Research On Warning Of Threaten Region In Visual Navigation

With the rapid development of aviation and information technology,the aircraft is becoming more and more important in modern warfare.Under the battle and rescue tasks of the army aviation,this paper aims at improving the ability of situation awareness and executing various tasks in low visibility and complex environment.This paper studies on the warning and path planning of the irregular threaten regions.The irregular property of threaten regions makes it difficult for the warning and path planning of them.The voxel model of threaten regions is built based on the voxelization of the triangle mesh voxelization.The surface voxelization is realized by the voxelization of divide points of the triangle mesh.The solid voxelization is realized by the flooding algorithm.A large number of intersected detection is avoided by making use of the regular and spatial orientation properties of the voxel model.This paper studies on the warning threshold of threaten regions based on the system operating characteristic(SOC)method.Different trajectories are modeled in vertical direction and horizontal direction.Different warning thresholds at different vertical descent rates and different foresights are obtained through the Monte Carlo simulation and the SOC curve.The limitation of the traditional set of warning thresholds based only on the vertical descent rates is improved by taking the foresight into consideration.A new design of warning method is proposed by combining the warning thresholds and the traditional 2D threaten figure.The design improves the shortage of showing the degree of threat based only on the height difference of the aircraft and the threaten region.This paper studies on the path planning of evading the irregular threaten region based on the voxelization of the threaten region.Firstly,the problem of the path planning of evading the threaten region is analysed.Then the model of three-dimentional path re-planning is established.A variable step sparse A-star algorithm is proposed to solve the problem.A visual scene navigation and warning system is designed and implemented.The system provides different angles of view of the flight condition and battlefield situation.The system also provides a variety of risk warning to improve the security of the aircraft.