Unmanned aerial vehicle photoelectric sensor online reconnaissance planning method

Abstract

The invention relates to an online reconnaissance planning method for a photoelectric sensor of an unmanned aerial vehicle, and belongs to the technical field of aviation control. Calculating a proper reconnaissance entry point and an entry angle according to the relative position relation of the unmanned aerial vehicle and the target area, and guiding the unmanned aerial vehicle to enter the area reconnaissance situation; calculating an effective detection range of the photoelectric sensor in a reconnaissance area by combining a photoelectric sensor detection view field model according to a target pixel demand of an automatic target recognition algorithm; for a convex polygon target area, geographic reconnaissance points are calculated according to an effective detection range and the like, a photoelectric sensor control instruction is generated in real time, and an unmanned aerial vehicle is guided to automatically complete reconnaissance area target detection. The photoelectric sensor is controlled in real time to detect a field of view, a geographical reconnaissance point and the like, a reconnaissance area target image meeting the requirement of an automatic target recognition algorithm can be obtained, and the automation and intelligence level of the unmanned aerial vehicle meeting target attacks can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of aviation control and relates to an online reconnaissance planning method for an unmanned aerial vehicle photoelectric sensor. Background Art

[0002] The drone uses photoelectric sensors to conduct reconnaissance of the designated target area according to a certain strategy, obtains the image information of the target area, and detects and locates the target through the automatic target recognition algorithm. The automatic target recognition algorithm requires that the target image pixel is not less than a certain value, and the target distance is not greater than a certain value. The photoelectric sensor can obtain the target area image with specific pixels. In traditional use, the regional reconnaissance planning of drone photoelectric sensors adopts a pre-planning method, selects a fixed photoelectric sensor field of view and axis of sight, plans drone waypoints based on the target area, etc., loads the waypoints to the flight control system, and guides the drone to complete regional reconnaissance.

[0003] Traditional reconnaissance planning methods have some shortcomings. ① Reconnaissance planning by controlling the UAV route requires multiple continuous turns, which takes a long time and has low reconnaissance efficiency, and is not suitable for random target attack mission scenarios; ② There is no real-time control of the field of view and the direction of the optical axis of the optoelectronic sensor, and the detection performance of the optoelectronic sensor cannot be fully utilized. The fixed field of view constraints of the optoelectronic sensor increase the risk of the aircraft being exposed to the ground air defense system; ③ It is not suitable for the use of UAVs in high-speed movement scenarios. Summary of the invention

[0004] The technical problems to be solved by the present invention are:

[0005] In order to avoid the shortcomings of the prior art, the present invention provides an online reconnaissance planning method for an unmanned aerial vehicle photoelectric sensor, which is used to solve the problem that the existing reconnaissance planning method does not have real-time control of the photoelectric sensor, resulting in low reconnaissance efficiency.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] An online reconnaissance planning method for an unmanned aerial vehicle photoelectric sensor, characterized in that it comprises the following steps:

[0008] Step 1: Based on the relative position relationship between the UAV and the target area, determine the reconnaissance entry edge and entry direction according to the long-direction search principle; calculate the reconnaissance entry point and entry angle based on the reconnaissance entry edge and entry direction, and guide the UAV to enter the area for reconnaissance;

[0009] Step 2: Calculate the geographic azimuth of the reconnaissance point and the angle between the sighting line and the vertical based on the position of the drone, the reconnaissance point and the entry angle;

[0010] Step 3: Calculate the detection field of view of the photoelectric sensor based on the target image pixel requirements and the photoelectric sensor detector resolution of the automatic target recognition algorithm;

[0011] Step 4: Establish an optoelectronic sensor detection model, and calculate the observable range of the optoelectronic sensor detector on the ground based on the geographic azimuth of the reconnaissance point, the optoelectronic sensor detection field of view, and the altitude of the drone; calculate the effective detection range of the optoelectronic sensor in the reconnaissance area based on the observable range of the optoelectronic sensor detector on the ground, the angle between the aiming line and the vertical, the vertical overlap rate of the reconnaissance image, and the heading overlap rate constraints;

[0012] Step 5: For the convex polygon target area, the geographic reconnaissance line and geographic reconnaissance point are calculated in real time based on the effective detection range, and the real-time calculated geographic reconnaissance point is bound to the photoelectric sensor;

[0013] Step 6: Complete the calculation of each geographic reconnaissance point in sequence according to steps 2 to 5 until the cumulative heading distance exceeds the distance from the farthest point to the entry edge, and exit the online optoelectronic reconnaissance mission.

