A route automatic planning method for reconnaissance and attack unmanned aerial vehicle suitable for double fixed targets

Abstract

The present application relates to the technical field of unmanned aerial vehicle, in particular to a kind of reconnaissance and attack unmanned aerial vehicle route automatic planning method suitable for double fixed target, the method includes obtaining the position information of ground double target;According to the position information of double target, planning task route is formulated;According to the distance from target projection point to the center of circle, and the distance from launch point to target projection point and target tracking and attitude adjustment section distance, the radius of circular route is obtained;According to the radius of circular route, and the center position of circular route, the position information of entering attack route point is obtained;According to the position information of entering attack route point and target tracking and attitude adjustment section distance, the position information of launch point of carrying object is obtained.The present application calculates the position of two launch points of planning route combined by circle and straight line section passing through the center of circle, guides unmanned aerial vehicle to execute double target attack task on ground, and effectively improves attack precision.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and specifically to an automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets. Background Technology

[0002] Currently, for fixed ground targets, especially two fixed targets, reconnaissance and strike drones use target positioning to obtain the target location. Ground operators set launch points for the two targets sequentially on an electronic map based on the altitude of the drone's payload and the launch distance. When the drone is manually controlled to fly to the launch point, it sends a launch command for the payload to one of the targets. The drone then uses the command from the ground to irradiate the ground target with a laser until the target is destroyed. The drone then flies again and repeats the above steps to destroy the next target.

[0003] The process of manually sending commands to operate drones to destroy two targets is time-consuming, labor-intensive, and lacks accuracy. There is an urgent need to research an automatic flight path generation method for reconnaissance and strike drones capable of targeting two fixed targets. Currently, no relevant automatic flight path planning method for reconnaissance and strike drones targeting two fixed targets has been found. Summary of the Invention

[0004] To address the shortcomings in the aforementioned background technology, this invention provides an automatic route planning method for reconnaissance and strike UAVs applicable to dual fixed targets. This method automatically generates a mission route to guide the UAV to perform a ground attack mission against the dual targets based on parameters specified by the superior or detected by the UAV and the UAV's payload.

[0005] The first objective of this invention is to provide an automatic flight path planning method for reconnaissance and strike UAVs applicable to attacks on two fixed ground targets, comprising: Acquire the location information of two ground targets; and obtain the short-range and long-range firing ranges of the payload carried by the UAV. Develop a planned mission route based on the location information of the two targets; The mission route consists of a circular route and a line segment passing through the center of the circle; The center position of the circular flight path is obtained based on the position information of the two targets; wherein, the center position is located between the projection points of the two targets, and the straight line containing the projection points of the two targets passes through the center of the circle; the intersection of this straight line and the circular flight path is the entry point for the attack flight path; the projection points of the two targets are the projection points of the two targets on the mission flight path; Obtain the distance from the target projection point to the center of the circle; The distance from the launch point to the target projection point of the payload is obtained based on the short-range and long-range range of the payload carried on the UAV. The target tracking and attitude adjustment segment distance before launching the payload is set according to the distance of the payload from the launch point to the target projection point; The radius of the circular flight path is obtained based on the distance from the target projection point to the center of the circle, the distance of the payload from the launch point to the target projection point, and the distance of the target tracking and attitude adjustment segment. The location information of the point of entry into the attack route is obtained based on the radius of the circular route and the center position of the circular route. The location information of the launch point of the payload is obtained based on the location information of the point of entry into the attack flight path and the distance of the target tracking and attitude adjustment segment.

[0006] Preferably, before the automatic planning of the reconnaissance and strike UAV route, the horizontal distance and altitude difference between the two ground targets are measured to meet the following conditions: the horizontal distance between the two ground targets is ≤10km and the altitude difference between the two targets does not exceed 100m.

[0007] Preferably, the center position of the circular route is obtained according to the following steps: The distance between the two targets is obtained based on their location information. The distance from the projection point of the target to the center of the circle is obtained based on the distance between the two targets; Based on the position information of the two targets and the distance between them, obtain the angle between the straight line where the projection point of the two targets is located and the due north direction; The position of the center of the circle is obtained based on the location information of one target, the distance from the projection point of the target to the center of the circle, and the angle between the straight line where the projection points of the two targets are located and the due north direction.

