Photoelectric automatic linkage reconnaissance method suitable for fixed-wing unmanned aerial vehicle

Abstract

The invention particularly relates to a photoelectric automatic linkage reconnaissance method suitable for a fixed-wing unmanned aerial vehicle. The method comprises the following steps: receiving a task packet which is issued by a superior command system and contains a to-be-reconnaissance area and a to-be-reconnaissance multi-target point set; based on the to-be-reconnaissance area, determining a snakelike fixed-point route and a Classifying the to-be-reconnaissance multi-target point set to obtain a detailed survey waypoint set; arranging the snakelike fixed-point route and the set containing detailed waypoints, and generating a reconnaissance route with the shortest travel distance of the unmanned aerial vehicle passing through the arranged waypoints in sequence from the current position; and controlling the unmanned aerial vehicle to autonomously fly on the reconnaissance route, and automatically starting photoelectric linkage based on the position relationship between the unmanned aerial vehicle and the local rectangular area or each detailed waypoint, thereby realizing automatic reconnaissance. The method reduces the operation burden of personnel, improves the recognition probability and reconnaissance efficiency, and enhances the flexibility of tactical application of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an optoelectronic automatic linkage reconnaissance method suitable for fixed-wing unmanned aerial vehicles. Background Art

[0002] With the development of UAV reconnaissance technology, the use of UAV reconnaissance to obtain intelligence has become an important supplement and enhancement to reconnaissance satellites and manned reconnaissance aircraft. Compared with reconnaissance satellites, it has the advantages of low cost, flexible control of reconnaissance areas, and high resolution of reconnaissance targets; compared with manned reconnaissance aircraft, it has the ability to monitor specific areas for a long time, track specific routes with high precision, and repeatably perform specific tasks, and it does not have to consider issues such as pilot casualties. UAV reconnaissance has become an important aerial reconnaissance equipment.

[0003] At present, drone reconnaissance still requires operators to monitor in real time through data links, and the autonomous reconnaissance capability is relatively poor. When the drone system receives the externally issued task package for the general survey of the reconnaissance area and the detailed survey of multiple target points, it usually plans a route that can complete the task based on the experience of the commander, and then completes the task through the cooperation of the flight control operator and the mission control operator. In particular, the mission control operator needs to have strong optoelectronic operation capabilities; but the experience and ability of the personnel are uneven, which is very likely to be time-consuming and laborious, and there is a possibility of missing inspections, resulting in failure to complete the task. If the drone data link is interrupted, the operator will not be able to continue reconnaissance. In the ever-changing battlefield environment, it is easy to miss opportunities. Therefore, there is an urgent need to invent an optoelectronic automatic linkage reconnaissance system, which can quickly plan an automatic reconnaissance route when receiving externally issued task packages for surveying the area to be surveyed and for detailed survey of multiple target points. During the flight of the UAV on the reconnaissance route, the optoelectronic platform is linked to realize automatic survey of the area to be surveyed and detailed survey of multiple target points, effectively improving the recognition probability and reconnaissance efficiency and reducing the operating burden of personnel; even when the UAV data link is interrupted, as long as the planning is completed, the UAV can still perform the established reconnaissance mission normally. Summary of the invention

[0004] When the UAV system receives the task package of the area to be reconnaissance and the multi-target point set sent from the outside, in order to avoid the situation that the reconnaissance process completely relies on the experience and self-control ability of personnel, or even the situation that the task cannot be continued when the data link is interrupted, the present invention provides an optoelectronic automatic linkage reconnaissance method suitable for fixed-wing UAVs, which is used to reduce the operating burden of personnel, improve the recognition probability and reconnaissance efficiency, and enhance the flexibility of UAV tactical application.

[0005] Other features and advantages of the present invention will become apparent from the following detailed description, or may be learned in part by practice of the present invention.

[0006] According to a first aspect of the present invention, there is provided an optoelectronic automatic linkage reconnaissance method applicable to a fixed-wing unmanned aerial vehicle, the method comprising:

[0007] Receive the mission package issued by the superior command system, which includes the area to be surveyed and the multi-target point set to be surveyed;

[0008] Based on the area to be surveyed, determining a serpentine fixed-point route and a local rectangular area surveyed by the drone on each long side of the serpentine fixed-point route;

[0009] Classifying the multi-target point set to be reconnaissance to obtain a detailed inspection waypoint set including an attribute list;

[0010] Arrange the serpentine fixed-point route and the detailed reconnaissance waypoint set to generate a reconnaissance route with the shortest travel distance for the drone to sequentially pass through the arranged waypoints from the current position;

[0011] The UAV is controlled to fly autonomously on the reconnaissance route, and optoelectronic linkage is automatically activated based on the positional relationship between the UAV and the local rectangular area or each detailed survey waypoint, thereby realizing automatic reconnaissance.

[0012] In some exemplary embodiments, when the area to be scouted is of an irregular shape, the method further comprises:

[0013] Automatically converting the area to be detected into a rectangular area to be detected that covers the irregular area at a minimum;

[0014] A serpentine fixed-point route is determined according to the rectangular area to be surveyed.

[0015] In some exemplary embodiments, automatically converting the area to be scouted into a rectangular area to be scouted that minimally covers the irregular area includes:

[0016] The coordinate rotation method is used to calculate the maximum and minimum longitudes and latitudes of the irregular area to be detected when the coordinate system is rotated from 0 to 360 degrees, and the maximum and minimum longitudes and latitudes are combined in pairs to obtain a rectangular area. The rectangular areas under different rotation angles are calculated respectively, and the point coordinates of the rectangular area with the minimum area are converted into point coordinates in the xoy coordinate system to obtain the rectangular area to be detected.

[0017] In some exemplary embodiments, determining a serpentine fixed-point route according to the rectangular area to be scouted includes:

[0018] The angle of the serpentine fixed-point route is the angle of the rectangular area to be surveyed; the center point position is the center point position of the rectangular area to be surveyed; the length is the length of the rectangular area to be surveyed plus the interval of the serpentine fixed-point route; the number of long side segments is the result of dividing the width of the rectangular area to be surveyed by the interval of the serpentine fixed-point route and rounding up; the turning radius is half of the interval of the serpentine fixed-point route.

[0019] In some exemplary embodiments, the method for calculating the interval of the serpentine fixed-point route includes:

[0020] Calculate the identification distance of photoelectric equipment;

[0021] Calculate the field of view of optoelectronic devices;

[0022] Based on the recognition distance of the optoelectronic device, the field of view of the optoelectronic device and the flight field height of the UAV, the width of the local rectangle that the optoelectronic device can recognize in the vertical direction of the long side route of the UAV, that is, the interval of the serpentine fixed-point route, is calculated.

[0023] In some exemplary embodiments, classifying the multi-target point set to be reconnaissance to obtain a detailed waypoint set includes:

[0024] Calculate the distance between each pair of the target point sets to be reconnaissanced to determine whether they are close to each other. If the distance is less than the close distance, it is determined that they are close to each other, otherwise they are not close to each other. The close distance is equal to the diameter of the minimum fixed-point hovering of the UAV.

