CN113342045B - Unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone - Google Patents
Unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone Download PDFInfo
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Abstract
The invention relates to an unmanned aerial vehicle autonomous evasion navigation control method for any no-fly zone, which can judge that an airplane is in the boundary of the no-fly zone or outside the boundary based on a ray detection algorithm, and establish an electronic protection circle model taking the airplane as the center of a circle and the minimum turning radius R of the airplane as the radius, wherein n points are uniformly distributed on the electronic protection circle, whether the n points uniformly distributed on the electronic protection circle enter the no-fly zone can be judged based on the ray detection algorithm, alarm information is given when the points on the electronic protection circle enter the no-fly zone, the comprehensive course control quantity of the airplane is the direction from the airplane position to the target position plus the evasion control quantity, the magnitude of the evasion control quantity is related to the ratio of the number of points entering the no-fly zone on the electronic protection circle, the direction of the evasion control quantity is related to the target task position, the comprehensive course control quantity of the airplane enables the airplane to fly along the edge of the no-fly zone and fly to the target position around the no-fly zone, and when the characteristics of the no-fly zone are unknown, the same avoidance control method can be adopted to bypass the no-fly zone and fly to the target.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle navigation control, and particularly relates to an unmanned aerial vehicle autonomous avoidance navigation control method in any no-fly zone.
Background
Some areas where the unmanned aerial vehicle is not allowed or not expected to enter are called no-fly areas, the invention is similar to the problem solved by the ' unmanned aerial vehicle any graph no-fly area identification navigation system ' in Chinese patent (publication No. CN 107911793B) ', namely, as the intelligent degree of the unmanned aerial vehicle is higher and higher along with the development of the unmanned aerial vehicle, the unmanned aerial vehicle can pass through the no-fly area during the autonomous navigation flight, a plurality of uncertain factors exist for the survival or management of the unmanned aerial vehicle, and the unmanned aerial vehicle is expected to be capable of avoiding the no-fly area autonomously when completing tasks. However, the method is only suitable for the unmanned aerial vehicle to break through the forbidden flight area with the known characteristics, solves the problem that the unmanned aerial vehicle breaks through the forbidden flight area with the known characteristics, has limitation on the forbidden flight area with unknown characteristics, and is not completely suitable for any forbidden flight area.
Disclosure of Invention
Technical problem to be solved
Aiming at the problem that the unmanned aerial vehicle cannot realize automatic obstacle avoidance on an unknown characteristic no-fly zone and the problem that a method for returning to a safety zone by adopting a scheduling algorithm is unfavorable for completing tasks, the invention provides an autonomous avoidance navigation control method for any no-fly zone.
Technical scheme
An unmanned aerial vehicle autonomous avoidance navigation control method in any no-fly zone is characterized by comprising the following steps:
establishing an electronic protection circle model taking the airplane as the circle center and the minimum turning radius R of the airplane as the radius, uniformly distributing n points on the electronic protection circle, and judging whether the uniformly distributed n points on the electronic protection circle enter a no-fly area or not based on a ray detection algorithm;
when a point on the electronic protection circle enters the no-fly zone, alarming information is given, the comprehensive course control quantity of the airplane is the direction from the airplane position to the target position plus the evasion control quantity, and the comprehensive course control quantity enables the airplane to fly along the edge of the no-fly zone and fly to the target position by bypassing the no-fly zone.
Preferably: the no-fly zone is polygonal.
Preferably: and n is more than or equal to 9.
Preferably: when the characteristics of the no-fly zone are known, the magnitude of the avoidance control quantity is as follows: and the 90-degree angle coefficient is based on the proportion of the intersection points of the electronic protection circle and the no-fly zone, and the avoidance control quantity direction coefficient of the 90-degree angle coefficient depends on the area of the two regions divided by the connecting line of the aircraft position and the target position when the electronic protection circle and the no-fly zone intersect.
