CN118031973B - Unmanned aerial vehicle constraint-based route simplification method, equipment and medium - Google Patents
Unmanned aerial vehicle constraint-based route simplification method, equipment and medium Download PDFInfo
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Abstract
The invention provides a route simplification method, equipment and medium based on unmanned aerial vehicle constraint, comprising the following steps: s1: acquiring a planned route of the unmanned aerial vehicle, and simplifying the route once; s2: according to the route after primary simplification, carrying out secondary simplification by recombination based on constraint; s3: based on the route obtained after recombination, calculating an advanced turning point to directly replace the waypoint, and obtaining a final route result after the second waypoint to the penultimate waypoint are completely replaced by the advanced turning point; s4: and restoring the obtained final route to obtain route parameter data of the current aircraft. According to the invention, the turning radius constraint of the unmanned aerial vehicle is introduced, the straight line segment and the turning arc are adopted to describe the route, and the smooth simplified route is calculated under the condition of meeting the unmanned aerial vehicle constraint, so that the flight safety is ensured while the route is simplified.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle path planning processing, in particular to a route simplifying method, equipment and medium based on unmanned aerial vehicle constraint.
Background
In the unmanned plane path planning process, the routes generated by the path planning algorithm are usually dense and unsmooth, which results in redundancy of route data and occupies more bandwidth when data transmission is carried out. In addition, according to the algorithm, the total length of the actual flight path calculated by the path is larger, and the running cost and the energy efficiency consumption are increased. Therefore, after the planning algorithm generates the route, a route simplification post-processing is often required to reduce the total length of the route and smooth the route curve.
Although the existing path simplification algorithm such as the dagger algorithm can ensure a good simplification effect, the simplification result is not smooth, and the unmanned aerial vehicle motion constraint is not considered in the simplification process, so that the simplified route may not fly or the unmanned aerial vehicle slows down, and the flight safety is affected. In addition, after setting a higher simplifying threshold, the simplified route is too different from the original route, which may cause other constraints in the planning algorithm such as threat zone constraints, airspace control, etc. to fail. The complete route simplification process should take into account unmanned aerial vehicle constraints to reduce the total length of the route and to generate a smooth and compact route curve for the target with minimal variability from the original route.
Disclosure of Invention
In order to solve the problems, the invention provides a route simplification method, equipment and medium based on unmanned aerial vehicle constraint, which are used for introducing unmanned aerial vehicle turning radius constraint on the basis of existing route simplification, describing a route by adopting straight line segments and turning circular arcs, calculating a smooth simplified route under the condition of meeting unmanned aerial vehicle constraint, realizing route simplification and ensuring flight safety.
The invention provides a route simplification method based on unmanned aerial vehicle constraint, which comprises the following specific technical scheme:
s1: acquiring a planned route of the unmanned aerial vehicle, and simplifying the route once;
S2: performing secondary simplification according to the route after primary simplification;
the secondary simplification process is as follows:
taking the minimum turning radius of the current unmanned aerial vehicle as constraint, and judging whether the route meets constraint conditions or not;
recombining the route segments which do not meet the constraint until the constraint is met, so as to obtain a route which meets the constraint;
S3: based on the route obtained after recombination, calculating an advanced turning point to directly replace the waypoint, and obtaining a final route result after the second waypoint to the penultimate waypoint are completely replaced by the advanced turning point;
S4: and restoring the obtained final route to obtain route parameter data of the current aircraft.
Further, in step S1, the route is simplified once, and the specific process is as follows:
s101: acquiring a unit vector set of adjacent waypoints according to a point set of a route to be simplified ；
S102: acquiring a cosine value set of an included angle of each adjacent unit vector according to the unit vector set of each adjacent waypoint;
s103: obtaining local minimum value points from cosine value sets of the adjacent unit vector included angles;
S104: and outputting the once simplified route according to the set simplifying relation based on the serial number corresponding to the local minimum point.
