Polar region guiding method based on polar plane equiangular route

Abstract

The invention discloses a polar region guiding method based on a polar plane equiangular route, and belongs to the technical field of civil aviation navigation. The method comprises the following steps: acquiring flight data information of an aircraft, establishing a polar plane, and acquiring a course angle of a polar plane equiangular course and a total voyage from a starting point to a terminal point of the polar plane equiangular course; the method comprises the following steps: acquiring a lateral offset distance of a current position of an aircraft relative to a polar plane equiangular course, an azimuth angle deviation of a track azimuth angle relative to a course angle, a height deviation and a speed deviation, acquiring a horizontal guide instruction according to the lateral offset distance and the azimuth angle deviation, acquiring a vertical guide instruction according to the height deviation, and acquiring an accelerator opening increment instruction according to the speed deviation; and guiding the flight of the aircraft according to each instruction. According to the method, the polar plane and the polar plane equiangular route are constructed, the aircraft is projected to the polar plane to calculate the navigation parameters, and the guidance instruction is calculated based on the navigation parameters to realize high-precision guidance of the aircraft, so that the problem that an existing flight guidance scheme cannot realize accurate guidance in the polar region is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of civil aviation navigation, and particularly to a polar region guidance method based on a rhumb line on a polar plane. Background Art

[0003] Traditional flight guidance schemes usually use great circle routes and rhumb lines as the reference routes for aircraft, and use the cross-track distance and track azimuth deviation as the navigation parameters of the flight management system (FMS) to calculate guidance commands accordingly to guide the aircraft to accurately track the reference route. However, the above two reference routes and their corresponding guidance algorithms face problems such as a sharp decline in accuracy and a greatly extended flight range in the polar region. The reasons are as follows: 1) The rhumb line in the polar region is a spiral line with a high curvature, which greatly increases the flight range between the starting and ending points. 2) In the polar region, the heading of the great circle route changes sharply, and traditional guidance laws are difficult to guide the aircraft to accurately track the great circle route.

[0004] Currently, polar region navigation technology has become the core technology that must be broken through for the development of large aircraft, and the polar region guidance reference route and the matching guidance scheme are the keys to ensuring safe and accurate navigation in the polar region. Therefore, how to design a route suitable for the polar region and a matching high-precision polar region guidance scheme has become a key problem in realizing high-precision polar region guidance. Summary of the Invention

[0005] Technical Problems to be Solved In order to avoid the deficiencies of the prior art, the present invention provides a polar region guidance method based on a rhumb line on a polar plane. By constructing a polar plane and a rhumb line on the polar plane, then projecting the aircraft onto the polar plane to calculate navigation parameters, and finally calculating guidance commands based on the navigation parameters to achieve high-precision guidance of the aircraft, so as to solve the problem that the existing flight guidance scheme cannot achieve accurate guidance in the polar region.

[0006] The technical solution of the present invention is: a polar region guidance method based on a rhumb line on a polar plane, including: Obtain the data information of the aircraft flight, where the data information includes: the geographical coordinates of the starting point of the route, the geographical coordinates of the ending point of the route, the required arrival time, the altitude command, the geographical coordinates of the real-time position of the aircraft, the real-time speed of the aircraft, the real-time attitude angle of the aircraft, and the real-time track angle of the aircraft; Establish a polar plane with the North Pole as the origin and the z-axis perpendicular to the Earth-centered Earth-fixed coordinate system and pointing to the North Pole; Obtain the course angle of the rhumb line on the polar plane according to the projection coordinates corresponding to the starting and ending points of the aircraft route on the polar plane; obtain the total flight range from the starting point to the ending point of the rhumb line on the polar plane according to the geographical coordinates of the starting and ending points of the aircraft route; According to the geographical coordinates of the starting point, ending point of the aircraft route and the real-time position of the aircraft, obtain the lateral offset of the current position of the aircraft relative to the rhumb line on the polar plane; according to the geographical coordinates of the real-time position of the aircraft and the real-time track angle of the aircraft, obtain the track azimuth angle of the projection of the aircraft velocity vector on the polar plane; according to the heading angle and the track azimuth angle, obtain the azimuth deviation of the track azimuth angle relative to the heading angle; according to the altitude command and the geographical coordinates of the real-time position of the aircraft, obtain the altitude deviation of the current position of the aircraft; according to the total voyage, the required arrival time, the azimuth deviation and the real-time speed of the aircraft, obtain the speed deviation; According to the lateral offset and the azimuth deviation, obtain the horizontal guidance command; according to the altitude deviation, obtain the vertical guidance command; according to the speed deviation, obtain the throttle opening increment command; According to the horizontal guidance command, the vertical guidance command and the throttle opening increment command, guide the flight of the aircraft.

