Imitation airline planning method based on oil-driven unmanned helicopter

Abstract

The invention provides a simulated land route planning method based on an oil-driven unmanned helicopter. The simulated land route planning method comprises the following steps: automatically planning an auxiliary route connected between two adjacent survey lines according to given aerial survey line endpoints in combination with unmanned helicopter flight dynamics constraints; and generating a plurality of task route segments with available height by adopting a comprehensive route smoothing algorithm according to terrain height data below the task survey line. Wherein the comprehensive route smoothing algorithm comprises a gradient limiting smoothing algorithm, a curvature smoothing algorithm and a waypoint clipping algorithm. The route planning method is integrated in unmanned helicopter ground measurement and control software, the intelligent level of an oil-driven unmanned helicopter system is improved, the planning difficulty of operators is reduced, and the method has high engineering application value.

Description

Technical Field

[0001] The present invention belongs to the technical field of flight path planning for gasoline-powered unmanned helicopters, and particularly relates to a terrain-following flight path planning method based on gasoline-powered unmanned helicopters. Background Art

[0002] To effectively achieve autonomous flight of unmanned helicopters and automatically complete flight missions, one of the core supports is flight path planning. At the same time, the intelligent level of flight path planning also reflects the intelligent level of unmanned helicopter operation. Traditional flight path planning can be divided into manual planning based on task scenarios and automatic planning based on intelligent algorithms. Among them, manual planning has the problems of large planning tasks and complex planning; automatic planning based on intelligent algorithms usually plans according to terrain features. In terms of terrain-following flight path planning for terrain detection tasks using gasoline-powered unmanned helicopters, there is currently a lack of effective and referenceable methods for flight path planning in this task scenario.

[0003] Industrial-grade gasoline-powered unmanned helicopters have higher requirements for flight safety and higher requirements for the accuracy and rationality of flight paths during mission execution. When performing flight path planning, it is necessary to comprehensively consider the type of flight mission to be executed and the mission payload carried. When using a gasoline-powered unmanned helicopter for terrain-following flight during terrain detection tasks, the planning of the aircraft's flight path involves the analysis of the flight dynamics characteristics of the unmanned helicopter, the acquisition of elevation data in the digital elevation model (DEM) below the flight survey line, and the smoothing of flight path slopes, curvatures, and the trimming of redundant waypoints. Therefore, it has high requirements for the professionalism of the operators of gasoline-powered unmanned helicopters. Due to the high professional requirements for operators, the degree of intelligence is relatively low, and due to the uncertain factors of people, there will be certain difficulties in reasonably and efficiently planning flight paths. Summary of the Invention

[0004] Object of the Invention: To improve the accuracy and convenience of flight path planning for ground operators, the present invention provides a terrain-following flight path planning method based on gasoline-powered unmanned helicopters, including the following steps:

[0005] Step 1, generate the mission flight path: Obtain the elevation data in the Digital Elevation Model (DEM) of the terrain below the survey line, and lift the elevation data in the DEM of the terrain below the survey line by a specified height above the ground to generate the flight path; Obtain the maximum available slope of the gasoline-powered unmanned helicopter at the mission flight speed, and use the slope limit smoothing algorithm to limit the slope of the flight path, restricting the slope of the flight path within the maximum available slope range of the helicopter; Obtain the maximum available normal overload of the gasoline-powered unmanned helicopter at the mission flight speed, and use the curvature smoothing algorithm to smooth the curvature of the flight path after slope limitation, so that the curvature of the flight path is restricted within the maximum normal overload range of the helicopter; The heights of the flight path waypoints after slope and curvature smoothing still fluctuate frequently, and the distance between waypoints is the sampling interval in the DEM, which does not meet the requirements of the flight path. It is necessary to trim redundant waypoints of the flight path waypoints after slope smoothing and curvature smoothing to generate a mission flight path that can be used by the unmanned helicopter.

[0006] Step 2, generate the auxiliary flight path: Automatically generate the auxiliary flight path connecting two adjacent survey lines according to the given endpoints of the aerial survey line.

[0007] Step 3, judge the minimum height above the ground of the waypoints.

[0008] Step 1 includes:

[0009] Step 1-1, execute the slope limit smoothing algorithm; According to the longitudinal and vertical maneuvering ability of the gasoline-powered unmanned helicopter, the unmanned helicopter has a maximum track climb and dive angle limit. Obtain the maximum track climb and dive angle of the unmanned helicopter at the mission flight speed, and use this to limit the slope of the flight path. When the slope of the flight path waypoint exceeds the specified positive or negative slope, use the slope limit smoothing algorithm to adjust the flight path waypoint.

