Aircraft circular route planning method

Abstract

The invention discloses a circular route planning method for an aircraft. The method comprises the following steps: a1, starting from a point 1, and sequentially drawing 1 / 3 arcs of AB sections of a circular route through route points 1-2-3; wherein the points 1 and 3 are passing points, the point 2 is a turn, and the radius of the turn is set as the radius of a circular air route; a2, turning to a point 4, and drawing a CA section 1 / 3 arc of the circular route through points 4-5-6 in sequence; wherein the points 4 and 6 are passing points, the point 5 is turning, and the turning radius is set as the radius of a circular air route; a3, turning to a route point 7, and drawing a 1 / 3 arc of a BC section of the circular route through points 7-8-9 in sequence; points 7 and 9 are passing points, a point 8 is a turn, and the radius of the turn is set as the radius of a circular air route; the circular route is obtained by sequentially flying according to the arcs of the BC section, the AB section and the CA section, and the planning method of the circular route obtained by sequentially flying according to the arcs of the CA section, the BC section and the AB section is the same as the planning method of the circular route obtained by sequentially flying according to the arcs of the AB section, the CA section and the BC section. The requirement for flight control logic is low, the air route can be adjusted in time, and the task reliability is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft route planning, and in particular relates to an aircraft circular route planning method. Background Art

[0002] When a drone performs a specific task (such as laser target shooting, communication testing) in a designated airspace, it is usually required to fly a circular route at a fixed height with a certain radius and a certain point (specified by longitude, latitude and altitude) in the airspace as the center of the circle. In this airspace, the drone does not need to fly continuously along the circular route in time, but the track needs to cover this circle to ensure that every point on the circle can be used for the task (target shooting or testing, etc.).

[0003] Conventional method 1 to achieve a circular route: Use the command flight mode. Keep the drone at a certain ground speed and roll angle. Since it is difficult to grasp the timing of turning into a circle in this mode, and after turning into the command flight mode, the instantaneous roll angle may jump and the instantaneous speed is difficult to maintain. It is difficult to draw the predetermined circular route after further adjustment.

[0004] Conventional method 2 for achieving a circular route: Use autonomous flight mode and plan the waypoints as a circle. This method has high requirements on flight control logic, requiring the drone to be able to turn in advance between each waypoint and keep the radius consistent. If there is an error in the track, it is difficult to adjust in time. Summary of the invention

[0005] The purpose of the present invention is to provide a circular route planning method for an aircraft. The present invention has low requirements on the flight control logic of the aircraft and can adjust the route in time to improve the mission reliability.

[0006] The technical solution of the present invention is: a method for planning a circular route for an aircraft, including a method for planning a single-aircraft single-direction counterclockwise route, the planning method including a method for planning a circular route by the aircraft flying in sequence according to the AB segment-CA segment-BC segment circular arc, flying in sequence according to the BC segment-AB segment-CA segment circular arc, and flying in sequence according to the CA segment-BC segment-AB segment circular arc; making a circumscribed equilateral triangle for the circular route, waypoints 2, 5, and 8 are three vertices of the equilateral triangle, extending the sides of the triangle at each vertex to form three triangles, the three vertices of the triangle at waypoint 2 are marked as 2, 6, and 7, respectively, the three vertices at waypoint 5 are marked as 1, 5, and 9, and the three vertices at waypoint 8 are marked as 3, 4, and 8, and each marked vertex is used as a waypoint; then, the method for planning a circular route by flying in sequence according to the AB segment-CA segment-BC segment circular arc has the following steps:

[0007] a1. Starting from point 1, draw the AB segment 1 / 3 arc of the circular route through waypoints 1-2-3 in sequence; waypoints 1 and 3 are passing points, waypoint 2 is a turn, and the turning radius is set to the circular route radius;

[0008] a2. Turn to waypoint 4, and draw a 1 / 3 arc of the CA segment of the circular route through waypoints 4-5-6 in sequence; waypoints 4 and 6 are passing points, waypoint 5 is a turn, and the turning radius is set to the circular route radius;

[0009] a3. Turn to waypoint 7, and draw the BC segment 1 / 3 arc of the circular route through waypoints 7-8-9 in sequence; waypoints 7 and 9 are passing points, waypoint 8 is a turn, and the turning radius is set to the circular route radius;

[0010] The planning method of obtaining a circular route by flying the BC segment-AB segment-CA segment circular arc and the planning method of obtaining a circular route by flying the CA segment-BC segment-AB segment circular arc are the same as the planning method of obtaining a circular route by flying the AB segment-CA segment-BC segment circular arc.

[0011] The aforementioned aircraft circular route planning method also includes a single-aircraft single-direction clockwise route planning method, which includes a circular route obtained by sequentially flying along the CB segment-AC segment-BA segment circular arc, a circular route obtained by sequentially flying along the BA segment-CB segment-AC segment circular arc, and a circular route obtained by sequentially flying along the AC segment-BA segment-CB segment circular arc.

