UAV Trajectory Planner

Source files for the vertical and horizontal UAV trajectory planner and flight analyzer. This project was created as a bachelor's thesis. Full original thesis in native Slovak language can be found here.

Table of Contents

• File structure
  • src_flight_analyzer
  • src_trajectory_planner
    • /horizontal_trajectory
    • /vertical_trajectory
    • /miscellaneous
  • data
• QGIS Shapefiles
• Author

File structure

src_flight_analyzer

• analyzeFlight_DJI_scr.m - control script used for setting input parameters for the analyzer
• analyzeFlight_DJI.m - Matlab function source file of the flight analyzer

src_trajectory_planner

• trajcontrol_scr_user.m - control script used for setting input parameters for the trajectory planner
• trajcontrol_scr.m - control script used for calling functions and plotting final trajectory graphs in Matlab

/horizontal_trajectory

• trjgenhor.m - Matlab function source file of the horizontal trajectory generator
• trjphotogr2linedist.m - Matlab function source file of the trajectory line separation for photo side overlap
• trjcutseghor.m - Matlab function source file of the horizontal waypoint generator
• trjcutseghorvar.m - Matlab function source file of the variable horizontal waypoint generator
• trjfilthor.m - Matlab function source file of the horizontal waypoint filter

/vertical_trajectory

• trjmap2dem.m - Matlab function source file of trajectory and digital elevation model synchronizer
• trjoffsetver.m - Matlab function source file of the vertical offset algorithm
• trjradialdistver.m - Matlab function source file of the radial distance algorithm

/miscellaneous

• shapecreate.m - Matlab function source file of the custom shapefile creator
• trjstats.m - Matlab function source file of the trajectory stats analyzer
• trjterrfilt.m - Matlab function source file of the terrain-trajectory separation analyzer and filter
• trj2csv_ugcs.m - Matlab function source file of the trajectory csv file creator
• demresol.m - Matlab function source file of the digital elevation model resolution calculator
• trjascentlim.m - Matlab function source file of the UAV ascent limit verifier

data

Input and output data files structure for the planner and analyzer.

QGIS shapefiles

For use of exported shapefiles from QGIS only the *.shp, *.shx and *.dbf files are necessary.

Author

Tomáš Horeličan - [email protected]