[0010] Step 1-2, execute the curvature smoothing algorithm;

[0011] Step 1-3, waypoint trimming: Trim redundant waypoints of the flight path waypoints after slope smoothing and curvature smoothing to generate a mission flight path for use by the gasoline-powered unmanned helicopter.

[0012] In Step 1-1, first calculate the slope value of each point of the flight path, and then limit the slope of the flight path so that the slope of the flight path does not exceed the maximum positive slope value and the maximum negative slope value.

[0013] Lift the entire terrain elevation along the entire flight path to the terrain-following flight height to obtain a flight path sequence, where the height of the i-th waypoint is h i , i = 1, 2, 3, …, N, N is the total number of flight path waypoints, and the slope k i corresponding to the i-th flight path waypoint is:

[0014] k i = (h i - h i-1 ) / dx

[0015] where dx is the horizontal spacing between waypoints of the flight path;

[0016] Denote the maximum slope allowed for the flight path as k max , k max is a positive value, and k max is defined as:

[0017] k max = tan(γ max )

[0018] where γ max is the maximum track climb angle allowed for the unmanned helicopter to follow the terrain, and γ max is a positive value;

[0019] Denote the minimum slope allowed for the flight path as k min , k min is a negative value, and k min is defined as:

[0020] k min = tan(γ min )

[0021] where γ min is the minimum track climb angle allowed for the unmanned helicopter to follow the terrain, and γ min is a negative value;

[0022] Adjust the slopes of each waypoint, specifically including two cases: positive slope smoothing and negative slope smoothing:

[0023] Positive slope smoothing: If k i > k max , then the slope of the i-th waypoint must be reduced to k max . According to the slope formula and the principle of raising the waypoints of the flight path as much as possible, at this time, h i-1 needs to be increased, and the increase amount Δh i-1 is:

[0024] Δh i-1 = h i - h i-1 - k max * dx

[0025] The height of the (i - 1)-th waypoint after adjustment is:

[0026] h i-1 = h i-1 + Δh i-1

[0027] Check k at this time i-x Whether it is less than k max , if not satisfied, increase the height of the (i - 2)-th waypoint, and recursively calculate from right to left until the slopes of all waypoints are less than the maximum allowable slope value k max ;

[0028] Negative slope smoothing: If k i < k min , then increase the slope of the i-th waypoint to k min . According to the slope formula and the principle of raising the waypoints of the route as much as possible, increase h i at this time, and the increase amount Δh i is:

[0029] Δh i =-h i +h i-1 +k min *dx

[0030] The height h of the i-th waypoint after adjustment i is:

[0031] h i =h i +Δh i

[0032] Check k at this time i+1 Whether it is greater than k min , if not satisfied, increase the height of the (i + 1)-th waypoint, and recursively calculate from left to right until the slopes of all waypoints are greater than the minimum allowable slope value k min .

[0033] Step 1 - 2 includes: Smoothing the route height using Gaussian convolution:

[0034] The form of the one-dimensional Gaussian function f(x) is:

[0035]

[0036] where σ is the scale factor; k is the proportionality factor used to adjust the overall height of the route; e is the natural constant; x is the waypoint height; μ is the mean value of the waypoint height.

[0037] Step 1 - 2 also includes: Calculating the Gaussian convolution template from the Gaussian function, convolving the Gaussian convolution template with the route after slope smoothing to smooth the route height data. After one convolution smoothing, calculate the curvature of each point of the processed route. If the curvature value exceeds the normal overload limit of the unmanned helicopter at the mission speed, continue to perform convolution until the curvature of all points is within the limit range.

[0038] Steps 1-3 include: forming a flight path segment with N consecutive waypoints; forming a second flight path segment with the subsequent N consecutive waypoints, and so on, dividing the entire flight path into several flight path segments;

[0039] For each flight path segment, calculate the maximum height h max and the minimum height h min deviation Δh err :

[0040] Δh err = h max - h min

[0041] If Δh err is less than the height difference under the planned flight path requirements or the restricted slope, then take the first point and the last point of the flight path segment as the starting point and the ending point of the flight path segment, and remove the remaining waypoints in the middle.

