CN113342045A - Unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone - Google Patents
Unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zoneDownload PDFInfo
- Publication number
- CN113342045A CN113342045ACN202110682146.9ACN202110682146ACN113342045ACN 113342045 ACN113342045 ACN 113342045ACN 202110682146 ACN202110682146 ACN 202110682146ACN 113342045 ACN113342045 ACN 113342045A
- Authority
- CN
- China
- Prior art keywords
- fly zone
- aircraft
- fly
- electronic protection
- protection circle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034methodMethods0.000titleclaimsabstractdescription32
- 238000001514detection methodMethods0.000claimsabstractdescription13
- 230000009471actionEffects0.000description2
- 230000000694effectsEffects0.000description2
- 230000008569processEffects0.000description2
- 238000004364calculation methodMethods0.000description1
- 238000010586diagramMethods0.000description1
- 238000007726management methodMethods0.000description1
- 238000012986modificationMethods0.000description1
- 230000004048modificationEffects0.000description1
- 238000000926separation methodMethods0.000description1
- 238000006467substitution reactionMethods0.000description1
- 230000004083survival effectEffects0.000description1
Images
Classifications
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
Translated fromChinese
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle navigation control, and particularly relates to an unmanned aerial vehicle autonomous avoidance navigation control method in any no-fly zone.
Background
Some areas where the unmanned aerial vehicle is not allowed or not expected to enter are called no-fly areas, the invention is similar to the problem solved by the ' unmanned aerial vehicle any graph no-fly area identification navigation system ' in Chinese patent (publication No. CN 107911793B) ', namely, as the intelligent degree of the unmanned aerial vehicle is higher and higher along with the development of the unmanned aerial vehicle, the unmanned aerial vehicle can pass through the no-fly area during the autonomous navigation flight, a plurality of uncertain factors exist for the survival or management of the unmanned aerial vehicle, and the unmanned aerial vehicle is expected to be capable of avoiding the no-fly area autonomously when completing tasks. However, the method is only suitable for the unmanned aerial vehicle to break the forbidden flight area with the known characteristics without permission, the problem that the unmanned aerial vehicle breaks the forbidden flight area with the known characteristics without permission is solved, the forbidden flight area with unknown characteristics is limited and is not completely suitable for any forbidden flight area, the solution method is to execute a scheduling algorithm to return to a safety area, the planned flight path passes through the forbidden flight area again to avoid passing through the forbidden flight area, the task completion efficiency is reduced, and the autonomous avoidance efficiency of any forbidden flight area by the unmanned aerial vehicle in the task completion process needs to be further improved.
Disclosure of Invention
Technical problem to be solved
Aiming at the problem that the unmanned aerial vehicle cannot realize automatic obstacle avoidance on an unknown characteristic no-fly zone and the problem that a method for returning to a safety zone by adopting a scheduling algorithm is unfavorable for completing tasks, the invention provides an autonomous avoidance navigation control method for any no-fly zone.
Technical scheme
An unmanned aerial vehicle autonomous avoidance navigation control method in any no-fly zone is characterized by comprising the following steps:
establishing an electronic protection circle model with the airplane as the center of a circle and the airplane minimum turning radius R as the radius, uniformly distributing n points on the electronic protection circle, and judging whether the n points uniformly distributed on the electronic protection circle enter a no-fly area based on a ray detection algorithm;
when a point on the electronic protection circle enters the no-fly zone, alarming information is given, the comprehensive course control quantity of the airplane is the direction from the airplane position to the target position plus the evasion control quantity, and the comprehensive course control quantity enables the airplane to fly along the edge of the no-fly zone and fly to the target position by bypassing the no-fly zone.
Preferably: the no-fly zone is polygonal.
Preferably: and n is more than or equal to 9.
Preferably: when the characteristics of the no-fly zone are known, the magnitude of the avoidance control quantity is as follows: and the 90-degree angle coefficient is based on the proportion of the intersection points of the electronic protection circle and the no-fly zone, and the avoidance control quantity direction coefficient of the 90-degree angle coefficient depends on the area of the two regions divided by the connecting line of the aircraft position and the target position when the electronic protection circle and the no-fly zone intersect.
