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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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"""
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import math
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from typing import List, Tuple, Optional
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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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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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origin_lon_rad = math.radians(self.origin_lon)
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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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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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lat_rad = origin_lat_rad + (y / self.R)
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lon_rad = origin_lon_rad + (x / (self.R * math.cos((lat_rad + origin_lat_rad) / 2)))
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lat = math.degrees(lat_rad)
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lon = math.degrees(lon_rad)
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alt = self.origin_alt + z
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return lat, lon, alt
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class FormationPlanner:
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"""隊形規劃器"""
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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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self.current_origin = None
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self.converter = None
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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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"""
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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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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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"""
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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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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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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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# ===== 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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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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# ===== 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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N = len(drone_positions)
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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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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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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.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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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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# 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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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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"""
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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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"""
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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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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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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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# ===== 測試程式碼 =====
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if __name__ == "__main__":
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print("=" * 60)
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print("隊形任務規劃器測試")
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print("=" * 60)
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# 模擬 5 台無人機的 GPS 位置
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drone_gps = [
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(24.123450, 120.567800, 100.0), # 無人機 0
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(24.123470, 120.567820, 102.0), # 無人機 1
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(24.123440, 120.567810, 98.0), # 無人機 2
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(24.123460, 120.567830, 101.0), # 無人機 3
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(24.123445, 120.567795, 99.0), # 無人機 4
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]
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# 目標點
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target_gps = (24.123600, 120.568000, 105.0)
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# 建立規劃器
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planner = FormationPlanner(
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spacing=5.0, # 5 公尺間距
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base_altitude=10.0, # 基準高度 10 公尺
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altitude_diff=2.0 # 高低差 2 公尺
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)
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# 規劃任務
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print("\n開始規劃任務...")
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stage1, stage2 = planner.plan_formation_mission(drone_gps, target_gps)
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# 顯示結果
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print("\n" + "=" * 60)
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print("階段 1：集合點位置（GPS）")
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print("=" * 60)
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for i, (lat, lon, alt) in enumerate(stage1):
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print(f"無人機 {i}: ({lat:.6f}, {lon:.6f}, {alt:.1f}m)")
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print("\n" + "=" * 60)
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print("階段 2：目標點位置（GPS）")
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print("=" * 60)
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for i, (lat, lon, alt) in enumerate(stage2):
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print(f"無人機 {i}: ({lat:.6f}, {lon:.6f}, {alt:.1f}m)")
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print("\n✅ 測試完成！") |