[0012] The steps of planning a circular route by sequentially flying the arc of CB segment-AC segment-BA segment are as follows:

[0013] b1. Starting from point 9, draw a 1 / 3 arc of the CB segment of the circular route through waypoints 9-8-7 in sequence; waypoints 7 and 9 are passing points, waypoint 2 is a turn, and the turning radius is set to the circular route radius;

[0014] b2. Turn to waypoint 6, and draw the AC segment 1 / 3 arc of the circular route through waypoints 6-5-4 in sequence; among which waypoints 4 and 6 are passing points, waypoint 5 is a turn, and the turning radius is set to the circular route radius;

[0015] b3. Go to waypoint 3, and draw the BA segment 1 / 3 arc of the circular route through waypoints 3-2-1 in sequence; waypoints 1 and 3 are passing points, waypoint 2 is a turn, and the turning radius is set to the circular route radius;

[0016] The planning method of obtaining a circular route by flying the arc of BA segment-CB segment-AC segment in sequence and the circular route by flying the arc of AC segment-BA segment-CB segment in sequence is the same as the planning method of obtaining a circular route by flying the arc of CB segment-AC segment-BA segment in sequence.

[0017] The aforementioned circular route planning method for an aircraft also includes a route planning method for a single aircraft to change from counterclockwise to clockwise and a route planning method for a single aircraft to change from clockwise to counterclockwise; wherein the route planning method for a single aircraft to change from counterclockwise to clockwise includes a route planning method for completing the BC arc flight and then flying in the reverse direction of the CB arc, completing the CA arc flight and then flying in the reverse direction of the AC arc, and completing the AB arc flight and then flying in the reverse direction of the BA arc;

[0018] The route planning method for completing the BC arc flight and then flying in reverse according to the CB arc is as follows: the reverse flight route is 1-5-8-7, where waypoints 1, 5, and 7 are passing points, waypoint 8 is a turn, and the turning radius is set to the circular route radius;

[0019] The route planning method of flying in reverse according to the AC arc after completing the CA arc flight, and the route planning method of flying in reverse according to the BA arc after completing the AB arc flight are the same as the route planning method of flying in reverse according to the CB arc after completing the BC arc flight;

[0020] The principle of the route planning method for a single aircraft changing from clockwise to counterclockwise is the same as that of the route planning method for changing from counterclockwise to clockwise.

[0021] In the aforementioned aircraft circular route planning method, the route planning method for completing the BC segment circular arc flight and then flying in the opposite direction along the CB segment circular arc can also be: make another triangle at the end waypoint 9 of the BC segment circular arc route, and the other two vertices of the triangle are marked as 10 and 20 respectively, and the angles of the two triangles at waypoint 9 are opposite angles; then, the reverse flight route is 20-10-8-7, among which waypoints 7, 10, and 20 are passing points, waypoint 8 is a turn, and the turning radius is set to the specified circle radius.

[0022] The aforementioned aircraft circular route planning method also includes a 60° progressive method of a single aircraft cutting point between each circle drawing cycle without changing the direction, and the steps are as follows:

[0023] c1. Make another circumscribed equilateral triangle of the circular route, with an azimuth difference of 60° from the original equilateral triangle; the vertices of the new equilateral triangle are 12, 15, and 18; extend the sides of the triangle at each vertex to form triangles 12-16-17, 11-15-19, and 13-14-18 respectively; extend the sides passing through points 19 and 11, and points 5 and 9, intersecting at point 10;

[0024] c2. After completing the circular route of the AB segment-CA segment-BC segment arc, the aircraft arrives at waypoint 9 and enters the new equilateral triangle route via the transfer route 9-10-11;

[0025] c3. Starting from waypoint 11, draw a 1 / 3 arc of segment DE through waypoints 11-12-13; waypoints 11 and 13 are passing points, waypoint 12 is a turn, and the turning radius is set to the circular route radius;

[0026] c4. Turn to waypoint 14, and draw a 1 / 3 arc of the FD segment through waypoints 14-15-16; waypoints 14 and 16 are passing points, waypoint 15 is a turn, and the turning radius is set to the circular route radius;

[0027] c5. Turn to waypoint 17, and draw a 1 / 3 arc of segment EF through waypoints 17-18-19. Waypoints 17 and 19 are passing points, and waypoint 18 is a turn. The turning radius is set to the circular route radius. A new circular route is completed, and the tangent point is DEF.