Preferably: when the characteristics of the no-fly zone are known, the avoidance control quantity direction coefficient is specifically as follows: and dividing the no-fly zone into two parts according to a connecting line of the position of the airplane and the target position when the electronic protection circle of the airplane intersects with the no-fly zone, wherein the direction coefficient K of the evasive control quantity is equal to-1 when the area of the left half part is small, and the direction coefficient K of the evasive control quantity is equal to 1 in other cases.
Preferably: when the characteristics of the no-fly zone are unknown, the magnitude of the avoidance control quantity is also as follows: and 90 degrees + the avoidance control quantity direction coefficient is a fixed value based on the proportion of the intersection points of the electronic protection circle and the no-fly zone.
Preferably: and when the characteristics of the no-fly zone are unknown, the direction coefficient of the avoidance control quantity is 1.
Advantageous effects
The autonomous avoidance navigation control method for any no-fly-away area can realize autonomous avoidance and navigation control for the no-fly area with known characteristics or unknown characteristics, namely, the autonomous avoidance and navigation control for any no-fly-away area can be realized. The problem that the unmanned aerial vehicle breaks through the no-fly zone at all is solved, and autonomous avoidance and navigation control when the no-fly zone exists on a route for completing a target task are also solved. The method is suitable for autonomous avoidance and navigation control of any no-fly zone, and based on a ray detection algorithm, the method of establishing an electronic protection circle model by taking the position of an airplane as the center of a circle is adopted, so that the calculation of advanced warning and autonomous avoidance control quantity of the no-fly zone is realized, the route planning and scheduling of the no-fly zone avoidance are not required to be performed in advance, the real-time performance and the high efficiency of the no-fly zone avoidance are realized, the avoidance route is optimal, and the efficiency and the intelligent degree of completing a mission target are greatly improved.
The invention is suitable for unmanned aerial vehicles to autonomously avoid any no-fly zones, and is fundamentally different from the invention of an unmanned aerial vehicle any-figure no-fly zone identification navigation system. The invention relates to an unmanned aerial vehicle arbitrary figure no-fly zone recognition navigation system which can judge whether the position of a point is in a polygon through a ray detection algorithm, namely, the invention adopts the ray detection algorithm and arranges an alarm zone outside the no-fly zone to realize the alarm and the dispatch of an airplane, and the method establishes an electronic protection circle model which takes the airplane as the circle center and the minimum turning radius R of the airplane as the radius, wherein n points are uniformly distributed on the electronic protection circle, whether the n points uniformly distributed on the electronic protection circle enter the no-fly zone can be judged based on the ray detection algorithm, alarm information is given when the points on the electronic protection circle enter the no-fly zone, the comprehensive course control quantity of the airplane is added with an avoidance control quantity in the direction that the airplane position points to a target position, the magnitude of the avoidance control quantity is related to the proportion of the number of points entering the no-fly zone on the electronic protection circle, and the direction of the avoidance control quantity is related to the target task position, the airplane flies along the edge of the no-fly zone under the action of the comprehensive course control quantity and flies to the target position by bypassing the no-fly zone. The method adopts the plane as the center to establish the electronic protection circle and takes the target task as the guide, and can meet the advanced warning and the autonomous evasion navigation control of any no-fly zone. The method for establishing the electronic protection circle based on the airplane has the advantages that the required calculated amount is small, the requirement on hardware is not high, the method for controlling the magnitude of the avoidance control amount in real time based on the number of the intersection points of the electronic protection circle and the no-fly zone can enable the path of the airplane flying to the mission target to keep the optimal path while avoiding the no-fly zone, the method is also suitable for the no-fly zone with unknown characteristics, the intelligentization of the unmanned aerial vehicle and the efficiency of achieving the target mission are greatly improved, and the method can completely achieve autonomous avoidance and navigation control of any no-fly zone while not improving the hardware requirement of an airborne avionic computer.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flow chart of autonomous avoidance navigation control in any no-fly zone
FIG. 2 is a schematic view of autonomous avoidance navigation control in a no-fly zone
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
An unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone comprises the steps of establishing an electronic protection circle model with an airplane as a circle center and the smallest turning radius R of the airplane as a radius, wherein n points are uniformly distributed on the electronic protection circle, and whether the n points uniformly distributed on the electronic protection circle enter the no-fly zone can be judged based on a ray detection algorithm; and calculating an autonomous avoidance control quantity according to the position of the target task and the proportion of the number of points entering the no-fly area on the electronic protection circle, wherein the magnitude of the avoidance control quantity is related to the proportion of the number of points entering the no-fly area on the electronic protection circle, the direction of the avoidance control quantity is related to the position of the target task, and the autonomous avoidance and navigation control of the no-fly area are realized by adding the avoidance control quantity to the course control quantity of the airplane pointing to the task target.
