Flexible unmanned aerial vehicle route guiding method
By using route pointers and waypoint pointers in UAV route guidance to optimize the linking relationship between routes and waypoints, the problem of rigid route sorting in traditional UAVs is solved, improving data transmission efficiency and the refinement of emergency event handling, and ensuring flight safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XIAN AIRCRAFT DESIGN INST OF AVIATION IND OF CHINA
- Filing Date
- 2025-12-31
- Publication Date
- 2026-04-24
AI Technical Summary
Traditional drone route sequencing is rigid, requiring renumbering when modifying waypoints and routes, resulting in low data transmission efficiency, complex emergency handling, and coarse path planning.
The system uses route pointers and waypoint pointers to represent the link between routes and waypoints, respectively. In case of emergency, the system can directly jump to the target waypoint using the rerouting information. The system also optimizes the insertion and deletion operations of routes and waypoints by drawing on software programming concepts.
It reduces the amount of data required for route and waypoint modifications, improves data transmission efficiency, simplifies emergency response, and ensures flight safety and precise route planning.
Smart Images
Figure CN121916901A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of unmanned aerial vehicle (UAV) flight path guidance technology, and specifically relates to a flexible UAV flight path guidance method. Background Technology
[0002] Traditional routes arrange waypoints sequentially according to flight order, such as 1#, 2#, 3#, etc. Traditional routes have the following problems: (1) At the modification level, due to the rigid sorting, when inserting or deleting waypoints, the waypoint numbers of the entire route need to be renumbered, resulting in a large amount of adjustment; (2) At the transmission level, any change to a waypoint requires reloading, downloading, and confirming the entire route, with a lot of duplicate data repeatedly going up and down, resulting in low efficiency; (3) At the emergency event handling level, triggering an emergency event requires searching for target emergency waypoints or calculating emergency routes based on the current location, which is a complex process with a certain degree of uncertainty. In addition, emergency route planning is relatively rough and it is difficult to achieve fine planning. Summary of the Invention
[0003] To address the aforementioned problems, this application provides a flexible drone flight path guidance method, comprising the following steps:
[0004] The route pointer is used to represent the link relationship between routes. The first route of this flight is specified by the first route pointer of the mission information, and the subsequent routes are specified by the route pointer of the previous route in turn, until the route pointer is 0, indicating the end of the route.
[0005] Waypoint pointers are used to represent the linking relationship between waypoints. The first waypoint of this route is specified by the first waypoint pointer of the route information, and subsequent waypoints are specified by the waypoint pointers of the previous waypoints in sequence, until the waypoint pointer is 0, indicating the end of the waypoint.
[0006] Each waypoint information includes rerouting information, which includes the event type and event pointer. The event pointer consists of the target route number and the target waypoint number, and is used to directly jump to the target waypoint when an emergency event is triggered.
[0007] Preferably, the linking relationship of the route pointers is achieved through the following elements:
[0008] The first route of this flight is specified by the first route pointer in the mission information. The data type of the first route pointer is UINT8, and the value range is 1~255.
[0009] After the first route is specified, the second route is specified by the route pointer of the first route, the third route is specified by the route pointer of the second route, and so on, until the route pointer is 0, thus completing the continuous linking of the route hierarchy.
[0010] Preferably, the linking relationship of the waypoint pointers is achieved through the following elements:
[0011] The first waypoint of this route is specified by the first waypoint pointer in the route information. The data type of the first waypoint pointer is UINT8, and the value range is 1~255.
[0012] After the first waypoint is specified, the second waypoint is specified by the waypoint pointer of the first waypoint, the third waypoint is specified by the waypoint pointer of the second waypoint, and so on, until the waypoint pointer is 0, thus completing the continuous linking of the waypoint level;
[0013] The waypoint pointer indicates the end of the current route when the pointer is 0.
[0014] Preferably, the rerouting information supports multi-event processing. The event types include return to home, forced landing, skidding, and go-around. Each event corresponds to an event pointer, which includes the target route number and the target waypoint number. The data type is UINT8, and the value range is 1~255.
[0015] Preferably, the function to delete routes is also included:
[0016] When a route is deleted, all data for that route is removed, including route information, waypoint information, and rerouting information. The route pointer of the previous route is then set to the next route after the deleted route to ensure the continuity of the route list.