[0028] In the aforementioned circular route planning method for the aircraft, after point 19, the circular route planning method for the next cycle is: turn to waypoint 11, pass through waypoints 11-12-13-14-15-16-17-18-19, and continue to draw a circle counterclockwise along the tangent point DEF;

[0029] Or: turn to waypoint 11, pass through waypoints 11-15-18-17-16-15-14-13-11, and draw a circle along the tangent point DEF;

[0030] Or: turn to waypoint 10, pass through waypoints 10-8-7-6-5-4-3-2-1, and draw a circle clockwise along the tangent point ABC;

[0031] Or: Turn to waypoint 10, pass through waypoints 10-9-1-2-3-4-5-6-7-8-9, and draw a circle counterclockwise along the tangent point ABC.

[0032] The aforementioned aircraft circular route planning method also includes a 60° progressive method for changing the direction of the single aircraft's circle cutting point between each circle drawing cycle, the steps are as follows:

[0033] d1. After completing the circular route of the AB segment-CA segment-BC segment arc, the aircraft arrives at waypoint 9 and enters the new equilateral triangle route via the transfer route 9-10-19;

[0034] d2. Starting from waypoint 19, draw a 1 / 3 arc of the FE segment through waypoints 19-18-17; waypoints 17 and 19 are passing points, waypoint 18 is a turn, and the turning radius is set to a circular route;

[0035] d3. Turn to waypoint 16, and draw a 1 / 3 arc of the DF segment through waypoints 16-15-14; waypoints 14 and 16 are passing points, waypoint 15 is a turn, and the turning radius is set to a circular route;

[0036] d4. Turn to waypoint 13 and draw a 1 / 3 arc of the ED segment through waypoints 13-12-11; among them, waypoints 11 and 13 are passing points, waypoint 12 is a turn, and the turning radius is set as a circular route; thus, a cycle of the new circular route is completed, and the tangent point is DEF.

[0037] In the aforementioned circular route planning method for the aircraft, the circular route planning method for the next cycle is: turn to waypoint 19, pass through waypoints 19-18-17-16-15-14-13-11, and continue to draw a circle clockwise along the tangent point DEF;

[0038] Or: turn to waypoint 19, pass through waypoints 19-15-12-13-14-15-16-17-18-19, and draw a circle counterclockwise along the tangent point DEF;

[0039] Or: turn to waypoint 10, pass through waypoints 10-8-7-6-5-4-3-2-1, and draw a circle clockwise along the tangent point ABC;

[0040] Or: Turn to waypoint 10, pass through waypoints 10-9-1-2-3-4-5-6-7-8-9, and draw a circle counterclockwise along the tangent point ABC.

[0041] The aforementioned aircraft circular route planning method also includes a dual-aircraft collaborative circle route planning method: two aircraft fly according to the same route map, with the same flight speed, but the rotation phases of the two aircraft differ by 120°; the specific steps are as follows:

[0042] e1. At time t0, aircraft No. 1 arrives at waypoint 1 and flies along waypoints 1-2-3; aircraft No. 2 arrives at waypoint 4 and flies along waypoints 4-5-6;

[0043] e2. At time t1, aircraft No. 1 arrives at waypoint 4 and flies along waypoints 4-5-6; aircraft No. 2 arrives at waypoint 7 and flies along waypoints 7-8-9;

[0044] e3. At time t2, aircraft No. 1 arrives at waypoint 7 and flies along waypoints 7-8-9; aircraft No. 2 arrives at waypoint 1 and flies along waypoints 1-2-3;

[0045] e4. Repeat the above process to enter a new circle drawing cycle, otherwise it will be dismissed at the same time.

[0046] The aforementioned aircraft circular route planning method also includes a three-aircraft collaborative circle route planning method: the three aircraft fly according to the same route map, with the same flight speed, but the phases of the three aircraft rotations differ by 120°; the specific steps are as follows:

[0047] f1. At time t0, aircraft No. 1 arrives at waypoint 1 and flies along waypoints 1-2-3; aircraft No. 2 arrives at waypoint 4 and flies along waypoints 4-5-6; aircraft No. 3 arrives at waypoint 7 and flies along waypoints 7-8-9;

[0048] f2. At time t1, aircraft No. 1 arrives at waypoint 4 and flies along waypoints 4-5-6; aircraft No. 2 arrives at waypoint 7 and flies along waypoints 7-8-9; aircraft No. 3 arrives at waypoint 1 and flies along waypoints 1-2-3;

[0049] f3. At time t2, aircraft No. 1 arrives at waypoint 7 and flies along waypoints 7-8-9; aircraft No. 2 arrives at waypoint 1 and flies along waypoints 1-2-3; aircraft No. 3 arrives at waypoint 4 and flies along waypoints 4-5-6;

[0050] f4. Repeat the above process to enter a new circle drawing cycle; otherwise, the cycle is terminated.

[0051] Beneficial effects of the present invention:

[0052] (1) Compared with conventional methods, this method does not require continuous advance turns between adjacent waypoints and has lower requirements on the UAV flight control logic;

[0053] (2) This method divides the designated circular area into three sectors. After drawing each 1 / 3 of the circle, the non-circular route is entered. The circular route and the non-circular route are carried out alternately, which is convenient for correcting the circular route and has a high mission reliability.

