Aircraft Trajectory Correction Method, Device, Electronic Device and Storage Medium

Abstract

The present invention discloses a method, device, electronic device and storage medium for correcting the trajectory of an aircraft. The method includes: determining the asymptote of the cissoid according to the initial position and the target position of the aircraft; determining a circle to be determined tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote at a set time; determining a set of correction points of the aircraft at the set time according to the deviation position, the target position, the asymptote, the perpendicular line segment and the circle to be determined; determining the target correction trajectory of the aircraft at the set time according to the set of correction points; taking the end of the target correction trajectory as the deviation position at the next set time, and returning to execute the determination of the circle to be determined tangent to the asymptote until the end of the target correction trajectory coincides with the target position. By correcting the trajectory of the aircraft in combination with the cissoid at multiple set times, the correction trajectory of the aircraft is made to approach a straight line, shortening the route length of the aircraft trajectory correction and improving the efficiency of the aircraft trajectory correction.

Description

Technical Field

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

[0002] With the continuous development of the aircraft technology field, the application requirements for aircraft are constantly increasing, and the operating environment of aircraft is becoming more and more complex. When an aircraft flies according to a preset trajectory, due to the influence of factors such as a complex environment, the aircraft may deviate from the preset trajectory, making it unable to reach the specified target position. Therefore, when the aircraft deviates from the preset trajectory, it is necessary to correct the trajectory of the aircraft so that the aircraft can reach the target position according to the corrected trajectory.

[0003] In the prior art, when correcting the trajectory of an aircraft when it deviates from the preset trajectory, it can be achieved by first changing the flight altitude and then flying horizontally to reach the target position. For example, when the aircraft deviates from the preset trajectory, compare the altitude of the position where the aircraft deviates from the preset trajectory with the altitude of the target position, make the aircraft climb or descend to a position at the same altitude as the target position, and then reach the target position by flying horizontally. The route of the aircraft trajectory correction adopted by this method is relatively long, reducing the efficiency of the aircraft trajectory correction. Therefore, how to improve the efficiency of aircraft trajectory correction is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0004] The present invention provides an aircraft trajectory correction method, device, electronic device, and storage medium. By combining the cissoid at multiple set times for aircraft trajectory correction, the corrected trajectory of the aircraft is made close to a straight line, shortening the route length of the aircraft trajectory correction, and thus improving the efficiency of the aircraft trajectory correction.

[0005] In a first aspect, an embodiment of the present invention provides an aircraft trajectory correction method, including:

[0006] Determine the asymptote of the cissoid according to the initial position and the target position of the aircraft;

[0007] At a set time, determine a circle to be determined that is tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote;

[0008] According to the deviation position, the target position, the asymptote, the perpendicular line segment, and the circle to be determined, determine the set of correction points of the aircraft at the set time;

[0009] According to the set of correction points, determine the target correction trajectory of the aircraft at the set time;

[0010] At the next set time, use the end of the target correction trajectory as the deviation position, and return to execute the determination of the circle to be determined that is tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

[0011] In a second aspect, an embodiment of the present invention provides an aircraft trajectory correction device, including:

[0012] A first determination module, configured to determine the asymptote of the cissoid according to the initial position and the target position of the aircraft;

[0013] A second determination module, configured to determine the circle to be determined that is tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote at a set time;

[0014] A third determination module, configured to determine the set of correction points of the aircraft at the set time according to the deviation position, the target position, the asymptote, the perpendicular line segment, and the circle to be determined;

[0015] A fourth determination module, configured to determine the target correction trajectory of the aircraft at the set time according to the set of correction points;

[0016] A fifth determination module, configured to use the end of the target correction trajectory as the deviation position at the next set time, and return to execute the determination of the circle to be determined that is tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

[0017] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0018] At least one processor; and

[0019] A memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor can execute the method described in the first aspect.

[0021] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.

[0022] The technical solution of the embodiment of the present invention corrects the aircraft trajectory by combining the cissoid at multiple set times, making the correction trajectory of the aircraft close to a straight line, shortening the route length of the aircraft trajectory correction, and thereby improving the efficiency of the aircraft trajectory correction.

[0023] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood from the following description. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments. 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 be obtained based on these drawings.

