Unreconnaissance area automatic generation method

Abstract

The invention relates to an unreconnaissance area automatic generation method, and belongs to the technical field of aviation control. According to the method, by sorting the reconnaissance route sections, judging the already-detected states, selecting the appropriate cutting lines, dividing the reconnaissance area polygon and generating the unreconnaissance area polygon, the method can be suitable for two typical reconnaissance modes of a grating type and a snow sweeping type of area reconnaissance, the universality is good, and the method is suitable for popularization and application. The method can ensure that an unreconnaissance area is not missed and not repeatedly covered, can be applied to unmanned aerial vehicle platform cycle calculation, and can timely deliver other unmanned aerial vehicles to continue to complete a reconnaissance task when an abnormal condition occurs and the reconnaissance task cannot be continued to execute, thereby improving reconnaissance efficiency and task reliability.

Description

Technical Field

[0001] This invention belongs to the field of aviation control technology, specifically relating to a method for automatically generating undetected areas. Background Technology

[0002] When unmanned aerial vehicles (UAVs) encounter emergencies during regional reconnaissance missions, such as payload failure, platform malfunction, or crash, and are unable to continue the mission, unreconnaissance areas can be generated in real time and handed over to other UAVs to complete the mission. This can improve reconnaissance efficiency and provide higher mission completion reliability.

[0003] When a drone performs reconnaissance over a polygonal area, a grating-style reconnaissance method is used when the drone's turning radius is smaller than the lateral coverage of the sensor's field of view, and a snow-sweeping-style reconnaissance method is used when the drone's turning radius is larger than the lateral coverage of the sensor's field of view.

[0004] When drones are performing area reconnaissance missions using grating-type or snow-sweeping reconnaissance methods, and encounter unforeseen circumstances that prevent them from continuing the reconnaissance mission, if the drone platform can periodically calculate the accurate unreconnaissance areas, ensuring that no unreconnaissance areas are missed or repeatedly covered, and send this information to collaborating drones or ground stations via data link, it can promptly hand over the remaining area reconnaissance missions to other drones.

[0005] The algorithm for generating unreconnoitered areas should be applicable to both reconnaissance methods, ensuring complete coverage of the reconnaissance area without omitting any actual unreconnoitered areas, and should not include all reconnoitered areas to ensure that the reconnaissance area is not covered repeatedly.

[0006] No records have been found regarding methods for generating undetected areas. Summary of the Invention

[0007] The technical problem to be solved by this invention is:

[0008] To avoid the shortcomings of existing technologies, this invention provides a method for automatically generating unreconnoitered areas, which is used to solve the problem of generating unreconnoitered areas when a UAV encounters an emergency and cannot continue to perform a reconnaissance mission.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0010] A method for automatically generating undetected areas, characterized by comprising:

[0011] Obtain the coordinates of each vertex and each waypoint of the reconnaissance area polygon;

[0012] Connect adjacent waypoints in pairs to form a reconnaissance route. The reconnaissance route includes multiple reconnaissance route segments and multiple turning route segments. Filter and store all reconnaissance route segments.

[0013] Determine the linear analytical equation for each reconnaissance route segment, calculate the distance between each reconnaissance route segment and the first reconnaissance route segment based on the linear analytical equation, arrange all reconnaissance route segments in ascending order of distance, and form and store a list of reconnaissance route segments;

[0014] Perform a status check on the reconnaissance route segments in the reconnaissance route segment list to determine whether they have been passed, and assign status values ​​based on the check results;

[0015] The system sequentially checks whether the status of each route segment in the reconnaissance route segment list is the same as the status of the previous route segment. If they are not the same, it calculates the centerline between the current route segment and the previous route segment and stores it as a cutting line to obtain a cutting line list.

[0016] Based on the stored list of cutting lines, the Sutherland-Hodgman algorithm is used to cut the polygon of the cooperative reconnaissance area to obtain the reconnaissance area and the unreconnaissance area, and all the unreconnaissance areas are stored; the latitude and longitude of each vertex of the unreconnaissance area polygon are calculated based on Gaussian inverse calculation.

[0017] A further technical solution of the present invention: the step of obtaining the coordinates of each vertex and each waypoint of the reconnaissance area polygon specifically includes:

[0018] Obtain the number of vertices n of the polygon in the reconnaissance area, the longitude and latitude of each vertex, the number of reconnaissance waypoints, the longitude and latitude of each waypoint, and the outgoing and incoming point numbers of the current aircraft's route;

[0019] Using Gaussian forward calculation, the coordinates of each vertex and each waypoint of the reconnaissance area polygon in the Gaussian Cartesian coordinate system are obtained.