[0014] A further technical solution of the present invention: the step of selecting the scouting entry edge and the entry direction comprises:

[0015] Calculate the distance from the drone to each vertex in the target area and select the vertex with the closest distance;

[0016] Two adjacent edges are determined based on the nearest vertex and two adjacent vertices, the vertical distances from each vertex in the target area to the two adjacent edges are calculated, and the maximum value of the two vertical distances is selected respectively; the entry edge and entry direction are determined based on the maximum value of the two vertical distances.

[0017] A further technical solution of the present invention: the step of determining the entry edge and the entry direction based on the maximum value of the two vertical distances includes:

[0018] Compare the maximum of two vertical distances;

[0019] If the vertex with the maximum vertical distance is the first vertex adjacent to the clockwise direction, the line connecting the nearest vertex and the first vertex adjacent to the clockwise direction is taken as the incoming edge, and the incoming direction is clockwise;

[0020] If the vertex with the maximum vertical distance is the first vertex adjacent to the counterclockwise direction, the line connecting the first vertex adjacent to the counterclockwise direction and the nearest vertex is taken as the incoming edge, and the incoming direction is counterclockwise.

[0021] A further technical solution of the present invention: the step of calculating the scouting entry point and the entry angle based on the scouting entry edge and the entry direction comprises:

[0022] Draw a circle with the nearest vertex as the center and the maximum recognition distance of the automatic target recognition algorithm as the radius; obtain the two intersection points of the circle and the perpendicular bisector of the incoming edge;

[0023] Based on the entry direction and whether the intersection point is on the same side or different side of the entry edge, the coordinates of the two intersection points are substituted into the entry edge to determine the entry point and exit point;

[0024] The angle between the line connecting the entry point and the exit point and due north is taken as the entry angle.

[0025] A further technical solution of the present invention: the step of substituting the coordinates of the two intersection points into the entering edge to determine the entry point and the exit point based on the entry direction and the intersection point being located on the same side or the opposite side of the entering edge comprises:

[0026] When the entry direction is clockwise, when the intersection point P 1 For the opposite side point, we have:

[0027] (ax 1 +by 1 +c)(ax back +by back +c)<0

[0028] (ax 2 +by 2 +c)(ax back +by back +c)>0

[0029] Among them, (x back ,y back ) is the last vertex adjacent to the nearest vertex clockwise, and ax+by+c=0 is the equation of the incoming edge;

[0030] Take P 1 Entry point P enter , intersection point P on the same side 2 The exit point P esc ;

[0031] On the contrary, when P 2 If it is a point on the opposite side, then take P 2 Entry point P enter , P 1 The exit point P esc ;

[0032] When the entry direction is counterclockwise, when P 1 For the opposite side point, we have:

[0033] (ax 1 +by 1 +c)(ax next +by next +c)<0

[0034] (ax 2 +by 2 +c)(ax next +by next +c)>0

[0035] Among them, (x next ,y next ) is the first vertex adjacent to the nearest vertex clockwise,

[0036] Take P 1 Entry point P enter , P 2 The exit point P esc ;

[0037] On the contrary, when P 2 If it is a point on the opposite side, then take P 2 Entry point P enter , P 1 The exit point P esc .

[0038] A further technical solution of the present invention is as follows: the step of calculating the geographical azimuth of the reconnaissance point and the angle between the sighting line and the vertical includes:

[0039] Calculate the aiming line vector in the earth coordinate system based on the positions of the UAV and the reconnaissance point, and convert the aiming line vector in the earth coordinate system into the aiming line vector in the geographic system of the UAV;

[0040] Calculate the geographic azimuth of the reconnaissance point based on the sighting line vector and entry angle under the UAV geographic system;

[0041] The angle between the aiming line and the vertical is calculated based on the aiming line vector in the UAV geographic system and the distance between the UAV and the geographic reconnaissance point.

[0042] A further technical solution of the present invention: the step of calculating the detection field of view of the photoelectric sensor comprises:

[0043] Calculate the instantaneous field of view of the photoelectric sensor based on the target image pixel requirements and typical target size of the automatic target recognition algorithm;

[0044] The vertical field of view and heading field of view of the photoelectric sensor detector are calculated based on the instantaneous field of view of the photoelectric sensor detection and the actual resolution of the photoelectric sensor detector.