Further, in step S101, the unit vector sets of the neighboring waypointsThe expression is as follows:
Wherein, Representing a previous waypoint in a neighboring waypoint in the set of points for the route to be simplified,A unit vector representing an adjacent waypoint,Representing a subsequent waypoint in the adjacent waypoint in the point set for the route to be simplified.
Further, in step S2, it is determined whether the one-time simplified route satisfies the constraint condition, and the specific process is as follows:
S201: calculating a length set for forming each line segment according to the one-time simplified route;
S202: calculating the estimated distance from the turning entry point of the second waypoint to the penultimate waypoint of the primary simplified route to the waypoint;
S203: judging whether the line segments forming the primary simplified route meet the constraint of the minimum turning radius or not;
and when the line segments which do not meet the constraint exist, the waypoints forming the line segments are recombined until all the line segments meet the constraint.
Further, in step S203, the waypoints that compose the line segment are recombined as follows:
acquiring all navigation points between two points forming a line segment to be recombined from an original navigation path;
Calculating the distance between the navigation points and two adjacent line segments of the line segment to be recombined;
Taking the maximum value of the distance between the navigation points and two adjacent line segments of the line segment to be recombined as the cost value of the corresponding navigation point;
and taking the corresponding waypoints with the minimum cost values as new recombined waypoints.
Further, in step S3, the specific procedure of waypoint replacement is as follows:
S301: calculating the turning circle centers from the second waypoint to the last-last waypoint in the navigation path with all the segments meeting the constraint after the recombination, and calculating the turning control points corresponding to the waypoints through Newton iteration according to the turning circle centers of the waypoints;
s302: and acquiring an advanced turning point corresponding to the navigation point according to the turning control point, and acquiring a final navigation path based on the advanced turning point.
Further, in step S302, an advanced turning point corresponding to the waypoint is obtained, which specifically includes:
acquiring a straight line of a turning entry point corresponding to a current waypoint and a turning exit point corresponding to a last waypoint adjacent to the current waypoint;
acquiring a straight line of a turning exit point corresponding to the current waypoint and a turning entry point corresponding to a next waypoint adjacent to the current waypoint;
the turning control points comprise turning entry points and turning exit points;
and taking the intersection point of the two straight lines as an advanced turning point of the current navigation point.
Further, in step S4, the specific course of course restoration is as follows:
s401: acquiring an angle of a channel angle formed between a current navigation point and an adjacent navigation point in a secondarily simplified channel;
S402: calculating the distance between the turning control point and the current waypoint based on the angle of the waypoint;
s403: calculating a turning entry point and a turning exit point;
S404: based on an angular bisector of the navigation angle, extending the minimum turning radius of the current unmanned aerial vehicle by taking the current navigation point as a starting point to obtain a turning circle center;
s405: and calculating and obtaining a turning arc according to the turning entry point, the turning exit point and the turning circle center.
The invention also provides a route simplifying device based on unmanned aerial vehicle constraint, which comprises: the system comprises a memory, a processor and a route simplification program based on unmanned aerial vehicle constraint, wherein the route simplification program based on unmanned aerial vehicle constraint is stored in the memory and can run on the processor, and the route simplification program based on unmanned aerial vehicle constraint realizes the steps of the route simplification method based on unmanned aerial vehicle constraint when being executed by the processor.
The invention also provides a computer storage medium, wherein the storage medium is stored with a route simplification program based on unmanned aerial vehicle constraint, and the route simplification program based on unmanned aerial vehicle constraint realizes the steps of the route simplification method based on unmanned aerial vehicle constraint when being executed by a processor.
The beneficial effects of the invention are as follows:
1. The method is different from the prior method in that subjective control parameters are adopted, and the turning radius constraint of the unmanned aerial vehicle is introduced on the basis of the prior path simplification, so that the key information of the path can be abandoned only when the constraint is not satisfied, the problem of the difference between the path simplification result and the original route is solved, and the subjective component and the use cost are reduced.
2. The invention adopts straight line segments and turning circular arcs to describe the final simplified route, so that the route is guided and smooth, the calculation of the smooth simplified route under the condition of meeting the constraint of the unmanned aerial vehicle is realized, and the flyability and the safety of the simplified route are ensured.
