技术领域technical field
本发明属于无人机协同感知与安全飞行领域，具体涉及一种双无人机协同感知与规划方法。The invention belongs to the field of UAV cooperative perception and safe flight, and in particular relates to a method for dual UAV cooperative perception and planning.
背景技术Background technique
无人机在低空甚至超低空飞行执行侦察作战任务的过程中，面临的飞行环境十分复杂，可能会遇见危险障碍物（如电线杆、树林、高楼、高山等）和威胁信息（如火控雷达、防空导弹等）。低空飞行的无人机在面对复杂环境执行侦察作战任务的同时，需要进行环境感知、路径规划、障碍物及威胁规避，在其感知与处理过程中，低空无人机将面临沉重的信息负荷，一旦出现差错，便会出现严重的后果。During the low-altitude or even ultra-low-altitude flight of the UAV to perform reconnaissance combat missions, the flight environment it faces is very complex, and it may encounter dangerous obstacles (such as utility poles, woods, tall buildings, mountains, etc.) and threat information (such as fire control radar , anti-aircraft missiles, etc.). While performing reconnaissance and combat missions in a complex environment, low-altitude UAVs need to perform environmental perception, path planning, obstacle and threat avoidance. During their perception and processing, low-altitude UAVs will face heavy information loads. , Once a mistake occurs, there will be serious consequences.
为了能更加安全有效地执行飞行任务，缓解单个无人机感知与处理空间信息的压力，无人机联合飞行、协同感知策略已经成为无人机应用领域发展的必然趋势。In order to carry out flight tasks more safely and effectively, and alleviate the pressure of a single UAV to perceive and process spatial information, UAV joint flight and cooperative sensing strategies have become an inevitable trend in the development of UAV application fields.
发明内容Contents of the invention
本发明的目的是提供一种双无人机协同感知与规划方法，以克服无人机在低空复杂环境下视野局限的问题，缓解无人机低空飞行时处理空间信息的压力，提高无人机低空飞行执行侦察作战任务的安全性和有效性。The purpose of the present invention is to provide a dual-UAV cooperative perception and planning method to overcome the problem of the UAV’s limited vision in low-altitude complex environments, relieve the pressure of processing spatial information when the UAV flies at low altitude, and improve the efficiency of the UAV. The safety and effectiveness of low-altitude flight to perform reconnaissance combat missions.
为此，本发明提出一种双无人机协同感知与规划方法，其特征是：至少包含一架高空无人机504、一架低空无人机505、地面控制站C、地形数据库D和显示终端E；具体步骤是：For this reason, the present invention proposes a dual-UAV cooperative perception and planning method, which is characterized in that: at least one high-altitude UAV 504, one low-altitude UAV 505, a ground control station C, a terrain database D and a display Terminal E; the specific steps are:
101：高空无人机504和低空无人机505同时进入工作进行通信；101: The high-altitude UAV 504 and the low-altitude UAV 505 enter into work at the same time for communication;
102：高空无人机504感知低空无人机505未来航线信息，为低空无人机提供飞行支持；102: The high-altitude UAV 504 perceives the future route information of the low-altitude UAV 505, and provides flight support for the low-altitude UAV;
103：高空无人机504探测高海拔、大视野范围内的场景，感知远距离的飞行环境、危险障碍物和威胁信息；将信息提供给地面控制站C；103: The high-altitude UAV 504 detects scenes at high altitudes and within a large field of view, perceives long-distance flight environments, dangerous obstacles and threat information; provides the information to the ground control station C;
104：高空无人机504为低空无人机505规划飞行安全通道；104: The high-altitude UAV 504 plans flight safety passages for the low-altitude UAV 505;
105：低空无人机505在高空无人机504为其规划的安全通道中飞行； 106：低空无人机505对视野内的信息进行获取，包括近距离的危险障碍物信息和威胁信息；105: The low-altitude UAV 505 is flying in the safe passage planned by the high-altitude UAV 504; 106: The low-altitude UAV 505 acquires information within the field of vision, including information on dangerous obstacles and threats at close range;
107：低空无人机505在安全的飞行环境中执行侦察作战任务，将信息提供给地面控制站C；107: The low-altitude UAV 505 performs reconnaissance combat missions in a safe flying environment, and provides information to the ground control station C;
108：地面控制站C接收低空无人机505和高空无人机504的信息，调取地形数据库D，将上述信息显示在显示终端E上。108: The ground control station C receives the information of the low-altitude drone 505 and the high-altitude drone 504, retrieves the terrain database D, and displays the above information on the display terminal E.
