A calculation method for airborne pipelines to enhance helicopter flight safety

Abstract

This invention discloses a method for calculating an airborne flight path to enhance helicopter flight safety. By linearly interpolating waypoints in the flight path planning information, a series of reference waypoints are formed for the airborne flight path. Using these reference waypoints as centers, the coordinates of the four vertices corresponding to each reference waypoint are calculated. The deviation of the helicopter from the upper, lower, left, and right boundaries of the airborne flight path is calculated, along with the display width, display height, and display spacing of the airborne flight path. Based on the vertex coordinates of the reference waypoints and the display width, display height, and display spacing of the airborne flight path, an airborne flight path can be established for display in the overall visual environment. This invention provides a safe airborne flight path for helicopters performing flight missions, reducing pilot workload, ensuring helicopter flight safety, and minimizing the obstruction of the overall visual environment by the airborne flight path.

Description

Technical Field

[0001] This invention relates to an aerial flight pipeline calculation method to enhance helicopter flight safety. Background Technology

[0002] Helicopters typically fly at low altitudes during missions; pilots not only have to perform complex maneuvers but also face complex flight scenarios, resulting in significant pressure. Even a slight mistake could lead to collisions with obstacles, mountains, or other objects, causing damage to the helicopter or serious injury to personnel. If an aerial flight path is planned within the integrated visual display, the pilot only needs to control the helicopter within the path during missions; this not only reduces the pilot's workload but also enhances helicopter flight safety. Summary of the Invention

[0003] The technical problem to be solved by this invention is to provide an airborne flight path calculation method to enhance helicopter flight safety.

[0004] To achieve this objective, the technical solution of the present invention is as follows: an airborne flight path calculation method to enhance helicopter flight safety, comprising the following steps:

[0005] Step S1: The route planning information contains a series of waypoints, called original waypoints; interpolation calculations are performed between adjacent original waypoints to form new waypoints; the new waypoints and the original waypoints together form the reference waypoints for the air route.

[0006] Step S2: Centered on the reference waypoint, based on the half-width L, half-height W of the flight tunnel, and the minimum ground clearance h for low-altitude helicopter flight missions... limit Calculate the coordinates of the four vertices corresponding to all reference waypoints;

[0007] Step S3: Based on the helicopter's current position Hel, the nearest reference waypoint P along the flight direction, and the coordinates of the four vertices ABCD corresponding to reference waypoint P, calculate the distances of the helicopter from the upper boundary CD, lower boundary AB, left boundary AD, and right boundary CB of the airborne flight duct. Then, calculate the display width L' of the airborne flight duct based on the deviation distances, the half-width L and half-height W of the flight duct, and the coordinates of reference waypoint P. u / L' d Display height W' l / W' r Display spacing H';

[0008] Step S4: Establish an aerial flight channel based on the vertex coordinates corresponding to all reference waypoints and the displayed length of the aerial flight channel; when the helicopter performs a flight mission, it can ensure flight safety by flying in the aerial flight channel.

[0009] All coordinates involved in this technical solution are coordinates in the Northeast-Northeast coordinate system.

[0010] As a preferred scheme for calculating airborne flight paths to enhance helicopter flight safety, in step S1, the formula is used: (n is the number after rounding down, n≥1) The coordinates of newly added waypoints are calculated using the following formula: Where (x) n ,y n ,z n (x0, y0, z0) represents the coordinates of the original waypoint P, (x0, y0, z0) represents the coordinates of the original waypoint Q adjacent to P, and (x... i ,y i ,z i ) represents the coordinates of the newly added waypoint, p is the vector from the adjacent original waypoint P to the original waypoint Q, k is the length of vector p, and h is the distance between the adjacent reference waypoints P and Q.

[0011] As a preferred scheme for calculating the air duct to enhance helicopter flight safety, in step S2, the half-width L and half-height W of the air duct are determined based on the helicopter rotor width and helicopter height, where L is equal to the helicopter rotor width and W is equal to the helicopter height.

[0012] As a preferred scheme for calculating airborne flight ducts to enhance helicopter flight safety, in step S2, the airborne flight duct half-width L, half-height W, reference waypoint coordinates, and minimum ground clearance h for ultra-low-altitude flight missions are calculated. limit Calculate the coordinates of the four vertices corresponding to the baseline waypoint using the formula:

[0013] Lower left point A(x) ld ,y ld ,z ld ):

[0014] bottom right point B(x) rd ,y rd ,z rd ):

[0015] Top right point C(x) ru ,y ru ,z ru ):

[0016] Top left point D(x) lu ,y lu ,z lu ):

[0017]

[0018] Where, A(x) ld ,y ld ,z ld B(x) represents the lower left point of the air route corresponding to the reference waypoint P. rd ,y rd ,z rd C(x) represents the lower right point of the air route corresponding to the reference waypoint P. ru ,y ru ,z ru D(x) represents the upper right point of the air route corresponding to the reference waypoint P. lu ,y lu ,z lu ) represents the upper left point of the air route corresponding to the reference waypoint P, P(x i ,y i ,z i (x) represents the coordinates of the reference waypoint P, (x) represents the coordinates of the reference waypoint P. i-1 ,y i-1 ,z i-1 ) represents the coordinates of the next adjacent reference point before point P.

