Unmanned aerial vehicle low-altitude terrain-imitated flight safety route generation method based on three-dimensional GIS
Through the three-dimensional GIS-based method, the safe route of low-altitude imitation ground flights of drones is generated, which solves the problem of poor safety and reliability of low-altitude flights in complex mountainous terrain, and achieves high-precision route generation and safety performance improvement.
Patent Information
- Application Number
- CN202411493640.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-24
- Publication Date
- 2025-02-25
AI Technical Summary
The prior art is difficult to generate high-precision low-altitude imitation ground flight safe routes in complex mountainous terrain, resulting in low-altitude flight altitudes that are difficult to be less than 100m, and have poor safety and reliability.
Using a three-dimensional GIS-based method, the route takeoff section, mission section and return section are set by obtaining the terrain, landform and elevation data of the mission area, and feature points are collected and altitude correction is carried out based on the climb rate and slide rate of the drone, and safe routes are finally generated and elevation checks are conducted.
It realizes the generation of high-precision low-altitude imitation ground flight safe routes in complex mountainous terrain, improves the safety performance and engineering practicality of the routes, and meets the requirements of drones flying in complex terrain environments.
Smart Images
Figure CN119512140A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a UAV route generation technology, in particular to a method for generating a safe route for a UAV low-altitude terrain-imitating flight based on a three-dimensional GIS. Background Art
[0002] With the development of science and technology, the requirements for the flight environment and flight conditions of drones are getting higher and higher. Drones not only need to meet the requirements of high-altitude and high-speed flight, but also need to perform low-altitude terrain-imitation flight in a specific environment. Low-altitude terrain-imitation flight poses a huge challenge to the safety of drones. If drones want to fly low-altitude terrain-imitation for a long time, they must have a flight route that matches the terrain. However, considering the constraints of the climb rate and descent rate of drones, the route planning has many considerations and high design requirements, and the signal is easily interrupted during flight. The low-altitude flight altitude of drones in mountains has never been lower than 100m, and low-altitude safety and reliability flight has become more difficult.
[0003] Therefore, it is considered to design a method that combines a three-dimensional GIS engine with a route generation algorithm to plan low-altitude UAV flight routes, which is particularly meaningful in engineering in complex mountainous terrain. Summary of the invention
[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method for generating a safe route for low-altitude terrain-simulating flight of unmanned aerial vehicles based on three-dimensional GIS. The method avoids the limitation of the map data and the route planning algorithm being out of sync, and can also modify a single point on the route in real time, and generate a safe route by high-precision scene matching, so that the safety performance of the route is greatly improved, the generation is simple and convenient, and the operability is strong. The terrain-simulating safe route generated by the method also has high engineering practicability.
[0005] The technical solution to achieve the purpose of the present invention is: a method for generating a safe route for low-altitude terrain-imitating flight of an unmanned aerial vehicle based on three-dimensional GIS, comprising the following steps:
[0006] Step 1: Obtain the terrain, landform information and elevation data of the mission area based on the 3D GIS engine;
[0007] Step 2: Based on the acquired terrain and topography information of the mission area, set the take-off segment, mission segment and return segment of the route;
[0008] Step 3: Set the entry and exit points of the mission segment, set the drone model, configure the drone's safe climb rate, descent rate, terrain-simulating flight altitude in the mission area, and set the length of the optimal feature point acquisition window;
[0009] Step 4: Collect terrain data at a fixed step length to form a feature point set, and extract the feature points of each window using the bubble method;
[0010] Step 5: According to the extracted feature point set, perform feature point height correction design;
[0011] Step 6: Design a safe route and make overall planning corrections to the generated mission segment route, take-off segment, and return segment;
[0012] Step 7: Perform elevation check on the generated low-altitude terrain-imitating flight route based on the 3D GIS system, optimize and adjust the near-ground dangerous waypoints of the low-altitude terrain-imitating flight route in the mission area, and ensure the matching degree between the low-altitude terrain-imitating flight route and the terrain of the mission area.
