Integrated navigation system unmanned aerial vehicle track induction method and device, medium and equipment

Abstract

The invention discloses an integrated navigation system unmanned aerial vehicle track induction method and device, a medium and equipment, and belongs to the field of satellite navigation testing, and the method comprises the steps: obtaining a current state observation estimation value and an initial state observation estimation value of a target unmanned aerial vehicle; determining an initial induction trajectory based on the initial state observation estimation value; generating a first control quantity according to the current state observation estimated value and the initial induction trajectory; under the condition that it is determined that the first control quantity needs to be corrected, the first control quantity is corrected, a second control quantity is obtained, and an induction satellite signal is generated according to the second control quantity; applying the induction satellite signal to the target unmanned aerial vehicle, and obtaining an update state observation estimation value of the target unmanned aerial vehicle; and when it is determined that the updated state observation estimated value is the target end point, outputting an induction trajectory of the target unmanned aerial vehicle. And real-time closed-loop adjustment is performed on the first control quantity, so that the smoothness and the length of the induction trajectory are improved, the error of the actual trajectory and the induction trajectory of the unmanned aerial vehicle is reduced, and the risk of finding long-time induction is reduced.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation testing, and in particular to a method, device, medium and equipment for inducing trajectory of unmanned aerial vehicle in a combined navigation system. Background Art

[0002] With the progress of science and technology and the rapid development of economy, drones are widely used in all walks of life due to the unique advantages of unmanned technology in terms of durability, mobility and reducing the risk of life. GPS / INS combined navigation is one of the core technologies of drone system navigation. Navigation satellite signals are very weak. Therefore, drone combined navigation systems using satellite navigation terminals are susceptible to malicious interference such as suppression or deception. Compared with suppression, the power level, signal format and spectrum structure of deception are similar to those of real satellite signals, which is intended to force the receiving terminal to unconsciously lock on to false signals, produce navigation and positioning results that seem reliable but are actually wrong, and thus achieve the purpose of trajectory deception. Since the receiving terminal is unaware of the deception when being harassed, the harm of deception is more serious than that of suppression.

[0003] The deception model and deception algorithm established by the existing technology can achieve basic trajectory deception, but due to the lack of full utilization of trajectory planning algorithm information and the lack of real-time closed-loop adjustment of trajectory deception control quantity, the jitter of the UAV flight trajectory is easily aggravated, increasing the risk of long-term deception being easily detected, resulting in poor deception effect. Summary of the invention

[0004] The main purpose of this application is to provide a method, device, medium and equipment for inducing the trajectory of a UAV in a combined navigation system, aiming to solve the technical problem that the decoy model and decoy algorithm easily aggravate the jitter of the UAV flight trajectory and increase the risk of being detected.

[0005] To achieve the above-mentioned purpose, the present application provides a method for inducing the trajectory of a UAV in a combined navigation system, comprising: obtaining a current state observation estimate and an initial state observation estimate of a target UAV; determining an initial induced trajectory of the target UAV based on the initial state observation estimate; generating a first control quantity according to the current state observation estimate and the initial induced trajectory; when it is determined according to a trajectory constraint that the first control quantity needs to be corrected, correcting the first control quantity according to the trajectory constraint to obtain a second control quantity, and generating an induced satellite signal according to the second control quantity; applying the induced satellite signal to the target UAV to obtain an updated state observation estimate of the target UAV; and when it is determined that the updated state observation estimate is the target endpoint, outputting the induced trajectory of the target UAV.

[0006] Optionally, determining the initial induced trajectory of the target UAV based on the initial state observation estimate includes: setting the induced starting position and target end point of the target UAV according to the initial state observation estimate; and generating the initial induced trajectory of the target UAV according to the induced starting position and the target end point.

[0007] Optionally, after generating the first control quantity according to the current state observation estimate and the initial induced trajectory, the method further includes: judging the first control quantity based on the trajectory constraint condition; and generating the induced satellite signal according to the first control quantity when it is determined according to the trajectory constraint condition that the first control quantity does not need to be corrected.

[0008] Optionally, the method further includes: when determining that the updated state observation estimate is a non-target endpoint, using the updated state observation estimate as a current state observation estimate, and regenerating a first control amount based on the current state observation estimate and the initial induced trajectory.

[0009] Optionally, the current state observation estimate includes the current position; generating the first control amount based on the current state observation estimate and the initial induced trajectory includes: generating the first control amount based on the current position, a first position and a preset parameter relationship, the first position being the initial induced trajectory point position adjacent to the current position.

