forked from chiyu1468/AirTrapMine
更新 mission_planner
This commit is contained in:
+147
-220
@@ -1,44 +1,30 @@
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#!/usr/bin/env python3
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"""
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飛行任務規劃模組
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負責將 GPS 點擊座標轉換為隊形飛行任務
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新增：Circle Formation 和 Leader-Follower
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"""
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import math
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from typing import List, Tuple, Optional
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from typing import List, Tuple, Optional, Dict, Any
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from enum import Enum
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class MissionType(Enum):
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"""任務類型"""
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M_FORMATION = "m_formation"
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CIRCLE_FORMATION = "circle_formation"
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LEADER_FOLLOWER = "leader_follower"
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class CoordinateConverter:
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"""GPS 座標與 Local 座標的轉換器"""
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def __init__(self, origin_lat: float, origin_lon: float, origin_alt: float = 0):
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"""
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初始化座標轉換器
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Args:
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origin_lat: 參考原點緯度
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origin_lon: 參考原點經度
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origin_alt: 參考原點高度（公尺，相對於海平面）
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"""
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self.origin_lat = origin_lat
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self.origin_lon = origin_lon
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self.origin_alt = origin_alt
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self.R = 6371000.0 # 地球半徑（公尺）
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self.R = 6371000.0
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def gps_to_local(self, lat: float, lon: float, alt: float) -> Tuple[float, float, float]:
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"""
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GPS 座標轉換為 Local 座標（ENU 系統：East-North-Up）
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Args:
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lat: 緯度
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lon: 經度
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alt: 高度（公尺，相對於海平面）
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Returns:
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(x, y, z): Local 座標（公尺）
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x: East（東方）
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y: North（北方）
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z: Up（向上）
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"""
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lat_rad = math.radians(lat)
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lon_rad = math.radians(lon)
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origin_lat_rad = math.radians(self.origin_lat)
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@@ -47,25 +33,13 @@ class CoordinateConverter:
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dlat = lat_rad - origin_lat_rad
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dlon = lon_rad - origin_lon_rad
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# 使用 Equirectangular projection（適用於小範圍 < 10 km）
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x = self.R * dlon * math.cos((lat_rad + origin_lat_rad) / 2) # East
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y = self.R * dlat # North
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z = alt - self.origin_alt # Up
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x = self.R * dlon * math.cos((lat_rad + origin_lat_rad) / 2)
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y = self.R * dlat
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z = alt - self.origin_alt
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return x, y, z
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def local_to_gps(self, x: float, y: float, z: float) -> Tuple[float, float, float]:
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"""
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Local 座標轉換為 GPS 座標
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Args:
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x: East（東方，公尺）
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y: North（北方，公尺）
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z: Up（向上，公尺）
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Returns:
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(lat, lon, alt): GPS 座標
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"""
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origin_lat_rad = math.radians(self.origin_lat)
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origin_lon_rad = math.radians(self.origin_lon)
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@@ -85,14 +59,6 @@ class FormationPlanner:
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def __init__(self, spacing: float = 5.0,
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base_altitude: float = 10.0,
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altitude_diff: float = 2.0):
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"""
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初始化隊形規劃器
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Args:
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spacing: 無人機間距（公尺）
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base_altitude: 基準飛行高度（公尺，相對於參考原點）
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altitude_diff: M 字形的高低差（公尺）
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"""
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self.spacing = spacing
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self.base_altitude = base_altitude
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self.altitude_diff = altitude_diff
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@@ -101,25 +67,28 @@ class FormationPlanner:
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def plan_formation_mission(self,
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drone_gps_positions: List[Tuple[float, float, float]],
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target_gps: Tuple[float, float, float]) -> Tuple[List[Tuple[float, float, float]],
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List[Tuple[float, float, float]]]:
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target_gps: Tuple[float, float, float],
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mission_type: MissionType = MissionType.M_FORMATION,
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params: Optional[Dict[str, Any]] = None) -> Tuple[
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List[Tuple[float, float, float]],
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List[Tuple[float, float, float]],
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Tuple[float, float, float]]:
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"""
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規劃兩階段隊形任務
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Args:
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drone_gps_positions: 當前無人機 GPS 位置列表 [(lat, lon, alt), ...]