[0007] A further technical solution of the present invention is that: the projection coordinates of the starting point of the aircraft route on the polar plane are: in the Earth-centered Earth-fixed coordinate system, the x-axis component and the y-axis component of the projection of the vector pointing from the Earth center to the starting point on the polar plane on the polar plane; The projection coordinates of the ending point of the aircraft route on the polar plane are: in the Earth-centered Earth-fixed coordinate system, the x-axis component and the y-axis component of the projection of the vector pointing from the Earth center to the ending point on the polar plane on the polar plane.

[0008] A further technical solution of the present invention is that: the calculation formula for the heading angle of the rhumb line on the polar plane is:

[0009] In the formula, is the heading angle of the rhumb line on the polar plane; are the coordinates of the starting point on the polar plane; are the coordinates of the ending point on the polar plane; is the latitude of the geographical coordinates of the starting point; is the latitude of the geographical coordinates of the ending point; is the longitude of the geographical coordinates of the starting point; is the longitude of the geographical coordinates of the ending point.

[0010] A further technical solution of the present invention is that: the method for obtaining the total voyage from the starting point to the ending point of the rhumb line on the polar plane is: obtain the rhumb line equation on the polar plane according to the geographical coordinates of the starting point and the ending point of the aircraft route, and then derive the total voyage from the starting point to the ending point of the rhumb line on the polar plane through integration according to the rhumb line equation.

[0011] A further technical solution of the present invention is that: the calculation formula for the track azimuth angle of the projection of the aircraft velocity vector on the polar plane is:

[0012] In the formula, is the track azimuth angle of the aircraft speed vector projected on the polar plane; is the track azimuth angle in the aircraft's real-time track angle; is the latitude of the aircraft's real-time position's geographical coordinates; is the longitude of the aircraft's real-time position's geographical coordinates.

[0013] A further technical solution of the present invention is: Calculate the speed deviation according to the target speed of this flight segment, the real-time speed of the aircraft, and the azimuth deviation; wherein, the target speed of this flight segment is determined based on the total flight distance and the required arrival time.

[0014] A further technical solution of the present invention is: The calculation formula for the lateral offset of the aircraft's current position relative to the rhumb line on the polar plane is:

[0015] In the formula, is the lateral offset of the aircraft's current position relative to the rhumb line on the polar plane; is the longitude of the aircraft's real-time position's geographical coordinates; is the latitude of the aircraft's real-time position's geographical coordinates; is the height of the aircraft's real-time position's geographical coordinates; is the radius of curvature of the prime vertical; is the latitude of the geographical coordinates of the starting point; is the latitude of the geographical coordinates of the ending point; is the longitude of the geographical coordinates of the starting point; is the longitude of the geographical coordinates of the ending point.

[0016] A further technical solution of the present invention is: The calculation formula for the horizontal guidance command is:

[0017] In the formula, is the horizontal guidance command; is the lateral offset adjustment coefficient; is the azimuth deviation adjustment coefficient; is the lateral offset of the aircraft's current position relative to the rhumb line on the polar plane; is the azimuth deviation of the track azimuth angle relative to the course angle of the rhumb line on the polar plane.

[0018] A further technical solution of the present invention is: The calculation formula for the vertical guidance command is:

[0019] In the formula, is the vertical guidance command; is the altitude deviation at the current position of the aircraft, obtained based on the altitude and altitude command of the geographical coordinates of the real-time position of the aircraft ; is the altitude deviation adjustment coefficient.

[0020] A further technical solution of the present invention is that the calculation formula of the throttle opening increment command is:

[0021] In the formula, is the throttle opening increment command; is the speed deviation; is the speed deviation adjustment coefficient.

