A system and method for predicting a drop zone for an air dropped parachute
By using the Monte Carlo method and a parachute motion model to perform multiple trajectory simulations, combined with filtering and data integration, the problem of prediction deviation in the landing point of airdropped parachutes was solved, achieving accurate landing point prediction and recovery guidance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XIAN AVIATION COMPUTING TECH RES INST OF AVIATION IND CORP OF CHINA
- Filing Date
- 2022-12-15
- Publication Date
- 2026-06-19
AI Technical Summary
Existing technologies have significant deviations in predicting the landing point of airdropped parachutes, leading to inaccurate recovery and affecting the effectiveness of parachute and payload deployment.
The Monte Carlo method and parachute motion model were used to perform multiple trajectory simulations. By combining filtering and data integration, the possible landing area of the parachute was accurately calculated, and the recovery was guided by a graphical display.
It significantly reduced the deviation between the predicted landing point and the actual landing point, enabling accurate prediction of the parachute landing area and improving the accuracy of recovery.
Smart Images
Figure CN116050080B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of airdrop parachute technology in avionics systems, and specifically to a prediction system and method for the landing area of an airdrop parachute. Background Technology
[0002] In avionics systems, current devices predicting the landing point of airdropped parachutes take the aircraft's speed, attitude, heading, altitude, wind direction, wind speed, the parachute's level flight distance, and descent time as inputs. Based on the relationships between the line segments formed by these inputs, trigonometric functions are used to calculate the final landing point. In this calculation process, the system's input information is generally assumed to be accurate. However, in reality, due to sensor errors, the measured data cannot be precise. Furthermore, the parachute's level flight distance and descent time are often averaged from multiple experiments. Therefore, the deviation between the predicted and actual landing points is significant, sometimes reaching 500 meters. This adversely affects the recovery of the parachute and its payload. Summary of the Invention
[0003] In view of this, embodiments of this application provide a prediction system and method for the landing area of an airdropped parachute, so as to achieve the purpose of accurately predicting the landing area of the airdropped parachute.
[0004] This application provides the following technical solution: a prediction system for the landing area of an airdropped parachute, comprising:
[0005] The system includes a data processing module and a data integration module. The data processing module is used to acquire the aircraft's airspeed information, aircraft attitude information, and aircraft horizontal altitude information, and then send them to the data integration module after filtering.
[0006] It also includes a human-machine interface module, which is communicatively connected to the data integration module and is used to send the parachute model and airdrop weight information input through the human-machine interface module to the data integration module;
[0007] It also includes an avionics system, which is communicatively connected to the data integration module and is used to send the calculated aircraft heading information to the data integration module;
[0008] It also includes an airborne communication module, which is communicatively connected to the data integration module and is used to send the received wind speed and wind direction information to the data integration module;
[0009] The data integration module performs time alignment on the obtained aircraft airspeed information, aircraft attitude information, aircraft horizontal altitude information, parachute type and airdrop weight information, aircraft heading information, wind speed and wind direction information, and sends the aligned integrated information to the parachute trajectory simulation module.
[0010] The parachute trajectory simulation module performs multiple trajectory simulations using the Monte Carlo method and the parachute motion model based on the integrated information and preset model parameters, thereby obtaining multiple possible landing locations of the parachute.
[0011] According to one embodiment of this application, the simulation process of the parachute trajectory simulation module includes the following steps:
[0012] (1) Set the number of calculations N;
[0013] (2) Obtain the initial computational conditions without disturbance; the initial conditions include the integrated information and the preset model parameters;
[0014] (3) Determine whether N calculations have been performed; if N calculations have been performed, proceed to step 3.1, otherwise proceed to step (4);
[0015] 3.1 Draw the corresponding graphics on the map according to the preset aircraft flight path and airdrop location;
[0016] 3.2 Then, based on the landing point of the airdrop, calculate the landing area of the airdrop with a certain probability and mark it on the map;
[0017] (4) The initial conditions are perturbed multiple times using random numbers;
[0018] (5) Calculate the trajectory of the parachute in the air based on the parachute motion model to obtain the landing point coordinates;
[0019] (6) Store the landing point coordinates calculated in step (5); increment the calculation count by one, and go to step (3).
