A method for online reconnaissance planning using UAV photoelectric sensors

Abstract

This invention relates to an online reconnaissance planning method using an unmanned aerial vehicle (UAV) optoelectronic sensor, belonging to the field of aviation control technology. Based on the relative positional relationship between the UAV and the target area, a suitable reconnaissance entry point and angle are calculated to guide the UAV into the reconnaissance area. Based on the target pixel requirements of the automatic target recognition algorithm and combined with the optoelectronic sensor's field-of-view model, the effective detection range of the optoelectronic sensor in the reconnaissance area is calculated. For convex polygonal target areas, geographical reconnaissance points are calculated based on the effective detection range, and real-time control commands for the optoelectronic sensor are generated to guide the UAV to automatically detect targets in the reconnaissance area. By controlling the optoelectronic sensor's field of view and geographical reconnaissance points in real time, target images of the reconnaissance area that meet the requirements of the automatic target recognition algorithm can be acquired, improving the automation and intelligence level of the UAV in the event of target attacks.

Description

Technical Field

[0001] This invention belongs to the field of aviation control technology and relates to an online reconnaissance and planning method using UAV photoelectric sensors. Background Technology

[0002] Unmanned aerial vehicles (UAVs) use photoelectric sensors to reconnoiter designated target areas according to a certain strategy, acquiring image information of the target area, and then using automatic target recognition algorithms to detect and locate the target. The automatic target recognition algorithm requires that the target image pixel count be no less than a certain specific value and the target distance no greater than a certain specific value. The photoelectric sensor can acquire target area images with specific pixel counts. In traditional applications, UAV photoelectric sensor area reconnaissance planning is done in advance. A fixed field of view and line of sight of the photoelectric sensor are selected, and waypoints for the UAV are planned based on the target area. These waypoints are then loaded into the flight control system to guide the UAV to complete the area reconnaissance.

[0003] Traditional reconnaissance planning methods have some shortcomings: ① Reconnaissance planning by controlling the flight path of UAVs requires multiple consecutive turns, resulting in long mission times, low reconnaissance efficiency, and is not suitable for mission scenarios involving attacks from any target; ② The lack of real-time control over the field of view and line of sight of the electro-optical sensor prevents full utilization of the sensor's detection performance, and the fixed field of view constraint of the electro-optical sensor increases the risk of the aircraft being exposed to ground-based air defense systems; ③ They are not suitable for high-speed UAV operation scenarios. Summary of the Invention

[0004] The technical problem to be solved by this invention is:

[0005] To avoid the shortcomings of existing technologies, this invention provides an online reconnaissance planning method using UAV photoelectric sensors, which solves the problem of low reconnaissance efficiency caused by the lack of real-time control of photoelectric sensors in existing reconnaissance planning methods.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A method for online reconnaissance planning using UAV photoelectric sensors, characterized by the following steps:

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

[0009] Step 2: Calculate the geographical azimuth of the reconnaissance point and the angle between the aiming line and the vertical based on the location of the UAV, the reconnaissance point, and the angle of entry;

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

[0011] Step 4: Establish a photoelectric sensor detection model. Calculate the observable range of the photoelectric sensor detector on the ground based on the geographical azimuth of the reconnaissance point, the field of view of the photoelectric sensor, and the altitude of the UAV. Calculate the effective detection range of the photoelectric sensor in the reconnaissance area based on the observable range of the photoelectric 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, calculate the geographic reconnaissance line and geographic reconnaissance point in real time based on the effective detection range, and then feed the real-time calculated geographic reconnaissance point into the photoelectric sensor.

[0013] Step 6: Complete the calculation of each geographical reconnaissance point in sequence according to Steps 2 to 5 until the cumulative heading distance exceeds the distance to the edge of the farthest point, then exit the online electro-optical reconnaissance mission.

