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CN116382352B - Unmanned aerial vehicle detouring no-fly zone track planning method - Google Patents

Unmanned aerial vehicle detouring no-fly zone track planning method Download PDF

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CN116382352B
CN116382352B CN202310655605.3A CN202310655605A CN116382352B CN 116382352 B CN116382352 B CN 116382352B CN 202310655605 A CN202310655605 A CN 202310655605A CN 116382352 B CN116382352 B CN 116382352B
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circle
fly
point
fly zone
track
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CN116382352A (en
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钱基德
周超
钱基业
刘长华
杜冬
梁琰
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Civil Aviation Flight University of China
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Civil Aviation Flight University of China
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    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • 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

本发明提供了无人机绕行禁飞区航迹规划方法，涉及无人机航迹规划技术领域，可避免无人机在绕行禁飞区的飞行过程中存在复杂转弯和频繁加减速的局限性问题；方法包括：依据无人机航迹起点、终点和禁飞区，确定绕行禁飞区的航迹片段，组合航迹片段即可规划出无人机从起点绕行禁飞区至终点的航迹；在组合航迹片段时，通过预先确定出禁飞圆、内圆及交线，借助航迹起点与终点、内圆与禁飞圆的交点、交线与禁飞圆的交点，利用各点之间形成的与禁飞区边界不相交的多个直线段、圆弧段，构成无人机绕行禁飞区的平滑航迹；本发明充分考虑了无人机控制的特点，能规划出适宜无人机飞行作业的平滑航迹，保障无人机安全高效作业，具有广泛应有前景。

The invention provides a track planning method for unmanned aerial vehicles circumventing a no-fly zone, which relates to the technical field of unmanned aerial vehicle track planning, and can avoid complex turns and frequent acceleration and deceleration of the unmanned aerial vehicle during its flight around a no-fly zone Limitation problem; the method includes: according to the starting point, end point and no-fly zone of the drone track, determine the track segment around the no-fly zone, and combine the track segments to plan the drone around the no-fly zone from the starting point The track to the end point; when combining the track segments, by pre-determining the no-fly circle, inner circle and intersection line, with the help of the starting point and end point of the track, the intersection point of the inner circle and the no-fly circle, the intersection line and the no-fly circle Intersection points, using multiple straight line segments and circular arc segments formed between each point that do not intersect with the boundaries of the no-fly zone, constitute a smooth track for the UAV to go around the no-fly zone; the present invention fully considers the control of the UAV Features, can plan a smooth trajectory suitable for UAV flight operations, ensure safe and efficient operation of UAVs, and have broad prospects.

Description

Unmanned aerial vehicle detouring no-fly zone track planning method
Technical Field
The invention relates to the technical field of unmanned aerial vehicle track planning, in particular to an unmanned aerial vehicle track planning method needing to bypass a no-fly zone.
Background
In the operation process of the unmanned aerial vehicle, the flight process of the unmanned aerial vehicle is controlled in a track planning mode, and the unmanned aerial vehicle is widely applied. In order to effectively monitor the unmanned aerial vehicle and avoid potential risks, the related monitoring departments set an unmanned aerial vehicle no-fly zone; therefore, the flight path suitable for unmanned aerial vehicle operation is planned, the flight path can be safely bypassed in the no-fly zone, and the unmanned aerial vehicle operation process is very important to realize safe and efficient operation. Because the condition that the non-flying area of the unmanned aerial vehicle is irregular exists widely, the boundary of the non-flying area is directly used as a reference track, so that the unmanned aerial vehicle can make a large number of complex turns, sharp turns and the like, and the control of the unmanned aerial vehicle is not facilitated; particularly, for the fixed wing unmanned aerial vehicle, the occurrence of complex turning, sharp turning and other conditions is avoided as much as possible.
In the prior art, the unmanned aerial vehicle track planning process has methods based on search algorithm, intelligent learning and the like. Generally, the method based on the search algorithm and intelligent learning is complex to realize, the resource consumption is large during execution, and meanwhile, the limitation that the track planning process is not intuitive exists. Therefore, aiming at the requirement of bypassing the no-fly zone, a smooth flight path suitable for unmanned aerial vehicle flight is planned in a simple and effective mode, so that the unmanned aerial vehicle operation safety is ensured, the unmanned aerial vehicle operation efficiency is improved, and the method becomes an important requirement for technicians in the technical field of unmanned aerial vehicle flight path planning.
