An aircraft in-flight refueling hose control simulation method based on optical positioning

Abstract

The application provides a kind of aircraft aerial refueling hose control simulation method based on optical positioning, which provides the dynamic solution simulation method of three-dimensional space position relation among tanker, receiver and hose, and provides two ways of separate solution and superposition solution for hose; jitter problem caused by space positioning is simulated using random function, solution time problem of optical positioning is simulated using mixed mode of pure delay and inertial delay, double-cycle asynchronous solution problem of motion simulation and control simulation is realized, which makes it more realistic flight result; and based on the solution result of pure delay and inertial delay, two kinds of error approximate differential solution methods are provided, finally combined into hose control acceleration signal, three-dimensional simulation is realized, and it is basically consistent with the real flight result, thereby reducing the number of high-altitude flight experiments, greatly reducing the economic cost.

Description

Technical Field

[0001] This invention relates to the field of optical communication, and more specifically, to a simulation method for controlling an aerial refueling hose for an aircraft based on optical positioning. Background Technology

[0002] In-flight refueling positioning and hose control technology for tanker aircraft has been studied abroad for some time. In China, early methods relied on pilots synchronizing the tanker and receiver aircraft, then manually controlling the connection between the tanker's fuel hose and the receiver's fuel tank. This process primarily depended on the pilot's skill to achieve high-precision synchronization of altitude, speed, and position between the two aircraft. In recent years, China has begun to rely on measurement equipment and error feedback to achieve consistent synchronization between the tanker's hose and the receiver's fuel tank. Among these methods, optical positioning based on optical targets and industrial cameras is a low-cost and mature approach. However, key technical issues include delays and jitter in optical positioning calculations, both of which significantly impact refueling alignment. Furthermore, high-altitude flight testing is expensive; therefore, conducting sufficient simulations before flight testing is crucial. Based on these background factors, this invention proposes a dynamic simulation method for the entire process of optical positioning refueling hose control. It offers solutions for jitter and delay simulations, as well as dynamic spatial position calculations, demonstrating high theoretical and practical engineering value.

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

[0004] The purpose of this invention is to provide a simulation method for controlling an aerial refueling hose of an aircraft based on optical positioning, thereby overcoming the problems of needing to scan warehouse item information closely and having excessively high requirements for light due to related technical limitations.

[0005] According to one aspect of the present invention, a method for simulating the control of an aerial refueling hose for an aircraft based on optical positioning is provided, comprising the following six steps: Step S10: Set the three-dimensional coordinates of the initial position and initial velocity of the tanker aircraft, as well as the flight acceleration functions in the longitudinal, vertical, and lateral directions. Use random numbers to generate the longitudinal, vertical, and lateral jitter accelerations of the tanker aircraft to simulate the jitter effects generated during the tanker aircraft's flight and optical positioning measurement process. Superimpose the flight acceleration functions in the three directions with the jitter accelerations, and superimpose the hose control accelerations in the three directions to obtain the combined acceleration of the tanker aircraft in the longitudinal, vertical, and lateral directions. Then, integrate the accelerations to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the tanker aircraft. Finally, integrate the accelerations to obtain the longitudinal position, vertical position, and lateral position of the tanker aircraft.

[0006] Step S20: Set the initial three-dimensional coordinates of the center position and initial velocity of the receiver aircraft's fuel tank, as well as the flight acceleration functions in the longitudinal, vertical, and lateral directions. Use random numbers to generate the longitudinal, vertical, and lateral jitter accelerations of the receiver aircraft to simulate the jitter effects generated during the receiver aircraft's flight and optical positioning measurement process. Based on the superposition of the flight acceleration functions in the three directions and the jitter accelerations, obtain the combined acceleration of the receiver aircraft in the longitudinal, vertical, and lateral directions. Then, integrate the accelerations to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the receiver aircraft. Finally, integrate the accelerations again to obtain the longitudinal position, vertical position, and lateral position of the receiver aircraft's fuel tank center.

[0007] Step S30: Set the initial position of the hose to 0 and the initial velocity to zero. Integrate the hose control acceleration in three directions to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the hose center. Then, integrate again to obtain the longitudinal position, vertical position, and lateral position of the hose center. Finally, superimpose the longitudinal position, vertical position, and lateral position of the fuel dispenser based on the hose separation calculation mark to obtain the total longitudinal position, total vertical position, and total lateral position of the hose center.

[0008] Step S40: Based on the total longitudinal position, total vertical position, and total lateral position of the hose center, as well as the longitudinal, vertical, and lateral positions of the receiver tank center, optical positioning measurement errors are first superimposed to obtain optical positioning longitudinal error signals, optical positioning vertical error signals, and optical positioning lateral error signals; then, a solution time delay for optical positioning calculation is established by a mixture of first-order delay and pure delay to obtain optical positioning longitudinal error delay signals, optical positioning vertical error delay signals, and optical positioning lateral error delay signals.