[0022] The beneficial effects of the present invention are as follows: Aiming at the problem that the traditional reference coordinate system is the geographical coordinate system, the traditional reference route is the great circle route or the rhumb line, and the traditional guidance algorithm is also based on the great circle route or the rhumb line for guidance. Since the course of the traditional reference route changes rapidly in the polar region, the traditional guidance algorithm cannot ensure that the aircraft accurately tracks the route, the present invention provides a polar region guidance method based on the polar plane rhumb line.

[0023] The existing flight guidance system generally includes three aspects: a mechanical arrangement system, a reference coordinate system and a reference track construction system, and a guidance algorithm, which respectively realize the positioning, position display and guidance of the aircraft. The present invention mainly innovates in two aspects: the reference coordinate system and the reference track construction, and the guidance algorithm based on the reference track, and proposes a new reference coordinate system and a reference route, that is, the polar plane coordinate system and the polar plane rhumb line. The polar plane is a plane passing through the North Pole, and the coordinates on this plane clearly show the position relationship between this coordinate point and the North Pole, which is suitable for use as a reference plane near the polar region. By adopting the polar plane coordinate system and using the projection formula from the geographical coordinate system to the polar plane, the position outputs of various mechanical arrangements can be projected onto the polar plane. By constructing the polar plane rhumb line in the polar plane coordinate system, the polar plane rhumb line has the advantages of short great circle route range and constant course of the rhumb line in the polar region, and can be used as a superior alternative to the above two traditional routes in the polar region. Finally, a corresponding guidance algorithm is proposed based on the polar plane rhumb line. This algorithm will not have the problem of rapid change of guidance parameters, and the accuracy of guiding the aircraft is also higher than that of the traditional guidance method. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 is the overall flowchart of the present invention; Figure 2 is the schematic diagram of the polar plane coordinate system and the rhumb line on the polar plane of the present invention; Figure 3 is the schematic diagram of the spatial relationship of polar plane navigation parameters; Figure 4 is the schematic diagram of the flight guidance principle based on the rhumb line on the polar plane. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] Refer to Figure 1 , an embodiment of a polar region guidance method based on the rhumb line on the polar plane of the present invention, includes the following steps: Step 1, obtain the data information of the aircraft flight: Specifically, obtain the data information of the aircraft flight, and the data information includes: the geographical coordinates of the starting point of the route, the geographical coordinates of the ending point of the route, the required arrival time, the altitude instruction, the geographical coordinates of the real-time position of the aircraft, the real-time speed of the aircraft, the real-time attitude angle of the aircraft, and the real-time track angle of the aircraft.

[0028] Exemplarily, in a specific embodiment, the data information includes: the geographical coordinates of the starting point of the route, the geographical coordinates of the ending point of the route, the required arrival time RTA, the altitude instruction , the geographical coordinates of the real-time position of the aircraft, the real-time speed of the aircraft (i.e., the real-time track speed vector), the real-time attitude angle of the aircraft, and the real-time track angle of the aircraft, wherein, the geodetic coordinates of are the geodetic coordinates of are the geodetic coordinates of are respectively correspond to (roll angle, pitch angle, heading angle); respectively correspond to (track azimuth angle, track tilt angle); and the altitude unit is meters, the angle unit is radians, and the speed unit is meters per second. The coordinates of the starting point and the ending point of the route, the required arrival time RTA, and the altitude instruction Provided by the navigation database, the real-time position of the aircraft , the real-time speed of the aircraft , the real-time attitude angle of the aircraft and the real-time track angle of the aircraft are provided by the on-board sensors.

[0029] Step 2: Establish a polar plane: Specifically, with the North Pole as the origin and the z-axis pointing to the North Pole in the Earth-centered Earth-fixed coordinate system, a polar plane is established.

[0030] Exemplarily, in a specific embodiment, denote the North Pole as , the OX axis of the Earth-centered Earth-fixed coordinate system ECEF (Earth Centered, Earth Fixed) is , the OY axis is , the OZ axis is .