[0025] Obtain the adjacent points of each target point to be reconnaissanced, and start merging from the target point to be reconnaissanced with the most adjacent points, that is, take the target point to be reconnaissanced with the most adjacent points as the waypoint of the reconnaissance route, record the number of adjacent points it has and mark these adjacent points respectively;

[0026] Start merging from the remaining target points with the second largest number or the same number of adjacent points as the target point to be scouted with the largest number of adjacent points. Before merging, first determine whether the target point to be scouted has been marked as a waypoint or adjacent point of the scouted route. If so, skip this point. Otherwise, mark this point as a waypoint of the scouted route, record the number of adjacent points it has and mark these adjacent points respectively.

[0027] The duplicate adjacent points of the reconnaissance route waypoints are eliminated to obtain the attribute list of the target point to be reconnaissanced, including whether it is a waypoint or adjacent point of the reconnaissance route, the number and sequence number of adjacent points when it is a waypoint, and the type parameters of the waypoint.

[0028] In some exemplary embodiments, arranging the serpentine fixed-point route and the detailed waypoint set includes:

[0029] When the number of waypoints included in the serpentine fixed-point route and the number of the detailed inspection waypoint set are less than a threshold, the exhaustive method is used to fully arrange the waypoints of the reconnaissance route, and the flight distance of the drone from the current position through each arranged waypoint is calculated in sequence, and the final reconnaissance route is generated by the waypoint arrangement method with the shortest flight distance;

[0030] When the number of waypoints included in the serpentine fixed-point route and the number of the detailed reconnaissance waypoint set is greater than or equal to a threshold, the Dijkstra algorithm is used to calculate the shortest flight distance of the drone passing through all waypoints in sequence starting from the current position, and the final reconnaissance route is generated by the waypoint arrangement method with the shortest flight distance.

[0031] In some exemplary embodiments, the automatically starting the photoelectric linkage based on the positional relationship between the drone and the local rectangular area or each detailed survey waypoint includes:

[0032] When the waypoint that the UAV flies to is a serpentine fixed-point route, the optoelectronic linkage is turned on by judging whether the UAV enters the local rectangular area. The optoelectronic equipment is automatically adjusted under a large field of view, and the turntable is moved in turn to point to the calculated area through geographic guidance to realize regional survey; when it is determined to enter the local rectangular area, the optoelectronics needs to link the target point set of geographic guidance in the local rectangular area according to the coordinates of the four points in the local rectangular area. Then the UAV flies on the fixed-point route and enters the local rectangular area. The optoelectronic platform starts the geographic guidance linkage. The geographic guidance method is to make the long side of the field of view consistent with the ground speed direction of the UAV. The coordinate points guided in turn are The above-calculated set of geographical guidance target points enables the optoelectronics to point to the optical field area where the geographical guidance target points are located in turn to realize regional reconnaissance; when the UAV flies away from the straight section of the serpentine route and enters the turning section, that is, leaves the local rectangular area, the optoelectronic linkage is stopped; when the UAV enters the next local rectangular area again, the above process is repeated until the entire rectangular area is reconnaissanced; during the reconnaissance process, the time interval of the geographical guidance target points is adjusted according to the real-time ground speed of the UAV, so as to realize the synchronization of the UAV's movement and the optoelectronic lateral back-and-forth geographical guidance, that is, when the UAV is traveling at twice the distance of the optoelectronic long side field of view, the optoelectronics simultaneously completes a cycle of lateral back-and-forth geographical guidance;

[0033] When the waypoint that the UAV flies to is a detailed inspection waypoint, the optoelectronic linkage is turned on by judging whether the UAV enters an area with the waypoint as the center and the distance of the UAV's minimum fixed-point circling diameter as the radius. The optoelectronic equipment is automatically adjusted to move the turntable in a small field of view through geographic guidance to point to the target points to be surveyed in turn to achieve detailed inspection of multiple target point sets; when the linkage is turned on, the optoelectronics are automatically geographically guided to the target point coordinates, that is, the coordinates of the adjacent points carried by this waypoint, until the survey of all adjacent points and the targets at this waypoint is completed, and the optoelectronic linkage is stopped and automatically switched to the next waypoint. After the conditions for starting the optoelectronic linkage are met, the above process is repeated until all reconnaissance tasks are completed.

[0034] According to a second aspect of the present invention, there is provided a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the optoelectronic automatic linkage reconnaissance method applicable to a fixed-wing unmanned aerial vehicle as described in the first aspect above is implemented.

[0035] According to a third aspect of the present invention, there is provided a computer program product having a computer program stored thereon, which, when executed by a processor, implements the optoelectronic automatic linkage reconnaissance method for fixed-wing UAVs as described in the first aspect above.

[0036] The present invention provides an optoelectronic automatic linkage reconnaissance method suitable for fixed-wing unmanned aerial vehicles. Compared with the previous method of manually planning a reconnaissance route and controlling the flight of the unmanned aerial vehicle and cooperating with an optoelectronic platform to complete the tasks of surveying the area to be surveyed and the detailed survey of multiple target point sets, the present invention can quickly plan an automatic reconnaissance route that is coupled with the recognition capability of the optoelectronic platform and is closely related to the area to be surveyed and the multiple target point sets according to the information of the area to be surveyed, the information of the multiple target point sets, the recognition parameters of the optoelectronic platform and the height of the operating field. When the unmanned aerial vehicle is flying on the reconnaissance route, the optoelectronic platform can also automatically link to realize the survey of the area to be surveyed and the detailed survey of the multiple target point sets according to the route position of the unmanned aerial vehicle, which effectively improves the recognition probability and the reconnaissance efficiency and greatly reduces the operating burden of personnel.

[0037] In terms of UAV tactical applications, operators can choose silent data links to reduce the probability of enemy detection, or when the measurement and control link is temporarily lost due to enemy interference, as long as the planning is completed through this method, the UAV can still continue to perform optoelectronic automatic reconnaissance on the planned established route to complete the reconnaissance mission, and after the data link is established, the historical reconnaissance records can be downloaded for intelligence interpretation, which improves the flexibility of UAV tactical applications.

[0038] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification are used to explain the principles of the present invention. Obviously, the accompanying drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0040] Figure 1 Schematically showing the coordinate rotation method to calculate the area to be detected;

[0041] Figure 2 The area to be surveyed and the “snake-shaped” fixed-point survey route are schematically shown;

[0042] Figure 3 A schematic diagram of a local rectangular area within the rectangular area to be detected is schematically shown;

[0043] Figure 4 A schematic diagram of the reconnaissance field of view of a drone is shown schematically;

[0044] Figure 5 A partial detailed view of the drone's reconnaissance field of view is schematically shown;

[0045] Figure 6 A schematic diagram of a target point set to be detected is shown schematically.

