Flight procedure design method and device, electronic equipment and storage medium

Abstract

This invention provides a flight procedure design method, apparatus, electronic device, and storage medium. The method includes: Step 1: Obtaining the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node; Step 2: Determining the target path node corresponding to the current node from among the multiple extended nodes based on the weight information corresponding to the current node and each extended node; Step 3: Setting the target path node as the new current node corresponding to the aircraft, and repeating Step 1 and Step 2 until the final obtained target path node is the target node; Step 4: Designing the flight procedure based on the current node and the target path node. This method utilizes the weight information corresponding to the current node and each extended node of the aircraft to automatically design a flight procedure to reach the target node. This flight procedure can ensure compliance with the relevant regulations of the International Civil Aviation Organization (ICAO) and the domestic air traffic control authority, effectively improving the rationality of the flight procedure while reducing manual intervention.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a flight program design method, apparatus, electronic device, and storage medium. Background Technology

[0002] In departure, approach, and other flight activities within the terminal area, aircraft must adhere to certain constraints, including flight routes, altitudes, and maneuvering areas, to ensure flight safety and operational efficiency. These constraints constitute flight procedures. Flight procedures are one of the fundamental conditions for airport construction and operation, serving as the basic basis for organizing and implementing flights, providing air traffic services, and constructing navigation facilities. Furthermore, the design and management of flight procedures are the foundation of airspace planning and management, and are crucial for ensuring aircraft flight safety and improving operational efficiency.

[0003] Existing flight procedures are often designed manually or with the aid of flight procedure design software. The former requires highly experienced designers who must select appropriate flight parameters to ensure the aircraft can safely and smoothly descend and ascend. However, manually designing flight procedures is labor-intensive, computationally complex, and involves lengthy training periods, resulting in high human and time costs. The latter utilizes the design-aid functions of flight procedure design software, allowing designers to visually visualize the designed flight procedures. However, generating flight procedures using this software requires designers to continuously adjust flight parameters based on obstacle assessment results and repeat this adjustment process to ultimately obtain a flight procedure that meets safety regulations and design requirements. This process is time-consuming and demands a high level of professional knowledge and software proficiency from the user.

[0004] In summary, all existing flight procedure design methods have certain limitations, resulting in excessively high time and manpower costs for flight procedure design. Summary of the Invention

[0005] This invention provides a flight procedure design method, apparatus, electronic device, and storage medium to address the limitations of existing flight procedure design methods, which result in excessively high working time and manpower costs. By utilizing the weight information corresponding to the current node and each extended node of the aircraft, the target path node is determined, thereby automatically designing the flight procedure. This flight procedure ensures compliance with the design specifications of the International Civil Aviation Organization (ICAO) and the China Air Traffic Management Bureau, guaranteeing the usability of the automatically designed flight procedure. Furthermore, the entire flight procedure design process effectively improves the rationality of the flight procedure while reducing human intervention.

[0006] This invention provides a flight procedure design method, comprising:

[0007] Step 1: Obtain the current node corresponding to the aircraft and the multiple extended nodes corresponding to that current node;

[0008] Step 2: Based on the weight information of the current node and each of the extended nodes, determine the target path node corresponding to the current node among the multiple extended nodes;

[0009] Step 3: Determine the target path node as the new current node corresponding to the aircraft, and repeat Step 1 and Step 2 until the final target path node is the target node;

[0010] Step 4: Design the flight procedure based on the current node and the target path node.

[0011] According to a flight procedure design method provided by the present invention, determining the target path node corresponding to the current node among a plurality of extended nodes based on the weight information corresponding to the current node and each of the extended nodes includes: obtaining the flight cost between the current node and each of the extended nodes and the estimated cost between the current node and the target node; determining the weight information corresponding to the current node and each of the extended nodes based on the flight cost and the estimated cost; and determining the extended node with the smallest weight information among the plurality of extended nodes as the target path node corresponding to the current node.

[0012] According to a flight procedure design method provided by the present invention, determining the expansion node with the smallest weight information among a plurality of expansion nodes as the target path node corresponding to the current node includes: determining a first expansion node with the smallest weight information among the plurality of expansion nodes; if the first expansion node does not meet the obstacle clearance requirement, determining a second expansion node with the smallest weight information other than the first expansion node among the plurality of expansion nodes; if the second expansion node meets the obstacle clearance requirement, determining the second expansion node as the target path node corresponding to the current node.