[0017] Preferably, it also includes a waypoint deletion function:
[0018] When a waypoint is deleted, the data for that waypoint, including waypoint information and rerouting information, is removed, and the waypoint pointer of the previous waypoint is set to point to the next waypoint, ensuring the continuity of the waypoint list and reducing the amount of data transmission.
[0019] Preferably, it also includes a route insertion function:
[0020] When a new route is inserted, all data for that route is loaded, including route information, waypoint information, and rerouting information. The route pointer of the new route is then set to the next route, while the route pointer of the previous route is set to the new route.
[0021] Preferably, it also includes waypoint insertion functionality:
[0022] When a new waypoint is inserted, the data for that waypoint, including waypoint information and rerouting information, is loaded, and the waypoint pointer of the new waypoint is set to the next waypoint, while the waypoint pointer of the previous waypoint is set to the new waypoint.
[0023] Preferably, the emergency response specifically includes:
[0024] When an emergency event is triggered at a specific waypoint, the system will directly jump to the preset target waypoint via the event pointer in the rerouting information.
[0025] Preferably, the specific procedures for the normal flight path guidance function include:
[0026] Use the first route pointer in the mission information to determine the first route;
[0027] The system sequentially links subsequent routes using route pointers. For each route, the first waypoint is determined using the route information's initial waypoint pointer, and then subsequent waypoints are linked sequentially using waypoint pointers until all routes and waypoints are guided. This application draws on software programming concepts, utilizing the flexibility of pointers to solve the rigidity of traditional route sorting. Pointers represent connections, with different pointer formats used for different levels of connections, broadly divided into two levels: route pointers and waypoint pointers. Changes at the route level use route pointers, while changes at the waypoint level use waypoint pointers, effectively narrowing the scope of changes, reducing the amount of data transmitted between air and ground, decreasing the probability of ground-to-air transmission errors, and improving the efficiency of change planning. In emergency handling, the waypoint pointers of the rerouted route can be used to point to a clearly defined target waypoint, ensuring flight safety through a uniquely determined target waypoint. Attached Figure Description
[0028] Figure 1 The flowchart of the normal flight path guidance function is shown.
[0029] Figure 2 The flowchart for the deletion function of the route operation is shown.
[0030] Figure 3 The flowchart of the insert function for route operations is shown.
[0031] Figure 4 The flowchart of the emergency event route guidance function is shown. Detailed Implementation
[0032] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, not all, of the embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings. Figure 1
[0033] A flexible UAV route guidance method that uses pointers for guidance between routes and waypoints.
[0034] (1) Route pointer: The route pointer is used to represent the link relationship between routes. The first route of this flight is specified by the first route pointer of the mission information (see Table 1). After the first route is specified, the second route is specified by the route pointer of the first route (see Table 2), the third route is specified by the route pointer of the second route, and so on, until it points to the last route, thus completing the link relationship between routes of this flight.
[0035] (2) Waypoint pointers: Waypoint pointers are used to represent the linking relationship between waypoints. After the route is specified, the first waypoint to be flown on this route is specified by the first waypoint pointer of the route information (see Table 2). After the first waypoint is specified, the second waypoint is specified by the waypoint pointer of the first waypoint (see Table 3), the third waypoint is specified by the waypoint pointer of the second waypoint, and so on, until it points to the last waypoint, thus completing the linking relationship between waypoints within this route. Each waypoint information is accompanied by a rerouting information (see Table 4). The rerouting information includes an event and an event pointer (target route number + target waypoint number). When an emergency event is triggered at this waypoint (such as go-around, return, forced landing, air taxi, etc.), the target waypoint is found through the event pointer, thus completing the link between this waypoint and the emergency waypoint.
[0036] Table 1 Task message pointer format
[0037] Serial Number Signal name Data types Signal definition 1. First route pointer UINT8 The first route ID for this flight mission: 1-255 2. …… …… ……
[0038] Table 2. Route Message Pointer Format
[0039] Serial Number Signal name Data types Signal definition 1. First Voyage Point UINT8 The first waypoint ID for this route is 1 to 255. 2. …… …… …… 3. Route pointer UINT8 Next route ID: 1~255. When the pointer = 0, it indicates that the last route of this flight has ended.