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target_gps: 目標點 GPS 座標 (lat, lon, alt)
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drone_gps_positions: 當前無人機 GPS 位置列表
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target_gps: 目標點 GPS 座標
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mission_type: 任務類型
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params: 任務參數
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Returns:
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stage1_gps: 階段 1（集合點）的 GPS 航點列表
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stage2_gps: 階段 2（目標點）的 GPS 航點列表
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origin: 中心點（參考原點）的 GPS 座標 (lat, lon, alt)
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origin: 中心點（參考原點）的 GPS 座標 (lat, lon, alt)
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(stage1_gps, stage2_gps, origin)
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"""
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if len(drone_gps_positions) == 0:
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raise ValueError("無人機位置列表不能為空")
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# ===== 步驟 1: 計算中央點並設為參考原點 =====
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# 計算中央點
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center_lat = sum(pos[0] for pos in drone_gps_positions) / len(drone_gps_positions)
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center_lon = sum(pos[1] for pos in drone_gps_positions) / len(drone_gps_positions)
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center_alt = sum(pos[2] for pos in drone_gps_positions) / len(drone_gps_positions)
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@@ -127,197 +96,155 @@ class FormationPlanner:
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self.current_origin = (center_lat, center_lon, center_alt)
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self.converter = CoordinateConverter(center_lat, center_lon, center_alt)
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print(f"📍 參考原點: ({center_lat:.6f}, {center_lon:.6f}, {center_alt:.1f}m)")
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# 轉換到 Local 座標
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drone_local = [self.converter.gps_to_local(*pos) for pos in drone_gps_positions]
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target_local = self.converter.gps_to_local(*target_gps)
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# ===== 步驟 2: 轉換到 Local 座標系 =====
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drone_local_positions = []
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for lat, lon, alt in drone_gps_positions:
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x, y, z = self.converter.gps_to_local(lat, lon, alt)
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drone_local_positions.append((x, y, z))
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# 計算隊形
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if mission_type == MissionType.M_FORMATION:
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stage1_local, stage2_local = self._calculate_m_formation(drone_local, target_local, params)
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elif mission_type == MissionType.CIRCLE_FORMATION:
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stage1_local, stage2_local = self._calculate_circle_formation(drone_local, target_local, params)
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elif mission_type == MissionType.LEADER_FOLLOWER:
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stage1_local, stage2_local = self._calculate_leader_follower(drone_local, target_local, params)
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else:
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raise ValueError(f"不支援的任務類型: {mission_type}")
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target_local = self.converter.gps_to_local(
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target_gps[0], target_gps[1], target_gps[2]
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)
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# 轉回 GPS
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stage1_gps = [self.converter.local_to_gps(*pos) for pos in stage1_local]
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stage2_gps = [self.converter.local_to_gps(*pos) for pos in stage2_local]
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# ===== 步驟 3: 在 Local 座標系中計算隊形 =====
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stage1_local, stage2_local = self._calculate_formation_local(
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drone_local_positions,
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target_local
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)
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# ===== 步驟 4: 轉回 GPS 座標 =====
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stage1_gps = []
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for x, y, z in stage1_local:
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lat, lon, alt = self.converter.local_to_gps(x, y, z)
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stage1_gps.append((lat, lon, alt))
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stage2_gps = []
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for x, y, z in stage2_local:
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lat, lon, alt = self.converter.local_to_gps(x, y, z)
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stage2_gps.append((lat, lon, alt))
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print(f"✅ 任務規劃完成: {len(stage1_gps)} 台無人機，2 階段飛行")
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# ================================================================================
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# 【修改】回傳中心點座標供地圖視覺化使用
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# ================================================================================
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return stage1_gps, stage2_gps, self.current_origin
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# ================================================================================
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def _calculate_formation_local(self,
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drone_positions: List[Tuple[float, float, float]],
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target_point: Tuple[float, float, float]) -> Tuple[List[Tuple[float, float, float]],
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List[Tuple[float, float, float]]]:
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"""
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在 Local 座標系中計算隊形
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Args:
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drone_positions: Local 座標的無人機位置 [(x, y, z), ...]