The specific implementation steps are as follows:
the first step is as follows: electronic protection circle with airplane position as center of circle is established based on ray detection algorithm
Whether the positions of the points are in a polygon can be judged through a ray detection algorithm, in order to realize early warning and avoidance control of the airplane entering a no-fly area, an electronic protection circle model which takes the position of the airplane as the center of a circle and takes the minimum turning radius R of the airplane as the radius is established, n points (n is more than or equal to 9) are uniformly distributed on the electronic protection circle, whether the n points uniformly distributed on the electronic protection circle enter the no-fly area can be judged based on the ray detection algorithm, and the airplane can turn and avoid before the no-fly area when the minimum turning radius R of the airplane is taken as the radius of the electronic protection circle.
The second step is that: autonomous avoidance and navigation control of unmanned aerial vehicle flying to task target
When the aircraft flies to the task target, the course control quantity of the aircraft is the direction of the current position of the aircraft pointing to the target position, when the electronic protection circle of the aircraft and the no-fly zone intersect in the process of flying to the task target, in order to achieve autonomous avoidance and navigation control of the no-fly zone, the course control quantity of the aircraft needs to be added with the avoidance control quantity in the direction of the current position of the aircraft pointing to the target position, in order to achieve rapid avoidance, when the characteristics of the no-fly zone are known, the magnitude of the avoidance control quantity is as follows: the 90-degree angle coefficient is based on the proportion of the number of intersecting points of the electronic protection circle and the no-fly zone, the direction coefficient of the evasion control amount depends on the size of the area of the two regions divided by the connecting line of the aircraft position and the target position when the electronic protection circle and the no-fly zone intersect, and the direction of the evasion control amount enables the aircraft to fly to the mission target along the edge of the no-fly zone along the direction with smaller area. When the characteristics of the no-fly zone are unknown, the magnitude of the avoidance control quantity is also as follows: and 90 degrees + the avoidance control quantity direction coefficient is a fixed value based on the proportion of the intersection points of the electronic protection circle and the no-fly zone. When the intersection of the electronic protection circle of the airplane and the no-fly zone is generated, the no-fly zone warning information is sent to the ground control station, and meanwhile, the no-fly zone is autonomously avoided and navigation control is carried out on a task target.
Referring to a flow chart of the autonomous avoidance navigation control of any no-fly zone in fig. 1, the method for the autonomous avoidance navigation control of any no-fly zone is described by taking an unmanned aerial vehicle planned route passing through a no-fly zone with known characteristics as an example:
firstly, establishing an electronic protection circle which takes the position of an airplane as the circle center and the minimum turning radius R of the airplane as the radius, taking a geodetic coordinate system as a reference, taking the north direction as an X axis and the east direction as a Y axis, taking a ground command control vehicle as the origin of coordinates, taking the coordinates of the airplane as (XY.x, XY.y) and taking the airplane as the circle center radius R, wherein n is the number of points on the electronic protection circle, and the electronic protection circle is characterized in that:
Rpoint[i].x＝XY.x+R×cos(i×θ)
Rpoint[i].y＝XY.y+R×sin(i×θ)
where θ is the angular separation between adjacent points on the electron protecting circle, and the coordinates of the points on the electron protecting circle are (R)point[i].x，Rpoint[i].y)，n≥i≥1。
And judging whether a point on an electronic protection circle of the airplane enters a no-fly zone or not based on a ray detection method, wherein when the electronic protection circle of the airplane does not intersect with the no-fly zone, the avoidance control quantity coefficient K is 0. When the electronic protection circle of the airplane intersects with the no-fly zone, the no-fly zone is divided into two parts according to a connecting line between the airplane position and the target position when the electronic protection circle of the airplane intersects with the no-fly zone, when the area of the left half part is small, the direction coefficient K of the avoidance control quantity is-1, and when the area of the left half part is small, the direction coefficient K of the avoidance control quantity is 1, and the real-time comprehensive course control quantity is calculated as follows:
avoid_Psi_g＝90+Kn×N_angle
PsiControl＝PsiControl0+K×avoid_Psi_g
wherein avoid _ Psi _ g is a evasive control amount, KnFor electronic protection circle and no-fly zoneThe total number of the intersecting points/the total number of the points on the electronic protection circle, N _ angle is an avoidance angle coefficient, the avoidance angle coefficient can be adjusted according to the actual avoidance effect, the initial value is 45, the range is (0, 90), the avoidance angle coefficient can be reduced when the actual avoidance control quantity is too large, and otherwise, the avoidance angle coefficient is increased. The amplitude limit of the avoidance control quantity is (90, 180), PsiControl0 is the heading control quantity of the airplane position pointing to the target position, and PsiControl is the comprehensive heading control quantity of the airplane for finally performing heading control.