[0040] Table 3 Waypoint Message Pointer Format
[0041] Serial Number Signal name Data types Signal definition 1. Waypoint pointer UINT8 Next waypoint ID: 1~255. When the pointer = 0, it indicates the end of this route. 2. …… …… ……
[0042] Table 4. Format of Flight Change Messages
[0043] Serial Number Signal name Data types Signal definition 1. Event 1 UINT8 0x01 = Return to base, 0x02 = Emergency landing, 0x03 = Glide, 0x04 = Go-around, ... 2. Event 1 Target Route Number UINT8 1～255 3. Event 1 Destination Waypoint UINT8 1～255 4. …… …… …… 5. Event n UINT8 0x01 = Return to base, 0x02 = Emergency landing, 0x03 = Glide, 0x04 = Go-around, ... 6. Event n Target route number UINT8 1～255 7. Event n Target waypoint number UINT8 1～255 8.
[0044] An alternative implementation of a flexible UAV flight path guidance method:
[0045] (1) Normal flight path guidance function: such as Figure 1As shown, the first waypoint pointer in the mission information is used to determine the first waypoint of this waypoint as waypoint 1#. The first waypoint pointer of waypoint 1# is used to determine the first waypoint of this waypoint as waypoint 1# (denoted as 1-1# waypoint). The waypoint pointer of waypoint 1-1# is used to determine the next waypoint, and so on, until the waypoint pointer reaches 0, indicating that this waypoint is the last waypoint of waypoint 1#. Then, the waypoint pointer of waypoint 1# is used to determine the next waypoint as waypoint 5#. The first waypoint pointer of waypoint 5# is used to determine the first waypoint of this waypoint as waypoint 1# (denoted as 5-1# waypoint). The waypoint pointer of waypoint 5-1# is used to determine the next waypoint, and so on, until the waypoint pointer reaches 0, indicating that this waypoint is the last waypoint of waypoint 5#. Then, the waypoint pointer of waypoint 5# is used to determine the next waypoint, and so on, until the last waypoint pointer reaches 0, indicating that the last waypoint of this flight has ended. This completes the normal flight path guidance function.
[0046] (2) Deletion function: The deletion function can be divided into two levels according to the range of data to be deleted, including route deletion and waypoint deletion.
[0047] The deletion of a flight route refers to all data related to that route, including route information, waypoint information, and rerouting information. For example, deleting... Figure 2 After deleting the data for route #5 (marked by the dashed box), simultaneously move the pointer of the previous route to the next route, as follows: Figure 2 The green pointer is number 1.
[0048] The deleted information refers to data for a specific waypoint, including waypoint information and rerouting information. (e.g., deletion) Figure 2 For the light-colored waypoints (1-2, 1-3, 1-4) along route 1, after deleting the data for waypoint 5, simultaneously move the pointer of the previous waypoint to the next waypoint, such as... Figure 2 The green pointer is number 2.
[0049] (3) Insert function: The insertion function can be divided into two levels according to the content to be inserted, including route insertion and waypoint insertion.
[0050] The route insertion function inserts all data for a specific route, including route information, waypoint information, and rerouting information. For example, inserting... Figure 3 The dashed box indicates route #5. We need to load all data for route #5 and then point its pointer to the next route, as shown below. Figure 3 The green line pointer (number 1) will be moved to point the previous route pointer to route 5. Figure 3 The green line pointer is number 2.
[0051] The waypoint insertion content is the insertion of data for a specific waypoint, including waypoint information and rerouting information, such as inserting... Figure 3For waypoints 1-6, all data for waypoints 1-6 needs to be loaded, and the pointers for waypoints 1-6 need to be moved to the next waypoint, such as... Figure 3 The green line pointer (number 3) is positioned in the center, while the previous waypoint pointer is set to waypoints 1-6. Figure 3 The green line pointer is number 4.
[0052] (4) Emergency response: such as Figure 4 As shown, at waypoint 32-10, three events may be triggered depending on the actual situation: return to base, emergency landing, and go-around. Target waypoints are planned in advance for each event. If a return to base event is triggered at this waypoint, the aircraft will immediately fly to waypoint 41-2 and then follow the waypoint pointer sequence. If an emergency landing event is triggered at this waypoint, the aircraft will immediately fly to emergency landing waypoint 53-3 and then follow the emergency landing route sequence. If a go-around event is triggered at this waypoint, the aircraft will immediately fly to go-around waypoint 64-4 and then follow the go-around route sequence.