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

[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 the two adjacent vertices. The perpendicular distance from each vertex in the target region to the two adjacent edges is calculated, and the maximum value of the two perpendicular distances is selected. The entry edge and entry direction are determined based on the maximum value of the two perpendicular distances.

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

[0018] Compare the maximum values ​​of two perpendicular distances;

[0019] If the vertex with the maximum vertical distance is the first vertex that is clockwise adjacent to it, then the line connecting the nearest vertex and the first vertex that is clockwise adjacent to it 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 it in the counterclockwise direction, then the line connecting the first vertex adjacent to it in the counterclockwise direction and the nearest vertex is taken as the entering edge, and the entering direction is counterclockwise.

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

[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 this circle and the perpendicular bisector of the entering edge;

[0023] Based on the direction of entry and whether the intersection point is on the same side or opposite 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 and exit points and true north is taken as the entry angle.

[0025] A further technical solution of the present invention: the step of determining the entry point and exit point by substituting the coordinates of the two intersection points into the entry edge based on the entry direction and whether the intersection point is located on the same side or opposite side of the entry edge includes:

[0026] When the direction of entry is clockwise, and the intersection point P1 is on the opposite side, then:

[0027] (ax1+by1+c)(ax back +by back +c)<0

[0028] (ax² + by² + c)(ax) back +by back +c)>0

[0029] Among them, (x back ,y back Let be the last vertex adjacent to the nearest vertex in a clockwise direction, and let ax + by + c = 0 be the equation for entering the edge;

[0030] Let P1 be the entry point P. enter The intersection point P2 on the same side is the exit point P. esc ;

[0031] Conversely, if P2 is a point on the opposite side, then P2 is taken as the entry point P. enter P1 is the exit point P esc ;

[0032] When the direction of entry is counterclockwise, and P1 is a point on the opposite side, then:

[0033] (ax1+by1+c)(ax next +by next +c)<0

[0034] (ax² + by² + c)(ax) next +by next +c)>0

[0035] Among them, (x next ,y next () is the first vertex that is adjacent to the nearest vertex in a clockwise direction.

[0036] Let P1 be the entry point P. enter P2 is the exit point P esc ;

[0037] Conversely, if P2 is a point on the opposite side, then P2 is taken as the entry point P. enter P1 is the exit point P esc .

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

[0039] Calculate the aiming line vector in the Earth coordinate system based on the location of the UAV and reconnaissance point, and convert the aiming line vector in the Earth coordinate system into the aiming line vector in the geographical system of the UAV.

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

[0041] The aiming line and vertical angle are calculated based on the aiming line vector under the UAV's 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 field of view of the photoelectric sensor includes:

[0043] Based on the pixel requirements of the target image and the typical target size of the automatic target recognition algorithm, the instantaneous field of view of the photoelectric sensor is calculated.

[0044] The vertical and directional fields of view of the photoelectric sensor detector are calculated based on the instantaneous field of view detected by the photoelectric sensor 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(θ) LOS +FOV p / 2)-tan(θ LOS -FOV p / 2))

[0048] Among them, L v For the vertical observation range, L p The heading observation range is given by H, where H is the altitude of the UAV, and θ is the altitude of the UAV. LOS For the geographical azimuth of the reconnaissance point, FOV v ×FOV p It is used for photoelectric sensors to detect the field of view.

[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] Where, δ v δ represents the vertical overlap rate. p For heading overlap, The angle between the aiming line and the vertical.

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

[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. Considering the effective coverage of the reconnaissance area, extend the intersection by one field of view. Extend the current geographic reconnaissance point forward by a vertical distance to obtain the intermediate calculation point. Calculate the geographic reconnaissance point based on the intermediate calculation point and the single geographic reconnaissance line.