[0013] According to a flight procedure design method provided by the present invention, determining the weight information corresponding to the current node and each of the extended nodes based on each flight cost and the estimated cost includes: determining the weight information corresponding to the current node and each of the extended nodes according to a weight formula; wherein, the weight formula is W=C+E; W represents the weight information; C=ω +s, C represents the flight cost, and ω represents the weighting coefficient for the turning angle. This indicates the turning angle, s= R+d, where s represents the flight distance between the current node and the extended node, R represents the turning radius, and d represents the straight-line level flight distance in the flight distance s; E=l+δ, where E represents the estimated cost. , l represents the distance between the current node and the target node, and (x, y, z) represents the three-dimensional coordinates of the spacecraft at the current node. e y e , z e ) represents the three-dimensional coordinates of the aircraft at the target node, δ δ represents the angle that the aircraft needs to turn to reach the target node at the current heading angle, and θ represents the current heading angle.

[0014] According to a flight procedure design method provided by the present invention, the acquisition of the current node corresponding to the aircraft and the multiple extended nodes corresponding to the current node includes: determining the current node corresponding to the aircraft based on the current three-dimensional spatial coordinates, current heading angle and current pitch angle of the aircraft; and expanding the current node based on multiple preset angles and multiple preset target positions to obtain the multiple extended nodes corresponding to the current node.

[0015] According to a flight procedure design method provided by the present invention, the flight procedure is designed based on the current node and the target path node, including: connecting the current node and the target path node in a determined order to obtain the flight procedure.

[0016] The present invention also provides a flight procedure design apparatus, comprising:

[0017] The acquisition module is used for step one: acquiring the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node;

[0018] The processing module is used for: Step 2: Determining the target path node corresponding to the current node among the multiple extended nodes based on the weight information corresponding to the current node and each of the extended nodes; Step 3: Determining the target path node as the new current node corresponding to the aircraft, and repeating Step 1 and Step 2 until the final target path node is the target node; Step 4: Determining the flight procedure based on the current node and the target path node.

[0019] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the flight procedure design method as described above.

[0020] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the flight procedure design method as described above.

[0021] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the flight procedure design method as described above.

[0022] The flight procedure design method, apparatus, electronic device, and storage medium provided by this invention comprises the following steps: Step 1: Obtaining the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node; Step 2: Determining the target path node corresponding to the current node from among the multiple extended nodes based on the weight information corresponding to the current node and each of the extended nodes; Step 3: Setting the target path node as the new current node corresponding to the aircraft, and repeating Steps 1 and 2 until the final target path node is determined; Step 4: Determining the flight procedure based on the current node and the target path node. This method addresses the limitations of existing flight procedure design methods, which result in excessively high time and manpower costs in flight procedure design. By utilizing the weight information corresponding to the current node and each extended node of the aircraft, the target path node is automatically selected, thereby obtaining a flight procedure that conforms to the specifications. This flight procedure meets the design specifications of the International Civil Aviation Organization (ICAO) and the China Air Traffic Management Bureau (CATA), ensuring the usability of the automatically designed flight procedure. Furthermore, the entire flight procedure design process effectively improves the rationality of the flight procedure while reducing manual intervention. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating the flight procedure design method provided by the present invention;

[0025] Figure 2a This is a schematic diagram of the track termination code IF provided by the present invention;

[0026] Figure 2b This is a schematic diagram of the track termination code TF provided by the present invention;

[0027] Figure 2c This is a schematic diagram of the track termination code CF provided by the present invention;

[0028] Figure 2d This is a schematic diagram of the track termination code DF provided by the present invention;

[0029] Figure 2e This is a schematic diagram of the track termination code FA provided by the present invention;

[0030] Figure 2fThis is a schematic diagram of the track termination code FM provided by the present invention;

[0031] Figure 2g This is a schematic diagram of the track termination code CA provided by the present invention;

[0032] Figure 2h This is a schematic diagram of the track termination code RF provided by the present invention;

[0033] Figure 2i This is a schematic diagram of the track termination code VA provided by the present invention;

[0034] Figure 2j This is a schematic diagram of the track termination code VI provided by the present invention;

[0035] Figure 2k This is a schematic diagram of the track termination code VM provided by the present invention;

[0036] Figure 2l This is a schematic diagram of the track termination code HM provided by the present invention;

[0037] Figure 3a This is a schematic diagram of the bypass waypoints provided by the present invention;

[0038] Figure 3b This is a schematic diagram of the waypoints overflying provided by the present invention;

[0039] Figure 4 This is a schematic diagram of the parameter space provided by the present invention;

[0040] Figure 5 This is a schematic diagram of expanding the current node provided by the present invention;

[0041] Figure 6 This is a schematic diagram of a scenario for the flight procedure design method provided by the present invention;

[0042] Figure 7 This is a schematic diagram of the flight procedure design device provided by the present invention;

[0043] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] It should be noted that the execution subject involved in the embodiments of the present invention can be a flight procedure design device or an electronic device, and no specific limitation is made here.