At present, taking a circle as a main element, a representative patent for planning a flight path of an unmanned aerial vehicle around a no-fly zone comprises the following two parts:
1. patent CN113342045B, an autonomous avoidance navigation control method for unmanned aerial vehicle in any no-fly zone; the invention establishes the navigation control based on the ray detection algorithm based on the unmanned aerial vehicle, thereby constructing a safe flight channel by utilizing the turning radius of the unmanned aerial vehicle; however, the technical scheme involves more complicated searching algorithm and other contents, has the limitations, and when the turning radius of the unmanned aerial vehicle is large, the unmanned aerial vehicle cannot pass through a narrow channel and cannot fly into a flyable notch of a concave no-fly zone; therefore, the technical content of the invention has limitation on a better track planning mode.
2. Patent CN106813667B, a route planning method and apparatus based on no-fly zone constraint; the method is used for solving the problem of track planning comprising a plurality of no-fly zones, and the track is planned by taking the circumscribed circular zone determined after the no-fly zones are segmented as circular no-fly zones and determining the track points among the circular no-fly zones in a straight line intersection mode; the method has the greatest limitation that the problem of track planning when the point on the track is positioned in the circumcircle of the no-fly zone is not solved yet, but the point is not positioned in the no-fly zone; meanwhile, the invention takes the circumscribed circle containing all the no-fly zones as one of the classical implementation modes, and when the circular no-fly zones are too close to the no-fly zones at individual places, the unmanned aerial vehicle itself still has to make complex turns and make sharp turns, so that the invention still has the key points to be improved.
Disclosure of Invention
The invention aims to solve the problem of limitation in the background technology and avoid complex turning and frequent acceleration and deceleration of the unmanned aerial vehicle in the flight process of bypassing the no-fly zone; according to the invention, the control characteristics of the unmanned aerial vehicle are fully considered, the operation efficiency and the operation safety of the unmanned aerial vehicle can be improved, and the unmanned aerial vehicle is controlled to fly stably by planning a smooth flight path suitable for operation for the unmanned aerial vehicle to bypass the no-fly zone, so that the flying speed of the fixed-wing unmanned aerial vehicle is not lower than a specified value, and the safe and efficient operation of the unmanned aerial vehicle is ensured; as a key technology of unmanned aerial vehicle track planning, the method has wide application prospect.
The invention adopts the following technical scheme to achieve the purpose:
the unmanned aerial vehicle detouring no-fly zone track planning method comprises the following steps:
s11, acquiring a starting point, an ending point and a no-fly zone of an unmanned aerial vehicle track;
s12, determining track segments of the unmanned aerial vehicle bypassing the no-fly zone;
s13, combining the track segments, and planning a track from the starting point to the end point by which the unmanned aerial vehicle bypasses the no-fly zone.
Further, in step S12, a track segment of the unmanned aerial vehicle bypassing the no-fly zone is generated by determining the no-fly circle and the inner circle.
Further, determining forbidden flycircles and inner circles comprises the following steps:
s21, determining a circle containing the whole or part of the no-fly zone as a no-fly circle according to the boundary of the no-fly zone;
s22, determining the inner circles corresponding to each point for each track starting point and each track ending point in the forbidden circle outside the boundary of the forbidden zone, and intersecting each inner circle with the forbidden circle to obtain the intersection point of the forbidden circle and the inner circle.
Further, when determining the forbidden circle, firstly determining a minimum circumcircle containing the whole or part of the forbidden zone, and then selecting the circle containing the minimum circumcircle as the forbidden circle; meanwhile, the radii of the forbidden flycircle and the inner circle are not smaller than the minimum turning radius of the unmanned aerial vehicle.
Further, in step S22, when determining the inner circle corresponding to each track start point and end point, making the circular arc of each inner circle pass through the corresponding track start point or end point in the forbidden circle, and simultaneously making the intersection point between the inner circular arc and the forbidden circle arc; then, at least one inner circular arc which is not intersected with the boundary of the no-fly zone exists between the track starting point and the intersection point or between the track ending point and the intersection point.
Preferably, when determining the inner circles corresponding to the start point and the end point of each track, making each inner circle tangent to the forbidden circle, namely making the inner circle be the inscribed circle of the forbidden circle and making the tangent point be the intersection point of the circular arc of the inner circle and the circular arc of the forbidden circle; then, at least one inner circular arc which is not intersected with the boundary of the no-fly zone exists between the track starting point or the track ending point and the tangent point.