[0009] Step S50: Based on the optical positioning longitudinal error signals in the three directions and the number of time cycles of the optical positioning delay, perform integral iteration to obtain the optical positioning error integral signals in the three directions; then, based on the optical positioning longitudinal error delay signals in the three directions and the optical positioning longitudinal error signals in the three directions, solve for the pure delay differential approximation signals and the inertial delay differential approximation signals of the optical positioning errors in the three directions.

[0010] Step S60: Based on the optical positioning longitudinal error delay signal, optical positioning vertical error delay signal, optical positioning lateral error delay signal, optical positioning error integral signals in three directions, optical positioning error pure delay differential approximation signals in three directions, and optical positioning error inertial delay differential approximation signals in three directions, the three-direction hose control acceleration signals are superimposed to obtain hose control acceleration signals in three directions. These signals are then sent to the hose control system to realize hose control and position iterative calculation, thereby completing the optical positioning calculation simulation of the entire refueling control.

[0011] In one exemplary embodiment of the present invention, the longitudinal, vertical, and lateral accelerations of the tanker are obtained by superimposing the flight acceleration functions in three directions with the jitter acceleration and the hose control acceleration in three directions. These are then integrated to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the tanker. Further integration yields the longitudinal position, vertical position, and lateral position of the tanker, including: ; ; ; ; ; ; ; ; ; ; in The initial three-dimensional coordinates of the refueling machine are: The initial velocity of the refueling aircraft consists of three-dimensional components. The longitudinal, vertical, and lateral acceleration functions for the refueling aircraft are set according to the flight conditions. It is a random number between 0 and 1. The longitudinal vibration acceleration of the fuel dispenser; Let be the longitudinal vibration amplitude of the fuel dispenser, which is a constant. The vertical vibration acceleration of the refueling machine; Let be the vertical vibration amplitude of the fuel dispenser, which is a constant. The lateral vibration acceleration of the fuel dispenser; Let be the amplitude of the lateral vibration of the fuel dispenser, which is a constant. For longitudinal control of the hose acceleration; Vertical acceleration is controlled for the hose; Lateral acceleration control for the hose; For the longitudinal combined acceleration of the refueling aircraft, The vertical acceleration of the refueling aircraft, This refers to the lateral acceleration of the refueling aircraft. For the hose separation calculation mark, if If , it means the hoses are simulated separately; if This indicates a simulation of the hose and fuel dispenser being superimposed; For the longitudinal speed of the refueling aircraft, For the vertical speed of the refueling aircraft, The lateral speed of the refueling aircraft; The integral solution is as follows: The solutions for other integrals are the same; among which For the integration period, This refers to the longitudinal position of the fuel dispenser; This refers to the vertical position of the refueling machine; This is the side view of the refueling machine.

[0012] In one exemplary embodiment of the present invention, the combined longitudinal, vertical, and lateral accelerations of the receiver aircraft are obtained by superimposing the flight acceleration functions in three directions with the jitter acceleration. These accelerations are then integrated to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the receiver aircraft. Further integration yields the longitudinal, vertical, and lateral positions of the receiver aircraft's fuel tank center, including: ; ; ; ; ; ; ; ; ; ; in The initial three-dimensional coordinates of the center of the receiver's oil tank are: The three-dimensional components of the receiver's initial velocity. This is a function of the receiver aircraft's flight acceleration in the longitudinal, vertical, and lateral directions. This refers to the longitudinal vibration acceleration of the receiver aircraft; The longitudinal vibration amplitude of the receiver is denoted as , which is a constant. The vertical vibration acceleration of the receiver aircraft; The vertical vibration amplitude of the receiver is a constant. This refers to the lateral vibration acceleration of the receiver aircraft; The amplitude of the lateral vibration of the receiver is a constant. For the longitudinal combined acceleration of the receiver engine, For the vertical resultant acceleration of the receiver aircraft, This is the lateral combined acceleration of the receiving engine. For the longitudinal speed of the receiver, For the vertical speed of the receiver aircraft, The lateral velocity of the receiver aircraft; This refers to the longitudinal position of the center of the receiver's oil tank; This refers to the vertical position of the center of the receiver's oil tank; This refers to the lateral position of the center of the oil tank of the receiving engine.