[0055] The beneficial effects of this invention are as follows:

[0056] This invention provides an online reconnaissance planning method using an UAV's photoelectric sensor. Based on the relative positional relationship between the UAV and the target area, it calculates a suitable reconnaissance entry point and angle, guiding the UAV into the reconnaissance area. According to the target pixel requirements of the automatic target recognition algorithm, and combined with the photoelectric sensor's detection field of view model, it calculates the effective detection range of the photoelectric sensor in the reconnaissance area. For convex polygonal target areas, it calculates geographical reconnaissance points based on the effective detection range, and generates photoelectric sensor control commands in real time, guiding the UAV to automatically detect targets in the reconnaissance area. This method, by controlling the photoelectric sensor's detection field of view and geographical reconnaissance points in real time, can acquire target images of the reconnaissance area that meet the requirements of the automatic target recognition algorithm, thereby improving the automation and intelligence level of UAVs in the event of target attacks. Attached Figure Description

[0057] 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.

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

[0059] Figure 2 Diagram showing the drone's entry point and angle of entry;

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

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

[0062] Figure 5 Schematic diagram of online reconnaissance planning using photoelectric sensors. Detailed Implementation

[0063] 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.

[0064] 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.

[0065] This invention provides an online reconnaissance planning method for unmanned aerial vehicles (UAVs) using photoelectric sensors. By setting appropriate UAV entry points and angles, the method guides the UAV into a reconnaissance area. Based on the target image pixel requirements of an automatic target recognition algorithm and the resolution of the photoelectric sensor detector, it calculates the photoelectric sensor's detection field of view, establishes a photoelectric sensor detection model, calculates the effective observation range of the photoelectric sensor, and generates real-time control commands for the photoelectric sensor, guiding the UAV to automatically detect targets in the reconnaissance area. Figure 1 As shown, it includes the following steps:

[0066] Step 1: Based on the relative positional 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 into the area for reconnaissance.

[0067] Step 2: Based on the location of the drone, the reconnaissance point, and the angle of entry, perform overrange judgment and calculate the relative angle of the geographical reconnaissance point;

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

[0069] Step 4: Establish a photoelectric sensor detection model, considering the geographical azimuth of the reconnaissance point, the vertical overlap rate and the forward overlap rate constraints of the reconnaissance images, and calculate the effective detection range of the photoelectric sensor in the reconnaissance area.

[0070] Step 5: For the convex polygon target area, calculate the geographic reconnaissance line and geographic reconnaissance point in real time based on the effective detection range, and then bind the real-time calculated geographic reconnaissance point to the photoelectric sensor.

[0071] Step 6: Complete the calculation of each geographical reconnaissance point in sequence according to Steps 2 to 5 until the cumulative heading distance exceeds the distance to the edge of the farthest point, then exit the online electro-optical reconnaissance mission.

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

[0073] Based on the pixel requirements of the target image and the typical target size of the automatic target recognition algorithm, the instantaneous field of view of the photoelectric sensor is calculated. Combined with the actual resolution of the photoelectric sensor detector, the vertical field of view and the lateral field of view of the photoelectric sensor detector are calculated. By controlling the photoelectric sensor according to the field of view, it can be ensured that the pixel of the acquired target image meets the requirements of the automatic target recognition algorithm.

[0074] Establish a field-of-view model for the photoelectric sensor, calculate the observable range of the photoelectric sensor detector on the ground, and consider the constraints of the geographical azimuth angle, vertical overlap rate, and forward overlap rate of the reconnaissance point to calculate the actual effective detection range of the photoelectric sensor.

[0075] Geographic reconnaissance points are calculated using a grating-based search strategy, and the real-time calculated geographic reconnaissance points are then fed into the photoelectric sensor. The cumulative heading distance of the reconnaissance points is calculated, and a single geographic reconnaissance line is constructed. The intersection of the single geographic reconnaissance line and the convex polygon is calculated, and considering the effective coverage of the reconnaissance area, the intersection point is extended by one field of view. The current geographic reconnaissance point is extended forward by a vertical distance to obtain an intermediate calculation point. Based on the intermediate calculation point and the single geographic reconnaissance line, geographic reconnaissance points are calculated, and the real-time calculated geographic reconnaissance points are fed into the photoelectric sensor.