[0010] Optionally, the preset parameter relationship is:

[0011]

[0012] In the formula, a s is the first control variable, K P , K I , K D are the parameters of the PID controller. is the current position of the target drone, is the first position; is the original target position of the target UAV, For the target end point, To estimate the final velocity after filtering for receiving false signals, The initial velocity estimated after filtering the received false signal.

[0013] Optionally, correcting the first control amount according to the trajectory constraint condition to obtain the second control amount includes: correcting the first control amount according to a preset steering angle to obtain the second control amount.

[0014] Optionally, the current state observation estimate also includes the current speed; the first control quantity is corrected according to the preset steering angle to obtain the second control quantity, including: obtaining the first parameter according to the first control quantity, the current speed, the speed of the target UAV after applying the first control quantity, and a first parameter relationship; obtaining the second parameter according to the preset steering angle and the first parameter, and a second parameter relationship; obtaining the third parameter according to the second parameter, the preset steering angle and the current speed, and a third parameter relationship; correcting the first control quantity according to the third parameter to obtain the second control quantity.

[0015] Optionally, the first parameter relationship is:

[0016]

[0017] The second parameter relationship is:

[0018] β=π-α-Δθ max

[0019] The third parameter relationship is:

[0020]

[0021] In the formula, v is the current speed of the target UAV, v′ is the first control amount a s The speed of the target drone after s′ is the third parameter, α and β are parameters, Δθ max is the preset steering angle.

[0022] Optionally, after correcting the first control amount according to the third parameter, the method further includes: determining the steering angle of the induced trajectory according to the correction value obtained after the correction; combining the current speed and the first speed in combination with the steering angle, wherein the first speed is the speed of the initial induced trajectory point adjacent to the current position, to obtain the second control amount.

[0023] Optionally, the current speed and the first speed are fused in combination with the steering angle to obtain the second control amount, including: obtaining the second control amount according to the steering angle, the current speed and the first speed, and a fourth parameter relationship.

[0024] Optionally, the fourth parameter relationship is:

[0025]

[0026] Where v is the current speed, is the first speed, a s″ is the second control variable, and θ is the induced trajectory steering angle.

[0027] In addition, to achieve the above-mentioned purpose, the present application also provides a combined navigation system UAV trajectory induction device, including: a state estimation module, used to obtain the current state observation estimate and the initial state observation estimate of the target UAV; a trajectory generation module, used to determine the initial induced trajectory of the target UAV based on the initial state observation estimate; a trajectory tracking control module, used to generate a first control quantity according to the current state observation estimate and the initial induced trajectory; a control adjustment module, used to correct the first control quantity according to the trajectory constraint condition when it is determined that the first control quantity needs to be corrected according to the trajectory constraint condition, to obtain a second control quantity, and to generate an induced satellite signal according to the second control quantity; a state update module, used to apply the induced satellite signal to the target UAV to obtain the updated state observation estimate of the target UAV; an induced trajectory output module, used to output the induced trajectory of the target UAV when it is determined that the updated state observation estimate is the target end point.

[0028] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium on which a computer algorithm is stored. When the computer algorithm is executed by a processor, the method for inducing the trajectory of a drone in the combined navigation system as described above is implemented.

[0029] In addition, to achieve the above-mentioned objectives, the present application also provides a combined navigation system UAV trajectory induction device, comprising at least one processing unit, a system memory and a bus, and when the processing unit executes a program, it implements the combined navigation system UAV trajectory induction method as described above.

[0030] The embodiments of the present application propose a method, device, medium and equipment for inducing the trajectory of a drone in a combined navigation system. The method first determines an initial induced trajectory, obtains a first control quantity based on the initial induced trajectory and an estimated value of the drone's current state observation, and performs real-time closed-loop adjustment on the first control quantity based on the trajectory constraint conditions, thereby improving the smoothness and length of the induced trajectory, thereby reducing the trajectory error between the actual trajectory of the drone and the induced trajectory, reducing the risk of being discovered due to long-term induction, and improving the overall deception effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of a flow chart of a method for inducing a UAV trajectory in a combined navigation system for this application;

[0032] Figure 2 This is a schematic diagram of the steering angle constraint state in a method for inducing a UAV trajectory in an integrated navigation system of the present application;

[0033] Figure 3 This is a schematic diagram of a speed difference constraint state in a UAV trajectory induction method of an integrated navigation system in this application;

