An aircraft photoelectric guidance landing method using line-of-sight angle virtual target combination

Abstract

The present invention provides an aircraft photoelectric guidance landing method using a line-of-sight angle virtual target composite. The method measures the relative distance and angular relationship between the aircraft and the landing point through ground photoelectric equipment, and then sets a virtual target centered on the landing point, so that the virtual target approaches the landing point over time; then, the relevant position information, distance information, and angle information of the aircraft relative to the virtual target are solved, and an ingenious algebraic transformation solution method for angle differential and distance differential is provided, so that the differential measurement error is suppressed to a smaller range. Finally, the position information, angle information, angle differential information, and angle integral information of the aircraft relative to the virtual target are used to form a virtual target line-of-sight angle guidance method with a simple structure, easy implementation, and clear physical meaning, thereby realizing the pitch and yaw two-channel photoelectric guidance landing of the aircraft.

Description

Technical Field

[0001] The present invention relates to the field of aircraft recovery and position control, and in particular to an aircraft landing guidance method using a virtual target photoelectric guidance method. Background Art

[0002] Photoelectric guidance for landing or recovering aircraft has the advantages of being safe, controllable, reliable and highly accurate. In recent years, it has been widely studied by scholars at home and abroad and has also been widely used in industrial aircraft. Conventional photoelectric guidance achieves landing by measuring the position and angle of the aircraft relative to the landing point or landing platform. If the landing platform itself is in a swaying or moving state, or if the initial position of the aircraft is relatively far from the landing point, using conventional PID control for landing is prone to excessive commands, and the landing process is severely bumpy, resulting in damage to the aircraft. In severe cases, it may even be severely impacted and cause safety accidents. Based on the above background reasons, the present invention proposes a photoelectric guidance landing method based on a virtual target. By setting a virtual target to slow down the command amplitude of the initial segment, the landing process becomes easier to control, thereby greatly improving the quality of landing. The entire control scheme also uses the solution and introduction of the angle differential signal to make the control scheme simple and the physical meaning clear, which also makes the present invention have high engineering application value.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0004] The purpose of the present invention is to provide an aircraft photoelectric guidance landing method using a combination of line of sight angle and virtual target, thereby overcoming the problem of insufficient aircraft guidance stability caused by insufficient damping during the descent transition of the pitch and yaw channels.

[0005] According to one aspect of the present invention, a method for aircraft electro-optical guidance landing using a combination of line-of-sight angle and virtual target is provided, comprising the following four steps:

[0006] Step S10: Using the infrared thermal imager of the photoelectric guidance system on the ship to measure the pitch signal and yaw signal of the aircraft, and using the laser rangefinder of the photoelectric guidance system on the ship to measure the distance information between the aircraft and the landing point; and calculating the vertical approximate deviation signal of the aircraft based on the distance information between the aircraft and the landing point and the pitch signal of the aircraft; and calculating the lateral approximate deviation signal of the aircraft based on the distance information between the aircraft and the landing point and the azimuth signal of the aircraft as follows:

[0007] y a =r sin(θ1);

[0008] z a =r sin(θ2);

[0009] Where θ1 is the pitch signal of the aircraft measured by the infrared thermal imager of the photoelectric guidance system, θ2 is the yaw signal of the aircraft measured by the infrared thermal imager of the photoelectric guidance system, r is the distance between the aircraft and the landing point measured by the laser rangefinder of the photoelectric guidance system on the ship, and y a is the vertical approximate deviation signal of the aircraft; a It is the approximate lateral deviation signal of the aircraft.

[0010] Step S20: Set the initial height position and initial lateral position of the virtual target, then set its height attenuation time constant and lateral attenuation time constant, and generate real-time height information and real-time lateral position information of the virtual target in accordance with the first-order smoothing filtering method; then, based on the vertical approximate deviation signal of the aircraft and the lateral approximate deviation signal of the aircraft, calculate the height difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, and the distance information between the virtual target and the aircraft; and further calculate the pitch angle and yaw angle of the aircraft relative to the virtual target; and then, by setting a lag filter, calculate the lag differential signal of the pitch signal and the lag differential signal of the yaw signal of the aircraft respectively.