[0042] Step 2 includes: obtaining the turning radius R of the gasoline-powered unmanned helicopter during the mission speed, and the spacing L between adjacent two survey lines;

[0043] If L ≥ 2R, adjust the two end points 1 and 2 of the survey line to be flush, and at the same time extend forward by the length of the turning radius R to generate new auxiliary waypoints a and waypoint b, then generate the auxiliary flight path segments from 1 to a, from a to b, and from b to 2;

[0044] If L < 2R, adjust the two end points of the survey line to be flush, generate an auxiliary flight path along the direction deviated by 135° from the survey line direction, generate new auxiliary waypoints a, waypoint b, waypoint c, waypoint d, and waypoint e, and automatically generate the flight path from a to b, from b to c, from c to d, and from d to e according to the rule of generating a rectangular flight path.

[0045] Step 3 includes: performing a detection on the minimum ground clearance height of the planned mission segment flight path and the auxiliary segment flight path, and the minimum ground clearance height of the flight path is determined by the gasoline-powered unmanned helicopter system; if there is a waypoint lower than the minimum ground clearance height, then raise the entire flight path to the minimum safe height.

[0046] The present invention also provides an electronic device, including a processor and a memory, where the memory stores program code, and when the program code is executed by the processor, the processor is caused to execute the steps of the method.

[0047] The present invention also provides a storage medium, storing a computer program or instruction, and when the computer program or instruction runs on a computer, it executes the steps of the method.

[0048] Beneficial effects: (1) A flight path planning method for terrain detection mission following the ground by a gasoline-powered unmanned helicopter is proposed;

[0049] (2) It will effectively improve the accuracy and rationality of route planning and reduce the planning difficulty of operators, thus enhancing the intelligent level of the unmanned helicopter system. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments, and the above and / or other advantages of the present invention will become clearer.

[0051] Figure 1 It is a schematic flow chart of the terrain-following flight route planning method for an oil-powered unmanned helicopter in a terrain detection mission.

[0052] Figure 2 It is a schematic diagram of the principle of the terrain-following flight mission segment route planning method for an oil-powered unmanned helicopter in a terrain detection mission.

[0053] Figure 3 It is a schematic diagram of the principle for generating an auxiliary route between adjacent survey lines (L ≥ 2R).

[0054] Figure 4 It is a schematic diagram of the principle for generating an auxiliary route between adjacent survey lines (L < 2R).

[0055] Figure 5 It is the effect diagram of each stage of the route planning in Embodiment 1.

[0056] Figure 6 It is the result diagram of the route planning in Embodiment 1.

[0057] Figure 7 It is the effect diagram of each stage of the route planning in Embodiment 2.

[0058] Figure 8 It is the result diagram of the route planning in Embodiment 2. SPECIFIC EMBODIMENTS

[0059] The embodiment of the present invention provides a terrain-following route planning method based on an oil-powered unmanned helicopter. The overall flow chart of this method is as Figure 1 shown. Input the positions of the two end points of each survey line, the distance between adjacent survey lines, and the terrain-following flight height. Apply the comprehensive route smoothing planning algorithm to the single survey line for mission segment route planning; for two adjacent survey lines, automatically generate an auxiliary route connecting the two survey lines according to the size relationship between the distance between the survey lines and the hovering radius of the unmanned helicopter.

[0060] As Figure 2 、 Figure 3 、 Figure 4 shown, the method specifically includes:

[0061] Step 1, comprehensive route smoothing planning for the mission segment;

[0062] (1) Slope-limited smoothing algorithm;

[0063] According to the longitudinal and vertical maneuverability of the gasoline-powered unmanned helicopter, the unmanned helicopter has a limit on the maximum track climb and dive angle. Obtain the maximum track climb and dive angle of the unmanned helicopter at the mission flight speed, and use this to limit the slope of the flight path. When the slope of the flight path waypoint exceeds the defined positive or negative slope, the slope limit smoothing algorithm is used to adjust the flight path waypoint.

[0064] The basic idea of the slope limit smoothing algorithm is as follows: First, calculate the slope value of each point on the flight path; then limit the slope of the flight path so that it does not exceed the maximum positive slope value and the maximum negative slope value. These two slope limit values are set according to the longitudinal and vertical maneuverability of the unmanned helicopter.

[0065] Lift the overall terrain elevation of the entire flight path to the terrain-following flight height to obtain a flight path sequence. The height h of the i-th waypoint i (i = 1, 2, 3, …, N), where N is the total number of flight path waypoints. The slope corresponding to the i-th point is:

[0066] k i =(h i -h i-1 ) / dx

[0067] where dx is the horizontal spacing of the flight path waypoints.