[0034] Figure 4 A diagram of the change of the state of a UAV during the induction process of a UAV trajectory induction method of a combined navigation system in this application;

[0035] Figure 5 This is a schematic diagram of the structure of a UAV trajectory induction device for a combined navigation system in this application;

[0036] Figure 6 A schematic diagram of the structure of a computer-readable storage medium for this application;

[0037] Figure 7 This is a schematic diagram of the structure of a UAV trajectory induction device for a combined navigation system for this application;

[0038] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The first embodiment of the present application provides a method for guiding the trajectory of a drone using an integrated navigation system. Figure 1 FIG. 1 is a flow chart of a method for guiding the trajectory of a drone using an integrated navigation system according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0041] Step S10, obtaining the current state observation estimate and the initial state observation estimate of the target UAV;

[0042] Step S20, determining an initial induced trajectory of the target UAV based on the initial state observation estimate;

[0043] Step S30, generating a first control amount according to the current state observation estimate and the initial induced trajectory;

[0044] Step S40, when it is determined according to the trajectory constraint that the first control amount needs to be corrected, correcting the first control amount according to the trajectory constraint to obtain a second control amount, and generating an induced satellite signal according to the second control amount;

[0045] Step S50, applying the induced satellite signal to the target UAV to obtain an updated state observation estimate of the target UAV;

[0046] Step S60: When it is determined that the updated state observation estimate value is the target endpoint, the induced trajectory of the target UAV is output.

[0047] In this embodiment, the initial induced trajectory is first determined, and the first control amount is obtained according to the initial induced trajectory and the estimated value of the current state observation of the UAV. The first control amount is adjusted in real time in a closed loop according to the trajectory constraint condition to improve the smoothness and length of the induced trajectory, thereby reducing the trajectory error between the actual trajectory of the UAV and the induced trajectory, and reducing the risk of being discovered due to long-term induction.

[0048] The process of determining the initial induced trajectory of the target UAV based on the initial state observation estimate in step S20 may specifically include:

[0049] Step S21, setting the induced starting position and target end point of the target UAV according to the initial state observation estimation value;

[0050] Step S22, generating an initial induced trajectory of the target UAV according to the induced starting position and the target end point.

[0051] After the initial induced trajectory is obtained, the first control amount can be determined according to the initial induced trajectory.

[0052] The generation of the first control amount according to the current state observation estimate and the initial induced trajectory in step S30 is described in detail below.

[0053] Exemplarily, the current state observation estimate may include a current position; a first control amount is generated according to the current position, a first position and a preset parameter relationship, wherein the first position is the initial induced trajectory point position adjacent to the current position.

[0054] In an exemplary embodiment, the preset parameter relationship may be:

[0055]

[0056] In the formula, a s is the first control variable, K P , K I , K D are the parameters of the PID controller. is the current position of the target drone, is the initial induced trajectory point position adjacent to the current position; is the original target position of the target UAV, For the target end point, To estimate the final velocity after filtering for receiving false signals, The initial velocity estimated after filtering the received false signal.

[0057] In this embodiment, according to the current position and the first position, the induction system will output the initial control amount for the target UAV, that is, the first control amount. Then, the first control amount is used to generate an induction satellite signal and applied to the target UAV to induce the UAV to reach the target end point. However, the first control amount may cause unreasonable changes in the attitude of the target UAV, such as aggravated jitter of the flight trajectory, which is easily discovered by the deception detection system of the target UAV, resulting in induction failure. Based on this, after obtaining the first control amount, the embodiment can further determine whether the first control amount needs to be corrected according to the trajectory constraint condition. The specific judgment method is: the steering angle of the initial induction trajectory can be compared with the preset steering angle. When the steering angle of the initial induction trajectory is greater than the preset steering angle, it is determined that the first control amount needs to be corrected. When it is determined that the first control amount needs to be corrected, step S40 is executed. If the first control amount does not need to be corrected, the subsequent step S401 is executed. The following first corrects the first control amount according to the trajectory constraint condition in step S40 to obtain the second control amount, and a specific introduction is given.

[0058] The first control amount is corrected according to the preset steering angle to obtain the second control amount, and an induction satellite signal is generated according to the second control amount.

[0059] In an exemplary embodiment, the current state observation estimate also includes the current speed. Figure 2 The angle control diagram specifically introduces how the first control amount is corrected according to the preset steering angle to obtain the second control amount.