[0011] Step S30: Design a first-order filter differentiator based on the distance information of the aircraft from the landing point to solve the first-order differential signal of the distance information of the aircraft from the landing point; then solve the vertical approximate deviation differential signal and the lateral approximate deviation differential signal of the aircraft based on the delayed differential signal of the pitch signal of the aircraft and the delayed differential signal of the yaw signal of the aircraft; then solve the real-time altitude differential information and the real-time lateral position differential information of the virtual target based on the real-time altitude information and the real-time lateral position information of the virtual target; further solve the altitude difference differential information and the lateral position difference differential information between the virtual target and the aircraft, and then combine them to obtain the distance differential information between the virtual target and the aircraft; finally, solve the pitch angle differential information and the yaw angle differential information of the aircraft relative to the virtual target.

[0012] Step S40, performing nonlinear integration on the pitch angle and yaw angle of the aircraft relative to the virtual target to obtain a pitch angle integral signal and a yaw angle integral signal of the aircraft relative to the virtual target; then superimposing the pitch angle differential information of the aircraft relative to the virtual target, the yaw angle differential information of the aircraft relative to the virtual target, the height difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, the height difference differential information, the lateral position difference differential information between the virtual target and the aircraft, the pitch angle of the aircraft relative to the virtual target, and the yaw angle of the aircraft relative to the virtual target, and combining and superimposing them to generate an aircraft pitch channel attitude desired instruction and an aircraft yaw channel attitude desired instruction, and transmitting them to the aircraft attitude stabilization and tracking system to complete the photoelectric guidance landing of the pitch and yaw channels.

[0013] In an exemplary embodiment of the present invention, an initial height position and an initial lateral position of a virtual target are set, and then a height attenuation time constant and a lateral attenuation time constant are set. Real-time height information and real-time lateral position information of the virtual target are generated using a first-order smoothing filter method. Then, based on an aircraft vertical approximate deviation signal and an aircraft lateral approximate deviation signal, the height difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, and the distance information between the virtual target and the aircraft are calculated. The pitch angle and yaw angle of the aircraft relative to the virtual target are further calculated. Then, by setting a hysteresis filter, the hysteresis differential signal of the aircraft's pitch signal and the hysteresis differential signal of the aircraft's yaw signal are respectively calculated. The method includes:

[0014]

[0015] Δy=y a -y b ;

[0016] Δz=z a -z b ;

[0017]

[0018] θ d1 =(θ1-θ 1a ) / T 1a ;

[0019] θ d2 =(θ2-θ 2a ) / T 2a ;

[0020] Where s is the differential operator of the transfer function; T1 and T2 are constant time parameters of the first-order smoothing filter; y0 is the initial height position of the target; z0 is the initial lateral position of the target; y b is the real-time height information of the virtual target, z b is the real-time lateral position information of the virtual target; Δy is the height difference between the virtual target and the aircraft; Δz is the lateral position difference between the virtual target and the aircraft; r w For virtual targets and flight

[0021] The distance information of the device; where θ 1w is the pitch angle of the aircraft relative to the virtual target; θ 2w The yaw angle of the aircraft relative to the virtual target; where T 1a 、T 2a is the constant time parameter of the lag filter; θ 1a is the pitch signal lag signal of the aircraft; θ 2a is the yaw signal lag signal of the aircraft; θ d1 is the delayed differential signal of the aircraft's pitch signal; θ d2 is the lag differential signal of the aircraft's yaw signal;

[0022] In an exemplary embodiment of the present invention, a first-order filter differentiator is designed based on the distance information of the aircraft from the landing point to obtain a first-order differential signal of the distance information of the aircraft from the landing point; and then, based on the delayed differential signal of the pitch signal of the aircraft and the delayed differential signal of the yaw signal of the aircraft, an approximate vertical deviation differential signal and an approximate lateral deviation differential signal of the aircraft are obtained, including:

[0023]

[0024] r d =(rr a ) / T r ;

[0025] y ad =r d sin(θ1)+r cos(θ1)θ d1 ;

[0026] z ad =r d sin(θ2)+r cos(θ2)θ d2 ;

[0027] where r a is the first-order lag signal of the distance information between the aircraft and the landing point; T r is the constant time constant of the first-order filter differentiator; r dis the first-order differential signal of the distance information between the aircraft and the landing point; ad is the differential signal of the aircraft vertical approximate deviation; ad It is the differential signal of the aircraft lateral approximate deviation.

