The invention provides a three-dimensional path planning method for stratospheric super pressure balloons, which comprises the following steps of selecting the trajectory space including the expected residence position and range, and then performing the cube grid division according to the decomposed expected residence target position of the super-pressure balloon; Using Rubik's cube search method, wherein the probability of reaching each adjacent cube grid after a time interval is calculated by the prediction of environmental big data changes through estimation algorithms; based on the Markov decision process, path planning is performed in the entire trajectory space, actual control is performed according to the path planning, and rewards and punishments are performed according to the rolling accumulation of actual control results and path planning results to determine subsequent planning and control; enhancing and updating environmental big data based on actual control results. The three-dimensional path planning method of the stratospheric super-pressure balloon of the present invention realizes long-term reliable stopping by controlling the residence and load direction, which meets the application requirements in the spatial information network. x y / Current cubeVi Adjacant cube Figure 22 A schematic diagram of the current red cube at the center of the Rubik's cube and its maximum 26 adjacent cubes. Hs mena kwe"saE CumMm nv3 n Th Figure 23 The statistical diagram of wind speed variation at different heights in western China. IgeCooerahe PahPath Path Autoat Neapae aocado ontrol H planning smoothing tracking pilot platform Figure 24 The schematic diagram of multi-platform cooperative path planning model.
Three-dimensional Path Planning Method for Stratospheric Super-pressure Balloons
2021-06-24
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64B LIGHTER-THAN-AIR AIRCRAFT , Luftfahrzeuge leichter als Luft / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / H04B TRANSMISSION , Übertragung / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
Advanced Drop Tests from Stratospheric Balloons
British Library Conference Proceedings | 2012
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AIAA | 2012
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