基于矢量地图的无人机三维航线校正仿真

Three-Dimensional Flight Path Correction Simulation of Unmanned Aerial Vehicle Based on Vector Map

无人机三维航线校正执行过程中受到环境等因素影响,导致无法适应预定计划,易发生偏差,存在校正精准性较差的问题。基于矢量地图提出一种新的校正方法,首先利用LPA航线部署方法分布三维航线点,并通过检验局部一致性来防止重新对全局进行搜索,减少了干扰因素的阻碍与搜索空间范围;然后采用卡尔曼滤波算法准确定位无人机,通过路面监控站发出的方位信息来计算当前无人机与部署航线间的距离偏差,引入校正因子有效校正偏离航线,让无人机能够按照部署航线完成飞行任务。仿真结果说明,基于矢量地图方法具有较高的时效性和准确性,满足了实际应用需求。

During the three-dimensional air route correction, an unmanned aerial vehicle(UAV) is often influenced by environmental factors, so it is difficult to adapt to the scheduled plan, leading to low correction accuracy. Therefore, a new correction method based on a vector map was proposed. Firstly, LPA* air route deployment method was used to distribute three-dimensional air route points, and local consistency was checked to prevent global search, so as to reduce the obstacles of interference factors and the search range. Moreover, the Kalman filter algorithm was used to locate the UAV accurately. The azimuth information sent by the surface monitoring station was used to calculate the distance deviation between UAV and deployed air route. Finally, the calibration factors were introduced to effectively correct the deviation of the air route, so that the UAV completed the mission according to the deployed air route. Simulation results show that the method based on vector map has high timeliness and accuracy, so it meets the practical requirements.