[0046] Optionally, the flight program design device may be located inside the aircraft or in other equipment; no specific limitation is made here.

[0047] An aircraft is a machine or flying object manufactured by humans that can take off from the ground, fly in space, and be controlled by humans to fly within the atmosphere.

[0048] Optionally, the aircraft may include: airplanes and drones, etc.

[0049] Optionally, electronic devices may include computers, mobile terminals, and wearable devices.

[0050] The embodiments of the present invention will be further described below using an electronic device as an example.

[0051] like Figure 1 The diagram shown is a flowchart of the flight procedure design method provided by the present invention, which may include:

[0052] 101. Obtain the current node corresponding to the aircraft and the multiple extended nodes corresponding to the current node.

[0053] The current node refers to the current state information corresponding to the current location of the aircraft;

[0054] An extended node refers to the status information corresponding to the next possible location that the spacecraft may reach.

[0055] After the electronic device acquires the current node corresponding to the aircraft, since the aircraft may reach multiple next locations, the electronic device also acquires multiple extended nodes corresponding to the current node.

[0056] The trajectory between one node and another may include: track termination code, turning method, segment length, gradient, speed, and heading.

[0057] A track termination code, also known as a segment code, is used to describe the type of segment. Optionally, the track termination code may include: Initial Fix (IF), Track to a Fix (TF), Course to a Fix (CF), Direct to a Fix (DF), Fix to an Altitude (FA), Fix to a Manual Termination (FM), Course to an Altitude (CA), Constant Radius Arc (RF), Heading to an Altitude (VA), Heading to an Intercept (VI), Heading to a Manual Termination (VM), and Racetrack (Manual Termination) (HM), etc.

[0058] For example, such as Figure 2a The diagram shown is a schematic of the track termination code IF provided by the present invention. Figure 2a In this context, IF is described as: IF = Starting Position or IF Segment, which defines a database position as a point in space.

[0059] like Figure 2b The diagram shown is a schematic of a track termination code of TF provided by the present invention. Figure 2b In this context, TF is described as: TF = track to a location point or TF segment, which defines a great circle track on the ground between two known location points in the database.

[0060] like Figure 2c The diagram shown is a schematic of a track termination code of CF provided by the present invention. Figure 2c In this context, CF is described as: CF = route to a location point or CF segment, which defines a specified route to a specific database location point.

[0061] like Figure 2d The diagram shown is a schematic of a track termination code of DF provided by the present invention. Figure 2d In Chinese, DF is described as: DF = direct flight to a fixed point or DF segment, which defines an undefined track from an undefined location to a specific database fixed point.

[0062] like Figure 2eThe diagram shown is a schematic of a track termination code of FA provided by the present invention. Figure 2e In this context, FA is described as: FA = location point to altitude or FA segment, which is a defined flight path on the ground at a specified altitude from a database location point to an uncertain location.

[0063] like Figure 2f The diagram shown is a schematic of a track termination code of FM provided by the present invention. Figure 2f In this context, FM is described as follows: FM = a defined ground track from a location point to the artificial termination point or FM segment, which is a data location point to the artificial termination point of the segment.

[0064] like Figure 2g The diagram shown is a schematic of a track termination code of CA provided by the present invention. Figure 2g In this context, CA is described as: CA = route to a certain altitude or CA segment, which defines a prescribed route from an indefinite position to a specified altitude.

[0065] like Figure 2h The diagram shown is a schematic of a track termination code of RF provided by the present invention. Figure 2h In this context, RF is described as: RF = Fixed Radius Arc or RF Segment, which defines a fixed radius turn between two database positioning points, the line of the tangent arc, and these positioning points. Since the start, end, and center points of the arc are all database positioning points, the implementation of this RF segment may not require using these points as positioning points.

[0066] like Figure 2i The diagram shown is a schematic of a track termination code of VA provided by the present invention. Figure 2i In this context, VA is described as: VA = heading to a certain altitude or VA segment, which is defined as a specified heading from an unspecified location to a specified altitude.

