A method for automatically generating unsurveilled areas

Abstract

The present invention relates to a method for automatically generating unsurveyed areas, belonging to the field of aviation control technology. The method automatically generates unsurveyed area polygons by sorting reconnaissance route segments and determining their past status, selecting appropriate cutting lines, and dividing the reconnaissance area polygons. The method is applicable to two typical regional reconnaissance methods, raster and snowplow, and has good versatility, ensuring that no unsurveyed areas are missed or repeatedly covered. It can also be applied to the cycle calculation of unmanned aerial vehicle platforms. When an abnormal situation occurs and the reconnaissance mission cannot be continued, the mission can be promptly handed over to other unmanned aerial vehicles to complete, thereby improving reconnaissance efficiency and mission reliability.

Description

Technical Field

[0001] The invention belongs to the technical field of aviation control, and in particular relates to a method for automatically generating an unsurveilled area. Background Art

[0002] When a drone is performing a regional reconnaissance mission and encounters an emergency, such as failure of the drone mission payload or failure or crash of the drone platform, and is unable to continue the reconnaissance mission, an unsurveyed area will be generated in real time and handed over to other drones to continue the mission in a timely manner. This can improve reconnaissance efficiency and have higher mission completion reliability.

[0003] When the drone performs polygonal area reconnaissance, when the turning radius of the drone is smaller than the lateral coverage range of the sensor detection field of view, the raster reconnaissance method is adopted; when the turning radius of the drone is larger than the lateral coverage range of the sensor detection field of view, the snow-plowing reconnaissance method is adopted.

[0004] When a UAV is performing an area reconnaissance mission using a raster or snowplow reconnaissance method and encounters an emergency and cannot continue the reconnaissance mission, if the UAV platform can periodically calculate the accurate unsurveyed areas, ensure that the unsurveyed areas are not missed and are not covered repeatedly, and send them to the coordinated UAV or ground station through the data link, it can be promptly handed over to other UAVs to continue to complete the reconnaissance mission of the remaining areas.

[0005] The algorithm for generating unsurveyed areas should be applicable to both reconnaissance methods. It should not only ensure complete coverage of the reconnaissance area without missing any actual unsurveyed areas, but also should not include all the surveyed areas to ensure that the reconnaissance area is not covered repeatedly.

[0006] Currently, no records have been found on how to generate unexplored areas. Summary of the Invention

[0007] The technical problems to be solved by the present invention are:

[0008] In order to avoid the shortcomings of the existing technology, the present invention provides a method for automatically generating an unsurveilled area, which is used to solve the problem of generating an unsurveilled area when a drone encounters an emergency and cannot continue to perform a reconnaissance mission.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0010] A method for automatically generating an unsurveilled area, comprising:

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

[0012] Connecting adjacent waypoints in pairs to form a reconnaissance route, wherein the reconnaissance route includes multiple reconnaissance route segments and multiple turning route segments, and screening and storing all the reconnaissance route segments;

[0013] Determine a straight line analytical equation for 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 reconnaissance route segments in ascending order of distance, and form and store a reconnaissance route segment list;

[0014] 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;

[0015] Determine in sequence 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 center line between the route segment and the previous route segment, store it as a cutting line, and obtain a cutting line list.

[0016] 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 unreconnaissance area polygon are calculated based on Gaussian inverse calculation.

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

[0018] 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;

[0019] Use Gaussian arithmetic to obtain the coordinates of each vertex of the reconnaissance area polygon and each waypoint in the Gaussian plane rectangular coordinate system.

[0020] A further technical solution of the present invention is as follows: the step of determining the linear analytical equation of each reconnaissance route segment is specifically as follows:

[0021] 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

[0022]

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

[0024]

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

[0026] 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.

[0027] A further technical solution of the present invention is as follows: in the step of calculating the center line of the route segment and the previous route segment at different times and storing them as cutting lines to obtain a cutting line list, the step is specifically as follows:

[0028]

[0029] 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 's coordinates.

[0030] A computer system, characterized in that it includes: 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 implement the above-mentioned method.

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

[0032] A computer program product, characterized by comprising computer executable instructions, wherein the instructions are used to implement the above method when executed.

[0033] The beneficial effects of the present invention are:

[0034] The present invention provides a method for automatically generating unsurveyed areas, applicable to both typical raster and snowplow methods for regional reconnaissance, and boasts high versatility. The generated unsurveyed areas ensure complete coverage of regional targets without duplication, improving the efficiency of reconnaissance missions. The method boasts high computational speed and can be applied to periodic calculations on UAV platforms. In the event of anomalies, the task can be promptly handed over to other UAVs, improving mission reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like parts throughout the drawings.

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

[0037] Figure 2 Schematic diagram of the reconnaissance route and turning route;

[0038] Figure 3 This is a schematic diagram of raster reconnaissance and snowplow reconnaissance;

[0039] Figure 4 A schematic diagram of the sorting of reconnaissance route segments;

[0040] Figure 5 Select a schematic diagram for the polygonal cutting line of the reconnaissance area;

[0041] Figure 6 Schematic diagram for polygon generation of unexplored areas Figure 1 ;

[0042] Figure 7 Schematic diagram for polygon generation of unexplored areas Figure 2 ;

[0043] Figure 8 Schematic diagram for polygon generation of unexplored areas Figure 3 ;

[0044] Figure 9 Schematic diagram for polygon generation of unexplored areas Figure 4 . DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may 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 description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] The present invention proposes a method for automatically generating unsurveilled areas, which can generate unsurveilled area polygons by sorting the reconnaissance route segments and judging the status of the reconnaissance routes, selecting appropriate cutting lines, and dividing the reconnaissance area polygons. Figure 1 As shown, the following steps are included:

[0048] Step 1: Obtain the reconnaissance area polygon, reconnaissance route, and the from and to points of the current aircraft route. Use Gaussian arithmetic to obtain the coordinates of each vertex of the reconnaissance area polygon and each waypoint in the Gaussian plane rectangular coordinate system.

