The invention provides a low-altitude unmanned aerial vehicle farmland operation flight obstacle conflict detection method, and relates to the technical field of unmanned aerial vehicle traffic management. The method comprises the following steps of firstly, establishing a coordinate system by taking an obstacle as an original point through the known flight data of an unmanned aerial vehicle and the known position information of an obstacle; removing the abnormal flight data in the flight data of the unmanned aerial vehicle according to a kinematics principle, and judging the current flight state of the unmanned aerial vehicle; calculating the position of an unknown obstacle by utilizing the positions of the four known obstacles in the newly established coordinate system and an improved least square method; aligning the unmanned aerial vehicle with the information of the obstacle with the determined position; and finally, detecting the flight conflict condition between the unmanned aerial vehicle and the obstacle with the determined position. According to the method, the conflict condition between the unmanned aerial vehicle operating in the farmland and the static obstacle is detected, so that the safe operation flight of the unmanned aerial vehicle is guaranteed, and technical support is provided for the safe flight farmland operation.
本发明提供一种低空无人机农田作业飞行障碍物冲突检测方法,涉及无人机交通管理技术领域。该方法首先通过已知的无人机的飞行数据和已知障碍物体的位置信息,以障碍物为原点,建立坐标系;然后依据运动学原理,去除无人机飞行数据中的异常飞行数据,并判断无人机的当前飞行状态;并利用四个已知障碍物在新建立坐标系中的位置和改进的最小二乘法计算出未知障碍物的位置;同时将无人机与确定位置的障碍物的信息进行对齐;最后对无人机与确定位置的障碍物之间的飞行冲突情况进行检测。本发明方法对在农田作业的无人机与静态障碍物之间的冲突情况进行检测,保障无人机的作业安全飞行,为实现安全飞行农田作业提供技术支撑。
Low-altitude unmanned aerial vehicle farmland operation flight obstacle conflict detection method
低空无人机农田作业飞行障碍物冲突检测方法
2020-08-07
Patent
Elektronische Ressource
Chinesisch
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