[0067] like Figure 2j The diagram shown is a schematic of the track termination code VI provided by this invention. Figure 2j In this context, VI is described as: VI = heading to a point of entry or VI segment, defining a specified heading to enter the next segment at an indefinite location.

[0068] like Figure 2k The diagram shown is a schematic of the track termination code VM provided by the present invention. Figure 2k In this context, VM is described as: VM = a course or VM segment to a manually terminated course, defining a specified course to a manually terminated course.

[0069] like Figure 2l The diagram shown is a schematic of a track termination code of HM provided by the present invention. Figure 2l In this context, HM is described as follows: HM = In the mandatory waiting phase within the corresponding codes of approach, takeoff, and go-around procedures, the waiting is terminated manually instead of the procedural turn. The HM segment type defines the waiting route that replaces the procedural turn in the reverse path, or defines the mandatory waiting route involved in the terminal procedure at the database location point. The departure time or distance of this HM segment is entered as a data field.

[0070] Optional turning methods may include: side turns and flyover turns, etc.

[0071] The mapping of protected areas for side turns differs from that for overflight turns, and the obstacle assessment methods for side turns and overflight turns also differ.

[0072] For example, such as Figure 3a The diagram shown is a schematic representation of the bypass waypoints provided by this invention. Figure 3a In Chinese, a side turn refers to a turn before reaching a certain point, allowing the aircraft to cut into the waypoint of the next segment of the route or procedure.

[0073] For example, such as Figure 3b The diagram shown is a schematic representation of the waypoints bypassed by the present invention. Figure 3b In this context, "flyover turn" refers to a waypoint where, after joining the next segment of the route or procedure, the aircraft flies over a certain node and then begins to turn.

[0074] In addition, the segment length refers to the length of the aircraft's straight flight after turning. For example, the shortest segment length is set to 0 and the longest is set to 30km.

[0075] Gradient = Change in altitude of aircraft ÷ Length of segment of aircraft × 100%, where the ascent gradient of aircraft is positive and the descent gradient is negative. Considering the performance limitations of aircraft and passenger comfort, the maximum gradient limit can be set to 6%.

[0076] Speed ​​refers to the speed limit for a flight segment, which the aircraft must not exceed. The maximum speed limit is 600 km / h.

[0077] Heading refers to the direction of flight of an aircraft. The angle formed by turning clockwise based on the direction of flight and due north is the heading. For example, the value of the heading ranges from 0 to 360°.

[0078] In summary, the trajectory from one node to another can be described as: using track termination codes, lateral / flyover turning methods, and left / right turns. °, and then fly dkm with a gradient of α%.

[0079] It should be noted that the track termination code, turning method, segment length, gradient, speed, and heading can be referred to as the flight parameters of the flight procedure.

[0080] For example, as shown in Table 1, this is a table of flight parameters and their corresponding value ranges provided by the present invention.

[0081] Table 1

[0082]

[0083] Electronic devices can map the above flight parameters to different dimensions to obtain the parameter space corresponding to the flight procedure. Each node in the parameter space is a combination of parameters.

[0084] For example, such as Figure 4 The diagram shown is a schematic representation of the parameter space provided by this invention. Figure 4 In the diagram, point A represents a flight procedure with a heading of 80°, a gradient of +3%, and a length of 10 NM. Due to plotting limitations, Figure 4 It can only represent a three-dimensional parameter space; however, the actual parameter space of a flight program has far more than three dimensions.

[0085] In some embodiments, the electronic device may obtain the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node, which may include: the electronic device determining the current node corresponding to the aircraft based on the current three-dimensional spatial coordinates, current heading angle and current pitch angle of the aircraft; the electronic device extending the current node based on multiple preset angles and multiple preset target positions to obtain multiple extended nodes corresponding to the current node.

[0086] Optionally, the preset angle and preset target position can be set before the electronic device leaves the factory, or they can be customized by the user according to the actual situation. No specific limitation is made here.

[0087] Based on the kinematic constraints of the aircraft, the electronic device can first determine the current three-dimensional spatial coordinates (x, y, z), current heading angle θ, and current pitch angle γ of the aircraft. Then, based on the current three-dimensional spatial coordinates (x, y, z), the current heading angle θ, and the current pitch angle γ, the electronic device determines the current node of the aircraft, which can be represented by (x, y, z, θ, γ). Since the positions that can be reached by trajectories with different angles and straight-line flight distances are different, a node can expand into several nodes around it. Therefore, the electronic device can expand the current node according to multiple preset angles and multiple preset target positions to obtain multiple extended nodes.