[0025] Figure 1 is a flowchart of a method for correcting the trajectory of an aircraft according to Embodiment 1 of the present invention;

[0026] Figure 2 is a schematic diagram of a cissoid according to Embodiment 1 of the present invention;

[0027] Figure 3 is a flowchart of a method for correcting the trajectory of an aircraft according to Embodiment 2 of the present invention;

[0028] Figure 4 is a schematic structural diagram of a device for correcting the trajectory of an aircraft according to Embodiment 3 of the present invention;

[0029] Figure 5 shows a schematic structural diagram of an electronic device that can be used to implement the embodiments of the present invention. Detailed Embodiments

[0030] In order to enable those skilled in the art to better understand the solution of the present invention, the following clearly and completely describes the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the present invention are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] It can be understood that before using the technical solutions disclosed in the embodiments of the present invention, the types, usage scopes, usage scenarios, etc. 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.

[0033] Embodiment 1

[0034] Figure 1 is a flowchart of a method for correcting the trajectory of an aircraft according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of correcting the trajectory of an aircraft. This method can be executed by an aircraft trajectory correction device, which can be implemented in the form of software and / or hardware and integrated in an electronic device. Further, the electronic device includes, but is not limited to: a computer, a laptop, a smart phone, a server, etc. As Figure 1 shown, the method includes:

[0035] S110. Determine the asymptote of the cissoid according to the initial position and the target position of the aircraft.

[0036] Under normal conditions, the aircraft should reach the target position from the initial position according to the preset flight trajectory. If the aircraft's trajectory deviates, the aircraft will reach the deviation position from the initial position and cannot reach the target position according to the preset flight trajectory. When the aircraft's trajectory deviates, it is necessary to correct the aircraft's trajectory. The present invention can correct the aircraft's trajectory in combination with the cissoid so that the aircraft can reach the target position from the deviation position.

[0037] Among them, the initial position may refer to the position of the aircraft before the trajectory deviation occurs, and the target position may refer to the position that the aircraft needs to reach from the initial position. The initial position and the target position can be determined according to the actual application needs, and the present invention does not limit this, as long as the initial position and the target position are not the same position. The deviation position may refer to the position where the aircraft is located when the trajectory deviation occurs, and the deviation position can be determined according to the actual application needs. The deviation position is different from both the initial position and the target position. The initial position and the target position should be on the preset flight trajectory of the aircraft, while the deviation position is not on the preset flight trajectory of the aircraft.

[0038] There is no limitation on the method of determining the asymptote of the cissoid according to the initial position and the target position of the aircraft, as long as the asymptote of the cissoid can be determined. For example, the straight line determined by the initial position and the target position of the aircraft can be used as the asymptote of the cissoid.

[0039] In one embodiment, the preset flight trajectory of the aircraft when no trajectory deviation occurs can be an ideal circular trajectory, and the equation of this circular trajectory is:

[0040] (x - a)2 + (y - b)2 = r2

[0041] Among them, (a, b) is the center of the circle corresponding to the circular trajectory, and r is the radius corresponding to the circular trajectory. When no trajectory deviation occurs, the initial position and the target position should be on this circular trajectory. The present invention does not limit the preset flight trajectory of the aircraft when no trajectory deviation occurs, and it can be any flight trajectory determined according to the actual application needs.

[0042] S120. At a set moment, according to the perpendicular line segment from the deviation position of the aircraft to the asymptote, determine a circle to be determined that is tangent to the asymptote.

[0043] The deviation position may refer to the position where the aircraft is located when the trajectory deviation occurs, and the deviation position can be determined according to the actual application needs. The set moment can be a moment determined according to the actual needs, such as the moment when the circle to be determined that is tangent to the asymptote is first determined. The circle to be determined may refer to a circle that is tangent to the asymptote.

[0044] Figure 2 It is a schematic diagram of a cissoid provided according to Embodiment 1 of the present invention. As Figure 2 shown, point F1 may be the initial position of the aircraft, point F2 may be the target position of the aircraft, and point F0 may be the deviation position of the aircraft. The straight line l may be the asymptote of the cissoid determined according to the initial position and the target position of the aircraft in step S110. The curve k may be the cissoid in the embodiment of the present invention.

[0045] In one embodiment, the position corresponding to the pole of the cissoid is the deviation position.

[0046] The position corresponding to the cusp of the cissoid is the deviation position, that is Figure 2 The point F0 shown in is the cusp of the cissoid k, and the point F0 is also the deviation position of the aircraft.