Further, after the forbidden circle and the inner circle are obtained, determining an intersection line of the generated track segment; and determining intersection lines corresponding to all points for each track starting point and each track ending point outside the forbidden circle to obtain intersection points of the forbidden circle and the intersection lines.
Further, when the intersection line corresponding to each point is determined, each intersection line passes through the corresponding track starting point or the corresponding track finishing point outside the forbidden circle, and meanwhile, the intersection line is intersected with the circular arc of the forbidden circle, so that the intersection point of the forbidden circle and the intersection line is obtained.
Preferably, when determining the intersecting line corresponding to each point, the intersecting line is made to be tangent to the forbidden circle arc, that is, the intersecting line is taken as the tangent line of the forbidden circle, and the tangent point of the tangent line on the forbidden circle is made to be the intersection point.
Further, in step S13, the process of combining track segments and planning tracks specifically includes the following steps:
s31, acquiring a starting point and an ending point of a flight path, an intersection point of an inner circle and a forbidden circle and an intersection point of an intersection line and the forbidden circle;
s32, when the straight line segment between the starting point and the ending point of the flight path is not intersected with the no-fly zone, the flight path of the unmanned aerial vehicle does not need to pass through the no-fly zone, and at the moment, the straight line segment connecting the starting point and the ending point is the flight path;
s33, when the straight line segment between the track starting point and the track ending point is intersected with the no-fly zone, by means of the intersection point of the track starting point and the ending point, the inner circle and the no-fly circle and the intersection point of the intersection line and the no-fly circle, a plurality of straight line segments and arc track segments which are formed between the points and are not intersected with the no-fly zone boundary are utilized to form a smooth track for the unmanned plane to bypass the no-fly zone.
In summary, by adopting the technical scheme, the invention has the following beneficial effects:
1. the method skillfully utilizes the straight line segment and the circular arc segment as track segments, and effectively ensures the requirement of the unmanned aerial vehicle on obtaining a smooth track;
2. the invention takes the circle and the straight line segments as basic elements of track planning, has the characteristics of simplicity, easy implementation and obvious effect, and can avoid the defect of overlarge resource consumption of a complex algorithm;
3. the flight path planning method is convenient for planning the unmanned aerial vehicle flight path in a manual mode, is also convenient for planning the unmanned aerial vehicle flight path in an automatic program mode, is easy to realize in both modes, and can greatly improve the operation efficiency and the operation safety of the unmanned aerial vehicle after practical application.
Drawings
FIG. 1 is a schematic diagram of a first implementation of the method of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of the method of the present invention;
FIG. 3 is a schematic diagram of a third embodiment of the method of the present invention;
fig. 4 is a schematic diagram of a fourth implementation scenario of the method of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
The unmanned aerial vehicle detouring no-fly zone track planning method integrally comprises the following steps:
s11, acquiring a starting point, an ending point and a no-fly zone of an unmanned aerial vehicle track;
s12, generating a track segment of the unmanned aerial vehicle bypassing the no-fly zone by determining the no-fly circle and the inner circle;
s13, combining the track segments, and planning a track from the starting point to the end point by which the unmanned aerial vehicle bypasses the no-fly zone.
Example 1
In this embodiment, the inscribed circle is used as an inner circle, the tangent line is used as an intersecting line, and the intersecting line includes a plurality of start points and end points, so as to perform a track planning process for the unmanned aerial vehicle to bypass the no-fly zone. As shown in FIG. 1, in the figure、Respectively represent the starting point and the ending point of the track, +.>Representing the tangent point.
1. Acquiring a track starting point, a track finishing point and a track no-fly zone:
acquiring the start of a track、End of track->、、And the no-fly area shown in the densely filled cross-line area of fig. 1.
2. Determining a forbidden circle:
and determining the minimum circumscribing circle of the no-fly zone, and selecting a circle which is concentric with the circle and has a radius larger than that of the circle as the no-fly circle as shown by a dotted circle in fig. 1.
3. Determining inscribed circles, tangent lines and tangent points:
according to the determined forbidden circle, the following steps are determined: starting pointEndpoint->In forbidden circle, start point->Endpoint->、Outside the forbidden flyer. Determining an inscribed circle of each starting point and each finishing point in the forbidden circle; and determining a tangent line of each starting point and each ending point outside the forbidden circle.
Determining the starting pointCorresponding inscribed circles. Pass through->Inscribed circle as forbidden circle and the point of tangency of forbidden circle is +.>，And->The inscribed circle between them has a circular arc +.>No intersection point is formed with the no-fly zone.