[0076] The specific steps described above are as follows:

[0077] Step 1: Calculation of UAV entry point and angle of entry

[0078] Based on the relative positions of the UAV and the target area, select the reconnaissance entry edge and direction, calculate the appropriate reconnaissance entry point and angle, and guide the UAV into the area for reconnaissance.

[0079] 1) Reconnaissance of the entry point and direction

[0080] Assuming the reconnaissance area is a convex polygon with n sides, convert the latitude and longitude coordinates of the convex polygon vertices to Gaussian coordinates (according to the Gaussian projection method in GJB 6304-2008 "China Geodetic System 2000"). Then, sort the polygon vertices in Gaussian coordinates clockwise 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 UAV in the Gaussian coordinate system are (x ac ,y ac ), calculate the vertex v that is 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] Following the clockwise direction and vertex v nearest The two connected edges are respectively Calculate vertex v separately i (i = 1:n, i ≠ nearest) perpendicular distance to the two sides Choose to enter the edge:

[0085]

[0086] If d next,max >d back,max Then select To enter the edge, the entry direction is clockwise. This allows the UAV to enter and search along the length of the reconnaissance area, improving reconnaissance efficiency. Let D be the perpendicular distance between the entering edge and the farthest vertex. enter,max =d next,max ;

[0087] If d next,max <d back,max Then select To enter the edge, the entry direction is counterclockwise. This allows the UAV to enter and search along the length of the reconnaissance area, improving reconnaissance efficiency. Let D be the perpendicular distance between the entering edge and the farthest vertex. enter,max =d back,max ;

[0088] 2) Drone entry point

[0089] For a typical target, assume the maximum recognition distance of the automatic target recognition algorithm is D. iden,max , to enter the side The perpendicular bisector l, with the nearest vertex v nearest Let D be the center of the circle. iden,max Circle O1. For a suitable small search area, The side length should not be greater than D. iden,max Therefore, we can conclude that:

[0090]

[0091] Then circle O1 intersects line l at two points P1(x1,y1) and P2(x2,y2), one of which intersects the polygon at the point where it enters the edge. On the same side, another point and the polygon are on the edge. On the opposite side, let the entry edge be... The equation is:

[0092]

[0093] When the entry direction is clockwise, the entry edge is... set up Coordinates are (x back ,y back When P1 is a point on the opposite side, then:

[0094] (ax1+by1+c)(ax back +by back +c)<0

[0095] (ax² + by² + c)(ax) back +by back +c)>0

[0096] Let P1 be the entry point P. enter P2 is the exit point P esc .

[0097] Conversely, if P2 is a point on the opposite side, then P2 is taken as the entry point P. enter P1 is the exit point P esc .

[0098] When the entry direction is counterclockwise, the entry edge is... set up Coordinates are (x next ,y next When P1 is a point on the opposite side, then:

[0099] (ax1+by1+c)(ax next +by next +c)<0

[0100] (ax² + by² + c)(ax) next +by next +c)>0

[0101] Let P1 be the entry point P. enter P2 is the exit point P esc .

[0102] Conversely, if P2 is a point on the opposite side, then P2 is taken as the entry point P. enter P1 is the exit point P esc .

[0103] 3) Angle of entry for the drone

[0104] For entry point P enter Exit point P esc The direction of the line is... Entry angle is Angle with due north

[0105] Step 2: Calculation of relative angles of geographical reconnaissance points

[0106] Based on the location of the drone, the reconnaissance point, and the reconnaissance entry angle, the overrange judgment and the relative angle of the geographical reconnaissance point are calculated.