[0049] Step 2: The reconnaissance route includes multiple reconnaissance route segments and multiple turning route segments, from which all the reconnaissance route segments are screened and stored.

[0050] Step 3: Each reconnaissance route segment is parallel to each other, but the route sorting rules are different for raster and snowplow reconnaissance methods. Calculate the straight line analytical equation of each reconnaissance route segment and its distance from the first reconnaissance route segment. Arrange all reconnaissance route segments in ascending order of distance to form and store a reconnaissance route segment list.

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

[0052] Step 5: 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 different, calculate the center line between the route segment and the previous route segment and store it as the cutting line until the status judgment of all reconnaissance route segments is completed.

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

[0054] In order to enable those skilled in the art to better understand the present invention, the present invention is described in detail below with reference to specific embodiments.

[0055] Example 1

[0056] An embodiment of the present invention provides a method for automatically generating an unsurveilled area, comprising the following steps:

[0057] Step 1: Get 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, the from point number FromPntNo and the to point number ToPntNo of the current aircraft route. Use Gaussian arithmetic to get the coordinates A1(A1) of each vertex of the reconnaissance area polygon in the Gaussian plane rectangular 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: Filter out all reconnaissance route segments in the reconnaissance route.

[0059] The reconnaissance route includes multiple reconnaissance route segments P1P2, P3P4, ..., P m-1 P m and multiple turning routes P2P3, P4P5, ..., P m-2 P m-1 , which starts and ends with the reconnaissance route segment, from which all the reconnaissance route segments are filtered and stored.

[0060] Step 3: Arrange all the reconnaissance route segments in order from near to far relative to the first reconnaissance route segment to form and store a reconnaissance route segment list.

[0061] 1) Each reconnaissance route segment is parallel to each other. Since the ordering rules of the routes in the raster and snowplow reconnaissance modes are different, the reconnaissance route segments need to be reordered. First, according to the coordinates P of the two endpoints of the route si (Ps x ,Ps y ), P ei (Pe x ,Pe y ), find the linear analytical equation ax+by+c for each reconnaissance route segment i =0, where

[0062]

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

[0064]

[0065] 3) Set the distance d i Sort them from small to large and store the corresponding reconnaissance route segment point coordinates and route point numbers. Figure 3 shown.

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

[0067] According to the FromPntNo and ToPntNo of the current aircraft route, assign a value to each reconnaissance route segment stored in step 3 as to whether it has been passed. If the two vertex waypoint numbers of the reconnaissance route segment are less than the FromPntNo, the status value is assigned as "passed", and otherwise it is assigned as "not passed". Figure 5 shown.

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

[0069] 1) Since the sensor detection field of view and the side overlap rate are taken into account in the reconnaissance route planning, the first half of the area between the first "unpassed" route segment and the previous "passed" route segment has been surveyed, so the first "unpassed" route segment P is selected. j P j+1 and the previous "passed" route segment P j-2 P j-1 The midline of is the first cutting line. cut1 P cut2 The calculation is as follows:

[0070]

[0071] in, is the waypoint P jThe 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 's coordinates.

[0072] 2) The status of each route segment in the sorted reconnaissance route segment list is determined in sequence. Whenever the status of a route segment is different from the status of the previous route segment, the center line between the route segment and the previous route segment is calculated and stored as the cutting line until the status determination of all reconnaissance route segments is completed.

[0073] Step 6: Generate unsurveyed area polygons.

[0074] 1) Sort the vertices of the reconnaissance area counterclockwise.

[0075] Calculate the coordinates of the center point of the reconnaissance area polygon as follows:

[0076]

[0077] Calculate the azimuth angle of the polygon vertex relative to the center of the reconnaissance area as:

[0078]

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

[0080] 2) Using the cut line list calculated in step 5, use the Sutherland-Hodgman algorithm to cut the collaborative reconnaissance area polygons in sequence. The cut polygons are in the order of "reconnaissance, unreconnaissance, reconnaissance, unreconnaissance...", and all unreconnaissance areas are stored. Figure 6-9 shown.

[0081] 3) Use Gaussian inverse calculation to calculate the longitude and latitude of each vertex of all polygons in the unsurveyed area.

[0082] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present invention, and these modifications or replacements should all be included in 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 multiple reconnaissance route segments and multiple turning route segments, and screening and storing all the reconnaissance route segments; Determine a straight line analytical equation for 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 reconnaissance route segments in ascending order of distance, 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 sequence 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 center line between the route segment and the previous route segment, store it as a cutting line, 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 unsurveilled area are calculated based on Gaussian inversion.

2. The method for automatically generating an unsurveilled 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 of the reconnaissance area polygon and each waypoint in the Gaussian plane rectangular coordinate system.

3. The method for automatically generating an unsurveilled 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 unsurveilled area according to claim 3, wherein: 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 unsurveilled area according to claim 1, characterized in that: The step of determining whether the reconnaissance route segments in the reconnaissance route segment list have been passed and assigning a status value based on the determination 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 unsurveilled 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 's coordinates.

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 the instructions are executed.

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