[0047] There is no limitation on the method of determining the circle to be determined tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote at the set time, as long as the circle to be determined tangent to the asymptote can be determined. For example Figure 2 As shown, after determining the deviation position of the aircraft and the asymptote of the cissoid, a perpendicular line to the asymptote l can be drawn from the deviation position point F0 of the aircraft, and the perpendicular line segment from the deviation position of the aircraft to the asymptote is Figure 2 the line segment F0H shown in, and then the midpoint of the perpendicular line segment F0H is used as the center of the circle to be determined, and the length of the perpendicular line segment F0H is used as the diameter of the circle to be determined. Furthermore, at the set time, according to the perpendicular line segment from the deviation position of the aircraft to the asymptote, the circle to be determined tangent to the asymptote is determined, and the circle to be determined is Figure 2 the circle shown in.

[0048] In one embodiment, the expression of the cissoid equation corresponding to the cissoid is:

[0049] y 2 = x 3 / (2a - x)

[0050] where the parameter 2a in the cissoid equation is the diameter of the circle to be determined in the embodiment of the present invention, that is, the length of the perpendicular line segment F0H from the deviation position of the aircraft to the asymptote.

[0051] S130. Determine the set of correction points of the aircraft at the set time according to the deviation position, target position, asymptote, perpendicular line segment, and the circle to be determined.

[0052] The set of correction points may refer to the set of all correction points that the aircraft needs to pass through to approach the target position from the deviation position at the set time. Among them, the correction point may refer to the point that the aircraft needs to pass through to approach the target position from the deviation position at the set time. For example, the correction point may be Figure 2 any point on the curve trajectory from the point F0 to the point P in.

[0053] There is no limitation on the method of determining the set of correction points of the aircraft at the set time according to the deviation position, target position, asymptote, perpendicular line segment, and the circle to be determined, as long as the set of correction points of the aircraft at the set time can be determined. For example Figure 2As shown in the figure, the deviation position is point F0, the target position is point F2, the intersection point of the perpendicular line segment F0H and the asymptote l is point H, and any point on the line segment F2H is selected as the target point A; connect the target point A and the deviation position F0 to form the line segment F0A, and the intersection point of the line segment F0A and the circle to be determined is point B; determine the length of the line segment AB; select point C on the line segment F0A such that the length of the line segment F0C is the same as the length of the line segment AB, then the point C can be determined as a correction point on the curve trajectory from point F0 to point P; continue to select other target points in the line segment F2H until all the target points in the line segment F2H are selected, and determine the correction points corresponding to each target point in the above manner; the set of all correction points corresponding to all target points is determined as the correction point set of the aircraft at the set time. Among them, the number of target points A is not limited, as long as the correction point set of the aircraft at the set time can be determined through multiple target points A.

[0054] S140. Determine the target correction trajectory of the aircraft at the set time according to the correction point set.

[0055] The target correction trajectory may refer to the flight trajectory of the aircraft approaching the target position from the deviation position. For example, the target correction trajectory of the aircraft at the set time may be Figure 2 the curve trajectory from point F0 to point P shown in the figure.

[0056] The method of determining the target correction trajectory of the aircraft at the set time according to the correction point set is not limited. For example, at the set time, the coordinates of all correction points in the correction point set can be curve-fitted by a curve fitting tool, and the curve obtained after curve fitting is the target correction trajectory of the aircraft at the set time. The target correction trajectory of the aircraft at the set time may include all correction points in the correction point set determined at the set time.

[0057] The curve fitting tool is not limited, as long as the target correction trajectory of the aircraft at the set time can be determined through the coordinates of all correction points in the correction point set. For example, it can be tools such as the MATLAB Curve Fitting Toolbox or CurveFitter.

[0058] S150. At the next set time, use the end of the target correction trajectory as the deviation position, and return to execute the determination of the circle to be determined that is tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

[0059] The next set time can be any time after the set time. For example, the time when the aircraft reaches point P from the deviation position F0.

[0060] At the next set time, use the end of the target correction trajectory as the deviation position, and return to execute the determination of the circle to be determined that is tangent to the asymptote until the end of the target correction trajectory coincides with the target position. The target correction trajectory determined in step S140 can be Figure 2 The curve trajectory from point F0 to point P shown in Figure 2 . Then, the end of the target correction trajectory can be understood as the position where point P is located. At the next set time, use the position where point P is located as the deviation position, draw a perpendicular line from point P to the asymptote l, and use this perpendicular line as the perpendicular line segment from the deviation position of the aircraft to the asymptote. Further determine the circle to be determined that is tangent to the asymptote. According to the deviation position, target position, asymptote, perpendicular line segment, and the circle to be determined, determine the set of correction points of the aircraft at the next set time. According to the set of correction points, determine the target correction trajectory of the aircraft at the next set time. By the above method, determine multiple target correction trajectories until the end of the target correction trajectory coincides with the target position F2, so that the aircraft can reach the target position F2 from the deviation position F0 through multiple target correction trajectories.