Determining endpointCorresponding inscribed circles. Pass through->Inscribed circle as forbidden circle and the point of tangency of forbidden circle is +.>，And->The inscribed circle between them has a circular arc +.>No intersection point is formed with the no-fly zone.
Determining the starting pointCorresponding tangent lines. Pass through->The tangent line of the forbidden circle is +.>。
Determining endpointCorresponding tangent lines. Pass through->The tangent line of the forbidden circle is +.>。
Determining endpointCorresponding tangent lines. Pass through->The tangent line of the forbidden circle is +.>。
4. Planning a flight path:
determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. Due to track origin +.>Endpoint withThe straight line segment between the two sections is not intersected with the no-fly zone, the no-fly zone is not required to be traversed, and the flight path of the unmanned aerial vehicle is +.>。
Determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. Due to track origin +.>Endpoint withThe straight line segment in between intersects the no-fly zone by means of the tangential point +.>、Flight path forming unmanned aerial vehicle bypass no-fly zone。
Determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. Due to track origin +.>Endpoint withThe straight line segment in between intersects the no-fly zone by means of the tangential point +.>、Flight path forming unmanned aerial vehicle bypass no-fly zone。
Determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. Due to track origin +.>Endpoint withThe straight line segment between the two sections intersects with the no-fly zoneBy means of tangential points->、Flight path forming unmanned aerial vehicle bypass no-fly zone。
Determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. Due to track origin +.>Endpoint withThe straight line segment in between intersects the no-fly zone by means of the tangential point +.>、Flight path forming unmanned aerial vehicle bypass no-fly zone。
Determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. Due to track origin +.>Endpoint withThe straight line segment in between intersects the no-fly zone by means of the tangential point +.>、Flight path forming unmanned aerial vehicle bypass no-fly zone。
Example 2
This embodiment illustrates yet another embodiment of a detour no-fly zone track plan, taking as an example a drone track plan that includes a single start point and a single end point detour no-fly zone. As shown in the figure 2 of the drawings,、respectively represents the starting point and the ending point of the track,indicating the intersection point.
1. Acquiring a track starting point, a track finishing point and a track no-fly zone:
acquiring the start of a trackEnd of track->And a no-fly zone shown as a densely filled cross-line filled region in fig. 2.
2. Determining a forbidden circle:
the manner of determining the forbidden flyer is the same as in embodiment 1.
3. Determining an inner circle, an intersection line and an intersection point:
according to the determined forbidden circle, the following steps are determined: endpoint (endpoint)In the forbidden circle, the starting point isOutside the forbidden flyer. For the endpoint in forbidden flycircle->Determining the inner circle of the steel plate; starting point outside forbidden circle->And determining the intersecting line.
Determining endpointCorresponding inner circles. Pass through->The intersection point of the inner circle of the forbidden circle and the forbidden circle is + ->，And->The inner circle is provided with an arc +.>No intersection point is formed with the no-fly zone.
Determining the starting pointCorresponding intersecting lines. Pass through->The intersection point of the forbidden circle and the forbidden circle is +.>。
4. Planning a flight path:
determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. Due to track origin +.>Endpoint withThe straight line segment between them intersects with the no-fly zone by means of the intersection +.>、Flight path forming unmanned aerial vehicle bypass no-fly zone。
Example 3
In this embodiment, taking an unmanned aerial vehicle track planning including a single starting point and a single ending point bypassing the no-fly zone as an example, a larger turning radius of the unmanned aerial vehicle is considered, and a further specific implementation of the bypassing no-fly zone track planning is shown. As shown in the figure 3 of the drawings,、respectively represent the starting point and the ending point of the track, +.>Indicating the intersection point.
1. Acquiring a track starting point, a track finishing point and a track no-fly zone:
acquiring the start of a trackEnd of track->And dense transverse lines in FIG. 3Filling the no-fly zone shown in the area.
2. Determining a forbidden circle:
the manner of determining the forbidden flyer is the same as in embodiment 1.
3. Determining inscribed circles, tangent lines and tangent points:
according to the determined forbidden circle, the following steps are determined: endpoint (endpoint)In forbidden circle, start point->Outside the forbidden flyer. For the endpoint in forbidden flycircle->Determining an inscribed circle thereof; starting point outside forbidden circle->Its tangent is determined.