[0046] Figure 7 A schematic diagram of a reconnaissance route is shown schematically;

[0047] Figure 8 The flowchart of the photoelectric automatic linkage reconnaissance method is schematically shown. DETAILED DESCRIPTION

[0048] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present invention will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0049] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0050] This example embodiment provides an optoelectronic automatic linkage reconnaissance method suitable for fixed-wing UAVs, which can quickly plan an automatic reconnaissance route that is coupled with the optoelectronic platform's recognition capability and closely linked to the area to be reconnaissance and the multi-target point set based on the information of the area to be reconnaissance, the multi-target point set information, the optoelectronic platform's recognition parameters, and the height of the work field. When the UAV is flying on the reconnaissance route, the optoelectronic platform can also automatically link to realize a general survey of the area to be reconnaissance and a detailed survey of the multi-target point set based on the UAV's route position. Figure 8 As shown, the specific steps include:

[0051] Step 1: When the UAV system receives the externally issued task package for surveying the area to be surveyed and the detailed survey of multiple target points, because the area to be surveyed may be irregular in shape, the area to be surveyed is first automatically converted into a rectangular area that covers the irregular area at the minimum, so as to facilitate the automatic planning of the survey route and the division of the survey area. The conversion method is as follows: the coordinate rotation method is used to calculate the maximum and minimum longitude and latitude of the irregular area to be surveyed when the coordinate system is rotated from 0 to 360 degrees. The maximum and minimum longitude and latitude can be combined in pairs to obtain a rectangular area. The rectangular area under different rotation angles is calculated respectively. After comparing the areas, the point coordinates of the rectangular area with the minimum area are finally obtained, and the point coordinates in the xoy coordinate system are converted to obtain the rectangular area to be surveyed.

[0052] Step 2: Based on the rectangular area information obtained in step 1, automatically generate a "snake" fixed-point route that can completely cover the entire area with optoelectronic reconnaissance; the angle of the "snake" fixed-point route information is the angle of the rectangular area, which is also ag, the center point position is the center point position of the rectangular area, the length is the length l of the rectangular area plus the interval d of the "snake" fixed-point route, the number of long side segments is the width w of the rectangular area divided by the interval d of the "snake" fixed-point route, and the result is rounded up. The turning radius r of the "snake" fixed-point route is half of its interval d, and its interval d depends on the optoelectronic platform carried by the UAV under the maximum field of view. The recognition capability can ensure that when the UAV flies on the long side of the "snake" fixed-point route, the optoelectronic platform can identify the local area targets at half the distance of the "snake" fixed-point route in the left and right vertical directions of the UAV route direction, that is, the width of the local area is equidistant from the snake interval by d, ensuring that the UAV flies back and forth on the adjacent long sides of the "snake" fixed-point route without missing any areas, and they jointly cover the rectangular area to be surveyed; at the same time, the four-point coordinates of the local rectangular area surveyed by the UAV on each long side of the "snake" route are calculated, the length of the local rectangular area is the length of the rectangular area to be surveyed, and the width is the interval d of the "snake" fixed-point route.

[0053] The interval of the "snake" fixed-point route can be calculated by the following steps:

[0054] Step 2-1: Calculate the photoelectric device recognition distance, the formula is as follows:

[0055]

[0056] Among them, L is the recognition distance of the photoelectric device, km; h is the size of the target to be recognized, m; n is the number of line pairs, which is determined according to the minimum number of line pairs that the photoelectric device can recognize the target; P is the pixel size, um; f is the focal length of the optical lens with a large field of view, mm.

[0057] Step 2-2: Calculate the field of view of the optoelectronic device using the following formula:

[0058]

[0059] Among them, α is the field of view angle, and the field of view angles of the long side and the short side of the field of view are determined by the number of pixels, respectively, in radians; P is the pixel size, um; f is the focal length of the optical lens, mm; N is the number of pixels in the field of view direction.

[0060] Step 2-3: Calculate the width of the local rectangle that the optoelectronic device can identify in the vertical direction of the long side route of the drone, that is, the "snake" interval d, and the formula is as follows:

[0061]

[0062] Among them, d is the width of the local rectangle that the optoelectronic device can identify in the vertical direction of the long side route of the UAV, km; H is the flight field height of the UAV, km; L is the identification distance of the optoelectronic device, km; α is the field angle of the short side of the optoelectronic device, radians; To ensure that the UAV can identify ground targets, it is necessary to ensure that the UAV reconnaissance field height H is less than the identification distance L.

[0063] Step 3: Classify the multi-target point sets to be reconnaissanced in the mission package. The classification goal is to meet the requirements of reconnaissance of all multi-target point sets to be reconnaissanced when the UAV flies through the automatically generated reconnaissance route, and to reduce the number of UAV waypoints, ultimately achieving the goal of reducing the total flight distance and improving reconnaissance efficiency. The classification method is as follows:

[0064] Step 3-1: Calculate the distance between each pair of the target point set to be detected, and determine whether they are close to each other. If the distance is less than the close distance, they are considered close to each other, otherwise they are not close to each other. The close distance is equal to the diameter of the minimum fixed-point hovering of the UAV.

[0065] Step 3-2: Obtain the adjacent points of each target point to be scouted, and start merging from the target point to be scouted with the most adjacent points, that is, take the target point to be scouted with the most adjacent points as the waypoint of the scouring route, record the number of adjacent points it has and mark these adjacent points respectively;

[0066] Step 3-3: start merging from the remaining target points with the second largest number or the same number of adjacent points as the target point to be scouted with the largest number of adjacent points. Before merging, first determine whether the target point to be scouted has been marked as a waypoint or adjacent point of the scouted route. If so, skip this point. Otherwise, mark this point as a waypoint of the scouted route, record the number of adjacent points it has and mark these adjacent points respectively.

[0067] Step 3-4: Repeat the above step 3-3 until all the target points to be scouted are marked. At this time, the attribute list of the target points to be scouted can be obtained, including whether it is a waypoint or a neighboring point of the scouted route, and the number and sequence number of the neighboring points when it is a waypoint; however, after this step is completed, there is a situation where the same neighboring points are repeated;

[0068] Step 3-5: Eliminate duplicate adjacent points owned by the reconnaissance route waypoints. The elimination method is to skip the recorded adjacent points and processed points, start from the reconnaissance route waypoint with the most adjacent points or the remaining target points with the same number of adjacent points as the reconnaissance route waypoint with the most adjacent points, record the serial numbers of the adjacent points that have not been recorded, delete the recorded adjacent points, and mark this reconnaissance route waypoint as a processed point;

[0069] Step 3-6: Repeat steps 3-5 until all reconnaissance route waypoints are processed to obtain the attribute list of the final target point to be reconnaissanced. The attribute list includes: whether it is a waypoint or a neighboring point of the reconnaissance route, the number and sequence number of neighboring points when it is used as a waypoint, and the type parameters of the waypoint. In order to improve the efficiency and stability of reconnaissance, there are two types of waypoints here, namely, a passing point or a fixed-point route with the minimum diameter of the drone; the type of the waypoint is mainly determined by the number of neighboring points it has, the cruising speed, the minimum disk route diameter of the drone, and the dwell time planned for each target point. The decision strategy is as follows: the time t1 taken by the drone to circle a circle is calculated based on the cruising speed and the minimum disk route diameter of the drone, and the total reconnaissance time t2 of this waypoint is obtained based on the dwell time planned for each target point and the number of neighboring points of the waypoint. If t2 / t1≤0.5, the waypoint type is set to a passing point; if t2 / t1>0.5, the waypoint type is set to a disk, and the number of circles is t2 / t1 rounded up.

