An aircraft flight trajectory calculation method, system and electronic device

Abstract

The specification discloses an aircraft flight trajectory calculation method, system and electronic equipment, which can efficiently and accurately calculate and determine a flight trajectory, has high accuracy and low time complexity. The method comprises the following steps: determining a flight take-off point, a flight landing point and a flight duration of a target aircraft, and recursively determining a first trajectory according to position information of the flight take-off point and the flight landing point and the flight duration; determining a plurality of first step points in the first trajectory, recursively determining a plurality of second trajectories according to position information of the plurality of first step points and a time interval between adjacent first step points; determining a plurality of second step points in the plurality of second trajectories respectively, and fitting and determining a flight trajectory of the target aircraft according to position information of the plurality of second step points. The system comprises a first trajectory recursion module, a second trajectory recursion module and a flight trajectory determination module. The processor in the electronic equipment implements the aircraft flight trajectory calculation method when executing a program.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flight parameter measurement, and in particular to a flight trajectory calculation method and system for a spacecraft and an electronic device. BACKGROUND

[0002] In the field of aerospace flight technology, it is often necessary to calculate and determine the flight trajectory of a spacecraft. In some practical application scenarios, the accuracy requirements for the flight trajectory of a spacecraft, the passage of points, and other data are relatively strict, and the flight trajectory calculation algorithm for a spacecraft requires higher accuracy and lower time complexity. In some related technologies, the data obtained at each step is calculated step by step from the starting point. In the case where the landing point is far away and the step time is too small, the calculation complexity is high, and the time loss in the calculation process is also greatly increased. In some related technologies, in order to reduce the time loss, the step time is increased, and the accuracy of the calculated data is difficult to meet the requirements. SUMMARY

[0003] Therefore, the present application provides a flight trajectory calculation method and system for a spacecraft and an electronic device, which can efficiently and accurately calculate and determine the flight trajectory with high accuracy and low time complexity.

[0004] According to a first aspect, the embodiments of the present application provide a flight trajectory calculation method for a spacecraft, which comprises:

[0005] determining the flight starting point, the flight landing point, and the flight time length of a target spacecraft, and recursively determining a first trajectory according to the position information of the flight starting point and the flight landing point and the flight time length;

[0006] determining a plurality of first step points in the first trajectory, and recursively determining a plurality of second trajectories according to the position information of the plurality of first step points and the time interval between adjacent first step points;

[0007] determining a plurality of second step points in each of the plurality of second trajectories, and fitting and determining the flight trajectory of the target spacecraft according to the position information of the plurality of second step points.

[0008] Optionally, recursively determining a first trajectory according to the position information of the flight starting point and the flight landing point and the flight time length comprises:

[0009] setting a predicted initial velocity, and estimating a predicted landing point according to the position information of the flight starting point and the predicted initial velocity;

[0010] comparing the position information of the predicted landing point and the flight landing point to determine a landing point error vector;

[0011] in response to the landing point error vector exceeding an error allowable range, determining an initial velocity increment according to the landing point error vector and the flight time length;

[0012] updating the predicted initial velocity based on the initial velocity increment, and re-estimating a predicted landing point and determining a corresponding landing point error vector according to the updated predicted initial velocity;

[0013] in response to the landing point error vector being within the error allowable range, taking the predicted initial velocity as an initial velocity, and determining the first trajectory in combination with position information of the flight starting point.

[0014] Optionally, estimating a predicted landing point according to the position information of the flight starting point and the predicted initial velocity, comprises:

[0015] determining a first predicted trajectory according to the position information of the flight starting point and the predicted initial velocity;

[0016] determining the predicted landing point according to the first predicted trajectory and the flight time length.

[0017] Optionally, determining an initial velocity increment according to the landing point error vector and the flight time length, comprises: determining the initial velocity increment according to a ratio of the landing point error vector and the flight time length.

[0018] Optionally, determining a plurality of first step points in the first trajectory, comprises:

[0019] setting a first step time, and taking the first step points as the time intervals to sequentially determine a plurality of the first step points according to the first trajectory from the flight starting point.

