The invention relates to a method and device for detecting a homing route of an unmanned aerial vehicle and electronic equipment, relates to the field of unmanned aerial vehicles, and solves the technical problem that the existing route design of the unmanned aerial vehicle cannot meet the requirement of linear homing. The method comprises the following steps: step S100, sequentially detecting whether adjacent waypoints in an unmanned aerial vehicle route are intervisible or not, and if not, calculating height added values of the adjacent waypoints so as to enable the adjacent waypoints to be intervisible; step S200, sequentially detecting whether the initial waypoint and other waypoints in the route of the unmanned aerial vehicle are intervisible or not, and if not, calculating height added values of the other waypoints to enable the other waypoints to be intervisible with the initial waypoint; s300, sequentially detecting whether the initial waypoint and the first interpolation point on each leg are intervisible or not, and if not, calculating the height added value of the two waypoints of the leg where the first interpolation point is located so as to enable the first interpolation point and the initial waypoint to be intervisible; and S400, updating the initial height value of each waypoint according to the height added value of each waypoint.
本发明涉及一种无人机归航航线的检测方法、装置以及电子设备,涉及无人机领域,解决了现有的无人机航线设计无法满足直线归航的要求的技术问题。其方法包括:步骤S100:顺序检测无人机航线中相邻航点之间是否通视,若否,则计算相邻航点的高度增加值以使其通视;步骤S200:顺序检测无人机航线中的起始航点和其他航点之间是否通视,若否,则计算其他航点的高度增加值以使其和起始航点之间通视;步骤S300:顺序检测起始航点和每个航段上的第一插值点是否通视,若否,则计算第一插值点所在的航段的两个航点的高度增加值以使第一插值点和起始航点之间通视;步骤S400:根据各个航点的高度增加值,更新各个航点的初始高度值。
Method and device for detecting homing route of unmanned aerial vehicle and electronic equipment
一种无人机归航航线的检测方法、装置以及电子设备
2025-04-11
Patent
Electronic Resource
Chinese
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