3. The invention adopts a mode of advancing turning points when expressing the navigation route, avoids explicit expression of line segments and arcs, so that n-2 arcs and n-1 line segments can be represented by n navigation points, 3 x (n-2) control points are needed for n-2 arc segments, 2 x (n-1) control points are needed for n-1 line segments, and the occupation of data transmission is greatly reduced.
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FIG. 1 is a schematic overall flow diagram of the method of the present invention.
Detailed Description
In the following description, the technical solutions of the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship conventionally put in use of the product of the present invention as understood by those skilled in the art, merely for convenience of describing the present invention and simplifying the description, and is not indicative or implying that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for understanding as indicating or implying a relative importance.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
The embodiment 1 of the invention discloses a route simplifying method based on unmanned aerial vehicle constraint, which is shown in fig. 1 and comprises the following steps:
S1: and acquiring a planned route of the unmanned aerial vehicle, and simplifying the route once.
The point set for forming the route is recorded as follows:
where n represents the number of waypoints in the collection.
Acquiring a unit vector set of adjacent waypoints according to a point set P of a route to be simplified；
In this embodiment, the unit vector sets of the neighboring waypointsThe expression is as follows:
Wherein, Representing a previous waypoint in a neighboring waypoint in the set of points for the route to be simplified,A unit vector representing an adjacent waypoint,Representing a subsequent waypoint in the adjacent waypoint in the point set for the route to be simplified.
From the set of unit vectors of the neighboring waypointsAcquiring a cosine value set C of an included angle of each adjacent unit vector;
in this embodiment, the cosine value set C of the adjacent unit vector angles is expressed as follows:
Wherein j is the sequence number in set C, and exists with i The relationship of (2) is as follows:
And acquiring local minimum value points from the cosine value set C of the adjacent unit vector included angles, specifically, comparing whether each value in the combination C is smaller than two values adjacent to each other, if so, the point is a minimum value, adding the sequence number of the value into the set M, and the like, and finding the sequence numbers of all the local minimum values.
Based on the serial numbers corresponding to the local minimum points, the method utilizesAnd (3) finding out corresponding waypoints in the P to form a simplified waypoint set F, and thus obtaining a simplified navigation path.
In this embodiment, the simplified set of waypoints F is represented as follows:
S2: performing secondary simplification according to the route after primary simplification;
And judging whether the route meets the constraint condition or not by taking the minimum turning radius of the current unmanned aerial vehicle as the constraint.
In the present embodiment, the mark；
Wherein m is the number of waypoints in the set, and k is the sequence number.
Calculating a set of lengths that make up each line segmentThe calculation is as follows:
Calculating the estimated distance from the turning entry point of the 1 st to m-1 st waypoint to the waypoint ；
For the kth waypoint, doTo an angular bisector of (1)As a starting point, a point A is obtained by extending the minimum turning radius r of the current aircraft along an angular bisector;
the distance required for the turn for each waypoint is calculated as follows:
judging whether the line segments forming the primary simplified route meet the constraint of the minimum turning radius or not;
specifically, for the kth line segment, each of the k line segments is composed of AndCalculating whether the current line segment meets the turning radius constraint:；
if more than one line segment does not meet the turning radius constraint, searching And recombining two waypoints forming the maximum line segment into one waypoint until all the line segments meet the constraint.
And reorganizing the waypoints forming the line segments which do not meet the constraint, wherein the method comprises the following steps:
acquiring all navigation points between two points forming a line segment to be recombined from an original navigation path; wherein, the line segment to be recombined is composed of AndComposition, i.e. taken from the original course PAndAll waypoints in between;
calculating the waypoints and straight lines And straight lineA distance therebetween;
Taking the maximum value of the distance between the navigation points and two adjacent line segments of the line segment to be recombined as the cost value of the corresponding navigation point;
taking the corresponding waypoints with the minimum cost values as new recombined waypoints;
Recording the recombined waypoints as ；
Wherein t is the number of waypoints in the recombined set,The number of waypoints in the set after the route is recombined.