[0054] (3) After completing a forward flight followed by a reverse flight (clockwise followed by counterclockwise, or vice versa) in a single sector, the aircraft can enter other sectors, making it easier to conduct continuous tests in a specified direction or alternately test the left and right sides of the fuselage target. This eliminates the need to turn a full circle in a single direction and then return to the area for repeated testing, thereby improving mission efficiency and flexibility.

[0055] (4) This method facilitates two aircraft (two test points, with an azimuth difference of 120°) or three aircraft (three test points, with an azimuth difference of 120°) to perform tasks simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is a schematic diagram of single-direction route planning for a single aircraft. Taking counterclockwise as an example, a complete circular route is: 1-2-3-4-5-6-7-8-9.

[0057] Figure 2Schematic diagram of the method of drawing a circle for a single 1 / 3 sector. For example: in a 1-2-3 route segment, waypoints 1 and 3 are passing points, waypoint 2 is a turn, and the turn radius is set to the specified circle radius. This route segment can draw a 1 / 3 arc of the AB segment. The same method can be used to further draw the 1 / 3 arcs of the CA and BC segments.

[0058] Figure 3 A route that completes one forward flight followed by one reverse flight for a single sector.

[0059] Figure 4 Another route that completes one forward flight followed by one reverse flight for a single sector.

[0060] Figure 5 It is a single-aircraft tangent point route with a 60° progression (the tangent point changes from ABC to DEF).

[0061] Figure 6 For a single aircraft without changing direction, the tangent point progresses along the route at 60°.

[0062] Figure 7 For a single aircraft, the flight direction changes from counterclockwise to clockwise and the intersection point progresses by 60°.

[0063] Figure 8 Draw a circular route for two aircraft to work together.

[0064] Fig. 9 Draw a circular route for the three aircraft to work together. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] Example 1. A circular route planning method for an aircraft, see Figure 1-Figure 9 ,include:

[0067] 1. Single-aircraft single-direction route planning method (taking counterclockwise as an example, the same applies to clockwise)

[0068] (1) Figure 1 , make a circumscribed equilateral triangle of the specified circle, with waypoints 2, 5, and 8 as the three vertices of the equilateral triangle. Extend the sides of the triangle at each vertex to form triangles 267, 159, and 348 respectively.

[0069] (2) Figure 2, starting from point 1, draw a 1 / 3 arc of segment AB through waypoints 1-2-3. Waypoints 1 and 3 are passing points, waypoint 2 is a turn, and the turning radius is set to the specified circle radius.

[0070] (3) Figure 2 , turn to waypoint 4, and draw a 1 / 3 arc of the CA segment through waypoints 4-5-6. Waypoints 4 and 6 are passing points, waypoint 5 is a turn, and the turning radius is set to the specified circle radius.

[0071] (4) Figure 2 , turn to waypoint 7, and draw a 1 / 3 arc of the BC segment through waypoints 7-8-9. Waypoints 7 and 9 are passing points, waypoint 8 is a turn, and the turning radius is set to the specified circle radius. So far, a cycle of circle drawing is completed, and the tangent point is ABC.

[0072] (5) Go to waypoint 1 and repeat the above process to continue drawing a circle along the tangent point ABC.

[0073] 2. Route planning method for a single aircraft in different directions (taking the example of changing from clockwise to counterclockwise, and vice versa)

[0074] When the drone completes a 1 / 3 arc route (for example, along waypoints 7-8-9), there are two ways to complete a reverse flight on the same path:

[0075] (1) Figure 3 The reverse flight route is 1-5-8-7, where waypoints 1, 5, and 7 are passing points, waypoint 8 is a turn, and the turning radius is set to the specified circle radius.

[0076] (2) Figure 4 The reverse flight route is 20-10-8-7, where waypoints 7, 10, and 20 are passing points, waypoint 8 is a turn, and the turning radius is set to the specified circle radius.

[0077] 3. 60° progressive method between each circle drawing cycle for cutting points of a single machine (without changing direction)

[0078] (1) Figure 5 , make another circumscribed equilateral triangle of the specified circle, with an angle difference of 60° from the original equilateral triangle. The vertices of the new equilateral triangle are 12, 15, and 18. Extend the sides of the triangle at each vertex to form triangles 12-16-17, 11-15-19, and 13-14-18. Extend 19-11 and 5-9 to make them intersect at point 10.

[0079] (2) After completion Figure 2 After drawing the circular route shown in the figure (the tangent point is ABC), the drone arrives at waypoint 9 and enters the new equilateral triangle route via the transfer route 9-10-11, as shown in the figure below. Figure 6 .

[0080] (3) Figure 6 , starting from waypoint 11, draw a 1 / 3 arc of DE segment through waypoints 11-12-13. Waypoints 11 and 13 are passing points, waypoint 12 is a turn, and the turning radius is set to the specified circle radius.

