Safe return route planning method for unmanned aerial vehicle

A return route and drone technology, applied in the field of drones, can solve the problems of inability to store in a large area and the inability to determine the elevation digital map, and achieve the effect of avoiding the risk of crashing.

Pending Publication Date: 2020-03-06
CHENGDU JOUAV AUTOMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the technical problems that the elevation digital map cannot be determined and the elevation digital map cannot be stored in a large area in the return route of the lost UAV, the present invention provides a safe return route planning method for the UAV

Method used

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  • Safe return route planning method for unmanned aerial vehicle
  • Safe return route planning method for unmanned aerial vehicle
  • Safe return route planning method for unmanned aerial vehicle

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Embodiment 1

[0035] Such as figure 1 and figure 2 As shown, the UAV safe return route planning method of the present invention comprises the following steps:

[0036] a Establish a Cartesian coordinate system: Before the UAV takes off, plan the take-off point, route A, and route height on the PC terminal on the ground, take the plane where the route height is as the reference plane and take the orthographic projection of the take-off point on the plane where the route height is located Establish a Cartesian coordinate system for the origin P;

[0037] b Determine the azimuth angle of the route: make an azimuth γ in the rectangular coordinate system to ensure that the route A is within the range of the azimuth angle, and the two sides of the azimuth γ form two angles (α, β) with the positive direction of the y-axis , α<β;

[0038] c Find the elevation digital map in the azimuth angle range: select an angle increment δ, the angle increment δ is: 0.5 °; take α as the starting angle, increa...

Embodiment 2

[0043] Such as figure 1 , figure 2 and image 3 As shown, this embodiment is a further improvement made on the basis of Embodiment 1. In the step b, the two sides of the azimuth γ are tangent to the route, the α is the minimum azimuth, and the minimum azimuth is the minimum angle between the point on the route and the line connecting the origin P and the positive y-axis; the β is the maximum azimuth angle, and the maximum azimuth is the point on the route A and the origin P connecting the line and the y-axis The positive included angle is the angle of the maximum angle.

[0044] working principle: figure 1 and figure 2 It shows a situation where the minimum azimuth α is the angle between the line connecting the origin P and the starting point of the route B and the positive direction of the y-axis; the maximum azimuth β is the angle between the line connecting the origin P and the end point C of the route and the positive direction of the y-axis ;

[0045] image 3 ...

Embodiment 3

[0048] This embodiment is a further improvement made on the basis of Embodiment 1. In the step c, the intersection point between the direction vector of the angle increment δ and the route A is the farthest intersection point of the route A away from the origin P.

[0049] Working principle: as figure 2 As shown, the route is a curved path back and forth. When the angle is η, there are 5 intersection points (D, D1, D2, D3, D4) between the direction vector of this angle and the route, in order to ensure that the elevation digital map in the route can be fully detected , so choose the intersection point D4 farthest from the take-off point.

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Abstract

The invention discloses a safe return route planning method for an unmanned aerial vehicle. The method comprises the following steps of establishing a rectangular coordinate system, determining a course azimuth angle, searching an elevation digital map in an azimuth angle range, storing marks and corresponding angle values by the unmanned aerial vehicle, and automatically planning a safety path bya lost unmanned aerial vehicle. The invention discloses a safe return route planning method for the unmanned aerial vehicle. Before the unmanned aerial vehicle takes off, an elevation lookup table ismade through a ground PC end according to corresponding parameters and transmitted to the unmanned aerial vehicle to be stored, a safe path can be selected as a return route through calculation afterthe unmanned aerial vehicle is out of contact, and the problem that the unmanned aerial vehicle crashes due to the fact that the ground elevation cannot be determined by the unmanned aerial vehicle is solved; meanwhile, the problem that the unmanned aerial vehicle cannot store a large-area elevation digital map is also solved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for planning a safe return route of an unmanned aerial vehicle. Background technique [0002] In recent years, the production and application of UAVs have been booming at home and abroad, and UAVs have become more and more widely used in various fields, such as surveying and mapping, monitoring, agricultural plant protection, traffic inspection, etc. A UAV system usually includes a UAV and a ground base station. Its working principle is that the base station communicates with the UAV through a wireless link. Before the UAV takes off, the route needs to be sent to the UAV. The state of the UAV and sending control commands, etc. However, due to the current technology, the link between the base station and the UAV may fail (such as electromagnetic interference, distance overrun, and damage to the base station, etc.), and the UAV will be in a disconnected m...

Claims

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/005Y02T10/40
Inventor 马云峰郭有威周黎明肖兆骞
Owner CHENGDU JOUAV AUTOMATION TECH
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