A real-time optimization method and system for vertical take-off and landing aircraft landing trajectory

Abstract

A real-time optimization method for a vertical take-off and landing aircraft landing trajectory includes: obtaining the initial state of the aircraft; obtaining the aircraft landing target position constraint; calculating the aircraft landing target speed constraint based on the shortest time assumption; and calculating the aircraft landing target speed constraint through RRT. * The algorithm obtains the position constraints of the aircraft during landing; establishes a multi-point boundary condition vector for the landing trajectory; sets the path point time; establishes a multi-point boundary value problem for different landing target positions, solves and optimizes the polynomial trajectory parameters; compares the trajectory performance corresponding to different landing target positions, and selects the optimal trajectory. The present invention also includes a real-time optimization system for the landing trajectory of a vertical take-off and landing aircraft. By converting the landing trajectory optimization problem of the vertical take-off and landing aircraft into a multi-boundary value problem, the present invention realizes real-time optimization of the smooth trajectory, which can be used to improve the smoothness of the flight trajectory of the vertical take-off and landing aircraft during the landing phase, optimize the duration of the landing phase, and save flight energy.

Description

Technical Field

[0001] The patent of this invention relates to trajectory optimization technology, and in particular to a real-time optimization method and system for the landing trajectory of a vertical take-off and landing aircraft. Background Art

[0002] Driven by the surge in autonomous driving technology, trajectory optimization technology has gained widespread application across various unmanned driving platforms. Trajectory optimization designs spatial trajectories that conform to the platform's motion characteristics based on the platform's state, operating environment, and task. Trajectory optimization methods can be categorized into three main types, each transforming them into an initial value problem, a two-point boundary value problem, or a multi-point boundary value problem.

[0003] However, there is currently no known method for optimizing the landing trajectory of a vertical take-off and landing aircraft. The existing automatic landing process of a vertical take-off and landing aircraft is achieved by flying at preset path points. The landing trajectory optimization problem of a vertical take-off and landing aircraft is a typical three-dimensional space motion trajectory optimization problem that needs to consider the initial state of the platform, environmental process constraints and mission target constraints. Converting this trajectory optimization problem into an initial value problem for solution cannot explicitly consider the process constraints and target constraints. Converting it into a two-point boundary value problem for optimization and solution can explicitly consider the initial state of the platform and the target constraints, and introduce process constraints through matrix inequalities, but it cannot meet the requirements of real-time solution. Currently, there is no known method for designing the landing trajectory of a vertical take-off and landing aircraft based on a multi-point boundary value problem. Summary of the Invention

[0004] The present invention aims to overcome the above-mentioned deficiencies in the prior art and proposes a real-time trajectory optimization method and system for a vertical take-off and landing aircraft during its landing phase.

[0005] The objective of the present invention is achieved through the following technical solution: A method for real-time optimization of the landing trajectory of a vertical take-off and landing aircraft comprises the following steps:

[0006] Step 1: Get the initial state of the vertical take-off and landing aircraft. Take the landing point as the origin of the NED coordinate system and get the three-dimensional spatial position r0 = [x0, y0, z0] and velocity vector of the aircraft in the NED coordinate system at the current time t.

[0007] Step 2: Obtain the target position constraint of the aircraft. Select the number of search grids to be n ≥ 5, and select n discrete grid points r on the negative half axis of the z axis of the NED coordinate system. f,k =[0,0,kz0 / n], where k=1,…,n.

[0008] Step 3: Obtain the landing target speed constraint of the vertical take-off and landing aircraft. Calculate the maximum vertical tail speed of the aircraft at each discrete grid point as Among them, F T is the maximum thrust of the aircraft along the vertical axis of the body coordinate, m is the mass of the aircraft, and g is the local gravity acceleration. The shortest landing time of the aircraft at each discrete grid point is calculated as

[0009] Step 4: Obtain the position constraints of the vertical take-off and landing aircraft during landing. For each k in step 2, use RRT * Algorithm generates r t to r t,k The three-dimensional path point r between 1,k ,r 2,k ,…,r N,k .

[0010] Step 5: Establish the multi-point boundary condition vectors during the landing process of the vertical take-off and landing aircraft. For each k in step 2, based on Generate three vectors in the NED coordinate system: b x ,b y ,b z .in,

[0011] Step 6: Set the path point time t0, t1, ..., t N ,t f .

[0012] Step 7: For each k, convert the VTOL landing trajectory optimization problem into a multi-point boundary value problem. Optimize the three-dimensional process speed based on the boundary condition vector and the optimization cost function, and then optimize the polynomial trajectory parameters.