[0060] Obtaining a first parameter according to the first control amount, the current speed, the speed of the target UAV after applying the first control amount, and a first parameter relationship;

[0061] Obtaining a second parameter according to the preset steering angle, the first parameter, and a relationship between the second parameter;

[0062] Obtaining a third parameter according to the second parameter, the preset steering angle, the current speed, and a third parameter relationship;

[0063] The first control amount is corrected according to the third parameter to obtain the second control amount.

[0064] In an exemplary embodiment, the first parameter relationship may specifically be:

[0065]

[0066] The second parameter relationship may specifically be:

[0067] β=π-α-Δθ max

[0068] The third parameter relationship may specifically be:

[0069]

[0070] In the formula, v is the current speed of the target UAV, v′ is the first control amount a s The speed of the target drone after s′ is the third parameter, α and β are parameters, Δθ max is the preset steering angle.

[0071] In this embodiment, the steering angle of the initial induced trajectory is compared with the preset steering angle. When the steering angle of the initial induced trajectory is greater than the preset steering angle, the cosine theorem is used to calculate the value of α through the first parameter relationship, and then the second parameter is used to calculate the value of β. Finally, the preset steering angle and β are used to obtain the third parameter a through the third parameter relationship. s′ Since the third parameter a s′ It is calculated based on the preset steering angle, so the corrected first control amount should be smaller than the third parameter a s ′, so according to the third parameter a s′ For the first control variable a s Correction is performed to obtain a value less than the third parameter a s′ The value of is taken as the second control quantity. Then, the second control quantity is substituted into the first parameter relationship to calculate the new value of α. Since the value of β remains unchanged, the second parameter relationship can be used to obtain the steering angle θ of the new initial induced trajectory, that is, the induced trajectory steering angle. The second control quantity obtained by limiting the steering angle can ensure that the UAV attitude changes within a reasonable range, improve the smoothness and trajectory length of the actual trajectory of the UAV after induction, reduce the trajectory error between the original trajectory and the induced trajectory, and improve the overall deception effect.

[0072] On the basis of the above embodiment, in addition to judging whether correction is required by preset steering angle, judgment and adjustment may also be performed by setting other trajectory constraint conditions. Exemplarily, the trajectory constraint condition may further include whether the difference between the current speed and the first speed is less than the preset difference, wherein the first speed is the speed of the initial induced trajectory point adjacent to the current position; on this basis, after correcting the first control amount according to the third parameter, the method may further include:

[0073] The steering angle of the induced trajectory is determined according to the correction value obtained after the correction; the current speed and the first speed are fused in combination with the steering angle to obtain the second control amount.

[0074] Combine the following Figure 3The generation process of the second control quantity is introduced in detail by the law of cosines.

[0075] In an exemplary embodiment, the process of combining the current speed and the first speed with the steering angle to obtain the second control amount may specifically include:

[0076] The second control amount is obtained according to the steering angle, the current speed and the first speed, and a fourth parameter relationship.

[0077] In an exemplary embodiment, the fourth parameter relationship may specifically be:

[0078]

[0079] Wherein, v is the current speed, is the first speed, a s″ is the second control quantity, and θ is the induced trajectory steering angle.

[0080] In this embodiment, after determining the induced trajectory turning angle, the difference between the current speed and the speed of the initial induced trajectory point adjacent to the current position is further adjusted, that is, the current speed and the first speed are merged through the fourth parameter relationship. Through the above adjustment, the trajectory induced control amount is adjusted in real time in a closed loop to reduce the jitter of the UAV flight trajectory, which can make the actual trajectory of the UAV more reasonable and avoid being detected by the angle and speed detection means of the UAV.

[0081] It is worth noting that the trajectory constraint conditions described in this embodiment include a preset steering angle constraint and / or a speed difference constraint. Whether the first control amount needs to be corrected is determined according to the trajectory constraint conditions. The specific determination process may include:

[0082] First, determine whether the steering angle of the initial induced trajectory point is greater than the preset steering angle. If the steering angle of the initial induced trajectory point is greater than the preset steering angle, determine that the first control amount needs to be corrected, and correct the first control amount according to the preset steering angle to obtain a correction value. Further, determine the steering angle of the induced trajectory according to the correction value, and then combine the current speed and the first speed with the steering angle of the induced trajectory to obtain the second control amount.

[0083] As another feasible implementation, whether the first control amount needs to be corrected may also be determined by executing the following process:

[0084] If the steering angle of the initial induced trajectory point is less than the preset steering angle, it is determined whether the difference between the current speed and the first speed exceeds the preset difference value. If so, it is determined that the first control amount needs to be corrected, and the current speed and the first speed are directly merged with the steering angle of the initial induced trajectory point to obtain the second control amount.