[0081] (4) Figure 6 , turn to waypoint 14, and draw a 1 / 3 arc of the FD segment through waypoints 14-15-16. Waypoints 14 and 16 are passing points, waypoint 15 is a turn, and the turning radius is set to the specified circle radius.

[0082] (5) Figure 6 , turn to waypoint 17, and draw a 1 / 3 arc of segment EF through waypoints 17-18-19. Waypoints 17 and 19 are passing points, waypoint 18 is a turn, and the turning radius is set to the specified circle radius. So far, a new circular route is completed, and the tangent point is DEF. Compared with the circular route with tangent points ABC, this circular route progresses 60° counterclockwise and the direction is still counterclockwise.

[0083] Note: After 19:00, there are 4 options for the next cycle:

[0084] Option 1: Go to waypoint 11, pass through waypoints 11-12-13-14-15-16-17-18-19, and continue to draw a circle counterclockwise along the tangent point DEF.

[0085] Option 2: Go to waypoint 11, pass through waypoints 11-15-18-17-16-15-14-13-11, and draw a circle along the tangent point DEF.

[0086] Option 3: Go to waypoint 10, and draw a circle clockwise along the tangent point ABC via waypoints 10-8-7-6-5-4-3-2-1.

[0087] Option 4: Go to waypoint 10, and draw a circle counterclockwise along the tangent point ABC via waypoints 10-9-1-2-3-4-5-6-7-8-9.

[0088] 4. 60° progressive method (changing direction) between each circle drawing cycle for cutting points of a single machine

[0089] (1) Figure 5 , make another circumscribed equilateral triangle of the specified circle, with an angle difference of 60° from the original equilateral triangle. The vertices of the new equilateral triangle are 12, 15, and 18. Extend the sides of the triangle at each vertex to form triangles 12-16-17, 11-15-19, and 13-14-18. Extend 19-11 and 5-9 to make them intersect at point 10.

[0090] (2) After completion Figure 2 After drawing the circular route (the tangent point is ABC), the drone arrives at waypoint 9 and enters the new equilateral triangle route via the transfer route 9-10-19. Figure 7 .

[0091] (3) Figure 7 , starting from waypoint 19, draw a FE segment 1 / 3 arc through waypoints 19-18-17. Waypoints 17 and 19 are passing points, waypoint 18 is a turn, and the turning radius is set to the specified circle radius.

[0092] (4) Figure 7 , turn to waypoint 16, and draw a DF segment 1 / 3 arc through waypoints 16-15-14. Waypoints 14 and 16 are passing points, waypoint 15 is a turn, and the turning radius is set to the specified circle radius.

[0093] (5) Figure 7 , turn to waypoint 13, and draw a 1 / 3 arc of the ED segment through waypoints 13-12-11. Waypoints 11 and 13 are passing points, waypoint 12 is a turn, and the turning radius is set to the specified circle radius. So far, a new circular route is completed, and the tangent point is DEF. Compared with the circular route with tangent points ABC, this circular route progresses 60° clockwise and the direction is changed to clockwise.

[0094] Note: After 11 o'clock, there are 4 options for the next cycle:

[0095] Option 1: Go to waypoint 19, pass through waypoints 19-18-17-16-15-14-13-11, and continue to draw a circle clockwise along the tangent point DEF.

[0096] Option 2: Go to waypoint 19, and draw a circle counterclockwise along the tangent point DEF via waypoints 19-15-12-13-14-15-16-17-18-19.

[0097] Option 3: Go to waypoint 10, and draw a circle clockwise along the tangent point ABC via waypoints 10-8-7-6-5-4-3-2-1.

[0098] Option 4: Go to waypoint 10, and draw a circle counterclockwise along the tangent point ABC via waypoints 10-9-1-2-3-4-5-6-7-8-9.

[0099] 5. Route planning method for two-aircraft collaborative circle drawing

[0100] like Figure 8 , the two drones fly along the same route map and at the same speed. However, the phase difference between their rotations is 120°. The details are as follows:

[0101] (1) At time t0, UAV No. 1 arrives at waypoint 1 and flies along waypoints 1-2-3. UAV No. 2 arrives at waypoint 4 and flies along waypoints 4-5-6 (when UAV No. 1 enters the AB segment of the arc, UAV No. 2 enters the CA segment of the arc. When UAV No. 1 exits the circle from point B, UAV No. 2 exits the circle from point A. In this process, the arc distance between the two on the circle is always 1 / 3 of the arc length).

[0102] (2) At time t1, UAV 1 arrives at waypoint 4 and flies along waypoints 4-5-6. UAV 2 arrives at waypoint 7 and flies along waypoints 7-8-9 (when UAV 1 enters the CA segment of the arc, UAV 2 enters the BC segment of the arc. When UAV 1 exits the circle from point A, UAV 2 exits the circle from point C. In this process, the arc distance between the two is always 1 / 3 of the arc length).