[0008] Preferably, the distance from the launch point to the target projection point of the payload is:

[0009] In the formula, The distance of the payload from the launch point to the target projection point; For short-range targets carried out; The range of the carried projectile is long.

[0010] Preferably, the target tracking and attitude adjustment distance before launching the payload refers to the distance between the point of entry into the attack flight path and the launch point.

[0011] Preferably, obtaining the location information of the entry attack route point also includes the angle between the straight line where the two target projection points are located and the due north direction.

[0012] Preferably, obtaining the location information of the launch point of the payload also includes the angle between the straight line where the dual target projection points are located and the due north direction.

[0013] Preferably, after obtaining the location information of the entry point to the attack route and the location information of the launch point of the payload, the method further includes: The location information of the entry attack route point and the location information of the launch point of the payload are both in rectangular coordinates, which are then converted into latitude and longitude coordinates. Based on the latitude and longitude coordinates of the point of entry into the attack route, the average altitude of the UAV relative to the two target points, and the average altitude of the target points, the three-dimensional coordinates of the point of entry into the attack route are obtained. The three-dimensional coordinates of the launch point are obtained based on the latitude and longitude coordinates of the launch point, the average altitude of the UAV relative to the two target points, and the average altitude of the target points.

[0014] Preferably, according to the reconnaissance and strike command, the UAV strikes the target based on the three-dimensional coordinates of the point where it enters the attack flight path and the three-dimensional coordinates of the launch point.

[0015] The second objective of this invention is to provide an automatic flight path planning system for reconnaissance and strike unmanned aerial vehicles (UAVs) suitable for dual fixed targets, comprising: The flight path planning module is used to acquire the position information of two ground targets; and to acquire the short-range and long-range firing ranges of the payload carried by the UAV; and to formulate a planned mission flight path based on the position information of the two targets; the mission flight path consists of a circular flight path and a line segment passing through the center of the circle; the center position of the circular flight path is acquired based on the position information of the two targets; wherein, the center position is located between the projection points of the two targets, and the straight line containing the projection points of the two targets passes through the center of the circle; the intersection of this straight line and the circular flight path is the entry point for the attack flight path; the projection points of the two targets are the projection points of the two targets on the mission flight path; The radius calculation module is used to obtain the distance from the target projection point to the center of the circle; to obtain the distance from the launch point to the target projection point of the payload based on the short and long range of the payload carried on the UAV; to set the target tracking and attitude adjustment segment distance before launching the payload based on the distance from the launch point to the target projection point of the payload; and to obtain the radius of the circular flight path based on the distance from the target projection point to the center of the circle, the distance from the launch point to the target projection point of the payload, and the target tracking and attitude adjustment segment distance. The launch position module is used to obtain the position information of the point of entry into the attack route based on the radius of the circular route and the center position of the circular route; and to obtain the position information of the launch point of the payload based on the position information of the point of entry into the attack route and the distance of the target tracking and attitude adjustment segment.

[0016] The present invention has at least the following beneficial effects: This invention provides an automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets. Compared with the method of manually sending commands and operating the UAV to fly to the targets one by one for attack, this method can calculate the positions of two launch points of the planned flight path composed of a circle and a straight line segment passing through the center of the circle based on the position information of the two targets and the near and far range parameters of the payload at the operating altitude. This guides the UAV to perform the dual ground target attack mission, effectively improving the strike accuracy.

[0017] This invention reduces the operational burden on UAV mission operators and the inconvenience of operating on electronic maps through an automatic planning method, greatly shortening combat reaction time and improving kill efficiency. Attached Figure Description

[0018] Figure 1 Automatically generate flowcharts for route planning; Figure 2 This is a schematic diagram illustrating the short-to-long-range relationship between the dual targets and the payload of the present invention. Figure 3 This is a schematic diagram of the combined planning route of the circle and the straight line segment passing through the center of the circle according to the present invention. Detailed Implementation

[0019] In order to illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description is provided in conjunction with the embodiments.

[0020] The purpose of this invention is to propose an automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets. Based on the parameters of the two ground targets specified by the superior or detected by the UAV and the UAV's payload, the method automatically generates a mission flight path to guide the UAV to perform ground attack missions against the two targets.