S3: based on the route obtained after recombination, calculating an advanced turning point to directly replace the waypoint, and obtaining a final route result after the second waypoint to the penultimate waypoint are completely replaced by the advanced turning point.
Calculation ofIn 1 st to 1 stTurning circle centers of the navigation points;
Specifically, for the t-th waypoint, do To an angular bisector of (1)As a starting point, the minimum turning radius r of the current aircraft is extended to a point along an angular bisectorThe circle center of the turning is the circle center of the turning.
According to the turning circle center of the waypoint, calculating to obtain a turning control point corresponding to the waypoint through Newton iteration;
The specific calculation process is as follows:
In this embodiment, the turning control point of the t-th navigation point is denoted as the turning entry point And a turn exit pointThen the t-th waypoint may list the following set of equations:
In 2 nd to 2 nd Each waypoint may list the four equations above, for the 1 st waypoint, in the second of the equationsTo be replaced byCoordinates; for the firstA navigation point, a fourth equation in the equation setTo be replaced byCoordinates;
and all the equation sets are combined, and all turning control points are obtained by using a Newton iteration method.
Acquiring an advanced turning point corresponding to the navigation point according to the turning control point;
Specifically, a straight line of a turning entry point corresponding to a current waypoint and a turning exit point corresponding to a last waypoint adjacent to the current waypoint are obtained; i.e. for the t-th waypoint, make a passing point Sum pointIs a straight line of (2);
Acquiring a straight line of a turning exit point corresponding to the current waypoint and a turning entry point corresponding to a next waypoint adjacent to the current waypoint; i.e. for the t-th waypoint, make a passing point Sum pointIs a straight line of (2);
The intersection of two straight lines As an advanced turning point of the current waypoint t;
Calculate 1 st to 1 st The advanced turning point corresponding to the waypoint, for the 1 st waypoint,To be replaced byCoordinates; for the firstThe number of waypoints is one,To be replaced byCoordinates.
Order theThen a second simplified navigation path point set is formedTaking the result as a final route simplification result;
wherein t is the navigation point number in the point set, The number of waypoints in the point set.
S4: and restoring the obtained final route to obtain route parameter data of the current aircraft.
In this embodiment, the following is specific:
acquiring an angle of a channel angle formed between a current navigation point and an adjacent navigation point in a secondarily simplified channel;
Specifically, for the t-th waypoint in H, take out 、、Calculation of；
Calculating a turning control point and a current waypoint based on the angle of the waypointIs calculated as follows:
calculating a turning entry point:
calculating a turning exit point:
Based on the angle of the way Is divided into points by an angular bisector ofThe minimum turning radius r of the current unmanned aerial vehicle is extended for the starting point, and the turning circle center is obtained。
Based on the method of the embodiment, the turning arc can be obtained through the turning circle center, the turning entry point and the turning exit point, the straight flight path before the current waypoint can be obtained by connecting the turning entry point of the current waypoint and the turning end point of the last waypoint, and the straight flight path after the current waypoint can be obtained by connecting the turning end point of the current waypoint and the turning entry point of the next waypoint. And similarly, calculating and obtaining the turning circle centers, turning entry points and turning exit points of all the waypoints to obtain a complete path parameter equation.
Example 2
Embodiment 2 of the invention discloses a route simplifying device based on unmanned aerial vehicle constraint,
The device may be a Mobile phone, a smart phone, a notebook computer, a digital broadcast receiver, a Personal Digital Assistant (PDA), a tablet computer (PAD), or other User Equipment (UE), a handheld device, an in-vehicle device, a wearable device, a computing device, or other processing device connected to a wireless modem, a Mobile Station (MS), or the like for performing a lane reduction method based on unmanned aerial vehicle constraints. The device may be referred to as a user terminal, portable terminal, desktop terminal, etc.