[0107] 1) Selection of geographical reconnaissance points

[0108] If the drone enters reconnaissance mode for the first time, the reconnaissance point is selected as the nearest vertex rp0 = v in the reconnaissance area. nearest Otherwise, the solution position from the previous cycle is selected as the calculation input rp. i =rp last ;

[0109] 2) Over-range judgment

[0110] Transform the aircraft position and the geographical reconnaissance point position to Earth coordinates. Calculate the aiming line vector in the Earth coordinate system:

[0111]

[0112] The UAV starts its area search from the reconnaissance entry point, controlling its electro-optical sensors 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 Then the drone continues to fly forward;

[0113]

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

[0115] continue;

[0116] 3) Calculation of relative angles

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

[0118]

[0119] The geographical azimuth of the reconnaissance point is the difference between the angle between the aiming line vector and true north and the UAV's entry angle.

[0120]

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

[0122]

[0123] Step 3: Calculation of the field of view detected by the photoelectric sensor

[0124] The field of view of the photoelectric sensor is calculated based on the target image pixel requirements and the resolution of the photoelectric sensor detector, according to the target recognition algorithm.

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

[0126]

[0127] Assume that the automatic target recognition algorithm can identify targets no smaller than p t ×p t Effective identification of pixel targets, with a photoelectric sensor detector resolution of p v ×p p Field of view is FOV v,min ×FOV p,min ~FOV v,max ×FOV p,max Continuous zooming throughout the transition between the large and small field of view allows for the detection of the instantaneous field of view:

[0128]

[0129] Vertical and yaw fields of view of photoelectric sensor detectors:

[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 drone is far from the reconnaissance area, the field of view of the photoelectric sensor will be set to the minimum to ensure that the target can be quickly detected once 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 pixel count of the acquired target image meets the requirements of the automatic target recognition algorithm.

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

[0138] A photoelectric sensor detection model is established, taking into account the geographical azimuth of the reconnaissance point, the vertical overlap rate of the reconnaissance images, and the forward overlap rate constraints, to calculate the effective detection range of the photoelectric sensor in the reconnaissance area.

[0139] 1) Observable range on the ground

[0140] Assuming the drone maintains level flight at altitude H, with both pitch and roll angles of 0, such as Figure 3 The diagram shows a schematic of the field of view model of a photoelectric sensor, in the photoelectric sensor coordinate system (OXYZ). e In the middle, O e P represents the aiming axis, and we know that ∠LO e P is the angle θ between the aiming line and the vertical. LOS Then the quadrilateral This refers to 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 In plane O e X e Z e Furthermore, the observation angle within 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 = FOVv Then the quadrilateral The vertex is in the photoelectric sensor coordinate system (OXYZ). e The lower coordinate is:

[0142]

[0143] To ensure effective coverage of the reconnaissance area by the photoelectric sensor, AD×KJ is selected as the observable range. Therefore, the vertical and forward observable ranges can be expressed as follows:

[0144]

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

[0146] 2) Effective detection range

[0147] When photoelectric sensors search a reconnaissance area, considering the geographical azimuth of the reconnaissance point, the vertical overlap rate of the reconnaissance images, and the forward overlap rate constraints, the actual effective detection range can be expressed as follows:

[0148]

[0149] Vertical overlap rate δ v ∈[0,1) represents 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 Similarly.

[0150] Step 5: Calculation of Geographic Reconnaissance Points

[0151] Geographic reconnaissance points are calculated using a grating-based search strategy. The real-time calculated geographic reconnaissance points are then fed into photoelectric sensors, which are then controlled to acquire images of the geographic reconnaissance points.