[0045] A further technical solution of the present invention: the step of calculating the observable range of the photoelectric sensor detector on the ground includes:

[0046]

[0047] L p =H(tan(θLOS +FOV p / 2)-tan(θ LOS -FOV p / 2))

[0048] Among them, L v is the vertical observation range, L p is the heading observation range, H is the height of the UAV, θ LOS is the geographic azimuth of the reconnaissance point, FOV v ×FOV p Detects the field of view for the photoelectric sensor.

[0049] A further technical solution of the present invention: the step of calculating the effective detection range of the photoelectric sensor in the reconnaissance area includes:

[0050]

[0051] Among them, δ v is the vertical overlap ratio, δ p is the heading overlap ratio, is the angle between the aiming line and the vertical.

[0052] A further technical solution of the present invention: the step of calculating the geographical reconnaissance line and the geographical reconnaissance point comprises:

[0053] Calculate the cumulative heading distance of the reconnaissance points and construct a single geographical reconnaissance line;

[0054] Calculate the intersection of the single geographic reconnaissance line and the convex polygon, and consider the effective coverage of the reconnaissance area, and extend the intersection by a field of view; extend the current geographic reconnaissance point forward by the vertical distance to obtain the intermediate calculation point, and calculate the geographic reconnaissance point based on the intermediate calculation point and the single geographic reconnaissance line.

[0055] The beneficial effects of the present invention are:

[0056] The present invention provides an online reconnaissance planning method for a drone photoelectric sensor. According to the relative position relationship between the drone and the target area, the appropriate reconnaissance entry point and entry angle are calculated to guide the drone to enter the area for reconnaissance; according to the target pixel requirements of the automatic target recognition algorithm, the effective detection range of the photoelectric sensor in the reconnaissance area is calculated in combination with the photoelectric sensor detection field model; for the convex polygon target area, the geographic reconnaissance point is calculated according to the effective detection range, etc., and the photoelectric sensor control instruction is generated in real time to guide the drone to automatically complete the detection of the target in the reconnaissance area. The method of the present invention can obtain the target image of the reconnaissance area that meets the requirements of the automatic target recognition algorithm by controlling the photoelectric sensor detection field of view and the geographic reconnaissance point in real time, and can improve the automation and intelligence level of the drone's random target attack. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings are only for the purpose of illustrating specific embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0058] Figure 1 Flowchart of online reconnaissance planning method for UAV optoelectronic sensors;

[0059] Figure 2 Schematic diagram of drone entry point and entry angle;

[0060] Figure 3 Schematic diagram of the field of view model of the photoelectric sensor;

[0061] Figure 4 Schematic diagram of relative azimuths of geographical reconnaissance points;

[0062] Figure 5 Schematic diagram of online reconnaissance planning of photoelectric sensors. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain 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 can be combined with each other as long as they do not conflict with each other.

[0064] It should be noted that the terms "first", "second", etc. in the specification 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 can be 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 that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0065] The present invention provides a method for online reconnaissance planning of unmanned aerial vehicle photoelectric sensors. By setting appropriate entry points and entry angles of unmanned aerial vehicles, the unmanned aerial vehicles are guided to enter the area for reconnaissance. According to the requirements of the automatic target recognition algorithm for target image pixels and the resolution of the photoelectric sensor detector, the photoelectric sensor detection field of view is calculated, a photoelectric sensor detection model is established, the effective observation range of the photoelectric sensor is calculated, and the photoelectric sensor control instructions are generated in real time to guide the unmanned aerial vehicle to automatically complete the detection of targets in the reconnaissance area. Figure 1 As shown, the following steps are included:

[0066] Step 1: According to the relative position relationship between the UAV and the target area, select the reconnaissance entry edge and entry direction, calculate the appropriate reconnaissance entry point and entry angle, and guide the UAV to enter the area for reconnaissance;

[0067] Step 2: Perform over-range judgment and calculate the relative angle of the geographic reconnaissance point based on the position of the drone and the reconnaissance point and the entry angle;

[0068] Step 3: Calculate the detection field of view of the photoelectric sensor based on the target image pixel requirements of the automatic target recognition algorithm, the resolution of the photoelectric sensor detector, etc.;

[0069] Step 4: Establish an optoelectronic sensor detection model, consider the geographic azimuth of the reconnaissance point, the vertical overlap rate and heading overlap rate constraints of the reconnaissance images, and calculate the effective detection range of the optoelectronic sensor in the reconnaissance area;

[0070] Step 5: For the convex polygon target area, the geographic reconnaissance line and geographic reconnaissance point are calculated in real time according to the effective detection range, and the real-time calculated geographic reconnaissance point is bound to the photoelectric sensor;

[0071] Step 6: Complete the calculation of each geographic reconnaissance point in sequence according to steps 2 to 5 until the cumulative heading distance exceeds the distance from the farthest point to the entry edge, and exit the online optoelectronic reconnaissance mission.