[0085] In summary, when performing trajectory deception on the established deception model, the initial PID control quantity, i.e., the first control quantity a, is obtained. s After that, the maximum angle limit is firstly performed to obtain the PID control amount after angle correction, i.e. the third parameter a s′ Then the UAV speed is combined with the preset trajectory speed to obtain the PID control quantity after speed adjustment, i.e. the second control quantity a s″ , the second control amount a s″ It can make the actual trajectory of the drone more reasonable while avoiding being deceived by the angle and speed detection methods of the drone.

[0086] In an exemplary embodiment, after step S30, the method may further include:

[0087] S401. When it is determined according to a trajectory constraint condition that the first control amount does not need to be corrected, generate the induced satellite signal according to the first control amount.

[0088] Among them, when the steering angle of the initial induced trajectory point is less than the preset steering angle, and the speed difference between the current speed and the first speed is less than the preset difference value, it is determined that there is no need to correct the first control amount. At this time, the induced satellite signal is directly generated according to the first control amount.

[0089] After the induction satellite signal is obtained, the induction satellite signal is applied to the target UAV so that the UAV can navigate according to the induction satellite signal. The following specifically introduces the step S50 of applying the induction satellite signal to the target UAV to obtain the updated state observation estimate of the target UAV.

[0090] Step S51, applying the induction satellite signal to the target UAV;

[0091] Step S52, obtaining an updated state observation estimate of the target UAV.

[0092] In this embodiment, the induction satellite signal is used to induce the target drone to change its state. After the induction satellite signal is applied to the target drone, the drone will update its own state according to the induction satellite signal. Therefore, before obtaining the updated state observation estimate of the target drone, the process of the drone updating its own state is first specifically introduced.

[0093] When receiving the guidance satellite signal When the target UAV's state observation estimate is not equal to the UAV's true position, the target UAV will generate a control amount that deviates from the first control amount or the second control amount by δ, and use this control amount to control itself. First, the UAV's deception detection system receives the induced satellite signal. After that, the normalized information square ε s (k):

[0094] ε s (k)=(z s (k)-x s (kk-1)) T S(k) -1 (z s* (k)-x s (kk-1))

[0095] In the formula, z s (k) The target UAV receives the induced satellite signal The estimated value of the state observation after s (kk-1) is the target drone receiving the guidance satellite signal The state prediction value of the state at time k is based on the state at time k-1 and its past time in the post-Kalman filtering process.

[0096] Next, the drone updates its own trajectory tracking status as follows:

[0097]

[0098]

[0099] ε s (k)≤ε *

[0100] In the formula, is the updated state estimate observation of the target UAV, is the induced satellite signal at time k, a(k) is the control amount of the target UAV at time k, and a s (k) is the first control amount or the second control amount at time k, is the position of the target UAV at time k, is the target position of the target UAV at time k, v(k+1) is the speed that the target UAV needs to reach at time k+1, is the speed of the target drone at time k, r(k+1) is the position at time k+1, is the estimated position at the moment, A is the state transfer matrix, K is the Kalman filter gain, H is the observation matrix, is the gain of the PID controller, ε *It is the maximum error threshold allowed by the system.

[0101] Combine the following Figure 4 The specific scenario of the target drone receiving the induced satellite signal The subsequent status update process is described in detail.

[0102] When the target drone with the real position p receives the induced satellite signal After that, the positioning of the induced satellite signal is p s , the target UAV updates the state observation estimate to And consider its own position to be at p s Nearby; at this time, the target drone’s controller estimates the value based on the state observation Generate control amount a s , so that the target UAV flies to the target position of the original trajectory But the control amount a s When added to a drone, it will make it fly to the target end of the induced trajectory The actual updated state observation estimate of the UAV is p′.

[0103] After the drone updates its own state, it obtains the updated state observation estimate of the target drone, and determines whether the position corresponding to the updated state observation estimate is the target end point. If it is not the target end point, the method of this embodiment further includes the following steps:

[0104] Step S70, when it is determined that the updated state observation estimate is a non-target endpoint, the updated state observation estimate is used as the current state observation estimate, and a first control amount is regenerated based on the current state observation estimate and the initial induced trajectory.