[0028] In an exemplary embodiment of the present invention, the real-time altitude differential information and the real-time lateral position differential information of the virtual target are calculated based on the real-time altitude information and the real-time lateral position information of the virtual target; the altitude differential information and the lateral position differential information of the virtual target and the aircraft are further calculated, and then the differential information of the distance between the virtual target and the aircraft is combined; and finally, the pitch angle differential information and the yaw angle differential information of the aircraft relative to the virtual target are calculated, including:

[0029] y bd =(y0-y b ) / T1;

[0030] z bd =(z0-z b ) / T2;

[0031] Δy d =y ad -y bd ;

[0032] Δz d =z ad -z bd ;

[0033]

[0034] where y bd is the real-time height differential information of the virtual target, z bd Real-time lateral position differential information of the virtual target; Δy d is the height difference between the virtual target and the aircraft, Δz d is the lateral position differential information between the virtual target and the aircraft, r wd is the differential information of the distance between the virtual target and the aircraft; θ d1w is the pitch angle differential information of the aircraft relative to the virtual target, θ d2w is the differential information of the yaw angle of the aircraft relative to the virtual target.

[0035] In an exemplary embodiment of the present invention, nonlinear integration is performed on the pitch angle and yaw angle of the aircraft relative to the virtual target to obtain a pitch angle integral signal and a yaw angle integral signal of the aircraft relative to the virtual target; and then the pitch angle differential information of the aircraft relative to the virtual target, the yaw angle differential information of the aircraft relative to the virtual target, the height difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, the height difference differential information between the virtual target and the aircraft, the lateral position difference differential information between the virtual target and the aircraft, the pitch angle of the aircraft relative to the virtual target, and the yaw angle of the aircraft relative to the virtual target are superimposed to generate the desired aircraft pitch channel attitude instruction and the desired aircraft yaw channel attitude instruction respectively, including:

[0036]

[0037] u1=k1Δy+k2θ 1w +k3Δy d +k4θ d1w +k5s1;

[0038] u2=d1Δz+d2θ 2w +d3Δz d +d4θ d2w +d5s2;

[0039] Where s1 is the integral signal of the pitch angle of the aircraft relative to the virtual target, s2 is the integral signal of the yaw angle of the aircraft relative to the virtual target, k1, k2, k3, k4, k5, d1, d2, d3, d4, d5, l1, l2, and ε0 are constant control parameters, u1 is the desired attitude instruction for the aircraft pitch channel, and u2 is the desired attitude instruction for the aircraft yaw channel.

[0040] Beneficial effects

[0041] This invention proposes an electro-optical landing method for aircraft using a combination of line-of-sight angles and virtual targets. Its main innovations are as follows: First, it introduces a virtual target, making the trajectory of the aircraft's electro-optical landing and recovery process smoother, safer, and more controllable. Second, it proposes a new method for calculating the differential of the aircraft's pitch angular velocity relative to the virtual target, as well as the differential of the aircraft's yaw angular velocity relative to the virtual target. This method makes the calculation of the differential signals more accurate, avoids the adverse effects of measurement errors, and ensures sufficient damping for the entire aircraft's electro-optical guidance method, resulting in a simple signal relationship for the final control scheme.

[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are incorporated into and constitute a part of this specification, illustrate embodiments consistent with the present invention, and together with the description, serve to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and it is clear that those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0044] Figure 1 The present invention provides a flow chart of an aircraft photoelectric guidance landing method using a combination of line of sight angle and virtual target.

