CN105571588A - Method for building three-dimensional aerial airway map of unmanned aerial vehicle and displaying airway of three-dimensional aerial airway map - Google Patents
Method for building three-dimensional aerial airway map of unmanned aerial vehicle and displaying airway of three-dimensional aerial airway map Download PDFInfo
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- CN105571588A CN105571588A CN201610135575.3A CN201610135575A CN105571588A CN 105571588 A CN105571588 A CN 105571588A CN 201610135575 A CN201610135575 A CN 201610135575A CN 105571588 A CN105571588 A CN 105571588A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention discloses a three-dimensional aerial airway map of an unmanned aerial vehicle and a dynamic building method thereof. Through the unmanned aerial vehicle and based on an existing ground two-dimensional map, a three-dimensional aerial map of an area, which is needed for flight, is obtained; important information is marked on the map; an air route is designated in the three-dimensional aerial map; the three-dimensional aerial airway map is built and stored in a cloud server of the area; a user can download the data of the map by using a terminal, looks up the information, creates a flight mission, looks into the information of the unmanned aerial vehicle in real time, and meanwhile, periodically utilizes the information sent back by the unmanned aerial vehicle provided with a direction sensor and a camera to build a new three-dimensional map, to check a change which occurs on an airway and influences flight safety, and to update and maintain the map; meanwhile, the server can autonomously plan the airway and navigate for the unmanned aerial vehicle according to the real-time information and flight mission of the unmanned aerial vehicle in each area.
Description
Technical field
The present invention relates to a kind of no-manned plane three-dimensional aerial route map structuring and air route display packing thereof, be mainly used in independent navigation and the air traffic control of unmanned plane.
Background technology
Unmanned plane is the abbreviation (UnmannedAerialVehicle) of unmanned spacecraft, be utilize radio robot and the not manned aircraft of the presetting apparatus provided for oneself, comprise depopulated helicopter, fixed-wing aircraft, multi-rotor aerocraft, unmanned airship, unmanned parasol.From certain angle, unmanned plane can complete complicated airflight task and various loading commissions under unpiloted condition, can be seen as " air-robot ".Along with the continuous progress of robotization and sensor technology, unmanned plane manufacturing technology and property development rapid, unmanned plane is increasing in the application in military and civilian field, and the market demand constantly increases.
In predictable future, unmanned plane quantity increases rapidly, due to instability and the danger of unmanned plane during flying, need unified planning and the management of carrying out air route, this provides map datum in the three-dimensional space of flight needs with regard to the platform that needs one are unified, and can automatically delimit safe and reliable navigation channel for the unmanned plane performing particular flight task.The at present also unspecial aerial three-dimensional map provided for unmanned plane, some conventional ground maps also fail to add the information such as height, post house, unmanned plane airport that unmanned plane needs.
Summary of the invention
The present invention is intended to overcome the above problems, and provides a kind of no-manned plane three-dimensional aerial route map structuring and air route display packing thereof, for the autonomous flight of a large amount of unmanned plane provides safeguard.Technical matters to be solved is, first unmanned plane is passed through, and based on existing ground two-dimensional map, obtain map in flight desired zone three-dimensional space, important information demarcated by map, navigation channel delimited in map in three-dimensional space, create in the Cloud Server of region and store three-dimensional aerial route map, user can use terminal downloads map datum, search information, create aerial mission, real time inspection unmanned plane information, some unmanned planes being provided with distance measuring sensor are set simultaneously and check whether navigation channel and surrounding objects change, regularly utilize the information that the unmanned plane of installation direction sensor and camera is passed back, build new three-dimensional map, check the change affecting flight safety that air route occurs, updating maintenance map, server can according to the information of unmanned plane in real-time regional and aerial mission simultaneously, navigate for unmanned plane contexture by self air route.
Further, map in flight desired zone three-dimensional space is obtained by unmanned plane, need the unmanned plane installing direction sensor and camera, fly the region all over needing to set up map in three-dimensional space in advance, by the information back such as velocity reversal, gravity, degree of depth picture recorded to server, set up map in three-dimensional space at server end in conjunction with existing ground two-dimensional map use algorithm, and store.Should the position of large-scale natural landscape and height in inclusion region in described three-dimensional map, the position of buildings and height, comprise the position to the aerial object that unmanned plane during flying constitutes a threat to safely and height, such as power transmission line etc. simultaneously.