[0019] As a preferred scheme for calculating the air duct to enhance helicopter flight safety, in step S3, when the helicopter deviates from the air duct to the left or right, the altitude W' displayed on the left side of the air duct increases with the degree of deviation. l Or the height W' is displayed on the right. r Gradually increases; as the helicopter deviates upwards or downwards from the flight duct, the width L' is displayed above the flight duct. u Or the width L' is displayed below. d Gradually increasing; when the helicopter flies outside the duct, the width displayed above and below the aerial flight duct is equal to half the width and the left side value, and the height displayed on the right side is equal to half the height value, and the spacing between the aerial flight ducts is...

[0020] When the helicopter veers to the left, i.e., x hor When ≥0:

[0021] When the helicopter veers to the right, i.e., x hor <0:

[0022] When the helicopter deviates downwards, i.e., z ver When <0,

[0023] When the helicopter deviates downwards, i.e., zver When ≥0:

[0024] Where x hor =x i -x Hel , z ver =z i -z Hel h is the distance between adjacent reference waypoints.

[0025] As a preferred scheme for calculating airway routes to enhance helicopter flight safety, the distance h between adjacent reference waypoints is calculated using the formula: h = V * t, where V represents the helicopter ground speed and t is the pilot's reaction time (recommended to be 5 seconds).

[0026] As a preferred scheme for calculating airborne flight ducts to enhance helicopter flight safety, the helicopter is determined to be inside or outside the duct based on its current position and the nearest reference waypoint P.

[0027] When |z i -z Hel |<W and|z i -z Hel When | < L, the helicopter is inside the airborne flight duct;

[0028] When |z i -z Hel |>W and|z i -z Hel When | < L, the helicopter is outside the airborne flight duct.

[0029] Compared with the prior art, the beneficial effects of the present invention are at least as follows: preventing helicopters from colliding with obstacles, mountains, etc. when performing flight missions in complex flight environments, thus ensuring helicopter flight safety.

[0030] In addition to the technical problems solved by the present invention, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions as described above, other technical problems that the present invention can solve, other technical features contained in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail with reference to the accompanying drawings. Attached Figure Description

[0031] Figure 1 A schematic diagram of a flight path for safe operation.

[0032] Figure 2 This is a diagram illustrating the display of half-width, half-height, and spacing. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. It should be noted that these descriptions of embodiments are intended to aid in understanding the invention and do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0034] Please see Figure 1 and 2 The figure illustrates a method for calculating airborne ducts to enhance helicopter flight safety. All coordinates used in this method are in the northeast-northeast coordinate system.

[0035] This method uses linear interpolation of waypoints (referred to as original waypoints) in the route planning information to form a series of reference waypoints for the airborne pipeline; centered on the reference waypoints, based on the half-width L, half-height W of the airborne pipeline, and the minimum ground clearance h for helicopter low-altitude flight missions... limit Calculate the coordinates of the four vertices corresponding to all reference waypoints; based on the helicopter's current position Hel, the nearest reference waypoint P along the flight direction, and the coordinates of the four vertices ABCD corresponding to reference waypoint P, calculate the distances of the helicopter from the upper boundary CD, lower boundary AB, left boundary AD, and right boundary CB of the air duct. Based on the deviation distances, the half-width L and half-height W of the air duct, and the coordinates of reference waypoint P, calculate the display width L' of the air duct. u / L' d Display height W' l / W' r Display spacing H'; based on the vertex coordinates corresponding to the reference waypoint and the display width L' of the air traffic control pipe. l / L' r Display height W' l / W' r A display spacing H' can establish an aerial flight path for display in the integrated visual system. The display spacing H' refers to the distance that needs to be displayed between two reference waypoints (such as P and PQ1).

[0036] Figure 1 A schematic diagram of a flight path for safe operation. Figure 1 In the route planning information, points P and Q are two adjacent waypoints. New waypoints PQ1, PQ2, PQ3, PQ4, PQ5, etc. are inserted using linear interpolation. Points P, PQ1, PQ2, PQ3, PQ4, PQ5, etc., together form the baseline waypoints.

