无人机三维航迹规划改进方法

在地形起伏的复杂环境下进行遥感观测任务需要进行三维航迹规划以适应多变的自然环境，而且在规划航迹时需要考虑减少飞行时间和能量消耗以提高作业效率。本文提出了一种曲面趋平化算法（CSFA），首先采用准均匀B样条曲面拟合算法对CSFA算法处理后的目标区域DEM进行插值，构建区域的自然环境地形模型；然后为了减少时间和能量的消耗，采用点边式宽度算法计算最优飞行方向，获得最少转弯次数；最后通过摄影测量中的重叠度约束和区域环境地形模型计算三维航带和曝光点。试验通过在不同的航高下建立约束进行三维航迹规划模拟仿真，试验结果表明，本文提出的方法能够缩短航带长度，降低作业能耗，有效地提高了观测任务效率。

Improved method of UAV 3D path planning

In order to adapt to the changing natural environment,it is necessary to develop three-dimensional path planning for remote sensing observation mission in the complex environment of undulant terrain. It is valuable to reduce the flight time and energy consumption to improve the observation efficiency. This paper proposes an algorithm called curved surfaced flattening algorithm( CSFA). The algorithm uses quasi-uniform B-spline curve fitting algorithm to interpolate the DEM of target area processed by CSFA algorithm to build the terrain model of regional natural environment. Then it uses the vertex-edge algorithm to calculate the optimal flight direction and obtain minimum number of turns in order to reduce the time and energy consumption. Finally,the three-dimensional( 3D)airstrips and exposure points can be calculated according to the overlap constraint in photogrammetry and regional environment terrain model. In the experiment,3D path planning simulation is carried out by establishing constraints at different fly heights. The results show that method proposed in this paper can shorten the length of 3D airstrips,reduce the energy consumption and improve the efficiency of observation task obviously.