[0045] Figure 2 is a pitch signal curve of the aircraft according to the method provided in the embodiment of the present invention (unit: degrees);

[0046] Figure 3 is the azimuth signal curve of the aircraft according to the method provided in the embodiment of the present invention (unit: degree);

[0047] Figure 4 is the distance information (in meters) between the aircraft and the landing point according to the method provided in the embodiment of the present invention;

[0048] Figure 5 is an aircraft vertical approximate deviation signal curve (unit: meter) of the method provided in the embodiment of the present invention;

[0049] Figure 6 is an aircraft lateral approximate deviation signal curve (unit: meter) of the method provided in an embodiment of the present invention;

[0050] Figure 7 is a pitch signal hysteresis differential signal curve (unitless) of the method provided in an embodiment of the present invention;

[0051] Figure 8 is a yaw signal hysteresis differential signal curve (unitless) of the method provided in an embodiment of the present invention;

[0052] Figure 9 is the desired command curve of the pitch channel attitude of the aircraft according to the method provided in the embodiment of the present invention (unitless);

[0053] Figure 10 is the desired command curve of the aircraft yaw channel attitude according to the method provided in the embodiment of the present invention (unitless);

[0054] Figure 11 It is a horizontal flight distance curve (unit: meter) of the aircraft provided by the method of the embodiment of the present invention. DETAILED DESCRIPTION

[0055] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present invention will be more comprehensive and complete and the concepts of the example embodiments will be fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solutions of the present invention may be practiced while omitting one or more of the specific details, or that other methods, components, devices, steps, etc. may be employed. In other cases, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present invention.

[0056] The present invention provides a method for realizing photoelectric guidance of an aircraft by adopting a virtual target guidance mode, wherein the method measures the relative distance and angular relationship between the aircraft and the landing point by means of ground photoelectric equipment, and then sets a virtual target centered on the landing point, so that the virtual target approaches the landing point over time; then the relevant position information, distance information, and angle information of the aircraft relative to the virtual target are solved, and an ingenious algebraic transformation solution method for angle differential and distance differential is provided, so that the differential measurement error is suppressed to a smaller range, and finally a virtual target line of sight angle guidance method with a simple structure, easy implementation, and clear physical meaning is formed by the position information, angle information, angle differential information, and angle integral information of the aircraft relative to the virtual target, thereby realizing the pitch and yaw two-channel photoelectric guidance landing of the aircraft.

[0057] Next, the present invention will be further explained and illustrated with reference to the accompanying drawings, which are used to illustrate the aircraft electro-optical guidance landing method using a combination of line of sight angle and virtual target. Figure 1 As shown, the method for aircraft photoelectric guidance landing using line-of-sight angle virtual target combination may include the following steps:

[0058] Step S10: Using the infrared thermal imager of the photoelectric guidance system on the ship to measure the pitch signal and yaw signal of the aircraft, and using the laser rangefinder of the photoelectric guidance system on the ship to measure the distance information between the aircraft and the landing point; and calculating the vertical approximate deviation signal of the aircraft based on the distance information between the aircraft and the landing point and the pitch signal of the aircraft; and calculating the lateral approximate deviation signal of the aircraft based on the distance information between the aircraft and the landing point and the azimuth signal of the aircraft as follows:

[0059] y a =r sin(θ1);

[0060] z a =r sin(θ2);

[0061] Where θ1 is the pitch signal of the aircraft measured by the infrared thermal imager of the photoelectric guidance system, θ2 is the yaw signal of the aircraft measured by the infrared thermal imager of the photoelectric guidance system, r is the distance between the aircraft and the landing point measured by the laser rangefinder of the photoelectric guidance system on the ship, and y a is the vertical approximate deviation signal of the aircraft; a It is the approximate lateral deviation signal of the aircraft.

[0062] In step S20, the initial altitude and lateral positions of the virtual target are set, followed by altitude and lateral decay time constants. Real-time altitude and lateral position information of the virtual target are generated using a first-order smoothing filter. The altitude difference, lateral position difference, and distance between the virtual target and the aircraft are then calculated based on the aircraft's vertical approximate deviation signal and the aircraft's lateral approximate deviation signal. Furthermore, the aircraft's pitch angle and yaw angle relative to the virtual target are calculated. Finally, a hysteresis filter is provided to calculate the delayed differential signals of the aircraft's pitch and yaw signals.