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target_point: Local 座標的目標點 (x, y, z)
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Returns:
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stage1_positions: 階段 1（中央點分佈）的 Local 座標
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stage2_positions: 階段 2（目標點分佈）的 Local 座標
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"""
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def _calculate_m_formation(self, drone_positions, target_point, params):
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"""M字形編隊（原本的邏輯）"""
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params = params or {}
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N = len(drone_positions)
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spacing = params.get('spacing', self.spacing)
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base_altitude = params.get('base_altitude', self.base_altitude)
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altitude_diff = params.get('altitude_diff', self.altitude_diff)
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# ===== 步驟 1: 計算中央點（在 Local 座標系中應該接近原點）=====
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C_x = sum(pos[0] for pos in drone_positions) / N
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C_y = sum(pos[1] for pos in drone_positions) / N
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C_z = sum(pos[2] for pos in drone_positions) / N
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print(f" 中央點 Local: ({C_x:.2f}, {C_y:.2f}, {C_z:.2f})")
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# ===== 步驟 2: 計算方向向量（中央點 → 目標點）=====
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T_x, T_y, T_z = target_point
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V_x = T_x - C_x
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V_y = T_y - C_y
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V_x, V_y = T_x - C_x, T_y - C_y
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P_x, P_y = -V_y, V_x
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print(f" 方向向量: ({V_x:.2f}, {V_y:.2f})")
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# ===== 步驟 3: 計算垂直向量（逆時針旋轉 90°）=====
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P_x = -V_y
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P_y = V_x
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# 單位化垂直向量
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length = math.sqrt(P_x**2 + P_y**2)
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if length < 0.01: # 避免除以零
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# 如果目標點與中央點重合，使用默認方向（向東）
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P_x_unit, P_y_unit = 1.0, 0.0
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else:
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P_x_unit = P_x / length
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P_y_unit = P_y / length
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P_x_unit, P_y_unit = (P_x / length, P_y / length) if length > 0.01 else (1.0, 0.0)
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print(f" 垂直單位向量: ({P_x_unit:.3f}, {P_y_unit:.3f})")
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# ===== 步驟 4: 計算無人機在垂直方向的投影並排序 =====
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projections = []
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for i, pos in enumerate(drone_positions):
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relative_x = pos[0] - C_x
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relative_y = pos[1] - C_y
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projection = relative_x * P_x_unit + relative_y * P_y_unit
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projections.append((projection, i))
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# 按投影值排序（保持左右順序）
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projections = [((pos[0] - C_x) * P_x_unit + (pos[1] - C_y) * P_y_unit, i)
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for i, pos in enumerate(drone_positions)]
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projections.sort()
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sorted_indices = [idx for _, idx in projections]
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print(f" 排序後的無人機索引: {sorted_indices}")
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# ===== 步驟 5: 分佈無人機位置 =====
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stage1_positions = [None] * N # 預分配列表
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stage1_positions = [None] * N
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stage2_positions = [None] * N
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for rank, original_idx in enumerate(sorted_indices):
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# 計算相對中心的水平偏移
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offset = (rank - (N - 1) / 2) * self.spacing
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for rank, (_, original_idx) in enumerate(projections):
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offset = (rank - (N - 1) / 2) * spacing