[0103] (3) At time t2, UAV No. 1 arrives at waypoint 7 and flies along waypoints 7-8-9. UAV No. 2 arrives at waypoint 1 and flies along waypoints 1-2-3 (when UAV No. 1 enters the BC segment of the arc, UAV No. 2 enters the AB segment of the arc. When UAV No. 1 exits the circle from point C, UAV No. 2 exits the circle from point B. In this process, the arc distance between the two on the circle is always 1 / 3 of the arc length).

[0104] (4) Repeat the above process to enter a new circle drawing cycle. Otherwise, the process will be terminated.

[0105] 6. Route planning method for three aircraft to draw a circle in coordination

[0106] like Fig. 9 , the three drones fly along the same route map and at the same speed. However, the rotation phases of the three drones differ by 120°. The details are as follows:

[0107] (5) At time t0, UAV No. 1 arrives at waypoint 1 and flies along waypoints 1-2-3. UAV No. 2 arrives at waypoint 4 and flies along waypoints 4-5-6. UAV No. 3 arrives at waypoint 7 and flies along waypoints 7-8-9 (when UAV No. 1 enters the AB segment of the arc, UAV No. 2 enters the CA segment of the arc, and UAV No. 3 enters the BC segment of the arc. When UAV No. 1 exits the circle from point B, UAV No. 2 exits the circle from point A, and UAV No. 3 exits the circle from point C. In this process, the arc distances of the three on the circle are always 1 / 3 of the arc length).

[0108] (6) At time t1, UAV No. 1 arrives at waypoint 4 and flies along waypoints 4-5-6. UAV No. 2 arrives at waypoint 7 and flies along waypoints 7-8-9. UAV No. 3 arrives at waypoint 1 and flies along waypoints 1-2-3 (when UAV No. 1 enters the CA segment of the arc, UAV No. 2 enters the BC segment of the arc, and UAV No. 3 enters the AB segment of the arc. When UAV No. 1 exits the circle from point A, UAV No. 2 exits the circle from point C, and UAV No. 3 exits the circle from point B. In this process, the arc distances of the three on the circle are always 1 / 3 of the arc length).

[0109] (7) At time t2, UAV No. 1 arrives at waypoint 7 and flies along waypoints 7-8-9. UAV No. 2 arrives at waypoint 1 and flies along waypoints 1-2-3. UAV No. 3 arrives at waypoint 4 and flies along waypoints 4-5-6 (when UAV No. 1 enters the BC segment of the arc, UAV No. 2 enters the AB segment of the arc, and UAV No. 3 enters the CA segment of the arc. When UAV No. 1 exits the circle from point C, UAV No. 2 exits the circle from point B, and UAV No. 3 exits the circle from point A. In this process, the arc distances of the three on the circle are always 1 / 3 of the arc length).

[0110] (8) Repeat the above process to enter a new circle drawing cycle. Otherwise, the process is terminated.

[0111] The above is only a specific embodiment of the present invention, and the present invention is described in detail. The unexplained part is a conventional technology. However, the protection scope of the present invention is not limited to this. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A circular route planning method for an aircraft, characterized in that: The invention comprises a single-aircraft single-direction counterclockwise route planning method, which comprises a planning method that the aircraft flies in sequence according to the AB segment-CA segment-BC segment circular arc to obtain a circular route, flies in sequence according to the BC segment-AB segment-CA segment circular arc to obtain a circular route, and flies in sequence according to the CA segment-BC segment-AB segment circular arc to obtain a circular route; a circumscribed regular triangle of the circular route is made, and waypoints 2, 5, and 8 are three vertices of the regular triangle, and the sides of the triangle are extended at each vertex to form three corresponding triangles, and the three vertices of the triangle at waypoint 2 are marked as 2, 6, and 7 respectively, and the three vertices at waypoint 5 are marked as 1, 5, and 9 respectively, and the three vertices at waypoint 8 are marked as 3, 4, and 8 respectively, and each marked vertex is used as a waypoint; then, the planning method for obtaining a circular route by flying in sequence according to the AB segment-CA segment-BC segment circular arc has the following steps: a1. Starting from point 1, draw the AB segment 1 / 3 arc of the circular route through waypoints 1-2-3 in sequence; waypoints 1 and 3 are passing points, waypoint 2 is a turn, and the turning radius is set to the circular route radius; a2. Turn to waypoint 4, and draw a 1 / 3 arc of the CA segment of the circular route through waypoints 4-5-6 in sequence; waypoints 4 and 6 are passing points, waypoint 5 is a turn, and the turning radius is set to the circular route radius; a3. Turn to waypoint 7, and draw the BC segment 1 / 3 arc of the circular route through waypoints 7-8-9 in sequence; waypoints 7 and 9 are passing points, waypoint 8 is a turn, and the turning radius is set to the circular route radius; The planning method of obtaining a circular route by flying the BC segment-AB segment-CA segment circular arc and the planning method of obtaining a circular route by flying the CA segment-BC segment-AB segment circular arc are the same as the planning method of obtaining a circular route by flying the AB segment-CA segment-BC segment circular arc.

