本文關鍵詞： 無人機 山區(qū) 區(qū)域劃分 路徑規(guī)劃 搜尋　出處：《中國民用航空飛行學院》2017年碩士論文　論文類型：學位論文

【摘要】：我國航空業(yè)正隨著經(jīng)濟的發(fā)展而高速向前邁進,航空運輸量逐步提升、航空企業(yè)逐漸增多、航空器數(shù)量迅速增長。航空業(yè)的蓬勃發(fā)展,也意味著航空安全將成為人們更加關注的焦點。航空器事故仍難以完全避免,高效的航空器搜尋方法將是減小航空器事故造成的生命財產(chǎn)損失和負面影響的重要途徑。近年來,無人機行業(yè)飛速發(fā)展,無人機已經(jīng)廣泛應用于軍事、農(nóng)業(yè)、地質、氣象等領域。將無人機應用于山區(qū)墜毀航空器搜尋中,它將具有成本低、受空間限制小、無人員傷亡風險等得天獨厚的優(yōu)勢。結合上述的高效搜尋和無人機兩個焦點與熱點問題,本文進行了無人機山區(qū)搜尋方法研究。選取了適合進行山區(qū)搜尋的無人機;利用DEM數(shù)字高程模型與計算機技術生成了搜尋區(qū)域等高線障礙圖;研究了無人機山區(qū)搜尋的航拍高度,并在航拍高度基礎上,確立了搜尋高度層。參照直升機山區(qū)搜尋安全余度,結合山體坡度,確立了無人機山區(qū)搜尋安全余度,在此基礎上,在等高線障礙物圖中選取關鍵搜尋點,將關鍵搜尋點抽象為鄰接矩陣,實現(xiàn)了無人機躲避山體所形成的障礙物,對鄰接矩陣分別用遺傳算法、模擬退火算法和蟻群算法計算出遍歷所有關鍵搜尋點的最短路徑,通過MATLAB的計算與仿真結果,對搜尋路徑長度、算法穩(wěn)定性、算法運行時間進行對比,得出適用于無人機山區(qū)搜尋路徑規(guī)劃的最優(yōu)化算法。通過還原2008年汶川地震失事救援直升機的失事范圍,理論結合實際地闡述了無人機山區(qū)搜尋方法。利用遙感技術,將搜尋區(qū)域分為山體表面、空曠山谷和障礙物繁多山谷。針對這三種不同的搜尋區(qū)域,分別制定了搜尋方案。通過遙感,對山區(qū)各搜尋高度層直徑進行測量,確定山體表面搜尋方法。研究扇形搜尋、擴展方形搜尋數(shù)學模型,建立“∞”字搜尋數(shù)學模型,對比3種搜尋方式在相同范圍內搜尋路徑長度,得出最高效的無人機搜尋方式,確定空曠山谷搜尋方法。利用得出的無人機山區(qū)搜尋路徑規(guī)劃最優(yōu)化算法,確定障礙物繁多山谷搜尋方法。
[Abstract]:With the development of economy, China's aviation industry is moving forward at a high speed. The volume of air traffic is gradually increasing, the number of aviation enterprises is increasing, and the number of aircraft is increasing rapidly. It also means that aviation safety will become the focus of more attention. Aircraft accidents are still difficult to avoid completely. Efficient aircraft search methods will be an important way to reduce the loss of life and property caused by aircraft accidents and the negative effects in recent years. With the rapid development of the UAV industry, UAVs have been widely used in military, agricultural, geological, meteorological and other fields. Combined with the above two focal points and hot issues of UAV, this paper studies the method of UAV mountain area search, and selects the UAV suitable for mountain search. The contour obstacle map of search area is generated by using DEM digital elevation model and computer technology, and the aerial altitude of UAV mountain area search is studied. The search height layer is established. The search safety redundancy of UAV mountain area is established by referring to the helicopter mountain area search safety margin and combining with the mountain slope. On this basis, the key search points are selected in the contour obstacle map. The key search points are abstracted as adjacency matrix, and the obstacle formed by UAV avoiding mountain is realized. The shortest path of traversing all the key search points is calculated by genetic algorithm, simulated annealing algorithm and ant colony algorithm respectively. Through the calculation and simulation results of MATLAB, the search path length, algorithm stability and algorithm running time are compared. The optimal algorithm for the route planning of UAV mountain area search is obtained. By reducing the crash scope of the rescue helicopter in Wenchuan earthquake on 2008, the method of unmanned aerial vehicle mountain area search is expounded theoretically and practically, and the remote sensing technology is used. The search area is divided into mountain surface, open valley and various obstacle valley. For these three different search areas, the search scheme is developed separately. The diameter of each searching height layer in mountain area is measured by remote sensing. The method of mountain surface search is determined, the fan search is studied, the mathematical model of square search is extended, the mathematical model of "鈭，

本文編號：1539629