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altitude = base_altitude + (altitude_diff if rank % 2 == 0 else -altitude_diff)
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# 計算 M 字形高度（交替高低）
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if rank % 2 == 0:
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altitude = self.base_altitude + self.altitude_diff # 高
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else:
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altitude = self.base_altitude - self.altitude_diff # 低
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# 階段 1：在中央點附近分佈
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stage1_x = C_x + P_x_unit * offset
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stage1_y = C_y + P_y_unit * offset
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stage1_z = altitude
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# 階段 2：在目標點附近分佈（保持相同的相對位置）
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stage2_x = T_x + P_x_unit * offset
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stage2_y = T_y + P_y_unit * offset
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stage2_z = altitude
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# 按照原始索引存儲（保持無人機 ID 順序）
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stage1_positions[original_idx] = (stage1_x, stage1_y, stage1_z)
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stage2_positions[original_idx] = (stage2_x, stage2_y, stage2_z)
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stage1_positions[original_idx] = (C_x + P_x_unit * offset, C_y + P_y_unit * offset, altitude)
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stage2_positions[original_idx] = (T_x + P_x_unit * offset, T_y + P_y_unit * offset, altitude)
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return stage1_positions, stage2_positions
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def update_parameters(self, spacing: Optional[float] = None,
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base_altitude: Optional[float] = None,
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altitude_diff: Optional[float] = None):
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def _calculate_circle_formation(self, drone_positions, target_point, params):
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"""
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更新隊形參數
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Args:
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spacing: 無人機間距（公尺）
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base_altitude: 基準飛行高度（公尺）
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altitude_diff: M 字形的高低差（公尺）
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圓形編隊
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params: radius(10.0), altitude(10.0), start_angle(0.0)
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"""
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if spacing is not None:
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self.spacing = spacing
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print(f" 間距更新為: {spacing} m")
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params = params or {}
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N = len(drone_positions)
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radius = params.get('radius', 10.0)
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altitude = params.get('altitude', 10.0)
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start_angle = params.get('start_angle', 0.0)
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if base_altitude is not None:
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self.base_altitude = base_altitude
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print(f" 基準高度更新為: {base_altitude} m")
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center_x, center_y, center_z = target_point
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stage1_positions = []
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stage2_positions = []
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angle_step = 360.0 / N
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if altitude_diff is not None:
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self.altitude_diff = altitude_diff
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print(f" 高低差更新為: {altitude_diff} m")
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for i in range(N):
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angle_rad = math.radians(start_angle + angle_step * i)
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final_x = center_x + radius * math.cos(angle_rad)
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final_y = center_y + radius * math.sin(angle_rad)
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final_z = altitude
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current_x, current_y, current_z = drone_positions[i]
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stage1_positions.append((
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current_x + (final_x - current_x) * 0.5,
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current_y + (final_y - current_y) * 0.5,