Further, other important informations are demarcated on the three-dimensional map basis set up, comprise flow of personnel close quarters, such as community, area, shopping center, shopping mall etc., comprise the no-fly region of administration request, comprise preestablish provide post house easily for unmanned plane, in convenient execution aerial mission process, change battery, maintenance maintenance, comprise the free flight region that administration request delimited, handled easily hand, airplane hobbyists etc. freely handle flight in this region, be included as the unmanned plane airport that unmanned plane is set up, unmanned plane runway, unmanned plane launching platform.
Further, utilize the three-dimensional aerial route map established, and the important information demarcated, for unmanned plane delimit some main navigation channels, comprise the positional information in navigation channel, and elevation information, navigation channel to include some unmanned plane post houses, unmanned plane airport, runway, launching platform, and avoid some highly higher buildings and natural landscapes, avoid flow of personnel close quarters, avoid prohibited flight area.When unmanned plane performs aerial mission, the path of process should mainly on the navigation channel delimited.
Further, user can use other electronic products, as mobile phone, panel computer, PC, utilizes flight ground station, downloads and map datum in the three-dimensional space created before checking from region Cloud Server, it is utilized to search information, such as no-fly region, flow of personnel close quarters, user can select starting point for unmanned plane simultaneously, destination, approach position.During these aerial mission data can be uploaded onto the server, and server be independently for unmanned plane delimit flight path, and highly, and sending controling instruction controls the flight of unmanned plane.
Further, regularly arranging some unmanned planes being provided with distance measuring sensor regularly flies all over all navigation channels, detect in approach region, navigation channel, distance ground, below, navigation channel, building, and whether the distance of surrounding object there is larger change, if there is the change that may affect flight safety, then need to reset aerial navigation channel.Arrange that some are provided with direction sensor, camera unmanned plane regularly flies all over urban area, or by the degree of depth picture that some are provided with direction sensor, the unmanned plane of camera returns to server voluntarily in the process of executing the task, velocity reversal, the information such as gravity, set up map in new three-dimensional space, in three-dimensional space before contrast upgrades in map with current incongruent information, such as newly-built building, highly change in building.Detect simultaneously and whether have the exception in region to occur, comprise a certain region and temporarily become densely populated place region, the situations such as certain region airflight thing is more.
Further, the unmanned plane performed in aerial mission process can by its height, location, velocity information, and dump energy or Fuel Oil Remaining passback server, above information all can pass to the client of user's use from server in real time.If unmanned plane departs from predetermined navigation channel, server end can give the alarm to subscription client, and user also can send new steering order to unmanned plane, task of such as terminating the flight while monitoring unmanned plane.If unmanned plane loses the situation of connection, server can be reported to the police to subscription client in time, and by the positional information of last moment before last for unmanned plane lost contact and calculated by unmanned plane speed, around surface condition, environmental factor may fall or user may be sent in stop place, enable user find unmanned plane in time, reduce or avoid loss.
Further, server is when the unmanned plane contexture by self air route for new execution aerial mission, the path of unmanned plane during flying mainly all can be arranged on existing air route, unmanned plane can be avoided to influence each other, will identical air route be used and the unmanned plane of the impact that may collide fixes in different flying heights, and the air route of will plan, highly, the terminal that the information such as flight used time send to user to use, being convenient to user checks, and selects whether perform this aerial mission.
Feature of the present invention is:
1. provide the method creating three-dimensional aerial route map, be convenient to management when a large amount of unmanned plane performs aerial mission simultaneously.
2. compared to the map that ground uses, add elevation information, flow of personnel close quarters, no-fly region, post house, free flight region, unmanned plane airport, unmanned plane runway, unmanned plane launching platform, thus provide possibility for the routeing of airflight.
3. planned air route for whole flight range in advance, the autonomous flight of unmanned plane is main all on air route, is convenient to management, reduces dangerous, reduces uncontrollable factor.
4. provide the method for the three-dimensional aerial route map of maintenance update, enabling map is at any time unmanned plane management, and Path Planning for Unmanned Aircraft Vehicle provides foundation.
Accompanying drawing explanation
Fig. 1 is the process flow diagram that three-dimensional aerial route map is set up;
Fig. 2 is the schematic diagram by three-dimensional aerial route map planning air route.
Embodiment
In order to make those skilled in the art person understand the application's scheme better, below in conjunction with the accompanying drawing in the application, the technical scheme in the application is clearly and completely described.
Fig. 1 is the process that three-dimensional aerial route map is set up.As shown in Figure 1, the method comprises following process:
1. first discharge the unmanned plane that multi rack carries direction sensor, camera, the region flown all over needing to set up three-dimensional aerial route map is operated by operator, degree of depth picture under unmanned plane is taken, and the velocity reversal recorded, gravitation information are sent in server.