[0061] The technical solution of the embodiment of the present invention determines the asymptote of the cissoid according to the initial position and target position of the aircraft; at the set time, determine the circle to be determined that is tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote; according to the deviation position, target position, asymptote, perpendicular line segment, and the circle to be determined, determine the set of correction points of the aircraft at the set time; according to the set of correction points, determine the target correction trajectory of the aircraft at the set time; at the next set time, use the end of the target correction trajectory as the deviation position, and return to execute the determination of the circle to be determined that is tangent to the asymptote until the end of the target correction trajectory coincides with the target position. This solution determines multiple target correction trajectories through the initial position, target position, and deviation position, combined with the cissoid, enabling the aircraft to reach the target position from the deviation position through multiple target correction trajectories, realizing the trajectory correction of the aircraft. At the same time, multiple target correction trajectories are close to a straight line, shortening the route length of the aircraft trajectory correction, thereby improving the efficiency of the aircraft trajectory correction.

[0062] In one embodiment, the aircraft trajectory correction method further includes:

[0063] Test multiple target correction trajectories in a virtual environment so that the aircraft reaches the target position from the deviation position in the virtual environment according to the target correction trajectory.

[0064] The virtual environment can be established according to actual application requirements, and the flight of the aircraft in the virtual environment can be controlled by an algorithm. The virtual environment in the embodiments of the present invention can be a virtual environment built by developers using Python as the development language, adopting the Vue.js development framework on the web side, and combining with the Geographic Information System (GIS). Among them, the algorithm can be determined according to actual application requirements and can be used to control the flight trajectory of the aircraft. For example, the algorithm can control the aircraft to fly according to multiple target correction trajectories determined in the embodiments of the present invention, so that the aircraft reaches the target position from the deviated position.

[0065] Since the verification cost of the algorithm in hardware devices (such as aircraft in the real environment) is relatively high, the theoretical verification of the algorithm can be realized in the virtual environment, that is, in the virtual environment, the algorithm controls the aircraft to fly according to multiple target correction trajectories, so that the aircraft reaches the target position from the deviated position according to multiple target correction trajectories in the virtual environment.

[0066] In the virtual environment, a network connection between the virtual environment and the aircraft in the virtual environment can be established through the User Datagram Protocol (UDP), so that the aircraft is controlled by the virtual environment and flies according to multiple target correction trajectories in the virtual environment. By using the UDP communication protocol to enable communication between the virtual environment and the aircraft in the virtual environment, data packets can be sent between the algorithm and the application without establishing a connection, solving the problem of timeliness.

[0067] Embodiment 2

[0068] Figure 3 is a flowchart of a method for correcting the trajectory of an aircraft according to Embodiment 2 of the present invention. This embodiment further refines steps S110 to S140 on the basis of the above Embodiment 1, such as Figure 3 shown, the method includes:

[0069] S111. Determine the straight line determined by the initial position and the target position as the asymptote of the cissoid.

[0070] The asymptote of the cissoid can be the straight line l as shown in Figure 2 The asymptote l can be the straight line determined by the initial position F1 and the target position F2. Both the initial position F1 and the target position F2 are points on the asymptote l.

[0071] S121. At a set moment, determine the circle with the center of the perpendicular line segment from the deviated position to the asymptote and the length of the perpendicular line segment as the diameter as the circle to be determined that is tangent to the asymptote.

[0072] Such asFigure 2 As shown, at a set moment, a circle with the center at the center of the perpendicular line segment F0H from the deviation position F0 to the asymptote l and with the length of the perpendicular line segment F0H as the diameter is determined as the circle to be determined that is tangent to the asymptote l. The circle to be determined is the Figure 2 circle shown in. This circle to be determined is tangent to the asymptote l.

[0073] S131. Determine the first connection line between the first intersection point and the target position as the target line segment. The first intersection point is the intersection point of the perpendicular line segment and the asymptote.

