基于监测任务的多旋翼无人机路径规划

UAV Path Planning Based on the Task of Electromagnetic Spectrum Monitoring

针对当前空中无线电监测依赖于悬停或沿预设轨迹飞行的监测方式,不能充分利用空中平台机动灵活的能力,无法获得最佳测量位置和测量值的问题,分析了空中无线电监测任务和监测过程,在现有空中电磁频谱测向定位方法的基础上,提出一种多旋翼无人机自主路径规划方法,根据监测任务实时进行无线电监测,将循环迭代的监测结果作为自主路径规划的依据,研究包括无人机飞行的高度、方向、转向判据和转向角度的控制方法,并设计了无人机路径规划流程。

Confronting the issue that spectrum monitoring in the air is challenged in acquiring accurate position and result in case of relying on hovering or tracing in settled path nowadays and the challenge in taking advantage of the agility of UAVs,tasks and processes of spectrum monitoring in the air are analyzed.Based on existed direction-finding and locating methods,kind of autonomously path planning method for spectrum monitoring UAVs is proposed in this paper.In this method,autonomous path planning relys on results of monitoring circularly in real time.The research contains the condition for height,direction,turning and its angle of UAVs.The process of UAV path planning is designed in the end.