and the current navigation point coordinates.

[0013] Calculate the route switching amount based on the position vector and the angle bisector direction; and switch the UAV navigation target, i.e., switch the next navigation point, based on the route switching amount.

[0014] Repeat the above steps until the drone navigation is complete.

[0015] Furthermore, determining the remaining number of navigation points also includes:

[0016] If there is 1 remaining navigation point, the drone will not switch navigation points again, and the process will end.

[0017] Furthermore, before obtaining the remaining navigation points of the UAV's preset flight path, the method also includes:

[0018] After the UAV takes off from the first navigation point, it obtains the total number of navigation points N of the preset route path according to the UAV's preset route path;

[0019] Determine the total number of navigation points N:

[0020] If the total number of navigation points N is less than 3 (i.e. 2), the drone will take off from the first navigation point and arrive at the second waypoint. The drone will not be able to obtain the next navigation point. In this case, there is no switching of the waypoint, and the process ends.

[0021] If the total number of navigation points N is greater than 3, then obtain the remaining number of navigation points for the UAV's preset flight path.

[0022] Furthermore, calculate the unit vector of the current flight path direction, the unit vector of the next flight path direction, and the angle bisector between them, using the following formula:

[0023]

[0024] in, This provides the coordinates of the current waypoint. This refers to the coordinates of the previous navigation point. For the coordinates of the next navigation point, q i-1 Let q be the unit vector of the current flight path direction. i Let n be the unit vector for the next flight path direction. i The direction is the angle bisector between the unit vector of the current route direction and the unit vector of the next route direction.

[0025] Furthermore, the formula for calculating the position vector is: Wherein, P(x p ,y p ,z p ( ) represents the current location coordinates of the drone. This contains the coordinates of the current waypoint.

[0026] Furthermore, based on the position vector and the angle bisector direction, the route switching amount is calculated; and based on the route switching amount, the UAV navigation target is switched, i.e., the next navigation point is switched, including:

[0027] The route change amount is calculated based on the position vector and the angle bisector direction; the formula for calculating the route change amount is:

[0028]

[0029] in,() T For transpose; n i The angle bisector of the direction between the unit vector of the current route direction and the unit vector of the next route direction;

[0030] The route change value is determined. If the value of the route change value is greater than or equal to 0, the navigation target is switched to the next route navigation point. If the value of the route change value is less than zero, the navigation point is not switched and the flight continues to the current navigation point until the value of the route change value is greater than or equal to 0.

[0031] Furthermore, this method is applied to the flight path tracking and control of fixed-wing unmanned aerial vehicles (UAVs).

[0032] Secondly, the present invention provides a UAV route navigation point switching system, which uses the aforementioned UAV route navigation point switching method; the system includes:

[0033] The remaining navigation point acquisition unit is used to acquire the remaining navigation points of the UAV's preset flight path;

[0034] The judgment unit is used to determine the number of remaining navigation points: if the number of remaining navigation points is 1, then the UAV will not switch to another navigation point; if the number of remaining navigation points is greater than 1, then the coordinate information of the relevant navigation points is obtained according to the UAV's preset route; the coordinate information of the relevant navigation points includes the coordinate information of the current route navigation point, the coordinate information of the previous navigation point, and the coordinate information of the next navigation point;

[0035] The UAV current position coordinate information acquisition unit is used to acquire the UAV's current position coordinate information based on the UAV navigation and positioning system;

[0036] The angle bisector direction calculation unit is used to calculate the unit vector of the current route direction, the unit vector of the next route direction, and the angle bisector direction between them based on the coordinate information of the relevant navigation points.

[0037] The position vector calculation unit is used to calculate the position vector between the UAV's current position and the current target navigation point based on the UAV's current position coordinates and the coordinates of the current navigation point.

[0038] The route switching amount calculation unit is used to calculate the route switching amount based on the position vector and the angle bisector direction;

[0039] The navigation point switching unit is used to switch the UAV navigation target, i.e., switch to the next navigation point, based on the route switching amount.