[0013] Furthermore, the specific steps of step 1 include:
[0014] Step 1.1: Use 3D GIS technology to load the mission area map and view terrain information;
[0015] Step 1.2: Obtain the terrain, landform and elevation data of the mission area and generate a three-dimensional terrain data matrix of the mission area.
[0016] Furthermore, the specific steps of step 2 include:
[0017] Step 2.1: The three-dimensional terrain data matrix of the mission area determines the flight area for low-altitude flight;
[0018] Step 2.2: Set the take-off point latitude and longitude information, mission segment latitude and longitude information, and return point latitude and longitude information of the route in the flight area;
[0019] Step 2.3: Design the initial pre-flight route based on the take-off segment, mission segment, and return segment information.
[0020] Furthermore, the specific steps of step 3 include:
[0021] Step 3.1: According to the initial pre-flight route, determine the entry point and exit point of the mission point. The entry point and exit point are adjacent and used in combination;
[0022] Step 3.2: Set the drone type and corresponding route number to be matched;
[0023] Step 3.3: Set the safe climbing rate, descent rate and relative flight altitude of the drone;
[0024] Step 3.4: Set the optimal feature point window acquisition length according to the length of the task segment.
[0025] Furthermore, the specific steps of step 4 include:
[0026] Step 4.1: Get the latitude and longitude values of the entry point and exit point, and convert them into distance and direction;
[0027] Step 4.2: Calculate the distance between the entry and exit points to segment the feature point acquisition window size;
[0028] Step 4.3: Determine the acquisition step size of each window, obtain the window point set, and set N full points as a window;
[0029] Step 4.4: According to the constraints of the UAV’s low-altitude terrain-simulating flight in the mission area, extract the feature points of each window to form a feature point set.
[0030] Furthermore, step 5 specifically includes:
[0031] Step 5.1: Determine the Roc or Rod relationship between the current waypoint and the previous waypoint according to the UAV safe climb rate Roc and glide rate Rod constraints;
[0032] Step 5.2: According to the distance and height between the previous point and the current point, determine the height change ΔH between the two points. If the height between the two points does not increase, merge the current point onto the previous point.
[0033] Step 5.3: If the latter point is higher than the former point, calculate the distance D between two adjacent feature points pp , if the distance D between two points pp When the distance is less than the set distance Dis, the altitude H that the drone climbs per second is calculated based on the climb rate. Roc , discard the current point, raise the previous point, and raise the height to the height H calculated based on the safe climb rate Roc ;
[0034] Step 5.4: If the latter point is lower than the former point, calculate the distance D between two adjacent feature points pp If the distance between the two points is less than the set distance Dis, the required climbing height value H is calculated according to the glide rate Rod , discard the previous point, raise the current point, and raise the height to the height H calculated based on the glide rate Rod .
[0035] Furthermore, step 6 specifically includes:
[0036] Step 6.1: Calculate the height change ΔH of the drone climbing or descending per second between two adjacent waypoints in the low-altitude terrain-simulating flight route;
[0037] Step 6.2: The height change per second of the UAV flying at low altitude ΔH and the safe climbing rate and climbing height H of the UAV Roc Or the slip rate H Rod Compare and calculate the height change ΔH between the two points that exceeds the safe climb rate or descent rate pp , ΔH pp =ΔH-HRoc or ΔH pp =ΔH-H Rod ;
[0038] Step 6.3: If ΔH pp >H Roc , then raise the first three points of the route. If ΔH pp <H Rod , then raise the last three points of the route;
[0039] Step 6.4: Set the relative height of the starting point to be no lower than the autonomous flight setting altitude of the drone to prevent the heading lock from being unable to open;
[0040] Step 6.5: Raise the last three points of the mission segment to a height of H sec =H quit -H last , where H quit is the exit point height, H last The waypoint altitude at the end of the mission segment.