2. The method for circular route planning of an aircraft according to claim 1, characterized in that: The invention also includes a single-aircraft single-direction clockwise route planning method, which includes a circular route obtained by sequentially flying along the arc of CB segment-AC segment-BA segment, a circular route obtained by sequentially flying along the arc of BA segment-CB segment-AC segment, and a circular route obtained by sequentially flying along the arc of AC segment-BA segment-CB segment; The steps of planning a circular route by sequentially flying the arc of CB segment-AC segment-BA segment are as follows: b1. Starting from point 9, draw a 1 / 3 arc of the CB segment of the circular route through waypoints 9-8-7 in sequence; waypoints 7 and 9 are passing points, waypoint 2 is a turn, and the turning radius is set to the circular route radius; b2. Turn to waypoint 6, and draw the AC segment 1 / 3 arc of the circular route through waypoints 6-5-4 in sequence; among which waypoints 4 and 6 are passing points, waypoint 5 is a turn, and the turning radius is set to the circular route radius; b3. Go to waypoint 3, and draw the BA segment 1 / 3 arc of the circular route through waypoints 3-2-1 in sequence; waypoints 1 and 3 are passing points, waypoint 2 is a turn, and the turning radius is set to the circular route radius; The planning method of obtaining a circular route by flying the arc of BA segment-CB segment-AC segment in sequence and the circular route by flying the arc of AC segment-BA segment-CB segment in sequence is the same as the planning method of obtaining a circular route by flying the arc of CB segment-AC segment-BA segment in sequence.

3. The method for circular route planning of an aircraft according to claim 1, characterized in that: The method also includes a route planning method for a single aircraft to change from counterclockwise to clockwise and a route planning method for a single aircraft to change from clockwise to counterclockwise; wherein the route planning method for a single aircraft to change from counterclockwise to clockwise includes a route planning method for completing the BC arc flight and then flying in the reverse direction of the CB arc, completing the CA arc flight and then flying in the reverse direction of the AC arc, and completing the AB arc flight and then flying in the reverse direction of the BA arc; The route planning method for completing the BC arc flight and then flying in reverse according to the CB arc is as follows: the reverse flight route is 1-5-8-7, where waypoints 1, 5, and 7 are passing points, waypoint 8 is a turn, and the turning radius is set to the circular route radius; The route planning method of flying in reverse according to the AC arc after completing the CA arc flight, and the route planning method of flying in reverse according to the BA arc after completing the AB arc flight are the same as the route planning method of flying in reverse according to the CB arc after completing the BC arc flight; The principle of the route planning method for a single aircraft changing from clockwise to counterclockwise is the same as that of the route planning method for changing from counterclockwise to clockwise.

4. The method for circular route planning of an aircraft according to claim 3, characterized in that: Another route planning method for reverse flight along the CB arc after completing the BC arc flight is as follows: make another triangle at the end waypoint 9 of the BC arc route, with the other two vertices of the triangle marked as 10 and 20 respectively, and the angles of the two triangles at waypoint 9 are opposite angles; then, the reverse flight route is 20-10-8-7, wherein waypoints 7, 10, and 20 are passing points, waypoint 8 is a turn, and the turning radius is set to the specified circle radius.

5. The method for circular route planning of an aircraft according to claim 1, characterized in that: The invention also includes a method for the 60° progressive cutting point of a single machine between each circle drawing cycle without changing the direction, the steps are as follows: c1. Make another circumscribed equilateral triangle of the circular route, with an azimuth difference of 60° from the original equilateral triangle; the vertices of the new equilateral triangle are 12, 15, and 18; extend the sides of the triangle at each vertex to form triangles 12-16-17, 11-15-19, and 13-14-18 respectively; extend the sides passing through points 19 and 11, and points 5 and 9, intersecting at point 10; c2. After completing the circular route of the AB segment-CA segment-BC segment arc, the aircraft arrives at waypoint 9 and enters the new equilateral triangle route via the transfer route 9-10-11; c3. Starting from waypoint 11, draw a 1 / 3 arc of segment DE through waypoints 11-12-13; waypoints 11 and 13 are passing points, waypoint 12 is a turn, and the turning radius is set to the circular route radius; c4. Turn to waypoint 14, and draw a 1 / 3 arc of the FD segment through waypoints 14-15-16; waypoints 14 and 16 are passing points, waypoint 15 is a turn, and the turning radius is set to the circular route radius; c5. Turn to waypoint 17, and draw a 1 / 3 arc of segment EF through waypoints 17-18-19. Waypoints 17 and 19 are passing points, and waypoint 18 is a turn. The turning radius is set to the circular route radius. A new circular route is completed, and the tangent point is DEF.