[0040] Thirdly, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method for switching navigation points on a UAV route.

[0041] Fourthly, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for switching navigation points on a UAV route.

[0042] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0043] This invention provides a method, system, device, and medium for switching flight path navigation points for unmanned aerial vehicles (UAVs). It calculates the flight path switching amount by combining the position vectors of the current position and the current target navigation point, the unit vector of the current flight path direction, and the unit vector of the next flight path direction. Based on the magnitude of the flight path switching amount, the next navigation point is switched. This overcomes the problem that a large turning radius prevents flight path navigation point switching. Attached Figure Description

[0044] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0045] Figure 1 This is a flowchart of a method for switching navigation points on a UAV flight route according to the present invention;

[0046] Figure 2 This is a detailed flowchart of a method for switching navigation points on a UAV flight route according to the present invention;

[0047] Figure 3 This is a schematic diagram of the drone navigation point switching according to the present invention;

[0048] Figure 4 This is a structural block diagram of a drone route navigation point switching system according to the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0050] Traditional UAV waypoint switching methods involve defining a target waypoint neighborhood. When the UAV reaches a predetermined distance from the target waypoint, the UAV automatically switches to the next waypoint, thus completing the waypoint switch. This method achieves good flight path control for rotary-wing UAVs and UAVs with small turning radii. However, for fixed-wing UAVs with large turning radii, when the flight path does not pass through the target waypoint and the turning radius exceeds the set waypoint switching distance, the UAV will continuously circle the waypoint (i.e., the UAV will keep flying in circles), failing to complete the waypoint switch. In other words, traditional UAV waypoint switching methods suffer from the problem of failing to switch waypoints when the turning radius is large.

[0051] Therefore, this invention designs a method, system, device, and medium for switching UAV route navigation points. It calculates the route switching amount by combining the position vectors of the current position and the current target navigation point, the unit vector of the current route direction, and the unit vector of the next route direction. Based on the magnitude of the route switching amount, the next navigation point is switched. This overcomes the problem that a large turning radius makes it impossible to switch route navigation points.

[0052] Example 1

[0053] like Figure 1 and Figure 2As shown, this invention provides a method for switching navigation points on a UAV route, specifically a method for switching navigation points on a fixed-wing UAV route. The method includes:

[0054] (1) After the UAV takes off from the first waypoint, it obtains the total number of navigation points N of the preset waypoint according to the UAV's preset waypoint. If N is less than 3 (i.e. 2), the UAV will take off from the first navigation point and reach the second waypoint. The UAV will not be able to obtain the next navigation point. In this case, there is no switching of the waypoint.

[0055] (2) If N is greater than 3, check if the number of remaining navigation points on the current route is 1. If the number of remaining navigation points is 1, the process ends, indicating that the UAV is flying to the final navigation point and there will be no further navigation point switching; the process ends.

[0056] (3) If the number of remaining navigation points on the current route is greater than 1, obtain the coordinate information of the relevant navigation points according to the preset route path; the coordinate information of the relevant navigation points includes the coordinate information of the navigation points on the current route. Coordinates of the previous navigation point and the coordinates of the next navigation point like Figure 3 As shown.

[0057] (4) Obtain the current position coordinates P(x) of the UAV based on the UAV navigation and positioning system. p ,y p ,z p ),like Figure 3 As shown;

[0058] (5) Calculate the unit vector q of the current route direction based on the coordinate information of the relevant navigation points. i-1 The unit vector q for the next flight path direction i , and q i With q i-1 The bisector of the angle between them is n i ;like Figure 3 As shown, the calculation formula is:

[0059]

[0060] in, This provides the coordinates of the current waypoint. This refers to the coordinates of the previous navigation point. For the coordinates of the next navigation point, q i-1 Let q be the unit vector of the current flight path direction. i Let n be the unit vector for the next flight path direction. iThe direction is the angle bisector between the unit vector of the current route direction and the unit vector of the next route direction.