[0037] Linear interpolation formula:

[0038]

[0039] (n is the number after rounding down, n≥1)

[0040]

[0041]

[0042] Where (x) n ,y n ,z n (x0, y0, z0) represents the coordinates of the original waypoint P, (x0, y0, z0) represents the coordinates of the original waypoint Q adjacent to P, and (x... i ,y i ,z i ) represents the coordinates of the newly added waypoint, p is the vector from the adjacent original waypoint P to the original waypoint Q, k' is the length of vector p, and h is the distance between the adjacent reference waypoints P and PQ1.

[0043] Where Hel is the helicopter’s current position, and P is the nearest reference waypoint along the flight direction to the helicopter;

[0044] W, L, and h represent the half-height, half-width, and spacing (distance between reference waypoints P and PQ1) of the airborne flight tunnel, respectively, and are calculated based on helicopter altitude, rotor width, and helicopter speed. The formulas are as follows:

[0045] W = Helicopter height

[0046] L = propeller width

[0047] h = V*t

[0048] Where V is the helicopter speed and t is the pilot's reaction time, with t recommended to be 5 seconds.

[0049] ABCD are the four vertices of the airway corresponding to the reference waypoint P. Based on the half-width L, half-height W of the airway, the coordinates of the reference waypoint P, and the minimum ground clearance h for ultra-low-altitude flight missions... limit Perform the calculation, the formula is as follows:

[0050] Lower left point A(x) ld ,y ld ,z ld ):

[0051] bottom right point B(x) rd ,y rd ,z rd ):

[0052] Top right point C(x) ru ,y ru,z ru ):

[0053] Top left point D(x) lu ,y lu ,z lu ):

[0054]

[0055] Where, A(x) ld ,y ld ,z ld B(x) represents the lower left point of the air route corresponding to the reference waypoint P. rd ,y rd ,z rd C(x) represents the lower right point of the air route corresponding to the reference waypoint P. ru ,y ru ,z ru D(x) represents the upper right point of the air route corresponding to the reference waypoint P. lu ,y lu ,z lu ) represents the upper left point of the air route corresponding to the reference waypoint P, P(x i ,y i ,z i (x) represents the coordinates of the reference waypoint P, (x) represents the coordinates of the reference waypoint P. i-1 ,y i-1 ,z i-1 ) represents the coordinates of the next adjacent reference point before point P.

[0056] Figure 2 In the middle, W' l The altitude and W' are displayed on the left side of the air traffic control pipe. r Display height and L' on the right. u Display the width and L' above the aerial flight duct. d Display the width below the aerial flight path;

[0057] When |z i -z Hel |<W and|z i -z Hel When | < L, (x i ,y i ,z i ) is the P coordinate of the reference waypoint, (x hel ,y hel ,z hel() represents the helicopter's current position coordinates. The helicopter is inside the air traffic control duct. When the helicopter deviates left or right from the air traffic control duct, the altitude W' displayed on the left side of the duct increases with the degree of deviation. l Or the height W' is displayed on the right. r Gradually increases; as the helicopter deviates upwards or downwards from the flight duct, the width L' is displayed above the flight duct. u Or the width L' is displayed below. d Gradually increase; W' l W' r L' u L' d Calculation formula:

[0058] When the helicopter veers to the left, i.e., x hor When ≥0:

[0059] When the helicopter veers to the right, i.e., x hor <0:

[0060] When the helicopter deviates downwards, i.e., z ver When <0,

[0061] When the helicopter deviates downwards, i.e., z ver When ≥0:

[0062] Where x hor =x i -x Hel , z ver =z i -z Hel h is the distance between adjacent reference waypoints.

[0063] When |z i -z Hel |>W and|z i -z Hel When | < L, the helicopter is outside the airborne flight duct. When the helicopter is flying outside the duct: the width displayed above and below the airborne flight duct is equal to half the width value and the left side value; the height displayed on the right side is equal to half the height value; the spacing between the airborne flight ducts is...