[0020] According to one embodiment of this application, the specific method for perturbing the initial condition multiple times using random numbers in step (4) is as follows: randomly select a number from a probability distribution to obtain the random number, and then add multiple random numbers to any initial condition to perturb the initial condition multiple times.
[0021] According to one embodiment of this application, the system further includes an airspeed tube, an aircraft attitude sensor, and an altimeter, which are communicatively connected to the data processing module, and are respectively used to send the aircraft's airspeed information, aircraft attitude information, and aircraft horizontal altitude information to the data processing module.
[0022] According to one embodiment of this application, the parachute trajectory simulation module is communicatively connected to the parachute model configuration management module, and is used to obtain preset model parameters from the parachute model configuration management module.
[0023] According to one embodiment of this application, the airborne communication module is connected to the ground communication module and is used to obtain wind speed and wind direction information from the ground communication module.
[0024] According to one embodiment of this application, it further includes a display module, which is communicatively connected to the parachute trajectory simulation module. The display module is used to overlay multiple possible landing locations of parachutes obtained by the parachute trajectory simulation module on a map, combined with aircraft position information and flight track information, to form a predicted landing area image information for display.
[0025] According to one embodiment of this application, the display module is also connected to the airborne communication module, and is used to send the predicted landing area image information to the ground communication module through the airborne communication module to assist ground personnel in the recovery of parachutes and carried-on items.
[0026] The present invention also provides a method for predicting the landing area of an airdropped parachute, comprising:
[0027] Acquire the aircraft's airspeed, attitude, and altitude information, and perform filtering processing.
[0028] Obtain information on parachute type and weight of airdropped items, aircraft heading, wind speed, and wind direction;
[0029] The obtained aircraft airspeed information, aircraft attitude information, aircraft horizontal altitude information, parachute type and airdrop weight information, aircraft heading information, wind speed and wind direction information are time-aligned to obtain the aligned integrated information.
[0030] Based on the obtained integrated information and preset model parameters, the parachute trajectory is simulated and calculated. Multiple trajectory simulations are performed using the Monte Carlo method and the parachute motion model to obtain multiple possible landing points of the parachute.
[0031] According to one embodiment of this application, the process of simulating and calculating the parachute trajectory based on the obtained integrated information and preset model parameters includes the following steps:
[0032] (1) Set the number of calculations N;
[0033] (2) Obtain the initial computational conditions without disturbance; the initial conditions include the integrated information and the preset model parameters;
[0034] (3) Determine whether N calculations have been performed; if N calculations have been performed, proceed to step 3.1, otherwise proceed to step (4);
[0035] 3.1 Draw the corresponding graphics on the map according to the preset aircraft flight path and airdrop location;
[0036] 3.2 Then, based on the landing point of the airdrop, calculate the landing area of the airdrop with a certain probability and mark it on the map;
[0037] (4) The initial conditions are perturbed multiple times using random numbers;
[0038] (5) Calculate the trajectory of the parachute in the air based on the parachute motion model to obtain the landing point coordinates;
[0039] (6) Store the landing point coordinates calculated in step (5); increment the calculation count by one, and go to step (3).
[0040] This application provides a system and method for predicting the landing area of an airdropped parachute. Instead of using traditional trigonometric functions to predict the parachute's landing point, this application employs the Monte Carlo method and a parachute motion model to simulate the trajectory and calculate the possible landing area. By graphically displaying the landing area, the system guides ground personnel in recovering the parachute and its carried payload, significantly reducing the deviation between the predicted and actual landing points. This makes the landing point distribution area more closely match the actual airdrop situation, achieving the goal of accurately predicting the landing area of the airdropped parachute. Attached Figure Description
[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0042] Figure 1 This is a schematic diagram of the prediction system for the landing area of an airdropped parachute according to an embodiment of the present invention;
[0043] Figure 2 This is the interface for displaying the predicted landing point of the airdropped object in this embodiment of the invention. Detailed Implementation
[0044] The embodiments of this application will now be described in detail with reference to the accompanying drawings.
