Design method and system for precise timing distribution strategy of payload

Abstract

The present invention relates to the field of structural dynamics technology, and provides a method and system for designing a time-sequential precise spreading strategy for a payload, wherein the method includes: confirming the number of payloads that an airborne spreader can accommodate; planning the expected distribution; dividing the spreader into a number of compartments; numbering and grouping each payload in each compartment; according to the arrangement and grouping of the payload in the compartment, based on the parachute-load dynamics model, and according to the expected distribution, calculating the time delay required for the spreading of each group of payloads, the parachute opening delay time of each payload, and the spreading speed; according to the time delay, the parachute opening delay time, and the spreading speed, designing the spreading sequence and the spreading timing control process of the payload. The present invention can avoid problems such as overlapping of payload landing points or excessive spacing, reasonably control the distribution of payload landing points, realize the precise spreading of new payloads, achieve the expected airdrop range and airdrop effect, provide a basis for the evaluation of blockade effectiveness, and is also an exploration of military evaluation at the tactical level.

Description

Technical Field

[0001] The present invention relates to the technical field of structural dynamics, and in particular to a method and system for designing a time-sequential precise distribution strategy for a payload. Background Art

[0002] The landing points of payloads dropped by traditional airborne dispensers are usually random, without considering the difficulty and feasibility of networking between the payload landing points, and thus, it is impossible to achieve accurate deployment of the payload.

[0003] Since the payloads dropped by traditional airborne dispensers are randomly arranged, the density of payload drop points cannot be reasonably controlled, resulting in problems such as payload drop points overlapping or too large spacing, and thus the expected airdrop range and airdrop effect cannot be achieved. At present, there is an urgent need to quickly and effectively optimize the payload distribution strategy to achieve accurate payload distribution and successful airdrop to the target area. Summary of the invention

[0004] The purpose of the present invention is to solve at least one technical problem in the background technology and to provide a method and system for designing a time-accurate deployment strategy for a payload.

[0005] To achieve the above object, the present invention provides a method for designing a time-sequential accurate deployment strategy for a payload, comprising:

[0006] Determine the number of payloads that the airborne dispenser can accommodate based on the payload's structural dimensions;

[0007] Plan the expected distribution of multiple payload drop points;

[0008] The spreader is divided into several compartments, and the payload loaded in the same compartment has the same spreading speed;

[0009] The payloads loaded in each compartment are grouped and numbered, and the payloads in the same group are dropped simultaneously;

[0010] According to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model and the expected distribution, the time delay required for the release of each group of payloads, the parachute opening delay time of each payload, and the release speed are calculated;

[0011] According to the time delay, the parachute opening delay time and the scattering speed, the scattering sequence and scattering timing control process of the payload are designed.

[0012] According to one aspect of the present invention, the expected distribution of the planned multiple payload drop points is:

[0013] Plan the expected distribution of multiple payload drop points based on the number of payloads, maximum communication distance, effective range, dispenser capacity and dispenser height.

[0014] According to one aspect of the present invention, the airborne dispenser can accommodate 24 payloads, and the dispenser is divided into six compartments, No. 1-6, each compartment is divided into two layers, each layer is loaded with two payloads in pairs.

[0015] According to one aspect of the present invention, each payload loaded in each compartment is numbered and grouped, and the payloads in the same group are simultaneously scattered as follows:

[0016] Each payload was randomly divided into 4 groups, with 6 payloads in each group, and the ammunition in the same group was dropped at the same time;

[0017] Each payload in the lower layer of each compartment of the dispenser is numbered sequentially from 1 to 12, and each payload in the upper layer of each compartment of the dispenser is numbered sequentially from 13 to 24.

[0018] According to one aspect of the present invention, according to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model, according to the expected distribution, the time delay required for the scattering of each group of payloads, the parachute opening delay time of each payload, and the scattering speed are calculated as follows:

[0019] According to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model and the expected distribution, the time delay Δt1 required for dropping each group of payloads, the parachute opening delay time Δt2, Δt3, Δt4, Δt5 of each payload, as well as the downward dropping speed vy0 and the sideways dropping speed vz0 are calculated.