[0020] A further technical solution of the present invention: the step of determining the analytical equation of the straight line for each reconnaissance flight path segment specifically includes:

[0021] Based on the coordinates P of the two endpoints of the flight route segment si (Ps x Ps y ), P ei (Pe x Pe y Determine the linear equation ax + by + c for each reconnaissance flight path segment. i =0, where

[0022]

[0023] A further technical solution of the present invention: the step of calculating the distance between each reconnaissance route segment and the first reconnaissance route segment based on the linear analytical equation specifically includes:

[0024]

[0025] A further technical solution of the present invention: the step of determining whether a reconnaissance route segment in the reconnaissance route segment list has been passed, and assigning a status value based on the determination result, specifically includes:

[0026] Based on the origin and destination points of the current aircraft route, assign a value to each reconnaissance route segment to indicate whether it has been passed; assign a value indicating that the route segment has been passed when both of the vertex route point numbers are less than the origin point number, and assign a value indicating that it has not been passed in other cases.

[0027] A further technical solution of the present invention: the step of simultaneously calculating the centerline between the current route segment and the previous route segment and storing it as a cutting line to obtain a cutting line list specifically includes:

[0028]

[0029] in, Waypoint P j coordinates Waypoint P j-2 coordinates Waypoint P j+1 coordinates Waypoint P j-1 The coordinates.

[0030] A computer system is characterized by comprising: one or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method described above.

[0031] A computer-readable storage medium is characterized by storing computer-executable instructions, which, when executed, are used to implement the above-described method.

[0032] A computer program product is characterized by including computer-executable instructions, which, when executed, are used to implement the above-described method.

[0033] The beneficial effects of this invention are as follows:

[0034] This invention provides an automatic method for generating unreconnoitered areas, applicable to both raster-based and snow-sweeping reconnaissance methods, demonstrating good versatility. The generated unreconnoitered areas provide complete coverage of target areas without overlapping coverage, improving the efficiency of reconnaissance missions. This invention also features fast computation speed, allowing for periodic calculations on UAV platforms. In case of anomalies, the task can be promptly handed over to other UAVs, enhancing mission reliability. Attached Figure Description

[0035] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0036] Figure 1 Flowchart of the method of this invention.

[0037] Figure 2 A schematic diagram of the reconnaissance route segment and turning section;

[0038] Figure 3 Schematic diagrams of grating-type reconnaissance and snow-sweeping reconnaissance;

[0039] Figure 4 A schematic diagram showing the sequence of reconnaissance flight segments;

[0040] Figure 5 A schematic diagram showing the selection of polygonal cutting lines for the reconnaissance area;

[0041] Figure 6 Schematic diagram for generating polygons for undetected areas Figure 1 ;

[0042] Figure 7 Schematic diagram for generating polygons for undetected areas Figure 2 ;

[0043] Figure 8 Schematic diagram for generating polygons for undetected areas Figure 3 ;

[0044] Figure 9 Schematic diagram for generating polygons for undetected areas Figure 4 . Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0046] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] This invention proposes a method for automatically generating unreconnoitered areas. By sorting reconnaissance flight path segments and determining their past status, appropriate cutting lines are selected to divide the reconnaissance area polygons, thus generating unreconnoitered area polygons. For example... Figure 1 As shown, it includes the following steps:

[0048] Step 1: Obtain the reconnaissance area polygon, reconnaissance route, and the outgoing and incoming points of the current aircraft route. Use Gaussian forward calculation to obtain the coordinates of each vertex of the reconnaissance area polygon and the coordinates of each route point in the Gaussian Cartesian coordinate system.

[0049] Step 2: The reconnaissance route includes multiple reconnaissance route segments and multiple turning sections. All reconnaissance route segments are selected and stored.

[0050] Step 3: Each reconnaissance route segment is parallel to the others, but the sorting rules of the routes are different under the raster and snow sweep reconnaissance methods. Calculate the linear analytical equation of each reconnaissance route segment and its distance from the first reconnaissance route segment. Arrange all the reconnaissance route segments in ascending order of distance to form and store a list of reconnaissance route segments.

[0051] Step 4: Determine whether all reconnaissance flight segments have been passed and assign status values ​​accordingly.

