Water throwing aiming system and method based on large fire extinguishing aircraft

Abstract

The invention provides a water throwing aiming system and method based on a large fire extinguishing airplane, and the system comprises a photoelectric pod which is installed at the lower area of a nose in an external hanging manner; the aiming display and control board is installed in a cockpit, selects a manual / automatic water throwing mode by operating the aiming display and control board, receives target information sent by the photoelectric pod, and aims the target of the unit by using a continuous throwing point calculation and hitting point calculation algorithm through an operation model of a water body in the air; and the cable is used for establishing a data transmission channel between the photoelectric pod and the aiming display control board. According to the invention, the problem that water is automatically and accurately thrown to an ignition point when a current domestic large fire extinguishing aircraft executes a fire extinguishing task can be solved, manual / automatic accurate water throwing in the water throwing process can be completed, and the water throwing effect of a unit in different environments can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft systems, and in particular to a water dropping aiming system based on a large fire-fighting aircraft and a water dropping aiming method based on the large fire-fighting aircraft using the system. Background Art

[0002] When large firefighting aircraft are equipped with a water-dropping aiming system, they can choose manual or automatic mode to accurately drop water on the target in the fire area when performing firefighting tasks, providing the necessary conditions for pilots to efficiently perform firefighting tasks in different terrain areas. However, there is currently a lack of water-dropping aiming methods in China, and the water-dropping aiming system architecture, installation, watertightness, and corrosion protection design technology lack corresponding design standards and basis, which affects the application of large firefighting aircraft in aviation firefighting. Summary of the invention

[0003] In order to solve the problem of large domestic fire-fighting aircraft in realizing automatic and accurate water dropping on the fire point during the execution of fire-fighting tasks, the purpose of the present invention is to provide a water dropping aiming system and method based on a large fire-fighting aircraft, which can complete manual / automatic accurate water dropping during the water dropping process, and help to improve the water dropping effect of the unit in different environments.

[0004] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0005] A water-dropping aiming system based on a large fire-fighting aircraft, comprising:

[0006] An optoelectronic pod is installed in the lower area of ​​the nose in the form of an external hanging device;

[0007] The aiming display control panel installed in the cockpit is used to select the manual / automatic water-dropping mode by operating the aiming display control panel, receive the target information sent from the optoelectronic pod, and aim the target for the crew by using the continuous calculation of the drop point and the continuous calculation of the hit point algorithm through the water body operation model in the air;

[0008] The cable is used to establish a data transmission channel between the optoelectronic pod and the aiming display and control panel.

[0009] According to a water-dropping aiming system based on a large fire-fighting aircraft provided by the present invention, a plurality of sensors are integrated in the optoelectronic pod, including an infrared thermal imager, a high-definition visible light sensor and a laser ranging sensor, and a two-axis four-frame active stabilization platform is used as a carrier to obtain high-quality infrared images and high-definition images.

[0010] According to a water-dropping aiming system based on a large fire-fighting aircraft provided by the present invention, the optoelectronic pod is hoisted in the lower area of ​​the central axis of the nose and is detachably connected to the aircraft structure through a bracket.

[0011] According to a water-dropping aiming system based on a large fire-fighting aircraft provided by the present invention, the cable connects the optoelectronic pod to the aiming display and control panel for data transmission, and is installed and fixed by a bracket and a clamp.

[0012] According to a water-dropping aiming system based on a large fire-fighting aircraft provided by the present invention, a hole is opened at the lower part of the nose to connect the cable to the connector of the aiming display control panel inside the aircraft cockpit, and the cable is sealed and corrosion-protected.

[0013] According to a water-dropping aiming system based on a large fire-fighting aircraft provided by the present invention, a cable connected to the optoelectronic pod is installed at the lower part of the nose by using a fixing bracket, a clamp and a sealing pod penetration member.