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

[0153] Let L be the heading distance between the geographic reconnaissance points along a single geographic reconnaissance line. p,j,i Let j be the number of geographical reconnaissance lines and i be the number of geographical reconnaissance points along a single geographical reconnaissance line. The minimum heading distance L for a single geographical reconnaissance line can be determined. p,j,min =min(L p,j,i If the cumulative reconnaissance distance L is calculated, then... p,sum =sum(L p,j,min );

[0154] 2) Calculation of geographical reconnaissance lines

[0155] Let v be the farthest vertex of the convex polygon. farthest (x farthest ,y farthest The foot of the perpendicular from the farthest vertex to the perpendicular line entering the side is F0(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] Let F be the intersection point of a single geographical reconnaissance line and the entry perpendicular line. 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 intersection point F j,i (x j,i ,y j,i Construct the slope intercept equation for a single geographic reconnaissance line 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 the intersection point of the geographic reconnaissance line and the convex polygon

[0167] Based on the reconnaissance approach direction, from entry point v nearest Begin by calculating the intersections of a single geographic reconnaissance line with each side of the convex polygon;

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

[0169]

[0170] Then the current LINE current,l (k current,l ,b current,l ) and a single geographical reconnaissance line LINE j,i (k j,i ,b j,i 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 a frame when its detection range crosses the boundary of the convex polygon.

[0173] 4) Calculation of geographical reconnaissance points

[0174] Let L be the vertical distance between the geographical reconnaissance points along a single geographical reconnaissance line. v,j,i Let j be the number of geographical reconnaissance lines, and i be the number of geographical reconnaissance points along 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 To obtain the midpoint 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 passage through the midpoint v mid,j,i Furthermore, the intersection of the straight line perpendicular to the single geographical reconnaissance line and the single geographical reconnaissance line is the geographical reconnaissance point v. j,i (x j,i ,y j,i ).

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

[0181] Complete the calculations for each geographical reconnaissance point in sequence according to steps 2 through 5. If the cumulative heading reconnaissance distance L... p,sum Greater than the perpendicular distance D between the entering edge and the farthest vertex enter,max This indicates that the drone has completed its reconnaissance area search and has exited its online electro-optical reconnaissance mission.

[0182] 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 online reconnaissance and planning using UAV photoelectric sensors, characterized in that, Includes the following steps: Step 1: Based on the relative positional relationship between the UAV and the target area, determine the reconnaissance entry edge and entry direction according to the long-range search principle; Calculate the reconnaissance entry point and entry angle based on the reconnaissance entry edge and entry direction to guide the UAV into the area for reconnaissance. Step 2: Calculate the geographical azimuth of the reconnaissance point and the angle between the aiming line and the vertical based on the location of the UAV, the reconnaissance point, and the angle of entry; Step 3: Calculate the field of view of the photoelectric sensor based on the target image pixel requirements and the resolution of the photoelectric sensor detector using the automatic target recognition algorithm; Step 4: Establish a photoelectric sensor detection model, and calculate the observable range of the photoelectric sensor detector on the ground based on the geographical azimuth of the reconnaissance point, the field of view of the photoelectric sensor, and the altitude of the UAV; Based on the observable range of the photoelectric 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, the effective detection range of the photoelectric sensor in the reconnaissance area is calculated. Step 5: For the convex polygon target area, calculate the geographic reconnaissance line and geographic reconnaissance point in real time based on the effective detection range, and then feed the real-time calculated geographic reconnaissance point into the photoelectric sensor. Step 6: Complete the calculation of each geographical reconnaissance point in sequence according to Steps 2 to 5 until the cumulative heading distance exceeds the distance to the edge of the farthest point, then exit the online electro-optical reconnaissance mission.

2. The online reconnaissance and planning method using UAV photoelectric sensors according to claim 1, characterized in that, The steps of selecting the scouting entry edge and entry direction include: 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 the two adjacent vertices. The perpendicular distance from each vertex in the target region to the two adjacent edges is calculated, and the maximum value of the two perpendicular distances is selected. The entry edge and entry direction are determined based on the maximum value of the two perpendicular distances.

3. The method for online reconnaissance and planning using UAV photoelectric sensors according to claim 2, characterized in that, The step of determining the entry edge and entry direction based on the maximum value of two perpendicular distances includes: Compare the maximum values ​​of two perpendicular distances; If the vertex with the maximum vertical distance is the first vertex that is clockwise adjacent to it, then the line connecting the nearest vertex and the first vertex that is clockwise adjacent to it 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 it in the counterclockwise direction, then the line connecting the first vertex adjacent to it in the counterclockwise direction and the nearest vertex is taken as the entering edge, and the entering direction is counterclockwise.