所述的地形数据库D是存储地形信息的数据集合，用来查找高空无人机504和低空无人机505当前飞行位置的地形数据信息，包含当前地形的经纬度，地平面的海拔高度等信息。The terrain database D is a data set that stores terrain information, and is used to search terrain data information of the current flight positions of the high-altitude drone 504 and the low-altitude drone 505, including the latitude and longitude of the current terrain, the altitude of the ground plane and other information.
所述的地面控制站C的作用是接收无人机发送的信息，通过计算机分析处理无人机反馈的各类信息,进而控制无人机安全飞行。The function of the ground control station C is to receive the information sent by the UAV, analyze and process all kinds of information fed back by the UAV through the computer, and then control the UAV to fly safely.
所述的显示终端E在地面控制站C生成，是地面控制站C上的一个显示屏幕，用来显示处理后的各类信息。The display terminal E is generated at the ground control station C, and is a display screen on the ground control station C for displaying various types of information after processing.
其中步骤101同时进入工作进行通信是将感知的信息通过无线电波传送给无人机地面控制站C，地面控制站C结合地形数据库D对危险障碍物和威胁信息进行标注，然后在地面控制站C生成显示终端E。Among them, step 101 enters work at the same time for communication, and transmits the perceived information to the UAV ground control station C through radio waves. The ground control station C combines the terrain database D to mark dangerous obstacles and threat information, and then the ground control station C Generate display terminal E.
低空无人机505飞行高度比较低，大约在海拔300m~500m之间。The flying altitude of the low-altitude UAV 505 is relatively low, approximately between 300m and 500m above sea level.
高空无人机504的位置位于低空无人机505的前上方，飞行高度是低空无人机505的3~5倍，高空无人机504和低空无人机505的空间距离在1000m~1500m之间。The position of the high-altitude drone 504 is located above the front of the low-altitude drone 505, and the flying height is 3 to 5 times that of the low-altitude drone 505. The space distance between the high-altitude drone 504 and the low-altitude drone 505 is between 1000m and 1500m. between.
步骤106获取的视野内的信息包含高楼301、树林302、山脉304。The information within the field of view acquired in step 106 includes tall buildings 301 , forests 302 , and mountains 304 .
其中，步骤103探测高海拔、大视野范围内的场景，感知远距离的飞行环境、危险障碍物和威胁信息包含远距离的火控雷达401、高山403信息。Among them, step 103 detects scenes with high altitude and large field of view, and perceives long-distance flight environment, dangerous obstacles and threat information including long-distance fire control radar 401 and high mountain 403 information.
显示终端E是地面控制站的一个信息显示屏幕，显示屏幕分为三维场景显示区域503和数据信息显示区域502，其中三维场景显示区域503位于数据信息显示区域502的上方，其高度为显示屏幕的2/3，数据信息显示区域502位于显示屏幕的底部，其高度为显示屏幕的1/3；The display terminal E is an information display screen of the ground control station, and the display screen is divided into a three-dimensional scene display area 503 and a data information display area 502, wherein the three-dimensional scene display area 503 is located above the data information display area 502, and its height is the height of the display screen. 2/3, the data information display area 502 is located at the bottom of the display screen, and its height is 1/3 of the display screen;
三维场景显示区域503显示高空无人机504和低空无人机505的位置信息，同时显示高空无人机的视野范围和低空无人机的视野范围内的信息；The three-dimensional scene display area 503 displays the position information of the high-altitude UAV 504 and the low-altitude UAV 505, and simultaneously displays the information within the field of view of the high-altitude UAV and the field of view of the low-altitude UAV;
数据信息显示区域502分为三个部分，包括：高空无人机飞行状态显示区域512，低空无人机飞行状态显示区域513和飞行安全通道显示区域514；其中，高空无人机显示区域512位于数据信息显示区域502的最左边，低空无人机显示区域513位于数据信息显示区域502的中间，飞行安全通道显示区域514位于数据信息显示区域502的最右边；The data information display area 502 is divided into three parts, including: the high-altitude UAV flight state display area 512, the low-altitude UAV flight state display area 513 and the flight safety channel display area 514; wherein, the high-altitude UAV display area 512 is located at The leftmost of the data information display area 502, the low-altitude drone display area 513 is located in the middle of the data information display area 502, and the flight safety channel display area 514 is located at the far right of the data information display area 502;
