216 results about "Flight speed" patented technology

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle dynamic obstacle avoidance method based on multi-sensor fusion. Comprising the steps of receiving an image sequence, a depth point cloud set, a pose state parameter and a flight speed parameter; calculating an illumination distortion gradient value and a speckle noise entropy value based on the image sequence and the depth point cloud set; performing coordinate registration and feature extraction on the image sequence, the depth point cloud set and the pose state parameter, and outputting a visual feature set and a radar feature set; generating a weighted visual feature set and a weighted radar feature set through a weight adjustment function, and generating a joint heterogeneous feature tensor through alignment splicing; and generating a body attitude and thrust control instruction by using the combined heterogeneous feature tensor through a probability prediction model and a model prediction control algorithm device. According to the method, through cross-domain multiplexing and deep coupling of the body physical parameters in the data stream, error accumulation and decision delay caused by multi-stage series calculation are avoided, and global performability of an obstacle avoidance task is facilitated.

The invention relates to a tilt rotorcraft semi-physical simulation system and method, and relates to the technical field of wind tunnel flight test semi-physical simulation. Based on the initialized system with the test parameters set, six-component balance load, wind speed and attitude data are collected in real time, and the collected key physical data are filtered and then sent to the flight simulation subsystem; the flight simulation subsystem carries out calculation based on a flight dynamics model, a rotor wing power model, a control instruction preprocessing model and the received data and outputs an actuation instruction; the actuator receives an actuation instruction and drives the aircraft model, and the airborne sensor feeds back new attitude data to form a control closed loop; the flight simulation subsystem sends state data to the 3D visual simulation module in real time to realize synchronization of control and visual; in this way, the stable state under the combination of different tilting angles and flight speeds is recorded, and a tilting transition corridor is obtained through fitting. Therefore, simulation precision, test safety and iteration efficiency are taken into consideration, and fused semi-physical simulation is formed.

The invention discloses an unmanned aerial vehicle autonomous route planning method and system capable of adapting to environmental changes. The method comprises the steps of obtaining a dynamic three-dimensional situation map of a flight area of an unmanned aerial vehicle based on multi-source data of the flight area of the unmanned aerial vehicle; acquiring a current no-fly zone and weather forecast information of the flight area of the unmanned aerial vehicle, and analyzing and acquiring a flight risk distribution condition of the flight area of the unmanned aerial vehicle based on the dynamic three-dimensional situation map; considering the flight risk distribution condition of the unmanned aerial vehicle flight area, the unmanned aerial vehicle flight task and the unmanned aerial vehicle self-state information to generate an unmanned aerial vehicle reference route; and automatically adjusting the flight speed, the flight height and the flight course of the unmanned aerial vehicle according to a preset flight parameter adjustment model based on the acquired multi-source data and the state information of the unmanned aerial vehicle in the process of flying along the reference route. According to the invention, the reliability and safety of flight task execution of the unmanned aerial vehicle in a complex dynamic environment can be improved.

The invention relates to an aircraft conflict detection method based on high-precision data. The method comprises the following steps: firstly, acquiring high-precision operation data such as real-time three-dimensional coordinates and flight speed of an aircraft; the overlapping risk of the spatial dimension is identified through a three-step method including line segment intersection judgment, height difference comparison and actual spatial distance accounting; the time dimension is combined with the flight speed, the course deviation correction coefficient and the airspace environment resistance coefficient to calculate the estimated time for reaching the potential conflict point, and early warning is triggered through a time difference threshold value; according to the method, a space-time detection result is fused to generate a conflict level, then a calculation priority is adjusted based on a computing power optimization strategy, a conflict avoidance instruction is output, and the method aims at solving the problems that a traditional method in a million-level aircraft data scene is large in calculation amount and insufficient in computing power, and existing airspace gridding detection is poor in dynamic trajectory adaptability and low in precision.

The utility model discloses an integrated aileron driving system, which belongs to the field of aircraft control systems and comprises a fixed wing, an aileron is arranged on one side of the fixed wing, the aileron is rotatably connected with the fixed wing through a first linkage shaft, the upper surface of the aileron is rigidly connected with a first speed reducing plate, and a second speed reducing plate is arranged on the other side of the fixed wing. A power rotating assembly is arranged on the upper surface of the fixed wing, the power rotating assembly is connected with the upper surface of the first air brake and used for driving the first air brake to move, fixed limiting pieces are symmetrically arranged at the two ends of the surface of the side, close to the aileron, of the fixed wing, and a second air brake is arranged between the fixed limiting pieces. The second air brake is located on the lower surface of the aileron, and the first air brake and the second air brake are connected through a transmission assembly. According to the integrated aileron driving system, through the linkage design of the aileron and the air brake, the structure is simplified, pneumatic coordination control is achieved, and the control performance at different flight speeds is improved.