[0031] The polar plane passes through the North Pole and is perpendicular to the of the Earth-centered Earth-fixed coordinate system; the polar plane takes as the origin, its axis is parallel to the axis, and its axis is parallel to the axis. The axis in the polar plane is parallel to the axis of the Earth-centered Earth-fixed coordinate system, and the axis in the polar plane is parallel to the axis of the Earth-centered Earth-fixed coordinate system.

[0032] Refer to Figure 2 , Figure 2 is a schematic diagram of the polar plane coordinate system and the rhumb line in the polar plane. In the figure, P1', P0', and P2' are the projections of P1, P0, and P2 on the polar plane respectively.

[0033] Step 3: Obtain the course angle of the rhumb line in the polar plane and the total voyage from the starting point to the ending point of the rhumb line in the polar plane: Specifically, Step 3.1: Obtain the course angle of the rhumb line in the polar plane according to the projection coordinates of the starting point and the ending point of the aircraft route on the polar plane; Step 3.2: Obtain the total voyage from the starting point to the ending point of the rhumb line in the polar plane according to the geographical coordinates of the starting point and the ending point of the aircraft route.

[0034] Exemplarily, in a specific embodiment, Step 3.1: The steps to obtain the course angle of the rhumb line in the polar plane are as follows: Step 3.1.1: Calculate the geographical coordinates of the starting point and the ending point The projected coordinates of the geographical coordinates on the polar plane: The geographical coordinates of point P in the known geographical coordinate system are longitude, latitude, and altitude , and the coordinates (x, y, z) of point P in the Earth-centered Earth-fixed coordinate system are: (1) In formula (1), is the radius of curvature of the prime vertical, The calculation formula of (2) In formula (2), is the semi-major axis of the WGS-84 Earth coordinate system, with a value of 6378137 m; is the flattening of the WGS-84 Earth coordinate system, with a value of 1 / 298.257.

[0035] The vector pointing from the Earth's center to point P can be expressed in the Earth-centered Earth-fixed coordinate system as: (3) The projection of point P on the polar plane obtained from formula (3) is The x-axis and y-axis components of, expressed as: (4) The starting point obtained from formula (4) and the ending point The projections on the polar plane are: (5) (6) Step 3.1.2. Calculate the course angle of the rhumb line on the polar plane using formulas (5) and (6). The calculation formula is: (7) Step 3.2. The steps to obtain the total distance from the starting point to the ending point of the rhumb line on the polar plane are as follows: Step 3.2.1. Based on the geographical coordinates of the starting point and ending point of the aircraft route, obtain the expression of the rhumb line equation on the polar plane as: (8) In the formula, are the latitude and longitude of a certain point on the rhumb line on the polar plane; Step 3.2.2. Based on formula (8), through integral derivation, obtain the total distance calculation formula from the starting point to the ending point of the rhumb line on the polar plane and calculate. The total distance calculation formula is: (9) In the formula, , is the integral operator.

[0036] Step 4: Obtain the polar plane navigation parameters, i.e., the lateral offset of the aircraft's current position relative to the rhumb line of the polar plane, the azimuth deviation of the track azimuth angle relative to the heading angle, the altitude deviation of the aircraft's current position, and the speed deviation.

[0037] Specifically, in Step 4.1, according to the starting point, ending point of the aircraft route and the geographical coordinates of the aircraft's real-time position, obtain the lateral offset of the aircraft's current position relative to the rhumb line of the polar plane. In Step 4.2, according to the geographical coordinates of the aircraft's real-time position and the aircraft's real-time track angle, obtain the track azimuth angle of the projection of the aircraft's velocity vector on the polar plane. In Step 4.3, according to the heading angle and the track azimuth angle, obtain the azimuth deviation of the track azimuth angle relative to the heading angle. In Step 4.4, according to the altitude command and the geographical coordinates of the aircraft's real-time position, obtain the altitude deviation of the aircraft's current position; in Step 4.5, obtain the speed deviation according to the total flight distance, the required arrival time, the azimuth deviation, and the aircraft's real-time speed.