[0070] Step 4: Arrange the coordinates of all the reconnaissance route waypoints in the attribute list of the target point to be reconnaissance obtained in step 3 above and the coordinates of the "snake" fixed-point route obtained in step 2 to automatically generate the final reconnaissance route. The goal of the reconnaissance route is to minimize the distance traveled by the drone from the current position through the above waypoints in sequence. The method for automatically generating a reconnaissance route is as follows:

[0071] Case 1: When the number of reconnaissance route waypoints is less than 10, the "exhaustive method" is used to fully arrange the reconnaissance route waypoints, calculate the flight distance of the drone from the current position through each arranged waypoint in sequence, and generate the final reconnaissance route through the waypoint arrangement with the shortest flight distance; this case can achieve the optimal solution for the flight distance when the number of waypoints is small, and does not occupy computer computing power.

[0072] Case 2: When the number of waypoints on the reconnaissance route is greater than or equal to 10, the "exhaustive method" takes up a lot of computer computing power. In order to improve computing efficiency, the "Dijkstra algorithm" is used to calculate the shortest flight distance of the drone from the current position through all waypoints in sequence, and the final reconnaissance route is generated by arranging the waypoints with the shortest flight distance. In this case, when the number of waypoints is large, it does not occupy computer computing power and can quickly obtain the relatively optimal solution for the flight distance.

[0073] Step 5: When the UAV is flying on the automatically generated reconnaissance route, the photoelectric linkage can be automatically activated through the positional relationship between the UAV and each waypoint or area, thereby realizing automatic reconnaissance; the specific implementation method is as follows:

[0074] Step 5-1: When the waypoint that the drone flies to is a "snake-shaped" fixed-point route, it can be determined whether the drone enters the local rectangular area calculated in step 2 to decide whether to start the optoelectronic linkage. The optoelectronic equipment is automatically adjusted to move the turntable in a large field of view in a geographically guided manner to point to the calculated area in turn to achieve regional survey; when it is determined to enter the local rectangular area, firstly, the optoelectronics needs to link the target point set of geographical guidance in the local rectangular area according to the four-point coordinates of the local rectangular area. Then, the drone flies on the fixed-point route and enters the local rectangular area. The optoelectronic platform starts the geographical guidance linkage. The geographical guidance method is to make the long side of the field of view consistent with the ground speed direction of the drone. The coordinate points guided in sequence are the target point set of geographic guidance calculated above, so that the optoelectronics point to the optical field area where the geographic guidance target points are located in sequence to realize regional reconnaissance; when the UAV flies away from the straight section of the "snake" route and enters the turning section, that is, leaves the local rectangular area, the optoelectronic linkage is stopped; when the UAV enters the next local rectangular area again, the above process is repeated until the entire rectangular area is reconnaissanced; during the reconnaissance process, the time interval of the geographic guidance target points is adjusted according to the real-time ground speed of the UAV to realize the synchronization of the UAV movement and the optoelectronic lateral back-and-forth geographic guidance, that is, when the UAV is traveling at twice the distance of the optoelectronic long side field of view, the optoelectronics simultaneously completes a cycle of lateral back-and-forth geographic guidance.

[0075] The above-mentioned method for calculating the target point set of optoelectronic linkage geographic guidance in the local rectangular area is shown in the following steps. In the calculation, because the field of view angle is the same, the width of the field of view directly below the optoelectronics is smaller than the width of the field of view obliquely downward, so the field of view of the optoelectronics reconnaissance back and forth can be approximated as the field of view directly below. This can ensure that there is overlap and no omission between the fields of view in actual reconnaissance.

[0076] The first step is to calculate the width of the long and short sides of the field of view of the optoelectronic device. The formula is as follows:

[0077]

[0078] Among them, S is the field of view width, km; P is the pixel size, um; f is the focal length of the optical lens, mm; N is the number of pixels in the field of view direction. The long side width S1 and the short side width S2 of the field of view can be calculated separately according to the different numbers of pixels in the field of view direction; H is the UAV flight field height, km.

[0079] The second step is to use the long side width S1 and short side width S2 of the optoelectronic device field of view and the angle ag, width d and coordinates of the four vertices P1, P2, P3 and P4 of the local rectangular area, as follows: Figure 4 As shown, the coordinates of the first column of the center points of the field of view fp1, fp2, ···fp* that require optoelectronic geographic guidance in the vertical direction of the UAV route are calculated.

[0080] The third step is to calculate the coordinates of the center point of the field of view that requires optoelectronic geographic guidance in the direction of the UAV's route. The coordinates of the first group of points fp1, fp2...fp* for lateral geographic guidance have been obtained in the second step above, such as Figure 4 The distance between the points fp1 and fp*`···fp* and fp1` shown is consistent with the distance between the length and width S1 of the optical TV field. Therefore, the coordinates of the second group of points fp1`, fp2`···fp*` for lateral geographic guidance can be obtained based on the coordinates of the points fp1 and fp2···fp*. The coordinates of the remaining groups of geographic guidance points in the direction of the UAV route can be obtained in this way. The number of groups n` is obtained by rounding up the result of dividing the length l of the local rectangular area by the length and width S1 of the optical TV field.

[0081] Step 5-2: When the waypoint that the drone flies to is a detailed inspection waypoint, you can determine whether the drone has entered

[0082] With the waypoint as the center and the distance of the UAV's minimum fixed-point circling diameter as the radius, the optoelectronic linkage is turned on. The optoelectronic equipment is automatically adjusted to move the turntable in a small field of view through geographic guidance to point to the target points to be surveyed in turn to achieve detailed inspection of multiple target point sets; when the linkage is turned on, the optoelectronics are automatically geographically guided to the target point coordinates, that is, the coordinates of the adjacent points carried by this waypoint, until the survey of all adjacent points and the targets at this waypoint is completed, and then the optoelectronic linkage is stopped and automatically switched to the next waypoint. After the conditions for starting the optoelectronic linkage are met, the above process is repeated until all reconnaissance tasks are completed.

[0083] Below, each step of the optoelectronic automatic linkage reconnaissance method applicable to a fixed-wing UAV in this example implementation will be described in more detail with reference to the accompanying drawings and embodiments.