[0020] According to one aspect of the present invention, the umbrella-load dynamics model is:

[0021]

[0022] in, (2)

[0023] Where, g=9.8m / s2, which is the acceleration due to gravity; is the air density, , l, d are the projectile resistance area, characteristic length and projectile diameter, is the distance from the center of mass of the missile to the connection between the parachute line and the missile. is the drag characteristic of the parachute, , are the derivatives of the drag coefficient and lift coefficient, respectively, , , They are the static moment coefficient derivative, equatorial damping moment coefficient derivative and polar damping moment coefficient derivative respectively, C is the main axis moment of inertia, and A is the polar moment of inertia. is the derivative of velocity, , , , , is the derivative of each Euler angle, , , , is the second-order derivative of each Euler angle. , , , , , , is an intermediate variable.

[0024] According to one aspect of the present invention, according to the time delay, the parachute opening delay time and the scattering speed, the scattering sequence and scattering timing control process of the payload are designed, including:

[0025] The first throw was to throw out the payloads in the lower layers of compartments 2, 3, and 4 at the same time. The payloads 3 and 4 in compartment 2 were v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads 5 and 6 in the No. 3 compartment and the payloads 7 and 8 in the No. 4 compartment are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0026] After an interval of Δt1, the second scattering begins, and the payloads on the upper layer of compartment 5 and the upper layers of compartments 3 and 4 are simultaneously thrown out. The payloads 9 and 10 on the upper layer of compartment 5 are thrown out at v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 17 and 18 and the payloads No. 19 and 20 on the upper layers of the No. 3 and No. 4 compartments are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0027] After an interval of Δt1, the third scattering begins, and the payloads in the lower layer of compartment 1 and the upper layers of compartments 2 and 3 are simultaneously thrown out. The payloads 1 and 2 in the lower layer of compartment 1 are scattered at v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 15 and 16 and the payloads No. 21 and 22 in the upper layer of the No. 2 and No. 3 compartments are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0028] After an interval of Δt1, the fourth scattering begins, and the payloads on the lower level of compartment 6 and the upper levels of compartments 1 and 6 are simultaneously thrown out. The payloads 11 and 12 on the lower level of compartment 6 are scattered at a speed of v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 13 and 14 and the payloads No. 23 and 24 on the upper layers of the No. 1 and No. 6 compartments are respectively z0 The parachute is thrown to the left and right sides of the dispenser at a speed of , and the parachute opening delay times of the two groups of payloads are Δt4 and Δt5 respectively.

[0029] To achieve the above object, the present invention also provides a system for designing a time-sequential accurate distribution strategy for a payload, comprising:

[0030] A payload quantity confirmation module confirms the payload quantity that the airborne dispenser can accommodate based on the structural dimensions of the payload;

[0031] The expected distribution module of landing points plans the expected distribution of multiple payload landing points;

[0032] The compartment division module divides the dispenser into several compartments, so that the payloads loaded in the same compartment have the same dispersing speed;

[0033] The payload numbering and grouping module numbers and groups the payloads loaded in each compartment, and the payloads in the same group are dropped simultaneously;

[0034] The payload dispersion calculation module calculates the time delay required for dispersion of each group of payloads, the parachute opening delay time of each payload, and the dispersion speed according to the expected distribution based on the parachute-load dynamics model according to the arrangement and grouping of the payloads in the cabin;

[0035] The payload dispersion design module designs the payload dispersion sequence and the dispersion timing control process according to the time delay, the parachute opening delay time and the dispersion speed.

[0036] To achieve the above objectives, the present invention also provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method for designing a timing-accurate deployment strategy for the payload as described above.

[0037] To achieve the above objectives, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for designing a time-accurate deployment strategy for a payload as described above is implemented.

[0038] According to the solution of the present invention, BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A flowchart schematically showing a method for designing a time-accurate distribution strategy for a payload according to an embodiment of the present invention;

[0040] Figure 2 Schematically showing an expected distribution diagram of payload drop points according to one embodiment of the present invention;

[0041] Figure 3 A diagram schematically showing a three-dimensional layout of a payload in a dispenser according to an embodiment of the present invention;

[0042] Figure 4 A diagram schematically showing the numbering and grouping of payloads in each compartment of a dispenser according to an embodiment of the present invention;

[0043] Figure 5 Schematically showing a space coordinate system and a space force analysis diagram of a payload according to an embodiment of the present invention;

[0044] Figure 6 A schematic diagram showing a flow chart of the order of scattering a payload and the timing control of scattering according to an embodiment of the present invention;

[0045] Figure 7 A diagram schematically shows a state of scattering a payload according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention will now be discussed with reference to exemplary embodiments. It should be understood that the embodiments discussed are only to enable those skilled in the art to better understand and thus implement the present invention, rather than implying any limitation on the scope of the present invention.

