CN110057367A - A kind of method and device of the flight course planning of unmanned plane - Google Patents
A kind of method and device of the flight course planning of unmanned plane Download PDFInfo
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- CN110057367A CN110057367A CN201910381843.3A CN201910381843A CN110057367A CN 110057367 A CN110057367 A CN 110057367A CN 201910381843 A CN201910381843 A CN 201910381843A CN 110057367 A CN110057367 A CN 110057367A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/20—Aircraft, e.g. drones
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- Automation & Control Theory (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of methods of the flight course planning of unmanned plane, comprising: obtains flight range and course line parameter；According to course line parameter, the course line spacing in adjacent course line is calculated by the first preset rules；According to course line spacing, the line of flight is generated in flight range.The flight range and course line parameter determined based on operator, the line of flight is automatically generated after calculating adjacent course line spacing according to the first preset rules, so as to avoid artificial planning course line, there are the biggish defects of error, it is also prevented from part operation person and accident easily occurs due to a lack of experience is actually taken photo by plane, further improve the efficiency and precision of unmanned plane.
Description
Technical field
The invention belongs to unmanned plane during flying technical fields, and in particular to a kind of method and dress of the flight course planning of unmanned plane
It sets.
Background technique
Unmanned plane is using the not manned aircraft of radio robot and the presetting apparatus provided for oneself manipulation, with nothing
The fast development of man-machine technology gradually expands to personal consumption field from initial military domain, is usually applied to plant protection, streetscape
Shooting, electric inspection process, environmental protection, Post disaster relief etc. bring huge convenience to daily life.
Currently, the brand and model due to unmanned plane are numerous, each working specification is had differences, for beginner or warp
Shallower operator is tested, corresponding unmanned plane practical operation experience abundant is lacked, there are the hidden danger of misoperation, are easy to winged
The row equipment people that damages or satisfy the need damages.In addition, the line of flight is to be mentioned by operator according to practical operation experience at present
Front lay plot a course, therefore have the shortcomings that manual intervention is excessive, error is larger, cause the image of acquisition imperfect.
Summary of the invention
There are manual interventions the invention aims to solving current unmanned plane course line, and excessive, the biggish technology of error is asked
Topic, provides a kind of method and device of the flight course planning of unmanned plane, and the basic parameter of unmanned plane during flying can be set according to operator,
Automatically it calculates course line spacing and takes pictures and be spaced the moment, generate the line of flight and complete the Image Acquisition to target area.
To solve the above-mentioned problems, the present invention is achieved by following technical scheme:
A kind of method of the flight course planning of unmanned plane of the present invention, comprising:
Obtain flight range and course line parameter；
According to course line parameter, the course line spacing in adjacent course line is calculated by the first preset rules；
According to course line spacing, the line of flight is generated in flight range.
Further, the course line parameter includes flying height and sidelapping degree, and the course line spacing is according to following
First preset rules determine:
Course line spacing=0.94* flying height * (1- sidelapping degree * 0.01).
Further, after generating the line of flight, further includes:
According to course line parameter, takes pictures by the calculating of the second preset rules and be spaced the moment；
It is spaced the moment according to taking pictures, generates instruction of taking photo by plane in conjunction with the line of flight；
Wherein, the instruction of taking photo by plane is that unmanned plane is spaced the moment according to taking pictures on the line of flight come timing acquiring image.
Further, the course line parameter further includes flying speed and ship's control, described to take pictures that be spaced the moment be root
Lower second preset rules determine accordingly:
It takes pictures and is spaced moment=0.624* flying height * (1- ship's control * 0.01) * flying speed.
Further, when described take pictures was spaced the moment greater than 3 seconds, then will take pictures is spaced the moment and is arranged to 3 seconds.
Further, before obtaining flight range and course line parameter, the method also includes:
Obtain at least three destinations based on determined by operator's operation；
Destination is sequentially connected end to end, the flight range is generated；
A kind of device of the flight course planning of unmanned plane, comprising:
Module is obtained, is used to obtain flight range and course line parameter；
Computing module is calculated the course line spacing in adjacent course line by the first preset rules according to course line parameter；
Airline generation module generates the line of flight according to course line spacing in flight range.
Further, the course line parameter includes flying height and sidelapping degree, and the course line spacing is according to following
First preset rules determine:
Course line spacing=0.94* flying height * (1- sidelapping degree * 0.01).
Further, after generating the line of flight, further includes:
The computing module takes pictures by the calculating of the second preset rules also according to course line parameter and is spaced the moment；
It takes photo by plane generation module, is spaced the moment according to taking pictures, take photo by plane instruction in conjunction with line of flight generation；
Wherein, the instruction of taking photo by plane is that unmanned plane is spaced the moment according to taking pictures on the line of flight come timing acquiring image.