[0041] Furthermore, step 7 specifically includes:
[0042] Step 7.1, call the 3D GIS elevation check function box and a pop-up box will pop up;
[0043] Step 7.2, select the planned low-altitude ground-flight safety route in the mission area;
[0044] Step 7.3, set the strip width, relative warning height and origin height;
[0045] Step 7.4, click Detect to view the rendering of the low-altitude ground-following flight safety route.
[0046] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.
[0047] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.
[0048] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention proposes a method for generating safe routes for low-altitude terrain-imitating flight of unmanned aerial vehicles based on three-dimensional GIS, which can autonomously generate safe routes for low-altitude terrain-imitating flight according to terrain, landform information and type of unmanned aerial vehicles. The present invention can autonomously generate safe routes for low-altitude terrain-imitating flight according to terrain and landform information, is easy to implement in engineering, meets the requirements for unmanned aerial vehicles to fly in complex terrain environments, and has a significant effect on the design of routes for complex terrain and long flight time low-altitude flights. The method is applicable to various complex terrain environments and is particularly of engineering significance. BRIEF DESCRIPTION OF THE DRAWINGS
[0049] Figure 1 A flow chart for generating a safe route for low-altitude terrain-imitating flight provided by the present invention.
[0050] Figure 2 A simulation diagram of the low-altitude ground-flight constraint configuration provided by the present invention.
[0051] Figure 3 A schematic diagram of the entry and exit points of the route mission segment provided by the present invention.
[0052] Figure 4 This is a schematic diagram of the task segment window acquisition length and feature points provided by the present invention.
[0053] Figure 5 A flow chart for designing a safe route altitude for low-altitude terrain-imitating flight provided by the present invention.
[0054] Figure 6 A flow chart for designing a safe route for low-altitude terrain-imitating flight provided by the present invention.
[0055] Figure 7 This is a rendering of the elevation inspection effect of the low-altitude terrain-simulating flight safety route provided by the present invention. DETAILED DESCRIPTION
[0056] like Figure 1 As shown, the present invention proposes a method for generating a safe route for low-altitude terrain-imitating flight of an unmanned aerial vehicle based on three-dimensional GIS, the method comprising:
[0057] Step 1: Obtain the terrain, landform information and elevation data of the mission area based on the 3D GIS engine;
[0058] Based on 3D GIS technology, load the mission area map, view terrain information, obtain the terrain, landform and elevation data of the mission area, and generate a 3D terrain data matrix for the mission area.
[0059] Step 2: Based on the three-dimensional terrain data matrix of the mission area, set the take-off segment, mission segment and return segment of the route;
[0060] Based on the three-dimensional terrain data matrix of the mission area obtained by the three-dimensional GIS engine, the take-off, mission and return routes of the UAV are drawn, the UAV model is selected, the entry and exit points of the mission segment of the route are determined, and the corresponding climb rate (Roc), descent rate (Rod) and relative flight altitude H of the UAV are set. r , set the task segment feature point acquisition window length L cp , acquisition step length L step and the maximum point set Max in the feature point window p; The feature point refers to the highest point of the terrain collected by the window; the collection window refers to the length of the terrain segment collected for collecting a feature point, which is between two collected feature points, such as Figure 3 As shown in the figure; the collection step size refers to the density of the points collected for terrain information; the maximum point set of the feature point window refers to the total number of feature points extracted. When the number of feature points exceeds the specified set, the feature point collection step size needs to be readjusted.
[0061] Step:3: Collect terrain.
[0062] Start the 3D GIS map engine and collect the step length L step The terrain data from the mission segment entry point to the exit point can be collected according to the size of the three-dimensional data matrix of the mission area. The window feature point extraction starts at the mission segment entry point, and the feature point extracted when the extraction ends at the mission segment exit point is the mission segment waypoint.
[0063] Step 4: Preprocess the collected terrain data and extract feature points.
