摘要:
笔者提出了一种三维路径自动规划方法,用于解决无人机在复杂地形条件下开展高精度航空物探测量所面临的自主导航问题.该方法以测网平面坐标及地表高程数据为输入,依据无人机的爬升率,对地表高程进行爬升率调整、切割线调整和抽稀拟合处理,得到匹配无人机爬升能力的高程曲面数据,进而提取出可以用于自主导航的航路点三维路径数据.仿真和试验测试结果表明,该方法规划的路径既保障了飞行安全,又具有一定的地形跟随效果,为无人机在复杂地形条件下获取高精度航空物探测量资料创造了有利条件.
Abstract:
This paper presents a three-dimensional automatic path planning method,which is used to solve the problem of autonomous navigation of UAV (Unmanned Aerial Vehicle) under the condition of complex topography in high-precision aerogeophysical survey.With the survey path coordinates and DEM (Digital Elevation Model) data as the input,on the basis of climb rate of the UAV,and by the climbing rate adjustment,cutting line adjustment,rarefying and fitting processing,this method get the matching surface elevation data with the UAV climbing capability,and it could be used to extract 3D path data for autonomous navigation.Simulation and test results show that the path data acquired by this method not only guarantee the flight safety but also have certain terrain following effects,thus creating favorable conditions for high precision aerogeophysical survey with UAV.
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