Further, the course line parameter further includes flying speed and ship's control, described to take pictures that be spaced the moment be root
Lower second preset rules determine accordingly:
It takes pictures and is spaced moment=0.624* flying height * (1- ship's control * 0.01) * flying speed.
Compared with prior art, the beneficial effects of the present invention are: the method for the flight course planning of unmanned plane of the present invention,
The flight range and course line parameter that operator is determined based on operator, according to the first preset rules calculate after adjacent course line spacing from
Dynamic to generate the line of flight, so as to avoid artificial planning course line, there are the biggish defects of error, are also prevented from part operation person because lacking
It is weary actually to take photo by plane experience and accident easily occurs, further improve the efficiency and precision of unmanned plane.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing, in which:
Fig. 1 is a kind of a kind of line of flight schematic diagram of flight range of the present invention；
Fig. 2 is another line of flight schematic diagram of flight range described in embodiment 1；
Fig. 3 is another line of flight schematic diagram of flight range described in embodiment 1；
Fig. 4 is a kind of line of flight schematic diagram of another flight range of the present invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment 1
A kind of method of the flight course planning of unmanned plane of the present invention, comprising the following steps:
Step S100: flight range and course line parameter are obtained.
In one embodiment, operator can by the display interface of UAV ground control station be directed to satellite map into
Row operation, it is preferable that operator can manually select at least three destination in satellite map, several destinations head and the tail are connected to one
It rises, forms the region of a convex polygon, the flight range as unmanned plane.It should be noted that the present embodiment passes through selection
Several destinations, and it is a kind of conventional means for generating flight range that destination head and the tail connection, which is formed flight range, this field
Technical staff can design selection flight range otherwise, and favored area is directly enclosed such as in satellite map as movement area
Domain.
Secondly, operator edits unmanned plane in the base course parameter of flight range, institute by UAV ground control station
Stating course line parameter includes flying height, sidelapping degree, flying speed and ship's control.Wherein, the flying height is nothing
Man-machine terrain clearance, value range is generally 5~500m, and operator need to set according to local unmanned plane during flying control
It sets, is usually no more than 120m；The sidelapping degree is the overlapping degree between the photo in adjacent course line, and value range is
60.0%~99.0%；The flying speed is the speed of unmanned plane during flying, and value range is 5.0m/s~10.0m/s；Institute
Stating ship's control is the overlapping degree of airphoto that same course line is continuously shot, value range is 60.0%~
99.0%.
Step S200: according to course line parameter, the course line spacing in adjacent course line is calculated by the first preset rules.
Wherein, the course line spacing is constrained jointly by flying height and sidelapping degree, and preset rules are as follows:
Course line spacing=0.94* flying height * (1- sidelapping degree * 0.01).
Specifically, the flying height is independently set by operator, and value range is 5~500m, and operator is based on working as
Under the premise of ground unmanned plane during flying control, nobody is edited according to obstacle heights such as the depth of building of target area, trees
The flying height of machine.
Step S300: according to course line spacing, the line of flight is generated in flight range.
The generation line of flight specifically: minimum circumscribed rectangle is formed by flight range, the root in minimum circumscribed rectangle
According to course line spacing generation route track, the edge of the route track part Chong Die with flight range and flight range is collectively constituted
The line of flight of unmanned plane.
Specifically, the minimum circumscribed rectangle is to be generated by one based on the Similarity algorithm that rotation is got stuck, algorithm packet
Include following steps:
Step S301: the endpoint of all four polygons, referred to as xminP, xmaxP, yminP, ymaxP are calculated；
Step S302: four tangent lines of P are made up of four endpoints, determine two " getting stuck " set；
Step S303: if (or two) tangent line is overlapped with a line of convex polygon, calculating is cut by four
The area for the rectangle that line determines, and save as current minimum value.Otherwise current minimum value is defined as infinity.
Step S304: line is rotated clockwise until a line of wherein one and polygon is overlapped.
Step S305: the area of new rectangle is calculated, and is compared with current minimum value.Then more if it is less than current minimum value
Newly, and the rectangular information of determining minimum value is saved.
Step S306: repeating step S304 and step S305, until the angle that line rotates through is greater than 90 degree.
Step S307: the boundary rectangle of minimum area is ultimately produced.
Then, in minimum circumscribed rectangle, route track is generated according to course line spacing.Such as Fig. 1, it is embodied for one
Example, the flight range are triangle ABC, and the Similarity algorithm that triangle ABC is got stuck by one based on rotation forms minimum
Boundary rectangle ADEF, generates route track according to course line spacing on rectangle ADEF, and the route track is Chong Die with flight range
The line of flight of the part as unmanned plane.
