面向定位应用的无人机的悬停位置和飞行路径优化

doi:10.11896/jsjkx.201000105

计算机科学 ›› 2021, Vol. 48 ›› Issue (11): 345-355.doi: 10.11896/jsjkx.201000105

面向定位应用的无人机的悬停位置和飞行路径优化

赵晓薇, 朱小军, 韩周卿

南京航空航天大学计算机科学与技术学院南京211106

收稿日期:2020-10-20 修回日期:2021-03-08 出版日期:2021-11-15 发布日期:2021-11-10
通讯作者: 朱小军(xzhu@nuaa.edu.cn)
作者简介:2806096134@qq.com
基金资助:
国家自然科学基金(61972199);南京航空航天大学研究生创新基地(实验室)开放基金项目(kfjj20201602)

Hover Location Selection and Flight Path Optimization for UAV for Localization Applications

ZHAO Xiao-wei, ZHU Xiao-jun, HAN Zhou-qing

College of Computer Science and Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China

Received:2020-10-20 Revised:2021-03-08 Online:2021-11-15 Published:2021-11-10
About author:ZHAO Xiao-wei,born in 1998,postgra-duate,is a member of China Computer Federation.Her main research interests include IoT and UAV networks.
ZHU Xiao-jun,born in 1986,Ph.D,associate professor,is a member of China Computer Federation.His main research interests include UAV networks,smartphone system,RFID system and vehicular networks.
Supported by:
National Natural Science Foundation of China(61972199) and Open Research Fund for Graduate Student in Nanjing University of Aeronautics and Astronautics(kfjj20201602).

摘要/Abstract

摘要： 无人机的一种典型应用是对地面目标进行定位。本文考虑,在无人机的飞行过程中,无人机在特定位置悬停,并广播信标信号。若地面节点与无人机悬停位置的距离满足通信范围,即可监测到无人机的信标信号,当地面节点监测到3个及以上不同悬停位置的信标信号时,即可使用多边定位法对自身进行定位。文中主要解决了如何选择悬停位置以及如何在悬停位置给定的情况下优化无人机飞行路径的问题,提出了两种无人机的悬停方案,并规划了两种方案下无人机的飞行路径,证明了两种悬停方案下提出的路径均为最短回路。通过模拟实验,验证了所提方案可以实现对待覆盖区域的完全覆盖,使任意地面节点均可实现定位;并且该方案可以通过调整无人机飞行高度和悬停方案中的网格大小,来提高定位精度。

关键词: 地面目标定位, 路径规划, 无人机, 悬停位置, 最短路径

Abstract: A typical application of UAV is to locate ground targets.This paper proposes to let a UAV hover at predetermined positions to broadcast beacon signals.When a ground node receives beacons from at least three hovering positions,it can localize itself.This paper mainly considers how to choose the hovering positions and how to optimize the flight path of the UAV.This paper proposes two hovering schemes,and gives two path planning algorithms for the hovering schemes to optimize the flight path of the UAV.We prove that the flight paths under the two hovering schemes are the shortest paths respectively.Through simulations,it is verified that the proposed scheme can achieve complete coverage of the area,so that any ground node can be localized.Simulations show that the proposed schemes can achieve higher localization accuracy by adjusting the flying height of the UAV or the grid size in the hovering schemes.

Key words: Ground target localization, Hovering position, Path planning, Shortest paths, UAV

中图分类号:

TP393

赵晓薇, 朱小军, 韩周卿. 面向定位应用的无人机的悬停位置和飞行路径优化[J]. 计算机科学, 2021, 48(11): 345-355. https://doi.org/10.11896/jsjkx.201000105

ZHAO Xiao-wei, ZHU Xiao-jun, HAN Zhou-qing. Hover Location Selection and Flight Path Optimization for UAV for Localization Applications[J]. Computer Science, 2021, 48(11): 345-355. https://doi.org/10.11896/jsjkx.201000105

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面向定位应用的无人机的悬停位置和飞行路径优化

Hover Location Selection and Flight Path Optimization for UAV for Localization Applications

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