[0063] Specifically, it can be broken down into the following four steps. First, set the initial height position and initial lateral position of the virtual target, then set its height attenuation time constant and lateral attenuation time constant, and generate the real-time height information and real-time lateral position information of the virtual target in a first-order smoothing filter mode as follows:

[0064]

[0065] Where s is the differential operator of the transfer function; T1 and T2 are constant time parameters of the first-order smoothing filter; y0 is the initial height position of the target; z0 is the initial lateral position of the target. b is the real-time height information of the virtual target, z b It is the real-time lateral position information of the virtual target.

[0066] Secondly, based on the aircraft's vertical approximate deviation signal and the aircraft's lateral approximate deviation signal, the height difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, and the distance between the virtual target and the aircraft are calculated as follows:

[0067] Δy=y a -y b ;

[0068] Δz=z a -z b ;

[0069]

[0070] Where Δy is the height difference between the virtual target and the aircraft; Δz is the lateral position difference between the virtual target and the aircraft; r w It is the distance information between the virtual target and the aircraft.

[0071] Then, the pitch angle and yaw angle of the aircraft relative to the virtual target are calculated based on the distance between the virtual target and the aircraft as follows:

[0072]

[0073] where θ 1w is the pitch angle of the aircraft relative to the virtual target; θ 2w The yaw angle of the aircraft relative to the virtual target.

[0074] Finally, a lag filter is set to solve the aircraft's pitch signal lag signal and the aircraft's yaw signal lag signal respectively; the aircraft's pitch signal lag differential signal and the aircraft's yaw signal lag differential signal are further solved as follows:

[0075]

[0076] θ d1 =(θ1-θ 1a ) / T 1a ;

[0077] θ d2 =(θ2-θ 2a ) / T 2a ;

[0078] Where T 1a 、T 2a is the constant time parameter of the lag filter; θ 1a is the pitch signal lag signal of the aircraft; θ 2a is the yaw signal lag signal of the aircraft; θ d1 is the delayed differential signal of the aircraft's pitch signal; θ d2 It is the delayed differential signal of the aircraft's yaw signal.

[0079] Step S30: Design a first-order filter differentiator based on the distance information of the aircraft from the landing point to solve the first-order differential signal of the distance information of the aircraft from the landing point; then solve the vertical approximate deviation differential signal and the lateral approximate deviation differential signal of the aircraft based on the delayed differential signal of the pitch signal of the aircraft and the delayed differential signal of the yaw signal of the aircraft; then solve the real-time altitude differential information and the real-time lateral position differential information of the virtual target based on the real-time altitude information and the real-time lateral position information of the virtual target; further solve the altitude difference differential information and the lateral position difference differential information between the virtual target and the aircraft, and then combine them to obtain the distance differential information between the virtual target and the aircraft; finally, solve the pitch angle differential information and the yaw angle differential information of the aircraft relative to the virtual target.

[0080] Specifically, it can be broken down into the following five steps. The first step is to design a first-order filter differentiator based on the distance information of the aircraft from the landing point, and solve the first-order differential signal of the distance information of the aircraft from the landing point as follows:

[0081]

[0082] r d =(rr a ) / T r ;

[0083] where r a is the first-order lag signal of the distance information between the aircraft and the landing point; T r is the constant time constant of the first-order filter differentiator; r d It is the first-order differential signal of the distance information between the aircraft and the landing point.

[0084] In the second step, the vertical approximate differential signal and the lateral approximate differential signal of the aircraft are solved according to the delayed differential signal of the pitch signal of the aircraft and the delayed differential signal of the yaw signal of the aircraft as follows:

[0085] y ad =r d sin(θ1)+r cos(θ1)θ d1 ;

[0086] z ad =r d sin(θ2)+r cos(θ2)θ d2 ;

[0087] where y ad is the differential signal of the aircraft vertical approximate deviation; ad It is the differential signal of the aircraft lateral approximate deviation.