[0020] Optionally, recursively determining a plurality of second trajectories according to position information of a plurality of the first step points and time intervals, comprises:

[0021] selecting two adjacent first step points from the plurality of first step points as start and end points of a corresponding second trajectory;

[0022] determining the position information corresponding to the start and end points and a time interval between the start and end points, and recursively determining the second trajectory according to the position information corresponding to the start and end points and the time interval.

[0023] Optionally, fitting and determining a flight trajectory of the target aircraft according to position information of a plurality of second step points, comprises:

[0024] setting a to-be-fitted trajectory equation for the flight trajectory, the to-be-fitted trajectory equation comprising a plurality of trajectory coefficients;

[0025] The position information of the plurality of second step points is substituted into the trajectory to be fitted method, and a plurality of trajectory coefficients are determined by using a least square method fitting;

[0026] After the plurality of trajectory coefficients are determined, the flight trajectory is determined according to the trajectory equation to be fitted.

[0027] Optionally, before the first trajectory is determined according to the position information of the take-off and landing points and the flight time, the method further comprises:

[0028] The position information of the take-off and landing points is converted to be represented in an earth-centered inertial coordinate system.

[0029] In a second aspect, the embodiments of the present specification also provide a flight trajectory calculation system of a flight vehicle, and the method comprises:

[0030] A first trajectory recursive module is configured to determine a flight starting point, a flight landing point and a flight time of a target flight vehicle, and to determine a first trajectory according to the position information of the flight starting point and the flight landing point and the flight time;

[0031] A second trajectory recursive module is configured to determine a plurality of first step points in the first trajectory, and to determine a plurality of second trajectories according to the position information of the plurality of first step points and the time interval between adjacent first step points.

[0032] A flight trajectory determination module is configured to determine a plurality of second step points in each of the plurality of second trajectories, and to determine a flight trajectory of the target flight vehicle according to the position information of the plurality of second step points.

[0033] In a third aspect, the embodiments of the present specification also provide an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the flight trajectory calculation method of the flight vehicle according to the first aspect when executing the program.

[0034] As can be seen from the above, the flight trajectory calculation method, system and electronic device provided by the embodiments of the present specification have the following beneficial technical effects:

[0035] A first trajectory with a large step length is determined based on the take-off and landing points, the first trajectory is divided into a plurality of sub-trajectories by selecting a plurality of first step points, a second trajectory with a small step length between adjacent first step points is further determined, a plurality of second step points are determined in each second trajectory, and finally an accurate and complete flight trajectory is fitted based on all the second step points. In this way, the step length between flight points is gradually reduced, which can ensure the accuracy of the finally determined flight trajectory, and the calculation is performed based on a parallel iteration method, which can greatly reduce the calculation time and improve the implementation efficiency of the scheme. Attached Figure Description

[0036] The features and advantages of the invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the invention in any way. In the drawings:

[0037] Figure 1 This specification shows a schematic diagram of a method for calculating the flight trajectory of an aircraft provided by one or more optional embodiments;

[0038] Figure 2 This diagram illustrates a method for recursively determining a first trajectory in one or more optional embodiments of an aircraft flight trajectory calculation method provided in this specification.

[0039] Figure 3 This specification shows a schematic diagram of the structure of an aircraft flight trajectory calculation system provided by one or more optional embodiments;

[0040] Figure 4 This specification shows a schematic diagram of the structure of an electronic device for calculating the flight trajectory of an aircraft, provided by one or more optional embodiments. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the field of aerospace technology, it is often necessary to calculate and determine the flight trajectory of an aircraft based on its takeoff and landing points and flight time. In some practical applications, the accuracy requirements for data such as the aircraft's flight trajectory and transit points are quite stringent, placing higher demands on the aircraft trajectory calculation algorithm in terms of both data accuracy and time complexity. In some related technologies, the data obtained by calculating step by step from the starting point is calculated step by step. When the landing points are far apart and the required step time is too small, the calculation complexity is high, and the serial calculation consumes a lot of time, which also greatly increases the time loss of the calculation process. On the other hand, in order to reduce the time loss, some related technologies increase the step time, but the accuracy of the final calculated data is still difficult to meet the requirements.