4. The online reconnaissance and planning method using UAV photoelectric sensors according to claim 1, characterized in that, The step of calculating the reconnaissance entry point and entry angle based on the reconnaissance entry edge and 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 this circle and the perpendicular bisector of the entering edge; Based on the direction of entry and whether the intersection point is on the same side or opposite 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 and exit points and true north is taken as the entry angle.

5. The online reconnaissance and planning method for UAV photoelectric sensors according to claim 4, characterized in that, The step of determining the entry and exit points by substituting the coordinates of the two intersection points into the entry edge based on the entry direction and whether the intersection points are on the same or opposite side of the entry edge includes: When the direction of entry is clockwise, and the intersection point P1 is on the opposite side, 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 Let be the last vertex adjacent to the nearest vertex in a clockwise direction, and let ax + by + c = 0 be the equation for entering the edge; Let P1 be the entry point P. enter The intersection point P2 on the same side is the exit point P. esc ; Conversely, if P2 is a point on the opposite side, then P2 is taken as the entry point P. enter P1 is the exit point P esc ; When the direction of entry is counterclockwise, and P1 is a point on the opposite side, 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 that is adjacent to the nearest vertex in a clockwise direction. Let P1 be the entry point P. enter P2 is the exit point P esc ; Conversely, if P2 is a point on the opposite side, then P2 is taken as the entry point P. enter P1 is the exit point P esc .

6. The online reconnaissance and planning method using UAV photoelectric sensors according to claim 1, characterized in that, The steps of calculating the geographical azimuth of the reconnaissance point and the angle between the aiming line and the vertical include: Calculate the aiming line vector in the Earth coordinate system based on the location of the UAV and reconnaissance point, and convert the aiming line vector in the Earth coordinate system into the aiming line vector in the geographical system of the UAV. Calculate the geographic azimuth of the reconnaissance point based on the aiming line vector and entry angle under the UAV geographic system; The aiming line and vertical angle are calculated based on the aiming line vector under the UAV's geographic system and the distance between the UAV and the geographic reconnaissance point.

7. The method for online reconnaissance and planning using UAV photoelectric sensors according to claim 1, characterized in that, The step of calculating the field of view detected by the photoelectric sensor includes: Based on the pixel requirements of the target image and the typical target size of the automatic target recognition algorithm, the instantaneous field of view of the photoelectric sensor is calculated. The vertical and directional fields of view of the photoelectric sensor detector are calculated based on the instantaneous field of view detected by the photoelectric sensor and the actual resolution of the photoelectric sensor detector.

8. The online reconnaissance and planning method using UAV photoelectric sensors 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 For the vertical observation range, L p The heading observation range is given by H, where H is the altitude of the UAV, and θ is the altitude of the UAV. LOS For the geographical azimuth of the reconnaissance point, FOV v ×FOV p It is used for photoelectric sensors to detect the field of view.

9. The online reconnaissance and planning method using UAV photoelectric sensors according to claim 8, characterized in that, The step of calculating the effective detection range of the photoelectric sensor in the reconnaissance area includes: Where, δ v δ represents the vertical overlap rate. p For heading overlap, The angle between the aiming line and the vertical.

10. The online reconnaissance and planning method using UAV photoelectric sensors according to claim 1, characterized in that, The steps for calculating the geographic reconnaissance line and geographic reconnaissance point include: 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. Considering the effective coverage of the reconnaissance area, extend the intersection by one field of view. Extend the current geographic reconnaissance point forward by a vertical distance to obtain the intermediate calculation point. Calculate the geographic reconnaissance point based on the intermediate calculation point and the single geographic reconnaissance line.

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