[0013] In one exemplary embodiment of the present invention, the longitudinal velocity, vertical velocity, and lateral velocity of the hose center are obtained by integrating the hose control acceleration in three directions; then, the longitudinal position, vertical position, and lateral position of the hose center are obtained by further integration; then, the longitudinal position, vertical position, and lateral position of the fuel dispenser are superimposed on the hose separation calculation mark to obtain the total longitudinal position of the hose center. The total vertical position and total lateral position of the hose center include: ; ; ; ; ; ; ; ; ; in For longitudinal control of hose acceleration, For vertical control of the hose acceleration, To control the lateral acceleration of the hose, For the longitudinal velocity of the hose center, Vertical velocity at the center of the hose The lateral velocity is the center velocity of the hose. The longitudinal position of the hose center The vertical position of the hose center This refers to the lateral position of the hose center. The total longitudinal position of the hose center The vertical position of the hose center This is the total lateral position of the hose center.

[0014] In one exemplary embodiment of the present invention, based on the total longitudinal position, total vertical position, and total lateral position of the hose center, as well as the longitudinal, vertical, and lateral positions of the receiver tank center, optical positioning measurement errors are first superimposed to obtain optical positioning longitudinal error signals, optical positioning vertical error signals, and optical positioning lateral error signals, including: ; ; ; ; ; ; in for The amplitude of optical positioning measurement error in the direction, for The amplitude of optical positioning measurement error in the direction, for The amplitude of optical positioning measurement error in the direction; for Optical positioning measurement error; for Optical positioning measurement error in the direction, for The optical positioning measurement error. This is the longitudinal error signal for optical positioning; For optical positioning vertical error signal, This is the optical positioning lateral error signal.

[0015] In one exemplary embodiment of the present invention, the solution time delay of the optical positioning solution is established by a hybrid simulation of first-order delay and pure delay, and the optical positioning longitudinal error delay signal, optical positioning vertical error delay signal, and optical positioning lateral error delay signal are obtained, including: ; ; ; in This represents the number of pure delay time cycles calculated for optical positioning. The calculation time delay for optical positioning. It is the differential operator for the transfer function of a first-order delay element. This is the longitudinal error delay signal for optical positioning; For optical positioning vertical error delay signal, This is the optical positioning lateral error delay signal.

[0016] In one exemplary embodiment of the present invention, based on the optical positioning longitudinal error signals in the three directions and the number of time cycles of the optical positioning delay, integral iteration is performed to obtain the integrated signals of the optical positioning errors in the three directions; then, based on the optical positioning longitudinal error delay signals in the three directions and the optical positioning longitudinal error signals in the three directions, the approximate analog signals of the pure delay differential of the optical positioning errors in the three directions and the approximate analog signals of the inertial delay differential of the optical positioning errors in the three directions are solved, including: ; ; ; ; ; ; ; ; ; in and The time interval between the two data points is , The time period for optical positioning delay. This is the integral signal of the longitudinal error in optical positioning. This is the integral signal of the vertical error in optical positioning; This is the integral signal of the lateral error in optical positioning. The longitudinal optical positioning error is approximated by the pure delay differential signal. The vertical optical positioning error is approximated by the pure delay differential signal. The pure delay differential approximation of the lateral optical positioning error is used to simulate the signal. The longitudinal optical positioning error is approximated by the pure delay differential signal. The vertical optical positioning error is approximated by the pure delay differential signal. The signal is an approximate analog signal based on the pure delay differential of the lateral optical positioning error.

[0017] In one exemplary embodiment of the present invention, the three-directional hose control acceleration signals are obtained by superimposing the optical positioning longitudinal error delay signal, the optical positioning vertical error delay signal, the optical positioning lateral error delay signal, the three-directional optical positioning error integral signals, the three-directional optical positioning error pure delay differential approximation signals, and the three-directional optical positioning error inertial delay differential approximation signals. ; ; ; in , , , , , , , , , , , These are constant control parameters, which can be used to simulate the refueling effect with different combinations of parameter coefficients. The final result... For longitudinal control of the hose acceleration; Vertical acceleration is controlled for the hose; Lateral acceleration is controlled for the hose.

[0018] Beneficial effects This invention provides a simulation method for controlling an aerial refueling hose for an aircraft based on optical positioning, and its main innovations are as follows:

[0019] First, a method for simulating hose control during aerial refueling of aircraft based on optical positioning is proposed, which solves the problem of difficulty in simulating the three coupling hinges of the tanker, receiver aircraft, and hose. Two hose position simulation methods are proposed, namely separate simulation and superimposed simulation, which are very convenient to implement.

[0020] Secondly, a dual-cycle optical positioning process refueling control calculation method is proposed, in which the flight position change and the control cycle caused by the delay in optical calculation are calculated asynchronously in different ways. Furthermore, based on this, a method for simulating the delay problem of optical positioning calculation by superimposing pure delay and inertial delay is proposed, which solves the distortion problem of delay calculation simulation.