Preferably: when the characteristics of the no-fly zone are known, the avoidance control quantity direction coefficient is specifically as follows: and dividing the no-fly zone into two parts according to a connecting line of the position of the airplane and the target position when the electronic protection circle of the airplane intersects with the no-fly zone, wherein the direction coefficient K of the evasive control quantity is equal to-1 when the area of the left half part is small, and the direction coefficient K of the evasive control quantity is equal to 1 in other cases.
Preferably: when the characteristics of the no-fly zone are unknown, the magnitude of the avoidance control quantity is also as follows: and 90 degrees + the control quantity avoiding direction coefficient is a fixed value based on the proportion of the intersection points of the electronic protection circle and the no-fly zone.
Preferably: and when the characteristics of the no-fly zone are unknown, the direction coefficient of the avoidance control quantity is 1.
Advantageous effects
The autonomous avoidance navigation control method for any no-fly-away area can realize autonomous avoidance and navigation control for the no-fly area with known characteristics or unknown characteristics, namely, the autonomous avoidance and navigation control for any no-fly-away area can be realized. The problem that the unmanned aerial vehicle breaks through the no-fly zone at all is solved, and autonomous avoidance and navigation control when the no-fly zone exists on a route for completing a target task are also solved. The method is suitable for autonomous avoidance and navigation control of any no-fly zone, and based on a ray detection algorithm, the method of establishing an electronic protection circle model by taking the position of an airplane as the center of a circle is adopted, so that the calculation of advanced warning and autonomous avoidance control quantity of the no-fly zone is realized, the route planning and scheduling of the no-fly zone avoidance are not required to be performed in advance, the real-time performance and the high efficiency of the no-fly zone avoidance are realized, the avoidance route is optimal, and the efficiency and the intelligent degree of completing a mission target are greatly improved.
The invention is suitable for unmanned aerial vehicles to autonomously avoid any no-fly-off areas, and is basically different from the invention of 'an unmanned aerial vehicle no-fly-off area identification navigation system with any figure', the invention adopts the method of completing tasks as basic guidance and adopting the most efficient navigation control method to avoid any no-fly-off areas, and the target of the method is always a target task waypoint. The invention relates to an unmanned aerial vehicle arbitrary figure no-fly zone recognition navigation system which can judge whether the position of a point is in a polygon through a ray detection algorithm, namely, the invention adopts the ray detection algorithm and arranges an alarm zone outside the no-fly zone to realize the alarm and the dispatch of an airplane, and the method establishes an electronic protection circle model which takes the airplane as the circle center and the minimum turning radius R of the airplane as the radius, wherein n points are uniformly distributed on the electronic protection circle, whether the n points uniformly distributed on the electronic protection circle enter the no-fly zone can be judged based on the ray detection algorithm, alarm information is given when the points on the electronic protection circle enter the no-fly zone, the comprehensive course control quantity of the airplane is added with an avoidance control quantity in the direction that the airplane position points to a target position, the magnitude of the avoidance control quantity is related to the proportion of the number of points entering the no-fly zone on the electronic protection circle, and the direction of the avoidance control quantity is related to the target task position, the airplane flies along the edge of the no-fly zone under the action of the comprehensive course control quantity and flies to the target position by bypassing the no-fly zone. The method adopts the plane as the center to establish the electronic protection circle and takes the target task as the guide, and can meet the advanced warning and the autonomous evasion navigation control of any no-fly zone. The method for establishing the electronic protection circle based on the airplane has the advantages that the required calculated amount is small, the requirement on hardware is not high, the method for controlling the magnitude of the avoidance control amount in real time based on the number of the intersection points of the electronic protection circle and the no-fly zone can enable the path of the airplane flying to the mission target to keep the optimal path while avoiding the no-fly zone, the method is also suitable for the no-fly zone with unknown characteristics, the intelligentization of the unmanned aerial vehicle and the efficiency of achieving the target mission are greatly improved, and the method can completely achieve autonomous avoidance and navigation control of any no-fly zone while not improving the hardware requirement of an airborne avionic computer.
Drawings
The drawings, in which like reference numerals refer to like parts throughout, are for the purpose of illustrating particular embodiments only and are not to be considered limiting of the invention.