[0068] Denote the maximum slope allowed for the flight path as h max , k max is positive, and k max is defined as follows:

[0069] k max =tan(γ max )

[0070] where γ max is the maximum track climb angle allowed for the unmanned helicopter to perform terrain following, and γ max is positive.

[0071] Denote the minimum slope allowed for the flight path as k min , k min is negative, and k min is defined as follows:

[0072] k min =tan(γ min )

[0073] where γ min is the minimum track climb angle allowed for the unmanned helicopter to perform terrain following, and γ min is negative.

[0074] Adjust the slope of each waypoint, which is specifically divided into two cases:

[0075] Positive slope smoothing:

[0076] If k i > k max , then the slope of the i-th waypoint must be reduced to k max . According to the slope formula and the principle of raising the waypoints of the route as much as possible, h i-1 needs to be increased at this time, and the increase amount Δh i-1 is:

[0077] Δh i-1 = h i - h i-1 - k max * dx

[0078] The height of the adjusted (i - 1)-th waypoint is:

[0079] h i-1 = h i-1 + Δh i-1

[0080] Increase h i-1 , reduce k i , but k i-1 increases simultaneously. At this time, it is necessary to check whether k i-1 is less than k max . If not satisfied, the height of the (i - 2)-th waypoint must be increased, and it is recursively deduced from right to left until the slopes of all waypoints are less than the maximum allowable slope value k max .

[0081] Negative slope smoothing:

[0082] If k i < k min , then the slope of the i-th waypoint must be increased to k min . According to the slope formula and the principle of raising the waypoints of the route as much as possible, h i needs to be increased at this time, and the increase amount Δh i is:

[0083] Δh i = -h i + h i-1 + k min * dx

[0084] The height of the adjusted i-th waypoint is:

[0085] h i = h i + Δh i

[0086] Increase h i , k i , but ki+1 decreases simultaneously. At this time, it is necessary to check whether k i+1 is greater than k min . If not satisfied, the height of the (i + 1)-th waypoint needs to be increased, and the process is recursively carried out from left to right until the slopes of all waypoints are greater than the minimum allowable slope value k min .

[0087] After the above slope smoothing, the slope k of the waypoints on the flight path i can meet the usage requirements, and the height increment of the flight path is the smallest, which can be as close as possible to the original terrain appearance.

[0088] Since positive slope smoothing is first performed from right to left, and then negative slope smoothing is performed from left to right. When performing positive slope smoothing, the height of the left waypoints is adjusted, and when performing negative slope smoothing, the height of the right waypoints is adjusted. Therefore, the slopes of the waypoints after negative slope smoothing all meet the positive slope requirements, and there is no need to perform positive slope smoothing again.

[0089] (2) Curvature smoothing algorithm;

[0090] Due to the limitation of the maximum normal overload of the unmanned helicopter, it is very necessary to perform maximum curvature limitation on the flight path after performing slope limitation. This solution uses Gaussian convolution to smooth the flight path height.

[0091] The one-dimensional Gaussian function is in the following form:

[0092]

[0093] where σ is the scale factor, which can adjust the smoothing degree; k is the proportionality factor, which can adjust the overall height of the flight path; e is the natural constant; x is the waypoint height; μ is the average value of the waypoint heights.

[0094] The Gaussian convolution template is calculated from the Gaussian function. Convolving this Gaussian convolution template with the flight path after slope smoothing can smooth the flight path height data. After one convolution smoothing, calculate the curvature of each point on the processed flight path. If the curvature value exceeds the normal overload limit of the unmanned helicopter at the mission speed, convolution must be continued until the curvature of all points is within the limit range.

[0095] (3) Waypoint clipping;

[0096] After slope and curvature smoothing, the waypoint heights on the flight path still change frequently, and the distance between waypoints is still the sampling interval in the digital elevation model DEM, which does not meet the flight path requirements. Therefore, it is necessary to clip redundant waypoints of the flight path after slope smoothing and curvature smoothing to generate a mission flight path that can be used by the fuel supply unmanned helicopter.

[0097] First, form a flight path segment with N consecutive waypoints; then form the second flight path segment with the subsequent N consecutive waypoints, and so on to divide the entire flight path into several flight path segments.

[0098] For each flight path segment, calculate the deviation Δh of the maximum and minimum heights of the waypoints err :

[0099] Δh err = h max - h min

[0100] If Δh err is less than the height difference under the requirements of the planned flight path or the restricted slope, then take the first point and the last point of this flight path segment as the starting point and the ending point of this flight path segment, and remove the remaining waypoints in the middle.

