Routing And Gimbal Collaborative Planning Research For Changing Targets Observation

Changing targets observation is one of the typical characters for UAV.The influence of such factors as changing targets location,observing time sensitivity and so on makes it harder and stricter for UAV route and gimbal controlling.In this paper,some key problems of mission planning are researched such as the task modeling,routing and gimbal collaborative planning and routing adjustment for changing targets according to the characteristics of variable targets air observation mission.A route and gimbal collaborative planning system for changing targets observation is put forward to improve the execution efficiency and accuracy.The main researches are as follows:1?A route modeling and planning method for changing targets observation based on model switch is put forward according to the characteristics of the variable target air observation.And also a mathematical model of UAV detection area and resolution is established.The whole task process is divided into four stages.They are regional arriving stage,circling waiting stage,route transferring and closing up stage and returning stage.The influencing factors of each stage are analyzed respectively to find out how to design the parameters of each stage.Finally a switch rule is proposed to join each stage together.By then the model of on-line route planning based on model switch is fully brought forward.2?A route and gimbal collaborative planning method is put forward to solve the flight route and load gimbal coupling problem in the process of aerial observation mission.In order to achieve the optimal observation,a delamination and whole method is adapted to build and solve the routing and gimbal collaborative planning model.And the route command and gimbal control command are generated on-line at the same time.3?A route adjusting strategy based on the comprehensive judgment of distance and heading angle is put forward to solve the celerity and the safety problems for changing targets observation.The strategy is divided into eight cases based on the distance of UAV to targets and UAV heading angle.And each case is verified by simulation to prove its flight security and gimbal control rationality.4?A route and gimbal collaborative planning system is designed to actualize the method put forward in this paper.Combined with a typical UAV and changing target observation mission,the system has realized the collaborative planning method and the route adjusting strategy and proved the correctness by programme.