[0043] To solve the above problems, the embodiments of the present specification aim to provide an aircraft flight trajectory calculation method, which adopts a parallel iterative calculation method to perform the same iterative recursion operation in parallel and synchronously, thereby reducing the iterative calculation time cost, improving the efficiency of the calculation process, and ensuring high accuracy of the calculation results.

[0044] To achieve the above purpose, in a first aspect, the embodiments of the present specification provide an aircraft flight trajectory calculation method.

[0045] As shown in Figure 1 , the aircraft flight trajectory calculation method provided by one or more optional embodiments of the present specification comprises:

[0046] S1: determining the flight starting point, flight landing point and flight duration of the target aircraft, and recursively determining the first trajectory according to the position information of the flight starting point and the flight landing point and the flight duration;

[0047] The position information of the flight starting point and the flight landing point of the target aircraft and the flight duration can be determined first. The position information of the flight starting point and the flight landing point can be represented by different coordinate system coordinate information. In some optional embodiments, the position information can be represented by spatial coordinate data based on the GPS global positioning coordinate system (such as the WGS84 coordinate system).

[0048] To accurately characterize and describe the flight trajectory of the aircraft, the flight motion process of the aircraft needs to be analyzed in the inertial coordinate system. Therefore, after determining the position information of the flight starting point and the flight landing point of the target aircraft, the position information of the starting and landing points needs to be converted to the geocentric inertial coordinate system for representation. The position information involved in the subsequent calculation process is also represented in the geocentric inertial system.

[0049] After determining the flight starting point, the flight landing point and the flight duration, the first trajectory can be recursively determined according to the position information of the flight starting point and the flight landing point and the flight duration.

[0050] Figure 2 A schematic diagram of the method for recursively determining the first trajectory in the optional embodiments of the present specification is shown in Figure 2 As shown, the first trajectory can be recursively determined according to the position information of the flight starting point and the flight landing point and the flight duration by the following steps:

[0051] S201: setting a predicted initial speed, and estimating a predicted landing point according to the position information of the flight starting point and the predicted initial speed.

[0052] The recursive determination of the first trajectory requires first determining the initial speed of the target aircraft at the flight starting point. To this end, the accurate value of the initial speed V of the target aircraft at the flight starting point can be determined by setting a predicted initial speed V' for estimation and adjustment. The predicted landing point can be estimated according to the position information of the flight starting point and the predicted initial speed. As a specific implementation, the predicted landing point is estimated and determined according to the following manner: a first predicted trajectory is determined according to the position information of the flight starting point and the predicted initial speed; and the predicted landing point is calculated and determined according to the first predicted trajectory and the flight time.

[0053] It should be noted that, before the estimated determination of the predicted landing point, the position coordinate data in the global positioning coordinate system is converted to be represented in the geocentric inertial coordinate system for the position information of the flight starting point; in the process of estimated determination of the predicted landing point, the geocentric inertial coordinate system parameters at different time points in the flight process are iteratively calculated according to the characteristics of inertial motion using the Kepler recursion method; after the estimated determination of the predicted landing point, the predicted landing point position coordinate data in the geocentric inertial coordinate system is converted back to be represented in the global positioning coordinate system.

[0054] S202: Comparing the position information of the predicted landing point with the flight landing point to determine a landing point error vector.

[0055] Δd = E' T -E

[0056] wherein E' T represents the predicted landing point after the flight time T calculated and determined according to the first predicted trajectory, and E represents the flight landing point.

[0057] S203: Determining whether the landing point error vector exceeds an error allowable range.

[0058] S204: In response to the landing point error vector exceeding the error allowable range, calculating and determining an initial speed increment according to the landing point error vector and the flight time.

[0059] The landing point error vector exceeding the error allowable range indicates that there is a large gap between the previously set predicted initial speed and the actual initial flight speed, and the preset initial speed needs to be adjusted.

[0060] The initial speed increment can be calculated and determined according to the landing point error vector and the flight time:

[0061]

[0062] wherein Δv represents the initial speed increment. The initial speed increment Δv is determined according to the ratio of the landing point error vector Δd to the flight time T.

[0063] S205: updating the predicted initial velocity based on the initial velocity increment, re-estimating the predicted landing point and determining the landing error vector according to the updated predicted initial velocity.