[0021] Thirdly, two different error differential approximation simulation methods were proposed: one based on pure delay solution and the other based on inertial delay solution. The simulation results of both methods closely resemble those of real flight, especially in cases of optical jitter and flutter. This reduces the number of high-altitude flight tests, saves costs, and improves economic efficiency.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0024] Figure 1 This is a flowchart of a simulation method for controlling an aerial refueling hose for an aircraft based on optical positioning, provided by the present invention. Figure 2 This is a graph showing the longitudinal position of the center point of the oil receiver tank and the center point of the hose changing over time in the method provided by the embodiments of the present invention. Figure 3 This is a graph showing the vertical position of the center point of the oil tank of the receiving machine and the center point of the hose changing over time in the method provided in the embodiment of the present invention; Figure 4 This is a graph showing the lateral position of the center point of the oil tank and the center point of the hose of the oil receiver changing over time in the method provided in the embodiment of the present invention; Figure 5 It is the optical positioning longitudinal error signal of the method provided in the embodiments of the present invention; Figure 6 It is the optical positioning vertical error signal of the method provided in the embodiments of the present invention; Figure 7 It is the optical positioning lateral error signal of the method provided in the embodiments of the present invention. Detailed Implementation

[0025] This invention provides a simulation method for aerial refueling hose control based on optical positioning. It offers a dynamic simulation method for the three-dimensional spatial positional relationship between the tanker, receiver, and hose, and provides both separate and superimposed calculation methods for the hose. A random function is used to simulate the jitter problem caused by spatial positioning, and a hybrid approach of pure delay and inertial delay is used to simulate the calculation time problem of optical positioning. This achieves a dual-cycle asynchronous calculation of motion and control simulations, making it more comparable to real flight results. Furthermore, based on the calculation results of pure delay and inertial delay, two error approximation differential calculation methods are provided, which are ultimately combined into a hose control acceleration signal to achieve three-dimensional simulation that is essentially consistent with real flight results. This reduces the number of high-altitude flight experiments and significantly lowers economic costs.

[0026] Below, we will combine the appendix Figure 1 This paper further explains and illustrates the optical positioning-based aerial refueling hose control simulation method for aircraft according to the present invention. (Reference) Figure 1As shown, this simulation method for controlling an aerial refueling hose based on optical positioning includes the following steps: Step S10: Set the three-dimensional coordinates of the initial position and initial velocity of the tanker aircraft, as well as the flight acceleration functions in the longitudinal, vertical, and lateral directions. Use random numbers to generate the longitudinal, vertical, and lateral jitter accelerations of the tanker aircraft to simulate the jitter effects generated during the tanker aircraft's flight and optical positioning measurement process. Superimpose the flight acceleration functions in the three directions with the jitter accelerations, and superimpose the hose control accelerations in the three directions to obtain the combined acceleration of the tanker aircraft in the longitudinal, vertical, and lateral directions. Then, integrate the accelerations to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the tanker aircraft. Finally, integrate the accelerations to obtain the longitudinal position, vertical position, and lateral position of the tanker aircraft.

[0027] Specifically, it can be broken down into the following five steps. Step 1: Set the initial three-dimensional coordinates of the fuel dispenser. The initial velocity is .

[0028] The second step is to set the longitudinal, vertical, and lateral flight acceleration functions of the refueling aircraft as follows: .

[0029] In this case, the refueling aircraft is set to fly at a constant speed. . , .

[0030] The third step involves simulating the longitudinal, vertical, and lateral vibration accelerations of the fuel dispenser using random functions, as follows: ; in It is a random number between 0 and 1. The longitudinal vibration acceleration of the fuel dispenser; Let be the longitudinal vibration amplitude of the fuel dispenser, which is a constant. The vertical vibration acceleration of the refueling machine; Let be the vertical vibration amplitude of the fuel dispenser, which is a constant. The lateral vibration acceleration of the fuel dispenser; Let be the amplitude of the lateral vibration of the fuel dispenser, which is a constant.

[0031] The fourth step involves superimposing the flight acceleration functions in the three directions with the jitter acceleration, and then superimposing the hose control acceleration to obtain the combined longitudinal, vertical, and lateral accelerations of the refueling aircraft as follows: ; ; ; in For longitudinal control of the hose acceleration; Vertical acceleration is controlled for the hose; Lateral acceleration control for the hose; For the longitudinal combined acceleration of the refueling aircraft, The vertical acceleration of the refueling aircraft, This refers to the lateral acceleration of the refueling aircraft. For the hose separation calculation mark, if If , it means the hoses are simulated separately; if This indicates a simulation of the hose and fuel dispenser being superimposed; Fifth, integrate the resultant accelerations of the refueling aircraft in the three directions to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the refueling aircraft as follows: ; ; ; in For the longitudinal speed of the refueling aircraft, For the vertical speed of the refueling aircraft, The lateral velocity of the refueling aircraft; where The integral solution is as follows: Other integral solutions are similar and will not be repeated here; among them The integration period is set to [value] in this case. .