[0047] As used herein, the term “including” and variations thereof are to be interpreted as open-ended terms meaning “including, but not limited to.” The term “based on” is to be interpreted as “based, at least in part, on.” The terms “one embodiment” and “an embodiment” are to be interpreted as “at least one embodiment.”

[0048] Figure 1 The flowchart schematically shows a method for designing a time-accurate distribution strategy for a payload according to an embodiment of the present invention. Figure 1 As shown, in this embodiment, the method for designing a time-accurate distribution strategy for a payload includes:

[0049] Determine the number of payloads that the airborne dispenser can accommodate based on the payload's structural dimensions;

[0050] Plan the expected distribution of multiple payload drop points;

[0051] The spreader is divided into several compartments, and the payload loaded in the same compartment has the same spreading speed;

[0052] The payloads loaded in each compartment are numbered and grouped, and the payloads in the same group are dropped simultaneously;

[0053] According to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model and the expected distribution, the time delay required for the release of each group of payloads, the parachute opening delay time of each payload, and the release speed are calculated;

[0054] According to the time delay, the parachute opening delay time and the scattering speed, the scattering sequence and scattering timing control process of the payload are designed.

[0055] Further, according to an embodiment of the present invention, the expected distribution of multiple payload drop points is planned as follows:

[0056] According to the number of payloads, the maximum communication distance, the effective range, the spreading capacity of the spreader and the spreading height, the expected distribution of the landing points of multiple payloads is planned. In this embodiment, the distance between the payloads is limited by the maximum communication distance and the effective range. If these distances are exceeded, the payload cannot be networked with other payloads. Furthermore, the spreading capacity of the spreader refers to the maximum speed at which it can spread the payload. If other interference factors are not considered, this speed and spreading height directly affect the landing position of the payload. Ideally, based on the above-mentioned limitations, the payload arrangement (mesh arrangement or linear arrangement, etc.) can be designed according to the required spreading target range, and the landing point and expected distribution of the payload can be planned. Then, the spreading strategy is obtained by calculating and simulating the expected distribution of the design plan. In this embodiment, the expected distribution of the payload landing point is as follows: Figure 2 shown.

[0057] Furthermore, if Figure 3 As shown, according to one embodiment of the present invention, the number of payloads accommodated by the airborne dispenser is 24, and the dispenser is divided into six compartments, No. 1-6, each compartment is divided into two layers, upper and lower, and each layer is loaded with two payloads in pairs.

[0058] Furthermore, if Figure 4 As shown, in this embodiment, each payload loaded in each compartment is numbered and grouped, and the payloads in the same group are simultaneously scattered as follows:

[0059] First, the payloads in the lower layer of each compartment of the dispenser are numbered in sequence from 1 to 12, and then the payloads in the upper layer of each compartment of the dispenser are numbered in sequence from 13 to 24;

[0060] The numbered payloads are randomly divided into 4 groups, each with 6 payloads. Figure 4 Six payloads of the same color are grouped together, and the payloads in the same group are dropped simultaneously.

[0061] Further, according to an embodiment of the present invention, according to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model, according to the expected distribution, the time delay required for the release of each group of payloads, the parachute opening delay time of each payload, and the release speed are calculated as follows:

[0062] According to the arrangement and grouping of the payload in the cabin, based on the parachute-load dynamics model, according to the expected distribution, the time delay Δt1 required for the scattering of each group of payloads, the delay time Δt2, Δt3, Δt4, Δt5 for the parachute opening of each payload, as well as the downward scattering speed vy0 and the sideways scattering speed vz0 are calculated. In this embodiment, according to the parachute-load dynamics model, the simulation program is compiled with MATLAB, and the simulation program and initial conditions (scattering height, spreader speed, parachute resistance characteristics, parachute opening and filling time, payload weight, payload resistance characteristics) are used to adjust the variables of scattering speed vy0 vz0, scattering required time delay Δt1, parachute opening delay time Δt2, Δt3, Δt4, Δt5 to deduce the optimal solution of each time and speed. Such a setting is actually to establish a simulation model calculation based on the parachute-load dynamics model, and by setting different initial conditions, the time delay, scattering speed and other parameters of each group of payloads are deduced according to the optimal solution.