Under the action of the comprehensive course control quantity of the airplane, the autonomous avoidance and navigation control schematic diagram is shown in fig. 2, and the airplane flies to the task target along the edge of the no-fly zone to realize autonomous avoidance and navigation control. When the characteristics of the no-fly zone are unknown, the same method is adopted, the avoidance control coefficient K of the method is 1 when the electronic protection circle of the airplane intersects with the no-fly zone, and is 0 when no intersection exists, and the autonomous avoidance and navigation control can be realized.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure.
Claims (7)
Translated fromChinesePriority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110682146.9ACN113342045B (en) | 2021-06-20 | 2021-06-20 | Unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110682146.9ACN113342045B (en) | 2021-06-20 | 2021-06-20 | Unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113342045Atrue CN113342045A (en) | 2021-09-03 |
| CN113342045B CN113342045B (en) | 2022-09-02 |
Family
ID=77477588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110682146.9AActiveCN113342045B (en) | 2021-06-20 | 2021-06-20 | Unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113342045B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115547119A (en)* | 2022-10-13 | 2022-12-30 | 齐鲁空天信息研究院 | Unmanned aerial vehicle no-fly zone warning method, device, equipment, storage medium and unmanned aerial vehicle |
| CN118151668A (en)* | 2024-05-08 | 2024-06-07 | 中航(成都)无人机系统股份有限公司 | Aircraft control method, device, equipment and medium based on electronic fence area |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406189A (en)* | 2016-11-28 | 2017-02-15 | 中国农业大学 | Electric fence monitoring method for unmanned aerial vehicle plant protecting operations |
| US20170103659A1 (en)* | 2015-10-10 | 2017-04-13 | Xin Jin | Method and system for implementing and enforcing a no-fly zone or prohibitive zone for drones and unmanned vehicles |
| JP2017117017A (en)* | 2015-12-21 | 2017-06-29 | 凸版印刷株式会社 | Method for registering and setting a no-fly zone for unmanned small aircraft |
| CN107911793A (en)* | 2017-10-30 | 2018-04-13 | 东南大学 | A No-Fly Zone Recognition and Navigation System with Arbitrary Graphics for Unmanned Aerial Vehicles |
| CN110888453A (en)* | 2018-09-11 | 2020-03-17 | 杨扬 | Unmanned aerial vehicle autonomous flight method for constructing three-dimensional real scene based on LiDAR data |
| CN112162567A (en)* | 2020-09-09 | 2021-01-01 | 北京航空航天大学 | Avoidance guidance method suitable for online no-fly zone of aircraft |
| CN112241178A (en)* | 2020-09-30 | 2021-01-19 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle autonomous safety control method |
- 2021
- 2021-06-20CNCN202110682146.9Apatent/CN113342045B/enactiveActive
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170103659A1 (en)* | 2015-10-10 | 2017-04-13 | Xin Jin | Method and system for implementing and enforcing a no-fly zone or prohibitive zone for drones and unmanned vehicles |
| JP2017117017A (en)* | 2015-12-21 | 2017-06-29 | 凸版印刷株式会社 | Method for registering and setting a no-fly zone for unmanned small aircraft |
| CN106406189A (en)* | 2016-11-28 | 2017-02-15 | 中国农业大学 | Electric fence monitoring method for unmanned aerial vehicle plant protecting operations |
| CN107911793A (en)* | 2017-10-30 | 2018-04-13 | 东南大学 | A No-Fly Zone Recognition and Navigation System with Arbitrary Graphics for Unmanned Aerial Vehicles |
| CN110888453A (en)* | 2018-09-11 | 2020-03-17 | 杨扬 | Unmanned aerial vehicle autonomous flight method for constructing three-dimensional real scene based on LiDAR data |
| CN112162567A (en)* | 2020-09-09 | 2021-01-01 | 北京航空航天大学 | Avoidance guidance method suitable for online no-fly zone of aircraft |