[0088] For example, such as Figure 5 The diagram shown is a schematic representation of expanding the current node according to the present invention. Figure 5 In this process, the aircraft uses TF track termination codes and overflight turning methods to expand nodes in a two-dimensional direction. Here, S0 represents the current node, and S... 010 S 011 S 020 S 021 S 030 and S 031 This represents the extended node corresponding to the current node S0, that is, in Figure 5 In this context, the current node S0 corresponds to 6 extended nodes.

[0089] 102. Based on the weight information of the current node and each extended node, determine the target path node corresponding to the current node among multiple extended nodes.

[0090] To speed up the search and find the optimal flight path, the electronic device can first determine the weight information W corresponding to the current node and each extended node. In other words, the electronic device can acquire as much weight information as there are extended nodes. Then, based on the weight information and obstacle evaluation results, the electronic device determines the target path node corresponding to the current node from multiple extended nodes. This target path node is the optimal node corresponding to the current node.

[0091] Among them, the obstacle assessment result is obtained using the obstacle assessment method.

[0092] In some embodiments, the electronic device determines the target path node corresponding to the current node among multiple extended nodes based on the weight information corresponding to the current node and each extended node. This may include: the electronic device acquiring the flight cost between the current node and each extended node and the estimated cost between the current node and the target node; the electronic device determining the weight information corresponding to the current node and each extended node based on the flight cost and the estimated cost; and the electronic device determining the extended node with the smallest weight information among the multiple extended nodes as the target path node corresponding to the current node.

[0093] Flight costs can include the turning angle required for the current node to reach the target path node. And the distance s flown; the estimated cost may include the angle θ required to turn when reaching the target node at the current heading angle and the distance l between the current node and the target node.

[0094] In determining the target path node corresponding to the current node, the electronic device first obtains the flight cost between the current node and each extended node; that is, it obtains as many flight costs as there are extended nodes. It also obtains the estimated cost between the current node and the target node. Then, based on the flight costs and estimated costs, the electronic device determines the weight information corresponding to the current node and each extended node. The number of weight information is the same as the number of flight costs. Finally, the electronic device compares all the weight information and determines the extended node with the smallest weight information among the multiple extended nodes as the target path node corresponding to the current node.

[0095] It should be noted that the timing of the acquisition cost of the electronic device and the estimated acquisition cost of the electronic device is not limited.

[0096] In some embodiments, the electronic device determines the expansion node with the smallest weight information among multiple expansion nodes as the target path node corresponding to the current node. This may include: the electronic device determining a first expansion node with the smallest weight information among multiple expansion nodes; if the first expansion node does not meet the obstacle clearance requirement, the electronic device determining a second expansion node with the smallest weight information other than the first expansion node among multiple expansion nodes; if the second expansion node meets the obstacle clearance requirement, the electronic device determining the second expansion node as the target path node corresponding to the current node.

[0097] In determining the target path node, the electronic device first compares all weight information to determine the minimum weight information, and then identifies the first extended node corresponding to this minimum weight information among multiple extended nodes. Next, the electronic device compares this first extended node with the obstacle clearance requirement. If the first extended node meets the obstacle clearance requirement, it is directly identified as the target path node; otherwise, it needs to identify the second extended node with the minimum weight information among the multiple extended nodes. Then, the electronic device compares this second extended node with the obstacle clearance requirement again. If the second extended node meets the obstacle clearance requirement, it is directly identified as the target path node; otherwise, it uses this second extended node as the new first extended node, and repeats the step of identifying the second extended node with the minimum weight information among the multiple extended nodes until the final obtained second extended node meets the obstacle clearance requirement.

[0098] In some embodiments, the electronic device determines the weight information corresponding to the current node and each extended node based on each flight cost and the estimated cost. This may include: the electronic device determining the weight information corresponding to the current node and each extended node according to a weight formula.

[0099] The weighting formula is W=C+E;

[0100] W represents weight information; C=ω +s, C represents flight cost, and ω represents the weighting coefficient for the turning angle. Indicates the turning angle, s = R+d, where s represents the flight distance between the current node and the extended node, R represents the turning radius, and d represents the straight-line level flight distance in the flight distance s; E=l+δ, where E represents the estimated cost. Let l represent the distance between the current node and the target node, and (x, y, z) represent the three-dimensional coordinates of the spacecraft at the current node. e y e , z e ) represents the three-dimensional coordinates of the aircraft at the target node, δ δ represents the angle that the aircraft needs to turn to reach the target node at the current heading angle, and θ represents the current heading angle.