[0074] Among them, the first intersection point can be the intersection point of the perpendicular line segment F0H and the asymptote l, that is, the first intersection point is the Figure 2 point H shown in. The first connection line can be the connection line between the first intersection point H and the target position F2. The target line segment can be the line segment formed by the first connection line.

[0075] Determining the first connection line between the first intersection point and the target position as the target line segment can be understood as determining the first connection line F2H between the first intersection point H and the target position F2 as the target line segment F2H.

[0076] S132. Select any point on the target line segment as the target point.

[0077] The target point can be any point on the target line segment. For example, any point A on the target line segment F2H can be selected as the target point A; another example is that the point F2 or point H on the target line segment F2H can be selected as the target point.

[0078] S133. Determine the second intersection point of the second connection line and the circle to be determined. The second connection line is the connection line between the deviation position and the target point.

[0079] Among them, the second connection line can be the connection line F0A between the deviation position F0 and the target point A. The second intersection point can be the intersection point B of the second connection line F0A and the circle to be determined.

[0080] S134. Determine the target distance from the second intersection point to the target point.

[0081] Take the distance from the second intersection point B to the target point A as the target distance. The target distance is the distance of the line segment AB.

[0082] S135. Among the second connection line, determine the point whose distance from the deviation position is the target distance as the correction point corresponding to the target point.

[0083] Select point C in the second connection line F0A such that the length of the line segment F0C is the target distance. Then, it can be determined that point C is a correction point on the curve trajectory from point F0 to point P, that is, point C is the correction point corresponding to the target point.

[0084] S136. Return and continue to select any point on the target line segment as the target point, and determine the correction point corresponding to the target point until the selection end condition is met. The target point selected continuously is different from the target point before the continuous selection.

[0085] The selection end condition can refer to the condition for ending the selection of the target point. For example, the selection end condition can be that all target points in the target line segment F2H have been selected. The target point selected continuously being different from the target point before the continuous selection can be understood as that each selected target point is different.

[0086] Return and continue to select any point on the target line segment as the target point, and determine the correction point corresponding to the target point until the selection end condition is met. This can be understood as taking steps S132 to S135 as one cycle for determining the correction point corresponding to the target point, and repeatedly executing this cycle multiple times until all target points in the target line segment F2H have been selected. During the repeated execution process, each selected target point is different, and finally, the correction points corresponding to each selected target point can be determined.

[0087] S137. Determine the coordinates of the correction points corresponding to all target points as the correction point set.

[0088] Determine the coordinates of all correction points corresponding to all target points as the correction point set of the aircraft at the set moment.

[0089] S141. Perform curve fitting on the coordinates of all correction points in the correction point set.

[0090] S142. Determine the fitted curve as the target correction trajectory of the aircraft at the set moment.

[0091] Steps S141 and S142 can be combined and understood as that the coordinates of all correction points in the correction point set can be curve-fitted through a curve fitting tool, and the curve obtained after curve fitting is the target correction trajectory of the aircraft at the set moment.

[0092] S150. At the next set moment, take the end of the target correction trajectory as the deviation position, and return to execute the determination of the circle to be determined tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

[0093] The technical solution of the embodiment of the present invention determines multiple target correction trajectories through the initial position, the target position, and the deviation position, and then combines the cissoid, enabling the aircraft to reach the target position from the deviation position through multiple target correction trajectories, realizing the trajectory correction of the aircraft. At the same time, the multiple target correction trajectories are close to a straight line, shortening the route length of the aircraft trajectory correction, and thus improving the efficiency of the aircraft trajectory correction.

[0094] The following is an exemplary description of the embodiments of the present invention:

[0095] The present invention proposes a method for resetting the deviation trajectory line under a specific line of an aircraft. Specifically:

[0096] As Figure 2 shown, if the aircraft is not in the originally set vector coordinate set during flight (i.e., the aircraft is not on the preset flight trajectory), a deviation correction warning is triggered;

[0097] Let the coordinate where the flight anomaly occurs be F0 (i.e., the deviation position), the previous coordinate point when the aircraft has an anomaly be F1 (i.e., the initial position), and the next coordinate for normal flight be F2 (i.e., the target position);

[0098] Determine the straight line passing through points F1 and F2 as the asymptote of the cissoid (i.e., determine the asymptote of the cissoid according to the initial position and target position of the aircraft);

[0099] Determine the distance from the coordinate point F0 to the asymptote, and this distance is the parameter 2a in the cissoid equation. Determine the circle between the coordinate point F0 and the asymptote based on this distance (i.e., determine the circle to be determined that is tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote at the set moment);