[0072] According to the relationship between the UAV and the convex polygon reconnaissance area, the reconnaissance entry edge and entry direction are selected according to the long-direction search principle. Considering the maximum recognition distance constraint of the automatic target recognition algorithm, the UAV entry point and entry angle are planned to guide the UAV into the regional reconnaissance situation.

[0073] According to the requirements of the automatic target recognition algorithm for target image pixels and typical target sizes, the instantaneous field of view of the photoelectric sensor is calculated. The vertical field of view and heading field of view of the photoelectric sensor are calculated in combination with the actual resolution of the photoelectric sensor detector. Controlling the photoelectric sensor according to this field of view can ensure that the acquired target image pixels meet the requirements of the automatic target recognition algorithm.

[0074] A photoelectric sensor field of view model is established to calculate the observable range of the photoelectric sensor detector on the ground. Considering the constraints of the geographical azimuth, vertical overlap rate and heading overlap rate of the reconnaissance point, the actual effective detection range of the photoelectric sensor is calculated.

[0075] The geographic reconnaissance points are calculated according to the raster search strategy, and the real-time calculated geographic reconnaissance points are bound to the photoelectric sensor; the cumulative heading distance of the reconnaissance points is calculated to construct a single geographic reconnaissance line; the intersection of the single geographic reconnaissance line and the convex polygon is calculated, and the intersection is extended by a field of view considering the effective coverage of the reconnaissance area; the current geographic reconnaissance point is extended forward by the vertical distance to obtain the intermediate calculation point, and the geographic reconnaissance point is calculated based on the intermediate calculation point and the single geographic reconnaissance line, and the real-time calculated geographic reconnaissance point is bound to the photoelectric sensor.

[0076] The above steps are as follows:

[0077] Step 1: Calculate the drone entry point and angle

[0078] According to the relative position relationship between the UAV and the target area, the reconnaissance entry edge and entry direction are selected, the appropriate reconnaissance entry point and entry angle are calculated, and the UAV is guided to enter the area for reconnaissance.

[0079] 1) Detect the entry edge and entry direction

[0080] Assume that the reconnaissance area is a convex polygon with n edges. Convert the longitude and latitude coordinates of the convex polygon vertices into Gaussian coordinate system coordinates (according to the Gaussian projection method in GJB 6304-2008 "2000 China Geodetic System"). Sort the polygon vertices in the Gaussian coordinate system in a clockwise direction to obtain the sorted vertex sequence v i (x gauss,i ,y gauss,i ), i=1:n, such as Figure 2 As shown;

[0081] The coordinates of the drone in the Gaussian coordinate system are (x ac ,y ac ), calculate the vertex v closest to the drone in the current situation nearest :

[0082]

[0083] v nearest =min(norm(x gauss,i -x ac ,y gauss,i -y ac ))

[0084] In clockwise direction with vertex v nearest The two connected edges are Calculate the vertex v separately i (i=1:n,i≠nearest) The vertical distance to the two edges Select the incoming edge:

[0085]

[0086] If d next,max >d back,max , then select is the entry edge, and the entry direction is clockwise, so that the drone can enter the search along the length of the reconnaissance area, improving the reconnaissance efficiency. The vertical distance D between the entry edge and the farthest vertex is recorded. enter,max =d next,max ;

[0087] If d next,max <d back,max , then select is the entry edge, and the entry direction is counterclockwise, so that the drone can enter the search along the length of the reconnaissance area, improving the reconnaissance efficiency. The vertical distance D between the entry edge and the farthest vertex is recorded. enter,max =d back,max ;