[0064] After determining the initial velocity increment, the initial velocity increment is used to adjust and update the predicted initial velocity, and the preset initial velocity is added to the initial velocity increment to obtain a new preset initial velocity.

[0065] The updated predicted initial velocity is:

[0066] V' = V' + Δv

[0067] Then, the first predicted trajectory is updated based on the updated predicted initial velocity, and the predicted landing point is re-estimated.

[0068] S206: in response to the landing error vector being within the error allowable range, determining the first trajectory based on the predicted initial velocity as the initial velocity and the position information of the flight starting point.

[0069] The landing error vector being within the error allowable range indicates that the predicted initial velocity can accurately represent the initial velocity of the aircraft at the flight starting point, and the predicted initial velocity can be used as the initial velocity. After obtaining the accurate initial velocity, the first trajectory can be determined based on the initial velocity and the position information of the flight starting point.

[0070] S2: determining a plurality of first step points in the first trajectory, and recursively determining a plurality of second trajectories based on the position information of the plurality of first step points and the time interval between adjacent first step points.

[0071] After determining the first trajectory, a plurality of first step points are selected and determined in the first trajectory, and the plurality of first step points can divide the first trajectory into a plurality of sub-trajectories. As a specific embodiment, the plurality of first step points can be determined in the following manner: a first step time is set, the first step points are taken as the time interval, and the plurality of first step points are determined in sequence from the flight starting point according to the first trajectory.

[0072] For multiple sub-trajectories, parallel computation can be used to recursively determine multiple segments of the second trajectory. The same method used to determine the first trajectory can be employed when recursively determining the second trajectory. As a specific implementation, the following technical solution can be adopted to recursively determine multiple segments of the second trajectory based on the position information and time interval of multiple first-step length points: Select two adjacent first-step length points from the multiple first-step length points as the start and end points of the corresponding second trajectory; determine the position information of the start and end points and the time interval between the start and end points; and recursively determine the second trajectory based on the position information and time interval of the start and end points.

[0073] In other words, the multiple first step length points can be divided into multiple groups, each group including two adjacent first step length points, which serve as the start and end points of the corresponding sub-trajectory.

[0074] Taking the first step length point of the i-th group as an example, the two adjacent first step length points can be denoted as P. i With P i+1 Point P i With P i+1 These are the beginning and end points of the i-th sub-trajectory segment, respectively, and the time interval between them is the first step's duration Δt1. The target aircraft can be set at point P. i The predicted flight speed, combined with point P i After a time interval Δt1, the estimated position information of the target aircraft is compared with that of point P. i+1 The location information is compared, and the target aircraft's position at point P is adjusted and updated based on the comparison results. i The predicted flight speed can be used to determine the second trajectory corresponding to the i-th sub-trajectory, which can accurately characterize the i-th sub-trajectory.

[0075] S3: Determine multiple second step length points in multiple segments of the second trajectory, and fit the flight trajectory of the target aircraft based on the position information of the multiple second step length points.

[0076] After determining multiple segments of the second trajectory through parallel computation, multiple second step length points can be further determined within each segment of the second trajectory. These multiple second step length points have shorter step lengths than the initial step length points.

[0077] Trajectory fitting can be performed based on a plurality of second step points with small step lengths, so as to determine the flight trajectory with high accuracy. As a specific embodiment, the flight trajectory of the target aircraft is determined according to position information of a plurality of second step points. The following technical solution can be adopted: a to-be-fitted trajectory equation is set for the flight trajectory, the to-be-fitted trajectory equation including a plurality of trajectory coefficients; position information of a plurality of second step points is substituted into the to-be-fitted trajectory equation, and a plurality of trajectory coefficients are determined by least square fitting; after the plurality of trajectory coefficients are determined, the flight trajectory is determined according to the to-be-fitted trajectory equation.

[0078] For the flight trajectory of the target aircraft, the corresponding fitted trajectory equation can be set as:

[0079] y = a2x 2 +a1x+a0

[0080] Wherein, a2, a1, a0 are the trajectory coefficients in the fitted trajectory equation, which are unknown.

[0081] Position information of a plurality of second step points can be substituted into the fitted trajectory equation.