[0084] Step 1: When the UAV system receives the task package of the area to be reconnaissance and the multi-target point set sent from the outside, the area to be reconnaissance may be irregular in shape, such as Figure 1 As shown in the figure, the area composed of S1, S2, S3, S4, and S5 is first automatically converted into a rectangular area that covers this irregular area at the minimum, which is convenient for automatically planning the reconnaissance route and dividing the reconnaissance area. The conversion method is as follows: Figure 1As shown, in the initial xoy coordinate system, the latitude of point S1 is the largest, the latitude of point S4 is the smallest, the longitude of point S3 is the largest, and the longitude of point S5 is the smallest. The maximum and minimum longitudes and latitudes are combined in pairs, that is, the longitude of point R1 is equal to the longitude of point S5, and the latitude is equal to the latitude of point S1; the longitude of point R2 is equal to the longitude of point S3, and the latitude is equal to the latitude of point S1; the longitude of point R3 is equal to the longitude of point S3, and the latitude is equal to the latitude of point S4; the longitude of point R4 is equal to the longitude of point S5, and the latitude is equal to the latitude of point S4; the rectangular area composed of points R1, R2, R3, and R4 can be obtained and the area can be calculated; the coordinate rotation method is used to calculate the coordinate system rotated separately Take the maximum and minimum longitude and latitude of the irregular area to be detected from 0 to 360 degrees respectively. In the rotated sot coordinate system, the latitude of point S1 is the largest, the latitude of point S3 is the smallest, the longitude of point S3 is the largest, and the longitude of point S5 is the smallest. The maximum and minimum longitude and latitude can be combined in pairs to obtain the rectangular area composed of points R1`, R2`, R3`, and R4` and calculate the area; the calculation is completed after the rotation is different The rectangular area under the angle, after comparing the areas, finally get the four-point coordinates of the rectangular area with the smallest area, convert them into the point coordinates in the xoy coordinate system, and get the following Figure 2 The rectangular area to be investigated is shown as having a length of l and a width of w.

[0085] Step 2: If Figure 2 As shown, according to the rectangular area information obtained in step 1, a "snake" fixed-point route that can completely cover the entire area of ​​optoelectronic reconnaissance is automatically generated; the angle of the "snake" fixed-point route information is the angle of the rectangular area, which is also ag, the center point position is the center point position of the rectangular area, the length is the length l of the rectangular area plus the interval d of the "snake" fixed-point route, the number of long side segments is the width w of the rectangular area divided by the interval d of the "snake" fixed-point route, and the result is rounded up. The turning radius r of the "snake" fixed-point route is half of its interval d, and its interval d depends on the recognition ability of the optoelectronic platform carried by the UAV under the maximum field of view, such as Figure 3 As shown in the figure, when the UAV flies on the long side of the "snake" fixed-point route, the optoelectronic platform can identify the local area target at half the distance of the "snake" fixed-point route in the left and right vertical directions of the UAV route direction, that is, the width of the local area is equidistant from the snake interval by d, and this local area is Figure 3 The shaded parts of part1, part2 and part3 shown in the figure ensure that the UAV flies back and forth on the adjacent long sides of the "snake-shaped" fixed-point route without missing any area, and they jointly cover the rectangular area to be surveyed; at the same time, the four-point coordinates of the local rectangular areas part1, part2 and part3 surveyed by the UAV on each long side of the "snake-shaped" route can be calculated. The length of the local rectangular area is the length of the rectangular area to be surveyed, and the width is the interval d of the "snake-shaped" fixed-point route.

[0086] The interval of the "snake" fixed-point route can be calculated by the following steps:

[0087] Step 2-1: Calculate the photoelectric device recognition distance, the formula is as follows:

[0088]

[0089] Among them, L is the recognition distance of the photoelectric device, km; h is the size of the target to be identified, which is set to a medium-sized vehicle, h = 10m; n is the number of line pairs, which is determined according to the minimum number of line pairs that the photoelectric device can identify the target, n = 4; P is the pixel size, P = 4.5um; f is the focal length of the optical lens with a large field of view, f = 15mm.

[0090] Step 2-2: Calculate the field of view of the optoelectronic device using the following formula:

[0091]

[0092] Among them, α is the field of view angle, and the field of view angles of the long side and the short side of the field of view are determined by the number of pixels, respectively, in radians; P is the pixel size, P = 4.5um; f is the focal length of the optical lens, f = 15mm; N is the number of pixels in the field of view direction, the number of pixels on the long side is set to 1920, and the number of pixels on the short side is set to 1080.

[0093] Step 2-3: Calculate the width of the local rectangle that the optoelectronic device can identify in the vertical direction of the long side route of the drone, that is, the "snake" interval d, and the formula is as follows:

[0094]

[0095] Among them, d is the width of the local rectangle that the optoelectronic device can identify in the vertical direction of the long side route of the UAV, km; H is the flight field height of the UAV, and the typical reconnaissance field height is set to H = 3km; L is the identification distance of the optoelectronic device, calculated by step 2-1, km; α is the short side field of view of the optoelectronic device, calculated by step 2-2, radians; To ensure that the UAV can identify ground targets, it is necessary to ensure that the UAV reconnaissance field height H is less than the identification distance L.

[0096] Through the above calculations, we can finally get the width of the local area and the equidistant interval of the serpentine d≈7.73km.

[0097] Step 3: If Figure 6 As shown in the figure, target points 1 to 9 of the multi-target point set to be reconnaissance in the mission package are classified. The classification goal is that when the UAV flies through the automatically generated reconnaissance route, it can meet the requirements of reconnaissance of all multi-target point sets to be reconnaissance, and can reduce the number of UAV waypoints, and finally achieve the goal of reducing the total flight distance and improving the reconnaissance efficiency. The classification method is as follows:

[0098] Step 3-1: Calculate the distance between each pair of the target point set to be detected, and determine whether they are close to each other. If the distance is less than the close distance, they are considered close to each other, otherwise they are not close to each other. The close distance is equal to the diameter of the minimum fixed-point hovering of the UAV.

[0099] Step 3-2: If Figure 6 As shown, according to the calculation of the minimum fixed-point hovering diameter of a certain fixed-wing UAV of 1km, the dotted line 1km radius circle given in the figure is used as a schematic diagram of the range of adjacent points included in some target points, and the adjacent points of each target point to be reconnaissance are obtained. The adjacent points of point 1 are point 2, the adjacent points of point 2 are point 1, 3, and 4, the adjacent points of point 3 are point 2 and 4, the adjacent points of point 4 are point 2 and 3, the adjacent points of point 5 are point 6, the adjacent points of point 6 are point 5 and 8, the adjacent points of point 7 are point 8 and 9, the adjacent points of point 8 are point 6 and 7, and the adjacent points of point 9 are point 7. The target point to be reconnaissance with the most adjacent points is merged, that is, the target point to be reconnaissance with the most adjacent points, point 2, is used as the waypoint of the reconnaissance route, and the number of adjacent points it has is recorded as 3, and points 1, 3, and 4 are marked as its adjacent points respectively;

[0100] Step 3-3: start merging from the remaining target points with the second most or the same number of adjacent points as the target point to be scouted with the most adjacent points. Before merging, first determine whether the target point to be scouted has been marked as a waypoint or adjacent point of the scouted route. If so, skip this point. Otherwise, mark this point as a waypoint of the scouted route, record the number of adjacent points it has and mark these adjacent points respectively. Although points 3 and 4 both have the second most adjacent points, points 3 and 4 marked as adjacent points can be skipped first through this step.