[0101] Step 2, generate the auxiliary flight path between survey lines;

[0102] Obtain the turning radius R of the gasoline-powered unmanned helicopter during hovering at the mission speed and the spacing L between two adjacent survey lines;

[0103] If L ≥ 2R, as Figure 3 shown, then adjust the two endpoints of the survey line to be flush, and at the same time extend forward by a length of the turning radius R to generate new auxiliary waypoints a and waypoint b, then generate the auxiliary flight path segments from 1 to a, from a to b, and from b to 2.

[0104] If L < 2R, as Figure 4 shown, adjust the two endpoints of the survey line to be flush, and generate the auxiliary flight path in the direction deviated by 135° along the survey line direction to generate new auxiliary waypoints a, waypoint b, waypoint c, waypoint d, and waypoint e, and automatically generate the flight path from a to b, from b to c, from c to d, and from d to e according to the rule of generating a rectangular flight path.

[0105] Step 3, judge the minimum height above the ground of the flight path;

[0106] Perform the detection of the minimum height above the ground of the planned mission segment flight path and the auxiliary segment flight path. The minimum height above the ground of the flight path is determined by the gasoline-powered unmanned helicopter system; if there is a waypoint lower than the minimum height above the ground, then lift the entire flight path by the corresponding distance.

[0107] In a specific embodiment of the present invention, a survey line of a certain gasoline-powered unmanned helicopter during a detection mission in a certain field area is selected. Figure 5 is the comparison chart of each stage of the flight path planning process, including the slope smoothing, curvature smoothing, and redundant waypoint trimming processes; and the comparison effect with the height curve in the original digital elevation model DEM of the survey line; Figure 6 is the final result chart of the flight path planning, with comprehensive flight path smoothing and minimum height above the ground adjustment performed.

[0108] In another specific embodiment of the present invention, different survey lines are selected for route planning illustration. Figure 7 It is a comparison chart of each stage in the route planning process; Figure 8 It is the final result chart of the route planning.

[0109] The present invention provides a terrain-following route planning method based on an oil-powered unmanned helicopter. There are many methods and ways to specifically implement this technical solution. The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be implemented by the prior art.

Claims

1. A method for terrain-simulating route planning based on a petrol-powered unmanned helicopter, characterized in that: The following steps are involved: Step 1, generating a mission route: obtaining elevation data in the digital elevation model DEM of the terrain below the survey line, and raising the elevation data in the digital elevation model DEM of the terrain below the survey line to a specified height above the ground to generate a route; obtaining the maximum available slope of the oil-powered unmanned helicopter at the mission flight speed, and using a slope limit smoothing algorithm to limit the slope of the route, so as to limit the slope of the route to the maximum slope range available for the helicopter; obtaining the maximum available normal overload of the oil-powered unmanned helicopter at the mission flight speed, and using a curvature smoothing algorithm to smooth the curvature of the route after slope limit, so as to limit the curvature of the route to the maximum normal overload range of the helicopter; trimming redundant waypoints of the route after slope smoothing and curvature smoothing to generate a mission route that can be used by the unmanned helicopter; Step 2, generate auxiliary routes: automatically generate auxiliary routes connecting two adjacent survey lines according to the given aerial survey line endpoints; Step 3: Determine the lowest ground altitude of the waypoint.

2. The method according to claim 1, characterized in that: Step 1 includes: Step 1-1, executing the slope limit smoothing algorithm; according to the longitudinal vertical maneuverability of the oil-powered unmanned helicopter, the unmanned helicopter has a maximum track climb and dive angle limit, and the maximum track climb and dive angle of the unmanned helicopter at the mission flight speed is obtained to limit the slope of the route. When the slope of the route waypoint exceeds the specified positive or negative slope, the slope limit smoothing algorithm is used to adjust the route waypoint; Step 1-2, execute curvature smoothing algorithm; Step 1-3, waypoint clipping: perform redundant waypoint clipping on the route waypoints after slope smoothing and curvature smoothing to generate a mission route for the fuel-powered unmanned helicopter.