[0061] (6) Based on the current position coordinates of the UAV and the coordinates of the current navigation point, calculate the position vector between the current position of the UAV and the current target navigation point; the formula for calculating the position vector is:

[0062] Wherein, P(x p ,y p ,z p ( ) represents the current location coordinates of the drone. This contains the coordinates of the current waypoint.

[0063] (7) Calculate the route switching amount based on the position vector and the angle bisector direction; and switch the UAV navigation target, i.e., switch to the next navigation point, based on the route switching amount; specifically:

[0064] Step 71: Calculate the route change amount based on the position vector and the angle bisector direction; the formula for calculating the route change amount is:

[0065]

[0066] in,() T For transpose; n i The angle bisector of the direction between the unit vector of the current route direction and the unit vector of the next route direction;

[0067] Step 72: Determine the route switching amount. If the value of the route switching amount is greater than or equal to 0, the navigation target is switched to the next route navigation point. If the value of the route switching amount is less than zero, the navigation point is not switched and the flight continues to the current navigation point until the value of the route switching amount is greater than or equal to 0.

[0068] (8) After the drone switches to the next navigation point, it re-enters step (2) until navigation ends.

[0069] Example 2

[0070] like Figure 4 As shown, the difference between this embodiment and Embodiment 1 is that this embodiment provides a UAV route navigation point switching system, which uses a UAV route navigation point switching method from Embodiment 1; the system includes:

[0071] The remaining navigation point acquisition unit is used to acquire the remaining navigation points of the UAV's preset flight path;

[0072] The judgment unit is used to determine the number of remaining navigation points: if the number of remaining navigation points is 1, then the UAV will not switch to another navigation point; if the number of remaining navigation points is greater than 1, then the coordinate information of the relevant navigation points is obtained according to the UAV's preset route; the coordinate information of the relevant navigation points includes the coordinate information of the current route navigation point, the coordinate information of the previous navigation point, and the coordinate information of the next navigation point;

[0073] The UAV current position coordinate information acquisition unit is used to acquire the UAV's current position coordinate information based on the UAV navigation and positioning system;

[0074] The angle bisector direction calculation unit is used to calculate the unit vector of the current route direction, the unit vector of the next route direction, and the angle bisector direction between them based on the coordinate information of the relevant navigation points.

[0075] The position vector calculation unit is used to calculate the position vector between the UAV's current position and the current target navigation point based on the UAV's current position coordinates and the coordinates of the current navigation point.

[0076] The route switching amount calculation unit is used to calculate the route switching amount based on the position vector and the angle bisector direction;

[0077] The navigation point switching unit is used to switch the UAV navigation target, i.e., switch to the next navigation point, based on the route switching amount.

[0078] Repeat the above process until the drone navigation is complete.

[0079] The execution process of each unit can be carried out according to the steps of the UAV route navigation point switching method in Embodiment 1, and will not be described in detail in this embodiment.

[0080] Meanwhile, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a method for switching UAV route navigation points according to Embodiment 1.

[0081] Meanwhile, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a method for switching UAV route navigation points according to Embodiment 1.