[0101] Optionally, the flight distance s may also include the length of the turning arc.

[0102] Based on the above weighting formula, electronic devices can accurately determine the weight information corresponding to the current node and each extended node.

[0103] 103. Determine the target path node as the new current node corresponding to the aircraft, and repeat steps 101 and 102 until the final target path node is the target node.

[0104] The target node refers to the state information corresponding to the final location that the spacecraft is to reach.

[0105] After acquiring the first target path node, the electronic device can first determine whether the target path node is a target node. If not, it needs to determine the target path as the new current node corresponding to the aircraft and repeat steps 101 and 102 until the final target path node is a target node. At this time, the electronic device can obtain multiple target path nodes, and one of these multiple target path nodes is the target node.

[0106] Optionally, after step 103, the method may further include: the electronic device determining that the current node corresponds to the first index, determining that the first target path node corresponds to the second index, determining that the second target path node corresponds to the third index, until the Nth target path node corresponds to the (N+1)th index, where the Nth target path node is the target node and N is an integer greater than or equal to 1.

[0107] Among them, the determination time of the first index is earlier than the determination time of the second index, the determination time of the second index is earlier than the determination time of the third index, ..., the determination time of the Nth index is earlier than the determination time of the N+1th index.

[0108] 104. Design the flight procedure based on the current node and the target path node.

[0109] The flight procedure is used by electronic devices to control the aircraft to fly from the current node to the target node.

[0110] After acquiring the current node and at least one target path node, the electronic device can design the corresponding flight program for the aircraft based on the current node and all target path nodes.

[0111] In some embodiments, the electronic device designs a flight procedure based on the current node and the target path node, which may include: the electronic device connecting the current node and the target path node in a determined order to obtain the flight procedure.

[0112] Since the order of the current node and the target path node can be determined based on a predetermined time, the electronic device connects the current node and the target path node in a predetermined order to obtain the flight procedure.

[0113] Optionally, the electronic device connects the current node and the target path nodes in a predetermined order to obtain a flight procedure. This may include: the electronic device obtaining a predetermined order based on the first index corresponding to the current node and the index corresponding to each target path node; and the electronic device connecting the current node and the target path nodes in the predetermined order to obtain a flight procedure.

[0114] In other words, the order can be determined by sorting the nodes based on their corresponding indices.

[0115] For example, such as Figure 6 The diagram shown is a scenario illustration of the flight procedure design method provided by this invention. Figure 6 In the process of searching for nodes, S0 is the starting point. The electronic device first adds S0 to the open list and selects the node with the smallest weight information from the open list, which is S0, and this S0 is also the current node. Then, S0 can be expanded to generate new nodes, that is, the first expanded node corresponding to S0 is S. 010 S 011 S 020 S 021 S 030 S 031...; Next, the electronic device adds these first extended nodes to the open list, while moving S0 from the open list to the closed list, and checks the first extended nodes in the open list, where S... 011 Does not meet obstacle avoidance requirements, S 021 It is the extension node that meets the obstacle avoidance requirements and has the minimum weight information; next, the electronic device selects from S 021 Expand by adding new nodes to obtain S. 021 The corresponding second extended node, then S 021 Add nodes to the closed list and all second-expansion nodes to the open list, repeating this process iteratively until the search tree reaches the endpoint Q, which is the target node. Since each target path node contains information about its corresponding parent node (i.e., the current node), the electronic device can deduce the optimal flight procedure path from the endpoint. By connecting all nodes in reverse order, a compliant flight procedure is obtained.

[0116] In this embodiment of the invention, the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node are obtained; based on the weight information corresponding to the current node and each extended node, the target path node corresponding to the current node is determined from among the multiple extended nodes; the target path node is determined as the new current node corresponding to the aircraft, and the process of obtaining the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node is repeated; based on the weight information corresponding to the current node and each extended node, the target path node corresponding to the current node is determined from among the multiple extended nodes until the final obtained target path node is the target node; based on the current node and the target path node, a flight procedure is designed. This method addresses the limitations of existing flight procedure design methods, which result in excessively high working time and manpower costs in flight procedure design. By utilizing the weight information corresponding to the current node of the aircraft and each extended node, the target path node is automatically selected, thereby obtaining a flight procedure that conforms to the specifications. This flight procedure can meet the design specifications of the International Civil Aviation Organization and the domestic air traffic control bureau, ensuring the usability of the automatically designed flight procedure. In addition, the entire flight procedure design process effectively improves the rationality of the flight procedure while reducing human intervention.