[0063] Furthermore, if Figure 5 As shown, in this embodiment, the ground inertial coordinate system (O-xyz) and the reference coordinate system C-xyz (N) describing the space position of the payload are established with the projection of the initial scattering position of the dispenser on the ground as the origin, and the positive direction of the x-axis is defined as the flight direction of the dispenser, the y-axis is defined as the plumb bob direction, and the z-axis is defined as the side-throwing direction of the bullet. The total mass of the payload is m, and the velocity of the center of mass is v. Figure 5 As shown, the forces acting on the payload include gravity G, the air resistance R of the projectile itself bx , lift R y , the parachute rope tension T. This process illustrates the establishment process of the payload reference coordinates and the overall force conditions of the system.

[0064] The umbrella-load dynamic model is:

[0065]

[0066] in, (2)

[0067] Where, g=9.8m / s2, which is the acceleration due to gravity; is the air density, , l, d are the projectile resistance area, characteristic length and projectile diameter, is the distance from the center of mass of the missile to the connection between the parachute line and the missile. is the drag characteristic of the parachute, , are the derivatives of the drag coefficient and lift coefficient, respectively, , , They are the static moment coefficient derivative, equatorial damping moment coefficient derivative and polar damping moment coefficient derivative respectively, C is the main axis moment of inertia, and A is the polar moment of inertia. is the derivative of velocity, , , , , is the derivative of each Euler angle, , , , is the second-order derivative of each Euler angle. , , , , , , is an intermediate variable.

[0068] Furthermore, if Figure 6 and Figure 7 As shown, according to an embodiment of the present invention, according to the above-mentioned time delay, parachute opening delay time and scattering speed, the scattering sequence and scattering timing control process of the payload are designed, including:

[0069] The first throw was to throw out the payloads in the lower layers of compartments 2, 3, and 4 at the same time. The payloads 3 and 4 in compartment 2 were v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads 5 and 6 in the No. 3 compartment and the payloads 7 and 8 in the No. 4 compartment are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0070] After an interval of Δt1, the second scattering begins, and the payloads on the upper layer of compartment 5 and the upper layers of compartments 3 and 4 are simultaneously thrown out. The payloads 9 and 10 on the upper layer of compartment 5 are thrown out at v y0The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 17 and 18 and the payloads No. 19 and 20 on the upper layers of the No. 3 and No. 4 compartments are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0071] After an interval of Δt1, the third scattering begins, and the payloads in the lower layer of compartment 1 and the upper layers of compartments 2 and 3 are simultaneously thrown out. The payloads 1 and 2 in the lower layer of compartment 1 are scattered at v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 15 and 16 and the payloads No. 21 and 22 in the upper layer of the No. 2 and No. 3 compartments are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0072] After an interval of Δt1, the fourth scattering begins, and the payloads on the lower level of compartment 6 and the upper levels of compartments 1 and 6 are simultaneously thrown out. The payloads 11 and 12 on the lower level of compartment 6 are scattered at a speed of v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 13 and 14 and the payloads No. 23 and 24 on the upper layers of the No. 1 and No. 6 compartments are respectively z0 The parachute is thrown to the left and right sides of the dispenser at a speed of , and the parachute opening delay times of the two groups of payloads are Δt4 and Δt5 respectively.

[0073] According to the above scheme of the present invention, the present invention calculates the time delay required to achieve the expected landing point distribution of each payload based on the maximum communication distance of the payload and the effective action range (effective movement distance) of the payload, and the final expected landing point distribution of multiple payloads carried by the dispenser as a constraint, and analyzes the unique trajectory characteristics of the payload based on the parachute-payload dynamics model to design the distribution strategy of each payload in the dispenser cabin. The time-sequential accurate distribution strategy of the payload proposed by the present invention can achieve the accurate distribution of the payload and meet the requirements for the area coverage of the expected airdrop area.