[0088] 2) Drone entry point

[0089] For typical targets, assume that the maximum recognition distance of the automatic target recognition algorithm is D iden,max , as the entry edge The perpendicular bisector l is the closest vertex v nearest D is the center of the circle and the radius is iden,max Circle O 1 For a suitable small search area, The side length should not be greater than D iden,max , we can know that:

[0090]

[0091] Then circle O 1 There are two intersection points P with the line l 1 (x 1 ,y 1 ), P 2 (x 2 ,y 2 ), where a point is adjacent to the polygon on the incoming edge On the same side, another point is connected to the polygon at the entry edge On the opposite side, set the entry side The equation is:

[0092]

[0093] When the entry direction is clockwise, the entry edge is set up The coordinates are (x back ,y back ), when P 1 For the opposite side point, we have:

[0094] (ax 1 +by 1 +c)(ax back +by back +c)<0

[0095] (ax 2 +by 2 +c)(ax back +by back +c)>0

[0096] Take P 1 Entry point P enter , P 2 The exit point P esc .

[0097] On the contrary, when P 2 If it is a point on the opposite side, then take P 2 Entry point P enter , P 1 The exit point P esc .

[0098] When the entry direction is counterclockwise, the entry edge is set up The coordinates are (x next ,y next ), when P 1 For the opposite side point, we have:

[0099] (ax 1 +by 1 +c)(ax next +by next +c)<0

[0100] (ax 2 +by 2 +c)(ax next +by next +c)>0

[0101] Take P 1 Entry point P enter , P 2 The exit point P esc .

[0102] On the contrary, when P 2 If it is a point on the opposite side, then take P 2 Entry point P enter , P 1 The exit point P esc .

[0103] 3) Drone entry angle

[0104] For the entry point P enter , exit point Pesc , then the direction of the entry line is The entry angle is Angle with due north

[0105] Step 2: Calculate the relative angle of the geographical reconnaissance point

[0106] Based on the UAV, reconnaissance point location and reconnaissance entry angle, over-range judgment and relative angle calculation of geographic reconnaissance points are performed.

[0107] 1) Selection of geographical reconnaissance points

[0108] If the drone enters the reconnaissance state for the first time, the reconnaissance point is selected as the nearest vertex rp in the reconnaissance area. 0 =v nearest Otherwise, the position calculated in the previous cycle is selected as the calculation input rp i =rp last ;

[0109] 2) Judgment at a distance

[0110] Convert the position of the aircraft and the geographical reconnaissance point to the coordinates of the earth coordinate system Calculate the line of sight vector in Earth coordinates:

[0111]

[0112] The UAV starts from the reconnaissance entry point and controls the photoelectric sensor to search the area according to the reconnaissance entry angle. If the distance between the UAV and the geographical reconnaissance point is d ac,rp Greater than D iden,max , the drone continues to fly forward;

[0113]

[0114] if(d ac,rp >D iden,max )

[0115] continue;

[0116] 3) Relative angle calculation

[0117] The Earth coordinate system line of sight vector Convert to the line of sight vector in the UAV geographic system:

[0118]

[0119] The geographic azimuth of the reconnaissance point is the difference between the angle between the sighting line vector and true north and the angle of entry of the drone:

[0120]

[0121] The angle between the sighting line and the vertical is:

[0122]

[0123] Step 3: Calculate the detection field of view of the photoelectric sensor

[0124] The detection field of view of the photoelectric sensor is calculated based on the target recognition algorithm's requirements for target image pixels and the resolution of the photoelectric sensor detector.

[0125] Assuming the typical target size is w, the typical target angle is

[0126]

[0127] Assume that the automatic target recognition algorithm can achieve no less than p t ×p t Effective recognition of pixel targets, the photoelectric sensor detector resolution is p v ×p p , field of view is FOV v,min ×FOV p,min ~FOV v,max ×FOV p,max , the zoom is continuously changed between the large field of view and the small field of view, then the instantaneous field of view is detected:

[0128]

[0129] Photoelectric sensor detector vertical field of view and heading field of view:

[0130] FOV v =p v *(iFOV / 1000)*RAD

[0131] FOV p =p p *(iFOV / 1000)*RAD

[0132] RAD=180 / π

[0133] If FOV v <FOV v,min ||FOV p <FOV v,min , if the UAV is far away from the reconnaissance area, the photoelectric sensor field of view is set to the minimum to ensure that the target can be quickly detected after the reconnaissance area enters the maximum recognition distance;

[0134] FOV v =FOV v,min

[0135] FOV p =FOV p,min

[0136] According to FOV v ×FOV p Controlling the field of view of the photoelectric sensor can ensure that the acquired target image pixels meet the requirements of the automatic target recognition algorithm.