[0045] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments, providing a clear and complete description of the technical solutions of the present invention. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0046] like Figure 1 As shown, this embodiment of the invention provides a prediction system for the landing area of an airdropped parachute, comprising:
[0047] The system includes a data processing module and a data integration module. The data processing module acquires the aircraft's airspeed, attitude, and altitude information, performs filtering processing, and then sends the data to the data integration module.
[0048] In this embodiment, the data processing module is a filter. The filter is communicatively connected to the airspeed tube, aircraft attitude sensor and altimeter to obtain the aircraft's airspeed information, aircraft attitude information and aircraft horizontal altitude information. After removing some noise from this information through the filter, it is sent to the data integration module.
[0049] It also includes a human-machine interface module, which is communicatively connected to the data integration module and is used to send the parachute model and airdrop weight information input through the human-machine interface module to the data integration module.
[0050] It also includes an avionics system, which is communicatively connected to the data integration module and is used to send the calculated aircraft heading information to the data integration module.
[0051] It also includes an airborne communication module, which is communicatively connected to the data integration module and is used to send the received wind speed and wind direction information to the data integration module.
[0052] In this embodiment, the airborne communication module is connected to the ground communication module and is used to obtain wind speed and wind direction information from the ground communication module and forward it to the data integration module.
[0053] Because the aforementioned information is generated at inconsistent periods, the data integration module is required to time-align the obtained aircraft airspeed, attitude, altitude, parachute type, dropped cargo weight, heading, wind speed, and wind direction information. After collecting the aligned data, the data integration module processes this information into the format required by the parachute trajectory simulation module and sends it to the parachute trajectory simulation module.
[0054] The parachute trajectory simulation module performs multiple trajectory simulations using the Monte Carlo method and the parachute motion model based on the integrated information and preset model parameters, thereby obtaining multiple possible landing locations of the parachute.
[0055] In this embodiment, the parachute trajectory simulation module is communicatively connected to the parachute model configuration management module, and is used to obtain preset model parameters from the parachute model configuration management module.
[0056] The parachute trajectory simulation module is communicatively connected to the display module. It is used to overlay multiple possible landing points of parachutes obtained by the parachute trajectory simulation module onto a map, combined with the aircraft position information and flight track information, to form an easily understandable predicted landing area image information, which is then displayed to the crew.
[0057] In this embodiment, the display module is also connected to the airborne communication module, and is used to send the predicted landing area image information to the ground communication module through the airborne communication module to assist ground personnel in the recovery of parachutes and carried-on items.
[0058] The calculation steps for the landing areas of successful and unsuccessful parachute deployment are the same. The simulation process of the parachute trajectory simulation module includes the following steps:
[0059] (1) Set the number of calculations N;
[0060] Since N landing points need to be generated to form a landing area, N calculations are required.
[0061] (2) Obtain the initial conditions for calculation without disturbance; the initial conditions include the integrated information and preset model parameters; specifically including the aircraft's flight altitude, heading, flight attitude, flight speed, wind direction, wind speed, parachute performance parameters, weight and shape of the airdropped items, etc.
[0062] (3) Determine whether N calculations have been performed; if N calculations have been performed, proceed to step 3.1, otherwise proceed to step (4);
[0063] 3.1 Draw the corresponding graphics on the map according to the preset aircraft flight path and airdrop location;
[0064] 3.2 Then, based on the landing point of the airdrop, calculate the landing area of the airdrop with a certain probability and mark it with a box on the map;
[0065] 3.3 The calculation process is now complete.
[0066] (4) The initial conditions are perturbed multiple times using random numbers; specifically, a number is randomly drawn from a probability distribution to obtain the random number, and then multiple random numbers are added to any initial condition to perturb the initial conditions multiple times. Commonly used probability distributions include: normal distribution and uniform distribution.
[0067] (5) Calculate the trajectory of the parachute in the air based on the parachute motion model to obtain the landing point coordinates;
[0068] The parachute motion model mentioned above can be a three-degree-of-freedom model, or a six-degree-of-freedom or higher-degree-of-freedom model.
[0069] (6) Store the landing point coordinates calculated in step (5); increment the calculation count by one, and go to step (3).
[0070] The schematic diagram of the display module output interface in this embodiment is shown below. Figure 2 As shown.
[0071] like Figure 2 As shown, if the aircraft flies along the predetermined flight path (the black diagonal line in the image) and performs an airdrop mission at a certain point (circled), then if the parachute deploys normally, the dropped item will most likely land in the area within the middle square; if the parachute fails to deploy, the dropped item will most likely land in the area within the bottom square. Furthermore, it should be noted that the background of this image is an electronic map. This makes it easier to identify the landing area.
[0072] In one specific embodiment, the same calculation steps are used to calculate the landing area for both successful and unsuccessful parachute deployment. The specific calculation steps are as follows:
[0073] 1. Set the number of calculations to 500. This is because 500 landing points need to be generated to form a landing area, so 500 calculations are required.
[0074] 2. The altitude range for the airdrop is set at 3000 meters. The aircraft is assumed to be flying horizontally with a speed range of 400 km / h. The wind speed range is set at 6 m / s. The wind direction is assumed to be horizontal with an angle of 10 degrees to the aircraft's flight direction. The mass of the dropped item is 1500 kg, and the reference area of the parachute is 300 m². 2 The parachute has a lift coefficient of 0.5 and a drag coefficient of 0.1.
[0075] 3. Determine if 500 calculations have been performed. If 500 calculations have been performed, proceed to step 3.1. Otherwise, proceed to step 4.
[0076] 3.1 Draw the corresponding graphics on the map according to the preset aircraft flight path and airdrop point location.
[0077] 3.2 Then, calculate the center and standard deviation of the landing point based on the landing point of the airdropped item, find the landing points within six standard deviations, and mark these landing points with boxes on the map to indicate the landing area.
[0078] 3.3 The calculation process is now complete.
[0079] 4. Draw four random numbers from N(0,20), N(0,10), N(0,1), and N(0,1) respectively, and then add them to the aircraft altitude, aircraft speed, wind speed, and the angle between wind speed and aircraft speed. N(0,20) represents a normal distribution with a center of 0 and a standard deviation of 20; N(0,10) represents a normal distribution with a center of 0 and a standard deviation of 10; N(0,10) represents a normal distribution with a center of 0 and a standard deviation of 1.
[0080] 5. Calculate the parachute's trajectory in the air based on the parachute motion model. The three-degree-of-freedom parachute motion model is shown in the following formula:
[0081]
[0082]
[0083]
[0084] u x =v x -w x
[0085] u y =v y -w y
[0086] u z =v z -w z
[0087]
[0088]
[0089]
[0090]
[0091]
[0092] In the formula, m represents the mass of the parachute plus the dropped supplies, (v x v y v z() represents the ground velocity of the parachute in the X, Y, and Z directions, D represents lift, L represents drag, α represents angle of attack, β represents sideslip angle, (u x u y u z () represents the airspeed of the parachute in the X, Y, and Z directions, (w) x w y w z ) represents the wind speed in the X, Y, and Z directions, ρ represents the air density, and C D and C L The coefficients represent lift and drag, and A represents the reference area.
[0093] If you need to improve the accuracy of the parachute motion model, you can consider using a six-degree-of-freedom model or a model with higher degrees of freedom.
[0094] 6. Store the landing point coordinates calculated in step 5.
[0095] 7. Increment the count by one and go to step 3.