[0013] Step 8: Select the best performance landing trajectory from the total n landing trajectories corresponding to k=1,…,n.

[0014] Furthermore, the step seven is achieved by the following steps:

[0015] (7.1) Construct the vector τ0=[t 3 ,t 2 ,t,1] T ,τ1=[3t 2 ,2t,1,0] T , and the matrix A i =[τ0,τ1] T , where i=1,…,N. Construct the matrix

[0016]

[0017] Among them, the subscripts 0 and f are used to distinguish time, that is,

[0018] (7.2) Constructing a symmetric matrix Where i = 1,…,N. Construct a block matrix

[0019]

[0020] (7.3) Construct the permutation matrix C to convert b x Split into b x,free and b x,fixed ,in Constructing a block matrix

[0021]

[0022] Among them, R1 is an N-dimensional square matrix, and R4 is an N+4-dimensional square matrix.

[0023] (7.4) For the motion in the x-axis direction of the NED coordinate system, the velocity of the intermediate path point is The complete boundary value vector is The polynomial trajectory parameters of the NED coordinate system in the x-axis direction are:

[0024] (7.5) For the motion in the y and z directions of the NED coordinate system, repeat (7.4) to obtain the corresponding polynomial trajectory parameters p y and p z .

[0025] The present invention also includes a real-time optimization system for a vertical take-off and landing aircraft landing trajectory, comprising:

[0026] The initial state acquisition module is used to obtain the initial state of the vertical take-off and landing aircraft.

[0027] The aircraft landing target position constraint acquisition module is used to obtain the vertical aircraft landing target position constraints.

[0028] The vertical take-off and landing aircraft landing target speed constraint acquisition module is used to obtain the vertical take-off and landing aircraft landing target speed constraint.

[0029] The vertical take-off and landing aircraft landing process position constraint acquisition module is used to obtain the vertical take-off and landing aircraft landing process position constraints.

[0030] The multi-point boundary condition vector establishment module is used to establish the multi-point boundary condition vectors during the landing process of the vertical take-off and landing aircraft.

[0031] The path point time setting module is used to set the path point time t0, t1, ..., t N ,t f .

[0032] The optimization solution module is used to convert the vertical take-off and landing vehicle landing trajectory optimization problem into a multi-point boundary value problem for each k. The three-dimensional process speed is optimized based on the boundary condition vector and the optimization cost function, and then the polynomial trajectory parameters are optimized.

[0033] The optimal performance landing trajectory module is used to select the optimal performance landing trajectory from a total of n landing trajectories corresponding to k=1,…,n.

[0034] The present invention also includes a computer-readable storage device, including a memory and one or more processors, wherein the memory stores executable code, and when the one or more processors execute the executable code, they are used to implement a computer-readable storage method of the present invention.

[0035] A computer-readable storage medium stores a program, which, when executed by a processor, implements a real-time optimization method for a vertical take-off and landing aircraft landing trajectory according to the present invention.

[0036] The advantages of the present invention are: by converting the landing trajectory optimization problem of a vertical take-off and landing aircraft into a multi-boundary value problem, real-time optimization of the smooth trajectory is achieved, which can be used to improve the smoothness of the flight trajectory of the vertical take-off and landing aircraft during the landing phase, optimize the duration of the landing phase, and save flight energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Flowchart of the method of the present invention.

[0038] Figure 2 1 is a flow chart of step seven of the method of the present invention.

[0039] Figure 3 This is a flowchart of the matrix T block in step seven (7.3) of the method of the present invention.

[0040] Figure 4 is a flow chart of a parameterized trajectory representation of the method of the present invention.

[0041] Figure 5 It is a system structure diagram of the present invention. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] It should be noted that, unless there is any conflict, the features in the following embodiments and implementations may be combined with each other.

[0044] Figure 1 A method for real-time optimization of a landing trajectory of a vertical take-off and landing aircraft provided in one embodiment of the present invention includes the following steps:

[0045] Step 1: Get the initial state of the vertical take-off and landing aircraft. Take the landing point as the origin of the NED coordinate system and get the three-dimensional spatial position r0 = [x0, y0, z0] and velocity vector of the aircraft in the NED coordinate system at the current time t.

[0046] Step 2: Obtain the target position constraint of the aircraft. Select the number of search grids to be n ≥ 5, and select n discrete grid points on the negative half axis of the z axis of the NED coordinate system.

[0047] r f,k =[0,0,kz0 / n], where k=1,…,n.

