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Unmanned aerial vehicle long-distance tracking flight method and device, equipment and storage medium

A technology of unmanned aerial vehicle and flight position, applied in the field of unmanned aerial vehicle

Active Publication Date: 2020-01-14
SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] For the UAV flight planning system, a target position needs to be given. Due to the constraints of onboard computing performance, the planning system is all local planning, and it is impossible to perform long-distance global flight planning.

Method used

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  • Unmanned aerial vehicle long-distance tracking flight method and device, equipment and storage medium
  • Unmanned aerial vehicle long-distance tracking flight method and device, equipment and storage medium
  • Unmanned aerial vehicle long-distance tracking flight method and device, equipment and storage medium

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Embodiment 1

[0028] figure 1 It is a schematic flow chart of a long-distance tracking flight method for UAVs provided by Embodiment 1 of the present invention. This embodiment can be applied to combining local planning algorithms with global paths to make UAVs fly along preset trajectories as a whole In the case of reaching the end point, the method can be executed by a UAV long-distance tracking flight device, which can be realized by means of software and / or hardware, and can be integrated in the UAV.

[0029] It is understandable that for long-distance flight trajectory planning, when the preset waypoints reach a certain scale, the existing flight planning algorithm will not be able to generate a complete flight trajectory by using all the preset waypoints as constraints , to realize the long-distance tracking flight of UAV. The local planning algorithm can plan the flight trajectory or flight path of the UAV from the current flight position to the target position according to the set ...

Embodiment 2

[0057] figure 2 It is a schematic flowchart of a method for long-distance tracking flight of a UAV provided in Embodiment 2 of the present invention. This embodiment is further optimized on the basis of Embodiment 1. In this embodiment, the determination of the current target waypoint corresponding to the current moment from the waypoint queue based on the current flight position is embodied as: determining the distance between the current flight position and the last target waypoint Corresponding first distance; when the first distance is less than the preset distance threshold, determine the next waypoint of the previous target waypoint in the waypoint queue as a candidate target waypoint, and determine the current The second distance corresponding to the flight position and the candidate target waypoint; obtain the current local map corresponding to the UAV at the current moment, and determine that the candidate target waypoint is located in the obstacle of the current loc...

Embodiment 3

[0096] Figure 4 It is a schematic flow chart of a UAV long-distance tracking flight device provided by Embodiment 3 of the present invention. This embodiment can be applied to combine the local planning algorithm with the global path to make the UAV fly along the preset trajectory as a whole In the case of the end point, the device can be realized by software and / or hardware, and the device specifically includes: an information acquisition module 401 , a target determination module 402 , a path generation module 403 and a path addition module 404 .

[0097] The information acquisition module 401 is used to obtain the last target waypoint and waypoint queue corresponding to the drone at the last moment, and the current flight position corresponding to the current moment;

[0098] A target determination module 402, configured to determine the current target waypoint corresponding to the current moment from the waypoint queue based on the current flight position;

[0099] The p...

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Abstract

The embodiment of the invention discloses an unmanned aerial vehicle long-distance tracking flight method and device, equipment and a storage medium. The method comprises the steps: acquiring a previous target path point and a path point queue that correspond to a previous moment of an unmanned aerial vehicle as well as a current flight position corresponding to a current moment; determining a current target path point corresponding to the current moment from the path point queue based on the current flight position; generating a local path of the unmanned aerial vehicle flying from the current flight position to the current target path point by combining a preset local planning algorithm based on a flight position information set of the unmanned aerial vehicle in historical time and the current flight position; and adding the local path to a previous global path corresponding to the previous moment to obtain a current global path corresponding to the current moment so as to enable theunmanned aerial vehicle to fly along the current global path. According to the embodiment of the invention, the unmanned aerial vehicle can fly along a preset trajectory by combing a local planning algorithm with a global path.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a method, device, equipment and storage medium for long-distance tracking flight of unmanned aerial vehicles. Background technique [0002] A practical application of drones is to fly along a fixed trajectory. For example, agricultural plant protection drones fly along a fixed trajectory to perform spraying tasks, and environmental detection drones fly along a fixed trajectory to inspect urban rivers. Executed trajectories are usually given by the user themselves, or generated by other trajectory generation methods, such as identifying river channels in cities from satellite imagery. [0003] For the UAV flight planning system, a target position needs to be given. Due to the constraints of on-board computing performance, the planning system is all local planning and cannot perform long-distance global flight planning. How to combine the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 吕浩
Owner SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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