[0064] According to the acquisition step length L step Store the collection points in Max p , each Max p According to the terrain height data, feature points (the highest points) are extracted as the terrain reference values for the subsequent low-altitude terrain-simulating flight route planning, and finally a collection window L is formed with a spacing of cp A terrain dataset of size H r ;
[0065] Step 5: Route altitude design.
[0066] According to the altitude change capability constrained by the UAV's ascending and descending flight performance, the altitude change of the characteristic points of the collected terrain data is corrected, because when flying at low altitude, the altitude change rate ΔH in the climbing section is c ≯H Roc , the slope of the descending section increases ΔH d ≮H Rod So there is H r [i]-H r [i-1]>H Roc , then raise H r [i-1] to meet flight performance; H r [j]-H r [j-1]<H Rod , then raise H r [j], forming an initial route that satisfies the aircraft performance constraints, i.e., the absolute altitude of the UAV flight route;
[0067] Step 6: Route design.
[0068] Calculate the height difference ΔH between two adjacent waypoints (P[i-1], P[i]) of the low-altitude ground-following flight route in sequence r and distance ΔDis, according to ΔH r Calculate the climb amount ΔH using ΔDis p[i]p[i-1] , determine the climb amount ΔH p[i]p[i-1] The positive or negative value of ΔH determines whether it is necessary to climb or descend. If it is to climb, then p[i]p[i-1] The required safe climbing rate of the drone is the climbing height per second H Roc For comparison; otherwise, it is necessary to compare with the glide rate per second glide height H Rod For comparison. If ΔH p[i]p[i-1] >H Roc , then the three points before P[i-1] are raised by ΔH as a whole p[i-1] -ΔH r[i]r[i-1] , ΔH r[i]r[i-1] = Roc × abs(H p[i-1] -H p[i] ); If the three points after P[i] are raised by ΔH p[i] -ΔH r[i]r[i-1] , ΔH r[i]r[i-1] =Rod×abs(H p[i] -H p[i-1] ) ; Raise the last three waypoints of the mission segment route by ΔH last , ΔH last =abs(H quit -H lastp ), where H lastp The task segment retreats one waypoint. Finally, the exit point is used as the basis to determine whether the route correction is completed. If it is completed, the correction of the route of all task segments is completed.
[0069] Step 7: Route Verification
[0070] Start the 3D GIS elevation check function box, a pop-up window will pop up, select the planned low-altitude terrain-imitation flight safety route in the mission area, set the strip width, relative warning height and origin height, perform elevation check on the generated route, and view the rendering of the low-altitude terrain-imitation flight safety route.
[0071] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be understood that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, and therefore should not be regarded as limiting the scope of protection. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0072] Example
[0073] Combine the following Figures 1 to 7 The present invention describes a method for generating a safe route for low-altitude terrain-imitating flight of an unmanned aerial vehicle based on three-dimensional GIS.
[0074] like Figure 1 As shown, the low-altitude ground-following flight safety route generation flow chart information specifically includes the following steps:
[0075] (1) Start the 3D GIS engine, load the visualization map, obtain terrain and landform information, and generate a 3D terrain data matrix for the mission area;
[0076] (2) Set the takeoff origin on the visual map, draw the pre-flight route, determine the entry and exit points of the UAV mission segment, set the UAV's safe climb rate and descent rate, and set the relative flight altitude and feature point collection window length;
[0077] (3) According to the set feature point acquisition window length L cp Collect feature points and set the collection step length to L according to the distance from the entry point to the exit point step , collect the points to the maximum value p The point is used as a feature point extraction window, and the collection azimuth is the azimuth from the entry point to the exit point. After collecting to the exit point, all terrain feature points Max p According to the collected elevation information, the bubble method is used to extract the highest point as the feature point of each window. The feature points are extracted in all windows in turn and cached.