[0105] In this embodiment, when the position corresponding to the updated state observation estimate is not the target endpoint, the process returns to step S30, and a new first control amount is generated based on the updated state observation estimate and the initial induced trajectory. Steps S30 to S60 are repeated until it is determined that the updated state observation estimate is the target endpoint, and the induced trajectory of the target UAV is output to achieve trajectory induction.

[0106] Based on the above embodiments, Figure 5 The schematic diagram of the structure of a UAV trajectory induction device of a combined navigation system is shown in FIG. Figure 5As shown, the embodiment of the present application also provides a combined navigation system UAV trajectory induction device, including: a state estimation module 100, a trajectory generation module 200, a trajectory tracking control module 300, a control adjustment module 400, a state update module 500 and an induced trajectory output module 600, wherein the state estimation module 100 is used to obtain a current state observation estimate and an initial state observation estimate of a target UAV; the trajectory generation module 200 is used to determine an initial induced trajectory of the target UAV based on the initial state observation estimate; the trajectory tracking control module 300 is used to obtain an initial state observation estimate and an initial state observation estimate of the target UAV according to the current state observation estimate and the initial state observation estimate; The guide trajectory generates a first control quantity; the control adjustment module 400 is used to adjust the first control quantity according to the trajectory constraint condition to obtain a second control quantity when it is determined that the first control quantity needs to be corrected according to the trajectory constraint condition, and generate an induced satellite signal according to the second control quantity; the state update module 500 is used to apply the induced satellite signal to the target UAV to obtain an updated state observation estimate of the target UAV; the induced trajectory output module 600 is used to output the induced trajectory of the target UAV when it is determined that the updated state observation estimate is the target end point.

[0107] In an exemplary embodiment, the state estimation module 100 includes an initial trajectory generation module 101, which is used to obtain an initial state observation estimate of the target UAV; according to the initial state observation estimate, an induced starting position and a target end point of the target UAV are set, and an initial induced trajectory is generated according to the induced starting position and the target end point.

[0108] In an exemplary embodiment, the trajectory tracking control module 300 is specifically configured to obtain a first control amount according to the current position, the initial induced trajectory point position adjacent to the current position, and a preset parameter relationship.

[0109] In an exemplary embodiment, the control adjustment module 400 is specifically used to obtain a first parameter based on the first control amount, the current speed, the speed of the target UAV after applying the first control amount, and a first parameter relationship; obtain a second parameter based on the preset steering angle and the first parameter, and a second parameter relationship; obtain a third parameter based on the second parameter, the preset steering angle and the current speed, and a third parameter relationship; and correct the first control amount based on the third parameter to obtain the second control amount.

[0110] In an exemplary embodiment, the control adjustment module 400 is also used to determine the steering angle of the induced trajectory according to the correction value after the correction; and obtain the second control amount according to the steering angle, the current speed and the speed of the initial induced trajectory point adjacent to the current position, and a fourth parameter relationship.

[0111] It should be understood that the combined navigation system UAV trajectory induction device of the present application has the same beneficial effects as described in any of the above-mentioned combined navigation system UAV trajectory induction method embodiments, which will not be repeated here.

[0112] Based on the above embodiments, the present application also provides a computer-readable storage medium, referring to Figure 6 , the computer-readable storage medium shown is a CD 700, on which a computer algorithm (i.e., an algorithm product) is stored. When the computer algorithm is executed by the processor, each step recorded in the above method implementation is implemented, for example, obtaining a current state observation estimate and an initial state observation estimate of the target UAV; determining an initial induced trajectory of the target UAV based on the initial state observation estimate; generating a first control amount according to the current state observation estimate and the initial induced trajectory; when it is determined according to the trajectory constraint that the first control amount needs to be corrected, adjusting the first control amount according to the trajectory constraint to obtain a second control amount, and generating an induced satellite signal according to the second control amount; applying the induced satellite signal to the target UAV to obtain an updated state observation estimate of the target UAV; when it is determined that the updated state observation estimate is the target end point, outputting the induced trajectory of the target UAV. The specific implementation method of each step is not repeated here.

[0113] It should be noted that examples of computer-readable storage media may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0114] In addition, based on the above embodiments, the present application also provides a combined navigation system UAV trajectory induction device, Figure 7 A block diagram of an exemplary integrated navigation system UAV trajectory induction device suitable for implementing an embodiment of the present application is shown. The integrated navigation system UAV trajectory induction device 800 may be a computer system or a server. Figure 7 The displayed combined navigation system UAV trajectory induction device 800 is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] refer to Figure 7 , the components of the combined navigation system UAV trajectory induction device 800 may include but are not limited to: one or more processors or processing units 801, a system memory 802, and a bus 803 connecting different system components (including the system memory 802 and the processing unit 801).