[0038] Exemplarily, in a specific embodiment, in Step 4.1, based on the starting point, ending point of the aircraft route and the geographical coordinates of the aircraft's real-time position, calculate the lateral offset of the aircraft's current position relative to the rhumb line of the polar plane. The calculation formula is: (10) In Step 4.2, based on the geographical coordinates of the aircraft's real-time position and the aircraft's real-time track angle, calculate the track azimuth angle of the projection of the aircraft's velocity vector on the polar plane. The calculation formula is: (11) In Step 4.3, based on the heading angle calculated by Equation (7) and the track azimuth angle calculated by Equation (11), calculate the azimuth deviation of the aircraft's track azimuth angle relative to the rhumb line heading angle of the polar plane. The calculation formula is: (12) In Step 4.4, based on the altitude value in the geographical coordinates of the aircraft's real-time position and the altitude command, calculate the altitude deviation of the aircraft's current position. The calculation formula is: (13) In Step 4.5, calculate the deviation of the aircraft's current speed relative to the target speed. In Step 4.5.1, assume the required arrival time RTA is , and based on the total flight distance calculated by Equation (9), calculate the target speed of this flight segment. The calculation formula is: (14) In Step 4.5.2, based on the target speed of this flight segment calculated by Equation (14), the azimuth deviation of the aircraft's track azimuth angle relative to the rhumb line heading angle of the polar plane calculated by Equation (12), and the aircraft's real-time speed, calculate the speed deviation. The calculation formula is: (15) Refer to Figure 3 , Figure 3 which explains the specific representation of the guidance parameters calculated in step 4 and their spatial relationships. In the figure, is the vector projection on the polar plane.

[0039] Step 5: Calculate the polar plane guidance instruction.

[0040] Specifically, in step 5.1, obtain the horizontal guidance instruction according to the sideslip offset and azimuth deviation. In step 5.2, obtain the vertical guidance instruction according to the altitude deviation. In step 5.3, obtain the throttle opening increment instruction according to the speed deviation.

[0041] Exemplarily, in a specific embodiment, in step 5.1, calculate the horizontal guidance instruction based on the sideslip offset of the current position of the aircraft relative to the rhumb line on the polar plane calculated in Equation (10), the azimuth deviation of the aircraft's track azimuth relative to the rhumb line heading on the polar plane calculated in Equation (12), and the real-time speed of the aircraft. The calculation formula is:[[]] (16) In the formula,[[]] is the sideslip offset adjustment coefficient; is the azimuth deviation adjustment coefficient.

[0042] In step 5.2, calculate the vertical guidance instruction based on the altitude deviation of the current position of the aircraft calculated in Equation (13). The calculation formula is:[[]] (17) In the formula,[[]] is the altitude deviation adjustment coefficient.

[0043] In step 5.3, calculate the throttle opening increment instruction based on the speed deviation calculated in (15). The calculation formula is:[[]] (18) In the formula,[[]] is the speed deviation adjustment coefficient.

[0044] , , , are all adjustable coefficients and are adjusted according to the actual aircraft.

[0045] Step 6: Guide the flight of the aircraft according to the horizontal guidance instruction, vertical guidance instruction, and throttle opening increment instruction.

[0046] Refer to Figure 4 , Figure 4This is the flight guidance schematic diagram based on the polar plane rhumb line, which shows the main content of the innovation of the present invention and the operation process of the whole method.

[0047] In the prior art, the flight guidance system is a complex system, including a mechanical arrangement system, a reference coordinate system and a reference track construction system, and a guidance algorithm. These three respectively achieve the positioning, position display and guidance of the aircraft. Among them, the mechanical arrangement is to determine the current position of the aircraft; the reference coordinate system and the reference track construction are similar to a map, which shows the positions of the aircraft and the route in an appropriate reference system for easy display and control; the guidance algorithm controls the aircraft rudder surface by calculating the relative position relationship between the aircraft and the route to guide the aircraft to track the route. In the existing flight guidance system, the reference coordinate system is the geographic coordinate system, the reference route is the great circle route or the rhumb line, and the guidance algorithm is based on the great circle route or the rhumb line for guidance, resulting in a long reference track, low tracking accuracy and fast course change during the polar region guidance process. To solve this problem, the present invention proposes a polar region guidance method based on the polar plane rhumb line. First, a polar plane suitable for the polar region is constructed, and the polar plane rhumb line is constructed based on the polar plane. Finally, a flight guidance algorithm is designed based on the polar plane rhumb line to ensure the high-precision and safe flight of the aircraft in the polar region.