[0137] Step 4: Effective detection range of photoelectric sensor

[0138] A detection model of photoelectric sensors is established, and the constraints of the geographical azimuth of the reconnaissance point, vertical overlap rate and heading overlap rate of the reconnaissance images are considered to calculate the effective detection range of the photoelectric sensor in the reconnaissance area.

[0139] 1) Ground observable range

[0140] Assume that the drone maintains level flight at altitude H, and the pitch angle and roll angle are both 0, such as Figure 3 The following is a schematic diagram of the field of view model of the photoelectric sensor. In the photoelectric sensor coordinate system (OXYZ) e In, O e P represents the aiming axis, so ∠LO e P is the angle θ between the sight line and the vertical LOS , then the quadrilateral That is the range that the photoelectric sensor detector can observe on the ground.

[0141] Define the photoelectric sensor detector in plane O e X e Z e The observation angle within is the heading field of view, and the heading observation range is L p , perpendicular to the plane O e X e Z e The observation angle in the plane passing through the aiming axis is the vertical field of view, and the vertical observation range is L v , that is, ∠KO e J = FOV p , ∠EO e F = FOV v , then the quadrilateral Vertex in the photoelectric sensor coordinate system (OXYZ) e The lower coordinates are:

[0142]

[0143] In order to ensure that the photoelectric sensor effectively covers the reconnaissance area, AD×KJ is selected as the observable range, and the vertical observation range and heading observation range can be expressed as

[0144]

[0145] L p =H(tan(θLOS +FOV p / 2)-tan(θ LOS -FOV p / 2))

[0146] 2) Effective detection range

[0147] When the photoelectric sensor searches the reconnaissance area, considering the geographical azimuth of the reconnaissance point, the vertical overlap rate and the heading overlap rate constraints of the reconnaissance image, the actual effective detection range can be expressed as

[0148]

[0149] Vertical overlap ratio δ v ∈[0,1) is the scanning overlap range of the effective detection range of the photoelectric sensor in the vertical heading direction. Adjusting this parameter can control the image acquisition rate and image quality of the photoelectric sensor. The heading overlap rate δ p Same reason.

[0150] Step 5: Geographic Reconnaissance Point Calculation

[0151] The geographic reconnaissance points are calculated according to the raster search strategy, the geographic reconnaissance points calculated in real time are bound to the photoelectric sensor, and the photoelectric sensor is controlled to complete the image acquisition of the geographic reconnaissance points.

[0152] 1) Calculation of cumulative heading distance of reconnaissance points

[0153] The heading distance of the geographical reconnaissance point of a single geographical reconnaissance line is L p,j,i , j is the geographical reconnaissance line count, i is the geographical reconnaissance point count of a single geographical reconnaissance line, it can be seen that the minimum heading distance L of a single geographical reconnaissance line p,j,min =min(L p,j,i ), then the cumulative heading reconnaissance distance L p,sum =sum(L p,j,min );

[0154] 2) Calculation of geographical reconnaissance lines

[0155] Let the farthest vertex of the convex polygon be v farthest (x farthest ,y farthest ), the foot of the perpendicular line from the farthest vertex to the entering edge is F 0 (x ft ,y ft ), the increment of a single geographic reconnaissance line in the Gaussian coordinate system is:

[0156] If D enter,max <L p,sum +L p,eff / 2

[0157]

[0158] Other cases

[0159]

[0160] Record the intersection point F of a single geographical reconnaissance line and the vertical line of the entry edge j,i (x j,i ,y j,i )

[0161] x j,i =x ft +δ x,j,i

[0162] y j,i =y ft +δ y,j,i

[0163] From the intersection point F j,i (x j,i ,y j,i ) Construct the slope-intercept equation LINE for a single geographic reconnaissance line j,i (k j,i ,b j,i )

[0164]

[0165] b j,i =y j,i -k j,i x j,i

[0166] 3) Calculation of intersection points between geographic reconnaissance lines and convex polygons

[0167] According to the direction of reconnaissance, from the entry point v nearest To begin, calculate the intersection points of a single geographic reconnaissance line with each edge of the convex polygon;

[0168] Calculate the current vertex v of the convex polygon in sequence according to the direction of reconnaissance entry current,l With the next waypoint v next,l , construct the current side slope intercept equation LINE current,l (k current,l ,b current,l )

[0169]

[0170] Then the current side LINE current,l (k current,l ,b current,l ) and a single geographic reconnaissance line LINE j,i (k j,i ,b j,i) of the intersection point v l,j,i (x l,j,i ,y l,j,i )for

[0171]

[0172] To ensure effective coverage of the reconnaissance area, the photoelectric sensor continues to calculate one frame when the detection range crosses the convex polygon boundary.