[0052] Step 5: Sequentially determine whether the status of each route segment in the reconnaissance route segment list is the same as the status of the previous route segment. If they are different, calculate the centerline between the current route segment and the previous route segment and store it as a cutting line until the status of all reconnaissance route segments is determined.

[0053] Step 6: Sort the vertices of the reconnaissance area counterclockwise. Using the polygon cutting lines calculated in Step 5, use the Sutherland-Hodgman algorithm to cut the polygons of the cooperative reconnaissance area in sequence. The cut polygons are in the order of "reconnaissance, unreconnaissance, reconnaissance, unreconnaissance...". Store all unreconnaissance areas and use Gaussian inverse calculation to calculate the latitude and longitude of each vertex of the unreconnaissance area polygons.

[0054] To enable those skilled in the art to better understand the present invention, the present invention will be described in detail below with reference to specific embodiments.

[0055] Example 1

[0056] An embodiment of the present invention proposes an automatic method for generating undetected areas, comprising the following steps:

[0057] Step 1: Obtain the number of vertices n of the reconnaissance area polygon, the longitude and latitude of each vertex, the number of reconnaissance waypoints, the longitude and latitude of each waypoint, and the from-point number FromPntNo and the destination-point number ToPntNo of the current aircraft's route. Use Gaussian forward arithmetic to obtain the coordinates A1(A1, A2, ..., A3) of each vertex of the reconnaissance area polygon in the Gaussian Cartesian coordinate system. 1x A 1y ),A2(A 2x A 2y ),…,A n (A nx A ny ), the coordinates of each waypoint P1(P 1x ,P 1y ),P2(P 2x ,P 2y ),…,P m (P mx ,P my ).

[0058] Step 2: Select all reconnaissance route segments from the reconnaissance routes.

[0059] The reconnaissance route includes multiple reconnaissance route segments P1P2, P3P4, ..., P m-1 P m and multiple turning sections of the route P2P3, P4P5, ..., P m-2 P m-1 It starts from and ends at the reconnaissance flight segment, from which all reconnaissance flight segments are selected and stored.

[0060] Step 3: Arrange all reconnaissance route segments in order of proximity to the first reconnaissance route segment, and store the reconnaissance route segment list.

[0061] 1) Each reconnaissance route segment is parallel to the others. Because the route sorting rules differ between raster and snow-sweeping reconnaissance methods, the reconnaissance route segments need to be reordered. First, based on the coordinates P of the two endpoints of the route... si (Ps x Ps y ), P ei (Pe x Pe y Find the linear equation ax + by + c for each reconnaissance flight path segment. i =0, where

[0062]

[0063] 2) Calculate the distance between each reconnaissance route segment and the first reconnaissance route segment.

[0064]

[0065] 3) Distance d i Sort by size from smallest to largest, and store the corresponding reconnaissance route segment coordinates and waypoint numbers. For example... Figure 3 As shown.

[0066] Step 4: Determine whether all reconnaissance flight segments have been passed and assign status values ​​accordingly.

[0067] Based on the current aircraft route's frompoint number FromPntNo and destination number ToPntNo, assign a value to the status of each reconnaissance route segment stored in step 3, indicating whether it has been traversed. A status value of "traversed" is assigned when both vertex route point numbers of a reconnaissance route segment are less than the frompoint number FromPntNo; otherwise, it is assigned "not traversed." For example... Figure 5 As shown.

[0068] Step 5: Calculate the list of polygon cutting lines in the reconnaissance area.

[0069] 1) Since the reconnaissance route planning takes into account the sensor detection field of view and lateral overlap rate, the first half of the area between the first "unpassed" route segment and the previous "passed" route segment has already been reconnoitered. Therefore, the first "unpassed" route segment P is selected. j P j+1 And the previous "already passed" route segment P j-2 P j-1 The midline is used as the first cutting line. Vertex P cut1 P cut2 The calculation is as follows:

[0070]

[0071] in, Waypoint P jcoordinates Waypoint P j-2 coordinates Waypoint P j+1 coordinates Waypoint P j-1 The coordinates.

[0072] 2) Sequentially determine the status of each route segment in the sorted reconnaissance route segment list. Whenever the status of a route segment is different from that of the previous route segment, calculate the centerline between the route segment and the previous route segment and store it as a cutting line until all the reconnaissance route segment status determinations are completed.

[0073] Step 6: Generate polygons for undetected areas.

[0074] 1) Sort the vertices of the reconnaissance area in a counter-clockwise order.