[0048] The following is an illustration of this embodiment with specific data: Data information of aircraft flight: starting point Geodetic coordinates (75, 10, 8000), ending point Geodetic coordinates are (70, 170, 10000), aircraft real-time position GRP point Geodetic coordinates are (82, 15, 8100), altitude instruction Is 8200 meters, required time of arrival RTA is 19500, aircraft real-time velocity vector Projection in the northeast celestial coordinate system is (40, 190, 0), aircraft real-time attitude angle is (1.5, 0, 10), real-time track angle is (11.3, 0). The units of geodetic coordinates (i.e., the geodetic coordinates of the geographic coordinate system) are degrees, degrees, and meters respectively, the units of attitude angle and track angle are degrees, and the unit of required time of arrival is seconds.

[0049] Step 1: Load data information, including the geographic coordinates of the starting point , the geographic coordinates of the ending point , the required time of arrival RTA, altitude instruction and the aircraft real-time position GRP and real-time speed , aircraft real-time attitude angle and aircraft real-time track angle.

[0050] Step 2: According to Perform unit conversion to convert the units to radians and meters. After the conversion, the units of the longitude, latitude, and altitude coordinates are radians, radians, and meters respectively, and the units of the real-time attitude and track angle are radians.

[0051] Step 3: Define the polar plane.

[0052] Step 4: Calculate the rhumb line information on the polar plane: Step 4.1: Obtain the projections of the starting point and the ending point on the polar plane: , .

[0053] Step 4.2: Obtain the course angle of the rhumb line on the polar plane rad.

[0054] Step 4.3: Obtain the rhumb line equation on the polar plane as: .

[0055] Step 4.4: Obtain the total distance of the rhumb line on the polar plane as: 3,837,917 meters.

[0056] Step 5: Solve the polar plane navigation parameters: Step 5.1: Obtain the lateral offset of the current aircraft position relative to the rhumb line on the polar plane meters; Step 5.2: Obtain the track azimuth angle of the aircraft velocity vector projected on the polar plane rad; Step 5.3: Obtain the azimuth deviation rad; Step 5.4: Obtain the altitude deviation meters; Step 5.5: Calculate the deviation of the current aircraft speed relative to the target speed; Step 5.5.1: Obtain the target speed for this flight segment meters per second; Step 5.5.2: Obtain the speed deviation meters per second.

[0057] Step 6: Calculate the polar plane guidance commands: Step 6.1: Obtain the horizontal guidance command rad; Step 6.2: Obtain the vertical guidance command meters per second; Step 6.3: Obtain the throttle opening increment command ; Step 7: Guide the flight of the aircraft according to the horizontal guidance instruction, vertical guidance instruction, and throttle opening increment instruction obtained in Step 6.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A polar guidance method based on polar plane equiangular flight path, characterized in that: include: Obtain aircraft flight data information, including: route starting point geographic coordinates, route end point geographic coordinates, required arrival time, altitude instruction, aircraft real-time position geographic coordinates, aircraft real-time speed, aircraft real-time attitude angle and aircraft real-time track angle; The polar plane is established with the North Pole as the origin and perpendicular to the z-axis pointing to the North Pole in the Earth-centered Earth-fixed coordinate system; According to the projection coordinates of the starting point and the end point of the aircraft route on the polar plane, the heading angle of the polar plane equiangular route is obtained; according to the geographic coordinates of the starting point and the end point of the aircraft route, the total distance from the starting point to the end point of the polar plane equiangular route is obtained; According to the starting point, end point and real-time geographic coordinates of the aircraft route, the lateral deviation of the current position of the aircraft relative to the polar plane equiangular route is obtained; according to the real-time geographic coordinates of the aircraft position and the real-time track angle of the aircraft, the track azimuth of the aircraft velocity vector projected on the polar plane is obtained; according to the heading angle and the track azimuth, the azimuth deviation of the track azimuth relative to the heading angle is obtained; according to the altitude instruction and the real-time geographic coordinates of the aircraft position, the altitude deviation of the current position of the aircraft is obtained; according to the total flight distance, the required arrival time, the azimuth deviation and the real-time speed of the aircraft, the speed deviation is obtained; According to the lateral offset and azimuth deviation, the horizontal guidance instruction is obtained; according to the altitude deviation, the vertical guidance instruction is obtained; according to the speed deviation, the throttle opening increment instruction is obtained; The aircraft flight is guided according to horizontal guidance instructions, vertical guidance instructions and throttle opening increment instructions.