[0082]

[0083] Wherein, i∈[1,n], n represents the total number of second step points. i ,y i Respectively represent the horizontal and total coordinate data of the i-th second step point.

[0084] Equation transformation obtains:

[0085] All the second step points are combined into a matrix form, and the following can be obtained:

[0086]

[0087] Suppose: A, B, β, then

[0088]

[0089] The following can be obtained:

[0090] β = (A T A) -1 A T B

[0091] The trajectory coefficients are determined according to the specific value of β, so that the flight trajectory of the target aircraft can be determined.

[0092] As can be seen from the above, the aircraft flight trajectory calculation method provided by the embodiments of the present specification firstly determines a first trajectory with a large step length based on flight take-off and landing points, divides the first trajectory into multiple sub-trajectories by selecting multiple first step length points, further recursively determines a second trajectory with a small step length between adjacent first step length points, respectively determines multiple second step length points in each second trajectory, and finally fits an accurate and complete flight trajectory based on all second step length points. In this way, the step length between flight points is gradually reduced, which can ensure the accuracy of the finally calculated flight trajectory, and the calculation is performed based on a parallel iteration method, which can greatly reduce the calculation time and improve the implementation efficiency of the scheme.

[0093] It should be noted that the method of one or more embodiments of the present specification can be performed by a single device, such as a computer or a server, etc. The method of the present embodiment can also be applied to a distributed scenario, and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of one or more embodiments of the present specification, and the multiple devices can interact with each other to complete the method.

[0094] It should be noted that the above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve the desired result. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are possible or can be advantageous.

[0095] Based on the same inventive concept, the embodiments of the present specification also provide an aircraft flight trajectory calculation system corresponding to the method of any of the above embodiments.

[0096] Reference Figure 3 The aircraft flight trajectory calculation system comprises:

[0097] A first trajectory recursion module is configured to determine a flight starting point, a flight ending point, and a flight duration of a target aircraft, and recursively determine a first trajectory according to position information of the flight starting point and the flight ending point and the flight duration;

[0098] A second trajectory recursion module is configured to determine multiple first step length points in the first trajectory, and recursively determine multiple second trajectories according to position information of the multiple first step length points and a time interval between adjacent first step length points; and

[0099] The flight trajectory determination module is configured to determine a plurality of second step points in a plurality of segments of the second trajectory respectively, and fit a flight trajectory of the target aircraft according to position information of the plurality of second step points.

[0100] In the flight trajectory calculation system provided by one or more optional embodiments of the present application, the first trajectory recursive module is further configured to set a predicted initial velocity, estimate a predicted landing point according to the position information of the flight starting point and the predicted initial velocity, compare the predicted landing point with the position information of the flight landing point to determine a landing point error vector, in response to the landing point error vector exceeding an error allowable range, determine an initial velocity increment according to the landing point error vector and the flight time, update the predicted initial velocity based on the initial velocity increment, estimate a predicted landing point again according to the updated predicted initial velocity and determine a corresponding landing point error vector, and in response to the landing point error vector being within the error allowable range, determine the first trajectory by taking the predicted initial velocity as an initial velocity and combining the position information of the flight starting point.

[0101] In the flight trajectory calculation system provided by one or more optional embodiments of the present application, the first trajectory recursive module is further configured to determine a first predicted trajectory according to the position information of the flight starting point and the predicted initial velocity, and determine the predicted landing point according to the first predicted trajectory and the flight time.

[0102] In the flight trajectory calculation system provided by one or more optional embodiments of the present application, the first trajectory recursive module is further configured to determine the initial velocity increment according to a ratio of the landing point error vector and the flight time.

[0103] In the flight trajectory calculation system provided by one or more optional embodiments of the present application, the second trajectory recursive module is further configured to set a first step time, take the first step point as the time interval, and determine a plurality of first step points according to the first trajectory from the flight starting point in sequence.

[0104] In the flight trajectory calculation system provided by one or more optional embodiments of the present application, the second trajectory recursive module is further configured to select two adjacent first step points from the plurality of first step points as starting and ending points of a corresponding second trajectory, determine the position information of the starting and ending points and a time interval between the starting and ending points, and recursively determine the second trajectory according to the position information of the starting and ending points and the time interval.