And determining an inscribed circle corresponding to the end point. Through the crossAs an inscribed circle of the forbidden circle, an inscribed circle having a larger radius than the inner circle in example 2 was set in consideration of a larger turning radius, and thus the track bypassing the forbidden region was significantly changed. At this time, the tangent point of the inscribed circle and the forbidden circle is +.>，And->The inscribed circle between them has a circular arc +.>No intersection point is formed with the no-fly zone.
Determining the starting pointCorresponding tangent lines. Pass through->The tangent line of the forbidden circle is +.>。
4. Planning a flight path:
determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. Due to track origin +.>Endpoint withThe straight line segment in between intersects the no-fly zone by means of the tangential point +.>、Flight path forming unmanned aerial vehicle bypass no-fly zone。
Example 4
Taking an unmanned aerial vehicle track planning comprising a single starting point and a single ending point bypassing the no-fly zone as an example, the embodiment considers the case that the no-fly circle only comprises a part of the no-fly zone, and shows another specific implementation mode of the bypassing no-fly zone track planning. As shown in figure 4 of the drawings,、respectively represent the starting points of the tracksEndpoint, ->Representing the tangent point.
1. Acquiring a track starting point, a track finishing point and a track no-fly zone:
acquiring the start of a trackEnd of track->And a no-fly zone shown as a densely filled cross-line filled region in fig. 3.
2. Determining a forbidden circle:
as shown in FIG. 4, the determined prohibited circle contains only a portion of the prohibited area, and the prohibited circle arc passes directly through the track end point。
3. Determining an inner circle, a tangent line and a tangent point:
in this embodiment, the forbidden circle is directly used as the inner circle. The original two tangent points of the inner circle, the tangent line and the forbidden circle are degraded to the same tangent point at the moment.
Determining the starting pointCorresponding tangent lines. Pass through->The tangent line of the forbidden circle is +.>。
4. Planning a flight path:
determining the starting pointAnd end->And the unmanned aerial vehicle bypasses the flight path of the no-fly zone. From the following componentsAt the beginning of the track->Endpoint withThe straight line segment in between intersects the no-fly zone by means of the tangential point +.>Flight path forming unmanned aerial vehicle bypass no-fly zone。

Claims (4)

1.无人机绕行禁飞区航迹规划方法，其特征在于，包括如下步骤：1. A method for planning flight paths of unmanned aerial vehicles (UAVs) around no-fly zones, characterized by the following steps: S11、获取无人机航迹的起点、终点和禁飞区；S11. Obtain the start point, end point, and no-fly zone of the drone's flight path; S12、通过确定禁飞圆和内圆，生成无人机绕行禁飞区的航迹片段；S12. By determining the no-fly zone circle and inner circle, generate flight path segments of the UAV around the no-fly zone; S13、组合航迹片段，规划出无人机从起点绕行禁飞区至终点的航迹；S13. Combine flight path segments to plan the flight path of the UAV from the starting point to the destination by bypassing the no-fly zone. 确定禁飞圆和内圆，包括如下步骤：Determining the no-fly zone and its inner circle involves the following steps: S21、依据禁飞区的边界，将包含整个或部分禁飞区的圆确定为禁飞圆；S21. Based on the boundaries of the no-fly zone, the circle that includes the whole or part of the no-fly zone shall be defined as the no-fly circle; S22、对于禁飞区边界外，禁飞圆内的每个航迹起点和终点，确定出各点对应的内圆，并使每个内圆与禁飞圆相交，获得禁飞圆与内圆的交点；S22. For each flight path starting point and ending point outside the no-fly zone boundary and within the no-fly circle, determine the inner circle corresponding to each point, and make each inner circle intersect with the no-fly circle to obtain the intersection point of the no-fly circle and the inner circle. 在确定禁飞圆时，首先确定出包含整个或部分禁飞区的最小外接圆，随后选取包含最小外接圆的圆作为禁飞圆；同时，禁飞圆和内圆的半径，均不小于无人机的最小转弯半径；When determining the no-fly circle, first determine the smallest circumcircle that contains the entire or part of the no-fly zone, and then select the circle that contains the smallest circumcircle as the no-fly circle; at the same time, the radii of the no-fly circle and the inner circle are not less than the minimum turning radius of the UAV. 