Generally, an apparatus comprises: at least one processor, a memory, and a unmanned constraint-based course reduction program stored on the memory and executable on the processor, the unmanned constraint-based course reduction program configured to implement the steps of the unmanned constraint-based course reduction method as described in embodiment 1.
The processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor may be implemented in at least one hardware form of DSP (DIGITAL SIGNAL Processing), FPGA (Field-Programmable gate array), PLA (Programmable Logic Array ). The processor may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central ProcessingUnit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor may incorporate a GPU (Graphics Processing Unit, image processor) for rendering and rendering of content to be displayed by the display screen. The processor may also include an AI (ARTIFICIAL INTELLIGENCE ) processor for processing computational operations with respect to the course reduction program based on the unmanned aerial vehicle constraints, such that the course reduction method based on the unmanned aerial vehicle constraints may be trained and learned autonomously, improving efficiency and accuracy.
The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory is used to store at least one instruction for execution by a processor to implement the unmanned-constraint-based route simplification method described in embodiment 1.
In some embodiments, the terminal may further optionally include: a communication interface and at least one peripheral device. The processor, the memory and the communication interface may be connected by a bus or signal lines. The respective peripheral devices may be connected to the communication interface via a bus, signal lines or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit, a display screen, and a power supply.
The communication interface may be used to connect at least one Input/Output (I/O) related peripheral device to the processor and the memory. The communication interface is used for receiving the movement tracks and other data of the plurality of mobile terminals uploaded by the user through the peripheral equipment. In some embodiments, the processor, memory, and communication interface are integrated on the same chip or circuit board; in some other embodiments, any one or both of the processor, memory, and communication interface may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit communicates with a communication network and other communication devices through electromagnetic signals, so that the movement tracks and other data of a plurality of mobile terminals can be acquired. The radio frequency circuit converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit comprises: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (WIRELESS FIDELITY ) networks. In some embodiments, the radio frequency circuit may further include NFC (NEAR FIELD Communication) related circuits, which is not limited by the present application.
The display screen is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display is a touch display, the display also has the ability to collect touch signals at or above the surface of the display. The touch signal may be input to the processor for processing as a control signal. At this time, the display screen may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display screen may be one, the front panel of the electronic device; in other embodiments, the display screen may be at least two, and disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display may be a flexible display disposed on a curved surface or a folded surface of the electronic device. Even more, the display screen may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The display screen may be made of LCD (LiquidCrystal Display ), OLED (Organic Light-Emitting Diode) or other materials.
The power supply is used to power the various components in the electronic device. The power source may be alternating current, direct current, disposable or rechargeable. When the power source comprises a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
Example 3
Embodiment 3 of the present invention discloses a computer storage medium, on which a route simplification program based on unmanned aerial vehicle constraint is stored, and the steps of the route simplification method based on unmanned aerial vehicle constraint described in embodiment 1 are implemented when the route simplification program based on unmanned aerial vehicle constraint is executed by a processor.
The invention is not limited to the specific embodiments described above. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed.
