Aircraft trajectory determination method, device, electronic device and storage medium

Abstract

The present invention discloses a method, device, electronic device and storage medium for determining an aircraft trajectory. The method for determining an aircraft trajectory includes: determining the coefficients to be determined in the Cartesian lobate equation based on the initial position and target position of the aircraft; determining the vertex positions corresponding to the vertices of the Cartesian lobate based on the coefficients to be determined; determining the set of flight points from the initial position through the vertex position to the target position based on the set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation; and determining the target flight trajectory of the aircraft based on the set of flight points. The above technical solution determines the target flight trajectory of the aircraft through the Cartesian lobate equation by combining the initial position and target position of the aircraft, and can better determine the flight trajectory of the aircraft in complex environments.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of aircraft technology, and in particular to a method, device, electronic device, and storage medium for determining an aircraft trajectory. Background Art

[0002] With the continuous development of the field of aircraft technology, aircraft have been applied to all aspects of life, such as plant protection, express delivery, search and rescue, aerial photography, and inspection. The development of aircraft technology has brought great convenience to our lives.

[0003] Aircraft can move from an initial position to a target position according to a pre-designed flight trajectory. However, as the requirements for aircraft technology continue to increase, aircraft trajectory planning needs to adapt to different terrains and operating environments, and the requirements for aircraft trajectory planning are also increasing. Existing technologies cannot effectively determine the flight trajectory of aircraft in more complex operating environments. Summary of the Invention

[0004] The present invention provides a method, device, electronic device and storage medium for determining an aircraft trajectory. By combining the Cartesian lobe equation to determine the target flight trajectory of an aircraft, the flight trajectory of an aircraft in a complex environment can be better determined.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining an aircraft trajectory, comprising:

[0006] Determine the coefficients to be determined in the Cartesian leaf line equation according to the initial position and target position of the aircraft;

[0007] Determining, based on the coefficients to be determined, vertex positions corresponding to vertices of the Cartesian lobate;

[0008] Determining a set of flight points from the initial position to the target position via the vertex position according to a set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation;

[0009] A target flight trajectory of the aircraft is determined based on the flight point set.

[0010] Furthermore, determining the coefficients to be determined in the Cartesian leaf profile equation according to the initial position and the target position of the aircraft includes:

[0011] Determining an angle between the coordinates of the initial position and the coordinates of the target position in a Cartesian coordinate system, where the origin of the Cartesian coordinate system is the target position;

[0012] The coefficients to be determined in the Cartesian lobate equation are determined according to the coordinates of the initial position and the angle.

[0013] Furthermore, the position corresponding to the node of the Cartesian lobate is the target position.

[0014] Furthermore, the horizontal coordinate set from the target position to the vertex position includes:

[0015] All horizontal coordinates between the horizontal coordinate of the target position and the horizontal coordinate of the vertex position.

[0016] Furthermore, determining a set of flight points from the initial position to the target position via the vertex position based on a set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation includes:

[0017] Select one or more abscissas to be calculated from the abscissa set from the target position to the vertex position;

[0018] For each abscissa to be calculated, determining the ordinate of the abscissa to be calculated in the Cartesian lobate equation;

[0019] Determine the to-be-calculated abscissa and the ordinate corresponding to the to-be-calculated abscissa as the coordinates of the flight point;

[0020] The coordinates of all flight points are determined as the flight point set.

[0021] Furthermore, determining the target flight trajectory of the aircraft based on the flight point set includes:

[0022] Performing curve fitting on the coordinates of all flight points in the flight point set;

[0023] The fitted curve is determined as the target flight trajectory of the aircraft.

[0024] Furthermore, the aircraft trajectory determination method further includes:

[0025] The target flight trajectory is tested in a virtual environment so that the aircraft can reach the target position from the initial position through the vertex position in the virtual environment according to the target flight trajectory.

[0026] In a second aspect, an embodiment of the present invention provides an aircraft trajectory determination device, comprising:

[0027] A first determination module is used to determine the coefficients to be determined in the Cartesian leaf line equation according to the initial position and the target position of the aircraft;

[0028] a second determining module, configured to determine, based on the coefficients to be determined, vertex positions corresponding to vertices of the Cartesian foliate line;

[0029] a third determining module, configured to determine a set of flight points from the initial position to the target position via the vertex position based on a set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation;

[0030] The fourth determining module is configured to determine a target flight trajectory of the aircraft based on the flight point set.

[0031] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0032] at least one processor; and

[0033] a memory communicatively connected to the at least one processor; wherein,

[0034] The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the method according to the first aspect.

[0035] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0036] The technical solution of the embodiment of the present invention determines the target flight trajectory of the aircraft by combining the initial position and target position of the aircraft with the Cartesian lobate equation, which can better determine the flight trajectory of the aircraft in complex environments.

[0037] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is a flowchart of a method for determining an aircraft trajectory according to a first embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of a Cartesian lobate provided according to the first embodiment of the present invention;

[0041] Figure 3This is a flow chart of a method for determining an aircraft trajectory according to a second embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of an aircraft trajectory determination device provided according to a third embodiment of the present invention;

[0043] Figure 5 A schematic structural diagram of an electronic device that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only 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 making creative efforts should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first," "second," and the like in the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0046] It is understandable that before using the technical solutions disclosed in the embodiments of the present invention, the type, scope of use, and usage scenarios of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0047] Example 1

[0048] Figure 1 This is a flow chart of a method for determining an aircraft trajectory according to the first embodiment of the present invention. This embodiment is applicable to the case of determining the flight trajectory of an aircraft. The method can be executed by an aircraft trajectory determination device, which can be implemented in the form of software and / or hardware and integrated into an electronic device. Furthermore, the electronic device includes but is not limited to: computers, laptops, smart phones, servers, etc. Figure 1 As shown, the method includes:

[0049] S110 : Determine the coefficients to be determined in the Cartesian leaf profile equation according to the initial position and the target position of the aircraft.

[0050] The initial position may refer to the current location of the aircraft. The target position may refer to the location that the aircraft needs to reach from the initial position. The initial position and target position of the aircraft may be determined based on actual application needs and are not limited in the present invention, as long as the initial position and target position are not the same.

[0051] The expression of the rectangular coordinate system equation corresponding to the Cartesian leaf line equation is:

[0052] x 3 +y 3 -3axy=0

[0053] The parameter a may be a coefficient to be determined in the Cartesian leaf equation.

[0054] Correspondingly, the expression of the parametric equation corresponding to the Cartesian leaf line equation is:

[0055]

[0056] The parameter t can represent a certain moment. The geometric meaning of the parameter t can be understood as the slope of the line connecting the point on the Cartesian lobate and the origin. The origin can refer to the origin of the Cartesian coordinate system, such as the point where the target position is located.

[0057] The initial position and target position of the aircraft can be selected according to actual application needs. A Cartesian coordinate system can be established with the target position as the origin. The coordinates corresponding to the initial position and the target position can be determined through the Cartesian coordinate system. Based on the coordinates corresponding to the initial position and the target position, the Cartesian lobate can be determined so that the initial position and the target position are on the Cartesian lobate line.

[0058] Figure 2 is a schematic diagram of a Cartesian lobate provided according to the first embodiment of the present invention, such as Figure 2 As shown, Figure 2 Midpoint A can represent the point where the target position is located, and point B can represent the point where the initial position is located. A Cartesian coordinate system is established with point A as the origin, and the Cartesian lobate line can be determined by the coordinates corresponding to the initial position and the target position.

[0059] There are no specific limitations on the method for determining the coefficients to be determined in the Cartesian lobe equation based on the initial and target positions of the aircraft, as long as the coefficients to be determined in the Cartesian lobe equation can be determined. For example, the coordinates of the initial and target positions of the aircraft can be determined in a Cartesian coordinate system; the angle θ between the initial and target positions can be determined based on the coordinates; the slope corresponding to the angle θ can be used as the parameter t based on the geometric meaning of the parameter t in the parametric equation corresponding to the Cartesian lobe equation; and the coefficient a to be determined in the Cartesian lobe equation can be obtained based on the coordinates of the initial position, the parameter t, and the parametric equation.

[0060] In one embodiment, the position corresponding to the node of the Cartesian lobes is the target position.

[0061] The position corresponding to the node of the Cartesian leaf line is the target position, that is, Figure 2 The point A shown in FIG is located at the node of the Cartesian foliation line.

[0062] S120 , determining the vertex position corresponding to the vertex of the Cartesian foliate line according to the coefficient to be determined.

[0063] The vertex position may refer to the position of the vertex of the Cartesian lobate, and the coordinates of the vertex position of the Cartesian lobate may be determined according to the coefficient to be determined.

[0064] There is no limitation on the method of determining the vertex position corresponding to the vertex of the Cartesian lobate line according to the coefficient to be determined. The vertex position corresponding to the vertex of the Cartesian lobate line can be Figure 2 Regarding the position of the midpoint C, when the coefficient a to be determined is determined according to the initial position and the target position in step S110, (3a / 2, 3a / 2) can be used as the coordinates of the vertex position of the Cartesian lobate.

[0065] S130. Determine a set of flight points from the initial position to the vertex position and to the target position based on a set of horizontal coordinates from the target position to the vertex position and a Cartesian lobate equation.

[0066] The abscissa set may refer to all abscissas between the abscissa of the target position and the abscissa of the vertex position.

[0067] In one embodiment, the set of horizontal coordinates from the target position to the vertex position includes:

[0068] All the horizontal coordinates between the horizontal coordinate of the target position and the horizontal coordinate of the vertex position. That is, the horizontal coordinate set can be Figure 2 All the abscissas between the abscissa of midpoint A and the abscissa of point C.

[0069] The flight point set may refer to the set of all flight points that the aircraft needs to pass through from the initial position to the vertex position to the target position. Figure 2 Any point in the trajectory from point A to point C and then to point B.

[0070] The method for determining the set of flight points from the initial position to the vertex position using the set of horizontal coordinates and the Cartesian lobate equation is not limited, as long as the set of flight points can be determined. For example, any horizontal coordinate in the set of horizontal coordinates can be selected as the horizontal coordinate of the flight point; the vertical coordinate corresponding to the horizontal coordinate of the flight point can be determined based on the Cartesian lobate equation as the vertical coordinate of the flight point; the horizontal coordinate and the vertical coordinate of the flight point can be determined as the coordinates of the flight point; and all horizontal coordinates in the set of horizontal coordinates can be selected in the above manner to determine the coordinates of the flight point corresponding to each horizontal coordinate. Thus, the coordinates of all flight points can be used as the set of flight points from the initial position to the vertex position to the target position.

[0071] S140: Determine the target flight trajectory of the aircraft based on the flight point set.

[0072] The target flight trajectory can refer to the flight trajectory of the aircraft from the initial position to the target position. For example, the target flight trajectory can be Figure 2 The trajectory shown in FIG is from the initial position (point B) to the vertex position (point C) to the target position (point A).

[0073] There is no limitation on the method for determining the target flight trajectory of the aircraft based on the flight point set. For example, a curve fitting tool can be used to perform curve fitting on the coordinates of all flight points in the flight point set. The curve obtained after curve fitting is the target flight trajectory of the aircraft. The target flight trajectory of the aircraft includes all flight points in the flight point set.

[0074] There is no limitation on the curve fitting tool, as long as it can determine the target flight trajectory through the coordinates of all flight points in the flight point set, such as the MATLAB curve fitting toolbox or CurveFitter.

[0075] The technical solution of an embodiment of the present invention first determines the undetermined coefficients in the Cartesian lobate equation based on the initial and target positions of the aircraft. Secondly, the vertex positions corresponding to the vertices of the Cartesian lobate are determined based on the undetermined coefficients. Then, based on the set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation, the set of flight points from the initial position through the vertex position to the target position is determined. Finally, based on the set of flight points, the target flight trajectory of the aircraft is determined. This solution determines the target flight trajectory of the aircraft by combining the Cartesian lobate equation with the initial and target positions of the aircraft, enabling better determination of the aircraft's flight trajectory in complex environments.

[0076] Furthermore, the aircraft trajectory determination method further includes:

[0077] The target flight trajectory is tested in the virtual environment so that the aircraft can reach the target position from the initial position to the vertex position in the virtual environment according to the target flight trajectory.

[0078] A virtual environment can be established based on actual application needs, and an algorithm can be used to control the movement of an aircraft within the virtual environment. In embodiments of the present invention, a virtual environment can be built by developers using Python as the development language, the Vue.js development framework on the web, and a Geographic Information System (GIS). The algorithm can be determined based on actual application needs and can be used to control the flight trajectory of an aircraft, such as controlling the aircraft to follow a target flight trajectory determined in embodiments of the present invention.

[0079] Since the verification cost of the algorithm in hardware equipment (such as aircraft in a real environment) is high, the theoretical verification of the algorithm can be realized in a virtual environment, that is, the algorithm is used to control the aircraft to fly according to the target flight trajectory in the virtual environment, so that the aircraft can reach the target position in the virtual environment from the initial position to the vertex position according to the target flight trajectory.

[0080] In a virtual environment, a network connection can be established between the virtual environment and the aircraft within it via the User Datagram Protocol (UDP), allowing the aircraft to be controlled by the virtual environment and fly along a target trajectory within the virtual environment. Using UDP to enable communication between the virtual environment and the aircraft within it allows algorithms and applications to send data packets without establishing a connection, thus addressing timeliness issues.

[0081] Example 2

[0082] Figure 3This is a flowchart of a method for determining an aircraft trajectory provided according to a second embodiment of the present invention. This embodiment, based on the above-mentioned first embodiment, further refines the determination of the coefficients to be determined in the Cartesian lobate equation based on the initial position and target position of the aircraft; further refines the determination of the set of flight points from the initial position to the vertex position and the Cartesian lobate equation; and further refines the determination of the target flight trajectory of the aircraft based on the set of flight points.

[0083] like Figure 3 As shown, the method includes:

[0084] S111. Determine an angle between the coordinates of the initial position and the coordinates of the target position in a Cartesian coordinate system, where the origin of the Cartesian coordinate system is the target position.

[0085] In the Cartesian coordinate system, the origin of the Cartesian coordinate system is the target position, that is, Figure 2 The angle between the coordinates of the initial position and the coordinates of the target position can be understood as the angle between the connecting line of the initial position and the target position and the horizontal axis direction, which can be Figure 2 The angle θ shown in .

[0086] The method for determining the angle between the coordinates of the initial position in the Cartesian coordinate system and the coordinates of the target position is not limited, as long as the angle between the coordinates of the initial position in the Cartesian coordinate system and the coordinates of the target position can be determined. For example, an angle confirmation script can be used to determine the angle between the coordinates of the initial position in the Cartesian coordinate system and the coordinates of the target position based on the coordinates of the initial position and the coordinates of the target position. Among them, the angle confirmation script can be determined according to the actual application needs, such as being downloaded from a web page, or being written by a developer in a development language such as Java, and is not specifically limited.

[0087] S112. Determine the coefficients to be determined in the Cartesian leaf line equation according to the coordinates and angle of the initial position.

[0088] In the parametric equation corresponding to the Cartesian leaf line equation, the geometric meaning of the parameter t is the slope of the line connecting the point on the Cartesian leaf line and the origin. In the present invention, the origin of the Cartesian coordinate system can be the target position, and the initial position is on the Cartesian leaf line. Therefore, the geometric meaning of the parameter t can be the slope of the line connecting the initial position and the target position.

[0089] According to the angle between the coordinates of the initial position and the coordinates of the target position, the slope of the line connecting the initial position and the target position can be determined, that is, the parameter t can be determined according to the angle θ. The calculation formula of the parameter t is:

[0090] t=tanθ

[0091] After the parameter t is determined, the parameter t and the coordinates of the initial position can be substituted into the parametric equation corresponding to the Cartesian lobate equation to obtain the coefficient a to be determined in the Cartesian lobate equation.

[0092] S120 , determining the vertex position corresponding to the vertex of the Cartesian foliate line according to the coefficient to be determined.

[0093] S131 . Select one or more horizontal coordinates to be calculated from the horizontal coordinate set from the target position to the vertex position.

[0094] The horizontal coordinate to be calculated may refer to any horizontal coordinate in the horizontal coordinate set. The number of the horizontal coordinates to be calculated is not limited and can be selected according to actual application needs.

[0095] In the set of horizontal coordinates from the target position to the vertex position, one or more horizontal coordinates to be calculated can be selected so that the vertical coordinates corresponding to the horizontal coordinates to be calculated can be determined later through the horizontal coordinates to be calculated.

[0096] S132. For each abscissa to be calculated, determine the ordinate of the abscissa to be calculated in the Cartesian foliate equation.

[0097] For each abscissa to be calculated, each abscissa to be calculated may be substituted into the Cartesian lobate equation to determine the ordinate of the abscissa to be calculated in the Cartesian lobate equation.

[0098] When there are multiple vertical coordinates corresponding to a horizontal coordinate to be calculated, the vertical coordinate corresponding to the horizontal coordinate to be calculated that constitutes the flight point coordinates can be selected as needed. Figure 2 When the horizontal coordinate between point A and point B is shown in , you can select the vertical coordinate corresponding to the horizontal coordinate to be calculated, and the vertical coordinate whose vertical coordinate value is greater than zero and is smaller between the two vertical coordinates greater than zero, that is, the horizontal coordinate to be calculated finally corresponds to only one vertical coordinate; when the horizontal coordinate to be calculated is Figure 2 When the horizontal coordinates between point B and point C are shown in , two vertical coordinates whose vertical coordinates are greater than zero can be selected from the vertical coordinates corresponding to the horizontal coordinates to be calculated, that is, the two vertical coordinates corresponding to the horizontal coordinates to be calculated can be selected. By selecting the vertical coordinates corresponding to the horizontal coordinates to be calculated, the final target flight trajectory can be Figure 2 The trajectory shown in FIG is from the initial position (point B) to the vertex position (point C) to the target position (point A).

[0099] S133. Determine the horizontal coordinate to be calculated and the vertical coordinate corresponding to the horizontal coordinate to be calculated as the coordinates of the flight point.

[0100] When the horizontal coordinate to be calculated corresponds to only one vertical coordinate, the horizontal coordinate to be calculated and its unique corresponding vertical coordinate are determined as the coordinates of a flight point; when the horizontal coordinate to be calculated corresponds to two vertical coordinates, the horizontal coordinate to be calculated and one of the corresponding vertical coordinates are determined as the coordinates of one flight point, and the horizontal coordinate to be calculated and the other corresponding vertical coordinate are determined as the coordinates of another flight point, that is, the coordinates of two corresponding flight points can be determined through one horizontal coordinate to be calculated.

[0101] S134. Determine the coordinates of all flight points as a flight point set.

[0102] For each horizontal coordinate to be calculated, the coordinates of one or two corresponding flight points can be determined. Through all the horizontal coordinates to be calculated, the coordinates of all flight points can be determined, and the coordinates of all flight points can be determined as a flight point set, so that curve fitting can be performed through the flight point set to obtain the target flight trajectory of the aircraft.

[0103] S141. Perform curve fitting on the coordinates of all flight points in the flight point set.

[0104] S142: Determine the fitted curve as the target flight trajectory of the aircraft.

[0105] Step S141 and step S142 can be combined to understand that curve fitting is performed on the coordinates of all flight points in the flight point set. Curve fitting can be performed on the coordinates of all flight points in the flight point set using a curve fitting tool. The curve obtained after curve fitting is the target flight trajectory of the aircraft.

[0106] The technical solution of an embodiment of the present invention determines the coefficients to be determined in the Cartesian lobate equation by using the angle between the coordinates of the initial position and the coordinates of the target position in a Cartesian coordinate system, as well as the coordinates of the initial position; determines the vertex positions corresponding to the vertices of the Cartesian lobate based on the coefficients to be determined; determines the coordinates of the flight points corresponding to the to-be-calculated abscissas in the set of abscissas from the target position to the vertex position; determines the coordinates of all flight points as a flight point set; and curve fits the coordinates of all flight points in the flight point set to obtain the target flight trajectory of the aircraft. This solution determines the target flight trajectory of the aircraft by combining the Cartesian lobate equation with the initial and target positions of the aircraft, and can better determine the flight trajectory of the aircraft in complex environments.

[0107] The following is an exemplary description of an embodiment of the present invention:

[0108] The present invention proposes a flight route design method for an aircraft to designate a target point position, specifically:

[0109] Get two test points of the aircraft in the Cartesian coordinate system, namely A(x a ,y a ,z a ) and B(x b ,y b ,z b ), establish a rectangular coordinate system with A as the origin, point A is the target position, and point B is the initial position;

[0110] Calculate the angle between two Cartesian coordinates (i.e. angle θ). This algorithm is an open source code algorithm in the Java development language.

[0111] The value of a can be calculated based on the angle and the two Cartesian coordinates (i.e., the coefficient to be determined in the Cartesian leaf line equation can be determined based on the coordinates and angle of the initial position);

[0112] According to the Cartesian leaf line equation, the coordinate point A is tangent to the x and y axes respectively, and the Cartesian coordinates of the extreme point of the curve trajectory can be calculated as C(x c ,y c ,z c ) (i.e., determining the vertex position corresponding to the vertex of the Cartesian lobate line according to the coefficient to be determined);

[0113] Based on the calculated coordinates of points A and C, the Cartesian abscissa set Q of all points from A to C in the x-axis direction can be calculated (i.e., the abscissa set from the target position to the vertex position);

[0114] Substituting the x value of each coordinate in the coordinate set Q into the Cartesian lobate equation, the set P of all points of the trajectory equation can be calculated (that is, based on the set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation, the set of flight points from the initial position to the vertex position to the target position is determined);

[0115] By performing curve fitting on all coordinate points in the coordinate set P, an irregular flight trajectory curve can be drawn. This curve is the flight trajectory of the aircraft from point B to point A (that is, the target flight trajectory of the aircraft is determined based on the flight point set).

[0116] Among them, the virtual environment communication protocol of the aircraft flight trajectory is UDP. UDP is a connectionless transmission protocol. Data packets can be sent between algorithm applications without establishing a connection, which solves the problem of timeliness.

[0117] This method also uses Python as the development language, and the web side adopts the Vue.js development framework, combined with Gis technology, to test the target flight trajectory of the aircraft in a virtual environment, that is, the aircraft flies from point B to point A via point C in the virtual environment.

[0118] Example 3

[0119] Figure 4 FIG. 1 is a schematic diagram of a structure of an aircraft trajectory determination device according to a third embodiment of the present invention. This embodiment is applicable to the case of determining the flight trajectory of an aircraft. Figure 4 As shown, the specific structure of the device includes:

[0120] A first determining module 21 is configured to determine coefficients to be determined in a Cartesian leaf profile equation according to an initial position and a target position of the aircraft;

[0121] A second determining module 22 is configured to determine the vertex position corresponding to the vertex of the Cartesian foliate line according to the coefficient to be determined;

[0122] A third determining module 23 is configured to determine a set of flight points from the initial position to the vertex position and to the target position based on a set of horizontal coordinates from the target position to the vertex position and a Cartesian lobate equation;

[0123] The fourth determining module 24 is configured to determine a target flight trajectory of the aircraft based on the flight point set.

[0124] The aircraft trajectory determination device provided in this embodiment first determines the coefficients to be determined in the Cartesian lobate equation based on the initial position and target position of the aircraft through a first determination module; secondly, determines the vertex positions corresponding to the vertices of the Cartesian lobate based on the coefficients to be determined through a second determination module; then, determines the set of flight points from the initial position to the vertex position and to the target position through a third determination module based on the horizontal coordinate set from the target position to the vertex position and the Cartesian lobate equation; finally, determines the target flight trajectory of the aircraft based on the set of flight points through a fourth determination module.

[0125] Furthermore, the first determining module 21 is specifically configured to:

[0126] Determine the angle between the coordinates of the initial position and the coordinates of the target position in a Cartesian coordinate system, where the origin of the Cartesian coordinate system is the target position;

[0127] According to the coordinates and angle of the initial position, the coefficients to be determined in the Cartesian leaf line equation are determined.

[0128] Furthermore, the position corresponding to the node of the Cartesian leaf line is the target position.

[0129] Furthermore, the horizontal coordinate set from the target position to the vertex position includes:

[0130] All the horizontal coordinates between the horizontal coordinate of the target position and the horizontal coordinate of the vertex position.

[0131] Furthermore, the third determining module 23 is specifically configured to:

[0132] Select one or more abscissas to be calculated from the abscissa set from the target position to the vertex position;

[0133] For each abscissa to be calculated, determining the ordinate of the abscissa to be calculated in the Cartesian foliate equation;

[0134] The abscissa to be calculated and the ordinate corresponding to the abscissa to be calculated are determined as the coordinates of the flight point;

[0135] The coordinates of all flight points are determined as a flight point set.

[0136] Furthermore, the fourth determining module 24 is specifically configured to:

[0137] Perform curve fitting on the coordinates of all flight points in the flight point set;

[0138] The fitted curve is determined as the target flight trajectory of the aircraft.

[0139] Furthermore, the device also includes:

[0140] The test module is used to test the target flight trajectory in a virtual environment so that the aircraft can reach the target position from the initial position to the vertex position in the virtual environment according to the target flight trajectory.

[0141] The aircraft trajectory determination device provided in the embodiment of the present invention can execute the aircraft trajectory determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0142] Example 4

[0143] Figure 5 A schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0144] like Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0145] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0146] The processor 11 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the aircraft trajectory determination method.

[0147] In some embodiments, the aircraft trajectory determination method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the aircraft trajectory determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the aircraft trajectory determination method in any other suitable manner (e.g., via firmware).

[0148] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0149] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0150] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0151] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0152] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0153] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0154] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0155] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for determining an aircraft trajectory, characterized in that: include: Determine the coefficients to be determined in the Cartesian leaf line equation according to the initial position and target position of the aircraft; Determining, based on the coefficients to be determined, vertex positions corresponding to vertices of the Cartesian lobate; Determining a set of flight points from the initial position to the target position via the vertex position according to a set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation; A target flight trajectory of the aircraft is determined based on the flight point set.

2. The method according to claim 1, characterized in that Determining the coefficients to be determined in the Cartesian leaf line equation according to the initial position and the target position of the aircraft includes: Determining an angle between the coordinates of the initial position and the coordinates of the target position in a Cartesian coordinate system, where the origin of the Cartesian coordinate system is the target position; The coefficients to be determined in the Cartesian lobate equation are determined according to the coordinates of the initial position and the angle.

3. The method according to claim 1, characterized in that The position corresponding to the node of the Cartesian lobate is the target position.

4. The method according to claim 1, wherein The horizontal coordinate set from the target position to the vertex position includes: All horizontal coordinates between the horizontal coordinate of the target position and the horizontal coordinate of the vertex position.

5. The method according to claim 4, characterized in that The step of determining a set of flight points from the initial position to the target position via the vertex position based on a set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation comprises: Select one or more abscissas to be calculated from the abscissa set from the target position to the vertex position; For each abscissa to be calculated, determining the ordinate of the abscissa to be calculated in the Cartesian lobate equation; Determine the to-be-calculated abscissa and the ordinate corresponding to the to-be-calculated abscissa as the coordinates of the flight point; The coordinates of all flight points are determined as the flight point set.

6. The method according to claim 1, characterized in that Determining the target flight trajectory of the aircraft according to the flight point set includes: Performing curve fitting on the coordinates of all flight points in the flight point set; The fitted curve is determined as the target flight trajectory of the aircraft.

7. The method according to claim 1, characterized in that Also includes: The target flight trajectory is tested in a virtual environment so that the aircraft can reach the target position from the initial position through the vertex position in the virtual environment according to the target flight trajectory.

8. An aircraft trajectory determination device, characterized in that: include: A first determination module is used to determine the coefficients to be determined in the Cartesian leaf line equation according to the initial position and the target position of the aircraft; a second determining module, configured to determine, based on the coefficients to be determined, vertex positions corresponding to vertices of the Cartesian foliate line; a third determining module, configured to determine a set of flight points from the initial position to the target position via the vertex position based on a set of horizontal coordinates from the target position to the vertex position and the Cartesian lobate equation; The fourth determining module is configured to determine a target flight trajectory of the aircraft based on the flight point set.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images