[0014] A water-dropping aiming method based on a large fire-fighting aircraft comprises the following steps:

[0015] Step S1, before water-dropping and aiming, complete the installation of the optoelectronic pod, aiming display and control panel, and cables, and perform a mechanical horizontal installation test on the optoelectronic pod, and a sealed penetration installation test on the cables;

[0016] Step S2, determining whether the optoelectronic pod is working normally and whether its self-test result is normal;

[0017] Step S3, determining whether the aiming display control board self-checks normally, and reporting the self-check result to the control box;

[0018] Step S4, after leveling the aircraft, calibrating the optoelectronic pod to accurately obtain the position information of the water-dropping target;

[0019] Step S5, the photoelectric pod sends the location information of the water-dropping target to the aiming display control panel through the cable, and the unit selects the manual / automatic water-dropping mode by operating the aiming display control panel and receives the target information sent by the photoelectric pod;

[0020] Step S6, through the operation model of the water body in the air, the crew is aimed at the target using the continuous calculation of the release point and the continuous calculation of the hit point algorithm.

[0021] According to a water-dropping aiming method based on a large fire-fighting aircraft provided by the present invention, when establishing a water body operation model in the air, the method includes:

[0022] Collect physical parameters of water and air;

[0023] Consider the impact of environmental factors on water movement;

[0024] Based on the continuum assumption, fluid mechanics equations are used to describe the movement of water and air;

[0025] Grid the computational area according to the complexity of the model and the computational resources;

[0026] Set boundary conditions, including inlet velocity, outlet pressure, wall conditions, etc.;

[0027] A numerical solution algorithm is selected to solve the model, thereby establishing a model of the operation of water bodies in the air.

[0028] According to a water-dropping aiming method based on a large fire-fighting aircraft provided by the present invention, when using fluid mechanics equations to describe the movement of water and air, if turbulence is involved, a turbulence model is selected, including the Reynolds-averaged Navier-Stokes equations, large eddy simulation or direct numerical simulation;

[0029] For discrete water bodies, particle methods are used to simulate their motion.

[0030] According to a water-dropping aiming method based on a large fire-fighting aircraft provided by the present invention, the method aims at the target for the crew by using an algorithm for continuously calculating the drop points and the hit points, including:

[0031] The system receives real-time data from multiple sensors in the optoelectronic pod;

[0032] Input the location coordinates of the fire scene, terrain data, and parameters such as the weight and distribution of water in the water tank and the impact on the center of gravity of the aircraft;

[0033] Based on the collected data, combined with the flight performance of the fire-fighting aircraft and the characteristics of water delivery, the approximate point where the water lands on the ground at each moment, i.e. the delivery point, is continuously calculated;

[0034] The calculated release point is compared with the target fire location to generate a flight guidance signal, which is presented to the crew through the aiming display panel;

[0035] The crew adjusts the aircraft's flight trajectory and attitude according to the guidance signals to ensure that the aircraft can reach the predetermined drop point;

[0036] As the firefighting aircraft approaches the target fire scene, the system continuously calculates and updates the water flow's impact point, where the impact point refers to the expected landing point of the water flow on the ground.

[0037] The hit point information is displayed in real time on the aiming display panel and superimposed on the fire scene image in the form of one or more cursors or marks;

[0038] Evaluate the accuracy and effect of water dropping by observing the changes in the impact point, and adjust the aircraft's flight status and water dropping strategy accordingly;

[0039] When the hit point coincides with or is nearly coincident with the target fire location, the water-dropping device is triggered to perform water-dropping operations.

[0040] It can be seen that the present invention has the following beneficial effects:

[0041] 1. The present invention meets the requirements of installation, water flow impact and corrosion protection of aircraft fuselage bottom design according to the characteristics of large-scale fire-fighting aircraft, is suitable for fire-fighting aircraft, and can realize manual / automatic precise water delivery;

[0042] 2. The present invention adopts an optoelectronic pod, which can overcome the interference of flight attitude changes and vibrations during flight on the sensor, and obtain high-quality infrared images and high-definition images. The present invention searches, tracks, and locates water-dropping targets, and the images are clear and intuitive, solving the problem that the crew cannot quickly and accurately locate the water-dropping target in an unfamiliar water-dropping environment;

[0043] 3. The present invention aims the unit during the water dropping process by using the operation model of the water body in the air and the solution principles of the continuous calculation of release points (CCRP) and the continuous calculation of hit points (CCIP) through the aiming display and control panel, thereby solving the problem that the unit cannot drop water quickly and accurately in an unfamiliar water dropping environment. Considering the use effect of human-machine operation, the design of the display and control panel can be optimized in the future to enhance the use effect of human-machine operation.

