GPS导航无人机运输路径最优化生成方法

Optimal Generation Method of GPS Navigation UAV Transportation Path

传统方法未充分考虑外界因素对航线的影响,导致生成的路径不符合实际需求。于是提出基于GPS导航的无人机运输路径最优化生成方法。通过GPS和多个机载接收器的推算出航迹数据,为运输路径最优化生成提供数据基础,使用倾斜角信号和无人机俯视角得出飞行姿态值,同时凭借空速、地速、风速估计环境的风场值,充分考虑机身参数和环境对无人机航线的影响。以危险单元分布图获得最小危险路径,因指数函数为单调递减函数,可等价将最小危险路径转化为最短路径生成问题,最后利用Dijstra算法实现运输路径最优化生成。仿真结果分析,所提方法能够根据GPS信号实时调整生成结果,使输出的最优路径符合最安全、最短的运输需求,具有极佳的鲁棒性和适用范围。

The traditional method does not fully consider the influence of external factors on the route,resulting in the generated path does not meet the actual needs.Therefore,we reported a generation method of UAV transportation path optimization based on GPS navigation.According to GPS and multiple airborne receivers,the track data was obtained to generate the optimal data of transportation path.Meanwhile,the wind field values of airspeed,ground speed and wind speed estimation environment were introduced to investigate the influence of fuselage parameters and environment on UAV route.According to the distribution of dangerous units,the minimum dangerous path was obtained.Because the exponential function is a monotone decreasing function,the minimum dangerous path was transformed into the shortest path,thus Dijstra algorithm was introduced to complete the optimal generation of transportation path.The simulation results show that the optimal path output by this method has high security,short transportation demand,and excellent robustness and application scope.