High-flyability air route planning method based on air route tracking mapping network

Abstract

The invention provides a high-flyability air route planning method based on an air route tracking mapping network, belongs to the technical field of unmanned aerial vehicle navigation guidance and control. The method particularly comprises the following steps: forming a closed-loop motion control model by combining an unmanned aerial vehicle six-degree-of-freedom motion model with an air route tracking controller, and inputting a stochastic planning air route and a stochastic state; and outputting the corresponding prediction state and prediction track, arranging the current unmanned aerial vehicle planning route and state into two-dimensional data, inputting the two-dimensional data into the TMN one by one to obtain deviation values of the prediction state and prediction track corresponding to each output and each input, and updating the TMN by utilizing back propagation; and establishing a total cost function. According to the method, n random routes are planned under the MPC framework and input into the TMN, the flight path and the flight state are predicted and substituted into the total cost function to obtain the optimal planned route, the flight control system tracks the optimal planned route and records the actual flight path and flight state parameters of the unmanned aerial vehicle while displaying, and the flight path prediction capability is improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle navigation guidance and control, and in particular relates to a high-flyability route planning method based on route tracking and mapping network. Background technique [0002] UAV route planning refers to finding the most satisfactory UAV flight path from the mission starting point to the mission end point in a specific environment, combined with map information and various constraints. Route planning not only needs to achieve the optimal task cost as much as possible, but also the flyability of the planned route is also very important. The flyability of route planning represents the feasibility and accuracy of UAV tracking the planned route, which is an important issue in the field of UAV route planning. High-flyability route planning is of great significance for some high-precision tasks, such as obstacle avoidance in dense areas, autonomous aerial refueling and docking, and pr...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem of low flyability in existing route planning methods, the present invention proposes a highly flyable route planning method based on route tracking and mapping network, fully considering the kinematics, dynamics and route tracking of UAVs The characteristics of the control system can greatly improve the flightability and other performance of the planned route, ensure flight safety, and have the characteristics of intelligence, relearning and high planning efficiency, which is of great significance for the safe flight path planning of unmanned systems

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