The invention relates to an active gravity center adjustment control method for an advanced aircraft variant process, and the method comprises the steps: collecting the variant state information of an aircraft in real time, synchronously obtaining the flight state information, and obtaining an input vector; wherein the variant state information comprises a wing sweep angle, a span-chord ratio and a flap deflection angle, and the flight state information comprises an attack angle, a flight speed, a height, a pitch angle and an acceleration; according to the input vector, an initial pneumatic center position is calculated through a pneumatic center prediction function, and the pneumatic center position is determined according to the pneumatic center position variable quantity; calculating a target gravity center position according to the longitudinal static stability through the average pneumatic chord length of the aircraft and the pneumatic center position, and obtaining a target gravity center position adjustment amount; and adjusting the center of gravity of the aircraft to the target center-of-gravity position through a center-of-gravity adjustment executing mechanism. Active gravity center adjustment can be provided for the advanced aircraft variant process, attitude disturbance is restrained through information collection, pneumatic center calculation and the like, and flight safety is guaranteed.

The application discloses a kind of support to drag and drop sorting waypoint list management interaction system, belong to ground station waypoint management field.Belong to ground station waypoint management field.It includes waypoint list display module, drag and drop sorting interaction module, waypoint management operation module, associated function adaptation module;Waypoint list display module presents the key parameters such as waypoint height, flight speed with entry form;Drag and drop sorting interaction module supports user to drag and drop waypoint entry adjustment order, real-time feedback state and synchronously flight execution logic;Waypoint management operation module provides waypoint deletion, save, read and upload function;Associated function adaptation module realizes linkage with template editor, relative coordinate editor and flight control module.This system operation is intuitive, data synchronization is efficient, and function integration is strong, effectively solve the problem that traditional waypoint management operation is complicated, data linkage is insufficient, improve the convenience and accuracy of flight mission planning.

The invention discloses an unmanned aerial vehicle defense method, system and device based on electromagnetic interference and physical interception, and relates to the technical field of unmanned aerial vehicle defense. If yes, motion features and appearance features of the unmanned aerial vehicle are obtained, the motion features comprise the flight speed and the linear distance between the unmanned aerial vehicle and the center area of the defense area, and the appearance features comprise the contour and the flight track; determining a current threat level of the unmanned aerial vehicle according to the motion features and the appearance features; according to the current threat level of the unmanned aerial vehicle, the corresponding defense strategy is selected, the accuracy and efficiency of unmanned aerial vehicle defense are improved, the effectiveness and high efficiency requirements of unmanned aerial vehicle defense in a complex scene can be met, and the interception effect is good.

The application belongs to the technical field of high Mach number aircraft power system design, and particularly relates to a high Mach number aircraft power system, on the basis of a Mach number two aircraft power system, an APU+EPU scheme is adopted for the auxiliary power system, and a ram turbine is additionally arranged, the auxiliary power system can be used as an emergency energy source when the flight speed exceeds 2 Mach, main engine in-flight accidental shutdown and other abnormal conditions occur, so as to ensure the flight safety of the aircraft, in addition, the auxiliary power system can provide reliable auxiliary energy for the aircraft during aircraft mode conversion and in-flight unpowered taxiing, so as to keep the energy supply stable and ensure the continuous and reliable operation of the aircraft.

The invention discloses a multi-rotor aircraft with lift-enhanced wings, which comprises rotor power devices, a fuselage for mounting airborne equipment and connecting the rotor power devices, and a pair of independent and controllable lift-enhanced wings, the high-lift wings are mounted on the fuselage; when the multi-rotor aircraft with the high-lift wings flies, a flight control algorithm controls the tilting angles of the high-lift wings according to the attitude and the flight speed of the aircraft, so that the high-lift wings are in a proper attack angle state, and proper lift force can be provided for the aircraft. The flying speed can be increased, the cruising ability is improved, and transportation and storage are convenient.