[0078] (4) Correcting the height change of the acquired feature points according to the height change capability constrained by the target aircraft's ascending and descending flight performance;
[0079] (5) Connect the corrected feature points to the flight route and adjust the waypoint elevation information according to the UAV's climbing and descending performance;
[0080] (6) Check the altitude of the corrected route to ensure that each waypoint is not lower than the terrain and meets the requirements for the UAV's flight climb rate and descent rate.
[0081] Figure 1 This is the overall flow chart of the method, and the process sequence is irreversible, and each step needs to be designed according to this process.
[0082] like Figure 2 As shown, according to the low-altitude ground-following flight constraint configuration information, the following steps are specifically included:
[0083] (1) Connect the simulated drone to the terrain map;
[0084] (2) Set the flight origin and draw the take-off segment, mission segment, and return segment;
[0085] (3) Select the route to be generated and the type of drone;
[0086] (4) Select the entry and exit points of the task segment;
[0087] (5) Set the corresponding UAV’s climb rate and descent rate, relative flight altitude, and feature point acquisition window length.
[0088] like Figure 3 As shown, according to the schematic diagram of the task segment entry point and exit point, the specific steps include:
[0089] (1) Determine the terrain information of the mission segment that requires low-altitude flight based on 3D GIS;
[0090] (2) Determine the entry and exit points of the low-altitude flight based on the mission segment information;
[0091] (3) Based on the complexity of the terrain and the length of the mission segment, one or more mission segments can be set independently, and the window size can be set to better match the terrain and generate a terrain-simulating flight route;
[0092] (4) The route is generated starting from the entry point and is collected according to the window step length to the exit point.
[0093] like Figure 4 As shown, according to the task segment window acquisition length and feature point schematic diagram, the following steps are specifically included:
[0094] (1) After determining the mission segment and the entry and exit points, collect terrain and elevation information according to the length of the feature point acquisition window to generate a three-dimensional data matrix of feature points;
[0095] (2) Determine the acquisition step length L of the window length based on the distance from the entry point to the exit point step , collect a window point set Max p ;
[0096] (3) After the acquisition is completed, the feature points of each window are extracted to form the initial waypoint information.
[0097] like Figure 5 As shown, according to the low-altitude ground-flight safety route height design flow chart, the characteristic points are corrected, which specifically includes the following steps:
[0098] (1) Based on the feature points already obtained, calculate the height change ΔH between two adjacent feature points (P[i-1], P[i]) r ;
[0099] (2) Determine the safe climb rate Roc, descent rate Rod and altitude change ΔH according to the type of drone r Make a comparison;
[0100] (3) If H r [i]-H r [i-1]>H Roc , then raise the height of the previous point, the raised height is: H r [i-1];
[0101] (4) If H r [j]-H r [j-1]<H Rod , then raise the height of the current point, the raised height is: H r [j];
[0102] (5) judging whether the feature point correction is completed based on the exit point, and if it is completed, the correction of all feature points is completed;
[0103] (6) When there are multiple task segments and multiple entry and exit points, the feature point correction method is as shown above.
[0104] like Figure 6 As shown in the figure, after correcting the feature points, the route needs to be corrected. According to the low-altitude ground-following flight safety route design flow chart, the route information is corrected, which specifically includes the following steps:
[0105] (1) Calculate the height difference ΔH between two adjacent waypoints (P[i-1], P[i]) of the low-altitude ground-following flight route r and distance ΔDis, according to ΔH r Calculate the climb amount ΔH using ΔDis p[i]p[i-1] ;
[0106] (2) Determine the climb amount ΔH p[i]p[i-1] The positive or negative value of ΔH determines whether it is necessary to climb or descend. If it is to climb, then p[i]p[i-1] The required safe climbing rate of the drone is the climbing height per second H Roc For comparison; otherwise, it is necessary to compare with the glide rate per second glide height H Rod Make comparison.