[0117] Furthermore, during the flight procedure design process, repeated parameter adjustments can be effectively avoided, saving designers' working time. It also takes into account the complexity of pilot operation, passenger comfort, and fuel economy, making the designed flight procedure safer, more convenient, and more efficient.

[0118] The flight procedure design apparatus provided by the present invention is described below. The flight procedure design apparatus described below and the flight procedure design method described above can be referred to in correspondence.

[0119] like Figure 7 The diagram shown is a structural schematic of the flight procedure design device provided by the present invention, which may include:

[0120] The acquisition module 701 is used in step 101 to acquire the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node.

[0121] Processing module 702 is used for step 102: determining the target path node corresponding to the current node among the multiple extended nodes based on the weight information corresponding to the current node and each of the extended nodes; step 103: determining the target path node as the new current node corresponding to the aircraft, and repeating steps 101 and 102 until the final target path node is the target node; step 104: designing the flight procedure based on the current node and the target path node.

[0122] Optionally, the acquisition module 701 is specifically used to acquire the flight cost between the current node and each of the extended nodes and the estimated cost between the current node and the target node;

[0123] The processing module 702 is specifically used to determine the weight information corresponding to the current node and each of the extended nodes based on the flight cost and the estimated cost; and to determine the extended node with the smallest weight information among the multiple extended nodes as the target path node corresponding to the current node.

[0124] Optionally, the processing module 702 is specifically used to determine the first extended node with the smallest weight information among the plurality of extended nodes; if the first extended node does not meet the obstacle clearance requirement, determine the second extended node with the smallest weight information other than the first extended node among the plurality of extended nodes; if the second extended node meets the obstacle clearance requirement, determine the second extended node as the target path node corresponding to the current node.

[0125] Optionally, the processing module 702 is specifically used to determine the weight information corresponding to the current node and each of the extended nodes according to the weight formula; wherein, the weight formula is W=C+E; W represents the weight information; C=ω +s, C represents the flight cost, and ω represents the weighting coefficient for the turning angle. This indicates the turning angle, s= R+d, where s represents the flight distance between the current node and the extended node, R represents the turning radius, and d represents the straight-line level flight distance in the flight distance s; E=l+δ, where E represents the estimated cost. l represents the distance between the current node and the target node, (x, y, z) represents the three-dimensional coordinates of the spacecraft at the current node, (xe, ye, ze) represents the three-dimensional coordinates of the spacecraft at the target node, and δ δ represents the angle that the aircraft needs to turn to reach the target node at the current heading angle, and θ represents the current heading angle.

[0126] Optionally, the processing module 702 is specifically used to determine the current node corresponding to the aircraft based on the current three-dimensional spatial coordinates, current heading angle and current pitch angle of the aircraft; and to expand the current node based on multiple preset angles and multiple preset target positions to obtain multiple extended nodes corresponding to the current node.

[0127] Optionally, the processing module 702 is specifically used to connect the current node and the target path node in a determined order to obtain the flight procedure.

[0128] like Figure 8 The diagram shows the structure of the electronic device provided by this invention. The electronic device may include a processor 810, a communication interface 820, a memory 830, and a communication bus 840. The processor 810, communication interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a flight ascending sequence design method. This method includes: Step 1: Obtaining the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node; Step 2: Determining the target path node corresponding to the current node among the multiple extended nodes based on the weight information corresponding to the current node and each of the extended nodes; Step 3: Determining the target path node as the new current node corresponding to the aircraft, and repeating Step 1 and Step 2 until the finally obtained target path node is the target node; Step 4: Designing a flight program based on the current node and the target path node.

[0129] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0130] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the flight program design method provided by the above methods. The method includes: Step 1: obtaining the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node; Step 2: determining the target path node corresponding to the current node among the multiple extended nodes according to the weight information corresponding to the current node and each of the extended nodes; Step 3: determining the target path node as the new current node corresponding to the aircraft, and repeating Step 1 and Step 2 until the finally obtained target path node is the target node; Step 4: designing the flight program according to the current node and the target path node.