[0116] The integrated navigation system drone trajectory guidance device 800 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the integrated navigation system drone trajectory guidance device 800, including volatile and non-volatile media, removable and non-removable media.

[0117] The system memory 802 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) 8021 and / or a cache memory 8022. The integrated navigation system drone trajectory guidance device 800 may further include other removable / non-removable, volatile / non-volatile computer system storage media. For example only, the ROM 8023 may be used to read and write non-removable, non-volatile magnetic media ( Figure 7 is not shown in the Figure 7 As shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to a bus 803 connecting different system components through one or more data medium interfaces. The system memory 802 may include at least one algorithm product, which has a set (e.g., at least one) algorithm module, which is configured to perform the functions of each embodiment of the present application.

[0118] An algorithm / utility 8025 having a set (at least one) of algorithm modules 8024 may be stored, for example, in system memory 802, and such algorithm modules 8024 include, but are not limited to, an operating system, one or more application algorithms, other algorithm modules, and algorithm data, each of which or some combination may include an implementation of a network environment. Algorithm modules 8024 generally perform the functions and / or methods of the embodiments described herein.

[0119] The integrated navigation system drone trajectory guidance device 800 can also communicate with one or more external devices 804 (such as a keyboard, a pointing device, a display, etc.). Such communication can be performed through an input / output (I / O) interface 805. In addition, the integrated navigation system drone trajectory guidance device 800 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 806. Figure 7 As shown, the network adapter 806 communicates with other modules (such as the processing unit 801, etc.) of the integrated navigation system drone trajectory induction device 800 through the bus 803 connecting different system components. Figure 7 Not shown, other hardware and / or software program modules may be used in conjunction with the combined navigation system UAV trajectory induction device 800 .

[0120] The processing unit 801 executes various functional applications and data processing by running the algorithm stored in the system memory 802, for example, obtaining the current state observation estimate and the state observation estimate of the target UAV; determining the initial induced trajectory of the target UAV based on the initial state observation estimate; generating a first control amount according to the current state observation estimate and the initial induced trajectory; in the case where the first control amount is determined to need to be corrected according to the trajectory constraint condition, adjusting the first control amount according to the trajectory constraint condition to obtain a second control amount, and generating an induced satellite signal according to the second control amount; applying the induced satellite signal to the target UAV to obtain the updated state observation estimate of the target UAV; when the updated state observation estimate is determined to be the target end point, outputting the induced trajectory of the target UAV, the specific implementation of each step is not repeated here. It should be noted that although several units / modules or sub-units / sub-modules of the UAV trajectory induction device of the integrated navigation system are mentioned in the above detailed description, this division is only exemplary and not mandatory. In fact, according to the embodiment of the present application, the features and functions of two or more units / modules described above can be concretized in one unit / module. On the contrary, the features and functions of one unit / module described above may be further divided into multiple units / modules to be embodied.

[0121] In the description of the present application, it should be noted that the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0122] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0123] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0126] If the function is implemented in the form of a software program functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software program product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store algorithm codes.

[0127] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for guiding the trajectory of an unmanned aerial vehicle using an integrated navigation system, characterized in that: include: Obtain the current state observation estimate and initial state observation estimate of the target UAV; Determining an initial induced trajectory of the target UAV based on the initial state observation estimate; Generate a first control variable according to the current state observation estimate and the initial induced trajectory; In the case where it is determined according to the trajectory constraint that the first control amount needs to be corrected, the first control amount is corrected according to the trajectory constraint to obtain a second control amount, and an induced satellite signal is generated according to the second control amount; Applying the induced satellite signal to the target UAV to obtain an updated state observation estimate of the target UAV; When it is determined that the updated state observation estimate is the target endpoint, the induced trajectory of the target UAV is output.

2. The integrated navigation system UAV trajectory induction method according to claim 1, characterized in that: The determining the initial induced trajectory of the target UAV based on the initial state observation estimate includes: According to the initial state observation estimate, setting the induced starting position and target end point of the target UAV; An initial induced trajectory of the target UAV is generated according to the induced starting position and the target end point.

3. The integrated navigation system UAV trajectory induction method according to claim 1, characterized in that: After generating the first control amount according to the current state observation estimate and the initial induced trajectory, the method further includes: When it is determined according to the trajectory constraint that the first control amount does not need to be corrected, the induced satellite signal is generated according to the first control amount.

