Aircraft track self-adaptive planning method, device and equipment and storage medium

Abstract

The invention relates to an aircraft track adaptive planning method, device and equipment and a storage medium. The method comprises the following steps: constructing a relational expression among a pitch angle, a roll angle and an azimuth angle of an aircraft; obtaining a coordinated turning condition which needs to be met by a roll angle when the aircraft performs azimuth turning; constructing a differential equation set which needs to be met by the flight path of the aircraft; inputting and substituting the pitch angle, the roll angle, the azimuth angle, the longitudinal axial speed, the latitude, the longitude and the height which meet the coordinated turning condition and the relational expression among the pitch angle, the roll angle and the azimuth angle in a segmented mode into a differential equation set which needs to be met by the flight track of the aircraft to obtain track parameters, and therefore segmented tracks are established; and fitting each segmented track to obtain a final flight track of the aircraft, and enabling the aircraft to move according to the flight track. The method has the advantages that the working execution time of the aircraft is shortened, and the efficiency is high.

Description

technical field [0001] The present invention relates to the technical field of UAV flight management and control, in particular to a method, device, equipment and storage medium for adaptive planning of aircraft track. [0002] technical background [0003] Unmanned multi-rotor aircraft usually perform some autonomous tasks, such as route inspection, plane surveying, three-dimensional modeling, etc., and performing these tasks requires autonomous navigation and guidance for the trajectory. The general trajectory planning is carried out in the form of point-to-point. After arriving at the point, it turns to the next point by fixed point, and realizes the whole trajectory planning process in this way. This method is not very efficient in terms of efficiency. There will be deceleration, pause and waiting after the point is reached. For some scenes where there is no action at the point, such as farmland spraying, isochronous and equidistant photography, path tracking and other ap...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to solve the problem that the execution cycle time of the aircraft trajectory planning method in the prior art is long, resulting in a long execution time of the aircraft and low efficiency.

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