wenchun
/
AirTrapMine
forked from chiyu1468/AirTrapMine
1
0
Fork 0
Code Pull Requests Activity

更新 mission_planner

Browse Source
wenchun 2 months ago
parent 28810e5113
commit af2138fe64
1 changed files with 147 additions and 220 deletions
Show Stats Download Patch File Download Diff File

367
src/GUI/mission_planner.py
Unescape Escape View File

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