[0044] 4. The sealing and corrosion protection treatment of the connectors and cables connecting the optoelectronic pod can meet the information transmission requirements in harsh environments;

[0045] 5. The mechanical horizontal installation test and cable sealing installation test of key equipment such as optoelectronic pods and aiming display and control panels of the present invention ensure the reliability and stability of the equipment and reduce the failure rate. Precise aiming reduces the phenomenon of mis-dropping and missing during water dropping, avoids the potential threat to the aircraft and crew members caused by improper water dropping, and improves flight safety.

[0046] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The present invention is a schematic structural diagram of an embodiment of a water-dropping aiming system based on a large fire-fighting aircraft.

[0048] Figure 2 The present invention is a schematic diagram of an embodiment of a water-dropping aiming system based on a large fire-fighting aircraft.

[0049] Figure 3 The present invention is a flow chart of an embodiment of a water dropping aiming method based on a large fire-fighting aircraft. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0052] See also Figure 1 and Figure 2 This embodiment provides a water-dropping aiming system based on a large fire-fighting aircraft, including:

[0053] The optoelectronic pod is installed in the lower area of ​​the nose in the form of an external hanging device;

[0054] The aiming control panel installed in the cockpit is operated to select the manual / automatic water-dropping mode, receive the target information sent by the optoelectronic pod, and aim the crew at the target through the operation model of the water body in the air and the continuous calculation of the drop point and the continuous calculation of the hit point algorithm;

[0055] Cable, used to establish a data transmission channel between the optoelectronic pod and the aiming and display control board.

[0056] In this embodiment, multiple sensors are integrated in the optoelectronic pod, including an infrared thermal imager, a high-definition visible light sensor, and a laser ranging sensor, and a two-axis four-frame active stabilization platform is used as a carrier, which can overcome the interference caused by changes in flight attitude and vibration during flight to the sensor, so as to obtain high-quality infrared images and high-definition images. Among them, the optoelectronic pod of this embodiment integrates a high-performance refrigerated infrared thermal imager, a high-definition visible light sensor, and a laser ranging sensor to search, track, and locate the target, with clear and intuitive images, and feeds back the target position information to the aiming display control board, which can realize the control of the optoelectronic pod by the crew, solve the water injection, and send the water injection command to the fire extinguishing system at the same time, so as to realize manual / automatic precise water injection.

[0057] Furthermore, the optoelectronic pod is hoisted in the lower area of ​​the central axis of the nose and is detachably connected to the aircraft structure through a bracket.

[0058] Furthermore, the cable connects the optoelectronic pod to the aiming and display control board for data transmission and is installed and fixed by means of brackets and clamps.

[0059] Furthermore, a hole is opened at the lower part of the nose to connect the cable to the connector of the aiming display control panel inside the cockpit of the aircraft, and the cable is sealed and corrosion-protected.

[0060] Furthermore, the cable connected to the optoelectronic pod is installed at the lower part of the nose by means of a fixing bracket, a clamp and a sealing pod penetration member.

[0061] Specifically, the lower part of the fuselage of the aircraft in this embodiment is designed in the shape of a ship bottom, and the installation environment is relatively harsh. Considering the requirements of water flow impact and corrosion protection of the aircraft, the optoelectronic pod is installed in the lower part of the central axis of the nose in the form of a hoist, the cables are sealed and protected, and the cable holes are sealed with piercing parts. The aiming display and control panel collects the flight data information of the carrier itself and the azimuth and pitch information sent by the optoelectronic pod, the relative target height, and the established water body operation model in the air. The principle of continuous calculation of release point (CCRP) and continuous calculation of hit point (CCIP) is used to calculate the heading deviation aiming line, distance aiming symbol, and waiting time for flying to the water dropping point, and these key symbols are displayed to the crew, and the aiming is performed during the water dropping process of the aiming crew.

[0062] Among them, the optoelectronic pod has a highly sensitive optoelectronic detection capability, including multiple sensors such as visible light and infrared thermal imaging, which can capture fire scene images, identify the location of the fire source, measure the temperature of the fire scene and other key information in real time. This embodiment is installed in the lower area of ​​the nose in the form of an external hanging hoist, which is conducive to obtaining a wider field of view, reducing the impact of ground obstacles on the line of sight, and maintaining continuous monitoring of the fire scene. Through the internal integrated communication module, the optoelectronic pod can send the collected target information (such as images, coordinates, temperature, etc.) to the aiming display panel in the cockpit in real time.