[0173] 4) Calculation of geographical reconnaissance points

[0174] The vertical distance between the geographical reconnaissance points of a single geographical reconnaissance line is L. v,j,i , j is the geographical reconnaissance line count, i is the geographical reconnaissance point count of a single geographical reconnaissance line, then the cumulative vertical reconnaissance distance L v,sum =sum(L v,j,min ), extend the current geographic reconnaissance point forward by L v,j,i , get the middle point v mid,j,i coordinate

[0175]

[0176] δ y,mid,j,i =k j,i *δ x,mid,j,i

[0177] x mid,j,i =x last,j,i +δ x,mid,j,i

[0178] y mid,j,i =y last,j,i +δ y,mid,j,i

[0179] Construct a point v through the middle mid,j,i The intersection of the straight line and the single geographic reconnaissance line is the geographic reconnaissance point v. j,i (x j,i ,y j,i ).

[0180] Step 6: Electro-optical reconnaissance mission completed

[0181] Follow steps 2 to 5 to complete the calculation of each geographical reconnaissance point in turn. If the cumulative heading reconnaissance distance L p,sum Greater than the perpendicular distance D between the incoming edge and the farthest vertex enter,max , indicating that the UAV has completed the search of the reconnaissance area and exited the online optoelectronic reconnaissance mission.

[0182] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor, characterized in that: The following steps are involved: Step 1: Based on the relative position relationship between the UAV and the target area, determine the reconnaissance entry edge and entry direction according to the long-direction search principle; Calculate the reconnaissance entry point and entry angle based on the reconnaissance entry edge and entry direction, and guide the UAV to enter the area for reconnaissance; Step 2: Calculate the geographic azimuth of the reconnaissance point and the angle between the sighting line and the vertical based on the position of the drone, the reconnaissance point and the entry angle; Step 3: Calculate the detection field of view of the photoelectric sensor based on the target image pixel requirements and the photoelectric sensor detector resolution of the automatic target recognition algorithm; Step 4: Establish an optoelectronic sensor detection model, and calculate the observable range of the optoelectronic sensor detector on the ground based on the geographic azimuth of the reconnaissance point, the optoelectronic sensor detection field of view, and the altitude of the drone; Based on the observable range of the photoelectric sensor detector on the ground, the angle between the sighting line and the vertical, the vertical overlap rate of the reconnaissance image, and the heading overlap rate constraints, the effective detection range of the photoelectric sensor in the reconnaissance area is calculated; Step 5: For the convex polygon target area, the geographic reconnaissance line and geographic reconnaissance point are calculated in real time based on the effective detection range, and the real-time calculated geographic reconnaissance point is bound to the photoelectric sensor; Step 6: Complete the calculation of each geographic reconnaissance point in sequence according to steps 2 to 5 until the cumulative heading distance exceeds the distance from the farthest point to the entry edge, and exit the online optoelectronic reconnaissance mission.

2. According to claim 1, a method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor is characterized in that: The step of selecting the reconnaissance entry edge and the entry direction includes: Calculate the distance from the drone to each vertex in the target area and select the vertex with the closest distance; Two adjacent edges are determined based on the nearest vertex and two adjacent vertices, the vertical distances from each vertex in the target area to the two adjacent edges are calculated, and the maximum value of the two vertical distances is selected respectively; the entry edge and entry direction are determined based on the maximum value of the two vertical distances.

3. According to claim 2, a method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor is characterized in that: The step of determining the entry edge and the entry direction based on the maximum value of the two perpendicular distances includes: Compare the maximum of two vertical distances; If the vertex with the maximum vertical distance is the first vertex adjacent to the clockwise direction, the line connecting the nearest vertex and the first vertex adjacent to the clockwise direction is taken as the incoming edge, and the incoming direction is clockwise; If the vertex with the maximum vertical distance is the first vertex adjacent to the counterclockwise direction, the line connecting the first vertex adjacent to the counterclockwise direction and the nearest vertex is taken as the incoming edge, and the incoming direction is counterclockwise.