The route track generating mode specifically: using the end point A of rectangle as departure point, long side AD is as course line
One section of track makes several line segments for being parallel to AD, such as line segment JK, MN, PQ with course line spacing, in rectangle in rectangle
In one section of route track be A-D-K-J-M-N-Q-P ..., the unmanned plane press the non-stop flight in rectangle of this section of route track,
Eventually form complete route track.
Flight is collectively formed in the route track part Chong Die with triangle flight range ABC and the edge of flight range
Course line, unmanned plane non-stop flight in flight range along the line of flight.
Step S400: it after generating the line of flight, according to course line parameter, is taken pictures when being spaced by the calculating of the second preset rules
It carves.
Wherein, described take pictures is spaced the moment and is total to by the flying height of the setting line of flight, ship's control and flying speed
With constraint, preset rules are as follows:
It takes pictures and is spaced moment=0.624* flying height * (1- ship's control * 0.01) * flying speed.
Step S500: being spaced the moment according to taking pictures, and generates instruction of taking photo by plane in conjunction with the line of flight；Wherein, the instruction of taking photo by plane
The moment is spaced come timing acquiring image according to taking pictures on the line of flight for unmanned plane.
Unmanned plane is spaced the moment and is timed acquisition image, when pre- by second when along line of flight flight according to taking pictures
It takes pictures when being spaced the moment greater than 3 seconds if rule is calculated, then will take pictures is spaced the moment and is arranged to 3 seconds, and then reduces flight speed
Degree.Described take pictures is spaced that the moment is shorter, and the image photograph that unmanned plane acquires in the identical line of flight is more, passes through acquisition
Image photograph generates visual flight image with regard to more acurrate clear.
A kind of device of the flight course planning of unmanned plane, including defeated acquisition module, computing module, airline generation module and take photo by plane
Generation module.
Wherein, the acquisition module is for obtaining the waypoint location that operator sets in the satellite map of ground control station
Information and course line parameter, the destination latitude and longitude coordinates that the waypoint location information is no less than 3, by the longitude and latitude of each self-propulsion point
Coordinate is converted to transverse and longitudinal coordinate and record based on two-dimensional coordinate system；The course line parameter includes that operator compiles in ground control station
Flying height, sidelapping degree, flying speed and the ship's control collected.
The computing module is divided into the first preset rules computing module and the second preset rules computing module, and described first is pre-
If regular computing module based in the parameter of course line flying height and sidelapping degree calculate course line spacing；Described second is default
Regular computing module calculates to take pictures based on flying height, flying speed and the ship's control in the parameter of course line is spaced the moment.
The airline generation module is to form course line rail according to course line spacing forming minimum circumscribed rectangle by flight range
The edge of mark, the route track part Chong Die with flight range and flight range collectively constitutes the line of flight, unmanned plane according to
The line of flight flies in flight range.
The generation module of taking photo by plane is that unmanned plane is awing spaced the moment and generates and take photo by plane instruction according to taking pictures, the finger of taking photo by plane
The capture apparatus of specially unmanned plane is enabled to be spaced the moment come timing acquiring image, later in conjunction with life according to taking pictures on the line of flight
It is shown at display image feedback to ground control station.
Embodiment 2
As shown in Figures 2 and 3, the another way of the line of flight is generated in flight range for embodiment 1.
Operator adjusts the direction that unmanned plane generates the line of flight according to the flight environment of vehicle such as wind speed direction or electromagnetism field direction,
For improving unmanned plane during flying stability and cruising ability.
Specifically, the flight range be triangle ABC, triangle ABC by one based on rotation get stuck it is similar
Algorithm forms minimum circumscribed rectangle ADEF.
The angle α that the heading and horizontal axis of the unmanned plane are formed, deflection of the angle α as unmanned plane during flying
Angle α, the route track that unmanned plane is formed in rectangle ADEF according to the angle of deflection.Made in rectangle ADEF according to course line spacing
The straight line that the angle of several and horizontal axis is α, meeting at the side rectangle ADEF is several line segments, respectively JK, MN, OP ...,
The route track is J-K-N-M-O-P ....
As shown in Fig. 2, the takeoff point of the unmanned plane is point A or point B, the route track and flight when 0 ° < α < 90 °
The line of flight is collectively formed in region lap and flight range edge, and unmanned plane is continuous in flight range by the line of flight
Flight.
As shown in figure 3, the takeoff point of the unmanned plane is point C, the route track and flight range when 90 ° < α < 180 °
The line of flight is collectively formed in lap and flight range edge, and unmanned plane is continuously flown in flight range by the line of flight
Row.
Embodiment 3
As shown in figure 4, a kind of its line of flight schematic diagram for another flight range of the present invention.