[0082] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0086] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for switching a waypoint of a UAV air route, characterized in that, The method includes: Obtain the remaining number of navigation points for the preset flight path of the UAV, and make a judgment on the remaining number of navigation points; If the number of remaining navigation points is greater than 1, then the coordinate information of the relevant navigation points is obtained according to the preset flight path of the UAV; the coordinate information of the relevant navigation points includes the coordinate information of the current flight path navigation point, the coordinate information of the previous navigation point, and the coordinate information of the next navigation point; Obtain the current location coordinates of the drone based on the drone navigation and positioning system; Based on the coordinate information of the relevant navigation points, calculate the unit vector of the current route direction, the unit vector of the next route direction, and the angle bisector between the two. Based on the current position coordinates of the UAV and the coordinates of the current route navigation point, calculate the position vector between the current position of the UAV and the current target navigation point; Calculate the route switching amount based on the position vector and the angle bisector direction; and switch to the next navigation point based on the route switching amount. The formula for calculating the unit vector of the current flight path direction, the unit vector of the next flight path direction, and the angle bisector between them is as follows: ； wherein, is coordinate information of a current waypoint, is coordinate information of a previous waypoint, is coordinate information of a next waypoint, is a unit vector of a current heading, is a unit vector of a next heading, is a bisector direction between the unit vector of the current heading and the unit vector of the next heading; The calculation formula of the position vector is wherein, is the current position coordinate information of the unmanned aerial vehicle, is the coordinate information of the current route navigation point; Calculate the route switching amount based on the position vector and the angle bisector direction; and switch to the next navigation point based on the route switching amount, including: The route switching amount is calculated based on the position vector and the angle bisector direction; the formula for calculating the route switching amount is: ； wherein T is the transpose; is the bisector between the unit vector of the current heading direction and the unit vector of the next heading direction; The route switching quantity is determined. If the value of the route switching quantity is greater than or equal to 0, the navigation target is switched to the next route navigation point. If the value of the route switching quantity is less than zero, the navigation point is not switched and the flight continues to the current route navigation point until the value of the route switching quantity is greater than or equal to 0.

2. The method for switching navigation points on a UAV flight path according to claim 1, characterized in that, Determining the remaining number of navigation points also includes: If the remaining number of navigation points is 1, then the drone will not need to switch navigation points again, and the process will end.

3. The method for switching navigation points on a UAV flight path according to claim 1, characterized in that, Before obtaining the remaining navigation points of the UAV's preset flight path, this method also includes: After the drone takes off from the first navigation point, it obtains the total number of navigation points along the preset flight path. Determine the total number of navigation points: If the total number of navigation points is less than 3, the UAV will take off from the first navigation point and arrive at the second waypoint. The UAV will not be able to obtain the next navigation point. In this case, there is no switching of the route navigation point, and the process ends. If the total number of navigation points is greater than 3, then obtain the remaining number of navigation points for the UAV's preset flight path.

4. The method for switching navigation points on a UAV route according to claim 1, characterized in that, This method is applied to the flight path tracking and control of fixed-wing unmanned aerial vehicles (UAVs).

5. A drone route navigation point switching system, characterized in that, The system uses a drone route navigation point switching method as described in any one of claims 1 to 4; the system includes: The remaining navigation point acquisition unit is used to acquire the remaining navigation points of the UAV's preset flight path; The judgment unit is used to judge the number of remaining navigation points: if the number of remaining navigation points is 1, then the UAV will not switch to a navigation point; if the number of remaining navigation points is greater than 1, then the coordinate information of the relevant navigation points is obtained according to the UAV's preset route path; the coordinate information of the relevant navigation points includes the coordinate information of the current route navigation point, the coordinate information of the previous navigation point, and the coordinate information of the next navigation point; The UAV current position coordinate information acquisition unit is used to acquire the UAV's current position coordinate information based on the UAV navigation and positioning system; Angle bisector direction calculation unit is used to calculate the unit vector of the current route direction, the unit vector of the next route direction, and the angle bisector direction between them based on the coordinate information of the relevant navigation points. The position vector calculation unit is used to calculate the position vector between the current position of the UAV and the current target navigation point based on the current position coordinate information of the UAV and the coordinate information of the current route navigation point; The route switching amount calculation unit is used to calculate the route switching amount based on the position vector and the angle bisector direction; The navigation point switching unit is used to switch to the next navigation point based on the route switching amount.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements a method for switching navigation points for unmanned aerial vehicle routes as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a method for switching navigation points for unmanned aerial vehicle routes as described in any one of claims 1 to 4.

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