高空无人机飞行状态显示区域512包含四个飞行参数显示项：飞行航向显示项515，飞行速度显示项516，飞行高度显示项517，经纬度显示项518，以上四个显示项左侧显示参数名称，右侧显示具体数值，飞行航向显示项515显示位数为4位，飞行速度显示项516显示范围为0~1000m/s，飞行高度显示项517显示范围为1000~2000m，经纬度显示项518显示位数为4位；The flight status display area 512 of the high-altitude UAV includes four flight parameter display items: the flight course display item 515, the flight speed display item 516, the flight altitude display item 517, the latitude and longitude display item 518, and the parameter names are displayed on the left side of the above four display items , the right side displays the specific value, the flight course display item 515 displays 4 digits, the flight speed display item 516 displays the range of 0~1000m/s, the flight altitude display item 517 displays the range of 1000~2000m, and the latitude and longitude display item 518 displays The number of digits is 4;
低空无人机飞行状态显示区域513包含四个飞行参数显示项：飞行航向显示项519，飞行速度显示项520，飞行高度显示项521，经纬度显示项522，以上四个显示项左侧显示参数名称，右侧显示具体数值，飞行航向显示项519显示位数为4位，飞行速度显示项520显示范围为0~1000m/s，飞行高度显示项521显示范围为0~1000m，经纬度显示项522显示位数为4位；The low-altitude UAV flight state display area 513 includes four flight parameter display items: flight course display item 519, flight speed display item 520, flight height display item 521, latitude and longitude display item 522, and the parameter names are displayed on the left side of the above four display items , the right side displays the specific value, the flight heading display item 519 displays 4 digits, the flight speed display item 520 displays the range of 0~1000m/s, the flight altitude display item 521 displays the range of 0~1000m, and the latitude and longitude display item 522 displays The number of digits is 4;
飞行安全通道显示区域514包含三个安全通道参数显示项：安全通道轴心高度显示项523，安全通道经纬度显示项524，安全通道轴心延伸方向显示项525，以上三个安全通道参数显示项左侧显示参数名称，右侧显示具体数值；安全通道轴心高度显示项523显示范围为0~1000m，安全通道经纬度显示项524显示位数为4位，安全通道轴心延伸方向显示项525显示位数为4位。The flight safe passage display area 514 includes three safe passage parameter display items: the safe passage axis height display item 523, the safe passage latitude and longitude display item 524, the safe passage axis extension direction display item 525, and the above three safe passage parameter display items. The name of the parameter is displayed on the side, and the specific value is displayed on the right; the display range of the axis height display item 523 of the safety passage is 0~1000m, the display digit of the longitude and latitude display item 524 of the safety passage is 4 digits, and the axis extension direction display item 525 of the safety passageway displays digits The number is 4 digits.
本发明可以让操作员对无人机的飞行状态信息和飞行安全通道的信息进行实时对比，更加直观的了解无人机的实时飞行状态，操作人员可以迅速对无人机的偏航角进行修正，保证无人机一直处于安全通道中，有利于紧急情况下操作人员更加快速准确的做出决策，保证无人机的安全飞行。The present invention allows the operator to compare the flight state information of the UAV with the information of the flight safety channel in real time, understand the real-time flight state of the UAV more intuitively, and the operator can quickly correct the yaw angle of the UAV , to ensure that the UAV is always in a safe passage, which is conducive to the operator to make more rapid and accurate decisions in emergency situations, and to ensure the safe flight of the UAV.
附图说明Description of drawings
以下结合附图和实施例对本发明作进一步详细说明：Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
图1为一种双无人机协同感知与规划方法的流程图；Fig. 1 is a flow chart of a dual-UAV cooperative perception and planning method;
图2为一种双无人机协同感知与规划方法的空间布局示意图；Figure 2 is a schematic diagram of the spatial layout of a dual-UAV cooperative perception and planning method;
图3为低空无人机视野内的显示信息示意图；Fig. 3 is a schematic diagram of display information within the field of view of a low-altitude drone;
图4为高空无人机视野内的显示信息示意图；Fig. 4 is a schematic diagram of display information within the field of view of a high-altitude drone;
图5为地面控制站的显示终端；Fig. 5 is the display terminal of the ground control station;
图6为一种双无人机协同感知与规划方法的原理结构图。Fig. 6 is a principle structure diagram of a dual-UAV cooperative perception and planning method.