[0032] Step 6: Integrate the resultant velocity of the refueling aircraft in the three directions to obtain the longitudinal, vertical, and lateral positions of the refueling aircraft as follows: ; ; ; in This refers to the longitudinal position of the fuel dispenser; This refers to the vertical position of the refueling machine; This is the side view of the refueling machine.

[0033] Step S20: Set the initial three-dimensional coordinates of the center position and initial velocity of the receiver aircraft's fuel tank, as well as the flight acceleration functions in the longitudinal, vertical, and lateral directions. Use random numbers to generate the longitudinal, vertical, and lateral jitter accelerations of the receiver aircraft to simulate the jitter effects generated during the receiver aircraft's flight and optical positioning measurement process. Based on the superposition of the flight acceleration functions in the three directions and the jitter accelerations, obtain the combined acceleration of the receiver aircraft in the longitudinal, vertical, and lateral directions. Then, integrate the accelerations to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the receiver aircraft. Finally, integrate the accelerations again to obtain the longitudinal position, vertical position, and lateral position of the receiver aircraft's fuel tank center.

[0034] Specifically, it can be broken down into the following five steps. Step 1: Set the initial three-dimensional coordinates of the center position of the receiver's oil tank as follows: The initial velocity is .

[0035] The second step is to set the flight acceleration functions for the receiver aircraft in the longitudinal, vertical, and lateral directions as follows: .

[0036] In this case, the receiver aircraft is set to fly at a constant speed. . , .

[0037] The third step involves simulating the longitudinal, vertical, and lateral jitter accelerations of the receiver aircraft using random functions, as follows: ; in This refers to the longitudinal vibration acceleration of the receiver aircraft; The longitudinal vibration amplitude of the receiver is denoted as , which is a constant. The vertical vibration acceleration of the receiver aircraft; The vertical vibration amplitude of the receiver is a constant. This refers to the lateral vibration acceleration of the receiver aircraft; The amplitude of the lateral vibration of the receiver is a constant.

[0038] Fourth, by superimposing the flight acceleration functions in the three directions with the jitter acceleration, the resultant accelerations of the receiver aircraft in the longitudinal, vertical, and lateral directions are obtained as follows: ; ; ; in For the longitudinal combined acceleration of the receiver engine, For the vertical resultant acceleration of the receiver aircraft, This is the lateral combined acceleration of the receiving engine.

[0039] Fifth, integrate the resultant accelerations in the three directions of the receiver aircraft to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the receiver aircraft as follows: ; ; ; in For the longitudinal speed of the receiver, For the vertical speed of the receiver aircraft, The lateral velocity of the receiver aircraft; where The integral solution is as follows: Other integral solutions are similar and will not be repeated here; among them The integration period is set to [value] in this case. .

[0040] Step 6: Integrate the resultant velocity in the three directions of the receiver aircraft to obtain the longitudinal, vertical, and lateral positions of the receiver aircraft's fuel tank center as follows: ; ; ; in This refers to the longitudinal position of the center of the receiver's oil tank; This refers to the vertical position of the center of the receiver's oil tank; This refers to the lateral position of the center of the oil tank of the receiving engine.

[0041] Step S30: Set the initial position of the hose to 0 and the initial velocity to zero. Integrate the hose control acceleration in three directions to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the hose center. Then, integrate again to obtain the longitudinal position, vertical position, and lateral position of the hose center. Finally, superimpose the longitudinal position, vertical position, and lateral position of the fuel dispenser based on the hose separation calculation mark to obtain the total longitudinal position, total vertical position, and total lateral position of the hose center.

[0042] Specifically, this can be broken down into the following three steps. The first step is to integrate the control acceleration of the hose in three directions to obtain the longitudinal velocity, vertical velocity, and lateral velocity at the center of the hose, as follows: ; ; ; in For longitudinal control of hose acceleration, For vertical control of the hose acceleration, To control the lateral acceleration of the hose, For the longitudinal velocity of the hose center, Vertical velocity at the center of the hose The lateral velocity is the center velocity of the hose.

[0043] The second step involves integrating the longitudinal, vertical, and lateral velocities at the center of the hose to obtain the longitudinal, vertical, and lateral positions of the hose center as follows: ; ; ; in The longitudinal position of the hose center The vertical position of the hose center This refers to the lateral position of the hose center.

[0044] The third step is to calculate the total longitudinal position, total vertical position, and total lateral position of the hose center by superimposing the longitudinal, vertical, and lateral positions of the fuel dispenser based on the hose separation calculation marks.

[0045] ; ; ; in The total longitudinal position of the hose center The vertical position of the hose center This is the total lateral position of the hose center.