[0075] The coordinates of the center point of the polygon in the reconnaissance area are calculated as follows:

[0076]

[0077] The azimuth angles of the vertices of the polygon in the reconnaissance area relative to the center are calculated as follows:

[0078]

[0079] Sort the vertices of the polygon relative to the center in ascending order of their azimuth angles, and then calculate the counterclockwise order of the polygon vertices.

[0080] 2) Using the cutting line list calculated in step 5, the Sutherland-Hodgman algorithm is used to sequentially cut the polygons of the cooperative reconnaissance area. The cut polygons are sequentially labeled "reconnaissance, unreconnaissance, reconnaissance, unreconnaissance...", and all unreconnaissance areas are stored. For example... Figure 6-9 As shown.

[0081] 3) Use Gaussian inverse calculation to calculate the latitude and longitude of each vertex of all undetected polygon areas.

[0082] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. A method for automatically generating an unsurveilled area, characterized in that: include: Get the coordinates of each vertex and each waypoint of the reconnaissance area polygon; Connecting adjacent waypoints in pairs to form a reconnaissance route, wherein the reconnaissance route includes a plurality of reconnaissance route segments and a plurality of turning route segments, and screening and storing all the reconnaissance route segments; Determine the straight line analytical equation of each reconnaissance route segment, calculate the distance between each reconnaissance route segment and the first reconnaissance route segment based on the straight line analytical equation, arrange all the reconnaissance route segments in order of distance from small to large, and form and store a reconnaissance route segment list; Determine whether the reconnaissance route segments in the reconnaissance route segment list have been passed, and assign a status value based on the determination result; Determine in turn whether the status of each route segment in the reconnaissance route segment list is the same as the status of the previous route segment. If they are not the same, calculate the center line between the route segment and the previous route segment, store them as cutting lines, and obtain a cutting line list. Based on the stored cutting line list, the Sutherland-Hodgman algorithm is used to cut the collaborative reconnaissance area polygon to obtain the reconnaissance area and the unreconnaissance area, and all the unreconnaissance areas are stored; The longitude and latitude of each vertex of the polygon in the unsurveyed area are calculated based on Gaussian inversion.

2. The method for automatically generating an unreconnaissanced area according to claim 1, characterized in that: The step of obtaining the coordinates of each vertex and each waypoint of the reconnaissance area polygon is specifically as follows: Get the number n of polygon vertices in the reconnaissance area, the longitude and latitude of each vertex, the number of reconnaissance waypoints, the longitude and latitude of each waypoint, and the from and to point numbers of the current aircraft route; Use Gaussian arithmetic to obtain the coordinates of each vertex and each waypoint of the reconnaissance area polygon in the Gaussian plane rectangular coordinate system.

3. The method for automatically generating an unreconnaissanced area according to claim 1, characterized in that: The step of determining the straight line analytical equation of each reconnaissance route segment is specifically as follows: According to the coordinates P of the two endpoints of the route segment si (Ps x ,Ps y ), P ei (Pe x ,Pe y ), determine the linear analytical equation ax+by+c for each reconnaissance route segment i =0, where 4. The method for automatically generating an unreconnaissanced area according to claim 3, characterized in that: The step of calculating the distance between each reconnaissance route segment and the first reconnaissance route segment based on the straight line analytical equation is specifically as follows:

5. The method for automatically generating an unreconnaissanced area according to claim 1, characterized in that: The step of judging whether the reconnaissance route segment in the reconnaissance route segment list has been passed and assigning a status value based on the judgment result is specifically as follows: According to the from-point number and to-point number of the current aircraft route, a value is assigned to each reconnaissance route segment as to whether it has been passed; if the two vertex waypoint numbers of the reconnaissance route segment are both smaller than the from-point number, the status value is assigned as passed, and otherwise, it is assigned as not passed.

6. The method for automatically generating an unreconnaissanced area according to claim 1, characterized in that: The step of calculating the center line of the route segment and the previous route segment at the same time and storing them as cutting lines to obtain a cutting line list is specifically as follows: in, is the waypoint P j The coordinates of is the waypoint P j-2 The coordinates of is the waypoint P j+1 The coordinates of is the waypoint P j-1 The coordinates of .

7. A computer system, characterized in that include: One or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method of claim 1.

8. A computer-readable storage medium, characterized in that Computer executable instructions are stored, and when the instructions are executed, they are used to implement the method of claim 1.

9. A computer program product, characterized in that The invention comprises computer executable instructions, which are used to implement the method of claim 1 when being executed.

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