具体实施方式Detailed ways
本实施例提供了一种双无人机协同感知与规划方法，下面结合附图对部分实现过程作详细说明。This embodiment provides a dual-UAV cooperative perception and planning method, and part of the implementation process will be described in detail below in conjunction with the accompanying drawings.
如图1和图2所示，一种双无人机协同感知与规划方法，至少包含两架无人机，一架高空无人机504、一架低空无人机505、地面控制站C、地形数据库D和显示终端E；具体步骤是：As shown in Figure 1 and Figure 2, a dual-UAV cooperative perception and planning method includes at least two UAVs, a high-altitude UAV 504, a low-altitude UAV 505, a ground control station C, Terrain database D and display terminal E; the specific steps are:
101：高空无人机504和低空无人机505同时进入工作进行通信；101: The high-altitude UAV 504 and the low-altitude UAV 505 enter into work at the same time for communication;
102：高空无人机504感知低空无人机505未来航线信息，为低空无人机提供飞行支持；102: The high-altitude UAV 504 perceives the future route information of the low-altitude UAV 505, and provides flight support for the low-altitude UAV;
103：高空无人机504探测高海拔、大视野范围内的场景，感知远距离的飞行环境、危险障碍物和威胁信息；将信息提供给地面控制站C；103: The high-altitude UAV 504 detects scenes at high altitudes and within a large field of view, perceives long-distance flight environments, dangerous obstacles and threat information; provides the information to the ground control station C;
104：高空无人机504为低空无人机505规划飞行安全通道；104: The high-altitude UAV 504 plans flight safety passages for the low-altitude UAV 505;
105：低空无人机505在高空无人机504为其规划的安全通道中飞行；105: The low-altitude UAV 505 is flying in the safe passage planned by the high-altitude UAV 504;
106：低空无人机505对视野内的信息进行获取，包括近距离的危险障碍物信息和威胁信息；106: The low-altitude UAV 505 acquires information within the field of vision, including dangerous obstacle information and threat information at close range;
107：低空无人机505在安全的飞行环境中执行侦察作战任务，将信息提供给地面控制站C；107: The low-altitude UAV 505 performs reconnaissance combat missions in a safe flying environment, and provides information to the ground control station C;
108：地面控制站C接收低空无人机505和高空无人机504的信息，调取地形数据库D，将上述信息显示在显示终端E上。108: The ground control station C receives the information of the low-altitude drone 505 and the high-altitude drone 504, retrieves the terrain database D, and displays the above information on the display terminal E.
如图6所示，所述的地形数据库D是存储地形信息的数据集合，用来查找高空无人机504和低空无人机505当前飞行位置的地形数据信息，包含当前地形的经纬度，地平面的海拔高度等信息。As shown in Figure 6, the terrain database D is a data collection of stored terrain information, used to find the terrain data information of the current flight position of the high-altitude UAV 504 and the low-altitude UAV 505, including the latitude and longitude of the current terrain, ground level altitude and other information.
如图6所示，所述的地面控制站C的作用是接收无人机发送的信息，通过计算机分析处理无人机反馈的各类信息,进而控制无人机安全飞行。As shown in Figure 6, the function of the ground control station C is to receive the information sent by the UAV, analyze and process various information fed back by the UAV through the computer, and then control the safe flight of the UAV.
如图6所示，所述的显示终端E在地面控制站C生成，是地面控制站C上的一个显示屏幕，用来显示处理后的各类信息。As shown in FIG. 6 , the display terminal E is generated at the ground control station C, and is a display screen on the ground control station C, which is used to display various types of information after processing.