4. The integrated navigation system UAV trajectory induction method according to claim 1, characterized in that: The method further comprises: When determining that the updated state observation estimate is a non-target endpoint, the updated state observation estimate is used as the current state observation estimate, and the first control amount is regenerated based on the current state observation estimate and the initial induced trajectory.

5. The integrated navigation system UAV trajectory induction method according to claim 1, characterized in that: The current state observation estimate includes a current position; and generating a first control amount according to the current state observation estimate and the initial induced trajectory includes: A first control amount is generated according to the relationship between the current position, the first position and a preset parameter, wherein the first position is the position of the initial induced trajectory point adjacent to the current position.

6. The integrated navigation system UAV trajectory induction method according to claim 5, characterized in that: The preset parameter relationship is: In the formula, a s is the first control variable, K P , K I , K D are the parameters of the PID controller. is the current position of the target drone, is the first position; is the original target position of the target UAV, For the target end point, To estimate the final velocity after filtering for receiving false signals, The initial velocity estimated after filtering the received false signal.

7. The integrated navigation system UAV trajectory induction method according to claim 5, characterized in that: The correcting the first control amount according to the trajectory constraint condition to obtain the second control amount includes: The first control amount is corrected according to a preset steering angle to obtain the second control amount.

8. The integrated navigation system UAV trajectory induction method according to claim 7, characterized in that: The current state observation estimation value also includes the current speed; the first control amount is corrected according to the preset steering angle to obtain the second control amount, including: Obtaining a first parameter according to the first control amount, the current speed, the speed of the target UAV after applying the first control amount, and a first parameter relationship; Obtaining a second parameter according to the preset steering angle, the first parameter, and a relationship between the second parameter; Obtaining a third parameter according to the second parameter, the preset steering angle, the current speed, and a third parameter relationship; The first control amount is corrected according to the third parameter to obtain the second control amount.

9. The integrated navigation system UAV trajectory induction method according to claim 8, characterized in that: The first parameter relationship is: The second parameter relationship is: β=π-α-Δθ max The third parameter relationship is: In the formula, v is the current speed of the target UAV, v′ is the first control amount a s The speed of the target drone after s′ is the third parameter, α and β are parameters, Δθ max is the preset steering angle.

10. The integrated navigation system UAV trajectory induction method according to claim 9, characterized in that: After correcting the first control amount according to the third parameter, the method further includes: Determine the steering angle of the induced trajectory according to the correction value obtained after the correction; The second control amount is obtained by fusing the current speed and the first speed in combination with the steering angle, where the first speed is the speed of the initial induced trajectory point adjacent to the current position.

11. The integrated navigation system UAV trajectory induction method according to claim 10, characterized in that: The step of combining the current speed and the first speed with the steering angle to obtain the second control amount includes: The second control amount is obtained according to the steering angle, the current speed, the first speed, and a fourth parameter relationship.

12. The integrated navigation system UAV trajectory induction method according to claim 11, characterized in that: The fourth parameter relationship is: Where v is the current speed, is the first speed, a s″ is the second control variable, and θ is the induced trajectory steering angle.

13. A combined navigation system UAV trajectory induction device, characterized in that: include: A state estimation module is used to obtain the current state observation estimation value and the initial state observation estimation value of the target UAV; A trajectory generation module, configured to determine an initial induced trajectory of the target UAV based on the initial state observation estimate; A trajectory tracking control module, configured to generate a first control variable according to the current state observation estimate and the initial induced trajectory; a control adjustment module, configured to, when it is determined according to a trajectory constraint condition that the first control amount needs to be corrected, correct the first control amount according to the trajectory constraint condition to obtain a second control amount, and generate an induced satellite signal according to the second control amount; A state updating module, used for applying the induced satellite signal to the target UAV to obtain an updated state observation estimate of the target UAV; The induced trajectory output module is used to output the induced trajectory of the target UAV when it is determined that the updated state observation estimate value is the target end point.

14. A computer-readable storage medium, characterized in that: A computer algorithm is stored thereon, and when the computer algorithm is executed by the processor, the method for inducing the trajectory of a drone of a combined navigation system as claimed in any one of claims 1 to 12 is implemented.

15. A combined navigation system UAV trajectory induction device, characterized in that: The method comprises at least one processing unit, a system memory and a bus. When the processing unit executes a program, the method for inducing the trajectory of a drone in an integrated navigation system as claimed in any one of claims 1 to 12 is implemented.

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