LONG-DISTANCE FLIGHT-TRACKING METHOD AND DEVICE FOR UNMANNED AERIAL VEHICLE, APPARATUS, AND STORAGE MEDIUM

摘要

A long-distance flight-tracking method and device for an unmanned aerial vehicle, an apparatus, and a storage medium. The method comprises: acquiring, with respect to an unmanned aerial vehicle, a previous target waypoint corresponding to a previous time point, a queue of waypoints, and a current flight position corresponding to a current time point (S101); determining, from the queue of waypoints, and on the basis of the current flight position, a current target waypoint corresponding to the current time point (S102); generating, on the basis of a flight position information set associated with the unmanned aerial vehicle within a historical period and the current flight position in combination with a preset local planning algorithm, a local path from the current flight position to the current target waypoint, along which the unmanned aerial vehicle will fly (S103); and adding the local path to a previous global path corresponding to the previous time point, and obtaining a current global path corresponding to the current time point, such that the unmanned aerial vehicle flies along the current global path (S104). The invention combines a local planning algorithm and a global path, such that an unmanned aerial vehicle substantially flies along a preset path.