Flight characteristics simulation method, system, electronic equipment and storage medium

Abstract

The present invention provides a flight characteristics simulation method, system, electronic device, and storage medium. The method comprises: obtaining target flight parameters, including a target heading; determining corresponding target force and torque parameters based on the target flight parameters, including a roll attitude parameter, which is determined based on the deviation between the target heading and the current heading; and performing flight characteristics simulation based on the target force and torque parameters. The method determines the roll attitude parameter based on the target heading, and then performs flight characteristics simulation based on the roll attitude parameter, thereby achieving an attitude response of a simulated aircraft that is more consistent with a real aircraft, thereby improving the simulation effect of the simulated aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft simulation, and in particular to a flight characteristics simulation method, system, electronic equipment and storage medium. Background Art

[0002] As an important component of modern flight simulation technology, the core value of the intelligent aircraft modeling system lies in providing a highly simulated platform to meet diverse needs such as command training, flight testing, performance evaluation, and flight mission simulation. It can also be used for flight simulator leader and wingman simulation.

[0003] The existing flight characteristics simulation method simply performs analytical calculations on the speed, position and true heading of the simulated aircraft, and the degree of simulation of the simulated aircraft attitude is low. Summary of the Invention

[0004] The present invention provides a flight characteristics simulation method to solve the defect of low simulation degree of simulated aircraft attitude in the existing technology. The roll attitude parameters are determined according to the target heading, and then flight characteristics simulation is performed based on the roll attitude parameters, so that the attitude response of the simulated aircraft is more consistent with that of a real aircraft, thereby improving the simulation effect of the simulated aircraft.

[0005] The present invention provides a flight characteristics simulation method, comprising the following steps:

[0006] Acquiring target flight parameters, wherein the target flight parameters include target heading;

[0007] Determining corresponding target force and torque parameters based on the target flight parameters, the target force and torque parameters including a roll attitude parameter, the roll attitude parameter being determined based on a deviation between the target heading and the current heading;

[0008] A flight characteristic simulation is performed based on the target force and torque parameters.

[0009] According to a flight characteristics simulation method provided by the present invention, determining corresponding target force and torque parameters based on the target flight parameters includes:

[0010] Based on the target yaw rate and a preset correspondence between the yaw rate and the roll angle, a target roll angle corresponding to the target yaw rate is determined, where the target yaw rate is determined based on the target heading and the current heading; and based on the target roll angle and the current roll angle, a body axis X-direction torque is determined, where the body axis X-direction torque is the target force and torque parameter.

[0011] According to a flight characteristics simulation method provided by the present invention, the target flight parameters further include a target altitude, the target force and torque parameters include a pitch attitude parameter, and determining corresponding target force and torque parameters based on the target flight parameters includes:

[0012] determining, based on a target climb rate and a preset correspondence between a climb rate and a pitch angle, a target pitch angle corresponding to the target climb rate, wherein the target climb rate is determined based on the target altitude and the current altitude;

[0013] The Y-axis moment of the body axis is determined according to the target pitch angle and the current pitch angle, and the Y-axis moment of the body axis is the target force and moment parameter.

[0014] According to a flight characteristics simulation method provided by the present invention, before performing flight characteristics simulation according to the target force and torque parameters, the method further includes:

[0015] Determining target values ​​corresponding to the target force and torque parameters, where the target values ​​corresponding to the target force and torque parameters are smaller values ​​between current values ​​corresponding to the target force and torque parameters and threshold values ​​corresponding to the target force and torque parameters, where the threshold values ​​of the target force and torque parameters are determined based on setting values ​​corresponding to model configuration parameters;

[0016] The flight characteristic simulation according to the target force and torque parameters includes:

[0017] The flight characteristics simulation is performed according to the target values ​​corresponding to the target force and torque parameters.

[0018] According to a flight characteristics simulation method provided by the present invention, the aircraft model configuration parameters include at least one of mass data, maximum speed, braking speed, takeoff speed, level flight speed, maximum climb rate and ceiling, and the setting values ​​corresponding to the aircraft model configuration parameters correspond to the target simulated aircraft model.

[0019] According to a flight characteristics simulation method provided by the present invention, before performing flight characteristics simulation according to the target force and torque parameters, the method further includes:

[0020] Get target environment parameters;

[0021] Converting the target environmental parameters into environmental wind parameters, wherein the environmental wind parameters include wind direction parameters and wind speed parameters;

[0022] The flight characteristic simulation according to the target force and torque parameters includes:

[0023] A flight characteristic simulation is performed based on the ambient wind parameters and the target force and torque parameters.

[0024] According to a flight characteristics simulation method provided by the present invention, before performing flight characteristics simulation based on the ambient wind parameters and the target force and torque parameters, the method further includes:

[0025] Determining flight motion parameters according to the target force and torque parameters, wherein the flight motion parameters include altitude information;

[0026] determining atmospheric parameters based on the altitude information;

[0027] The performing of flight characteristic simulation according to the ambient wind parameters and the target force and torque parameters includes:

[0028] Flight characteristic parameters are determined according to the atmospheric parameters, the flight motion parameters and the ambient wind parameters.