2. The polar guidance method based on polar plane equiangular route according to claim 1, characterized in that: The projection coordinates of the starting point of the aircraft route on the polar plane are: in the Earth-centered Earth-fixed coordinate system, the x-axis component and y-axis component of the projection of the vector from the center of the earth to the starting point on the polar plane on the polar plane; The projection coordinates of the end point of the aircraft route on the polar plane are: in the Earth-centered Earth-fixed coordinate system, the x-axis component and y-axis component of the projection of the vector from the center of the earth to the end point on the polar plane.

3. The polar guidance method based on polar plane equiangular route according to claim 1, characterized in that: The calculation formula of the heading angle of the polar plane equiangular route is: In the formula, is the heading angle of the polar plane equiangular route; are the coordinates of the starting point in the polar plane; are the coordinates of the end point in the polar plane; is the latitude of the geographical coordinates of the starting point; is the latitude of the geographical coordinates of the end point; is the longitude of the geographic coordinates of the starting point; The longitude of the geographical coordinates of the end point.

4. The polar guidance method based on polar plane equiangular flight path according to claim 1, characterized in that: The method for obtaining the total distance from the starting point to the end point of the polar plane equiangular route is: obtaining the polar plane equiangular route equation according to the geographical coordinates of the starting point and the end point of the aircraft route, and then obtaining the total distance from the starting point to the end point of the polar plane equiangular route by integral deduction based on the polar plane equiangular route equation.

5. The polar guidance method based on polar plane equiangular route according to claim 1, characterized in that: The calculation formula of the track azimuth of the aircraft velocity vector projected on the polar plane is: In the formula, is the track azimuth of the aircraft velocity vector projected on the polar plane; is the track azimuth in the real-time track angle of the aircraft; The latitude of the aircraft's real-time geographic coordinates; The longitude of the aircraft's real-time geographic coordinates.

6. The polar guidance method based on polar plane equiangular route according to claim 1, characterized in that: The speed deviation is calculated based on the target speed of this segment, the aircraft's real-time speed and the azimuth deviation; among them, the target speed of this segment is determined based on the total distance and the required arrival time.

7. The polar guidance method based on polar plane equiangular route according to claim 1, characterized in that: The calculation formula for the lateral deviation of the current position of the aircraft relative to the polar plane equiangular route is: In the formula, is the lateral deviation of the aircraft's current position relative to the polar plane equiangular trajectory; The longitude of the aircraft's real-time geographic coordinates; The latitude of the aircraft's real-time geographic coordinates; The altitude of the real-time geographic coordinates of the aircraft; is the radius of curvature of the Maoyou circle; is the latitude of the geographical coordinates of the starting point; is the latitude of the geographical coordinates of the end point; is the longitude of the geographic coordinates of the starting point; The longitude of the geographical coordinates of the end point.

8. The polar guidance method based on polar plane equiangular flight path according to claim 1, characterized in that: The calculation formula of the horizontal guidance instruction is: In the formula, It is the horizontal guidance instruction; is the side deviation adjustment coefficient; is the azimuth deviation adjustment coefficient; is the lateral deviation of the aircraft's current position relative to the polar plane equiangular trajectory; It is the azimuth deviation of the track azimuth relative to the heading angle of the polar plane equiangular route.

9. The polar guidance method based on polar plane equiangular flight path according to claim 1, characterized in that: The calculation formula of the vertical guidance instruction is: In the formula, It is the vertical guidance instruction; It is the altitude deviation of the current position of the aircraft, obtained based on the altitude and altitude command of the real-time geographic coordinates of the aircraft. ; is the height deviation adjustment coefficient.

10. The polar guidance method based on polar plane equiangular route according to claim 1, characterized in that: The calculation formula of the throttle opening increment instruction is: In the formula, is the throttle opening increment instruction; is the speed deviation; is the speed deviation adjustment coefficient.

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