如图6所示，高空无人机504和低空无人机505将感知的信息通过无线电波传送给无人机地面控制站C，地面控制站C结合地形数据库D对危险障碍物和威胁信息进行标注，然后在地面控制站C生成显示终端E。无人机操作人员根据生成的显示终端E操作低空无人机505对危险障碍物和威胁区域进行预警和规避。As shown in Figure 6, the high-altitude UAV 504 and the low-altitude UAV 505 transmit the perceived information to the UAV ground control station C through radio waves, and the ground control station C combines the terrain database D to analyze dangerous obstacles and threat information. Annotate, and then generate display terminal E at ground control station C. The UAV operator operates the low-altitude UAV 505 to warn and avoid dangerous obstacles and threat areas according to the generated display terminal E.
下面结合附加图2详细说明一种双无人机协同感知与规划方法的空间布局：The following is a detailed description of the spatial layout of a dual-UAV cooperative perception and planning method in conjunction with the attached Figure 2:
该方法包含高空和低空两架无人机，其中，低空无人机505飞行高度比较低，大约在海拔300m~500m之间。高空无人机504的位置位于低空无人机505的前上方，飞行高度是低空无人机505的3~5倍，高空无人机504和低空无人机505的空间距离在1000m~1500m之间。The method includes two UAVs, high-altitude and low-altitude, wherein the low-altitude UAV 505 flies at a relatively low altitude, about 300m~500m above sea level. The position of the high-altitude drone 504 is located above the front of the low-altitude drone 505, and the flying height is 3 to 5 times that of the low-altitude drone 505. The space distance between the high-altitude drone 504 and the low-altitude drone 505 is between 1000m and 1500m. between.
结合附加图3详细说明低空无人机视野内的显示信息：Combined with the attached Figure 3, the display information in the field of view of the low-altitude UAV is described in detail:
从示意图中可以看出：低空无人机的飞行高度比较低，获取的信息具有精确性，视野内的信息包含高楼301、树林302、山脉304等，在飞行过程中，视野范围有限，无法获取高山背后的空间地理信息。低空无人机在高空无人机规划的飞行安全通道303内飞行，可以有效提高低空无人机在执行飞行任务中的安全性能。It can be seen from the schematic diagram that the flying height of the low-altitude UAV is relatively low, and the information obtained is accurate. The information in the field of view includes tall buildings 301, forests 302, mountains 304, etc. During the flight, the field of view is limited and cannot be obtained. Spatial geographic information behind the mountains. The low-altitude UAV flies in the flight safety channel 303 planned by the high-altitude UAV, which can effectively improve the safety performance of the low-altitude UAV in performing flight tasks.
结合附加图4详细说明高空无人机视野内的显示信息：Combined with the attached Figure 4, the display information in the field of view of the high-altitude UAV is described in detail:
从示意图中可以看出：高空无人机504的安全性较高，具有更宽广的视野，能够更快获得更多的空间地理信息，视野内的显示信息是低空无人机505未来航线上的信息，包含远距离的火控雷达401、高山403等危险信息，符号402和符号404为地面控制站的信息标注，其中火控雷达的威胁区域402为火控雷达的探测区域，飞行安全通道404表示高空无人机为低空无人机设置的“空中高速公路”， 低空无人机505在飞行安全通道中对明显的障碍物和威胁信息进行预警和规避。It can be seen from the schematic diagram that the high-altitude UAV 504 has higher security, has a wider field of view, and can obtain more spatial and geographical information faster, and the displayed information in the field of view is the future route of the low-altitude UAV 505 Information, including dangerous information such as long-distance fire control radar 401, high mountain 403, symbol 402 and symbol 404 are the information labeling of ground control station, wherein the threat area 402 of fire control radar is the detection area of fire control radar, and flight safety channel 404 Indicates that the high-altitude UAV is an "air highway" set by the low-altitude UAV, and the low-altitude UAV 505 provides early warning and avoidance of obvious obstacles and threat information in the flight safety channel.
结合附加图5详细说明显示终端的内容：Combined with the attached Figure 5, the content of the display terminal is described in detail:
显示终端E是地面控制站的一个信息显示屏幕，显示屏幕分为三维场景显示区域503和数据信息显示区域502，其中三维场景显示区域503位于数据信息显示区域502的上方，其高度为显示屏幕的2/3，数据信息显示区域502位于显示屏幕的底部，其高度为显示屏幕的1/3。The display terminal E is an information display screen of the ground control station, and the display screen is divided into a three-dimensional scene display area 503 and a data information display area 502, wherein the three-dimensional scene display area 503 is located above the data information display area 502, and its height is the height of the display screen. 2/3, the data information display area 502 is located at the bottom of the display screen, and its height is 1/3 of the display screen.