[0046] Step S40: Based on the total longitudinal position, total vertical position, and total lateral position of the hose center, as well as the longitudinal, vertical, and lateral positions of the receiver tank center, optical positioning measurement errors are first superimposed to obtain optical positioning longitudinal error signals, optical positioning vertical error signals, and optical positioning lateral error signals; then, a solution time delay for optical positioning calculation is established by a mixture of first-order delay and pure delay to obtain optical positioning longitudinal error delay signals, optical positioning vertical error delay signals, and optical positioning lateral error delay signals.

[0047] Specifically, this can be broken down into the following three steps. The first step is to set the optical measurement error signal as a random function, with the measurement errors in its three directions set as follows: ; ; ; in for The amplitude of optical positioning measurement error in the direction, for The amplitude of optical positioning measurement error in the direction, for The amplitude of optical positioning measurement error in the direction; for Optical positioning measurement error; for Optical positioning measurement error in the direction, for The optical positioning measurement error.

[0048] The second step involves superimposing the optical positioning measurement error signals based on the total longitudinal position, total vertical position, and total lateral position of the hose center, as well as the longitudinal, vertical, and lateral positions of the receiver oil tank center. The resulting optical positioning error signals in three directions are as follows: ; ; ; in This is the longitudinal error signal for optical positioning; For optical positioning vertical error signal, This is the lateral error signal for optical positioning; The third step is to establish a hybrid first-order delay and pure delay circuit to simulate the solution time delay of optical positioning, and obtain the optical positioning longitudinal error delay signal, optical positioning vertical error delay signal, and optical positioning lateral error delay signal as follows: ; ; ; in The pure delay time period for optical positioning is 20 in this case, representing 20 milliseconds. The calculation time delay for optical positioning is set to 0.03 in this case. It is the differential operator for the transfer function of a first-order delay element. This is the longitudinal error delay signal for optical positioning; For optical positioning vertical error delay signal, This is the optical positioning lateral error delay signal; Step S50: Based on the optical positioning longitudinal error signals in the three directions and the number of time cycles of the optical positioning delay, perform integral iteration to obtain the optical positioning error integral signals in the three directions; then, based on the optical positioning longitudinal error delay signals in the three directions and the optical positioning longitudinal error signals in the three directions, solve for the pure delay differential approximation signals and the inertial delay differential approximation signals of the optical positioning errors in the three directions.

[0049] Specifically, this can be broken down into the following three steps. The first step involves performing integration iterations based on the longitudinal error delay signals of the optical positioning in the three directions and the number of time cycles of the optical positioning delay, resulting in the following integrated optical positioning error signals in the three directions: ; ; ; in and The time interval between the two data points is The same applies to the following. The time period for optical positioning delay is selected as [value] in this case. . This is the integral signal of the longitudinal error in optical positioning. This is the integral signal of the vertical error in optical positioning; This is the integral signal of the lateral error in optical positioning.

[0050] The second step involves solving for the pure delay differential approximation signals of the optical positioning errors in the three directions based on the optical positioning longitudinal error delay signals in the three directions, as follows: ; ; ; in The longitudinal optical positioning error is approximated by the pure delay differential signal. The vertical optical positioning error is approximated by the pure delay differential signal. The signal is an approximate analog signal based on the pure delay differential of the lateral optical positioning error.

[0051] The third step involves solving for the approximate analog signals of the optical positioning error inertial delay differential in the three directions based on the optical positioning longitudinal error delay signals in the three directions, as follows: ; ; ; in The longitudinal optical positioning error is approximated by the pure delay differential signal. The vertical optical positioning error is approximated by the pure delay differential signal. The signal is an approximate analog signal based on the pure delay differential of the lateral optical positioning error.

[0052] Step S60: Based on the optical positioning longitudinal error delay signal, optical positioning vertical error delay signal, optical positioning lateral error delay signal, optical positioning error integral signals in three directions, optical positioning error pure delay differential approximation signals in three directions, and optical positioning error inertial delay differential approximation signals in three directions, the three-direction hose control acceleration signals are superimposed to obtain hose control acceleration signals in three directions. These signals are then sent to the hose control system to realize hose control and position iterative calculation, thereby completing the optical positioning calculation simulation of the entire refueling control.

[0053] Specifically, the solution process is as follows: ; ; ; in , , , , , , , , , , , This is a constant control parameter, which can be used to simulate the refueling effect under different combinations of parameter coefficients. In this invention example, it is selected... , , , , , , , , , , , .

