无人机成像侦察段航路规划算法  

Route planning algorithm of UAV imaging reconnaissance sections

作　　者：顾子侣 刘宇[1] 孙文邦[1] 刘少兵 田浩楠 GU Zilyu;LIU Yu;SUN Wenbang;LIU Shaobing;TIAN Haonan(Aviation University of PLA Air Force,Changchun 130022,China;Unit 93525 of the People’s Liberation Army,Rikaze 857000,China)

机构地区：[1]中国人民解放军空军航空大学,长春130022 [2]93525部队,日喀则857000

出　　处：《兵器装备工程学报》2022年第S02期247-251,共5页Journal of Ordnance Equipment Engineering

摘　　要：针对无人机在进行倾斜成像侦察时航路容易越过安全界线及目标常被地形遮挡等问题,提出一种基于界线拐点的无人机侦察段航路规划算法。首先,分析了无人机搭载倾斜成像载荷对目标实施侦察过程中的航路飞行特征及相关约束;为使无人机在侦察时尽量靠近目标,优先将距目标较近的界线拐点作为参照点建立航路搜索区域,并根据侦察段航路特点,将该区域离散成多条潜在航路;通过构造封闭多边形将航路点越界问题转换为点是否处于多边形内部的平面几何问题,运用射线法判定;最后提出一种基于高程约束的方法来检测航路点与目标是否通视。仿真结果表明,本文算法规划得到的侦察段航路既满足任务区域的界线约束又能在成像时避开地形对目标的遮挡,具有较好的侦察成像效果。Aiming at the problems of a UAV in imaging reconnaissance of targets outside the border,such as in the situations where the route is easy to cross the border line and the target is often blocked by terrain,this paper proposes a route planning algorithm for UAV border reconnaissance.Firstly,the flight path characteristics and related constraints of UAV carrying tilt imaging load for reconnaissance of foreign targets are systematically analyzed.Secondly,in order to make the UAV get as close to the target as possible in the reconnaissance,the inflection point near the target center is taken as the reference point to establish the route search area,and the area is divided into multiple potential routes according to the route characteristics in the reconnaissance stage.Then,the problem of whether the waypoint is out of bounds is transformed into a plane geometry problem of whether the point is inside the polygon by constructing a closed polygon,and then the ray method is used to judge it.Finally,a method based on elevation constraint is proposed to detect whether the waypoint and the target are in contact.The experimental results show that the proposed algorithm not only satisfies the boundary constraints but also avoids the occlusion of terrain during the imaging,which has a good imaging effect.

关 键 词：成像侦察 航路规划 界线拐点 地形遮挡 射线法 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]