The invention belongs to the technical field of unmanned aerial vehicle control, and provides an unmanned aerial vehicle linear flight control method and device. The method comprises the following steps: collecting flight state parameters and environment interference parameters of an unmanned aerial vehicle, wherein the flight state parameters comprise at least one of a three-dimensional position, a flight speed, a course angle, a lateral offset distance and an attitude angle; according to the flight state parameters and the environment interference parameters, constructing an unmanned aerial vehicle linear flight dynamics model, linear flight constraint conditions and a fusion reward function; a linear flight simulation environment constructed based on the unmanned aerial vehicle linear flight dynamics model; based on a reinforcement learning algorithm, the linear flight constraint condition and the fusion reward function, performing interactive training on the unmanned aerial vehicle and the linear flight simulation environment to determine a linear flight control strategy; and controlling the unmanned aerial vehicle to fly linearly according to the linear flight control strategy. According to the invention, high-precision, high-stability and energy-saving autonomous linear flight control can be realized, dependence on an accurate model is significantly reduced, and complex environmental interference is effectively coped with.

The application discloses a target direction tracking filtering method based on multi-dimensional motion characteristics. The application combines the actual measurement angle of the target by the directional antenna, the alpha-beta filtering smooth angle, the flight speed of the target, the relative distance of the target, the relative speed vector, the native maneuvering condition and other parameters, and finally comprehensively evaluates the stable target direction. The application is a target direction tracking filtering method based on multi-dimensional motion characteristics. The method can effectively reduce the influence of the interference signal on the target measurement angle without changing the existing TCAS equipment hardware, ensures the accuracy and stability of the target tracking, improves the use satisfaction of the user, and reduces the post-maintenance cost of the equipment after installation.

The application provides a kind of unmanned plane anonymous authentication and identity remote identification method, unmanned plane and its supervision equipment, the method includes: by unmanned plane service provider in advance selecting system main private key and main public key, define attribute set;And by unmanned plane registration process, generate and issue certificate for the unmanned plane;Unmanned plane running process, generate RID data packet that can be anonymous authentication and meet RID rule;RID data packet includes the following information: unmanned plane position, unmanned plane speed, unmanned plane attribute ciphertext, unmanned plane operator's location ciphertext, encrypted unmanned plane public key information, time stamp, group signature;Timing broadcast RID data packet, so that receiver obtains the position and flight speed of unmanned plane according to the received RID data packet. Utilize the scheme of the application, the effective management and privacy protection of unmanned plane can be realized.

This invention discloses a buffer device and its usage method for horizontal impact testing of unmanned aerial vehicles (UAVs). The buffer device includes an aluminum alloy box structure, a hydraulic telescopic rod, and a combined buffer block. The hydraulic telescopic rod and the combined buffer block are both built into the aluminum alloy box structure. A main control panel is installed on the front of the aluminum alloy box structure, including a touch screen and an emergency stop / reset button. Ventilation and observation slots are provided on the left and right sides of the aluminum alloy box structure. This invention discloses a buffer device and its usage method for horizontal impact testing of UAVs capable of intercepting loading slides carrying UAVs with different takeoff weights and maximum level flight speeds. After impact from the loading slide, the buffer device can promptly activate a locking mechanism to effectively prevent the deformed buffer layer from pushing back against the loading slide.

The application belongs to the technical field of unmanned aerial vehicle information security, and particularly relates to an anti-deception interference data protection method and system for power inspection unmanned aerial vehicle, which first acquires the flight speed and position information of the unmanned aerial vehicle in real time, and dynamically adjusts the actual flight constraint radius of the unmanned aerial vehicle according to the comparison result of the flight speed and a preset threshold value. The actual flight distance between the unmanned aerial vehicle and the nearest route point is calculated, and compared with the actual flight constraint radius to determine whether the unmanned aerial vehicle is subjected to position deception interference. In the case that the position of the unmanned aerial vehicle is safe, a token transmission mechanism is used to receive the inspection data transmitted by the unmanned aerial vehicle, and the time window of data transmission is dynamically adjusted according to the flight speed. Through real-time acquisition of the flight speed and position information of the unmanned aerial vehicle, and dynamic adjustment of the flight constraint radius and the data transmission strategy according to the flight speed and position information, dynamic identification and response to deception interference are realized.