[0107] (3) If ΔH p[i]p[i-1] >H Roc , then the three points before P[i-1] are raised by ΔH as a whole p[i-1] -ΔH r[i]r[i-1] , ΔH r[i]r[i-1] = Roc × abs(H p[i] -H p[i-1] ); if ΔH p[i]p[i-1] <H Rod, raise the three points after P[i] by ΔH p[i] -ΔH r[i]r[i-1] , ΔH r[i]r[i-1] =Rod×abs(H p[i-1] -H p[i] ); if the army is not satisfied, it will remain in its original position;
[0108] (4) Determine whether the route correction is completed based on the exit point. If it is completed, the correction of the route of all mission segments is completed;
[0109] (5) Raise the last three waypoints of the mission segment route by ΔH last , ΔH last =abs(H quit -H lastp ), where H lastp The task segment retreats one waypoint. Finally, the exit point is used as the basis to determine whether the route correction is completed. If it is completed, the correction of the route of all task segments is completed.
[0110] (6) When there are multiple mission segments and multiple entry and exit points, the route correction method is as shown above.
[0111] like Figure 7 As shown in the figure, after the route is corrected, the altitude information of the entire route needs to be checked. According to the low-altitude ground-simulating flight safety route altitude check simulation diagram, the route altitude check specifically includes the following steps:
[0112] (1) Call the 3D GIS elevation check function box and a pop-up box will pop up;
[0113] (2) Select a safe low-altitude terrain-simulating flight route that has been planned for the mission area;
[0114] (3) Set the strip width, relative warning height and origin height;
[0115] (4) Click Test to view the rendering of the low-altitude ground-flight safety route.
[0116] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.
Claims
1. A method for generating safe routes for low-altitude terrain-imitating flight of unmanned aerial vehicles based on three-dimensional GIS, characterized in that: The following steps are involved: Step 1: Obtain the terrain, landform information and elevation data of the mission area based on the 3D GIS engine; Step 2: Based on the acquired terrain and topography information of the mission area, set the take-off segment, mission segment and return segment of the route; Step 3: Set the entry and exit points of the mission segment, set the drone model, configure the drone's safe climb rate, descent rate, terrain-simulating flight altitude in the mission area, and set the length of the optimal feature point acquisition window; Step 4: Collect terrain data at a fixed step length to form a feature point set, and extract the feature points of each window using the bubble method; Step 5: According to the extracted feature point set, perform feature point height correction design; Step 6: Design a safe route and make overall planning corrections to the generated mission segment route, take-off segment, and return segment; Step 7: Perform elevation check on the generated low-altitude terrain-imitating flight route based on the 3D GIS system, optimize and adjust the near-ground dangerous waypoints of the low-altitude terrain-imitating flight route in the mission area, and ensure the matching degree between the low-altitude terrain-imitating flight route and the terrain of the mission area.
2. The method for generating a safe route for low-altitude terrain-simulating flight of an unmanned aerial vehicle based on three-dimensional GIS according to claim 1 is characterized in that: The step 1 specifically comprises the following steps: Step 1.1: Use 3D GIS technology to load the mission area map and view terrain information; Step 1.2: Obtain the terrain, landform and elevation data of the mission area and generate a three-dimensional terrain data matrix of the mission area.
3. The method for generating a safe route for low-altitude terrain-simulating flight of an unmanned aerial vehicle based on three-dimensional GIS according to claim 1 is characterized in that: The step 2 specifically includes the following steps: Step 2.1: The three-dimensional terrain data matrix of the mission area determines the flight area for low-altitude flight; Step 2.2: Set the take-off point latitude and longitude information, mission segment latitude and longitude information, and return point latitude and longitude information of the route in the flight area; Step 2.3: Design the initial pre-flight route based on the take-off segment, mission segment, and return segment information.