| CN112241178A (en)* | 2020-09-30 | 2021-01-19 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle autonomous safety control method |
Non-Patent Citations (3)
| Title |
|---|
| PAN JIHUI: "Research on fault-tolerant flight control computer for unmanned air vehicle", 《2019 14TH IEEE INTERNATIONAL CONFERENCE ON ELECTRONIC MEASUREMENT & INSTRUMENTS (ICEMI)》* |
| 闫斌等: "禁飞区无人机预警算法研究", 《计算机应用研究》* |
| 高朋飞: "一种Mecanum三轮全向移动平台的设计与运动分析", 《西北工业大学学报》* |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115547119A (en)* | 2022-10-13 | 2022-12-30 | 齐鲁空天信息研究院 | Unmanned aerial vehicle no-fly zone warning method, device, equipment, storage medium and unmanned aerial vehicle |
| CN118151668A (en)* | 2024-05-08 | 2024-06-07 | 中航(成都)无人机系统股份有限公司 | Aircraft control method, device, equipment and medium based on electronic fence area |
| CN118151668B (en)* | 2024-05-08 | 2024-07-12 | 中航(成都)无人机系统股份有限公司 | Aircraft control method, device, equipment and medium based on electronic fence area |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113342045B (en) | 2022-09-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107643764B (en) | Obstacle avoidance method of unmanned aerial vehicle based on double-rotation Lyapunov vector field | |
| US9202382B2 (en) | Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles | |
| EP2466569B1 (en) | Loss of separation avoidance maneuvering | |
| CN112198896B (en) | Unmanned aerial vehicle multi-mode electronic fence autonomous flight method | |
| CN110617818A (en) | Unmanned aerial vehicle track generation method | |
| CN108681787A (en) | Based on the unmanned plane method for optimizing route for improving the two-way random tree algorithm of Quick Extended | |
| CN107491087B (en) | An online configuration method of UAV formation obstacle avoidance priority based on collision cone | |
| CN107037828A (en) | The single step optimization method of unmanned plane region overlay based on particle cluster algorithm | |
| CN113342045A (en) | Unmanned aerial vehicle autonomous avoidance navigation control method for any no-fly zone | |
| CN110793522B (en) | Flight path planning method based on ant colony algorithm | |
| WO2021087750A1 (en) | Route planning method and device for unmanned aerial vehicle | |
| CN109978286A (en) | It is a kind of to be diversion thunderstorm Route planner based on the more aircrafts for improving ant group algorithm | |
| CN115981377B (en) | Unmanned aerial vehicle dynamic obstacle avoidance method and system | |
| CN118672304B (en) | Anti-collision method and system for fixed-wing cluster UAVs based on multi-element game | |
| Yang et al. | Cooperative deconflicting heading maneuvers applied to unmanned aerial vehicles in non-segregated airspace | |
| Bakirci et al. | Surveillance, reconnaissance and detection services for disaster operations of IoT-based eVTOL UAVs with swarm intelligence | |
| Zhang et al. | Penetration path planning of stealthy UAV based on improved sparse A-star algorithm | |
| Fu et al. | A geofence algorithm for autonomous flight unmanned aircraft system | |
| Wu et al. | Vfh+ based local path planning for unmanned surface vehicles | |
| Jenie et al. | Cooperative autonomous collision avoidance system for unmanned aerial vehicle | |
| CN110162095A (en) | A kind of unmanned plane under threatening environment quickly makes a return voyage method | |
| El-Kalubi et al. | Vision-based real time guidance of UAV | |
| AU2015201728B2 (en) | Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles | |
| Niu et al. | An airborne approach for conflict detection and resolution applied to civil aviation aircraft based on ORCA | |
| AU2016216683A1 (en) | Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |