A subsonic aircraft trajectory planning method based on trajectory deviation correction

Abstract

The present invention discloses a subsonic aircraft trajectory planning method based on trajectory deviation correction, including determining a longitudinal plane reference trajectory based on a maximum flight speed constraint, a maximum angle of attack constraint, a landing point trajectory inclination constraint, and a landing point Y-direction position constraint; establishing a launch coordinate system and a trajectory coordinate system, respectively calculating a trajectory deviation angle and a trajectory deviation angle control instruction; using the longitudinal plane reference trajectory as a six-degree-of-freedom simulation pitch channel tracking signal, and planning a launch coordinate system xOz plane trajectory according to the aircraft landing point requirement. The present invention can realize an arbitrary trajectory deviation angle trajectory in the launch coordinate system xOz plane, while meeting the index requirements of precision guidance, and improving the flexibility of trajectory planning.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft trajectory planning, and in particular to a subsonic aircraft trajectory planning method based on trajectory deviation angle correction. Background Art

[0002] Subsonic aircraft are designed to maneuver after being dropped from high altitude and accurately reach the payload drop point. It provides technical support for my country's low-cost and accurate delivery of anti-submarine equipment in future wars. The aircraft can fly in a wide range of airspace from 0 to 8 km, in a speed range of 0.3 to 0.6 Ma, and can achieve stable maneuvers within the full envelope. Since subsonic aircraft have maximum speed constraints, angle of attack constraints, and ballistic inclination constraints during flight, it is impossible for subsonic aircraft to adopt a large ballistic inclination descent scheme during flight. It can only use a small ballistic inclination to slowly descend. Slow descent increases the distance the aircraft flies on the plane, so it is necessary to perform lateral maneuvers to accurately reach the target point.

[0003] However, during the flight of a subsonic aircraft, the trajectory planning method that uses the X-axis position deviation and the Z-axis position deviation to generate lateral overload instructions can only generate a trajectory perpendicular to the launch system axis and axis. The inflexible guidance scheme will constrain the shape of the plane trajectory and the direction of the landing point. Therefore, how to generate a trajectory planning technology with a trajectory deflection angle other than 0° and ±90° is a key technology for subsonic aircraft. Summary of the invention

[0004] Aiming at the problem of trajectory planning of subsonic aircraft, the present invention proposes a subsonic aircraft trajectory planning method based on trajectory deviation correction. The trajectory deviation correction point of this mission is planned before the mission begins, and the trajectory deviation correction point is set in the xOz plane coordinate of the launch system. After the launch, the trajectory deviation instruction ψ is calculated in real time according to the current position of the aircraft. v_c , and multiply the difference with the current trajectory inclination by the gain k p Form a lateral overload command, and follow the command to perform lateral maneuvers to correct the trajectory deviation Δψ v .

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] A subsonic aircraft trajectory planning method based on trajectory deviation correction comprises the following steps:

[0007] S1. Determine the longitudinal plane reference trajectory based on the maximum flight speed constraint, the maximum angle of attack constraint, the landing point trajectory inclination constraint, and the landing point Y direction position constraint;

[0008] S2, establish a launch coordinate system and a trajectory coordinate system, and calculate the trajectory deviation angle and trajectory deviation angle control instructions respectively;

[0009] S3. Use the longitudinal plane reference trajectory as the six-degree-of-freedom simulation pitch channel tracking signal, and plan the launch coordinate system xOz plane trajectory according to the aircraft landing point requirements.

[0010] Optionally, step S1 specifically includes:

[0011] The longitudinal plane reference trajectory is divided into an attitude stabilization phase, a trajectory pull-up and deceleration phase, a fixed trajectory inclination descent phase, and a level flight phase;

[0012] The attitude stabilization segment of the longitudinal plane reference trajectory is expressed as

[0013] n y1 =0g

[0014] Among them, n y1 is the normal overload of the projectile system, g is the acceleration due to gravity;

[0015] The trajectory pull-up deceleration section of the longitudinal plane reference trajectory is expressed as

[0016]

[0017] in, is the normal overload of the projectile system corresponding to the maximum angle of attack;

[0018] The fixed ballistic inclination downslope section of the longitudinal plane reference trajectory is expressed as

[0019] θ=0°

[0020] Among them, θ is the ballistic inclination angle;

[0021] The level flight segment of the longitudinal plane reference trajectory is expressed as

[0022] n y1 =1g

[0023] Vy=0m / s

[0024] h=500m

[0025] Wherein, Vy is the velocity in the y-axis direction of the launch coordinate system, and h is the height.

[0026] Optionally, step S2 specifically includes:

[0027] The origin of the launch coordinate system is fixedly connected to the launch point O, the Ox axis points to the launch aiming direction in the horizontal plane of the launch point, the Oy axis is perpendicular to the horizontal direction of the launch point and points upward, and the Oz axis is perpendicular to the xOy plane and forms a right-handed coordinate system;

[0028] The origin O2 of the ballistic coordinate system is taken at the center of mass of the projectile, O2x2 coincides with the velocity vector, the O2y2 axis is located in the vertical plane containing the velocity vector and is perpendicular to the O2x2 axis, with the upward direction being positive, and the O2z2 axis is determined according to the right-hand rule;

[0029] The trajectory deviation angle is calculated based on the projection of the aircraft's velocity on the xOz plane of the launch coordinate system;

[0030] The trajectory deviation control instruction is calculated according to the coordinates of the trajectory deviation correction point in the xOz plane of the launch system.

[0031] Optionally, the calculation formula of the trajectory deviation angle is:

[0032]

[0033] Among them, ψ v is the trajectory deviation angle, Vz is the velocity in the z-axis direction of the launch coordinate system, Vx is the velocity in the x-axis direction of the launch coordinate system, and π is pi.

[0034] Optionally, the calculation formula of the trajectory deflection angle control instruction is:

[0035]

[0036] ΔZ=Z target -Z

[0037] ΔX=X target -X

[0038] Among them, ψ v_c is the trajectory angle control instruction, (X target ,Z target ) is the coordinate of the trajectory deviation correction point in the xOz plane of the launch coordinate system, π is pi, X is the position of the aircraft on the x-axis of the launch coordinate system, and Z is the position of the aircraft on the z-axis of the launch coordinate system.

[0039] Optionally, step S3 specifically includes:

[0040] Divide the launch coordinate system xOz plane trajectory into a longitudinal control section, a heading adjustment section, a turning section, and a heading correction section;

[0041] The time of the longitudinal control section in the launch coordinate system xOz plane trajectory is made to coincide with the attitude stabilization section and the trajectory pull-up and deceleration section in the longitudinal plane reference trajectory;

[0042] In the heading adjustment section of the xOz plane trajectory of the launch coordinate system, the projection of the aircraft speed on the xOz plane of the launch coordinate system is controlled to point to the trajectory deviation correction point according to the set trajectory deviation correction point, and the longitudinal plane trajectory of the aircraft is in the level flight section when it reaches the target point by adjusting the flight distance when the aircraft exceeds the trajectory deviation correction;

[0043] In the turning section of the xOz plane trajectory of the launch coordinate system, the turning radius is set according to the vertical distance between the heading adjustment section and the heading correction section, and the required overload of the turning section is calculated by the turning radius;

[0044] In the heading correction section of the xOz plane trajectory of the launch coordinate system, when the heading correction section switching conditions are met, the trajectory deviation correction point coordinates are set as the aircraft landing point coordinates to achieve precise guidance.

[0045] The present invention has the following beneficial effects:

[0046] The present invention uses the aircraft position information and the target point position information to form a trajectory deviation instruction in the fixed ballistic inclination descent phase of a subsonic aircraft. The difference between the trajectory deviation instruction and the aircraft trajectory deviation angle forms a lateral overload instruction for BTT maneuvers. It can realize arbitrary trajectory deviation angles in the xOz plane of the launch coordinate system, while meeting the index requirements of precision guidance and improving the flexibility of trajectory planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a flow chart of a subsonic aircraft trajectory planning method based on trajectory deviation angle correction in an embodiment of the present invention;

[0048] Figure 2 Schematic diagram of the longitudinal plane reference trajectory in an embodiment of the present invention;

[0049] Figure 3 Schematic diagram of the xOz plane trajectory of the launch coordinate system in an embodiment of the present invention;

[0050] Figure 4 It is a simulation diagram of the launch coordinate system xOz plane trajectory in an embodiment of the present invention;

[0051] Figure 5 The speed V curve in the embodiment of the present invention;

[0052] Figure 6 It is the height H curve in the embodiment of the present invention. DETAILED DESCRIPTION

[0053] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0054] The technical concept proposed in the present invention is: to design the trajectory based on the mission's aircraft landing point position constraints, to calculate the overload required for lateral maneuvers using the trajectory deviation correction algorithm, to adopt the BTT maneuvering method, to design the guidance command switching conditions considering the actual flight effect, and to achieve precise guidance of subsonic aircraft.

[0055] like Figure 1 As shown, a subsonic aircraft trajectory planning method based on trajectory deviation correction provided by an embodiment of the present invention includes the following steps S1 to S3:

[0056] S1. Determine the longitudinal plane reference trajectory based on the maximum flight speed constraint, the maximum angle of attack constraint, the landing point trajectory inclination constraint, and the landing point Y direction position constraint;

[0057] In an optional embodiment of the present invention, step S1 specifically includes:

[0058] Based on the maximum flight speed constraint, maximum attack angle constraint, landing point trajectory inclination constraint, and landing point Y direction position constraint, the longitudinal plane reference trajectory is designed in sections, specifically divided into attitude stabilization section, trajectory pull-up deceleration section, fixed trajectory inclination descent section, and level flight section. Figure 2 shown.

[0059] The attitude stabilization segment of the longitudinal plane reference trajectory is expressed as

[0060] n y1 =0g

[0061] Among them, n y1 is the normal overload of the projectile system, g is the acceleration due to gravity;

[0062] The trajectory pull-up deceleration section of the longitudinal plane reference trajectory is expressed as

[0063]

[0064] in, is the normal overload of the projectile system corresponding to the maximum angle of attack;

[0065] The fixed ballistic inclination downslope section of the longitudinal plane reference trajectory is expressed as

[0066] θ=0°

[0067] Among them, θ is the ballistic inclination angle;

[0068] The level flight segment of the longitudinal plane reference trajectory is expressed as

[0069] n y1 =1g

[0070] Vy=0m / s

[0071] h=500m

[0072] Wherein, Vy is the velocity in the y-axis direction of the launch coordinate system, and h is the height.

[0073] S2, establish a launch coordinate system and a trajectory coordinate system, and calculate the trajectory deviation angle and trajectory deviation angle control instructions respectively;

[0074] In an optional embodiment of the present invention, step S2 specifically includes:

[0075] The origin of the launch coordinate system is fixedly connected to the launch point O, the Ox axis points to the launch aiming direction in the horizontal plane of the launch point, the Oy axis is perpendicular to the horizontal direction of the launch point and points upward, the Oz axis is perpendicular to the xOy plane and forms a right-handed coordinate system, thereby establishing the launch coordinate system O-xyz;

[0076] The coordinate origin O2 of the ballistic coordinate system is taken at the center of mass of the projectile, O2x2 coincides with the velocity vector, the O2y2 axis is located in the vertical plane containing the velocity vector and is perpendicular to the O2x2 axis, with the upward direction being positive, and the O2z2 axis is determined according to the right-hand rule, thereby establishing the ballistic coordinate system O2-x2y2z2;

[0077] The trajectory deviation angle is calculated based on the projection of the aircraft's velocity on the xOz plane of the launch coordinate system; the trajectory deviation angle here refers to the angle between the projection of the velocity vector on the horizontal plane xOz and the Ox axis, with the Oy axis direction as the positive; since the value range of the inverse trigonometric function to calculate the angle is [-90°, 90°], which cannot include the range of 360°, a mathematical method is used to expand the value range from [-90°, 90°] to [-180°, 180°]; the calculation formula for the trajectory deviation angle is:

[0078]

[0079] Among them, ψ v is the trajectory deviation angle, Vz is the velocity in the z-axis direction of the launch coordinate system, Vx is the velocity in the x-axis direction of the launch coordinate system, and π is pi.

[0080] Assume that the coordinates of the trajectory deviation correction point in the xOz plane of the launch coordinate system are (X target ,Z target ), the trajectory angle control instruction is calculated according to the coordinates of the trajectory angle correction point in the xOz plane of the launch system. The calculation formula is:

[0081]

[0082] ΔZ=Z target -Z

[0083] ΔX=X target -X

[0084] Among them, ψ v_cis the trajectory angle control instruction, (X target ,Z target ) is the coordinate of the trajectory deviation correction point in the xOz plane of the launch coordinate system, π is pi, X is the position of the aircraft on the x-axis of the launch coordinate system, and Z is the position of the aircraft on the z-axis of the launch coordinate system.

[0085] S3. Use the longitudinal plane reference trajectory as the six-degree-of-freedom simulation pitch channel tracking signal, and plan the launch coordinate system xOz plane trajectory according to the aircraft landing point requirements.

[0086] In an optional embodiment of the present invention, since the subsonic aircraft is a plane-symmetrical layout, the BTT maneuvering method is adopted. In order to ensure the maneuverability and meet the maximum angle of attack constraint, the maneuver is performed in the fixed ballistic inclination glide segment. After determining the maneuvering time, the trajectory is planned according to the landing point. Since the subsonic aircraft has a strong flight capability, a circuitous method is used to accurately guide the landing point. The schematic diagram of the launch coordinate system xOz plane trajectory is shown in Figure 3 shown.

[0087] Step S3 specifically includes:

[0088] Divide the launch coordinate system xOz plane trajectory into a longitudinal control section, a heading adjustment section, a turning section, and a heading correction section;

[0089] The time of the longitudinal control section in the launch coordinate system xOz plane trajectory is made to coincide with the attitude stabilization section and the trajectory pull-up and deceleration section in the longitudinal plane reference trajectory;

[0090] In the heading adjustment section of the xOz plane trajectory of the launch coordinate system, the projection of the aircraft speed on the xOz plane of the launch coordinate system is controlled to point to the trajectory deviation correction point according to the set trajectory deviation correction point, and the longitudinal plane trajectory of the aircraft is in the level flight section when it reaches the target point by adjusting the flight distance when the aircraft exceeds the trajectory deviation correction;

[0091] In the turning section of the xOz plane trajectory of the launch coordinate system, the turning radius is set according to the vertical distance between the heading adjustment section and the heading correction section, and the required overload of the turning section is calculated by the turning radius;

[0092] In the heading correction section of the xOz plane trajectory of the launch coordinate system, when the heading correction section switching conditions are met, the trajectory deviation correction point coordinates are set as the aircraft landing point coordinates to achieve precise guidance.

[0093] Taking the landing point of the aircraft as (12000, 9000) as an example, the xOz plane trajectory is divided into the longitudinal control section, the heading adjustment section, the turning section, and the heading correction section.

[0094] For the longitudinal control section, when the longitudinal plane trajectory is in the attitude stability section, the yaw channel control command is:

[0095] ψ c =ψ0

[0096] Among them, ψ0 is the ballistic deviation angle value at the time of launch;

[0097] When the longitudinal plane trajectory is in the trajectory pull-up phase, the yaw channel control command is:

[0098] n z1c =0g

[0099] The roll channel control instructions are:

[0100] γ c =0°

[0101] For the heading adjustment section, turning section, and heading correction section, the BTT maneuver is adopted, so the roll channel control instructions are:

[0102]

[0103] Among them, n y1c The overload required for the projectile to keep sliding down at a fixed ballistic inclination angle, n z1c_BTT Overload required for lateral maneuvers.

[0104] The yaw channel control instructions are:

[0105] n z1c =0g

[0106] The function of the heading correction section is to direct the projection of the aircraft velocity on the xOz plane to the target point. Assume that the coordinates of the target point on the xOz plane are (12000, 4500). Then the trajectory deviation instruction is:

[0107]

[0108] ΔZ=Z target -Z

[0109] ΔX=X target -X

[0110] Where Z target =4500,X target =12000.

[0111] The current trajectory angle is:

[0112]

[0113] The overload required for lateral maneuver is:

[0114] n z1c_BTT =kp*(ψ v_c -ψ v )

[0115] Where, kp is the gain coefficient;

[0116] In order to avoid sudden changes in the ballistic angle command when the aircraft approaches the target point, which will cause a sudden change in the roll angle command, when X ≥ 11500, the ballistic angle command is:

[0117] ψ v_c =ψ v | X≥11500

[0118] When X ≥ 12000, integrate the projection of the velocity on the xOz plane:

[0119]

[0120] Where L is the motion length of the aircraft in the xoz plane of the launch coordinate system from the moment when the x-axis position of the aircraft is greater than 12000 to the turning stage, t zw is the turning time;

[0121] When L≥R, R is the length of the energy management section, and the vehicle enters the turning section. The overload required for lateral maneuvering in the turning section is:

[0122]

[0123] Where V is the total velocity of the launch coordinate system;

[0124] When the following conditions are met:

[0125] X≥12000&&ψ v <0&&(|ψ v |+|ψ v || X＝12000 )<180

[0126] Among them, |ψ v || X＝12000 is the ballistic deviation angle when the aircraft is at the x-axis position of the launch coordinate system of 12000m;

[0127] The aircraft enters the heading correction phase.

[0128] The trajectory deviation command in the heading correction phase is:

[0129]

[0130] Among them, Z target =9000,X target =12000.

[0131] The current trajectory angle is:

[0132]

[0133] The overload required for lateral maneuver is:

[0134] n z1c_BTT =kp*(ψ v_c -ψ v )

[0135] In order to avoid sudden changes in the ballistic angle command when the aircraft approaches the target point, which will cause a sudden change in the roll angle command, when X≤12500, the ballistic angle command is:

[0136] ψ v_c =ψ v | X≤12500

[0137] Subsonic aircraft xOz plane trajectory simulation diagram Figure 4 The speed V is as shown. Figure 5 The height-time curve is shown in Figure 6 As shown. Figure 4 It can be seen that the subsonic aircraft passes through (12000, 4500) and (12000, 9000) precisely during the flight, satisfying the trajectory planning assumptions and landing point position constraints. Figure 5 It can be seen that the speed of the aircraft when it reaches the payload delivery point is 110m / s, and the maximum speed during the flight is 205m / s, which meets the speed constraint. Figure 6 It can be seen that the height of the aircraft when it reaches the payload drop point is 500m, which meets the drop point height constraint. Since the final flight trajectory is level flight, the ballistic inclination constraint is met. It can be seen that this method is effective and has high engineering value.

[0138] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0139] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0141] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0142] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A subsonic aircraft trajectory planning method based on trajectory deviation correction, characterized in that: The following steps are involved: S1. Determine the longitudinal plane reference trajectory based on the maximum flight speed constraint, the maximum angle of attack constraint, the landing point trajectory inclination constraint, and the landing point vertical position constraint; S2. Establishing a launch coordinate system and a trajectory coordinate system, and calculating trajectory deviation angle and trajectory deviation angle control instructions respectively; specifically including: The origin of the launch coordinate system is fixedly connected to the launch point O, the Ox axis points to the launch aiming direction in the horizontal plane of the launch point, the Oy axis is perpendicular to the horizontal direction of the launch point and points upward, and the Oz axis is perpendicular to the xOy plane and forms a right-handed coordinate system; The origin O2 of the ballistic coordinate system is taken at the center of mass of the projectile, O2x2 coincides with the velocity vector, the O2y2 axis is located in the vertical plane containing the velocity vector and is perpendicular to the O2x2 axis, with the upward direction being positive, and the O2z2 axis is determined according to the right-hand rule; The trajectory deviation angle is calculated based on the projection of the aircraft's velocity on the xOz plane of the launch coordinate system; Calculate the trajectory angle control instruction according to the coordinates of the trajectory angle correction point on the xOz plane of the launch system; S3. Use the longitudinal plane reference trajectory as the six-degree-of-freedom simulation pitch channel tracking signal, and plan the launch coordinate system xOz plane trajectory according to the aircraft landing point requirements.

2. A subsonic aircraft trajectory planning method based on trajectory deflection correction according to claim 1, characterized in that: Step S1 specifically includes: The longitudinal plane reference trajectory is divided into an attitude stabilization phase, a trajectory pull-up and deceleration phase, a fixed trajectory inclination descent phase, and a level flight phase; The attitude stabilization segment of the longitudinal plane reference trajectory is expressed as n y1 =0g Among them, n y1 is the normal overload of the projectile system, g is the acceleration due to gravity; The trajectory pull-up deceleration section of the longitudinal plane reference trajectory is expressed as in, is the normal overload of the projectile system corresponding to the maximum angle of attack; The fixed ballistic inclination downslope section of the longitudinal plane reference trajectory is expressed as θ=0° Among them, θ is the ballistic inclination angle; The level flight segment of the longitudinal plane reference trajectory is expressed as n y1 =1g Vy=0m / s h=500m Wherein, Vy is the velocity in the y-axis direction of the launch coordinate system, and h is the height.

3. The subsonic aircraft trajectory planning method based on trajectory deviation correction according to claim 1, characterized in that: The calculation formula of the trajectory deviation angle is: Among them, ψ v is the trajectory deviation angle, Vz is the velocity in the z-axis direction of the launch coordinate system, Vx is the velocity in the x-axis direction of the launch coordinate system, and π is pi.

4. The subsonic aircraft trajectory planning method based on trajectory deviation correction according to claim 1, characterized in that: The calculation formula of the trajectory deflection angle control instruction is: ΔZ=Z target -Z ΔX=X target -X Among them, ψ v_c is the trajectory angle control instruction, (X target ,Z target ) is the coordinate of the trajectory deviation correction point in the xOz plane of the launch coordinate system, π is pi, X is the position of the aircraft on the x-axis of the launch coordinate system, and Z is the position of the aircraft on the z-axis of the launch coordinate system.

5. The subsonic aircraft trajectory planning method based on trajectory deflection correction according to claim 1, characterized in that: Step S3 specifically includes: Divide the launch coordinate system xOz plane trajectory into a longitudinal control section, a heading adjustment section, a turning section, and a heading correction section; The time of the longitudinal control section in the launch coordinate system xOz plane trajectory is made to coincide with the attitude stabilization section and the trajectory pull-up and deceleration section in the longitudinal plane reference trajectory; In the heading adjustment section of the xOz plane trajectory of the launch coordinate system, the projection of the aircraft speed on the xOz plane of the launch coordinate system is controlled to point to the trajectory deviation correction point according to the set trajectory deviation correction point, and the longitudinal plane trajectory of the aircraft is in the level flight section when it reaches the target point by adjusting the flight distance when the aircraft exceeds the trajectory deviation correction; In the turning section of the xOz plane trajectory of the launch coordinate system, the turning radius is set according to the vertical distance between the heading adjustment section and the heading correction section, and the required overload of the turning section is calculated by the turning radius; In the heading correction section of the xOz plane trajectory of the launch coordinate system, when the heading correction section switching conditions are met, the trajectory deviation correction point coordinates are set as the aircraft landing point coordinates to achieve precise guidance.

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