4. The method for generating a safe route for low-altitude terrain-simulating flight of an unmanned aerial vehicle based on three-dimensional GIS according to claim 1 is characterized in that: The step 3 specifically comprises the following steps: Step 3.1: According to the initial pre-flight route, determine the entry point and exit point of the mission point. The entry point and exit point are adjacent and used in combination; Step 3.2: Set the drone type and corresponding route number to be matched; Step 3.3: Set the safe climbing rate, descent rate and relative flight altitude of the drone; Step 3.4: Set the optimal feature point window acquisition length according to the length of the task segment.
5. The method for generating a safe route for low-altitude terrain-simulating flight of an unmanned aerial vehicle based on three-dimensional GIS according to claim 1 is characterized in that: The step 4 specifically comprises the following steps: Step 4.1: Get the latitude and longitude values of the entry point and exit point, and convert them into distance and direction; Step 4.2: Calculate the distance between the entry and exit points to segment the feature point acquisition window size; Step 4.3: Determine the acquisition step size of each window, obtain the window point set, and set N full points as a window; Step 4.4: According to the constraints of the UAV’s low-altitude terrain-simulating flight in the mission area, extract the feature points of each window to form a feature point set.
6. The method for generating a safe route for low-altitude terrain-simulating flight of an unmanned aerial vehicle based on three-dimensional GIS according to claim 1 is characterized in that: The step 5 specifically comprises the following steps: Step 5.1: Determine the Roc or Rod relationship between the current waypoint and the previous waypoint according to the UAV safe climb rate Roc and glide rate Rod constraints; Step 5.2: According to the distance and height between the previous point and the current point, determine the height change ΔH between the two points. If the height between the two points does not increase, merge the current point onto the previous point. Step 5.3: If the latter point is higher than the former point, calculate the distance D between two adjacent feature points pp , if the distance D between two points pp When the distance is less than the set distance Dis, the altitude H that the drone climbs per second is calculated based on the climb rate. Roc , discard the current point, raise the previous point, and raise the height to the height H calculated based on the safe climb rate Roc ; Step 5.4: If the latter point is lower than the former point, calculate the distance D between two adjacent feature points pp If the distance between the two points is less than the set distance Dis, the required climbing height value H is calculated according to the glide rate Rod , discard the previous point, raise the current point, and raise the height to the height H calculated based on the glide rate Rod .
7. The method for generating a safe route for low-altitude terrain-simulating flight of an unmanned aerial vehicle based on three-dimensional GIS according to claim 1 is characterized in that: The step 6 specifically comprises the following steps: Step 6.1: Calculate the height change ΔH of the drone climbing or descending per second between two adjacent waypoints in the low-altitude terrain-simulating flight route; Step 6.2: The height change per second of the UAV flying at low altitude ΔH and the safe climbing rate and climbing height H of the UAV Roc Or the slip rate H Rod Compare and calculate the height change ΔH between the two points that exceeds the safe climb rate or descent rate pp , ΔH pp =ΔH-H Roc or ΔH pp =ΔH-H Rod ; Step 6.3: If ΔH pp >H Roc , then raise the first three points of the route. If ΔH pp <H Rod , then raise the last three points of the route; Step 6.4: Set the relative height of the starting point to be no lower than the autonomous flight setting altitude of the drone to prevent the heading lock from being opened; Step 6.5: Raise the last three points of the mission segment to a height of H sec =H quit -H last , where H quit is the exit point height, H last The waypoint altitude at the end of the mission segment.
8. A method for generating a safe route for low-altitude terrain-simulating flight of an unmanned aerial vehicle based on three-dimensional GIS according to claim 1, characterized in that: In step 7, the specific steps include: Step 7.1, call the 3D GIS elevation check function box and a pop-up box will pop up; Step 7.2, select the planned low-altitude ground-flight safety route in the mission area; Step 7.3, set the strip width, relative warning height and origin height; Step 7.4, click Detect to view the rendering of the low-altitude ground-following flight safety route.
9. 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, the steps of the method according to any one of claims 1 to 8 are implemented.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.