[0100] Take point F2 as the target point. The line segment F0F2 intersects the circle at point M. Obtain the length of the line segment MF2 as L. Find P on the line segment F0F2 such that F0P is equal to MF2. Point P is the correction point; Obtain all the target points on the line segment F2H, and determine the corresponding correction points as the correction point set (i.e., determine the correction point set of the aircraft at the set moment according to the deviation position, target position, asymptote, perpendicular line segment, and the circle to be determined);

[0101] Perform curve fitting on the coordinates of all the correction points in the correction point set, and determine the fitted curve as the target correction trajectory of the aircraft at the set moment;

[0102] At the next set moment, take the end of the target correction trajectory as the deviation position, and return to execute the determination of the circle to be determined that is tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

[0103] This method also uses Python as the development language, and the web side adopts the Vue.js development framework. Combining with Gis technology, it tests multiple target correction trajectories of the aircraft in a virtual environment, so that the aircraft reaches the target position from the deviation position according to multiple target correction trajectories in the virtual environment.

[0104] Embodiment III

[0105] Figure 4FIG. 0 is a schematic structural diagram of a flight trajectory correction device provided according to Embodiment 3 of the present invention. This embodiment is applicable to the situation of correcting the flight trajectory of an aircraft, such as Figure 4 As shown, the specific structure of the device includes:

[0106] A first determination module 21, configured to determine the asymptote of the cissoid according to the initial position and the target position of the aircraft;

[0107] A second determination module 22, configured to determine a circle to be determined tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote at a set moment;

[0108] A third determination module 23, configured to determine a set of correction points of the aircraft at a set moment according to the deviation position, the target position, the asymptote, the perpendicular line segment, and the circle to be determined;

[0109] A fourth determination module 24, configured to determine the target correction trajectory of the aircraft at a set moment according to the set of correction points;

[0110] A fifth determination module 25, configured to use the end of the target correction trajectory as the deviation position at the next set moment, and return to execute the determination of the circle to be determined tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

[0111] For the flight trajectory correction device provided in this embodiment, first, the first determination module determines the asymptote of the cissoid according to the initial position and the target position of the aircraft; secondly, the second determination module determines the circle to be determined tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote at a set moment; then, the third determination module determines the set of correction points of the aircraft at a set moment according to the deviation position, the target position, the asymptote, the perpendicular line segment, and the circle to be determined; then, the fourth determination module determines the target correction trajectory of the aircraft at a set moment according to the set of correction points; finally, the fifth determination module uses the end of the target correction trajectory as the deviation position at the next set moment, and returns to execute the determination of the circle to be determined tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

[0112] Further, the position corresponding to the pole of the cissoid is the deviation position.

[0113] Further, the third determination module 23 is specifically configured to:

[0114] Determine the first connection line between the first intersection point and the target position as the target line segment, where the first intersection point is the intersection point of the perpendicular line segment and the asymptote;

[0115] Select any point on the target line segment as the target point;

[0116] Determine the second intersection point of the second connection line and the circle to be determined, where the second connection line is the connection line between the deviation position and the target point;

[0117] Determine the target distance from the second intersection point to the target point;

[0118] In the second connection line, determine the point whose distance from the deviation position is the target distance as the correction point corresponding to the target point;

[0119] Return to continue selecting any point on the target line segment as the target point, and determine the correction point corresponding to the target point until the selection end condition is met. The continuously selected target point is different from the target point before the continuous selection;

[0120] Determine the coordinates of all correction points corresponding to the target points as the correction point set.

[0121] Further, the second determination module 22 is specifically configured to:

[0122] At the set moment, determine the circle with the center of the perpendicular line segment from the deviation position to the asymptote and the length of the perpendicular line segment as the diameter as the circle to be determined tangent to the asymptote.

[0123] Further, the first determination module 21 is specifically configured to:

[0124] Determine the straight line determined by the initial position and the target position as the asymptote of the cissoid.

[0125] Further, the fourth determination module 24 is specifically configured to:

[0126] Perform curve fitting on the coordinates of all correction points in the correction point set;

[0127] Determine the fitted curve as the target correction trajectory of the aircraft at the set moment.

[0128] Further, the device further includes:

[0129] A test module for testing multiple target correction trajectories in a virtual environment so that the aircraft reaches the target position from the deviation position according to the target correction trajectory in the virtual environment.

