Minisize rudders three-dimensional track emulation method under city environment
Title：
Minisize rudders three-dimensional track emulation method under city environment
Application Number：
 200710099596
Application Date：
 2007/05/25
Announcement Date：
 2008/02/06
Pub. Date：
Publication Number：
 101118622
Announcement Number：
Grant Date：
Granted Pub. Date：
ApplicationType：
 Invention
State/Country：
 11[China|beijing]
IPC：
 G06Q 10/00G06T 17/00
Applicant(s)：
 Tsinghua University
Inventor(s)：
 Tian Ling, Wen Yingyi, Hang Kaixin
Key Words：
 Minisize rudders, three-dimensional track, emulation method, city environment
Abstract：
 The present invention relates to a method of the 3D track simulation for a miniature aircraft under urban surroundings and belongs to the field of the 3D real-time route navigation technology for a miniature aircraft. The following modules are set in a computer: a map digitalized module, which digitalizes the 3D model of urban surroundings including threat points, buildings, the departure and target points of a miniature aircraft that is inputted by the graphical user interface (GUI), map parameters and the coordinate of a candidate navigation point composed of the 3D model of urban surroundings and the map parameters; a flight path programming module, which inputs the data from the map digitalized module, calculates the overall route index that takes the flight resource consumption rate and the survival rate into consideration, figures out the most feasible route using network optimizing algorithm under the condition of taking barriers into consideration, and then smooths the bevel at turnings and generates a realtime flight orbit; a data-collecting module, which collects the coordinate values of the aircraft positions and postures outputted by the flight path programming module and forms a posture coordinate value including orthogonal coordinate variables X, Y and Z, a pitch angle h, a yawing angle p and a roll angle r. The present invention saves flight resources and improves flights simultaneously.
Claim：
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