2., at the corresponding three-dimensional aerial route map of data creation that server end utilizes each unmanned plane to send, then each three-dimensional map is spliced into the whole overall map needing to create three-dimensional map region, and is stored in the Cloud Server of region.Should the position of large-scale natural landscape and height in inclusion region in described three-dimensional map, the position of buildings and height, comprise the position to the aerial object that unmanned plane during flying constitutes a threat to safely and height, such as power transmission line etc. simultaneously.
3. indicate the terrestrial information that other may affect flight creating in map, comprise flow of personnel close quarters, such as community, area, shopping center, shopping mall etc., comprise the no-fly region of administration request, comprise preestablish provide post house easily for unmanned plane, in convenient execution aerial mission process, change battery, maintenance maintenance, comprise the free flight region that administration request delimited, handled easily hand, airplane hobbyists etc. freely handle flight in this region, are included as the unmanned plane airport of unmanned plane foundation, unmanned plane runway, unmanned plane launching platform.
4. utilize the three-dimensional aerial route map established, and the important information demarcated, for unmanned plane delimit some main navigation channels, comprise the positional information in navigation channel, and elevation information, navigation channel to include some unmanned plane post houses, unmanned plane airport, runway, launching platform, and avoid some highly higher buildings and natural landscapes, avoid flow of personnel close quarters, avoid prohibited flight area.When unmanned plane performs aerial mission, the path of process should mainly on the navigation channel delimited.
5. arranging some unmanned planes being provided with distance measuring sensor regularly flies all over all navigation channels, detect in approach region, navigation channel, distance ground, below, navigation channel, building, and whether the distance of surrounding object there is larger change, if there is the change that may affect flight safety, then need to reset aerial navigation channel.Arrange that some are provided with direction sensor, camera unmanned plane regularly flies all over urban area, or by the degree of depth picture that some are provided with direction sensor, the unmanned plane of camera returns to server voluntarily in the process of executing the task, velocity reversal, the information such as gravity, set up map in new three-dimensional space, in three-dimensional space before contrast upgrades in map with current incongruent information, such as newly-built building, highly change in building.Detect simultaneously and whether have the exception in region to occur, comprise a certain region and temporarily become densely populated place region, the situations such as certain region airflight thing is more.Once there is change in time information should be passed to server, thus indicate the important information made new advances, user can check that these change in time.
Fig. 2 is the schematic diagram by three-dimensional aerial route map planning air route.As shown in Figure 2, this process prescription is as follows:
1. Fig. 2 is the whole unmanned plane management platform based on three-dimensional aerial route Map Design, describing unmanned plane executes the task in process, unmanned plane, server, information between client transmits communication process, in figure, unmanned plane is the unmanned vehicle performing aerial mission, client be user by mobile terminal as mobile phone, panel computer, the land station that notebook computer or desktop computer use, can download from region Cloud Server and check map datum in the three-dimensional space of establishment noted earlier, aerial mission can be created in client, real time inspection unmanned plane during flying state, region Cloud Server is to store the three-dimensional aerial route map created as previously mentioned, and possess the server of a large amount of computing power, the unmanned plane during flying task in a whole region can be coordinated,
2. process " 1 " is, unmanned plane by its position, highly, speed, the acceleration information client that sends to user to use, user can the state of real time inspection unmanned plane, is convenient to send further control command at any time;
3. process " 2 " is, in free flight region, user freely can handle unmanned plane, and command information, without the need to by server process, is directly transferred to unmanned plane, improves speed and intuitive that user handles unmanned plane;
4. process " 3 " is, at non-free flight range, the aerial mission that user sets to unmanned plane, needs just can pass to unmanned plane by server computing.Server receives the position of each unmanned plane, speed and elevation information by process 6, when planning air route, can avoid influencing each other between unmanned plane, and by the information of three-dimensional aerial route map, cooks up an optimum air route;
5. process " 4 " is, the execution time that the air route cooked up and aerial mission are estimated is sent to user by server, select whether perform this aerial mission for user, simultaneously by the unmanned plane information in the flight course that receives, comprise position, speed, acceleration, dump energy etc. and send to user, check unmanned plane state for user, user thus select whether stop or change this aerial mission;
6. process " 5 " is, the final steering order drawn through computing is sent to unmanned plane by server;
7. process " 6 " is, unmanned plane is by the position of self, highly, the information such as speed, acceleration and dump energy sends to server.
Above function is all based on setting up before and the three-dimensional aerial route map of real-time update.