The invention discloses an unmanned aerial vehicle auxiliary backscattering data acquisition method, and the method comprises the following steps: creating an unmanned aerial vehicle trajectory model, dividing the flight duration into equal-length time slots, and applying a flight speed upper limit, a height range limit and a multi-machine collision prevention horizontal spacing constraint; the unmanned aerial vehicle supplies energy to the Internet of Things equipment through directional wireless energy transmission, and the Internet of Things equipment alternately executes energy receiving and data returning in a half-duplex mode; dynamically calculating a data acquisition rate based on the unmanned aerial vehicle trajectory model and the channel gain; and an unmanned aerial vehicle consumption model based on aerodynamics is created, and the unmanned aerial vehicle hovers according to a preset sequence to collect update information of the Internet of Things equipment and returns the update information to the data center. According to the method, the minimum data acquisition rate is maximized by jointly optimizing the three-dimensional trajectory and time distribution of the unmanned aerial vehicle, the problem is optimized by adopting a new variable introduction method, and the energy loss of the unmanned aerial vehicle in the flight process is ensured to reach the minimum.

This invention discloses a wind vane-based drone flight control method, device, medium, and drone. The method includes: when a multi-rotor high-speed drone is cruising, acquiring the orientation of a wind vane mounted on the drone's fuselage in real time, and then determining the angle between the drone's flight speed direction and its central axis; determining whether the drone's flight speed direction and the central axis are aligned based on this angle; if so, maintaining the angle of the drone's rotatable wings unchanged; if not, adjusting the angle of the drone's rotatable wings based on the angle, and then performing a wind vane detection step. This invention solves the problem of existing multi-rotor high-speed drones being unable to quickly and accurately track targets during high-speed cruising.

The application discloses a kind of fusion navigation and reliability quantitative evaluation system based on pre-set sparse map.The system is fused positioning module by multi-source sensor, and is fused vision, inertia and optical flow data based on pre-set sparse feature map;Reliability quantitative evaluation module is used to calculate feature distribution balance degree, trajectory coverage and feature stability index, and generate navigation map quality index;Decision control module divides reliability level according to navigation map quality index, dynamically adjusts unmanned aerial vehicle flight speed and task mode;Abnormal processing module triggers degradation flight and monitors pose uncertainty when signal source fails, executes return or hovering strategy when threshold is exceeded.The application realizes high robustness positioning and hierarchical safety control of unmanned aerial vehicle in complex environment.

The invention belongs to the technical field of guidance laws. The invention provides an aircraft space-time cooperative guidance method under uncontrollable conditions with time-varying speed. According to the embodiment of the invention, firstly, an aircraft space-time cooperative guidance model under the condition of time-varying speed and uncontrollability is established; secondly, in order to deal with the problem of inaccurate residual flight time estimation caused by the time-varying flight speed, constructing a BP neural network to predict the total flight time under different initial flight parameters and collision angle constraints; finally, a two-stage method guiding strategy is adopted, the collision time is adjusted in the time precision control and angle rough control guiding stage, the deviation of the collision time is converged to a certain range, the angle precision control guiding stage is entered, and the collision angle and the collision time of the aircraft are controlled at the same time under the condition that the flight speed is uncontrollable.

The invention discloses a cascade cooperative distributed control complex wind field generation system and a complex wind field construction method, and belongs to the technical field of wind tunnel test research. The wind tunnel body comprises a first diffusion section, a first corner section, a second diffusion section, a second corner section, a first power system, a third diffusion section, a third corner section, a heat exchanger, a fourth corner section, a stable section and a contraction section which are arranged in sequence; the outlet end of the contraction section is provided with a global complex wind field generation device capable of adjusting the airflow generation mode, the airflow velocity, the airflow jet direction, the airflow swing frequency and the airflow swing amplitude, and the inlet end of the first diffusion section is provided with a collector. On the basis of a uniform flow field of a conventional backflow type low-speed wind tunnel, an unsteady complex wind field can be stacked, a complex flow field with the flight speed coupled with the unsteady wind field is achieved, and the device is used for simulating the application scene that an aircraft passes through the complex wind field in the flight process.

