Route planning method based on special waypoint position and angle of Ascending ground station

Abstract

The invention discloses a route planning method based on a special waypoint position and angle of an Ascending ground station, and belongs to the technical field of electronic information. The invention provides a simple, convenient and high-precision drawing method aiming at the problems of low drawing speed and low drawing precision of an air route with special waypoint positions and angles in the existing ground station drawing technology. The method comprises the following steps of: directly drawing an air route according to a given graph, moving a take-off point to a special waypoint position, rotating the whole air route, and finally restoring the coordinates of the take-off point, thereby reducing the air route drawing calculation amount and improving the precision. The method is characterized in that the complex route with special waypoint and angle requirements can be drawn without calculation in advance, and the route with non-integer angle orientation can be drawn with high precision. The method has the advantages that the method is simple, drawing is easy, and the method is not limited by angles.

Description

Technical Field

[0001] The present invention relates to the field of route planning for unmanned aerial vehicle (UAV) ground stations, and in particular to a route planning method based on special waypoint positions and angles of a Lingdong ground station. Background Art

[0002] Currently, there are relatively few technologies for UAV ground station route planning. Most of the existing technologies require certain geometric calculations.

[0003] In the field of UAV ground station route planning, there are the following problems:

[0004] 1. Current similar technologies require a large amount of geometric calculations when encountering special waypoint positions and angles, which may lead to long planning time and calculation errors, resulting in inefficient route planning and easy non-compliance with requirements.

[0005] 2. Accurate calculations are not possible when encountering non-integer angles. For example, the angle from one point to two points is 178°. In this case, the exact value cannot be obtained through geometric calculations, which greatly affects the accuracy of route planning.

[0006] 3. The position of special waypoints needs to be calculated by superimposing the overall waypoint rotation angle, which significantly increases the calculation difficulty. Summary of the Invention

[0007] The purpose of the present invention is to provide a route planning method based on the special waypoint positions and angles of the Lingdong ground station, thereby solving the above-mentioned problems existing in the prior art.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] A route planning method based on the special waypoint position and angle of the Lingdong ground station includes the following steps:

[0010] S1. Draw the take-off point with coordinate requirements and the special waypoints with relative position requirements to the take-off point as required;

[0011] S2. Draw other waypoints according to the original map;

[0012] S3. Overwrite the take-off point to the special waypoint through the relative coordinate editor;

[0013] S4. Rotate the entire route according to the required angle;

[0014] S5. Return the take-off point to its original correct position according to the required coordinates.

[0015] Preferably, step S3 specifically involves using the relative coordinate editor of the Atom ground station to set the reference point as a special waypoint, the relative distance to 0 meters, the generation method to overwrite, the insertion position to the takeoff point, and then clicking Add. The rotation is then performed with the takeoff point and the overwritten special waypoint as the center, ensuring that the relative position of the takeoff point and the special waypoint remains unchanged after the takeoff point moves back to its original coordinates after rotation, and that the other waypoints are rotated to the correct position.

[0016] Preferably, the special angles and positions include fixed take-off points, special waypoints, and overall routes;

[0017] The fixed take-off point is a take-off point with determined coordinates;

[0018] The special waypoint is a waypoint with a fixed distance and angle from the take-off point;

[0019] The overall route is a route with a required route direction between two points.

[0020] Preferably, the data related to the position and angle of the special waypoint include the coordinates of the take-off point, the relative angle between the special waypoint and the take-off point, the distance between the special waypoint and the take-off point, and the direction of a certain route in the overall route. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the method in the embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] like Figure 1 As shown, in this embodiment, in order to solve the problems of low planning efficiency and high error rate in traditional UAV ground station planning (usually manual calculations are required based on given angles, distances and other conditions, and the process is cumbersome and time-consuming), the present invention provides a route planning method based on special waypoint positions and angles of Lingdong ground stations. When the captain obtains route planning requirements with take-off point coordinates, special waypoint positions, and overall route angles, the method of the present invention can be used to directly draw out the given overall route first, then directly rotate it, and finally move the take-off point back to the original coordinate point, thereby easily completing complex route planning. This method reduces the amount of calculation for complex route planning and improves the efficiency of UAV operations. The method of the present invention includes the following contents:

[0024] 1. Draw the take-off point with coordinate requirements and the special waypoints with relative position requirements to the take-off point as required

[0025] Specifically, understand the given route mission, obtain the take-off point coordinates, the relative position of special waypoints and other data (the take-off point coordinates are longitude and latitude data, and the relative position of special waypoints is the angle and distance of the special waypoint from the take-off point). Based on these data, the take-off point and special waypoints need to be drawn first.