Claims (8)
1. a no-manned plane three-dimensional aerial route map and dynamic fixing method thereof, it is characterized in that, by unmanned plane and based on existing ground two-dimensional map, obtain map in flight desired zone three-dimensional space, important information demarcated by map, navigation channel delimited in map in three-dimensional space, create in the Cloud Server of region and store three-dimensional aerial route map, user can use terminal downloads map datum, search information, create aerial mission, some unmanned planes being provided with distance measuring sensor are regularly set simultaneously and check whether navigation channel and surrounding objects change, regularly utilize the information that the unmanned plane of installation direction sensor and camera is passed back, build new three-dimensional map, check the change affecting flight safety that air route occurs, updating maintenance map, server can according to the information of unmanned plane in real-time regional and aerial mission simultaneously, navigate for unmanned plane contexture by self air route.
2. method according to claim 1, it is characterized in that, urban area three-dimensional map is obtained by unmanned plane, install the unmanned plane of direction sensor and camera, fly the region all over needing to set up aerial three-dimensional map in advance, by the velocity reversal recorded, gravity, degree of depth picture information back is to server, three-dimensional map is set up at server end, and store, should the position of large-scale natural landscape and height in inclusion region in described three-dimensional map, the position of buildings and height, comprise the position to the aerial object that unmanned plane during flying constitutes a threat to safely and height simultaneously.
3. method according to claim 1, it is characterized in that, other important informations are demarcated on the three-dimensional map basis set up, comprise flow of personnel close quarters, comprise the no-fly region of administration request, comprise preestablish provide post house easily for unmanned plane, be included as unmanned plane airport that unmanned plane sets up, unmanned plane runway, unmanned plane launching platform.
4. method according to claim 1, it is characterized in that, utilize the three-dimensional aerial route map established, and the important information demarcated, for unmanned plane delimit some main navigation channels, comprise the positional information in navigation channel, and elevation information, navigation channel to include some unmanned plane post houses, unmanned plane airport, runway, launching platform, and avoid some highly higher buildings and natural landscapes, avoid flow of personnel close quarters, avoid prohibited flight area.When unmanned plane performs aerial mission, the path of process should mainly on the navigation channel delimited.
5. method according to claim 1, is characterized in that, user can use other electronic products, utilize flight ground station, download and map datum in the three-dimensional space created before checking from region Cloud Server, utilize it to search information, user can select starting point for unmanned plane simultaneously, destination, approach position, during these aerial mission data can be uploaded onto the server, and server be independently for unmanned plane delimit flight path, highly, and sending controling instruction controls the flight of unmanned plane.
6. method according to claim 1, it is characterized in that, regularly arranging some unmanned planes being provided with distance measuring sensor regularly flies all over all navigation channels, whether detection navigation channel and surrounding objects change, if there is the change that may affect flight safety, then need to reset aerial navigation channel, some are regularly set direction sensor is installed, camera unmanned plane regularly flies all over urban area, or by some, direction sensor is installed, the unmanned plane of camera returns to the degree of depth picture of server in the process of executing the task, velocity reversal, gravitation information, set up map in new three-dimensional space, in three-dimensional space before contrast upgrades in map with current incongruent information, detect simultaneously and whether have the exception in region to occur, comprise a certain region and temporarily become densely populated place region, the more situation of certain region airflight thing.
7. method according to claim 1, it is characterized in that, the unmanned plane performed in aerial mission process can by its height, location, speed, dump energy or Fuel Oil Remaining passback server, above information all can pass to the client of user's use from server in real time, unmanned plane departs from predetermined navigation channel, server end can give the alarm to subscription client, user also can send new steering order to unmanned plane while monitoring unmanned plane, if unmanned plane loses the situation of connection, server can be reported to the police to subscription client in time, and by the positional information of last moment before last for unmanned plane lost contact and by unmanned plane speed, surface condition around, what environmental factor calculated may fall or may send to user in stop place, user is enable to find unmanned plane in time, reduce or avoid loss, server is when the unmanned plane contexture by self air route for new execution aerial mission, unmanned plane can be avoided to influence each other, and the air route of will plan, highly, the terminal that flight used time information sends to user to use, be convenient to user check, and select whether perform this aerial mission, the position of unmanned plane in flight course, highly, speed, acceleration, dump energy information also can be sent to user side by server, user determines whether change by these information, terminated task, these instructions again can by server through planning, be sent on unmanned plane.
8. method according to claim 1, it is characterized in that, server is when the unmanned plane contexture by self air route for new execution aerial mission, the path of unmanned plane during flying mainly all can be arranged on existing air route, unmanned plane can be avoided to influence each other, and the air route of will plan, highly, the terminal that flight used time information sends to user to use, is convenient to user and checks, and select whether perform this aerial mission.
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