The invention provides a high-rise fire rescue unmanned aerial vehicle anti-collision early warning method, and relates to the technical field of unmanned aerial vehicle anti-collision early warning. Real-time Beidou positioning information and a planned flight path of a rescue unmanned aerial vehicle are acquired; constructing a three-dimensional flight path according to the real-time Beidou positioning information and the planned flight path, and performing airspace division on the three-dimensional flight path to obtain all flight airspaces; acquiring obstacle information on the planned flight path, performing conflict screening on each flight airspace based on the obstacle information to obtain all collision conflict airspaces, respectively determining a conflict collision coefficient of each collision conflict airspace, and determining a collision threat degree of the rescue unmanned aerial vehicle according to all the conflict collision coefficients; and performing anti-collision early warning on the high-rise fire rescue process of the rescue unmanned aerial vehicle according to each conflict collision coefficient and the collision threat degree, and performing collision early warning on the planned flight path of the rescue unmanned aerial vehicle in a complex obstacle environment so as to guarantee the flight safety of the rescue unmanned aerial vehicle.
本申请提供一种高层消防救援无人机防撞预警方法,涉及无人机防撞预警技术领域,获取救援无人机的实时北斗定位信息和规划飞行路径;依据实时北斗定位信息和规划飞行路径构建三维飞行路径,对三维飞行路径进行空域划分,得到所有的飞行空域;采集规划飞行路径上的障碍物信息,基于障碍物信息对各个飞行空域进行冲突筛选,进而得到所有碰撞冲突空域,分别确定各个碰撞冲突空域的冲突碰撞系数,根据所有的冲突碰撞系数确定救援无人机的碰撞威胁度;依据各个冲突碰撞系数和碰撞威胁度对救援无人机的高层消防救援过程进行防撞预警,本申请可以在复杂障碍环境下对救援无人机的规划飞行路径进行碰撞预警,以保障救援无人机的飞行安全。
High-rise fire rescue unmanned aerial vehicle anti-collision early warning method
一种高层消防救援无人机防撞预警方法
2025-02-14
Patent
Electronic Resource
Chinese
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