[0021] To achieve the above objectives, this invention provides an automatic flight path planning method for reconnaissance and strike UAVs applicable to attacks on two fixed ground targets, comprising: Before the automatic planning of the flight path of the reconnaissance and strike drone, the horizontal distance and altitude difference between the two ground targets are measured to meet the following conditions: the horizontal distance between the two ground targets is ≤10km and the altitude difference between the two targets does not exceed 100m.

[0022] S1. Obtain the position information of two ground targets; and obtain the short-range and long-range firing ranges of the items carried on the UAV. Develop a planned mission route based on the location information of the two targets; The mission route consists of a circular route and a line segment passing through the center of the circle; S2. Obtain the center position of the circular flight path based on the position information of the two targets; wherein, the center position is between the projection points of the two targets, and the straight line containing the projection points of the two targets passes through the center; the intersection of the straight line and the circular flight path is the entry point for the attack flight path; the projection points of the two targets are the projection points of the two targets on the mission flight path; The center position of the circular route is obtained according to the following steps: The distance between the two targets is obtained based on their location information. The distance from the target projection point to the center of the circle is obtained based on the distance between the two targets. Based on the position information of the two targets and the distance between them, obtain the angle between the straight line where the projection point of the two targets is located and the due north direction; The position of the center of the circle is obtained based on the location information of one target, the distance from the projection point of that target to the center of the circle, and the angle between the straight line containing the projection points of both targets and the due north direction.

[0023] S3. Obtain the distance from the launch point to the target projection point of the payload based on the short-range and long-range range of the payload carried on the UAV. The distance from the launch point to the target projection point of the payload is:

[0024] In the formula, The distance of the payload from the launch point to the target projection point; For short-range targets carried out; The range of the carried projectile is long.

[0025] S4. Set the target tracking and attitude adjustment segment distance before launching the payload based on the distance from the launch point to the target projection point; For the target tracking and attitude adjustment segment of the UAV, take = ;in The distance of the payload from the launch point to the target projection point.

[0026] The target tracking and attitude adjustment distance before launching the payload refers to the distance between the point of entry into the attack flight path and the launch point.

[0027] S5. Obtain the distance from the target projection point to the center of the circle; The radius of the circular flight path is obtained based on the distance from the target projection point to the center of the circle, the distance of the payload from the launch point to the target projection point, and the distance of the target tracking and attitude adjustment segment. S6. Obtain the position information of the entry attack route point based on the radius of the circular route and the center position of the circular route; the position information of the entry attack route point also includes the angle between the straight line where the dual target projection points are located and the due north direction.

[0028] S7. Obtain the launch point location information based on the entry attack flight path location information and the target tracking and attitude adjustment distance. The launch point location information also includes the angle between the straight line containing the dual target projection points and true north.

[0029] After obtaining the location information of the entry point to the attack flight path and the location information of the launch point of the payload, it also includes: The location information of the entry attack route point and the location information of the launch point of the payload are both in rectangular coordinates, which are then converted into latitude and longitude coordinates. Based on the latitude and longitude coordinates of the point of entry into the attack route, the average altitude of the UAV relative to the two target points, and the average altitude of the target points, the three-dimensional coordinates of the point of entry into the attack route are obtained. The three-dimensional coordinates of the launch point are obtained based on the latitude and longitude coordinates of the launch point, the average altitude of the UAV relative to the two target points, and the average altitude of the target points.

[0030] According to the reconnaissance and strike command, the UAV strikes the target based on the three-dimensional coordinates of the point where it enters the attack flight path and the three-dimensional coordinates of the launch point.

[0031] To illustrate the automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets provided by the present invention, the following description is provided in conjunction with the accompanying drawings.

[0032] See Figure 1 As shown, an automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets includes: Step 1: Obtain ground target points from superior command information or reconnaissance information transmitted by UAVs. Point latitude and longitude and Point latitude and longitude Considering the timing of the strike and the range of the payload, Point and Horizontal distance of a point Furthermore, the altitude difference between the two target points does not exceed 100m. The average altitude of the UAV relative to the two target points is h, and the average altitude of the target points is [missing value]. At this operating altitude, the range of the drone's payload is close to... Long distance is ,like Figure 2 As shown.

