无人机云地理围栏算法研究

Research on UAV Cloud Geofencing Algorithm

摘要:

随着无人机系统广泛应用，无人机飞行安全问题日益凸显。为满足无人机云对空域内无人机及时告警、高效管制需求，提出了一种无人机地理围栏算法。该算法预处理采用耳切法对水平围栏进行三角剖分，构建三角形邻接表；运行时周期性检测无人机是否围栏内部并产生边界违规告警；高度围栏采用高度边界限制检测，水平围栏基于邻接三角形法进行边界违规检测，其采用广度优先搜索来搜索包含无人机位置的三角形，搜索的起始节点基于上一次无人机所处的三角形；利用开发的模拟无人机云系统，进行了无人机水平匀速飞行仿真；仿真结果表明：该算法能够快速、准确地描述无人机违反地理围栏边界的状态，适用于同时包含禁出区和禁入区的三维地理围栏。

Abstract:

With the wide application of unmanned aerial systems (UAS), the problem of UAV flight safety is becoming more and more prominent. In order to meet the demand of UAV cloud for timely warning and efficient control of UAVs in the airspace, a UAV geofencing algorithm is proposed. The pre-processing of the algorithm adopts the ear clipping method to triangulate the horizontal fence, and constructs the triangle adjacency table; the runtime periodically detects whether the drone is inside the fence and generates boundary violation alarms; the altitude fence adopts the altitude boundary restriction detection, and the horizontal fence is based on the adjacency triangle method for the detection of boundary violations, which adopts breadth-first search to search for the triangle that contain the location of UAV, and the starting node of the search is based on the triangle in which the UAV was located in the last time; using the developed simulated UAV cloud system, the UAV horizontal uniform flight simulation is carried out; the simulation results show that: the algorithm is able to quickly and accurately describe the state of the UAV violating the boundary of the geofence, and it is applicable to the three-dimensional geofence that contains both keep-in and keep-out geofences.