[0053] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A flexible method for guiding unmanned aerial vehicle (UAV) flight paths, characterized in that, Includes the following steps: The route pointer is used to represent the link relationship between routes. The first route of this flight is specified by the first route pointer of the mission information, and the subsequent routes are specified by the route pointer of the previous route in turn, until the route pointer is 0, indicating the end of the route. Waypoint pointers are used to represent the linking relationship between waypoints. The first waypoint of this route is specified by the first waypoint pointer of the route information, and subsequent waypoints are specified by the waypoint pointers of the previous waypoints in sequence, until the waypoint pointer is 0, indicating the end of the waypoint. Each waypoint information includes rerouting information, which includes the event type and event pointer. The event pointer consists of the target route number and the target waypoint number, and is used to directly jump to the target waypoint when an emergency event is triggered.
2. The flexible UAV route guidance method as described in claim 1, characterized in that, The linking relationships of the route pointers are achieved through the following elements: The first route of this flight is specified by the first route pointer in the mission information. The data type of the first route pointer is UINT8, and the value range is 1~255. After the first route is specified, the second route is specified by the route pointer of the first route, the third route is specified by the route pointer of the second route, and so on, until the route pointer is 0, thus completing the continuous linking of the route hierarchy.
3. The flexible UAV route guidance method as described in claim 1, characterized in that, The linking relationships between waypoint pointers are achieved through the following elements: The first waypoint of this route is specified by the first waypoint pointer in the route information. The data type of the first waypoint pointer is UINT8, and the value range is 1~255. After the first waypoint is specified, the second waypoint is specified by the waypoint pointer of the first waypoint, the third waypoint is specified by the waypoint pointer of the second waypoint, and so on, until the waypoint pointer is 0, thus completing the continuous linking of the waypoint level; The waypoint pointer indicates the end of the current route when the pointer is 0.
4. The flexible UAV route guidance method as described in claim 1, characterized in that, The rerouting information supports multi-event processing. Event types include return to home, forced landing, skidding, and go-around. Each event corresponds to an event pointer, which includes the target route number and the target waypoint number. The data type is UINT8, and the value range is 1~255.
5. A flexible UAV route guidance method as described in claim 1, characterized in that, It also includes a route deletion function: When a route is deleted, all data for that route is removed, including route information, waypoint information, and rerouting information. The route pointer of the previous route is then set to the next route after the deleted route to ensure the continuity of the route list.
6. A flexible UAV route guidance method as described in claim 1, characterized in that, It also includes a waypoint deletion function: When a waypoint is deleted, the data for that waypoint, including waypoint information and rerouting information, is removed, and the waypoint pointer of the previous waypoint is set to point to the next waypoint, ensuring the continuity of the waypoint list and reducing the amount of data transmission.
7. A flexible UAV flight path guidance method as described in claim 1, characterized in that, It also includes a route insertion function: When a new route is inserted, all data for that route is loaded, including route information, waypoint information, and rerouting information. The route pointer of the new route is then set to the next route, while the route pointer of the previous route is set to the new route.
8. A flexible UAV route guidance method as described in claim 1, characterized in that, It also includes waypoint insertion functionality: When a new waypoint is inserted, the data for that waypoint, including waypoint information and rerouting information, is loaded, and the waypoint pointer of the new waypoint is set to the next waypoint, while the waypoint pointer of the previous waypoint is set to the new waypoint.
9. A flexible UAV route guidance method as described in claim 1, characterized in that, The emergency response specifically includes: When an emergency event is triggered at a specific waypoint, the system will directly jump to the preset target waypoint via the event pointer in the rerouting information.
10. A flexible UAV route guidance method as described in claim 1, characterized in that, The specific procedures for normal flight path guidance include: Use the first route pointer in the mission information to determine the first route; The route pointers are used to sequentially link subsequent routes; for each route, the first waypoint is determined using the first waypoint pointer of the route information, and then the waypoint pointers are used to sequentially link subsequent waypoints until all routes and waypoints are guided.