The invention relates to an autonomous deployment method for an air route of an urban low-altitude unmanned aerial vehicle. The method comprises the following steps: (1) initializing an unmanned aerial vehicle, an air route deployment algorithm, starting and ending point coordinates of each air route and weight factors alpha and beta, and establishing a Manhattan cubic mean G (X) model of a target ending point and a target starting point and a distance sum N (X) model of each leg; (2) calculating a Manhattan distance as a first satisfaction condition, carrying out second condition judgment on the distance of each leg, considering the isomerism of air route models at different depths, and completing optimal air route deployment from the starting point to the target terminal point; and (3) finally, comprehensively analyzing the airspace limitation of the flight segment where the unmanned aerial vehicle is located, whether conflicts exist or not and whether the risk degree is high or not, and completing rapid switching of routes of different flight segments by updating the Manhattan weight factor and the route weight factor in real time, so that intelligent danger escape under the optimal path is realized.
本发明涉及一种城市低空无人机航路自主调配方法。该方法包括:(1)初始化无人机、航路调配算法、各航路起终点坐标、权重因子α和β,建立目标终点与起点曼哈顿三次均值G(X)模型、各航段距离之和N(X)模型;(2)计算曼哈顿距离作为第一满足条件进行各航段距离第二条件判断,同时考虑不同深度航路模型的异构性,完成起始点到目标终点的最优航路调配;(3)最后综合分析无人机所处航段空域限制、是否冲突和危险度较高的情景,通过实时更新曼哈顿权重因子和航路权重因子完成不同航段路线的迅速切换,从而实现最优路径下的智慧脱险。
Urban low-altitude unmanned aerial vehicle route autonomous allocation method
一种城市低空无人机航路自主调配方法
2025-05-30
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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