三维场景显示区域503显示高空无人机504和低空无人机505的位置信息，同时显示高空无人机的视野范围和低空无人机的视野范围内的信息，包含危险障碍物信息（电线杆、树林511、高楼510、高山509等）和威胁信息506、飞行安全通道信息508等数据信息显示区域分为三个部分，包括：高空无人机飞行状态显示区域512，低空无人机飞行状态显示区域513和飞行安全通道显示区域514。其中，高空无人机显示区域512位于数据信息显示区域502的最左边，低空无人机显示区域513位于数据信息显示区域502的中间，飞行安全通道显示区域514位于数据信息显示区域502的最右边。The three-dimensional scene display area 503 displays the position information of the high-altitude UAV 504 and the low-altitude UAV 505, and simultaneously displays information within the field of view of the high-altitude UAV and the field of view of the low-altitude UAV, including dangerous obstacle information (telephone poles) , woods 511, tall buildings 510, high mountains 509, etc.) and threat information 506, flight safety channel information 508 and other data information display areas are divided into three parts, including: high-altitude UAV flight status display area 512, low-altitude UAV flight status The display area 513 and the flight safe passage display area 514 . Wherein, the high-altitude UAV display area 512 is located at the leftmost of the data information display area 502, the low-altitude UAV display area 513 is located in the middle of the data information display area 502, and the flight safety channel display area 514 is located at the far right of the data information display area 502 .
高空无人机飞行状态显示区域512包含四个飞行参数显示项：飞行航向显示项515，飞行速度显示项516，飞行高度显示项517，经纬度显示项518，以上四个显示项左侧显示参数名称，右侧显示具体数值，飞行航向显示项515显示位数为4位，飞行速度显示项516显示范围为0~1000m/s，飞行高度显示项517显示范围为1000~2000m，经纬度显示项518显示位数为4位。The flight status display area 512 of the high-altitude UAV includes four flight parameter display items: the flight course display item 515, the flight speed display item 516, the flight altitude display item 517, the latitude and longitude display item 518, and the parameter names are displayed on the left side of the above four display items , the right side displays the specific value, the flight course display item 515 displays 4 digits, the flight speed display item 516 displays the range of 0~1000m/s, the flight altitude display item 517 displays the range of 1000~2000m, and the latitude and longitude display item 518 displays The number of digits is 4 digits.
低空无人机飞行状态显示区域513包含四个飞行参数显示项：飞行航向显示项519，飞行速度显示项520，飞行高度显示项521，经纬度显示项522，以上四个显示项左侧显示参数名称，右侧显示具体数值，飞行航向显示项519显示位数为4位，飞行速度显示项520显示范围为0~1000m/s，飞行高度显示项521显示范围为0~1000m，经纬度显示项522显示位数为4位。The low-altitude UAV flight state display area 513 includes four flight parameter display items: flight course display item 519, flight speed display item 520, flight height display item 521, latitude and longitude display item 522, and the parameter names are displayed on the left side of the above four display items , the right side displays the specific value, the flight heading display item 519 displays 4 digits, the flight speed display item 520 displays the range of 0~1000m/s, the flight altitude display item 521 displays the range of 0~1000m, and the latitude and longitude display item 522 displays The number of digits is 4 digits.
飞行安全通道显示区域514包含三个安全通道参数显示项：安全通道轴心高度显示项523，安全通道经纬度显示项524，安全通道轴心延伸方向显示项525，以上三个安全通道参数显示项左侧显示参数名称，右侧显示具体数值。安全通道轴心高度显示项523显示范围为0~1000m，安全通道经纬度显示项524显示位数为4位，安全通道轴心延伸方向显示项525显示位数为4位。The flight safe passage display area 514 includes three safe passage parameter display items: the safe passage axis height display item 523, the safe passage latitude and longitude display item 524, the safe passage axis extension direction display item 525, and the above three safe passage parameter display items. The parameter name is displayed on the side, and the specific value is displayed on the right. The display range of the safe passage axis height display item 523 is 0~1000m, the safe passage latitude and longitude display item 524 displays 4 digits, and the safe passage axis extension direction display item 525 displays 4 digits.