FIG. 1 is a flow chart of autonomous avoidance navigation control in any no-fly zone
FIG. 2 is a schematic view of autonomous avoidance navigation control in a no-fly zone
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
An unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone comprises the steps of establishing an electronic protection circle model with an airplane as a circle center and the smallest turning radius R of the airplane as a radius, wherein n points are uniformly distributed on the electronic protection circle, and whether the n points uniformly distributed on the electronic protection circle enter the no-fly zone can be judged based on a ray detection algorithm; and calculating an autonomous avoidance control quantity according to the position of the target task and the proportion of the number of points entering the no-fly area on the electronic protection circle, wherein the magnitude of the avoidance control quantity is related to the proportion of the number of points entering the no-fly area on the electronic protection circle, the direction of the avoidance control quantity is related to the position of the target task, and the autonomous avoidance and navigation control of the no-fly area are realized by adding the avoidance control quantity to the course control quantity of the airplane pointing to the task target.
The specific implementation steps are as follows:
the first step is as follows: electronic protection circle with airplane position as center of circle is established based on ray detection algorithm
Whether the positions of the points are in a polygon can be judged through a ray detection algorithm, in order to achieve early warning and avoidance control of the airplane entering a no-fly area, an electronic protection circle model which takes the position of the airplane as the circle center and takes the minimum turning radius R of the airplane as the radius is established, n points (n is more than or equal to 9) are uniformly distributed on the electronic protection circle, whether the n points uniformly distributed on the electronic protection circle enter the no-fly area can be judged based on the ray detection algorithm, and when the minimum turning radius R of the airplane is taken as the radius of the electronic protection circle, the airplane can achieve turning avoidance in front of the no-fly area during autonomous avoidance control.
The second step is that: autonomous avoidance and navigation control of unmanned aerial vehicle flying to task target
When the aircraft flies to the task target, the course control quantity of the aircraft is the direction of the current position of the aircraft pointing to the target position, when the electronic protection circle of the aircraft and the no-fly zone intersect in the process of flying to the task target, in order to realize the autonomous avoidance and navigation control of the no-fly zone, the course control quantity of the aircraft needs to be added with an avoidance control quantity in the direction of the current position of the aircraft pointing to the target position, in order to realize the rapid avoidance, when the characteristics of the no-fly zone are known, the magnitude of the avoidance control quantity is as follows: the 90-degree + angle coefficient is based on the proportion of the number of intersecting points of the electronic protection circle and the no-fly zone, the evasion control quantity direction coefficient depends on the size of the area of the two regions which are formed by dividing the no-fly zone into two regions by the connecting line of the aircraft position and the target position when the electronic protection circle and the no-fly zone intersect, and the direction of the evasion control quantity enables the aircraft to fly to the mission target along the edge of the no-fly zone along the direction with smaller area. When the characteristics of the no-fly zone are unknown, the magnitude of the avoidance control quantity is also as follows: and 90 degrees + the avoidance control quantity direction coefficient is a fixed value based on the proportion of the intersection points of the electronic protection circle and the no-fly zone. When the intersection of the electronic protection circle of the airplane and the no-fly zone is generated, the no-fly zone warning information is sent to the ground control station, and meanwhile, the no-fly zone is autonomously avoided and navigation control is carried out on a task target.
