Research On 3D Trajectory Planning Of UAV Based On ArcGIS Engine

In the modern military,UAVs are widely used to carry out high-risk missions,such as tactical reconnaissance,electronic jamming,precision strike,etc.,so as to reduce consumption and avoid casualties.The flight of UAV requires the operator to adjust according to the actual geographical environment and threat factors,and accurately plan the flight path to ensure the smooth completion of the task.The flight path planning of UAV is an important part of the mission planning system,and also the most critical link in the mission planning.It is the technical guarantee to realize the safe and autonomous flight of UAV.In this thesis,the path planning of UAV in 3D complex environment is studied,and the 3D path planning of UAV is realized.The main research contents are as follows:Firstly,this thesis introduces the research background of UAV path planning technology,simulates the fuselage constraints of UAV and the threats easily encountered in flight with MATLAB,and establishes the comprehensive cost mathematical model of path planning in threedimensional space.Path planning algorithm is the core of three-dimensional path planning points,so this thesis studies three algorithms commonly used in path planning,which are particle swarm optimization algorithm,A* algorithm,and ant colony algorithm.The simulation of flight path is realized with MATLAB.(1)Overall scheme design of 3D path and track system for UAV Based on Arc GIS Engine.The design of 3D path planning system of UAV is divided into three modules,such as map operation,track planning and data management,and the overall planning of each module is made.This thesis defines the development environment of the system and expounds the secondary development flow of Arcgiis Engine map display control in the system.(2)The simulation model of constrained threat in 3D complex environment is established.The constraints and environmental threats of UAV are studied,including the minimum route length,flight height,maximum range,maximum turning Angle,and the obstacles such as bad weather,radar,anti-aircraft guns,missiles,etc.The comprehensive cost model of UAV was established according to the constraint and threat models,and the simulation model was carried out by MATLAB software.The 3D data of simulated terrain is explained,and the 3D map is made with Arcence and Global Map software.My SQL database is used to store and modify the data of 3D path planning system of UAV.(3)Research and implementation of 3D path planning algorithm for building constrained threat simulation model in 3D complex environment.Particle swarm optimization algorithm,A* algorithm,ant colony algorithm and improved ant colony algorithm are studied.The advantages and disadvantages of each algorithm are analyzed,and the application of each algorithm in 3D path planning is realized.The simulation of various algorithms in the 3D map model is realized by MATLAB,and the simulation results are analyzed.The simulation effect of improved ant colony algorithm in 3D path planning is the best,and it solves the situation that ant colony algorithm is easy to appear local optimal solution.The improved ant colony algorithm is used to realize 3D path planning of UAV.(4)Realization of 3D path planning system.Through Visual Studio software based on the MFC dialog box mode to build the flight path planning system software framework,the completion of account management,map operation,two-dimensional path planning,threedimensional path planning functions.After successfully verifying the account,the user can enter the function interface of the system.In the map operation function module,the flying range of the UAV can be limited by zooming in and out of the map.In the two-dimensional path planning module,the path planning of the UAV on the plane map can be realized.In the three-dimensional path planning,the path planning of the UAV in the three-dimensional space is realized.