[0048] Step 3: Obtain the landing target speed constraint of the vertical take-off and landing aircraft. Calculate the maximum vertical tail speed of the aircraft at each discrete grid point as Among them, F T is the maximum thrust of the aircraft along the vertical axis of the body coordinate, m is the mass of the aircraft, and g is the local gravity acceleration. The shortest landing time of the aircraft at each discrete grid point is calculated as

[0049] Step 4: Obtain the position constraints of the vertical take-off and landing aircraft during landing. For each k in step 2, use RRT * Algorithm generates r t to r t,k The three-dimensional path point r between 1,k ,r 2,k ,…,r N,k .

[0050] Step 5: Establish the multi-point boundary condition vectors during the landing process of the vertical take-off and landing aircraft. For each k in step 2, based on Generate three vectors in the NED coordinate system: b x ,b y ,b z .in,

[0051]

[0052]

[0053] Step 6: Set the path point time t0, t1, ..., t N,t f .

[0054] Step 7: For each k, convert the VTOL landing trajectory optimization problem into a multi-point boundary value problem. Optimize the three-dimensional process speed based on the boundary condition vector and the optimization cost function, and then optimize the polynomial trajectory parameters.

[0055] Step 8: Select the best performance landing trajectory from the total n landing trajectories corresponding to k = 1, ..., n.

[0056] Furthermore, the step seven is achieved by the following steps:

[0057] (7.1) Construct the vector τ0=[t 3 ,t 2 ,t,1] T ,τ1=[3t 2 ,2t,1,0] T , and the matrix A i =[τ0,τ1] T , where i=1,…,N. Construct the matrix

[0058]

[0059] Among them, the subscripts 0 and f are used to distinguish time, that is,

[0060] (7.2) Constructing a symmetric matrix Where i = 1,…,N. Construct a block matrix

[0061]

[0062] (7.3) Construct the permutation matrix C to convert b x Split into b x,free and b x,fixed ,in Constructing a block matrix

[0063]

[0064] Among them, R1 is an N-dimensional square matrix, and R4 is an N+4-dimensional square matrix.

[0065] (7.4) For the motion in the x-axis direction of the NED coordinate system, the velocity of the intermediate path point is The complete boundary value vector is The polynomial trajectory parameters of the NED coordinate system in the x-axis direction are:

[0066] (7.5) For the motion in the y and z directions of the NED coordinate system, repeat (7.4) to obtain the corresponding polynomial trajectory parameters py and p z .

[0067] The present invention also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A real-time optimization method for the landing trajectory of a vertical take-off and landing aircraft is provided.

[0068] The present invention also provides Figure 5 The one shown corresponds to Figure 1 A schematic structural diagram of a real-time optimization system for the landing trajectory of a vertical take-off and landing aircraft.

[0069] The present invention also includes a real-time optimization system for a vertical take-off and landing aircraft landing trajectory, comprising:

[0070] The initial state acquisition module is used to obtain the initial state of the vertical take-off and landing aircraft.

[0071] The aircraft landing target position constraint acquisition module is used to obtain the vertical aircraft landing target position constraints.

[0072] The vertical take-off and landing aircraft landing target speed constraint acquisition module is used to obtain the vertical take-off and landing aircraft landing target speed constraint.

[0073] The vertical take-off and landing aircraft landing process position constraint acquisition module is used to obtain the vertical take-off and landing aircraft landing process position constraints.

[0074] The multi-point boundary condition vector establishment module is used to establish the multi-point boundary condition vectors during the landing process of the vertical take-off and landing aircraft.

[0075] The path point time setting module is used to set the path point time t0, t1, ..., t N ,t f .

[0076] The optimization solution module is used to convert the vertical take-off and landing vehicle landing trajectory optimization problem into a multi-point boundary value problem for each k. The three-dimensional process speed is optimized based on the boundary condition vector and the optimization cost function, and then the polynomial trajectory parameters are optimized.

[0077] The optimal performance landing trajectory module is used to select the optimal performance landing trajectory from a total of n landing trajectories corresponding to k=1,…,n.

[0078] like Figure 5As mentioned above, at the hardware level, the real-time optimization system for landing trajectory of vertical take-off and landing aircraft includes a processor, an internal bus, a network interface, a memory and a non-volatile memory, and may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 Of course, in addition to software implementation, the present invention does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0079] Improvements to a technology can be clearly distinguished as either hardware improvements (for example, improvements to circuit structures such as diodes, transistors, and switches) or software improvements (improvements to process flows). However, with technological advancements, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always program the improved process flow into the hardware circuit to obtain the corresponding hardware circuit structure. Therefore, it cannot be said that a process flow improvement cannot be implemented using a hardware module. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0080] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0081] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0082] For the convenience of description, the above device is described as being divided into various units according to their functions. Of course, when implementing the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0083] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0084] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0085] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0087] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0088] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0089] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0090] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0091] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] The present invention may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0093] The various embodiments of the present invention are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so its description is relatively simple. For relevant portions, refer to the description of the method embodiment.