[0088] In the third step, the real-time height differential information and the real-time lateral position differential information of the virtual target are solved based on the real-time height information and the real-time lateral position information of the virtual target as follows:

[0089] y bd =(y0-y b ) / T1;

[0090] z bd =(z0-z b ) / T2;

[0091] where y bd is the real-time height differential information of the virtual target, z bd Real-time lateral position differential information of the virtual target.

[0092] The fourth step is to solve the differential information of the height difference between the virtual target and the aircraft and the differential information of the lateral position difference between the virtual target and the aircraft, and then combine them to obtain the differential information of the distance between the virtual target and the aircraft as follows:

[0093] Δy d =y ad -y bd ;

[0094] Δz d =z ad -z bd ;

[0095]

[0096] where Δy d is the height difference between the virtual target and the aircraft, Δz d is the lateral position differential information between the virtual target and the aircraft, r wd It is the differential information of the distance between the virtual target and the aircraft.

[0097] In the fifth step, the pitch angle differential information of the aircraft relative to the virtual target and the yaw angle differential information of the aircraft relative to the virtual target are finally solved based on the differential information of the distance between the virtual target and the aircraft as follows:

[0098]

[0099] where θ d1w is the pitch angle differential information of the aircraft relative to the virtual target, θ d2w is the differential information of the yaw angle of the aircraft relative to the virtual target.

[0100] Step S40, performing nonlinear integration on the pitch angle and yaw angle of the aircraft relative to the virtual target to obtain a pitch angle integral signal and a yaw angle integral signal of the aircraft relative to the virtual target; then superimposing the pitch angle differential information of the aircraft relative to the virtual target, the yaw angle differential information of the aircraft relative to the virtual target, the height difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, the height difference differential information, the lateral position difference differential information between the virtual target and the aircraft, the pitch angle of the aircraft relative to the virtual target, and the yaw angle of the aircraft relative to the virtual target, and combining and superimposing them to generate an aircraft pitch channel attitude desired instruction and an aircraft yaw channel attitude desired instruction, and transmitting them to the aircraft attitude stabilization and tracking system to complete the photoelectric guidance landing of the pitch and yaw channels.

[0101] Specifically, first, nonlinear integration is performed on the pitch angle of the aircraft relative to the virtual target and the yaw angle of the aircraft relative to the virtual target to obtain the pitch angle integral signal and the yaw angle integral signal of the aircraft relative to the virtual target as follows:

[0102]

[0103] Where s1 is the integral signal of the pitch angle of the aircraft relative to the virtual target, s2 is the integral signal of the yaw angle of the aircraft relative to the virtual target, l1, l2, and ε0 are constant control parameters.

[0104] Then, the pitch angle differential information of the aircraft relative to the virtual target, the yaw angle differential information of the aircraft relative to the virtual target, the height difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, the height difference differential information of the virtual target and the aircraft, the lateral position difference differential information of the virtual target and the aircraft, the pitch angle of the aircraft relative to the virtual target, and the yaw angle of the aircraft relative to the virtual target are superimposed and combined to generate the desired aircraft pitch channel attitude instruction and the desired aircraft yaw channel attitude instruction as follows:

[0105] u1=k1Δy+k2θ 1w +k3Δy d +k4θ d1w +k5s1;

[0106] u2=d1Δz+d2θ 2w +d3Δz d +d4θ d2w +d5s2;

[0107] Among them, k1, k2, k3, k4, k5, d1, d2, d3, d4, and d5 are constant control parameters, u1 is the desired attitude instruction of the aircraft pitch channel, and u2 is the desired attitude instruction of the aircraft yaw channel.

