面向机场净空区异物探测的无人机自主巡检航迹优化方法

Path Optimization Method for UAV Autonomous Patrol Inspection for Foreign Object Detection in Airport Clearance Area

净空区异物是导致航空事故的主要原因之一,无人机技术与异物探测的结合提高了异物检测的效率。为了优化无人机自主巡检航迹,本文提出了面向机场净空区异物探测的无人机自主巡检航迹优化方法。首先,规划无人机自主巡检航水平轨迹,计算出无人机自主巡检航迹的最优长度;其次,基于最短时间算法规划航迹路径,使用冗余拍摄航点剔除实现探测的航点处理;再次,将异物探测航迹平滑处理,计算出最短的无人机自主巡检时间,实现自主巡检航迹优化;最后,通过对比实验证明优化后的自主巡检方式的各项指标优于现有方法。

Foreign matter in clearance area is one of the main causes of aviation accidents.The combination of UAV technology and foreign matter detection improves the efficiency of foreign matter detection.In order to optimize the UAV autonomous patrol track,a UAV autonomous patrol track optimization method for foreign matter detection in airport clearance area is proposed in this paper.Firstly,the horizontal trajectory of UAV's autonomous inspection route is planned,and the optimal length of UAV's autonomous inspection route is calculated;Secondly,the track path is planned based on the shortest time algorithm,and the detection waypoint processing is realized by using redundant shooting waypoint elimination;Thirdly,the foreign object detection track is smoothed to calculate the shortest autonomous patrol time of UAV,so as to realize the optimization of autonomous patrol track;Finally,through comparative experiments,it is proved that the indexes of the optimized autonomous patrol mode are better than the existing methods.