Referring to fig. 1, a flow chart of the autonomous avoidance navigation control of any no-fly zone is shown, and an example that an unmanned plane planned route passes through a no-fly zone with known characteristics is taken to illustrate the autonomous avoidance navigation control method of any no-fly zone:
firstly, establishing an electronic protection circle which takes the position of an airplane as the circle center and the minimum turning radius R of the airplane as the radius, taking a geodetic coordinate system as a reference, taking the north direction as an X axis and the east direction as a Y axis, taking a ground command control vehicle as the origin of coordinates, taking the coordinates of the airplane as (XY.x, XY.y) and taking the airplane as the circle center radius R, wherein n is the number of points on the electronic protection circle, and the electronic protection circle is characterized in that:
R point[i] .x＝XY.x+R×cos(i×θ)
R point[i] .y＝XY.y+R×sin(i×θ)
where θ is the angular separation between adjacent points on the electron protecting circle, and the coordinates of the points on the electron protecting circle are (R) point[i] .x，R point[i] .y)，n≥i≥1。
And judging whether a point on an electronic protection circle of the airplane enters a no-fly zone or not based on a ray detection method, wherein when the electronic protection circle of the airplane does not intersect with the no-fly zone, the avoidance control quantity coefficient K is 0. When the electronic protection circle of the airplane intersects with the no-fly zone, the no-fly zone is divided into two parts according to a connecting line between the airplane position and the target position when the electronic protection circle of the airplane intersects with the no-fly zone, when the area of the left half part is small, the direction coefficient K of the avoidance control quantity is-1, and when the area of the left half part is small, the direction coefficient K of the avoidance control quantity is 1, and the real-time comprehensive course control quantity is calculated as follows:
avoid_Psi_g＝90+K n ×N_angle
PsiControl＝PsiControl0+K×avoid_Psi_g
wherein avoid _ Psi _ g is a evasive control amount, K n The number of the points of intersection of the electronic protection circle and the no-fly zone/the total number of the points on the electronic protection circle is N _ angle, the avoidance angle coefficient can be adjusted according to the actual avoidance effect, the initial value is 45, the range is (0, 90), the avoidance angle coefficient can be reduced when the actual avoidance control amount is too large, and otherwise, the avoidance angle coefficient is increased. The amplitude limit of the avoidance control quantity is (90, 180), PsiControl0 is the heading control quantity of the airplane position pointing to the target position, and PsiControl is the comprehensive heading control quantity of the airplane for finally performing heading control.
Under the action of the comprehensive heading control quantity of the airplane, the schematic diagram of autonomous avoidance and navigation control is shown in fig. 2, and the airplane flies to a task target along the edge of a no-fly zone to realize autonomous avoidance and navigation control. When the characteristics of the no-fly zone are unknown, the same method is adopted, the avoidance control coefficient K of the method is 1 when the electronic protection circle of the airplane intersects with the no-fly zone, and is 0 when no intersection exists, and the autonomous avoidance and navigation control can be realized.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (1)
1. An unmanned aerial vehicle autonomous avoidance navigation control method in any no-fly zone is characterized by comprising the following steps:
establishing an electronic protection circle model with the airplane as the center of a circle and the airplane minimum turning radius R as the radius, uniformly distributing n points on the electronic protection circle, and judging whether the n points uniformly distributed on the electronic protection circle enter a no-fly area based on a ray detection algorithm;
when a point on the electronic protection circle enters a no-fly zone, alarming information is given, the comprehensive course control quantity of the airplane is the direction from the airplane position to the target position plus an evasion control quantity, and the comprehensive course control quantity enables the airplane to fly along the edge of the no-fly zone and fly to the target position by bypassing the no-fly zone;
the no-fly zone is a polygon;
n is more than or equal to 9;
when the characteristics of the no-fly zone are known, the magnitude of the avoidance control quantity is as follows: the 90-degree + angle coefficient is based on the proportion of the number of intersecting points of the electronic protection circle and the no-fly zone, and the evasion control quantity direction coefficient of the 90-degree + angle coefficient depends on the size of the area of the two regions divided by the connecting line of the airplane position and the target position when the electronic protection circle and the no-fly zone intersect;
the avoidance control quantity direction coefficient is specifically as follows: dividing the no-fly zone into two parts according to a connecting line of the position of the airplane and the target position when the electronic protection circle of the airplane intersects with the no-fly zone, wherein when the area of the left half part is small, the direction coefficient K of the evasive control quantity is equal to-1, and when the area of the left half part is small, the direction coefficient K of the evasive control quantity is equal to 1;
when the characteristics of the no-fly zone are unknown, the magnitude of the avoidance control quantity is also as follows: 90 degrees + the evasion control quantity direction coefficient is a fixed value based on the proportion of the intersection points of the electronic protection circle and the no-fly zone;
and the direction coefficient of the avoidance control quantity is 1.
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