| With the rapid development of UAV technology,UAV is more and more widely used in military and civil fields.UAV route planning is an important branch of UAV technology.In the process of industrial UAV planning,it is difficult to improve the working efficiency of small UAV through the battery capacity constraints.Therefore,it is difficult to improve the working capacity of UAV in the process of industrial UAV planning.Secondly,the UAV needs to carry multi-band data acquisition equipment when collecting camouflage feature data.Using multi-band data acquisition equipment can obtain the key information of enemy targets.However,the parameters of different acquisition devices,such as field angle,resolution and overlap rate,are not consistent.Therefore,when data acquisition is carried out in the same area,different paths need to be planned to ensure the quality of UAV data acquisition.In view of the different constraints of different data acquisition equipment,this paper proposes a variety of route planning methods and constructs a route planning system.Weather factors will affect the image quality of UAV in the process of data acquisition and increase the energy consumption of UAV.However,the existing UAV route planning methods do not consider the impact of weather on the route.Therefore,this paper proposes a UAV route optimization method under the influence of weather to improve the quality of UAV data acquisition and reduce the energy consumption of UAV.The main work and innovations of this paper are as follows:(1)Aiming at the problem that the existing UAV route planning algorithms are difficult to fit the single target and multi-target flight around at the same time,this paper proposes methods for flying around the single target and multi-target route planning of multi-rotor UAV.Firstly,the route planning model of multi rotor UAV collects multi view data from a single target is established,and then the parameters of route planning are solved according to the constraints.Finally,the route planning algorithm of single target flying around is proposed.Aiming at the shortest route problem of multiple target data acquisition,a hybrid dynamic programming optimization route planning method is proposed.This method obtains the flight around sequence of multiple targets through dynamic programming,and then dynamically optimizes the starting and ending flight around points of each target.Experiments show that the optimized route length is shortened by 10%-23.74%compared with that before optimization,and the more the number of targets,the better the optimization effect.(2)Aiming at the problem that the existing route planning algorithms cannot adaptively plan the acquisition routes of heterogeneous sensors due to the differences of airborne data acquisition sensor parameters,a multiband camouflage feature data acquisition route planning system is constructed in this paper.The system includes five route planning methods:route planning method of single-target flight around,route planning method of multi-target flight around,full coverage route planning method of SAR UAV,multi-view route planning method of SAR UAV and route planning method of cattle ploughing.The UAV is equipped with data acquisition equipment in four bands:visible light,infrared,hyperspectral and SAR.Route planning of UAV is carried out through the system,more than 12000 multi-band camouflage feature images are successfully collected in the real environment,which verifies the accuracy of route planning method and the robustness of the system.(3)The existing UAV route planning algorithms fail to consider the influence of weather factors,including wind,humidity,temperature,fog and other complex environments on UAV data acquisition during operation.This paper puts forward the influence of weather factors on UAV route planning and optimization methods.UAV may encounter complex weather when collecting multi-band camouflage feature data.This paper mainly studies the effects of fog,temperature,humidity and wind on the route.Firstly,the constraints of four weather factors on the route are analyzed in detail,and then the route optimization method under weather constraints is proposed.Finally,experiments show that reducing the flight height of UAV can improve the quality of data acquisition and facilitate the identification of camouflage targets.When the angle between UAV route and wind direction is 90°,the total flight time is the shortest,which improves the efficiency of data acquisition. |