[0063] Among them, the aiming display and control board is the control center of the system. It is not only responsible for receiving target information from the optoelectronic pod, but also provides two water-dropping modes for the crew to choose: manual and automatic. The crew can manually adjust the aircraft's flight attitude and water-dropping point based on the real-time image and coordinate information provided by the optoelectronic pod, combined with personal experience and judgment. Advanced algorithms and models (such as the operation model of water bodies in the air, continuous calculation of drop points, and continuous calculation of hit point algorithms) can also be used to automatically calculate the optimal water-dropping point and timing, greatly improving the accuracy and efficiency of water-dropping.

[0064] Among them, the display and control panel is equipped with a high-definition display screen, which is used to display key data such as fire scene images, target information, water-dropping trajectory prediction, etc., providing an intuitive operating interface for the crew.

[0065] Among them, the infrared thermal imager receives the infrared radiation emitted by the target object and converts it into a visible thermal image. In the fire-fighting mission, the infrared thermal imager can penetrate the smoke and fire light, directly detect the location and temperature distribution of the fire source, and provide important fire information to the crew.

[0066] Among them, the high-definition visible light sensor captures the image of the target in the visible light band, which is used to provide intuitive visual information of the fire scene, including the size of the fire, the direction of spread, and the surrounding environment. When used in combination with an infrared thermal imager, it can form a more comprehensive awareness of the fire situation.

[0067] Among them, the laser ranging sensor accurately calculates the distance between the target and the aircraft by emitting a laser beam and measuring the time difference of its reflection. This information is crucial for determining the water dropping point, calculating the water dropping trajectory and evaluating the water dropping effect.

[0068] Among them, the two-axis four-frame active stabilization platform is the core component of the optoelectronic pod. It uses precision sensors such as gyroscopes and accelerometers to monitor the aircraft's flight attitude and vibration in real time. Through complex control algorithms and drive mechanisms, the platform can quickly adjust its own attitude to offset the impact of flight attitude changes and vibrations on the sensors in the optoelectronic pod. This ensures that the optoelectronic pod can still maintain a stable working state in complex flight environments, thereby obtaining clear and stable infrared images and high-definition images, which is of great significance for improving aiming accuracy, shortening response time, and improving overall firefighting efficiency.

[0069] A method for aiming water from a large fire-fighting aircraft

[0070] like Figure 3 As shown, this embodiment provides a water-dropping aiming method based on a large fire-fighting aircraft, comprising the following steps:

[0071] Step S1, before water-dropping and aiming, complete the installation of the optoelectronic pod, aiming display and control panel, and cables, and perform a mechanical horizontal installation test on the optoelectronic pod, and a sealed penetration installation test on the cables;

[0072] Step S2, judging whether the optoelectronic pod is working normally and whether its self-test result is normal;

[0073] Step S3, determining whether the aiming display control board self-check is normal, and reporting the self-check result to the control box;

[0074] Step S4, after leveling the aircraft, calibrating the optoelectronic pod to accurately obtain the position information of the water-dropping target;

[0075] Step S5, the optoelectronic pod sends the location information of the water-dropping target to the aiming display control panel through the cable, and the crew selects the manual / automatic water-dropping mode by operating the aiming display control panel and receives the target information sent by the optoelectronic pod;

[0076] Step S6, through the operation model of the water body in the air, the crew is aimed at the target using the continuous calculation of the release point and the continuous calculation of the hit point algorithm.

[0077] When modeling the movement of water bodies in the air, include:

[0078] Collect physical parameters of water and air, such as density, viscosity, temperature, etc.; consider the impact of environmental factors such as wind speed, wind direction, and air pressure on the movement of water; based on the continuous medium assumption, use fluid mechanics equations to describe the movement of water and air; grid the calculation area according to the complexity of the model and computing resources; set boundary conditions, including inlet velocity, outlet pressure, wall conditions, etc.; select a numerical solution algorithm to solve the model, thereby establishing a model of the movement of water in the air, such as the finite difference method, finite element method, finite volume method, etc., to solve the model.

[0079] In this embodiment, when fluid mechanics equations are used to describe the movement of water and air, if turbulence is involved, a turbulence model is selected, including the Reynolds-averaged Navier-Stokes equations, large eddy simulation or direct numerical simulation; for discrete water bodies, a particle method (such as SPH) is used to simulate its movement.