[0130] The aircraft trajectory correction device provided by the embodiments of the present invention can execute the aircraft trajectory correction method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0131] Embodiment 4

[0132] Figure 5The schematic structural diagram of an electronic device that can be used to implement the embodiments 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 processors, 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 merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0133] As Figure 5 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable 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. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0134] 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 through a computer network such as the Internet and / or various telecommunication networks.

[0135] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the aircraft trajectory correction method.

[0136] In some embodiments, the aircraft trajectory correction 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 onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the aircraft trajectory correction method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the aircraft trajectory correction method by any other suitable means (e.g., by means of firmware).

[0137] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0138] The 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 apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs 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.

[0139] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] To provide for 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for 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).

[0141] The systems and techniques described herein can be implemented in a computing system that includes backend 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 frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend 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.

[0142] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0143] It should be understood that various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the present invention can be executed 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, and no limitation is made herein.

[0144] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for correcting the trajectory of an aircraft, characterized in that, it includes: Determine the asymptote of the cissoid according to the initial position and the target position of the aircraft; At a set time, determine a circle to be determined that is tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote; Determine the set of correction points of the aircraft at the set time according to the deviation position, the target position, the asymptote, the perpendicular line segment, and the circle to be determined; Determine the target correction trajectory of the aircraft at the set time according to the set of correction points; At the next set time, use the end of the target correction trajectory as the deviation position, and return to execute the determination of the circle to be determined that is tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

2. The method according to claim 1, characterized in that, the position corresponding to the pole of the cissoid is the deviation position.

3. The method according to claim 1, characterized in that, the step of determining the set of correction points of the aircraft at the set time according to the deviation position, the target position, the asymptote, the perpendicular line segment, and the circle to be determined includes: Determine the first connection line between the first intersection point and the target position as the target line segment, where the first intersection point is the intersection point of the perpendicular line segment and the asymptote; Select any point on the target line segment as the target point; Determine the second intersection point of the second connection line and the circle to be determined, where the second connection line is the connection line between the deviation position and the target point; Determine the target distance from the second intersection point to the target point; Among the second connection lines, determine the point whose distance from the deviation position is the target distance as the correction point corresponding to the target point; Return to continue selecting any point on the target line segment as the target point, and determine the correction point corresponding to the target point until the selection end condition is met, and the continuously selected target point is different from the target point before the continuous selection; Determine the coordinates of all correction points corresponding to the target points as the set of correction points.

4. The method according to claim 1, characterized in that, the step of determining a circle to be determined that is tangent to the asymptote according to the perpendicular line segment from the deviation position of the aircraft to the asymptote at a set time includes: At the set time, determine the circle with the center of the perpendicular line segment from the deviation position to the asymptote as the center and the length of the perpendicular line segment as the diameter as the circle to be determined that is tangent to the asymptote.

5. The method according to claim 1, characterized in that, the step of determining the asymptote of the cissoid according to the initial position and the target position of the aircraft includes: Determine the straight line determined by the initial position and the target position as the asymptote of the cissoid.

6. The method according to claim 1, characterized in that, the step of determining the target correction trajectory of the aircraft at the set time according to the set of correction points includes: Perform curve fitting on the coordinates of all correction points in the set of correction points; Determine the fitted curve as the target correction trajectory of the aircraft at the set time.

7. The method according to claim 1, characterized in that, Further comprising: Testing a plurality of the target correction trajectories in a virtual environment, so that the aircraft reaches the target position from the deviation position in the virtual environment according to the target correction trajectories.

8. An aircraft trajectory correction device, Characterized in that, Comprising: A first determination module, configured to determine an asymptote of a cissoid according to an initial position and a target position of the aircraft; A second determination module, configured to determine a circle to be determined tangent to the asymptote according to a perpendicular line segment from a deviation position of the aircraft to the asymptote at a set moment; A third determination module, configured to determine a set of correction points of the aircraft at the set moment according to the deviation position, the target position, the asymptote, the perpendicular line segment, and the circle to be determined; A fourth determination module, configured to determine a target correction trajectory of the aircraft at the set moment according to the set of correction points; A fifth determination module, configured to use the end of the target correction trajectory as the deviation position at the next set moment, and return to execute the determination of the circle to be determined tangent to the asymptote until the end of the target correction trajectory coincides with the target position.

9. An electronic device, Characterized in that, Comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, Characterized in that, The program, when executed by a processor, implements the method according to any one of claims 1-7.

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