[0064] The above description merely illustrates embodiments of the present invention and is quite specific and detailed; however, it should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method for calculating airborne flight paths to enhance helicopter flight safety, characterized in that, It includes the following steps, Step S1: The route planning information contains a series of waypoints, called original waypoints; interpolation calculations are performed between adjacent original waypoints to form new waypoints; the new waypoints and the original waypoints together form the reference waypoints for the air route. Step S2: Centered on the reference waypoint, based on the half-width L, half-height W of the flight tunnel, and the minimum ground clearance h for low-altitude helicopter flight missions... limit Calculate the coordinates of the four vertices corresponding to all reference waypoints; Step S3: Calculate the distances of the helicopter from the upper boundary CD, lower boundary AB, left boundary AD, and right boundary CB of the air duct based on the helicopter's current position Hel, the nearest reference waypoint P along the flight direction, and the coordinates of the four vertices ABCD corresponding to the reference waypoint P. Calculate the display width, display height, and display spacing of the air duct based on the deviation distance, the half-width L and half-height W of the air duct, and the coordinates of the reference waypoint P. Step S4: Establish an aerial flight path based on the vertex coordinates corresponding to all reference waypoints and the displayed length of the aerial flight path; when performing flight missions, helicopters can ensure flight safety by flying within the aerial flight path; In step S2, based on the half-width L, half-height W of the airborne flight duct, the coordinates of the reference waypoint, and the minimum ground clearance h for the ultra-low altitude flight mission... limit Calculate the coordinates of the four vertices corresponding to the baseline waypoint using the formula: Lower left point A (x) ld y ld , z ld ): ； bottom right point B (x) rd y rd , z rd ): ； Top right point C (x) ru y ru , z ru ): ； Top left point D (x lu y lu , z lu ): ； ； Where A(x) ld y ld , z ld B(x) represents the lower left point of the air route corresponding to the reference waypoint P, and B(x) represents the lower left point of the air route. rd y rd , z rd C(x) represents the lower right point of the air route corresponding to the reference waypoint P. ru y ru , z ru D(x) represents the upper right point of the air route corresponding to the reference waypoint P. lu y lu , z lu ) represents the upper left point of the air route corresponding to the reference waypoint P, P(x i y i , z i (x) represents the coordinates of the reference waypoint P, (x) represents the coordinates of the reference waypoint P. i-1 y i-1 , z i-1 () represents the coordinates of the next adjacent reference point before point P.

2. The method for calculating airborne flight paths to enhance helicopter flight safety according to claim 1, characterized in that, In step S1, the formula is used: n is the number after rounding down, n≥1; The coordinates of newly added waypoints are calculated using the following formula: ;where (x) n y n , z n (x0, y0, z0) represents the coordinates of the original waypoint P, and (x0, y0, z0) represents the coordinates of the original waypoint Q adjacent to P. i y i , z i ) represents the coordinates of the newly added waypoint, p is the vector from the adjacent original waypoint P to the original waypoint Q, k is the length of the vector p, and h is the distance between the adjacent reference waypoints P and Q.

3. The method for calculating airborne flight paths to enhance helicopter flight safety according to claim 1, characterized in that, In step S2, the half-width L and half-height W of the air flight duct are determined based on the helicopter rotor width and helicopter height, where L is equal to the helicopter rotor width and W is equal to the helicopter height.

4. The method for calculating airborne flight paths to enhance helicopter flight safety according to claim 1, characterized in that, In step S3, when the helicopter deviates to the left or right from the air flight duct, the altitude displayed on the left side of the air flight duct increases with the degree of deviation. Or the height is displayed on the right. Gradually increases; the width is displayed above the flight duct as the helicopter deviates upwards or downwards. Or the width is displayed below. Gradually increasing; when the helicopter flies outside the duct, the width displayed above and below the aerial flight duct is equal to half the width and the left side value, and the height displayed on the right side is equal to half the height value, and the spacing between the aerial flight ducts is... ; When the helicopter veers to the left, i.e., x hor When ≥0: ； When the helicopter veers to the right, i.e., x hor <0: ； When the helicopter deviates downwards, i.e., z ver <0: ； When the helicopter deviates downwards, i.e., z ver When ≥0: ； Where x hor =x i -x Hel , z ver =z i -z Hel h is the distance between adjacent reference waypoints; Where (x) Hel y Hel , z Hel ) represents the coordinates of the helicopter's current point Hel, (x i y i , z i ) represents the coordinates of the reference waypoint P closest to the helicopter.

5. The method for calculating airborne flight paths to enhance helicopter flight safety according to claim 2, characterized in that, The distance h between adjacent reference waypoints is calculated using the formula: h = V × t, where V represents the helicopter ground speed and t is the pilot's reaction time.

6. The method for calculating airborne flight paths to enhance helicopter flight safety according to claim 4, characterized in that, Based on the helicopter's current position and the nearest reference waypoint P, determine whether the helicopter is inside or outside the pipeline; When |z i -z Hel |<W and|z i -z Hel When | < L, the helicopter is inside the airborne flight duct; When |z i -z Hel |>W and|z i -z Hel When | < L, the helicopter is outside the airborne flight duct.

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