[0074] According to the above scheme of the present invention, the present invention can avoid problems such as overlapping of payload landing points or excessive spacing, reasonably control the distribution of payload landing points, realize the precise deployment of new payloads, and achieve the expected airdrop range and airdrop effect.

[0075] Furthermore, to achieve the above-mentioned purpose, the present invention also provides a system for designing a time-sequential accurate distribution strategy of a payload, comprising:

[0076] A payload quantity confirmation module confirms the payload quantity that the airborne dispenser can accommodate based on the structural dimensions of the payload;

[0077] The expected distribution module of landing points plans the expected distribution of multiple payload landing points;

[0078] The compartment division module divides the dispenser into several compartments, so that the payloads loaded in the same compartment have the same dispersing speed;

[0079] The payload numbering and grouping module numbers and groups the payloads loaded in each compartment, and the payloads in the same group are dropped simultaneously;

[0080] The payload dispersion calculation module calculates the time delay required for dispersion of each group of payloads, the parachute opening delay time of each payload, and the dispersion speed according to the expected distribution based on the parachute-load dynamics model according to the arrangement and grouping of the payloads in the cabin;

[0081] The payload dispersion design module designs the payload dispersion sequence and the dispersion timing control process according to the time delay, the parachute opening delay time and the dispersion speed.

[0082] Further, according to an embodiment of the present invention, the expected distribution of multiple payload drop points is planned as follows:

[0083] According to the number of payloads, the maximum communication distance, the effective range, the spreading capacity of the spreader and the spreading height, the expected distribution of the landing points of multiple payloads is planned. In this embodiment, the distance between the payloads is limited by the maximum communication distance and the effective range. If these distances are exceeded, the payload cannot be networked with other payloads. Furthermore, the spreading capacity of the spreader refers to the maximum speed at which it can spread the payload. If other interference factors are not considered, this speed and spreading height directly affect the landing position of the payload. Ideally, based on the above-mentioned limitations, the payload arrangement (mesh arrangement or linear arrangement, etc.) can be designed according to the required spreading target range, and the landing point and expected distribution of the payload can be planned. Then, the spreading strategy is obtained by calculating and simulating the expected distribution of the design plan. In this embodiment, the expected distribution of the payload landing point is as follows: Figure 2 shown.

[0084] Furthermore, if Figure 3 As shown, according to one embodiment of the present invention, the number of payloads accommodated by the airborne dispenser is 24, and the dispenser is divided into six compartments, No. 1-6, each compartment is divided into two layers, upper and lower, and each layer is loaded with two payloads in pairs.

[0085] Furthermore, if Figure 4As shown, in this embodiment, each payload loaded in each compartment is numbered and grouped, and the payloads in the same group are simultaneously scattered as follows:

[0086] First, the payloads in the lower layer of each compartment of the dispenser are numbered in sequence from 1 to 12, and then the payloads in the upper layer of each compartment of the dispenser are numbered in sequence from 13 to 24;

[0087] The numbered payloads are randomly divided into 4 groups, each with 6 payloads. Figure 4 Six payloads of the same color are grouped together, and the payloads in the same group are dropped simultaneously.

[0088] Further, according to an embodiment of the present invention, according to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model, according to the expected distribution, the time delay required for the release of each group of payloads, the parachute opening delay time of each payload, and the release speed are calculated as follows:

[0089] According to the arrangement and grouping of the payload in the cabin, based on the parachute-load dynamics model, according to the expected distribution, the time delay Δt1 required for the scattering of each group of payloads, the delay time Δt2, Δt3, Δt4, Δt5 for the parachute opening of each payload, as well as the downward scattering speed vy0 and the sideways scattering speed vz0 are calculated. In this embodiment, according to the parachute-load dynamics model, the simulation program is compiled with MATLAB, and the simulation program and initial conditions (scattering height, spreader speed, parachute resistance characteristics, parachute opening and filling time, payload weight, payload resistance characteristics) are used to adjust the variables of scattering speed vy0 vz0, scattering required time delay Δt1, parachute opening delay time Δt2, Δt3, Δt4, Δt5 to deduce the optimal solution of each time and speed. Such a setting is actually to establish a simulation model calculation based on the parachute-load dynamics model, and by setting different initial conditions, the time delay, scattering speed and other parameters of each group of payloads are deduced according to the optimal solution.