[0080] In this embodiment, the continuous calculation of the delivery point and the continuous calculation of the hit point algorithm are used to aim the target for the crew, including:

[0081] Receive real-time data from multiple sensors in the optoelectronic pod through the aiming and display control panel, including real-time data such as aircraft position (latitude and longitude, altitude, speed, etc.), heading, attitude, wind speed and direction; input the location coordinates of the fire scene, terrain data, and parameters such as the weight and distribution of water in the water tank affecting the center of gravity of the aircraft; based on the collected data, combined with the flight performance of the fire-fighting aircraft and the characteristics of water delivery (such as water delivery height, water delivery speed, water flow diffusion range, etc.), continuously calculate the approximate landing point of water on the ground at each moment, that is, the delivery point; compare the calculated delivery point with the target fire location, generate a flight guidance signal, and present it to the crew through the aiming and display control panel; the crew adjusts the flight trajectory and attitude of the aircraft according to the guidance signal to ensure that the aircraft can reach the predetermined delivery point.

[0082] As the firefighting aircraft approaches the target fire scene, the system will continuously calculate and update the water flow's hit point, where the hit point refers to the expected landing point of the water flow on the ground, taking into account the influence of multiple factors such as wind speed and direction, water flow diffusion, and terrain undulations. The hit point information is displayed in real time on the aiming and control panel and superimposed on the fire scene image in the form of one or more cursors or marks. The accuracy and effect of water dropping are evaluated by observing the changes in the hit point, and the aircraft's flight status and water dropping strategy are adjusted accordingly. When the hit point coincides or is close to coincident with the target fire scene, the water dropping device is triggered to perform water dropping operations.

[0083] During the water dropping process, the system will continue to monitor changes in the hit point and adjust the aircraft's flight status and water dropping rate as needed to ensure maximum fire extinguishing effect.

[0084] In summary, the present invention meets the requirements of installation, water flow impact and corrosion protection of aircraft fuselage bottom design according to the characteristics of large-scale fire-fighting aircraft, is suitable for fire-fighting aircraft, and can realize manual / automatic precise water dropping.

[0085] The present invention adopts an optoelectronic pod, which can overcome the interference of flight attitude changes and vibrations during flight on the sensor, and obtain high-quality infrared images and high-definition images. The present invention searches, tracks, and locates water-dropping targets, and the images are clear and intuitive, solving the problem that the crew cannot quickly and accurately locate the water-dropping target in an unfamiliar water-dropping environment.

[0086] The present invention aims the unit during the water dropping process by using the operation model of the water body in the air and the solution principles of the continuous calculation of release points (CCRP) and the continuous calculation of hit points (CCIP) through the aiming display and control panel, thereby solving the problem that the unit cannot drop water quickly and accurately in an unfamiliar water dropping environment. Considering the use effect of human-machine operation, the design of the display and control panel can be optimized in the future to enhance the use effect of human-machine operation.

[0087] The mechanical horizontal installation test and cable sealing installation test of key equipment such as optoelectronic pods and aiming display and control panels in the present invention ensure the reliability and stability of the equipment and reduce the failure rate. Precise aiming reduces the large error in the water coverage during the watering process, avoids potential threats to the aircraft and crew members caused by improper watering, and improves flight safety.

[0088] The present invention can quickly determine the equipment status through the self-check of the photoelectric pod and the self-check of the aiming display and control panel, ensuring that the preparation work before the water injection operation is completed efficiently. Through precise aiming and intelligent water injection, the error and repeated operation in the water injection process are reduced, the fire extinguishing efficiency is improved, and the overall operation cycle is shortened.

[0089] The present invention uses a continuous calculation algorithm for the delivery point and the hit point to realize the intelligentization and automation of water delivery, reduce the operating burden of the crew, and improve the operating efficiency. The method can adapt to the needs of water delivery operations under different terrains and different fire conditions, and has strong adaptability and flexibility.

[0090] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A water-dropping aiming system based on a large fire-fighting aircraft, characterized in that: include: An optoelectronic pod is installed in the lower area of ​​the nose in the form of an external hanging device; The aiming display control panel installed in the cockpit is used to select the manual / automatic water-dropping mode by operating the aiming display control panel, receive the target information sent from the optoelectronic pod, and aim the target for the crew by using the continuous calculation of the drop point and the continuous calculation of the hit point algorithm through the water body operation model in the air; The cable is used to establish a data transmission channel between the optoelectronic pod and the aiming display and control panel.