[0054] The final result For longitudinal control of the hose acceleration; Vertical acceleration is controlled for the hose; The lateral control acceleration of the hose is used; this is then fed to steps 1 and 3, thus completing the entire closed-loop calculation and simulation. In this case, the three-dimensional position coordinates of the center point of the receiver tank and the center point of the hose are obtained as follows: Figure 2 , Figure 3 , Figure 4 As shown. Among them. Figure 2 This is a graph showing the longitudinal position of the center point of the receiver's oil tank and the center point of the hose changing over time. Figure 3 This is a graph showing the vertical position of the center point of the oil tank and the center point of the hose changing over time. Figure 4This is a graph showing the lateral position of the center point of the receiver's oil tank and the center point of the hose over time. The final optical positioning longitudinal error signal is shown below. Figure 5 As shown, the optical positioning vertical error signal is as follows: Figure 6 As shown, the optical positioning lateral error signal is as follows: Figure 7 As shown, the final error converges. However, if the differential coefficients are not chosen properly or are not solved correctly, divergence can easily occur, and the simulation results are consistent with the actual situation.

[0055] Since the selection of differential operations plays a crucial role in refueling effectiveness and anti-jitter performance, this invention provides two differential approximation simulation signals. One signal can be selected for simulation alone, or a combination of both can be used. Case studies demonstrate that the refueling synchronization effect is highly sensitive to different differential calculation methods, which is consistent with actual conditions. This indicates that the method provided by this invention has excellent realism, thus providing effective verification for in-flight refueling positioning and control, reducing the number of flight tests, thereby improving safety and lowering economic costs. Therefore, this invention has high engineering application value and can also generate significant economic benefits.

Claims

1. A simulation method for controlling an aerial refueling hose of an aircraft based on optical positioning, characterized in that, Includes the following steps: Step S10: Set the three-dimensional coordinates of the initial position and initial velocity of the tanker aircraft, as well as the flight acceleration functions in the longitudinal, vertical, and lateral directions. Generate the longitudinal, vertical, and lateral jitter accelerations of the tanker aircraft using random numbers to simulate the jitter effects generated during the tanker aircraft's flight and optical positioning measurement processes. Superimpose the flight acceleration functions in the three directions with the jitter accelerations, and then superimpose the hose control accelerations in the three directions to obtain the combined longitudinal, vertical, and lateral accelerations of the tanker aircraft. Integrate these accelerations to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the tanker aircraft. Finally, integrate these accelerations to obtain the longitudinal position, vertical position, and lateral position of the tanker aircraft. Step S20: Set the initial three-dimensional coordinates of the receiver aircraft's fuel tank center position and initial velocity, as well as the flight acceleration functions in the longitudinal, vertical, and lateral directions; generate the longitudinal, vertical, and lateral jitter accelerations of the receiver aircraft using random numbers to simulate the jitter effects generated during the receiver aircraft's flight and optical positioning measurement processes; obtain the combined longitudinal, vertical, and lateral accelerations of the receiver aircraft by superimposing the flight acceleration functions in the three directions with the jitter accelerations, and then integrate them to obtain the receiver aircraft's longitudinal velocity, vertical velocity, and lateral velocity; finally, integrate them again to obtain the longitudinal, vertical, and lateral positions of the receiver aircraft's fuel tank center. Step S30: Set the initial position of the hose to 0 and the initial velocity to zero. Integrate the hose control acceleration in three directions to obtain the longitudinal velocity, vertical velocity, and lateral velocity of the hose center. Then integrate to obtain the longitudinal position, vertical position, and lateral position of the hose center. Finally, based on the hose separation calculation mark, superimpose the longitudinal position, vertical position, and lateral position of the fuel dispenser to obtain the total longitudinal position, total vertical position, and total lateral position of the hose center. Step S40: Based on the total longitudinal position, total vertical position, and total lateral position of the hose center, as well as the longitudinal, vertical, and lateral positions of the receiver tank center, optical positioning measurement errors are first superimposed to obtain optical positioning longitudinal error signals, optical positioning vertical error signals, and optical positioning lateral error signals; then, a solution time delay for optical positioning calculation is established by a mixture of first-order delay and pure delay to obtain optical positioning longitudinal error delay signals, optical positioning vertical error delay signals, and optical positioning lateral error delay signals. Step S50: Based on the optical positioning longitudinal error signals in the three directions and the number of time cycles of the optical positioning delay, perform integral iteration to obtain the optical positioning error integral signals in the three directions; then, based on the optical positioning longitudinal error delay signals in the three directions and the optical positioning longitudinal error signals in the three directions, solve for the pure delay differential approximation signals and the inertial delay differential approximation signals of the optical positioning errors in the three directions. Step S60: Based on the optical positioning longitudinal error delay signal, optical positioning vertical error delay signal, optical positioning lateral error delay signal, optical positioning error integral signals in three directions, optical positioning error pure delay differential approximation signals in three directions, and optical positioning error inertial delay differential approximation signals in three directions, the three-direction hose control acceleration signals are superimposed to obtain hose control acceleration signals in three directions. These signals are then sent to the hose control system to realize hose control and position iterative calculation, thereby completing the optical positioning calculation simulation of the entire refueling control.

