The Research On The Trajectory Planning Algorithm Of The UAV Ground Station For Agricultural Aerial Photography

Twenty-first Century, is an era of information technology, and an era of automation. So people are more and more high demand for automation, and the UAV is undoubtedly a new focus of research attention. In the field of agriculture, the research on the trajectory planning algorithm of UAV is relatively small. With the development of the popularity of GIS and GPS technology and sensor technology, with independent operation function of agricultural UAV system is bound to become a trend, for agricultural UAV Ground Station of trajectory planning algorithm is particularly necessary. UAV can be divided into different categories according to different classification methods, and different types of UAVs need to have a matching ground station and trajectory planning algorithm.First of all, this paper introduces the research background of this topic and the development status of domestic and foreign, analyzes the common path planning algorithm. On no UAV Ground Station and no relationship between human and flight control system, and had no effect on the UAV Ground Station hardware related to the trajectory planning algorithm is analyzed. Clear trajectory planning algorithms for the subject requirements, determine the take-off and landing and aerial trajectory planning algorithm, MATLAB simulation is done on take-off and landing method of 6 kinds of function. The results show that the algorithm meets the requirements of planning the shortest path.Then, the paper states without the agricultural aerial UAV Ground Station, is under the environment of Microsoft Visual Studio 2010 based on C# language to develop the complete.Using Access2003 database to achieve data storage and reading, with the help of Google map API function, and based on the C# language map operation. Ground station trajectory planning algorithm is by Dubins curves based on take-off and landing trajectory planning algorithm and based on mathematical induction method of aerial trajectory planning algorithms two algorithms composition. Respectively, from the map, task setting, system settings, data display and fly check five function modules, the realization of the ground station software and focus on the first four parts of the trajectory planning.Finally by "Skywalker" 1680 several sorties flight aerial, through the flight trajectory and aerial pictures, verify the books research algorithm has good feasibility and stability, to achieve the desired effect of the subject, and meet the "863 micro and small UAV remote sensing information obtaining and crop nutrient management technology" subject of the UAV Ground Station systemtrajectory planning requirements.