[0105] In the system for calculating a flight trajectory of an aircraft according to one or more optional embodiments of the present specification, the flight trajectory determining module is further configured to set a trajectory equation to be fitted for the flight trajectory, the trajectory equation to be fitted including a plurality of trajectory coefficients; substitute position information of the plurality of second step points into the trajectory equation to be fitted, and determine the plurality of trajectory coefficients by using a least square method; and determine the flight trajectory according to the trajectory equation to be fitted after the plurality of trajectory coefficients are determined.

[0106] In the system for calculating a flight trajectory of an aircraft according to one or more optional embodiments of the present specification, the system further includes a coordinate conversion module configured to convert the position information of the take-off and landing points into a representation in a geocentric inertial coordinate system before the first trajectory is determined according to the position information of the take-off and landing points and the flight duration.

[0107] For the convenience of description, the above apparatus is described in various modules in terms of functions. Of course, the functions of the modules can be implemented in one or more software and / or hardware when implementing one or more embodiments of the present specification.

[0108] The apparatus of the above embodiments is used to implement the corresponding method in the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described herein again.

[0109] Figure 4 A more specific hardware structure of an electronic device according to the present embodiment is shown in the schematic diagram, which can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other in the device through the bus 1050.

[0110] The processor 1010 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute a related program to implement the technical solutions provided by the embodiments of the present specification.

[0111] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0112] The input / output interface 1030 is configured to connect an input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0113] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0114] The bus 1050 includes a channel for transmitting information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0115] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary to implement the embodiments of the present specification, and does not have to contain all the components shown in the figure.

[0116] The electronic device of the above embodiments is used to implement the corresponding method in the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0117] Based on the same inventive concept, the disclosure also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the aircraft flight trajectory calculation method according to any one of the above embodiments.

[0118] The computer readable medium of the embodiments can include permanent and non-permanent, removable and non-removable media, which 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0119] The storage medium of the above embodiments stores computer instructions for causing the computer to perform the aircraft flight trajectory calculation method as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0120] Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by a computer program instructing related hardware. The program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD), etc. The storage medium can also include a combination of the above types of memories.

[0121] The system, device, module or unit described in the above embodiments can be implemented by a computer chip or entity, or by a product with certain functions. A typical implementation device is a computer. Specifically, the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, 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.

[0122] For the convenience of description, the above device is described as various units respectively described in functions. Of course, the functions of each unit can be implemented in the same or more software and / or hardware when implementing the present application.

[0123] Those skilled in the art will appreciate that embodiments of the present specification can be devised without the specific details of the figures described above. Embodiments of the present specification can be implemented with or without employing any or all of the following, depending on the particular application and example. Some embodiments of the present specification can be implemented using a programming language, such as C++. Any programming language known to one skilled in the art can be used to implement embodiments of the present specification.

[0124] It is also important to note that the term "comprising" or "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0125] The present application can be described in the general context of computer- executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. The present application can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including memory storage devices.

[0126] Each of the above-described embodiments can be described in progressive fashion, and the same or similar parts among the embodiments can be referred to each other, and each embodiment focuses on the difference from other embodiments. In particular, for system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0127] Those skilled in the art will appreciate that the discussion of any embodiment is merely exemplary and not intended to limit the scope of the disclosure, including the claims, to these examples. In the idea of the present disclosure, the above embodiments or technical features among different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the specification as described above. For the sake of brevity, they are not provided in detail.

[0128] While the present disclosure has been described in connection with certain embodiments, it will be understood that many modifications, substitutions, and improvements can be made by those of ordinary skill in the art to the embodiments without departing from the spirit and scope of the disclosure. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0129] It is intended, therefore, that the scope of the disclosure be limited by the broadest interpretation of the appended claims to include all such modifications and alterations, and any further modifications in the spirit and scope of the above-described embodiments.