以上例举仅仅是对本发明的举例说明，并不构成对本发明的保护范围的限制，凡是与本发明相同或相似的设计均属于本发明的保护范围之内。The above examples are only illustrations of the present invention, and do not constitute a limitation to the protection scope of the present invention. All designs that are the same as or similar to the present invention fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610504488.0ACN105973230B (en) | 2016-06-30 | 2016-06-30 | A kind of double unmanned plane collaborative perceptions and planing method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610504488.0ACN105973230B (en) | 2016-06-30 | 2016-06-30 | A kind of double unmanned plane collaborative perceptions and planing method |
| Publication Number | Publication Date |
|---|---|
| CN105973230A CN105973230A (en) | 2016-09-28 |
| CN105973230Btrue CN105973230B (en) | 2018-09-28 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610504488.0AExpired - Fee RelatedCN105973230B (en) | 2016-06-30 | 2016-06-30 | A kind of double unmanned plane collaborative perceptions and planing method |
| Country | Link |
|---|---|
| CN (1) | CN105973230B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4200209A4 (en)* | 2020-08-21 | 2025-03-26 | Drobotics, LLC | Neural networks for unmanned aerial vehicles and airborne traffic management |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107966136B (en)* | 2016-10-19 | 2020-11-06 | 杭州海康机器人技术有限公司 | Slave unmanned aerial vehicle position display method, device and system based on vision of master unmanned aerial vehicle |
| CN106494621B (en)* | 2016-11-21 | 2018-11-23 | 中国矿业大学(北京) | Complicated landform unmanned plane detection system and its detection method |
| CN108229685B (en)* | 2016-12-14 | 2021-11-02 | 中国航空工业集团公司西安航空计算技术研究所 | Air-ground integrated unmanned intelligent decision-making method |
| CN108521807B (en)* | 2017-04-27 | 2022-04-05 | 深圳市大疆创新科技有限公司 | UAV control method and equipment and obstacle prompting method and equipment |
| CN107918403A (en)* | 2017-12-31 | 2018-04-17 | 天津津彩物联科技有限公司 | A kind of implementation method of multiple no-manned plane flight path collaborative planning |
| CN107992086A (en)* | 2018-01-03 | 2018-05-04 | 广东工业大学 | A kind of unmanned plane barrier-avoiding method and system |
| CN108459616B (en)* | 2018-03-07 | 2021-08-03 | 西安电子科技大学 | A route planning method for UAV swarm cooperative coverage based on artificial bee colony algorithm |
| CN110806230A (en)* | 2018-08-06 | 2020-02-18 | 海鹰航空通用装备有限责任公司 | Ecological environment monitoring method based on unmanned aerial vehicle |
| CN110401932B (en)* | 2019-07-26 | 2020-06-05 | 北京邮电大学 | Unmanned aerial vehicle group cooperative sensing system and method |
| CN110611527B (en)* | 2019-09-17 | 2021-01-15 | 北京邮电大学 | Array antenna, beamforming method and sensing and communication integrated system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6653970B1 (en)* | 2002-11-12 | 2003-11-25 | The United States Of America As Represented By The Secretary Of The Air Force | Multi-static UAV radar system for mode-adaptive propagation channels with obscured targets |
| KR20130009891A (en)* | 2013-01-04 | 2013-01-23 | 이상윤 | Complex unmanned aerial vehicle system for low and high-altitude |
| CN105005309A (en)* | 2015-07-08 | 2015-10-28 | 西安电子科技大学 | Auxiliary carrier landing guiding and display system used for unmanned helicopter |
| CN105045277A (en)* | 2015-07-08 | 2015-11-11 | 西安电子科技大学 | Multiple-UAV operation information display system |
| CN105318888A (en)* | 2015-12-07 | 2016-02-10 | 北京航空航天大学 | Unmanned perception based unmanned aerial vehicle route planning method |
| CN105717946A (en)* | 2016-03-22 | 2016-06-29 | 临沂高新区翔鸿电子科技有限公司 | Multi-base-station unmanned aerial vehicle continuous tracking system and method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6653970B1 (en)* | 2002-11-12 | 2003-11-25 | The United States Of America As Represented By The Secretary Of The Air Force | Multi-static UAV radar system for mode-adaptive propagation channels with obscured targets |