6 boats on the display interface that operator passes through ground control station for satellite map selection not on the same line
Point, and every 3 destinations are not on the same line, which forms a hexagon ABCDEF, the hexagon ABCDEF base
Minimum circumscribed rectangle JKSR, and the two of both sides long side JK, RS of rectangle and hexagon are obtained in the rotation Similarity algorithm that gets stuck
Side AB, ED overlapping.The flying height and sidelapping degree that the computing module of unmanned plane is edited according to operator calculate course line
Spacing, using the point J of rectangle as the starting point of route track, JK is a part of route track, is successively made by course line spacing flat
For row in the line segment MN and OP etc. of JK, the route track is J-K-N-M-O-P ..., the route track and flight range lap
The line of flight is collectively formed with flight range edge, unmanned plane presses flight path using point A as flight starting point in flight range
Non-stop flight.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, therefore
Without departing from the technical solutions of the present invention, according to the technical essence of the invention it is to the above embodiments it is any modification,
Equivalent variations and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of method of the flight course planning of unmanned plane characterized by comprising
Obtain flight range and course line parameter；
According to course line parameter, the course line spacing in adjacent course line is calculated by the first preset rules；
According to course line spacing, the line of flight is generated in flight range.
2. the method for the flight course planning of unmanned plane according to claim 1, it is characterised in that:
The course line parameter includes flying height and sidelapping degree, and the course line spacing is true according to following first preset rules
It is fixed:
Course line spacing=0.94* flying height * (1- sidelapping degree * 0.01).
3. the method for the flight course planning of unmanned plane according to claim 2, which is characterized in that generate the line of flight it
Afterwards, further includes:
According to course line parameter, takes pictures by the calculating of the second preset rules and be spaced the moment；
It is spaced the moment according to taking pictures, generates instruction of taking photo by plane in conjunction with the line of flight；
Wherein, the instruction of taking photo by plane is that unmanned plane is spaced the moment according to taking pictures on the line of flight come timing acquiring image.
4. the method for the flight course planning of unmanned plane according to claim 3, it is characterised in that:
The course line parameter further includes flying speed and ship's control, described to take pictures that be spaced the moment be default according to following second
Rule determines:
It takes pictures and is spaced moment=0.624* flying height * (1- ship's control * 0.01) * flying speed.
5. the method for the flight course planning of unmanned plane according to claim 3 or 4, it is characterised in that: the described second default rule
Then further include:
When described take pictures was spaced the moment greater than 3 seconds, then will take pictures is spaced the moment and is arranged to 3 seconds.
6. the method for the flight course planning of unmanned plane according to claim 1, it is characterised in that: obtaining flight range and boat
Before line parameter, the method also includes:
Obtain at least three destinations based on determined by operator's operation；
Destination is sequentially connected end to end, the flight range is generated.
7. a kind of device of the flight course planning of unmanned plane characterized by comprising
Module is obtained, is used to obtain flight range and course line parameter；
Computing module is calculated the course line spacing in adjacent course line by the first preset rules according to course line parameter；
Airline generation module generates the line of flight according to course line spacing in flight range.
8. the device of the flight course planning of unmanned plane according to claim 7, it is characterised in that:
The course line parameter includes flying height and sidelapping degree, and the course line spacing is true according to following first preset rules
It is fixed:
Course line spacing=0.94* flying height * (1- sidelapping degree * 0.01).
9. the device of the flight course planning of unmanned plane according to claim 7, which is characterized in that generate the line of flight it
Afterwards, further includes:
The computing module takes pictures by the calculating of the second preset rules also according to course line parameter and is spaced the moment；
It takes photo by plane generation module, is spaced the moment according to taking pictures, take photo by plane instruction in conjunction with line of flight generation；
Wherein, the instruction of taking photo by plane is that unmanned plane is spaced the moment according to taking pictures on the line of flight come timing acquiring image.
10. the device of the flight course planning of unmanned plane according to claim 7, it is characterised in that:
The course line parameter further includes flying speed and ship's control, described to take pictures that be spaced the moment be default according to following second
Rule determines:
It takes pictures and is spaced moment=0.624* flying height * (1- ship's control * 0.01) * flying speed.
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| CN111473791A (en) * | 2020-04-30 | 2020-07-31 | 北京土小豆在线科技有限公司 | Route planning method for unmanned aerial vehicle flying close to ground |
| CN111982298A (en) * | 2020-08-14 | 2020-11-24 | 扬州大学 | Unmanned aerial vehicle-based rice canopy temperature detection method |
| CN112106006A (en) * | 2019-08-30 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle and computer readable storage medium |
| CN112097770A (en) * | 2020-08-05 | 2020-12-18 | 中国人民解放军军事科学院国防科技创新研究院 | Multi-unmanned aerial vehicle collaborative full coverage path planning method and device, storage medium and terminal |
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