[0090] Furthermore, if Figure 5 As shown, in this embodiment, the ground inertial coordinate system (O-xyz) and the reference coordinate system C-xyz (N) describing the space position of the payload are established with the projection of the initial scattering position of the dispenser on the ground as the origin, and the positive direction of the x-axis is defined as the flight direction of the dispenser, the y-axis is defined as the plumb bob direction, and the z-axis is defined as the side-throwing direction of the bullet. The total mass of the payload is m, and the velocity of the center of mass is v. Figure 5 As shown, the forces acting on the payload include gravity G, the air resistance R of the projectile itself bx , lift R y , parachute rope tension T.

[0091] The umbrella-load dynamic model is:

[0092]

[0093] in, (2)

[0094] Where, g=9.8m / s2, which is the acceleration due to gravity; is the air density, , l, d are the projectile resistance area, characteristic length and projectile diameter, is the distance from the center of mass of the missile to the connection between the parachute line and the missile. is the drag characteristic of the parachute, , are the derivatives of the drag coefficient and lift coefficient, respectively, , , They are the static moment coefficient derivative, equatorial damping moment coefficient derivative and polar damping moment coefficient derivative respectively, C is the main axis moment of inertia, and A is the polar moment of inertia. is the derivative of velocity, , , , , is the derivative of each Euler angle, , , , is the second-order derivative of each Euler angle. , , , , , , is an intermediate variable.

[0095] Furthermore, if Figure 6 and Figure 7 As shown, according to an embodiment of the present invention, according to the above-mentioned time delay, parachute opening delay time and scattering speed, the scattering sequence and scattering timing control process of the payload are designed, including:

[0096] The first throw was to throw out the payloads in the lower layers of compartments 2, 3, and 4 at the same time. The payloads 3 and 4 in compartment 2 were v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads 5 and 6 in the No. 3 compartment and the payloads 7 and 8 in the No. 4 compartment are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0097] After an interval of Δt1, the second scattering begins, and the payloads on the upper layer of compartment 5 and the upper layers of compartments 3 and 4 are simultaneously thrown out. The payloads 9 and 10 on the upper layer of compartment 5 are thrown out at v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 17 and 18 and the payloads No. 19 and 20 on the upper layers of the No. 3 and No. 4 compartments are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0098] After an interval of Δt1, the third scattering begins, and the payloads in the lower layer of compartment 1 and the upper layers of compartments 2 and 3 are simultaneously thrown out. The payloads 1 and 2 in the lower layer of compartment 1 are scattered at v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 15 and 16 and the payloads No. 21 and 22 in the upper layer of the No. 2 and No. 3 compartments are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively;

[0099] After an interval of Δt1, the fourth scattering begins, and the payloads on the lower level of compartment 6 and the upper levels of compartments 1 and 6 are simultaneously thrown out. The payloads 11 and 12 on the lower level of compartment 6 are scattered at a speed of v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 13 and 14 and the payloads No. 23 and 24 on the upper layers of the No. 1 and No. 6 compartments are respectively z0 The parachute is thrown to the left and right sides of the dispenser at a speed of , and the parachute opening delay times of the two groups of payloads are Δt4 and Δt5 respectively.

[0100] According to the above scheme of the present invention, the present invention calculates the time delay required to achieve the expected landing point distribution of each payload based on the maximum communication distance of the payload and the effective action range (effective movement distance) of the payload, and the final expected landing point distribution of multiple payloads carried by the dispenser as a constraint, and analyzes the unique trajectory characteristics of the payload based on the parachute-payload dynamics model to design the distribution strategy of each payload in the dispenser cabin. The time-sequential accurate distribution strategy of the payload proposed by the present invention can achieve the accurate distribution of the payload and meet the requirements for the area coverage of the expected airdrop area.