| KR20130009891A (en)* | 2013-01-04 | 2013-01-23 | 이상윤 | Complex unmanned aerial vehicle system for low and high-altitude |
| CN105005309A (en)* | 2015-07-08 | 2015-10-28 | 西安电子科技大学 | Auxiliary carrier landing guiding and display system used for unmanned helicopter |
| CN105045277A (en)* | 2015-07-08 | 2015-11-11 | 西安电子科技大学 | Multiple-UAV operation information display system |
| CN105318888A (en)* | 2015-12-07 | 2016-02-10 | 北京航空航天大学 | Unmanned perception based unmanned aerial vehicle route planning method |
| CN105717946A (en)* | 2016-03-22 | 2016-06-29 | 临沂高新区翔鸿电子科技有限公司 | Multi-base-station unmanned aerial vehicle continuous tracking system and method |
| Title |
|---|
| Multi-UAV Cooperation and Control for Load Transportation and Deployment;I.Maza.A.Ollero等;《Journal of Intelligent and Robotic Systems》;20100131;第57卷;1-28* |
| 一种多无人机层次化任务分配方法;谭何顺等;《解放军理工大学学报（自然科学版）》;20140131;第15卷(第1期);18-24* |
| 城市环境下的异构多无人机层次化任务分配;丁臻极等;《华中科技大学学报（自然科学版）》;20151031;第43卷;302-306* |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4200209A4 (en)* | 2020-08-21 | 2025-03-26 | Drobotics, LLC | Neural networks for unmanned aerial vehicles and airborne traffic management |
| Publication number | Publication date |
|---|---|
| CN105973230A (en) | 2016-09-28 |
| Publication | Publication Date | Title |
|---|---|---|
| CN105973230B (en) | A kind of double unmanned plane collaborative perceptions and planing method | |
| Chaurasia et al. | Unmanned aerial vehicle (UAV): A comprehensive survey | |
| Kuru et al. | Toward mid-air collision-free trajectory for autonomous and pilot-controlled unmanned aerial vehicles | |
| US8626361B2 (en) | System and methods for unmanned aerial vehicle navigation | |
| CN103713642B (en) | A kind of no-manned plane three-dimensional Route planner based on disturbance fluid dynamical system | |
| Petrovski et al. | Application of detection reconnaissance technologies use by drones in collaboration with C4IRS for military interested | |
| US8909394B2 (en) | Method for determining threat status for combat aircrafts | |
| CN106056979B (en) | A kind of anticollision alarm method suitable for helicopter | |
| US10565783B2 (en) | Federated system mission management | |
| CN113093787B (en) | Unmanned aerial vehicle trajectory planning method based on velocity field | |
| WO2020107454A1 (en) | Method and apparatus for accurately locating obstacle, and computer readable storage medium | |
| Kwak et al. | Emerging ICT UAV applications and services: Design of surveillance UAVs | |
| Mohsan et al. | Towards the unmanned aerial vehicles (UAVs): A comprehensive review. Drones 2022, 6, 147 | |
| Glantz et al. | UAV Use in Disaster Management. | |
| CN117739746A (en) | A kinetic energy interception system and method for anti-low and slow small drones | |
| WO2024067133A1 (en) | 3d-map-based flight control method and system for unmanned aircraft, and medium | |
| Lucia et al. | UAV main applications: From military to agriculture fields | |
| Singh et al. | A Comprehensive Insights into Drones: History, Classification, Architecture, Navigation, Applications, Challenges, and Future Trends | |
| Kukreti et al. | Detection and localization using unmanned aerial systems for firefighting applications | |
| Yang et al. | Design, implementation, and verification of a low‐cost terminal guidance system for small fixed‐wing UAVs | |
| Khan et al. | Fundamentals and Applications of Unmanned Aerial Vehicle Swarms | |
| Maxwell et al. | Turning remote-controlled military systems into autonomous force multipliers | |
| Govindarajan et al. | Evolution of UAV Technology From Early Innovations to Future Horizons | |
| Ghadiry | A UAV mission planning with limited fuel capacity | |
| Thouchamongkol et al. | DragFly: Joint Threat Object Detection And UAV Trajectory Planning in Hostile Environments |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20180928 |