The application discloses an unmanned aerial vehicle automatic flight control method based on water area coastline patrol and a storage medium, and the method comprises the following steps: determining the flight height of the unmanned aerial vehicle according to the maximum identification distance of each identification task; determining the initial flight position of the unmanned aerial vehicle according to the flight height, a preset pitch angle and a preset initial orientation, and controlling the unmanned aerial vehicle to fly forward from the initial flight position according to a preset first flight speed; identifying the water surface of the real-time shooting image of the unmanned aerial vehicle according to a preset first adjustment period, and adjusting the yaw angle according to the water surface identification result, so that the unmanned aerial vehicle flies along the water area coastline to be patrolled. The application can realize automatic flight control of the unmanned aerial vehicle, does not need to manually set a route, has greater convenience in a new environment or a temporary patrol scene, and is more suitable for a situation that the water surface coastline changes greatly.

The invention provides a double-delay depth deterministic strategy gradient unmanned aerial vehicle relay trajectory optimization method. The method comprises the following steps: step 1, establishing a three-node relay communication system; 2, calculating power consumption and energy consumption of the unmanned aerial vehicle; step 3, establishing an unmanned aerial vehicle relay trajectory optimization problem; and step 4, modeling the relay trajectory optimization problem of the unmanned aerial vehicle as a Markov decision process. According to the method, the flight speed of the unmanned aerial vehicle, the shape parameter of the elliptical trajectory and the time slot length of half-duplex communication are designed through a double-delay depth deterministic strategy gradient, so that the unmanned aerial vehicle flies along a reasonable closed elliptical trajectory, and relay service is provided for a ground source and a destination node in the process; and the average accumulated channel capacity of the ground destination node is maximized. A simulation experiment also shows that the system performance (the average accumulated channel capacity of a ground destination node) provided by the optimization method is obviously higher than that provided by a circular trajectory condition.

The invention belongs to the technical field of flight control, and particularly relates to a pitch attitude control method and device of an electric tilt-rotor aircraft. The method comprises the steps that S1, the stall speed of low-speed flight of an aircraft is determined; s2, preset flight speeds of five control points and an upper deflection angle of a propeller tension line are given according to the stall speed; s3, calculating the airplane tension of each control point; s4, the pitching moment of each control point is calculated according to the airplane tension; s5, calculating the pulling force of the electric fan according to the pitching moment; s6, calculating the acceleration of each control point according to the airplane tension, and determining the switching time for switching the adjacent control points based on the acceleration; and S7, performing interpolation calculation of each calculation point on the pulling force of the electric fan according to the switching time. The pitching attitude, the attack angle, the speed and the height of the aircraft can be accurately controlled, and flight safety is guaranteed.

The application relates to the technical field of unmanned aerial vehicle (UAV) return control, and discloses a hydrogen energy UAV return control method based on fault diagnosis and path re-planning, which comprises the following steps: obtaining state information of the UAV, performing hierarchical fault diagnosis based on the state information, performing feature extraction on the state information, obtaining primary fault features, and inputting the primary fault features into a pre-trained fault diagnosis model. The hydrogen energy UAV return control method based on fault diagnosis and path re-planning can accurately identify fault modes and severity levels through hierarchical fault diagnosis, generate dynamic capability constraints containing key parameters such as flight speed, climbing angle and rolling angle, embed the constraints as rigid conditions into the path re-planning process, and ensure that each flight section of the generated return path does not exceed the actual flight capability boundary of the UAV after the fault, so that the problem that path planning and flight capability are separated in the traditional method is fundamentally solved.

The invention discloses an unmanned aerial vehicle high-rise outer wall self-adaptive cleaning method, and belongs to the technical field of industrial automation and intelligent process control. The method comprises the steps that basic cleaning parameters are preset according to an outer wall material, and an initial path is planned; in the cleaning process, the distance between the unmanned aerial vehicle and the wall surface and environment wind speed data are synchronously collected and transmitted to the intelligent control module; the intelligent control module adaptively adjusts the injection pressure and the rotating speed of the soft brush through a multi-parameter coupling model based on the material type, the real-time spacing and the wind speed data; meanwhile, the flight speed and the safety distance are adjusted according to the wind speed, a buffer supporting arm is instructed to stretch and retract according to the distance deviation, flight control fine adjustment is matched to maintain a constant operation distance, and the stretching amount of a soft brush is adjusted in a linkage mode to cope with concave-convex wall faces; and the unmanned aerial vehicle returns after cleaning is completed. The high-rise outer wall self-adaptive cleaning device can achieve safe and accurate self-adaptive cleaning of the high-rise outer wall, improves the operation stability and the cleaning effect, and is suitable for high-altitude cleaning scenes of various outer wall materials such as glass, stone and metal.