[0108] Case implementation and computer simulation results analysis

[0109] In step S10, the infrared thermal imager of the photoelectric guidance system is used to measure the pitch signal of the aircraft, such as Figure 2 As shown; then the infrared thermal imager of the photoelectric guidance system is used to measure the azimuth signal of the aircraft, as shown Figure 3 The laser rangefinder of the optoelectronic guidance system on the ship is used to measure the distance between the aircraft and the landing point, as shown in Figure 4 As shown. The vertical approximate deviation signal of the aircraft is obtained by solving the problem as shown in Figure 5 As shown, the aircraft lateral approximate deviation signal is as follows Figure 6 shown.

[0110] In step S20, select T1=0.4, T2=0.4, T 1a =0.8, T 2a =0.8, and the pitch signal lag differential signal is obtained as follows Figure 7 As shown; the yaw signal lag differential signal is as follows Figure 8 shown.

[0111] In step S30, select T r =0.5. In step S40, select ε0=0.3, l1=0.5, l2=0.5, and obtain the desired pitch channel attitude instruction of the aircraft as follows: Figure 9 As shown, the desired instruction of the aircraft yaw channel attitude is as follows Figure 10 The horizontal flight distance curve of the aircraft is shown as Figure 11 shown.

[0112] Depend on Figure 2 It can be seen that the initial pitch angle is about 28 degrees; Figure 3 It can be seen that the initial azimuth is around 24 degrees; Figure 4 It can be seen that the initial distance is about 1100 meters; Figure 5 It can be seen that the initial height is 500 meters. Figure 6 It can be seen that the initial lateral deviation is about 400 meters; Figure 11 It can be seen that the initial horizontal distance is 900 meters, and eventually becomes about 40 meters within 15 seconds; and by Figure 9 and Figure 10As can be seen, the attitude commands for the pitch and yaw channels are relatively smooth, and after approximately 10 seconds, they return to zero, indicating that the control task has been completed. The vehicle then slowly and straightens to its destination. The experimental results show that even under harsh initial conditions and large deviations, the method provided by this invention still demonstrates good stability and accuracy, demonstrating its effectiveness and high engineering application and promotion value.