所述S22中，确定出每个航迹起点和终点对应的内圆时，使每个内圆的圆弧穿过禁飞圆内对应的航迹起点或终点，同时使内圆圆弧与禁飞圆圆弧存在交点；随后，保证航迹起点与交点，或航迹终点与交点之间至少存在一处与禁飞区的边界不相交的内圆圆弧；In S22, when the inner circle corresponding to the start and end point of each flight path is determined, the arc of each inner circle passes through the start or end point of the corresponding flight path within the no-fly zone, and at the same time, the inner circle arc intersects with the arc of the no-fly zone; then, it is ensured that there is at least one inner circle arc between the start and end point of the flight path, or between the end and end point of the flight path, that does not intersect with the boundary of the no-fly zone. 获得禁飞圆和内圆后，确定生成航迹片段的交线；对于禁飞圆外的每个航迹起点和终点，确定出各点对应的交线，获得禁飞圆与交线的交点；After obtaining the no-fly zone and inner zone, determine the intersection line of the generated track segments; for each track start and end point outside the no-fly zone, determine the corresponding intersection line of each point, and obtain the intersection point of the no-fly zone and the intersection line; 所述S13中，组合航迹片段，规划航迹的过程，包括如下步骤：In step S13, the process of combining track segments and planning a track includes the following steps: S31、获取航迹的起点及终点、内圆与禁飞圆的交点、交线与禁飞圆的交点；S31. Obtain the starting and ending points of the flight path, the intersection of the inner circle and the no-fly circle, and the intersection of the intersection line and the no-fly circle; S32、当航迹起点与终点之间的直线段与禁飞区不相交时，无人机航迹无需穿越禁飞区，此时连接起点与终点的直线段即为航迹；S32. When the straight segment between the start and end of the flight path does not intersect with the no-fly zone, the UAV flight path does not need to cross the no-fly zone. In this case, the straight segment connecting the start and end is the flight path. S33、当航迹起点与终点之间的直线段与禁飞区相交时，借助航迹起点与终点、内圆与禁飞圆的交点、交线与禁飞圆的交点，利用各点之间形成的与禁飞区边界不相交的多个直线段、圆弧航迹片段，构成无人机绕行禁飞区的平滑航迹。S33. When the straight line segment between the start and end of the flight path intersects the no-fly zone, the smooth flight path of the UAV around the no-fly zone is formed by using the intersection of the start and end of the flight path, the intersection of the inner circle and the no-fly circle, and the intersection of the line of intersection and the no-fly circle, and by using multiple straight line segments and arc flight path segments formed between each point that do not intersect the boundary of the no-fly zone. 2.根据权利要求1所述的无人机绕行禁飞区航迹规划方法，其特征在于：确定出每个航迹起点和终点对应的内圆时，使每个内圆与禁飞圆相切，即内圆为禁飞圆的内切圆，使切点为内圆圆弧与禁飞圆圆弧的交点；随后，保证航迹起点或终点与所述切点之间至少存在一处与禁飞区的边界不相交的内圆圆弧。2. The method for planning flight paths of UAVs around no-fly zones according to claim 1, characterized in that: when determining the inner circle corresponding to the starting point and ending point of each flight path, each inner circle is tangent to the no-fly zone circle, that is, the inner circle is the inscribed circle of the no-fly zone circle, and the point of tangency is the intersection of the inner circle arc and the no-fly zone arc; subsequently, it is ensured that there is at least one inner circle arc between the starting point or ending point of the flight path and the point of tangency that does not intersect with the boundary of the no-fly zone. 3.根据权利要求1所述的无人机绕行禁飞区航迹规划方法，其特征在于：确定出各点对应的交线时，使每条交线穿过禁飞圆外对应的航迹起点或终点，同时使交线与禁飞圆圆弧相交，以获得禁飞圆与交线的交点。3. The method for planning flight paths of UAVs around no-fly zones according to claim 1, characterized in that: when determining the intersection lines corresponding to each point, each intersection line passes through the corresponding starting point or ending point of the flight path outside the no-fly circle, and at the same time, the intersection line intersects with the arc of the no-fly circle to obtain the intersection point of the no-fly circle and the intersection line. 4.根据权利要求3所述的无人机绕行禁飞区航迹规划方法，其特征在于：确定出各点对应的交线时，使交线与禁飞圆圆弧相切，即交线作为禁飞圆的切线，使切线在禁飞圆上的切点成为交点。4. The method for planning the flight path of a UAV around a no-fly zone according to claim 3, characterized in that: when determining the intersection line corresponding to each point, the intersection line is made tangent to the arc of the no-fly circle, that is, the intersection line is used as the tangent of the no-fly circle, and the point of tangency of the tangent on the no-fly circle becomes the intersection point.
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