[0094] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A real-time optimization method for a vertical take-off and landing aircraft landing trajectory, characterized in that: The following steps are involved: Step 1: Obtain the initial state of the vertical take-off and landing aircraft; Step 2: Obtain the vertical aircraft landing target position constraints; select the number of search grids as , and select the corresponding negative half axis of the z axis of the NED coordinate system Discrete grid points ; Step 3: Obtain the landing target speed constraint of the vertical take-off and landing aircraft; Step 4: Obtain the position constraints of the vertical take-off and landing aircraft during landing; Step 5: Establish multi-point boundary condition vectors during the landing process of the vertical take-off and landing aircraft; specifically, for each of the steps in step 2 ,based on Generate three vectors in the NED coordinate system: ;in, , , ; Step 6: Set the waypoint time ; Step 7: For each k, convert the VTOL landing trajectory optimization problem into a multi-point boundary value problem and solve it; optimize the three-dimensional process speed based on the boundary condition vector and the optimization cost function, and then optimize the polynomial trajectory parameters; specifically, including: (7.1) Constructing vectors and the matrix ,in, ; Construct the matrix Among them, the subscripts 0 and f are used to distinguish time, that is, , ; (7.2) Constructing a symmetric matrix ,in, ; Construct block matrix (7.3) Constructing a permutation matrix Will Split into and ,in , ; Construct block matrix in, is an N-dimensional square matrix, It is an N+4 dimensional square matrix; (7.4) For the motion in the x-axis direction of the NED coordinate system, the velocity of the intermediate path point is ; The complete boundary value vector is ; The polynomial trajectory parameters of the NED coordinate system in the x-axis direction are ; (7.5) For the motion in the y and z directions of the NED coordinate system, repeat (7.4) to obtain the corresponding polynomial trajectory parameters and ; Step 8: From The optimal performance landing trajectory is selected from the corresponding total of n landing trajectories.

2. The method for real-time optimization of landing trajectory of a vertical take-off and landing aircraft according to claim 1, characterized in that: Step 1 specifically includes: taking the landing point as the origin of the NED coordinate system, obtaining the current time The three-dimensional spatial position of the aircraft in the NED coordinate system , and the velocity vector .

3. The method for real-time optimization of landing trajectory of a vertical take-off and landing aircraft according to claim 1, characterized in that: Step 3 specifically includes: calculating the maximum vertical tail velocity of the aircraft at each discrete grid point as ,in, is the maximum thrust of the aircraft along the vertical axis of the body coordinate, is the mass of the aircraft, is the local gravity acceleration; the shortest landing time of the aircraft at each discrete grid point is calculated as .

4. The method for real-time optimization of landing trajectory of a vertical take-off and landing aircraft according to claim 1, wherein: Step 4 specifically includes: for each , through RRT * Algorithm Generation arrive 3D path points between .

5. A vertical take-off and landing aircraft landing trajectory real-time optimization system, used to implement the vertical take-off and landing aircraft landing trajectory real-time optimization method according to claim 1, characterized in that: include: An initial state acquisition module is used to obtain the initial state of the vertical take-off and landing aircraft; Aircraft landing target position constraint acquisition module, used to obtain vertical aircraft landing target position constraints; A vertical take-off and landing aircraft landing target speed constraint acquisition module is used to obtain the vertical take-off and landing aircraft landing target speed constraint; A module for obtaining position constraints during the landing process of a vertical take-off and landing aircraft, used to obtain position constraints during the landing process of a vertical take-off and landing aircraft; A multi-point boundary condition vector establishment module is used to establish multi-point boundary condition vectors during the landing process of the vertical take-off and landing aircraft; Waypoint time setting module, used to set waypoint time ; An optimization solution module is used to convert the vertical take-off and landing aircraft landing trajectory optimization problem into a multi-point boundary value problem optimization solution for each k; Optimize the three-dimensional process speed according to the boundary condition vector and the optimization cost function, and then optimize the polynomial trajectory parameters; Optimal performance landing trajectory module for The optimal performance landing trajectory is selected from the corresponding total of n landing trajectories.

6. A computer-readable storage device, characterized in that: The method comprises a memory and one or more processors, wherein the memory stores executable code, and when the one or more processors execute the executable code, they are used to implement a real-time optimization method for the landing trajectory of a vertical take-off and landing aircraft according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that A program is stored thereon, and when the program is executed by a processor, a real-time optimization method for the landing trajectory of a vertical take-off and landing aircraft according to any one of claims 1 to 4 is implemented.

Images