The invention discloses a civil air defense emergency command and dispatch method and
system based on an unmanned aerial vehicle, and relates to the technical field of emergency
command and control. According to the invention, data fusion is carried out through Kalman filtering to obtain a three-dimensional disaster situation entropy map; a disaster core area is identified based on an entropy threshold value, a dynamic weight
centroid is calculated, and adaptive task partitioning is realized through a weighted
Voronoi graph; a
millimeter wave radar and
binocular vision are fused to construct a three-dimensional grid map, a
safe air route is generated through
heuristic sampling and air
route smoothing under flight constraints, and a collision avoidance mechanism is integrated to guarantee
navigation safety; dynamically selecting a
communication link, and matching the similarity of historical scheduling schemes or generating a scheduling scheme through a GRU model; optimizing the objective function, outputting an
optimal scheduling instruction in combination with endurance and material matching constraints, and triggering closed-loop dynamic re-partitioning through periodic entropy re-evaluation until the disaster situation is relieved; a traditional one-way command mode is broken through, a
perception-decision-execution full-chain
closed loop is formed, and rescue timeliness and safety are remarkably improved.