[0101] Step 3-4: Repeat the above step 3-3, point 6 can be classified as a waypoint of the reconnaissance route, and mark its adjacent points 5 and 8; continue to repeat step 3-3, point 7 can be classified as a waypoint of the reconnaissance route, and mark its adjacent points 8 and 9; continue to repeat step 3-3, and you can skip points 8, 1, 5, and 9 in turn to complete the marking of all the target points to be reconnaissance. At this time, you can get the attribute list of the target points to be reconnaissance, including whether it is a waypoint or adjacent point of the reconnaissance route, and the number and sequence of adjacent points it has when it is a waypoint; but after this step is completed, there is a situation where points 6 and 7 have the same adjacent point 8 repeatedly;

[0102] Step 3-5: Eliminate the duplicate adjacent points of the reconnaissance route waypoints. The elimination method is to skip the recorded adjacent points and processed points, start from the reconnaissance route waypoint with the most adjacent points or the remaining target points with the same number of adjacent points as the reconnaissance route waypoint with the most adjacent points, record the serial numbers of the adjacent points that have not been recorded, delete the recorded adjacent points, and mark this reconnaissance route waypoint as a processed point; that is, start marking from the reconnaissance route waypoint 2 with the most adjacent points, and record its adjacent points 1, 3, and 4;

[0103] Step 3-6: Repeat step 3-5. First, you can skip the recorded points 3 and 4. After repeating step 3-5 again, you can mark point 6 as the reconnaissance route waypoint and record its adjacent points 5 and 8. Repeat again to mark point 7 as the reconnaissance route waypoint and record its adjacent point 9. Remove the adjacent point 8 recorded at point 6, until all reconnaissance route waypoints are processed to obtain the attribute list of the final target point to be reconnaissanced. Its attribute list includes: whether it is a waypoint or adjacent point of the reconnaissance route, the number and sequence number of adjacent points when it is used as a waypoint, and the type parameters of the waypoint; as shown above, 2 points are reconnaissance route waypoints, and the number of adjacent points is 3, including points 1, 3, and 4; 6 points are reconnaissance route waypoints, and the number of adjacent points is 2, including points 5 and 8; 7 points are reconnaissance route waypoints, and the number of adjacent points is 1, including point 9; in order to improve the efficiency and stability of reconnaissance, there are two types of waypoints here, namely, passing points or drone minimum diameter disk fixed-point routes; the type of waypoint is mainly determined by the number of adjacent points it has, cruising speed, drone minimum disk route diameter, and detailed The decision strategy is as follows: based on the cruising speed of 150km / h and the minimum disc route diameter of 1km, the time t1≈150s for the drone to circle a circle is calculated. Based on the detailed observation, the planned dwell time of each target point is set to 30s and the number of adjacent points of the waypoint to obtain the total reconnaissance time t2 of this waypoint. If t2 / t1≤0.5, the waypoint type is set to a passing point; if t2 / t1>0.5, the waypoint type is set to a disc, and the number of circles is t2 / t1 rounded up; it can be calculated that point 2 is a waypoint of type disc and the number of circles is 1 circle, and points 6 and 7 are waypoints of type passing points.

[0104] Step 4: Arrange the coordinates of all the reconnaissance route waypoints in the attribute list of the target point to be reconnaissance obtained in step 3 above and the coordinates of the "snake" fixed-point route obtained in step 2 to automatically generate the final reconnaissance route. The goal of the reconnaissance route is to minimize the distance traveled by the drone from the current position through the above waypoints in sequence. The method for automatically generating a reconnaissance route is as follows:

[0105] Case 1: When the number of reconnaissance route waypoints is less than 10, the "exhaustive method" is used to fully arrange the reconnaissance route waypoints, calculate the flight distance of the drone from the current position through each arranged waypoint in sequence, and generate the final reconnaissance route through the waypoint arrangement with the shortest flight distance; this case can achieve the optimal solution for the flight distance when the number of waypoints is small, and does not occupy computer computing power.

[0106] Case 2: When the number of waypoints on the reconnaissance route is greater than or equal to 10, the "exhaustive method" takes up a lot of computer computing power. In order to improve computing efficiency, the "Dijkstra algorithm" is used to calculate the shortest flight distance of the drone from the current position through all waypoints in sequence, and the final reconnaissance route is generated by arranging the waypoints with the shortest flight distance. In this case, when the number of waypoints is large, it does not occupy computer computing power and can quickly obtain the relatively optimal solution for the flight distance.

[0107] Through the above step 4, the following Figure 7 The reconnaissance route uses the current coordinates of the drone as the starting point C1, and point C2 is a circular fixed-point route with a diameter of 1 km, and its coordinates are consistent with point 2 to be reconnaissanced; point C3 is a passing point, and its coordinates are consistent with point 6 to be reconnaissanced; point C4 is a passing point, and its coordinates are consistent with point 7 to be reconnaissanced; point C5 is a "snake-shaped" fixed-point route, and the coordinates of its center point are consistent with the center point of the rectangular area to be reconnaissanced; among them, C1, C2, C3, and C4 waypoints are waypoints for detailed inspection of the target points to be reconnaissanced, and point C5 is a waypoint for general inspection of the area to be reconnaissanced.

[0108] Step 5: When the UAV is flying on the automatically generated reconnaissance route, the photoelectric linkage can be automatically activated through the positional relationship between the UAV and each waypoint or area, thereby realizing automatic reconnaissance; the specific implementation method is as follows:

[0109] Step 5-1: If Figure 4 and Figure 5As shown, when the waypoint that the UAV flies to is a "snake-shaped" fixed-point route, it can be determined whether to turn on the optoelectronic linkage by judging whether the UAV enters the local rectangular area part calculated in step 2, and the optoelectronic equipment is automatically adjusted to move the turntable in a geographically guided manner under a large field of view to point to the calculated area in turn to realize regional survey; when it is determined to enter the local rectangular area part1, firstly, the optoelectronics needs to link the geographically guided field of view center point set in the local rectangular area part1 according to the four-point coordinates of the local rectangular area part1, and then the UAV flies on the fixed-point route and enters the local rectangular area part, and the optoelectronic platform starts the geographically guided linkage, and the geographically guided method is to make the long side of the field of view consistent with the ground speed direction of the UAV, The coordinate points of the center of the field of view guided in sequence are fp1, fp2···fp*, fp1`, fp2`···fp*`···, so that the optoelectronics are pointed to the optical and television field areas of fp1 and fp2··· in sequence to realize regional reconnaissance; when the UAV flies away from the straight section of the "snake" route and enters the turning section, that is, leaves the local rectangular area part1, the optoelectronic linkage is stopped; when the UAV enters the next local rectangular area part2 again, the above process is repeated until the entire rectangular area is reconnaissanced; during the reconnaissance process, the time interval of each field of view of the geographic guidance is adjusted according to the real-time ground speed of the UAV to realize the synchronization of the UAV movement and the optoelectronic lateral back-and-forth geographic guidance, that is, when the UAV is traveling at twice the distance of the long side field of view of the optoelectronics, for example, the UAV moves from Figure 3 When point a moves to point b, the distance between point a and point b is twice the distance between the long sides of the optical field of view. The photoelectric system simultaneously completes one cycle of horizontal back-and-forth geographical guidance, that is, the photoelectric system guides the field of view areas where the center points fp1, fp2···fp*, fp1`, fp2`···fp*` are located in turn.