4. According to claim 1, a method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor is characterized in that: The step of calculating the scouting entry point and the entry angle based on the scouting entry edge and the entry direction includes: Draw a circle with the nearest vertex as the center and the maximum recognition distance of the automatic target recognition algorithm as the radius; obtain the two intersection points of the circle and the perpendicular bisector of the incoming edge; Based on the entry direction and whether the intersection point is on the same side or different side of the entry edge, the coordinates of the two intersection points are substituted into the entry edge to determine the entry point and exit point; The angle between the line connecting the entry point and the exit point and due north is taken as the entry angle.

5. According to claim 4, a method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor is characterized in that: The step of substituting the coordinates of the two intersection points into the entering edge to determine the entry point and the exit point based on the entry direction and the intersection point being located on the same side or the opposite side of the entering edge comprises: When the entry direction is clockwise and the intersection point P1 is an opposite side point, then: (ax1+by1+c)(ax back +by back +c)<0 (ax2+by2+c)(ax back +by back +c)>0 Among them, (x back ,y back ) is the last vertex adjacent to the nearest vertex clockwise, and ax+by+c=0 is the equation of the incoming edge; Take P1 as the entry point P enter , the intersection point P2 on the same side is the exit point P esc ; On the contrary, when P2 is a point on the opposite side, P2 is taken as the entry point P enter , P1 is the exit point P esc ; When the entry direction is counterclockwise and P1 is an opposite side point, then: (ax1+by1+c)(ax next +by next +c)<0 (ax2+by2+c)(ax next +by next +c)>0 Among them, (x next ,y next ) is the first vertex adjacent to the nearest vertex clockwise, Take P1 as the entry point P enter , P2 is the exit point P esc ; On the contrary, when P2 is a point on the opposite side, P2 is taken as the entry point P enter , P1 is the exit point P esc .

6. According to claim 1, a method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor is characterized in that: The step of calculating the geographic azimuth of the reconnaissance point and the angle between the sighting line and the vertical includes: Calculate the aiming line vector in the earth coordinate system based on the positions of the UAV and the reconnaissance point, and convert the aiming line vector in the earth coordinate system into the aiming line vector in the geographic system of the UAV; Calculate the geographic azimuth of the reconnaissance point based on the sighting line vector and entry angle under the UAV geographic system; The angle between the aiming line and the vertical is calculated based on the aiming line vector in the UAV geographic system and the distance between the UAV and the geographic reconnaissance point.

7. According to claim 1, a method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor is characterized in that: The step of calculating the detection field of view of the photoelectric sensor includes: Calculate the instantaneous field of view of the photoelectric sensor based on the target image pixel requirements and typical target size of the automatic target recognition algorithm; The vertical field of view and heading field of view of the photoelectric sensor detector are calculated based on the instantaneous field of view of the photoelectric sensor detection and the actual resolution of the photoelectric sensor detector.

8. The method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor according to claim 1, characterized in that: The step of calculating the observable range of the photoelectric sensor detector on the ground includes: L p =H(tan(θ LOS +FOV p / 2)-and(θ LOS -FOV p / 2)) Among them, L v is the vertical observation range, L p is the heading observation range, H is the height of the UAV, θ LOS is the geographic azimuth of the reconnaissance point, FOV v ×FOV p Detects the field of view for the photoelectric sensor.

9. The method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor according to claim 8, characterized in that: The step of calculating the effective detection range of the photoelectric sensor in the reconnaissance area includes: Among them, δ v is the vertical overlap ratio, δ p is the heading overlap ratio, is the angle between the aiming line and the vertical.

10. The method for online reconnaissance planning of an unmanned aerial vehicle photoelectric sensor according to claim 1, characterized in that: The step of calculating the geographical reconnaissance line and the geographical reconnaissance point includes: Calculate the cumulative heading distance of the reconnaissance points and construct a single geographical reconnaissance line; Calculate the intersection of the single geographic reconnaissance line and the convex polygon, and consider the effective coverage of the reconnaissance area, and extend the intersection by a field of view; extend the current geographic reconnaissance point forward by the vertical distance to obtain the intermediate calculation point, and calculate the geographic reconnaissance point based on the intermediate calculation point and the single geographic reconnaissance line.

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