[0131] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the flight program design method provided by the above methods. The method includes: Step 1: obtaining the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node; Step 2: determining the target path node corresponding to the current node among the multiple extended nodes according to the weight information corresponding to the current node and each of the extended nodes; Step 3: determining the target path node as the new current node corresponding to the aircraft, and repeating Step 1 and Step 2 until the finally obtained target path node is the target node; Step 4: designing a flight program based on the current node and the target path node.

[0132] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0133] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flight procedure design method, characterized in that, include: Step 1: Obtain the current node corresponding to the aircraft and the multiple extended nodes corresponding to the current node; Step 2: Based on the weight information corresponding to the current node and each of the extended nodes, determine the target path node corresponding to the current node among the multiple extended nodes; Step 3: Determine the target path node as the new current node corresponding to the aircraft, and repeat Step 1 and Step 2 until the final target path node is the target node; wherein, the target path node is determined based on the extended node with the smallest weight information among multiple extended nodes; Step 4: Design the flight procedure based on the current node and the target path node; The node with the smallest weight information among the plurality of extended nodes is determined as the target path node corresponding to the current node, including: Among the plurality of extended nodes, the first extended node with the smallest weight information is determined; If the first extended node fails to meet the obstacle clearance requirement, among the plurality of extended nodes, the second extended node with the smallest weight information other than the first extended node shall be determined. If the second extended node meets the obstacle clearance requirement, the second extended node will be determined as the target path node corresponding to the current node.

2. The method according to claim 1, characterized in that, The step of determining the target path node corresponding to the current node among the plurality of extended nodes based on the weight information corresponding to the current node and each of the extended nodes includes: Obtain the flight cost between the current node and each of the extended nodes, and the estimated cost between the current node and the target node; Based on the flight costs and the estimated costs, determine the weight information corresponding to the current node and each of the extended nodes; The expansion node with the smallest weight information among the multiple expansion nodes is determined as the target path node corresponding to the current node.

3. The method according to claim 2, characterized in that, The step of determining the weight information corresponding to the current node and each of the extended nodes based on the flight costs and the estimated costs includes: Based on the weighting formula, determine the weight information corresponding to the current node and each of the extended nodes; The weighting formula is W=C+E; W represents the weight information; C=ω +s, C represents the flight cost, and ω represents the weighting coefficient for the turning angle. The turning angle is represented by s= R+d,s represents the flight distance between the current node and the extended node, where R represents the turning radius and d represents the straight-line level flight distance in the flight distance s; E=l+δ, where E represents the estimated cost. , l represents the distance between the current node and the target node, and (x, y, z) represents the three-dimensional coordinates of the spacecraft at the current node. e y e , z e ) represents the three-dimensional coordinates of the aircraft at the target node, δ δ represents the angle that the aircraft needs to turn to reach the target node at the current heading angle, and θ represents the current heading angle.

4. The method according to any one of claims 1-3, characterized in that, The process of obtaining the current node corresponding to the aircraft and the multiple extended nodes corresponding to the current node includes: The current node corresponding to the aircraft is determined based on the current three-dimensional spatial coordinates, current heading angle, and current pitch angle of the aircraft. Based on multiple preset angles and multiple preset target positions, the current node is expanded to obtain multiple expanded nodes corresponding to the current node.

5. The method according to any one of claims 1-3, characterized in that, The step of designing a flight procedure based on the current node and the target path node includes: The current node and the target path node are connected in sequence to obtain the flight procedure.

6. A flight program design device, characterized in that, include: The acquisition module is used for step one: acquiring the current node corresponding to the aircraft and multiple extended nodes corresponding to the current node; The processing module is used for step two: determining the target path node corresponding to the current node among the multiple extended nodes based on the weight information corresponding to the current node and each of the extended nodes; wherein the target path node is determined based on the extended node with the smallest weight information among the multiple extended nodes; step three: determining the target path node as the new current node corresponding to the aircraft, and repeating steps one and two until the final target path node is the target node; step four: designing the flight program based on the current node and the target path node; The node with the smallest weight information among the plurality of extended nodes is determined as the target path node corresponding to the current node, including: Among the plurality of extended nodes, the first extended node with the smallest weight information is determined; If the first extended node fails to meet the obstacle clearance requirement, among the plurality of extended nodes, the second extended node with the smallest weight information other than the first extended node shall be determined. If the second extended node meets the obstacle clearance requirement, the second extended node will be determined as the target path node corresponding to the current node.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the flight procedure design method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the flight procedure design method as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the flight procedure design method as described in any one of claims 1 to 5.

Images