6. The method for circular route planning of an aircraft according to claim 5, characterized in that: After point 19, the circular route planning method for the next cycle is: turn to waypoint 11, pass through waypoints 11-12-13-14-15-16-17-18-19, and continue to draw a circle counterclockwise along the tangent point DEF; Or: turn to waypoint 11, pass through waypoints 11-15-18-17-16-15-14-13-11, and draw a circle along the tangent point DEF; Or: turn to waypoint 10, pass through waypoints 10-8-7-6-5-4-3-2-1, and draw a circle clockwise along the tangent point ABC; Or: Turn to waypoint 10, pass through waypoints 10-9-1-2-3-4-5-6-7-8-9, and draw a circle counterclockwise along the tangent point ABC.

7. The method for circular route planning of an aircraft according to claim 5, characterized in that: The method also includes a 60° progressive method for changing the direction of the single machine cutting point between each circle drawing cycle, the steps are as follows: d1. After completing the circular route of the AB segment-CA segment-BC segment arc, the aircraft arrives at waypoint 9 and enters the new equilateral triangle route via the transfer route 9-10-19; d2. Starting from waypoint 19, draw a 1 / 3 arc of the FE segment through waypoints 19-18-17; waypoints 17 and 19 are passing points, waypoint 18 is a turn, and the turning radius is set to a circular route; d3. Turn to waypoint 16, and draw a 1 / 3 arc of the DF segment through waypoints 16-15-14; waypoints 14 and 16 are passing points, waypoint 15 is a turn, and the turning radius is set to a circular route; d4. Turn to waypoint 13 and draw a 1 / 3 arc of the ED segment through waypoints 13-12-11; among them, waypoints 11 and 13 are passing points, waypoint 12 is a turn, and the turning radius is set as a circular route; thus, a cycle of the new circular route is completed, and the tangent point is DEF.

8. The method for circular route planning of an aircraft according to claim 7, characterized in that: The circular route planning method for the next cycle is: turn to waypoint 19, pass through waypoints 19-18-17-16-15-14-13-11, and continue to draw a circle clockwise along the tangent point DEF; Or: turn to waypoint 19, pass through waypoints 19-15-12-13-14-15-16-17-18-19, and draw a circle counterclockwise along the tangent point DEF; Or: turn to waypoint 10, pass through waypoints 10-8-7-6-5-4-3-2-1, and draw a circle clockwise along the tangent point ABC; Or: Turn to waypoint 10, pass through waypoints 10-9-1-2-3-4-5-6-7-8-9, and draw a circle counterclockwise along the tangent point ABC.

9. The method for circular route planning of an aircraft according to claim 1, characterized in that: The invention also includes a route planning method for two aircraft to draw a circle in cooperation: two aircraft fly according to the same route map, with the same flight speed, but the phase difference between the two aircrafts is 120°; the specific steps are as follows: e1. At time t0, aircraft No. 1 arrives at waypoint 1 and flies along waypoints 1-2-3; aircraft No. 2 arrives at waypoint 4 and flies along waypoints 4-5-6; e2. At time t1, aircraft No. 1 arrives at waypoint 4 and flies along waypoints 4-5-6; aircraft No. 2 arrives at waypoint 7 and flies along waypoints 7-8-9; e3. At time t2, aircraft No. 1 arrives at waypoint 7 and flies along waypoints 7-8-9; aircraft No. 2 arrives at waypoint 1 and flies along waypoints 1-2-3; e4. Repeat the above process to enter a new circle drawing cycle, otherwise it will be dismissed at the same time.

10. The method for circular route planning of an aircraft according to claim 1, characterized in that: It also includes a route planning method for three aircraft to draw a circle in coordination: the three aircraft fly according to the same route map, with the same flight speed, but the phases of the three aircraft's rotation differ by 120°; the specific steps are as follows: f1. At time t0, aircraft No. 1 arrives at waypoint 1 and flies along waypoints 1-2-3; aircraft No. 2 arrives at waypoint 4 and flies along waypoints 4-5-6; aircraft No. 3 arrives at waypoint 7 and flies along waypoints 7-8-9; f2. At time t1, aircraft No. 1 arrives at waypoint 4 and flies along waypoints 4-5-6; aircraft No. 2 arrives at waypoint 7 and flies along waypoints 7-8-9; aircraft No. 3 arrives at waypoint 1 and flies along waypoints 1-2-3; f3. At time t2, aircraft No. 1 arrives at waypoint 7 and flies along waypoints 7-8-9; aircraft No. 2 arrives at waypoint 1 and flies along waypoints 1-2-3; aircraft No. 3 arrives at waypoint 4 and flies along waypoints 4-5-6; f4. Repeat the above process to enter a new circle drawing cycle; otherwise, the cycle is terminated.

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