Unmanned aerial vehicle waypoint jump planning method, system, equipment and medium
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An unmanned aerial vehicle, waypoint technology, applied in attitude control and other directions, can solve problems such as poor turning performance and large turning angle, and achieve the effect of shortening turning time, small turning slope, and improving user experience
Pending Publication Date: 2022-07-05
SICHUAN AOSSCI TECH CO LTD
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Problems solved by technology
[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a method, system, device and medium for unmanned aerial vehicle waypoint jump planning, which are used to solve the problem of unmanned aerial vehicle waypoint jump in the prior art. , the problem of large turning angle and poor turning performance due to unplanned jump route
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Embodiment 1
[0052] In view of the above technical problems, the embodiments of the present invention provide a method for planning a waypoint jump of an unmanned aerial vehicle. Straight line waypoint or arc waypoint, by configuring the arc waypoint and the straight waypoint at the starting waypoint and the target waypoint to plan the jump route, and use the jump route to achieve smooth turning, the turning slope is small, and the turning trajectory is not easy to generate The overshoot, at the same time, ensures that the unmanned aerial vehicle can exert maximum performance when turning, and also shorten the turning time.
[0053] see figure 1 , the present invention provides a flow chart of an unmanned aerial vehicle waypoint jump planning method, the method comprising:
[0054] Step S101, obtaining the unmanned aerial vehicle waypoint jumping instruction and the jumping target waypoint, wherein the starting waypoint of the jump is determined by the current position of the unmanned aer...
Embodiment 2
[0150] see Image 6 , the present invention also provides a structural block diagram of a UAV waypoint jump planning control device 600, the control device includes a processor, the processor is coupled with a memory, the memory stores program instructions, when the memory The stored program instructions are executed by the processor to achieve:
[0151] The obtaining module 601 is used to obtain the instruction of the UAV waypoint jumping and the target waypoint of the jumping, wherein, the current position where the UAV receives the instruction determines the starting waypoint of the jumping;
[0152] Waypoint jump planning module 602, configured to plan a jump route according to the start waypoint, the target waypoint and the type of the target waypoint to be jumped by the UAV, the jump route includes It is configured at the arc waypoint and the straight line waypoint required for jumping between the starting waypoint and the target waypoint.
[0153] If the type of the t...
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Abstract
The invention provides an unmanned aerial vehicle waypoint jump planning method, system and device and a medium, and particularly relates to the technical field of unmanned aerial vehicle flight, the method comprises the following steps: obtaining an unmanned aerial vehicle waypoint jump instruction and a jump target waypoint, and determining a jump starting waypoint according to the current position of the unmanned aerial vehicle receiving the instruction; a jump route is planned according to a starting waypoint and a target waypoint of jump of the unmanned aerial vehicle and the type of the target waypoint, the jump route comprises an arc waypoint and a linear waypoint which are configured at the starting waypoint and the target waypoint and needed for jump, and the jump route is planned by configuring the arc waypoint and the linear waypoint at the starting waypoint and the target waypoint. Smooth turning is achieved through the jump route, the turning gradient is small, the turning track is not prone to overshoot, meanwhile, the maximum turning performance of the unmanned aerial vehicle is ensured, and the turning time is shortened; and the jump route is synchronized to the ground terminal in real time, so that a user can conveniently observe the expected waypoint jump track in advance, and the user experience is improved.
Description
technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a waypoint jump planning method, system, equipment and medium for an unmanned aerial vehicle. Background technique [0002] Unmanned Aerial Vehicle, referred to as Unmanned Aerial Vehicle (UAV), is an unmanned aircraft controlled by radio remote control equipment and its own program control device. UAVs are widely used in industries such as agricultural plant protection, surveying and mapping, military defense, emergency rescue and disaster relief, and video shooting. [0003] In the related technology, when the UAV is performing a route task, it directly switches the target waypoint to the waypoint to be jumped after receiving the waypoint jump command sent from the ground control station. After the waypoint is switched, the UAV The flight controller guides the UAV to the jump waypoint according to the straight waypoint. However, using this method to j...
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Application Information
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