[0110] The above-mentioned method for calculating the target point set of optoelectronic linkage geographic guidance in the local rectangular area part1 is shown in the following steps. In the calculation, because the field of view angle is the same, the width of the field of view directly below the optoelectronics is smaller than the width of the field of view obliquely downward, so the field of view of the optoelectronics reconnaissance back and forth can be approximated as the field of view directly below. This can ensure that there is overlap and no omission between the fields of view in actual reconnaissance.

[0111] The first step is to calculate the width of the long and short sides of the field of view of the optoelectronic device. The formula is as follows:

[0112]

[0113] Among them, S is the field of view width, km; P is the pixel size, P = 4.5um; f is the focal length of the optical lens, f = 15mm; N is the number of pixels in the field of view direction. The long side width S1 and the short side width S2 of the field of view can be calculated separately according to the different numbers of pixels in the field of view direction. The number of pixels on the long side is set to 1920, and the number of pixels on the short side is set to 1080; H is the height of the UAV flight field, H = 3km.

[0114] Through calculation, it can be obtained that the long side width S1≈1.68km and the short side width S2≈0.96km.

[0115] The second step is to calculate the coordinates of the first column of the center point of the field of view that needs optoelectronic geographic guidance in the vertical direction of the UAV route based on the long side width S1 and the short side width S2 of the optoelectronic device field of view and the angle ag, width d and the coordinates of the four vertices P1, P2, P3, and P4 of the local rectangular area part. The calculation method is to first calculate Figure 5 The coordinates of the auxiliary calculation point fp` on the route are shown. The fp` point is the point at half the width of the right long side of the line connecting P1 and P2 and the intersection point a of the vertical line, that is, S1 / 2; secondly, the result of d / S2 is rounded to the integer to obtain the number of center points of the field of view that require optoelectronic geographic guidance in the vertical direction of the UAV route n=8, n is an even number, and the distance between the fp1 point and the fp` point is If n is an odd number, the distance between point fp1 and point fp` is The coordinates of point fp1 can be obtained through the coordinates of point fp` and the distance angle between the two points. The distance between two adjacent points fp1, fp2...fp* is consistent with the short side width S2 of the optical television field. If the angle of the local rectangular area part is known, the remaining points can be obtained through point fp1.

[0116] The third step is to calculate the coordinates of the center point of the field of view that requires optoelectronic geographic guidance in the direction of the UAV's route. The coordinates of the first group of points fp1, fp2...fp* for lateral geographic guidance have been obtained in the second step above, such as Figure 5 The distance between the points fp1 and fp*`···fp* and fp1` shown is consistent with the distance between the length and width S1 of the optical TV field, so the coordinates of the second group of points fp1`, fp2`···fp*` for lateral geographic guidance can be obtained based on the coordinates of the points fp1 and fp2···fp*, and the coordinates of the remaining groups of geographic guidance points in the direction of the UAV route can be obtained by analogy, where the number of groups n` is obtained by rounding up the result of dividing the length l of the local rectangular area part by the length and width S1 of the optical TV field.

[0117] Step 5-2: If Figure 7As shown in the figure, when the waypoint that the UAV flies to is a detailed inspection waypoint, the optoelectronic linkage can be turned on by judging whether the UAV enters an area with the waypoint as the center and the distance of the UAV's minimum fixed-point hovering diameter as the radius, and the optoelectronic equipment is automatically adjusted to move the turntable in a small field of view through geographic guidance to point to the target points to be reconnaissance in turn to achieve detailed inspection of multiple target point sets; when the linkage is turned on, the optoelectronics are automatically geographically guided to the target point coordinates, that is, the coordinates of the adjacent points carried by this waypoint. For example, after entering the area within 1km of point C2, the UAV cuts into the disc route of point C2, and the optoelectronics starts geographic guidance linkage at the same time, pointing to points 1, 3, 4, and 2 to be reconnaissance in turn, that is, the reconnaissance of all adjacent points and the target at this waypoint is completed, and the optoelectronic linkage is stopped immediately and automatically switched to the next waypoint C3. After the conditions for starting the optoelectronic linkage are met, the above process is repeated until all reconnaissance tasks are completed.

[0118] The present invention realizes that during the flight of a fixed-wing UAV on an automatically generated reconnaissance route that is coupled with the recognition capability of an optoelectronic platform and closely linked to an area to be reconnaissanced and a multi-target point set, the optoelectronic platform automatically links with the UAV according to the route position to realize a general survey of the area to be reconnaissanced and a detailed survey of the multi-target point set, thereby effectively improving the recognition probability and the reconnaissance efficiency, greatly reducing the operating burden of personnel, and enhancing the flexibility of the tactical application of the UAV.

[0119] It should be noted that, as another aspect, the present application also provides a storage medium, which can be included in an electronic device; or it can exist independently without being installed in the electronic device. The above storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the following embodiments. For example, the electronic device can implement the following Figure 2 The individual steps of the method are shown.

[0120] In one embodiment, the present application provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0121] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0122] Other embodiments of the invention will readily occur to those skilled in the art after considering the specification and practicing the invention herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0123] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. An optoelectronic automatic linkage reconnaissance method suitable for fixed-wing UAVs, characterized in that: The method comprises: Receive the mission package issued by the superior command system, which includes the area to be surveyed and the multi-target point set to be surveyed; Based on the area to be surveyed, determining a serpentine fixed-point route and a local rectangular area surveyed by the drone on each long side of the serpentine fixed-point route; Classifying the multi-target point set to be reconnaissance to obtain a detailed waypoint set including an attribute list; Arrange the serpentine fixed-point route and the detailed reconnaissance waypoint set to generate a reconnaissance route with the shortest travel distance for the drone to sequentially pass through the arranged waypoints from the current position; The UAV is controlled to fly autonomously on the reconnaissance route, and optoelectronic linkage is automatically activated based on the positional relationship between the UAV and the local rectangular area or each detailed survey waypoint, thereby realizing automatic reconnaissance.

2. The optoelectronic automatic linkage reconnaissance method applicable to fixed-wing UAV according to claim 1 is characterized in that: When the area to be scouted is of an irregular shape, the method further includes: Automatically converting the area to be detected into a rectangular area to be detected that covers the irregular area at a minimum; A serpentine fixed-point route is determined according to the rectangular area to be surveyed.