[0101] According to the above scheme of the present invention, the present invention can avoid problems such as overlapping of payload landing points or excessive spacing, reasonably control the distribution of payload landing points, realize the precise deployment of new payloads, and achieve the expected airdrop range and airdrop effect.

[0102] Furthermore, to achieve the above objectives, the present invention also provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method for designing a timing-accurate deployment strategy for the above-mentioned payload.

[0103] Furthermore, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for designing a timing-accurate deployment strategy for the above-mentioned payload is implemented.

[0104] Those skilled in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0105] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method implementation methods, and will not be repeated here.

[0106] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0107] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0108] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0109] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the energy-saving signal sending / receiving method of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0110] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other.

[0111] It should be understood that the size of the serial numbers of each step in the content of the invention and the implementation methods of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the implementation methods of the present invention.

Claims

1. A method for designing a time-accurate distribution strategy for a payload, characterized in that: include: Determine the number of payloads that the airborne dispenser can accommodate based on the payload's structural dimensions; Plan the expected distribution of multiple payload drop points; The spreader is divided into several compartments, and the payload loaded in the same compartment has the same spreading speed; The payloads loaded in each compartment are grouped and numbered, and the payloads in the same group are dropped simultaneously; According to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model and the expected distribution, the time delay required for the release of each group of payloads, the parachute opening delay time of each payload, and the release speed are calculated; According to the time delay, the parachute opening delay time and the scattering speed, the scattering sequence and scattering timing control process of the payload are designed, including: The first throw was to throw out the payloads in the lower layers of compartments 2, 3, and 4 at the same time. The payloads 3 and 4 in compartment 2 were v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads 5 and 6 in the No. 3 compartment and the payloads 7 and 8 in the No. 4 compartment are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively; After an interval of Δt1, the second scattering begins, and the payloads on the lower level of compartment 5 and the upper levels of compartments 3 and 4 are simultaneously thrown out. The payloads 9 and 10 on the lower level of compartment 5 are scattered at a speed of v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 17 and 18 and the payloads No. 19 and 20 on the upper layers of the No. 3 and No. 4 compartments are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively; After an interval of Δt1, the third scattering begins, and the payloads in the lower layer of compartment 1 and the upper layers of compartments 2 and 5 are simultaneously thrown out. The payloads 1 and 2 in the lower layer of compartment 1 are scattered at v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 15 and 16 in the No. 2 compartment and the payloads No. 21 and 22 in the upper layer of the No. 5 compartment are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively; After an interval of Δt1, the fourth scattering begins, and the payloads on the lower level of compartment 6 and the upper levels of compartments 1 and 6 are simultaneously thrown out. The payloads 11 and 12 on the lower level of compartment 6 are scattered at a speed of v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 13 and 14 and the payloads No. 23 and 24 on the upper layers of the No. 1 and No. 6 compartments are respectively z0 The parachute is thrown to the left and right sides of the dispenser at a speed of , and the parachute opening delay times of the two groups of payloads are Δt4 and Δt5 respectively.

2. The method for designing a time-accurate deployment strategy for a payload according to claim 1, characterized in that: The expected distribution of the planned multiple payload drop points is: Plan the expected distribution of multiple payload drop points based on the number of payloads, maximum communication distance, effective range, dispenser capacity and dispenser height.

3. The method for designing a time-accurate deployment strategy for a payload according to claim 1, characterized in that: The airborne dispenser can accommodate 24 payloads and is divided into six compartments, No. 1 to 6. Each compartment is divided into two layers, upper and lower, and each layer is loaded with two payloads in pairs.

4. The method for designing a time-accurate deployment strategy for a payload according to claim 3, characterized in that: The payloads loaded in each compartment are numbered and grouped, and the payloads in the same group are scattered simultaneously as follows: Each payload was randomly divided into 4 groups, with 6 payloads in each group, and the payloads in the same group were dropped at the same time; Each payload in the lower layer of each compartment of the dispenser is numbered sequentially from 1 to 12, and each payload in the upper layer of each compartment of the dispenser is numbered sequentially from 13 to 24.