[0029] According to a flight characteristics simulation method provided by the present invention, obtaining target flight parameters includes:

[0030] Obtain target integrated control instructions;

[0031] Determining at least two target basic control instructions corresponding to the target comprehensive control instruction according to the target comprehensive control instruction and the preset correspondence between the comprehensive control instruction and the basic control instruction;

[0032] According to the flight parameters corresponding to each of the at least two target basic control instructions, target flight parameters corresponding to the at least two target basic control instructions are determined.

[0033] The present invention also provides a flight characteristics simulation system, comprising the following modules:

[0034] Setting a parameter acquisition module for acquiring target flight parameters, wherein the target flight parameters include target heading;

[0035] a control parameter acquisition module, configured to determine corresponding target force and torque parameters based on the target flight parameters, wherein the target force and torque parameters include a roll attitude parameter, which is determined based on a deviation between the target heading and the current heading;

[0036] The flight characteristic simulation module is used to simulate the flight characteristics according to the target force and torque parameters.

[0037] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of any of the above-described flight characteristics simulation methods are implemented.

[0038] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the flight characteristics simulation methods described above are implemented.

[0039] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any of the above-mentioned flight characteristics simulation methods are implemented.

[0040] The flight characteristics simulation method, system, electronic device and storage medium provided by the present invention determine roll attitude parameters based on the target heading, and then simulate the flight characteristics based on the roll attitude parameters, so that the attitude response of the simulated aircraft is more consistent with that of a real aircraft, thereby improving the simulation effect of the simulated aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is one of the flow charts of the flight characteristics simulation method provided by the present invention;

[0043] Figure 2 One of the flow charts of the method for determining force and torque parameters provided by the present invention;

[0044] Figure 3 The second flow chart of the method for determining force and torque parameters provided by the present invention;

[0045] Figure 4 This is the second flow chart of the flight characteristics simulation method provided by the present invention;

[0046] Figure 5 This is the third flow chart of the flight characteristics simulation method provided by the present invention;

[0047] Figure 6 1. It is a schematic diagram of the application process of the flight characteristics simulation method provided by the present invention;

[0048] Figure 7 It is a flow chart of the method for obtaining target flight parameters provided by the present invention;

[0049] Figure 8 It is a structural diagram of the intelligent aircraft modeling system provided by the present invention;

[0050] Figure 91 is a schematic structural diagram of the flight characteristics simulation system provided by the present invention;

[0051] Figure 10 It is a schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0053] With the advancement of aviation technology, the demand for flight training that simulates real-world flight environments is growing. Traditional flight training methods are costly and risky, so efficient and safe flight simulation systems are crucial for improving pilot training efficiency. As a crucial component of modern flight simulation technology, the core value of intelligent aircraft modeling systems lies in providing a highly realistic platform that meets diverse needs such as command training, flight testing, performance evaluation, and mission simulation. It can also be used for flight simulators to simulate both pilots and wingmen.

[0054] The existing flight characteristic simulation method of the simulated aircraft is simply to perform analytical calculations on the speed, position and true heading of the simulated aircraft, and the degree of simulation of the simulated aircraft attitude is low.

[0055] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

[0056] Figure 1 This is one of the flow charts of the flight characteristics simulation method provided by the present invention. Figure 1 As shown, the method includes the following steps 101 to 103.

[0057] Step 101: Acquire target flight parameters, where the target flight parameters include target heading.

[0058] It should be noted that target flight parameters are control parameters that instruct the simulated aircraft to fly. They can be flight parameters generated based on control instructions or received from user input. Target flight parameters may include target heading. The embodiments of the present invention do not limit the method for obtaining target flight parameters or the type of target flight parameters.

[0059] Step 102: Determine corresponding target force and torque parameters based on the target flight parameters, where the target force and torque parameters include roll attitude parameters, which are determined based on the deviation between the target heading and the current heading.

[0060] It should be noted that after obtaining the target flight parameters, the target force and torque parameters are determined according to the target flight parameters, wherein the force and torque parameters include roll attitude parameters, and the roll attitude parameters are determined according to the deviation between the target heading and the current heading.

[0061] It is understandable that existing flight characteristics simulation methods do not coordinate changes in roll attitude during turns and therefore can only control true heading, without the ability to control roll attitude. The present invention determines roll attitude parameters based on the deviation between the target heading and the current heading, either through formula calculation or model calculation. The present invention does not limit the method for determining the corresponding target force and torque parameters based on the target flight parameters.

[0062] Step 103: Perform flight characteristic simulation according to the target force and torque parameters.

[0063] It should be noted that after obtaining the target force and torque parameters, flight characteristics simulation can be performed based on the target force and torque parameters. There are many ways to perform flight characteristics simulation based on the target force and torque parameters, such as generating flight motion parameters using a preset calculation formula and performing flight characteristics simulation based on the flight motion parameters, or inputting the target force and torque parameters into a preset model to perform flight characteristics simulation. The present invention does not limit the method for performing flight characteristics simulation based on the target force and torque parameters.