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current_z + (final_z - current_z) * 0.5
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))
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stage2_positions.append((final_x, final_y, final_z))
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return stage1_positions, stage2_positions
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def _calculate_leader_follower(self, drone_positions, target_point, params):
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"""
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Leader-Follower 編隊
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params: follow_distance(15.0), altitude_offset(1.0)
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"""
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params = params or {}
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N = len(drone_positions)
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follow_distance = params.get('follow_distance', 15.0) # 預設 15m
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altitude_offset = params.get('altitude_offset', 1.0)
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leader_x, leader_y, leader_z = drone_positions[0]
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target_x, target_y, target_z = target_point
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direction_x = target_x - leader_x
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direction_y = target_y - leader_y
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direction_length = math.sqrt(direction_x**2 + direction_y**2)
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dir_unit_x, dir_unit_y = (direction_x / direction_length, direction_y / direction_length) \
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if direction_length > 0.01 else (0.0, 1.0)
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stage1_positions = []
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stage2_positions = []
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# Leader
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leader_stage1 = (leader_x + direction_x * 0.3, leader_y + direction_y * 0.3, target_z)
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stage1_positions.append(leader_stage1)
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stage2_positions.append(target_point)
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# Followers
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for i in range(1, N):
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back_offset = follow_distance * i
|
||||
height_offset = altitude_offset * (i % 2)
|
||||
|
||||
current_x, current_y, current_z = drone_positions[i]
|
||||
follow1_x = leader_stage1[0] - dir_unit_x * back_offset
|
||||
follow1_y = leader_stage1[1] - dir_unit_y * back_offset
|
||||
follow1_z = leader_stage1[2] + height_offset
|
||||
|
||||
stage1_positions.append((
|
||||
current_x + (follow1_x - current_x) * 0.5,
|
||||
current_y + (follow1_y - current_y) * 0.5,
|
||||
current_z + (follow1_z - current_z) * 0.5
|
||||
))
|
||||
|
||||
stage2_positions.append((
|
||||
target_x - dir_unit_x * back_offset,
|
||||
target_y - dir_unit_y * back_offset,
|
||||
target_z + height_offset
|
||||
))
|
||||
|
||||
return stage1_positions, stage2_positions
|
||||
|
||||
|
||||
# ===== 測試程式碼 =====
|
||||
# 測試
|
||||
if __name__ == "__main__":
|
||||
print("=" * 60)
|
||||
print("隊形任務規劃器測試")
|
||||
print("=" * 60)
|
||||
planner = FormationPlanner()
|
||||
|
||||
# 模擬 5 台無人機的 GPS 位置
|
||||
drone_gps = [
|
||||
(24.123450, 120.567800, 100.0), # 無人機 0
|
||||
(24.123470, 120.567820, 102.0), # 無人機 1
|
||||
(24.123440, 120.567810, 98.0), # 無人機 2
|
||||
(24.123460, 120.567830, 101.0), # 無人機 3
|
||||
(24.123445, 120.567795, 99.0), # 無人機 4
|
||||
]
|
||||
drones = [(24.123450, 120.567800, 100.0), (24.123470, 120.567820, 102.0), (24.123440, 120.567810, 98.0)]
|
||||
target = (24.123600, 120.568000, 105.0)
|
||||
|
||||
# 目標點
|
||||
target_gps = (24.123600, 120.568000, 105.0)
|
||||
|
||||
# 建立規劃器
|
||||
planner = FormationPlanner(
|
||||
spacing=5.0, # 5 公尺間距
|
||||
base_altitude=10.0, # 基準高度 10 公尺
|
||||
altitude_diff=2.0 # 高低差 2 公尺
|
||||
)
|
||||
|
||||
# 規劃任務
|
||||
print("\n開始規劃任務...")
|
||||
stage1, stage2 = planner.plan_formation_mission(drone_gps, target_gps)
|
||||
|
||||
# 顯示結果
|
||||
print("\n" + "=" * 60)
|
||||
print("階段 1：集合點位置（GPS）")
|
||||
print("=" * 60)
|
||||
for i, (lat, lon, alt) in enumerate(stage1):
|
||||
print(f"無人機 {i}: ({lat:.6f}, {lon:.6f}, {alt:.1f}m)")
|
||||
|
||||
print("\n" + "=" * 60)
|
||||
print("階段 2：目標點位置（GPS）")
|
||||
print("=" * 60)
|
||||
for i, (lat, lon, alt) in enumerate(stage2):
|
||||
print(f"無人機 {i}: ({lat:.6f}, {lon:.6f}, {alt:.1f}m)")
|
||||
|
||||
print("\n✅ 測試完成！")
|
||||
# Leader-Follower (15m 間距)
|
||||
s1, s2, origin = planner.plan_formation_mission(drones, target, MissionType.LEADER_FOLLOWER, {'follow_distance': 15.0})
|
||||
print("Leader-Follower (15m):")
|
||||
for i, pos in enumerate(s2):
|
||||
print(f" {'Leader' if i == 0 else f'Follower {i}'}: {pos[0]:.6f}, {pos[1]:.6f}")
|
||||
Reference in New Issue
Block a user