Claims

1. A method of calculating a flight trajectory of an aircraft, characterized in that, The method comprises: determining a flight starting point, a flight ending point and a flight duration of a target aircraft, and recursively determining a first trajectory according to position information of the flight starting point and the flight ending point and the flight duration; determining a plurality of first step points in the first trajectory, and recursively determining a plurality of second trajectories according to position information of the plurality of first step points and time intervals between adjacent first step points; respectively determining a plurality of second step points in the plurality of second trajectories, and fittingly determining a flight trajectory of the target aircraft according to position information of the plurality of second step points. The recursively determining a first trajectory according to position information of a flight starting point and a flight ending point and a flight duration comprises: setting a predicted initial speed, estimating a predicted ending point according to position information of the flight starting point and the predicted initial speed, comparing the predicted ending point with position information of the flight ending point to determine an ending point error vector, in response to the ending point error vector exceeding an error allowable range, calculating and determining an initial speed increment according to the ending point error vector and the flight duration, updating the predicted initial speed based on the initial speed increment, re-estimating a predicted ending point according to the updated predicted initial speed and determining a corresponding ending point error vector, and in response to the ending point error vector being within the error allowable range, taking the predicted initial speed as an initial speed, and determining the first trajectory in combination with the position information of the flight starting point.

2. The method of claim 1, wherein, The estimating a predicted ending point according to position information of a flight starting point and a predicted initial speed comprises: determining a first predicted trajectory according to the position information of the flight starting point and the predicted initial speed; calculating and determining the predicted ending point according to the first predicted trajectory and the flight duration.

3. The method of claim 1, wherein, The calculating and determining an initial speed increment according to an ending point error vector and a flight duration comprises: determining the initial speed increment according to a ratio of the ending point error vector and the flight duration.

4. The method of claim 1, wherein, The determining a plurality of first step points in the first trajectory comprises: setting a first step time, taking the first step points as the time intervals, and sequentially determining a plurality of first step points according to the first trajectory starting from the flight starting point.

5. The method of claim 1, wherein, The recursively determining a plurality of second trajectories according to position information of a plurality of first step points and time intervals between adjacent first step points comprises: selecting two adjacent first step points from the plurality of first step points as starting and ending points of a corresponding second trajectory; determining corresponding position information of the starting and ending points and a time interval between the starting and ending points, and recursively determining the second trajectory according to the corresponding position information of the starting and ending points and the time interval.

6. The method of claim 1, wherein, The fittingly determining a flight trajectory of a target aircraft according to position information of a plurality of second step points comprises: setting a to-be-fitted trajectory equation for the flight trajectory, the to-be-fitted trajectory equation comprising a plurality of trajectory coefficients; substituting the position information of the plurality of second step points into the to-be-fitted trajectory equation, and fittingly determining a plurality of trajectory coefficients by using a least square method; after determining the plurality of trajectory coefficients, determining the flight trajectory according to the to-be-fitted trajectory equation.

7. The method of claim 1, wherein, Before the first trajectory is determined by recursion according to the position information of the flight start point and the flight end point and the flight time, the method further comprises: Converting the position information of the flight start point and the flight end point into a representation in the geocentric inertial coordinate system.

8. An aircraft flight trajectory calculation system, characterized by, The system comprises: a first trajectory recursion module configured to determine a flight start point, a flight end point and a flight time of a target aircraft, and to determine a first trajectory by recursion according to the position information of the flight start point and the flight end point and the flight time; a second trajectory recursion module configured to determine a plurality of first step points in the first trajectory, and to determine a plurality of second trajectories by recursion according to the position information of the plurality of first step points and the time interval between adjacent first step points, comprising: setting a predicted initial velocity, and estimating a predicted end point according to the position information of the flight start point and the predicted initial velocity; comparing the position information of the predicted end point with the position information of the flight end point to determine an end point error vector; in response to the end point error vector exceeding an error allowable range, calculating and determining an initial velocity increment according to the end point error vector and the flight time; updating the predicted initial velocity based on the initial velocity increment, re-estimating a predicted end point and determining a corresponding end point error vector according to the updated predicted initial velocity; in response to the end point error vector being within the error allowable range, determining the first trajectory by combining the position information of the flight start point with the predicted initial velocity as an initial velocity; and a flight trajectory determination module configured to determine a plurality of second step points in the plurality of second trajectories respectively, and to determine a flight trajectory of the target aircraft according to the position information of the plurality of second step points.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the method of any one of claims 1 to 7 when executing the program.

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