[0033] Step 2: The proposed mission route is as follows Figure 3 As shown, it consists of circles and line segments passing through the center of the circles. The circular route is the reconnaissance route, and the straight line segment is the attack route. Point and The points are the target points. Point and The projection of a point onto the planned flight path, with center point O as... Point and The center point of the line segment connecting the points. Point and latitude and longitude of the point and and Point and latitude and longitude of the point and Same; will Point and Convert the latitude and longitude coordinates of a point to its position in Cartesian coordinates. and , Point and The distance between points is equal to the target point. Point and Horizontal distance of a point ,but Distance from point O to the center of the circle = .

[0034] Step 3: Point and The angle between the line segment formed by the point and true north is... ,calculate :

[0035] Then the position of the center point O in the rectangular coordinate system is:

[0036] Step 4: Point and Points A and B, the intersections of the straight line containing the target and the circular flight path, are the entry points for the attack route. Launch site for the strike and the target Launch site for the strike Located on the attack path. Calculation Click to Distance between points :

[0037] Point A to Points B and B Distance between points The same applies to the UAV target tracking and attitude adjustment segment. = .

[0038] The radius R of the circular reconnaissance route is calculated based on the above parameters:

[0039] Step 5: Calculate the rectangular coordinates of points A and B entering the attack route:

[0040]

[0041] Step 6: Calculate the launch point and The rectangular coordinates of the point:

[0042]

[0043] Step 7: Place the center point O and points A, B, and Convert the rectangular coordinate position of a point to latitude and longitude coordinates K represents O, A, B, and so on. and . Step 8: The flight path consists of a circle and a line segment passing through the center of the circle. The coordinates of the center point O of the circular reconnaissance flight path are... The attack route waypoints passing through the center of the circle with radius R are as follows: Point A is the entry point for adjustment. ; Point B is the entry point for adjustment. ; The point is the launch point for the payload: ; The point is the launch point for the payload: .

[0044] The drone flies clockwise or counterclockwise along a circular reconnaissance route, which can be set by the operator according to the current situation. It reconnoiters the target and, upon receiving an order from superiors to engage the target, determines whether to enter point A or B, based on their distance from points A and B. If it enters point A, the drone adjusts its attack route along the center of the circle and flies to... Launching payload at point Engage the target, and after the engagement, move clockwise or counterclockwise to point B, continuing to adjust and fly along the attack path that passes through the center of the circle. Launching payload at point The drone will strike point targets to complete a dual-target ground attack mission. Similarly, if the drone first enters point B, it will fly to... Launching payload at point Engage the target, and after the engagement, move clockwise or counterclockwise to point A, continuing to adjust and fly along the attack path that passes through the center of the circle. Launching payload at point Target the point.

[0045] To further illustrate the automatic route planning method for reconnaissance and strike UAVs with dual fixed targets provided by the present invention, specific embodiments are described in conjunction with the present invention.

[0046] Step 1: See Figure 2As shown, ground target points are obtained from superior command information or reconnaissance information transmitted by UAVs. Point latitude and longitude and Point latitude and longitude , Point and Horizontal distance of a point The altitude difference between the two target points is 60m. The average altitude of the UAV relative to the two target points is h = 2000m, and the average altitude of the target points is... At an operating altitude of 2500m, the short-range range of the payload carried by the drone is... Long distance is .

[0047] Step 2: The proposed mission route is as follows Figure 3 As shown, it consists of circles and line segments passing through the center of the circles. The circular route is the reconnaissance route, and the straight line segment is the attack route. Point and The points are the target points. Point and The projection of a point onto the planned flight path, with center point O as... Point and The center point of the line segment connecting the points. Point and latitude and longitude of the point and and Point and latitude and longitude of the point and Same; will Point and Convert the latitude and longitude coordinates of a point to its position in Cartesian coordinates. and , Point and The distance between points is equal to the target point. Point and Horizontal distance of a point ,but Distance from point O to the center of the circle . Step 3: Point and The angle between the line segment formed by the point and true north is... ,calculate :

[0048] Then the position of the center point O in the rectangular coordinate system is:

[0049] Step 4: Point and Points A and B, the intersections of the straight line containing the target and the circular flight path, are the entry points for the attack route. Launch site for the strike and the target Launch site for the strike Located on the attack path. Calculation Click to Distance between points :

[0050] Point A to Points B and B Distance between points The same applies to the UAV target tracking and attitude adjustment segment. . The radius R of the circular reconnaissance route is calculated based on the above parameters:

[0051] Step 5: Calculate the rectangular coordinates of points A and B entering the attack route:

[0052]

