Uav Path Planning And Navigation Method Of Research And Implementation

Confronted with the growing complexity of the battlefield environment and the fluidity of the tactics, more and more countries around the world begin to increase their investment in the research of new types of weapons and equipment, hoping to improve the level of combat in the future. Nowadays, promoted by the development of space technology, computer and communication technology, the unmanned aerial vehicle (UAV), which is a newly developed weaponry of the future battlefield, has greatly improved and advanced in its performance. As two important components of the UAV ground stations, the UAV path planning system and the navigation system both have great function in the UAV battle flight mission.Although UAV and its ground station systems have already been applied in the mission detecting and intelligence obtaining tasks in practice, however, the overall performance and each subsystems of them still cannot meet the requirements of the complex battle environment in the future. Therefore, considering the two subsystems of UAV ground station, including the UAV path planning system and the navigation system, this paper makes a research and analysis on their key technology and the existing problems.The specific research work are as follows:1. This dissertation emphatically aims at the position and the function of the two important subsystems in the UAV ground stations, which include the UAV path planning system and the navigation system, to conduct the research and analysis. Proceeding from their key technology and main functions, a detailed analysis of the overall structure and each component module of these two subsystems is provided.2. The elevation data (DEM) and the electronic map which are used in the UAV path planning system and navigation system are analyzed. On this basis, a simple comparison between the two spatial representation methods of electronic maps is carried out. Then the geographic coordinates and the projection transformation used in the planning system and the electronic map are researched.3. Based on the investigation of the2-D and3-D search space and the model in route planning, different types of threats that may emerge during the UAV performing combat mission are analyzed. And the corresponding mathematical model of each threat is established. Several common route planning algorithms for UAV are studied and compared, among which the heuristic A*algorithm is emphasized. After introducing the basic principle of the heuristic A*algorithm, some improvements are made. Finally, the UAV path planning system is realized by means of the STK visualization model.4. In addition, the dissertation also analyzes the basic realization method of the navigation and monitoring system. A deep research to the MapX component development technology and the layer management technology used in this navigation system is carried out, and the development steps are proposed. Researches on the matching method between the terrain and electronic map in the guidance system are made. Ultimately, the UAV navigation system is fulfilled by using the MapX component technology and the OpenGL graphics technology.