5. The method for designing a time-accurate deployment strategy for a payload according to claim 4, characterized in that: According to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model and the expected distribution, the time delay required for the scattering of each group of payloads, the parachute opening delay time of each payload, and the scattering speed are calculated as follows: According to the arrangement and grouping of the payloads in the cabin, based on the parachute-load dynamics model and the expected distribution, the time delay Δt1 required for the release of each group of payloads, the parachute opening delay time Δt2, Δt3, Δt4, Δt5 of each payload, and the downward release speed v are calculated. y0 and the sideward throwing speed v z0 .

6. The method for designing a time-accurate deployment strategy for a payload according to claim 5, characterized in that: The parachute-load dynamics model is: in, Where g = 9.8 m / s 2 , which is the acceleration due to gravity; ρ is the air density, S b , l, d are the drag area, characteristic length and diameter of the projectile, l0 is the distance from the center of mass of the projectile to the connection between the parachute rope and the projectile, (CA) p is the drag characteristic of the parachute, C d , c′ y are the derivatives of the drag coefficient and lift coefficient, respectively, m′ z , m′ zd , m′ xd are the derivative of the static moment coefficient, the derivative of the equatorial damping moment coefficient and the derivative of the polar damping moment coefficient, C is the main axis moment of inertia, A is the polar moment of inertia, is the derivative of velocity, is the derivative of each Euler angle, is the second-order derivative of each Euler angle, b x 、b F 、b y , k z , k F , k zd , k xd is an intermediate variable.

7. A system for designing a precise timing distribution strategy for payloads, characterized in that: include: A payload quantity confirmation module confirms the payload quantity that the airborne dispenser can accommodate based on the structural dimensions of the payload; The expected distribution module of landing points plans the expected distribution of multiple payload landing points; The compartment division module divides the dispenser into several compartments, so that the payloads loaded in the same compartment have the same dispersing speed; The payload numbering and grouping module numbers and groups the payloads loaded in each compartment, and the payloads in the same group are dropped simultaneously; The payload dispersion calculation module calculates the time delay required for dispersion of each group of payloads, the parachute opening delay time of each payload, and the dispersion speed according to the expected distribution based on the parachute-load dynamics model according to the arrangement and grouping of the payloads in the cabin; The payload dispersal design module designs the payload dispersal sequence and dispersal timing control process according to the time delay, the parachute opening delay time and the dispersal speed, including: The first throw was to throw out the payloads in the lower layers of compartments 2, 3, and 4 at the same time. The payloads 3 and 4 in compartment 2 were v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads 5 and 6 in the No. 3 compartment and the payloads 7 and 8 in the No. 4 compartment are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively; After an interval of Δt1, the second scattering begins, and the payloads on the lower level of compartment 5 and the upper levels of compartments 3 and 4 are simultaneously thrown out. The payloads 9 and 10 on the lower level of compartment 5 are scattered at a speed of v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 17 and 18 and the payloads No. 19 and 20 on the upper layers of the No. 3 and No. 4 compartments are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively; After an interval of Δt1, the third scattering begins, and the payloads in the lower layer of compartment 1 and the upper layers of compartments 2 and 5 are simultaneously thrown out. The payloads 1 and 2 in the lower layer of compartment 1 are scattered at v y0 The two payloads are thrown downward at a speed of v, and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 15 and 16 in the No. 2 compartment and the payloads No. 21 and 22 in the upper layer of the No. 5 compartment are respectively z0 The two groups of payloads are thrown to the left and right sides of the dispenser at a speed of Δt4 and Δt5 respectively; After an interval of Δt1, the fourth scattering begins, and the payloads on the lower level of compartment 6 and the upper levels of compartments 1 and 6 are simultaneously thrown out. The payloads 11 and 12 on the lower level of compartment 6 are scattered at a speed of v y0 The two payloads are thrown downward at a speed of v , and the parachute opening delay times of the two payloads are Δt2 and Δt3 respectively; the payloads No. 13 and 14 and the payloads No. 23 and 24 on the upper layers of the No. 1 and No. 6 compartments are respectively z0 The parachute is thrown to the left and right sides of the dispenser at a speed of , and the parachute opening delay times of the two groups of payloads are Δt4 and Δt5 respectively.

8. An electronic device, characterized in that The method comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the method for designing a time-accurate distribution strategy for a payload as described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method for designing a time-accurate deployment strategy for a payload according to any one of claims 1 to 6.

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