[0053] Step 6: Calculate the launch point and The rectangular coordinates of the point:

[0054]

[0055] Step 7: Place the center point O and points A, B, and Convert the rectangular coordinate position of a point to latitude and longitude coordinates K represents O, A, B, and so on. and . Step 8: The flight path consists of a circle and a line segment passing through the center of the circle. The coordinates of the center point O of the circular reconnaissance flight path are... With a radius of 11334m, the attack route waypoints passing through the center are as follows: Point A is the entry point for adjustment. ; Point B is the entry point for adjustment. ; The point is the launch point for the payload: ; The point is the launch point for the payload: . The drone flies clockwise along a circular reconnaissance route to scout the target. Upon receiving an order from superiors to prepare to engage the target, it determines its position based on the distance to points A and B, and enters the point closer to its current location. If it enters point A, the drone adjusts its attack route along the center of the circle and flies to... Launching payload at point Engage the target point, then proceed clockwise to point B, continuing to adjust and fly along the attack path that passes through the center of the circle. Launching payload at point The drone will strike point targets to complete a dual-target ground attack mission. Similarly, if the drone first enters point B, it will fly to... Launching payload at point Engage the target point, and after the engagement, move clockwise to point A, continuing to adjust and fly along the attack path that passes through the center of the circle. Launching payload at point Target the point.

[0056] This invention provides an automatic flight path planning system for reconnaissance and strike unmanned aerial vehicles (UAVs) suitable for dual fixed targets, comprising: The flight path planning module is used to acquire the position information of two ground targets; and to acquire the short-range and long-range firing ranges of the payload carried by the UAV; and to formulate a planned mission flight path based on the position information of the two targets; the mission flight path consists of a circular flight path and a line segment passing through the center of the circle; the center position of the circular flight path is acquired based on the position information of the two targets; wherein, the center position is located between the projection points of the two targets, and the straight line containing the projection points of the two targets passes through the center of the circle; the intersection of this straight line and the circular flight path is the entry point for the attack flight path; the projection points of the two targets are the projection points of the two targets on the mission flight path; The radius calculation module is used to obtain the distance from the target projection point to the center of the circle; to obtain the distance from the launch point to the target projection point of the payload based on the short and long range of the payload carried on the UAV; to set the target tracking and attitude adjustment segment distance before launching the payload based on the distance from the launch point to the target projection point of the payload; and to obtain the radius of the circular flight path based on the distance from the target projection point to the center of the circle, the distance from the launch point to the target projection point of the payload, and the target tracking and attitude adjustment segment distance. The launch position module is used to obtain the position information of the point of entry into the attack route based on the radius of the circular route and the center position of the circular route; and to obtain the position information of the launch point of the payload based on the position information of the point of entry into the attack route and the distance of the target tracking and attitude adjustment segment.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets, characterized in that, Attacks targeting two ground targets include: Acquire the location information of two ground targets; and obtain the short-range and long-range firing ranges of the payload carried by the UAV. Develop a planned mission route based on the location information of the two targets; The mission route consists of a circular route and a line segment passing through the center of the circle; The center position of the circular flight path is obtained based on the position information of the two targets; wherein, the center position is located at the center point of the line segment connecting the projection points of the two targets, and the straight line containing the projection points of the two targets passes through the center of the circle; the intersection of this straight line with the circular flight path is the entry point for the attack flight path; the projection points of the two targets are the projection points of the two targets on the mission flight path; Obtain the distance from the target projection point to the center of the circle. ; The distance from the launch point to the target projection point is obtained based on the short-range and long-range range of the payload carried by the UAV. ; Based on the distance of the payload from the launch point to the target projection point Setting the target tracking and attitude adjustment distance before launching the payload ; The distance of the target tracking and attitude adjustment phase before launching the payload This refers to the distance between the point of entry into the attack flight path and the launch point; Based on the distance from the target projection point to the center of the circle And the distance of the payload from the launch point to the target projection point. Distance between target tracking and attitude adjustment Get the radius of the circular route ; in, ; The location information of the point of entry into the attack route is obtained based on the radius of the circular route and the center position of the circular route. The location information of the launch point of the payload is obtained based on the location information of the entry point into the attack flight path and the distance of the target tracking and attitude adjustment segment. The UAV flies clockwise or counterclockwise along a circular flight path to reconnoiter two ground targets. Upon receiving an order from superiors to prepare to strike the target, it enters the first or second entry attack flight path point closest to its current position. If it enters the first entry attack flight path point, the UAV adjusts its flight path along the center of the circle and launches its payload to strike the first target when it reaches the first launch point. After the strike, it enters the second entry attack flight path point clockwise or counterclockwise and continues to adjust its flight path along the center of the circle. When it reaches the second launch point, it launches its payload to strike the second target, thus completing the mission of striking two ground targets.