3. The method according to claim 2, characterized in that In step 1-1, the slope value of each point of the route is first calculated, and then the slope of the route is limited so that the slope of the route does not exceed the maximum positive slope value and the maximum negative slope value; The entire terrain elevation along the flight route is raised to the terrain-simulating flight altitude to obtain a route sequence, in which the altitude of the i-th waypoint is h i , i = 1, 2, 3, ..., N, N is the total number of route waypoints, the slope k corresponding to the i-th route waypoint i for: k i =(h i -h i-1 ) / dx Among them, dx is the horizontal distance between route waypoints; The maximum slope allowed by the route is denoted as k max , k max is a positive value, k max Defined as: k max =tan(γ max ) Among them, γ max The maximum track climb angle allowed for the unmanned helicopter to follow the terrain, γ max is a positive value; The minimum slope allowed by the route is recorded as k min , k min is a negative value, k min Defined as: k min =tan(γ min ) Among them, γ min is the minimum track climb angle allowed for the unmanned helicopter to perform terrain following, γ min is a negative value; Adjust the slope of each waypoint, including positive slope smoothing and negative slope smoothing: Positive slope smoothing: If k i >k max , then the slope of the i-th waypoint must be reduced to k max According to the slope formula and the principle of raising the route waypoint as much as possible, it is necessary to increase h i-1 , increase Δh i-1 for: Δh i-1 =h i -h i-1 -k max *dx The adjusted altitude of the i-1th waypoint is: h i-1 =h i-1 +Δh i-1 At this time, check k i-1 Is it less than k? max If it is not satisfied, then increase the height of the i-2th waypoint, and repeat from right to left until the slope of all waypoints is less than the maximum slope allowable value k max ; Negative slope smoothing: If k i <k min , then increase the slope of the i-th waypoint to k min According to the slope formula and the principle of raising the route waypoint as much as possible, increase h i , increase Δh i for: Δh i =-h i +h i-1 +k min *dx The height h of the i-th waypoint after adjustment i for: h i =h i +Δh i At this time, check k i+1 Is it greater than k min If it is not satisfied, then increase the height of the i+1th waypoint, and repeat from left to right until the slope of all waypoints is greater than the minimum slope allowable value k. min .

4. The method according to claim 3, characterized in that Steps 1-2 include: Smoothing the flight altitude using Gaussian convolution: The one-dimensional Gaussian function f(x) is in the form: Where σ is the scale factor; k is the proportional factor used to adjust the overall altitude of the route; e is a natural constant; x is the waypoint altitude; and μ is the mean waypoint altitude.

5. The method according to claim 4, characterized in that Step 1-2 also includes: calculating a Gaussian convolution template by a Gaussian function, convolving the Gaussian convolution template with the slope-smoothed route, smoothing the route height data, and after one convolution smoothing, calculating the curvature of each point on the processed route. If the curvature value exceeds the normal overload limit of the unmanned helicopter at the mission speed, continue to convolve until the curvature of all points is within the limit.

6. The method according to claim 5, characterized in that Steps 1-3 include: forming a route segment with N consecutive waypoints; forming a second route segment with subsequent N consecutive waypoints, and so on to divide the entire route into route segments; For each route segment, calculate the maximum waypoint altitude h max and the minimum value h min Deviation Δh err : Δh err =h max -h min If Δh err If the height difference is less than the planned route requirement or the restricted slope, the first and last points of the route segment are taken as the starting point and end point of the route segment, and the remaining waypoints in the middle are removed.

7. The method according to claim 6, characterized in that Step 2 includes: obtaining the turning radius R of the oil-powered unmanned helicopter at the mission speed and the distance L between two adjacent measuring lines; If L ≥ 2R, adjust the two end points 1 and 2 of the survey line to be flush, and extend the radius R of the turn forward to generate new auxiliary waypoints a and b, and then the auxiliary route segments 1 to a, a to b, and b to 2 are generated; If L<2R, adjust the two end points of the survey line to be flush, generate an auxiliary route along the survey line direction deviating 135°, generate new auxiliary waypoints a, b, c, d, and e, and automatically generate routes a to b, b to c, c to d, and d to e according to the rules for generating rectangular routes.

8. The method according to claim 7, characterized in that Step 3 includes: checking the minimum ground altitude of the planned mission segment route and auxiliary segment route, and the minimum ground altitude of the route is determined by the oil-powered unmanned helicopter system; if a waypoint is lower than the minimum ground altitude, the entire route will be raised to the minimum safe altitude.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores program codes, and when the program codes are executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 8.

10. A storage medium, characterized in that: A computer program or instruction is stored, and when the computer program or instruction is run on a computer, the steps of the method according to any one of claims 1 to 8 are executed.

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