Claims

1. A method for aircraft electro-optical guidance landing using a combination of line-of-sight angle and virtual target, characterized in that: The following steps are involved: Step S10: Using the infrared thermal imager of the photoelectric guidance system on the ship to measure the pitch signal and yaw signal of the aircraft, and using the laser rangefinder of the photoelectric guidance system on the ship to measure the distance information between the aircraft and the landing point; and calculating the vertical approximate deviation signal of the aircraft based on the distance information between the aircraft and the landing point and the pitch signal of the aircraft; and calculating the lateral approximate deviation signal of the aircraft based on the distance information between the aircraft and the landing point and the azimuth signal of the aircraft as follows: and a =r sin(θ1); z a =r sin(θ2); Where θ1 is the pitch signal of the aircraft measured by the infrared thermal imager of the photoelectric guidance system, θ2 is the yaw signal of the aircraft measured by the infrared thermal imager of the photoelectric guidance system, r is the distance between the aircraft and the landing point measured by the laser rangefinder of the photoelectric guidance system on the ship, and y a is the vertical approximate deviation signal of the aircraft; a It is the approximate lateral deviation signal of the aircraft; Step S20: Set the initial altitude position and initial lateral position of the virtual target, then set its altitude attenuation time constant and lateral attenuation time constant, and generate real-time altitude information and real-time lateral position information of the virtual target using a first-order smoothing filter method. Then, based on the vertical approximate deviation signal and the lateral approximate deviation signal of the aircraft, calculate the altitude difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, and the distance information between the virtual target and the aircraft. Furthermore, calculate the pitch angle and yaw angle of the aircraft relative to the virtual target. Then, by setting a hysteresis filter, calculate the delayed differential signal of the pitch signal and the delayed differential signal of the yaw signal of the aircraft as follows: Δy=y a -y b ; Δz=z a -with b ; i d1 =(θ1-θ 1a ) / T 1a ; i d2 =(θ2-θ 2a ) / T 2a ; Where s is the differential operator of the transfer function; T1 and T2 are constant time parameters of the first-order smoothing filter; y0 is the initial height position of the target; z0 is the initial lateral position of the target; y b is the real-time height information of the virtual target, z b is the real-time lateral position information of the virtual target; Δy is the height difference between the virtual target and the aircraft; Δz is the lateral position difference between the virtual target and the aircraft; r w is the distance information between the virtual target and the aircraft; where θ 1w is the pitch angle of the aircraft relative to the virtual target; θ 2w The yaw angle of the aircraft relative to the virtual target; where T 1a 、T 2a is the constant time parameter of the lag filter; θ 1a is the pitch signal lag signal of the aircraft; θ 2a is the yaw signal lag signal of the aircraft; θ d1 is the delayed differential signal of the aircraft's pitch signal; θ d2 is the lag differential signal of the aircraft's yaw signal; Step S30: Design a first-order filter differentiator based on the distance information of the aircraft from the landing point to obtain a first-order differential signal of the distance information of the aircraft from the landing point; then, obtain an approximate vertical deviation differential signal and an approximate lateral deviation differential signal of the aircraft based on the delayed differential signal of the aircraft's pitch signal and the delayed differential signal of the aircraft's yaw signal; then, obtain the real-time altitude differential information and the real-time lateral position differential information of the virtual target based on the real-time altitude information and the real-time lateral position information of the virtual target; further, obtain the altitude difference differential information and the lateral position difference differential information between the virtual target and the aircraft, and then combine them to obtain the distance differential information between the virtual target and the aircraft; finally, obtain the pitch angle differential information and the yaw angle differential information of the aircraft relative to the virtual target as follows: r d ＝(r-r a ) / T r ； y ad =r d sin(θ1)+rcos(θ1)θ d1 ; z ad =r d sin(θ2)+rcos(θ2)θ d2 ; and bd =(y0-y b ) / T1; With bd =(z0-z b ) / T2; Δy d =y ad -y bd ; Δz d =with ad -with bd ; where r a is the first-order lag signal of the distance information between the aircraft and the landing point; T r is the constant time constant of the first-order filter differentiator; r d is the first-order differential signal of the distance information between the aircraft and the landing point; ad is the differential signal of the aircraft vertical approximate deviation; ad is the differential signal of the aircraft lateral approximate deviation; y bd is the real-time height differential information of the virtual target, z bd Real-time lateral position differential information of the virtual target; Δy d is the height difference between the virtual target and the aircraft, Δz d is the lateral position differential information between the virtual target and the aircraft, r wd is the differential information of the distance between the virtual target and the aircraft; θ d1w is the pitch angle differential information of the aircraft relative to the virtual target, θ d2w The differential information of the yaw angle of the aircraft relative to the virtual target; Step S40, performing nonlinear integration on the pitch angle and yaw angle of the aircraft relative to the virtual target to obtain a pitch angle integral signal and a yaw angle integral signal of the aircraft relative to the virtual target; then superimposing the pitch angle differential information of the aircraft relative to the virtual target, the yaw angle differential information of the aircraft relative to the virtual target, the altitude difference between the virtual target and the aircraft, the lateral position difference between the virtual target and the aircraft, the altitude difference differential information of the virtual target and the aircraft, the lateral position difference differential information of the virtual target and the aircraft, the pitch angle of the aircraft relative to the virtual target, and the yaw angle of the aircraft relative to the virtual target, and combining and superimposing them to generate an aircraft pitch channel attitude desired instruction and an aircraft yaw channel attitude desired instruction, which are transmitted to the aircraft attitude stabilization and tracking system to complete the photoelectric guidance landing of the pitch and yaw channels as follows: u1=k1Δy+k2θ 1w +k3Δy d +k4θ d1w +k5s1; u2=d1Δz+d2θ 2w +d3Δz d +d4θ d2w +d5s2; Where s1 is the integral signal of the pitch angle of the aircraft relative to the virtual target, s2 is the integral signal of the yaw angle of the aircraft relative to the virtual target, k1, k2, k3, k4, k5, d1, d2, d3, d4, d5, l1, l2, and ε0 are constant control parameters, u1 is the desired attitude instruction for the aircraft's pitch channel, and u2 is the desired attitude instruction for the aircraft's yaw channel.

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