2. The automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets as described in claim 1, characterized in that, Before the automatic planning of the flight path of the reconnaissance and strike drone, it is also necessary to obtain the horizontal distance and altitude difference between the two ground targets, and meet the following conditions: the horizontal distance between the two ground targets is ≤10km, and the altitude difference between the two targets does not exceed 100m.

3. The automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets as described in claim 1, characterized in that, The center position of the circular route is obtained according to the following steps: The distance between the two targets is obtained based on their location information. The distance from the projection point of the target to the center of the circle is obtained based on the distance between the two targets; Based on the position information of the two targets and the distance between them, obtain the angle between the straight line where the projection point of the two targets is located and the due north direction; The position of the center of the circle is obtained based on the location information of one target, the distance from the projection point of the target to the center of the circle, and the angle between the straight line where the projection points of the two targets are located and the due north direction.

4. The automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets as described in claim 1, characterized in that, The distance from the launch point to the target projection point of the payload is: In the formula, The distance of the payload from the launch point to the target projection point; The range of the carried item is short; The range of the carried projectile is long.

5. The automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets as described in claim 1, characterized in that, The information obtained includes the position of the point of entry into the attack route, as well as the angle between the straight line where the two target projection points are located and the due north direction.

6. The automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets as described in claim 1, characterized in that, The location information of the launch point of the payload is obtained, including the angle between the straight line where the two target projection points are located and the due north direction.

7. The automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets as described in claim 1, characterized in that, After obtaining the location information of the entry point to the attack flight path and the location information of the launch point of the payload, it also includes: The location information of the entry attack route point and the location information of the launch point of the payload are both in rectangular coordinates, which are then converted into latitude and longitude coordinates. Based on the latitude and longitude coordinates of the point entering the attack route, the average altitude of the UAV relative to the two target points, and the average altitude of the target points, the three-dimensional coordinates of the point entering the attack route are obtained. The three-dimensional coordinates of the launch point are obtained based on the latitude and longitude coordinates of the launch point, the average altitude of the UAV relative to the two target points, and the average altitude of the target points.

8. The automatic flight path planning method for reconnaissance and strike UAVs applicable to dual fixed targets as described in claim 1, characterized in that, According to the reconnaissance and strike command, the UAV conducts reconnaissance and strike on the target based on the three-dimensional coordinates of the point where it enters the attack route and the three-dimensional coordinates of the launch point.

9. A system for the automatic flight path planning method for reconnaissance and strike unmanned aerial vehicles (UAVs) applicable to dual fixed targets as described in claim 1, characterized in that, include: The flight path planning module is used to obtain the location information of two ground targets. And obtain the short-range and long-range range of the payload carried by the drone; The planned mission route is determined based on the position information of the two targets. The mission route consists of a circular route and a line segment passing through the center of the circle. The center position of the circular route is obtained based on the position information of the two targets. The center position is located at the center point of the line segment connecting the projection points of the two targets, and the line segment containing the projection points of the two targets passes through the center of the circle. The intersection of this line segment with the circular route is the entry point for the attack route. The projection points of the two targets are the projection points of the two targets on the mission route. The radius calculation module is used to obtain the distance from the target projection point to the center of the circle; to obtain the distance from the launch point to the target projection point of the payload based on the short and long range of the payload carried on the UAV; to set the target tracking and attitude adjustment segment distance before launching the payload based on the distance from the launch point to the target projection point of the payload; and to obtain the radius of the circular flight path based on the distance from the target projection point to the center of the circle, the distance from the launch point to the target projection point of the payload, and the target tracking and attitude adjustment segment distance. The launch position module is used to obtain the position information of the point of entry into the attack route based on the radius of the circular route and the center position of the circular route; and to obtain the position information of the launch point of the payload based on the position information of the point of entry into the attack route and the distance of the target tracking and attitude adjustment segment.

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