[0026] 2. Draw other waypoints according to the original map

[0027] Specifically, other waypoints are directly drawn according to the given route map without considering the rotation angle, thereby improving efficiency.

[0028] 3. Overwrite the take-off point to a special waypoint through the relative coordinate editor

[0029] Specifically, use the relative coordinate editor of the Lingdong ground station to set the reference point as a special waypoint, the relative distance to 0 meters, the generation method to overwrite, the insertion position to the take-off point, and click Add to overlap the take-off point and the special waypoint.

[0030] 4. Rotate the entire route according to the required angle

[0031] Specifically, according to the requirement that the angle from one point to another is a certain degree, through the route rotation in the global settings of the Lingdong ground station, enter point 1, point 2 and the angle along the north as required, and then click to rotate.

[0032] In this embodiment, the entire route can be directly rotated as required without performing geometric calculations, thereby improving drawing efficiency.

[0033] In this embodiment, a special route with a required angle such as 178° can be drawn, thereby improving the accuracy of route drawing.

[0034] 5. Return the take-off point to its original correct position according to the required coordinates

[0035] Specifically, through the global settings of the Lingdong ground station, copy the take-off point coordinates in the request to the longitude and latitude in the take-off point settings.

[0036] In this embodiment, based on the characteristic that the rotation center of the Lingdong ground station is the take-off point, the take-off point and the special waypoint are covered. The rotating route will not change the position of the special waypoint. After the take-off point is placed back to the original correct position, the relative position of the take-off point and the special waypoint will not change. Therefore, there is no need to calculate the position of the special waypoint based on the rotation angle, which greatly improves the efficiency and accuracy of route drawing.

[0037] By adopting the above technical solution disclosed in the present invention, the following beneficial effects are obtained:

[0038] 1. The route drawing efficiency is high. No geometric calculation is required. The route map can be directly drawn first and then rotated, which shortens the route drawing time.

[0039] 2. Route drawing is not restricted by conditions. For routes with non-integer angles or routes that cannot be geometrically calculated, traditional drawing methods cannot draw them or the drawing accuracy is insufficient. The present invention can draw routes at any angle.

[0040] 3. The accuracy of route drawing is high. The traditional drawing method needs to consider the relative position of special waypoints and the take-off point, and also needs to consider the position after the route is rotated. The calculation amount is large, the calculation difficulty is high, and it is easy to make mistakes. The present invention only needs to consider the relative position of special waypoints and the take-off point, and the accuracy is high.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A route planning method based on the special waypoint positions and angles of the Lingdong ground station, characterized by: The following steps are included: S1. Draw the take-off point with coordinate requirements and the special waypoints with relative position requirements to the take-off point as required; S2. Draw other waypoints according to the original map; S3. Overwrite the take-off point to the special waypoint through the relative coordinate editor; S4. Rotate the entire route according to the required angle; S5. Return the take-off point to its original correct position according to the required coordinates.

2. The method for route planning based on special waypoint positions and angles of a Lingdong ground station according to claim 1, characterized in that: Step S3 specifically involves using the Atom Ground Station's relative coordinate editor to set the reference point to a special waypoint, the relative distance to 0 meters, the generation method to overwrite, the insertion position to the takeoff point, and then clicking Add. The rotation is then performed around the takeoff point and the overwritten special waypoint. This ensures that the relative position of the takeoff point and the special waypoint remains unchanged after the takeoff point returns to its original coordinates, while the other waypoints are rotated to their correct positions.

3. The method for route planning based on special waypoint positions and angles of a Lingdong ground station according to claim 2, characterized in that: The special angles and positions include fixed take-off points, special waypoints, and overall routes; The fixed take-off point is a take-off point with determined coordinates; The special waypoint is a waypoint with a fixed distance and angle from the take-off point; The overall route is a route with a required route direction between two points.

4. The method for route planning based on special waypoint positions and angles of a Lingdong ground station according to claim 3, characterized in that: The data related to the position and angle of the special waypoint include the coordinates of the take-off point, the relative angle between the special waypoint and the take-off point, the distance between the special waypoint and the take-off point, and the direction of a certain route in the overall route.

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