3. The optoelectronic automatic linkage reconnaissance method applicable to fixed-wing UAV according to claim 2 is characterized in that: The area to be detected is automatically converted into a rectangular area to be detected that covers the irregular area at a minimum, including: The coordinate rotation method is used to calculate the maximum and minimum longitudes and latitudes of the irregular area to be detected when the coordinate system is rotated from 0 to 360 degrees, and the maximum and minimum longitudes and latitudes are combined in pairs to obtain a rectangular area. The rectangular areas under different rotation angles are calculated respectively, and the point coordinates of the rectangular area with the minimum area are converted into point coordinates in the xoy coordinate system to obtain the rectangular area to be detected.

4. The optoelectronic automatic linkage reconnaissance method applicable to fixed-wing UAV according to claim 3 is characterized in that: Determining the serpentine fixed-point route according to the rectangular area to be surveyed includes: The angle of the serpentine fixed-point route is the angle of the rectangular area to be surveyed; the center point position is the center point position of the rectangular area to be surveyed; the length is the length of the rectangular area to be surveyed plus the interval of the serpentine fixed-point route; the number of long side segments is the result of dividing the width of the rectangular area to be surveyed by the interval of the serpentine fixed-point route and rounding up; the turning radius is half of the interval of the serpentine fixed-point route.

5. The optoelectronic automatic linkage reconnaissance method applicable to fixed-wing UAV according to claim 4 is characterized in that: The method for calculating the interval of the serpentine fixed-point route includes: Calculate the identification distance of photoelectric equipment; Calculate the field of view of optoelectronic devices; Based on the recognition distance of the optoelectronic device, the field of view of the optoelectronic device and the flight field height of the UAV, the width of the local rectangle that the optoelectronic device can recognize in the vertical direction of the long side route of the UAV, that is, the interval of the serpentine fixed-point route, is calculated.

6. The optoelectronic automatic linkage reconnaissance method applicable to fixed-wing UAV according to claim 1 is characterized in that: The multi-target point set to be detected is classified to obtain a detailed waypoint set, including: Calculate the distance between each pair of the target point sets to be reconnaissanced to determine whether they are close to each other. If the distance is less than the close distance, it is determined that they are close to each other, otherwise they are not close to each other. The close distance is equal to the diameter of the minimum fixed-point hovering of the UAV. Obtain the adjacent points of each target point to be reconnaissanced, and start merging from the target point to be reconnaissanced with the most adjacent points, that is, take the target point to be reconnaissanced with the most adjacent points as the waypoint of the reconnaissance route, record the number of adjacent points it has and mark these adjacent points respectively; Start merging from the remaining target points with the second largest number or the same number of adjacent points as the target point to be scouted with the largest number of adjacent points. Before merging, first determine whether the target point to be scouted has been marked as a waypoint or adjacent point of the scouted route. If so, skip this point. Otherwise, mark this point as a waypoint of the scouted route, record the number of adjacent points it has and mark these adjacent points respectively. The duplicate adjacent points of the reconnaissance route waypoints are eliminated to obtain the attribute list of the target point to be reconnaissanced, including whether it is a waypoint or adjacent point of the reconnaissance route, the number and sequence number of adjacent points when it is a waypoint, and the type parameters of the waypoint.

7. The optoelectronic automatic linkage reconnaissance method applicable to fixed-wing UAV according to claim 1 is characterized in that: Arranging the serpentine fixed-point route and the detailed waypoint set includes: When the number of waypoints included in the serpentine fixed-point route and the number of the detailed inspection waypoint set are less than a threshold, the exhaustive method is used to fully arrange the waypoints of the reconnaissance route, and the flight distance of the drone from the current position through each arranged waypoint is calculated in sequence, and the final reconnaissance route is generated by the waypoint arrangement method with the shortest flight distance; When the number of waypoints included in the serpentine fixed-point route and the number of the detailed reconnaissance waypoint set is greater than or equal to a threshold, the Dijkstra algorithm is used to calculate the shortest flight distance of the drone passing through all waypoints in sequence starting from the current position, and the final reconnaissance route is generated by the waypoint arrangement method with the shortest flight distance.

8. The optoelectronic automatic linkage reconnaissance method applicable to fixed-wing UAV according to claim 1 is characterized in that: The method of automatically starting the photoelectric linkage based on the positional relationship between the drone and the local rectangular area or each detailed inspection waypoint includes: When the waypoint that the UAV flies to is a serpentine fixed-point route, the optoelectronic linkage is turned on by judging whether the UAV enters the local rectangular area. The optoelectronic equipment is automatically adjusted under a large field of view, and the turntable is moved in turn to point to the calculated area through geographic guidance to realize regional survey; when it is determined to enter the local rectangular area, the optoelectronics needs to link the target point set of geographic guidance in the local rectangular area according to the coordinates of the four points in the local rectangular area. Then the UAV flies on the fixed-point route and enters the local rectangular area. The optoelectronic platform starts the geographic guidance linkage. The geographic guidance method is to make the long side of the field of view consistent with the ground speed direction of the UAV. The coordinate points guided in turn are The above-calculated set of geographical guidance target points enables the optoelectronics to point to the optical field area where the geographical guidance target points are located in turn to realize regional reconnaissance; when the UAV flies away from the straight section of the serpentine route and enters the turning section, that is, leaves the local rectangular area, the optoelectronic linkage is stopped; when the UAV enters the next local rectangular area again, the above process is repeated until the entire rectangular area is reconnaissanced; during the reconnaissance process, the time interval of the geographical guidance target points is adjusted according to the real-time ground speed of the UAV, so as to realize the synchronization of the UAV's movement and the optoelectronic lateral back-and-forth geographical guidance, that is, when the UAV is traveling at twice the distance of the optoelectronic long side field of view, the optoelectronics simultaneously completes a cycle of lateral back-and-forth geographical guidance; When the waypoint that the UAV flies to is a detailed inspection waypoint, the optoelectronic linkage is turned on by judging whether the UAV enters an area with the waypoint as the center and the distance of the UAV's minimum fixed-point circling diameter as the radius. The optoelectronic equipment is automatically adjusted to move the turntable in a small field of view through geographic guidance to point to the target points to be surveyed in turn to achieve detailed inspection of multiple target point sets; when the linkage is turned on, the optoelectronics are automatically geographically guided to the target point coordinates, that is, the coordinates of the adjacent points carried by this waypoint, until the survey of all adjacent points and the targets at this waypoint is completed, and the optoelectronic linkage is stopped and automatically switched to the next waypoint. After the conditions for starting the optoelectronic linkage are met, the above process is repeated until all reconnaissance tasks are completed.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the optoelectronic automatic linkage reconnaissance method suitable for fixed-wing unmanned aerial vehicles is implemented as described in any one of claims 1 to 8.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the optoelectronic automatic linkage reconnaissance method applicable to a fixed-wing unmanned aerial vehicle according to any one of claims 1 to 8 is implemented.

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