[0096] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A system for predicting a drop zone for an air dropped parachute, the system comprising: include: The system includes a data processing module and a data integration module. The data processing module is used to acquire the aircraft's airspeed information, aircraft attitude information, and aircraft horizontal altitude information, and then send them to the data integration module after filtering. It also includes a human-machine interface module, which is communicatively connected to the data integration module and is used to send the parachute model and airdrop weight information input through the human-machine interface module to the data integration module; It also includes an avionics system, which is communicatively connected to the data integration module and is used to send the calculated aircraft heading information to the data integration module; It also includes an airborne communication module, which is communicatively connected to the data integration module and is used to send the received wind speed and wind direction information to the data integration module; The data integration module performs time alignment on the obtained aircraft airspeed information, aircraft attitude information, aircraft horizontal altitude information, parachute type and airdrop weight information, aircraft heading information, wind speed and wind direction information, and sends the aligned integrated information to the parachute trajectory simulation module. The parachute trajectory simulation module performs multiple trajectory simulations using the Monte Carlo method and the parachute motion model based on the obtained integrated information and preset model parameters, to obtain multiple possible landing points of the parachute. The simulation process of the parachute trajectory simulation module includes the following steps: (1) Set the number of calculations N; (2) Obtain the initial conditions for computation without disturbance; the initial conditions include the integrated information and the preset model parameters; (3) Determine whether N calculations have been performed; if N calculations have been performed, proceed to step 3.1, otherwise proceed to step (4). 3.1 Draw the corresponding graphics on the map according to the preset aircraft flight path and airdrop location; 3.2 Then, based on the landing point of the airdrop, calculate the landing area of the airdrop with a certain probability and mark it on the map; (4) The initial conditions are perturbed multiple times using random numbers; (5) Calculate the trajectory of the parachute in the air based on the parachute motion model to obtain the landing point coordinates; (6) Store the landing point coordinates calculated in step (5); increment the calculation count by one, and go to step (3); In step (4), the specific method for perturbing the initial condition multiple times using random numbers is as follows: randomly select a number from a probability distribution to obtain the random number, and then add multiple random numbers to any initial condition to perturb the initial condition multiple times.
2. The system for predicting a parachute landing area of claim 1, wherein, It also includes an airspeed tube, an aircraft attitude sensor, and an altimeter that are communicatively connected to the data processing module, which are used to send the aircraft's airspeed information, aircraft attitude information, and aircraft horizontal altitude information to the data processing module, respectively.
3. The system for predicting a parachute landing zone of claim 1, wherein, The parachute trajectory simulation module is communicatively connected to the parachute model configuration management module and is used to obtain preset model parameters from the parachute model configuration management module.
4. The system for predicting a parachute landing area of claim 1, wherein, The airborne communication module is connected to the ground communication module and is used to obtain wind speed and wind direction information from the ground communication module.
5. The system for predicting a parachute landing zone of claim 4, wherein, It also includes a display module, which is communicatively connected to the parachute trajectory simulation module. The display module is used to overlay multiple possible landing points of parachutes obtained by the parachute trajectory simulation module, combined with aircraft position information and flight track information, onto a map to form a predicted landing area image information for display.
6. The system for predicting a parachute landing area of claim 5, wherein, The display module is also connected to the airborne communication module, and is used to send the predicted landing area image information to the ground communication module through the airborne communication module to assist ground personnel in the recovery of parachutes and carried-on items.
7. A method of predicting a drop zone of an air-dropped parachute, for use in the prediction system of claim 1, characterized in that, include: Acquire the aircraft's airspeed, attitude, and altitude information, and perform filtering processing. Obtain information on parachute type and weight of airdropped items, aircraft heading, wind speed, and wind direction; The obtained aircraft airspeed information, aircraft attitude information, aircraft horizontal altitude information, parachute type and airdrop weight information, aircraft heading information, wind speed and wind direction information are time-aligned to obtain the aligned integrated information. Based on the obtained integrated information and preset model parameters, the parachute trajectory is simulated and calculated. Multiple trajectory simulations are performed using the Monte Carlo method and the parachute motion model to obtain multiple possible landing points of the parachute.
8. The method of predicting a parachute landing zone of claim 7, wherein, The process of simulating and calculating the parachute trajectory based on the obtained integrated information and preset model parameters includes the following steps: (1) Set the number of calculations N; (2) Obtain the initial conditions for computation without disturbance; the initial conditions include the integrated information and the preset model parameters; (3) Determine whether N calculations have been performed; if N calculations have been performed, proceed to step 3.1, otherwise proceed to step (4). 3.1 Draw the corresponding graphics on the map according to the preset aircraft flight path and airdrop location; 3.2 Then, based on the landing point of the airdrop, calculate the landing area of the airdrop with a certain probability and mark it on the map; (4) The initial conditions are perturbed multiple times using random numbers; (5) Calculate the trajectory of the parachute in the air based on the parachute motion model to obtain the landing point coordinates; (6) Store the landing coordinates calculated in step (5); increment the number of calculations by one, and go to step (3).