2. The method for simulating aerial refueling hose control of an aircraft based on optical positioning according to claim 1, characterized in that, The longitudinal, vertical, and lateral accelerations of the tanker are obtained by superimposing the flight acceleration functions in three directions with the jitter acceleration and the hose control acceleration in three directions. Then, the longitudinal, vertical, and lateral accelerations of the tanker are obtained by integrating them. Then, by integration, the longitudinal, vertical, and lateral positions of the fuel dispenser are obtained, including: ； ； ； ； ； ； ； ； ； ； in The initial three-dimensional coordinates of the refueling machine are: The initial velocity of the refueling aircraft consists of three-dimensional components; The longitudinal, vertical, and lateral acceleration functions for the refueling aircraft are set according to the flight conditions. A random number between 0 and 1; The longitudinal vibration acceleration of the fuel dispenser; The longitudinal vibration amplitude of the fuel dispenser is a constant. The vertical vibration acceleration of the refueling machine; The vertical vibration amplitude of the fuel dispenser is a constant. The lateral vibration acceleration of the fuel dispenser; The amplitude of the lateral vibration of the fuel dispenser is a constant. For longitudinal control of the hose acceleration; Vertical acceleration is controlled for the hose; Lateral acceleration control for the hose; For the longitudinal combined acceleration of the refueling aircraft, The vertical acceleration of the refueling aircraft, This refers to the lateral acceleration of the refueling aircraft. For the hose separation calculation mark, if If , it means the hoses are simulated separately; if This indicates a simulation of the hose and fuel dispenser being superimposed; For the longitudinal speed of the refueling aircraft, For the vertical speed of the refueling aircraft, The lateral speed of the refueling aircraft; The integral solution is as follows: The solutions for other integrals are the same; among which For the integration period, This refers to the longitudinal position of the fuel dispenser; This refers to the vertical position of the refueling machine; This is the side view of the refueling machine.

3. The method for simulating aerial refueling hose control of an aircraft based on optical positioning according to claim 1, characterized in that, Based on the optical positioning error signals in the longitudinal, vertical, and lateral directions, and by establishing a solution time delay for the optical positioning solution using a hybrid simulation of first-order delay and pure delay, the following optical positioning longitudinal error delay signals, optical positioning vertical error delay signals, and optical positioning lateral error delay signals are obtained: ； ； ； in This is the longitudinal error signal for optical positioning; For optical positioning vertical error signal, This is the optical positioning lateral error signal; This represents the number of pure delay time cycles calculated for optical positioning. The calculation time delay for optical positioning. The differential operator for the transfer function of a first-order delay element; This is the longitudinal error delay signal for optical positioning; For optical positioning vertical error delay signal, This is the optical positioning lateral error delay signal.

4. The method for simulating aerial refueling hose control of an aircraft based on optical positioning according to claim 1, characterized in that, Based on the optical positioning longitudinal error delay signals in the three directions, and the optical positioning longitudinal error signals in the three directions, the approximate analog signals of the pure delay differential of the optical positioning error in the three directions and the approximate analog signals of the inertial delay differential of the optical positioning error in the three directions are obtained, including: ； ； ； ； ； ； in and The time interval between the two data points is , The time period for optical positioning delay. This is the integral signal of the longitudinal error in optical positioning. This is the integral signal of the vertical error in optical positioning; This is the integral signal of the lateral error in optical positioning. The longitudinal optical positioning error is approximated by the pure delay differential signal. The vertical optical positioning error is approximated by the pure delay differential signal. The pure delay differential approximation of the lateral optical positioning error is used to simulate the signal. The longitudinal optical positioning error is approximated by the pure delay differential signal. The vertical optical positioning error is approximated by the pure delay differential signal. It is an approximate analog signal of the pure delay differential for lateral optical positioning error.

5. The method for simulating aerial refueling hose control of an aircraft based on optical positioning according to claim 1, characterized in that, The three-directional hose control acceleration signals are obtained by superimposing the optical positioning longitudinal error delay signal, optical positioning vertical error delay signal, optical positioning lateral error delay signal, the integrated optical positioning error signals in the three directions, the pure delay differential approximation analog signals of the optical positioning error in the three directions, and the inertial delay differential approximation analog signals of the optical positioning error in the three directions. ； ； ； in This is the integral signal of the longitudinal error in optical positioning. This is the integral signal of the vertical error in optical positioning; This is the integral signal of the lateral error in optical positioning. , , , , , , , , , , , These are constant control parameters that can be used to simulate refueling effects with different combinations of parameter coefficients. For longitudinal control of the hose acceleration; Vertical acceleration is controlled for the hose; Lateral acceleration is controlled for the hose.

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