Claims (6)
1. A route simplification method based on unmanned aerial vehicle constraints, comprising:
s1: acquiring a planned route of the unmanned aerial vehicle, and simplifying the route once;
S2: performing secondary simplification according to the route after primary simplification;
the secondary simplification process is as follows:
Taking the minimum turning radius of the current unmanned aerial vehicle as constraint, judging whether the route meets constraint conditions or not, wherein the specific process is as follows:
S201: calculating a length set for forming each line segment according to the one-time simplified route;
S202: calculating the estimated distance from the turning entry point of the second waypoint to the penultimate waypoint of the primary simplified route to the waypoint;
S203: judging whether the line segments forming the primary simplified route meet the constraint of the minimum turning radius or not;
when a line segment which does not meet the constraint exists, the waypoints forming the line segment are recombined until all the line segments meet the constraint;
The waypoints forming the line segment are recombined as follows:
acquiring all navigation points between two points forming a line segment to be recombined from an original navigation path;
Calculating the distance between the navigation points and two adjacent line segments of the line segment to be recombined;
Taking the maximum value of the distance between the navigation points and two adjacent line segments of the line segment to be recombined as the cost value of the corresponding navigation point;
taking the corresponding waypoints with the minimum cost values as new recombined waypoints;
recombining the route segments which do not meet the constraint until the constraint is met, so as to obtain a route which meets the constraint;
S3: based on the route obtained after recombination, calculating an advanced turning point to directly replace the waypoint, and obtaining a final route result after the second waypoint to the penultimate waypoint are completely replaced by the advanced turning point;
the specific process of waypoint replacement is as follows:
S301: calculating the turning circle centers from the second waypoint to the last-last waypoint in the navigation path with all the segments meeting the constraint after the recombination, and calculating the turning control points corresponding to the waypoints through Newton iteration according to the turning circle centers of the waypoints;
s302: acquiring an advanced turning point corresponding to the navigation point according to the turning control point, and acquiring a final navigation path based on the advanced turning point;
the method comprises the following steps of obtaining an advanced turning point corresponding to the navigation point:
acquiring a straight line of a turning entry point corresponding to a current waypoint and a turning exit point corresponding to a last waypoint adjacent to the current waypoint;
acquiring a straight line of a turning exit point corresponding to the current waypoint and a turning entry point corresponding to a next waypoint adjacent to the current waypoint;
the turning control points comprise turning entry points and turning exit points;
Taking the intersection point of the two straight lines as an advanced turning point of the current navigation point;
S4: and restoring the obtained final route to obtain route parameter data of the current aircraft.
2. The route simplification method based on unmanned aerial vehicle constraint according to claim 1, wherein in step S1, a simplification of the route is performed as follows:
S101: acquiring a unit vector set V n of adjacent waypoints according to a point set of a route to be simplified;
s102: acquiring a cosine value set of an included angle of each adjacent unit vector according to the unit vector set of each adjacent waypoint;
s103: obtaining local minimum value points from cosine value sets of the adjacent unit vector included angles;
S104: and outputting the once simplified route according to the set simplifying relation based on the serial number corresponding to the local minimum point.
3. The route simplification method based on unmanned aerial vehicle constraint according to claim 2, wherein in step S101, the set of unit vectors V n of the adjacent waypoints is represented as follows:
Vn＝{v0,v1,…,vi,...,vn-1}
Where P i represents the previous waypoint in the adjacent waypoint in the point set for the way to be simplified, v i represents the unit vector of the adjacent waypoint, and P i+1 represents the next waypoint in the adjacent waypoint in the point set for the way to be simplified.
4. The route simplification method based on unmanned aerial vehicle constraint according to claim 1, wherein in step S4, the specific procedure of route restoration is as follows:
s401: acquiring an angle of a channel angle formed between a current navigation point and an adjacent navigation point in a secondarily simplified channel;
S402: calculating the distance between the turning control point and the current waypoint based on the angle of the waypoint;
s403: calculating a turning entry point and a turning exit point;
S404: based on an angular bisector of the navigation angle, extending the minimum turning radius of the current unmanned aerial vehicle by taking the current navigation point as a starting point to obtain a turning circle center;
s405: and calculating and obtaining a turning arc according to the turning entry point, the turning exit point and the turning circle center.
5. An unmanned aerial vehicle constraint-based route simplification device, characterized in that the unmanned aerial vehicle constraint-based route simplification device comprises: the system comprises a memory, a processor and a route simplification program based on unmanned aerial vehicle constraint, wherein the route simplification program based on unmanned aerial vehicle constraint is stored on the memory and can run on the processor, and the steps of the route simplification method based on unmanned aerial vehicle constraint are realized when the route simplification program based on unmanned aerial vehicle constraint is executed by the processor.
6. A computer storage medium, wherein a route simplification program based on unmanned aerial vehicle constraints is stored on the storage medium, and when executed by a processor, the route simplification program based on unmanned aerial vehicle constraints implements the steps of the route simplification method based on unmanned aerial vehicle constraints according to any one of claims 1 to 4.
Priority Applications (1)
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