The present application relates to the technical field of aircraft design, and particularly relates to a wide-speed-range aircraft based on a variable high-pressure capture wing shape and a control method thereof, which comprises a fuselage, an upper wing surface, a lower wing surface, a foldable canard, a variable high-pressure capture wing and a control system. The variable high-pressure capture wing is arranged above the fuselage and the upper wing surface, and is used for switching between a subsonic forward-swept configuration and a supersonic backward-swept configuration according to a flight speed range; the foldable canard is arranged at a leading edge of the wing surface, and is used for unfolding in a subsonic stage and folding to be attached to the lower wing surface in a supersonic stage; and the control system determines a current stage according to flight state parameters, and cooperatively drives the high-pressure capture wing and the canard to perform a configuration switching action. The present application realizes adaptive matching of an aerodynamic shape and a flight speed range through variable design.

The application relates to the field of general structure design of an aero-engine, and discloses an aero-engine duct airflow distribution mechanism and a control method thereof. The bleed air structure and the flow path control structure are integrated in the rotating casing and the support plate structure of the inner and outer ducts. In the turbofan mode, the leading edge and the trailing edge of the corresponding support plate of the outer duct and the inner duct are matched, so that the duct flow is smooth. In the turbojet mode, the inner and outer duct flow passages are blocked, and the outer duct airflow is guided into the inner duct. The application can support the demand that the variable flow path aero-engine works in the turbofan engine mode at low flight speed and works in the turbojet mode at high flight speed, widen the flight speed domain of the conventional turbofan engine, realize the consideration of high economy at low speed and large thrust at high speed, and effectively reduce the structural complexity of the engine.

A landing gear door retraction device is disclosed, which can be used to open and close the landing gear door of a reusable aircraft. It is characterized by comprising: a door actuator and multiple sets of linkage mechanisms. The device uses an independent door actuator to drive multiple sets of four-bar linkages, making it suitable for aircraft with high flight speeds, limited cabin space, and multi-leaf landing gear doors. It offers significant advantages such as light weight, small size, simple timing, and good synchronization. When the landing gear door is fully open, all three sets of four-bar linkages are near their dead center positions, preventing damage to the door structure caused by actuator overtravel. The door retraction device is located near the side and top walls of the landing gear bay, requiring minimal space and fully utilizing the remaining cabin space after the landing gear is retracted.

This invention relates to an optimization method for the climb conditions of a high-altitude cruise drone, comprising the following steps: using the climb angle and flight speed of the drone at different altitudes as design variables, a population of N individuals is randomly generated within the variable space formed by the upper and lower bounds of the design variables; the climb time and climb energy consumption of the drone are selected as the flight cost of the drone, and a fitness function is constructed based on flight mechanics analysis; the individual position update method for the chasing behavior is a jump-chasing behavior, and the individual position is updated accordingly; for the jump-encirclement behavior, the individual position is updated; if the maximum number of iterations is met, the update is terminated, and the optimal solution is output as the climb condition optimization scheme. This invention can comprehensively consider the climb time and energy consumption of the high-altitude drone, enabling the drone to reach the cruise altitude more quickly and economically.

The application discloses an obstacle avoidance inspection method, device and equipment of a UAV and a storage medium. The method comprises the following steps: firstly, acquiring configuration parameters, point cloud environment data and motion data; constructing an environment model through multi-source data fusion processing, accurately representing the terrain and static obstacle position of the inspection area, and then determining a static obstacle avoidance flight path. Continuously fuse the environment and motion data to obtain an effective data set, dynamically determine the coverage range by combining the obstacle avoidance warning distance and the flight speed, generate a real-time local environment map, extract features and construct an obstacle model, and accurately identify static and dynamic obstacles. Real-time calculation of the distance between the path and the obstacle, when the distance is lower than the safety threshold, generate a dynamic obstacle avoidance trajectory based on the current state of the UAV and the static flight path, and smooth regression after obstacle avoidance; when the UAV reaches the preset waypoint, it stably hovers at the preset height to collect inspection data. The application can optimize the flight path, significantly improve the flight safety, ensure the reliability of the data, and is suitable for complex scenes such as bridges and tunnels.