2. The system according to claim 1, characterized in that: Multiple sensors are integrated in the optoelectronic pod, including an infrared thermal imager, a high-definition visible light sensor, and a laser ranging sensor. A two-axis four-frame active stabilized platform is used as a carrier to obtain high-quality infrared images and high-definition images.

3. The system according to claim 1, characterized in that: The optoelectronic pod is hoisted in the lower area of ​​the central axis of the nose and is detachably connected to the aircraft structure through a bracket.

4. The system according to claim 1, characterized in that: The cable connects the optoelectronic pod to the aiming display and control board for data transmission and is installed and fixed by a bracket and a clamp.

5. The system according to claim 1, characterized in that: A hole is opened in the lower part of the nose to connect the cable to the connector of the aiming and display control panel inside the cockpit of the aircraft, and the cable is sealed and treated with corrosion protection.

6. The system according to claim 1, characterized in that: The cables connected to the optoelectronic pod are installed at the lower part of the nose using fixing brackets, clamps and sealed pod penetrations.

7. A water-dropping aiming method based on a large fire-fighting aircraft, characterized in that: The method comprises the following steps: Step S1, before water-dropping and aiming, complete the installation of the optoelectronic pod, aiming display and control panel, and cables, and perform a mechanical horizontal installation test on the optoelectronic pod, and a sealed penetration installation test on the cables; Step S2, determining whether the optoelectronic pod is working normally and whether its self-test result is normal; Step S3, determining whether the aiming display control board self-checks normally, and reporting the self-check result to the control box; Step S4, after leveling the aircraft, calibrating the optoelectronic pod to accurately obtain the position information of the water-dropping target; Step S5, the photoelectric pod sends the location information of the water-dropping target to the aiming display control panel through the cable, and the unit selects the manual / automatic water-dropping mode by operating the aiming display control panel and receives the target information sent by the photoelectric pod; Step S6, through the operation model of the water body in the air, the crew is aimed at the target using the continuous calculation of the release point and the continuous calculation of the hit point algorithm.

8. The method according to claim 7, characterized in that: When modeling the movement of water bodies in the air, include: Collect physical parameters of water and air; Consider the impact of environmental factors on water movement; Based on the continuum assumption, fluid mechanics equations are used to describe the movement of water and air; Grid the computational area according to the complexity of the model and the computational resources; Set boundary conditions, including inlet velocity, outlet pressure, wall conditions, etc.; A numerical solution algorithm is selected to solve the model, thereby establishing a model of the operation of water bodies in the air.

9. The method according to claim 7, characterized in that: When using fluid dynamics equations to describe the motion of water and air, if turbulence is involved, choose a turbulence model, including the Reynolds-averaged Navier-Stokes equations, large eddy simulation, or direct numerical simulation; For discrete water bodies, particle methods are used to simulate their motion.

10. The method according to claim 7, characterized in that: The method of using the continuous calculation of the delivery point and the continuous calculation of the hit point algorithm to aim the target for the crew includes: Receive real-time data from multiple sensors in the electro-optical pod through the aiming display panel; Input the location coordinates of the fire scene, terrain data, and parameters such as the weight and distribution of water in the water tank and the impact on the center of gravity of the aircraft; Based on the collected data, combined with the flight performance of the fire-fighting aircraft and the characteristics of water delivery, the approximate point where the water lands on the ground at each moment, i.e. the delivery point, is continuously calculated; The calculated release point is compared with the target fire location to generate a flight guidance signal, which is presented to the crew through the aiming display panel; The crew adjusts the aircraft's flight trajectory and attitude according to the guidance signals to ensure that the aircraft can reach the predetermined drop point; As the firefighting aircraft approaches the target fire scene, the system continuously calculates and updates the water flow's impact point, where the impact point refers to the expected landing point of the water flow on the ground. The hit point information is displayed in real time on the aiming display panel and superimposed on the fire scene image in the form of one or more cursors or marks; Evaluate the accuracy and effect of water dropping by observing the changes in the impact point, and adjust the aircraft's flight status and water dropping strategy accordingly; When the hit point coincides with or is nearly coincident with the target fire location, the water-dropping device is triggered to perform water-dropping operations.

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