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Changing-environment-oriented ultra-low-altitude aircraft three-dimensional multi-batch multi-track planning method

A track planning and aircraft technology, applied in instruments, navigation computing tools, special data processing applications, etc., to achieve strong intelligence, improve search efficiency, and improve autonomy

Active Publication Date: 2017-06-09
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0007] In view of this, the present invention provides a three-dimensional, multi-batch, and multi-track planning method for ultra-low-altitude aircraft facing changing environments, which can solve the problem of trajectory planning for ultra-low-altitude aircraft during cooperative operations under changing environmental conditions

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[0032] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0033] The invention provides a three-dimensional, multi-batch, and multi-track planning method for ultra-low-altitude aircraft facing changing environments; the basic track planning process is as follows: figure 1 shown.

[0034] Step 1. According to the characteristics and restrictive conditions of the ultra-low-altitude aircraft, establish a specific target model and set reasonable simulation parameters. Among them, in the initial situation, the target models of all aircraft are the same. Ultra-low altitude flight generally refers to a flight altitude below 200 meters.

[0035] The target model includes geographic and threat constraints, aircraft characteristic constraints, and multi-aircraft cooperative trajectory constraints. The aircraft characteristic constraints include the maximum range constraint, the maximum rotation angle constraint and the ...

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Abstract

The invention discloses a changing-environment-oriented ultra-low-altitude aircraft three-dimensional multi-batch multi-track planning method. The concept of environment change is introduced, surrounding information is continuously detected in the flying process of an aircraft, a track is changed and corrected on the basis of the surrounding information, and autonomy and authenticity of track planning simulation are improved. Besides, the track of the aircraft of a current batch is planned according to opposite side deployment conditions obtained by an aircraft of a previous batch, so that the aircraft is more intelligent, and the probability of task completion is increased. Moreover, a heuristic function is introduced when an initial feasible track is searched through the ant colony algorithm, blindness of initial searching is reduced, and the searching efficiency is effectively improved.

Description

technical field [0001] The invention relates to the field of three-dimensional track planning, in particular to a three-dimensional, multi-batch, and multi-track planning method for ultra-low-altitude aircraft facing changing environments. Background technique [0002] Track planning is a new technology that rises with the progress of modern science and technology, and it is an important part of the mission planning system. This technology has now been widely used in various systems, such as path planning systems for aircraft, submarines, and vehicles. Trajectory planning for unmanned aerial vehicles is the process of planning the most satisfactory trajectory for the aircraft or meeting the mission requirements under a series of physical and mission constraints. Objectives are combined to find the optimal trajectory under multiple constraints. Therefore, from the above definition, trajectory planning is an optimization problem that matches a clear planning objective with v...

Claims

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Application Information

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IPC IPC(8): G06F17/50G01C21/20
CPCG01C21/20G06F30/367
Inventor 陈晨吴啸尘陈杰丁舒忻彭小迪张明阳王韫卓
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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