[0064] Understandably, existing flight characteristics simulation methods offer a low degree of simulation of the simulated aircraft's attitude and lack the ability to control roll attitude. By associating the simulated aircraft's flight attitude with its flight state, the present invention makes the aircraft's attitude response more closely resemble that of a real aircraft, achieving a higher degree of simulation of the simulated aircraft's response.

[0065] In some embodiments, the roll attitude parameter may be determined according to the deviation between the target heading and the current heading by calculating the yaw angular velocity.

[0066] Figure 2 This is one of the flow charts of the method for determining force and torque parameters provided by the present invention. Figure 2 As shown, the method includes the following steps 201 and 202.

[0067] Step 201: Determine a target roll angle corresponding to the target yaw angular velocity according to a target yaw angular velocity and a preset correspondence between the yaw angular velocity and the roll angle, wherein the target yaw angular velocity is determined according to the target heading and the current heading.

[0068] It should be noted that after determining the target heading, the Z-axis moment of the aircraft can be calculated based on the deviation between the target heading and the current heading. Six-degree-of-freedom calculations can then be performed based on the Z-axis moment to obtain the yaw rate. The calculation of the Z-axis moment and the degree-of-freedom calculations can be performed using existing methods. The present invention does not limit the method for determining the target yaw rate based on the target heading and the current heading.

[0069] In addition, the correspondence between the preset yaw rate and the roll angle can be a preset correlation formula between the yaw rate and the roll angle. When the heading of the simulated aircraft changes, the roll attitude changes accordingly. When the roll attitude of the simulated aircraft changes, its heading also changes accordingly. The heading change and the change in the aircraft's roll attitude can be correlated using a coordinated turn formula, which is as follows: Where ω is the yaw and roll angular velocity, is the roll angle, V is the ground speed, and g is the acceleration due to gravity. The coordinated turning formula can be based on the formula In the above calculation formula, F is the centripetal force, r is the turning radius, m is the mass of the aircraft, g is the acceleration of gravity, and V is the ground speed. is the roll angle.

[0070] It is understandable that after obtaining the yaw angular velocity, the roll angle can be calculated according to the coordinated turning formula, and the roll angle is the roll attitude parameter.

[0071] Step 202: Determine the X-axis moment of the body according to the target roll angle and the current roll angle, where the X-axis moment of the body is the target force and moment parameter.

[0072] It should be noted that after obtaining the target roll angle, the X-axis moment of the aircraft can be determined based on the target roll angle and the current roll angle. The X-axis moment of the aircraft is the target force and moment parameter. The method for determining the X-axis moment of the aircraft based on the target roll angle and the current roll angle can adopt existing methods. The present invention does not limit the method for determining the X-axis moment of the aircraft based on the target roll angle and the current roll angle.

[0073] The flight characteristics simulation method provided by the embodiment of the present invention can realize attitude control of the simulated aircraft, that is, realize coordinated turning control, so that the attitude response of the simulated aircraft is more consistent with that of a real aircraft and the degree of simulation is higher.

[0074] In some embodiments, in terms of attitude control, existing simulated aircraft control methods do not have the function of controlling pitch attitude, that is, they cannot respond to situations such as changes in climb rate caused by changes in pitch attitude.

[0075] Figure 3 This is the second flow chart of the method for determining force and torque parameters provided by the present invention. Figure 3 As shown, the target flight parameters also include a target altitude, and the target force and torque parameters include a pitch attitude parameter. Determining the corresponding target force and torque parameters based on the target flight parameters may include:

[0076] Step 301: Determine a target pitch angle corresponding to the target climb rate according to a target climb rate and a preset correspondence between the climb rate and the pitch angle, wherein the target climb rate is determined according to the target altitude and the current altitude.

[0077] It should be noted that after obtaining the target altitude, a target climb rate can be determined based on the deviation between the target altitude and the current altitude, and then a target pitch angle can be determined based on the correspondence between the target climb rate and the pitch angle. The preset correspondence between the climb rate and the pitch angle can be a calculation formula, a correspondence, or the like. The present invention does not limit the method for determining the target pitch angle corresponding to the target climb rate based on the target climb rate and the preset correspondence between the climb rate and the pitch angle.

[0078] Step 302: Determine the Y-axis moment of the body according to the target pitch angle and the current pitch angle, where the Y-axis moment of the body is the target force and moment parameter.

[0079] It should be noted that after obtaining the target pitch angle, the Y-axis moment of the aircraft can be determined based on the target pitch angle and the current pitch angle. The Y-axis moment of the aircraft can be the target force and moment parameters. The method for determining the Y-axis moment of the aircraft can be conventional. The present invention does not limit the method for determining the Y-axis moment of the aircraft based on the target pitch angle and the current pitch angle.

[0080] Furthermore, the preset correspondence between the climb rate and the pitch angle may be a correlation formula between the change in the pitch attitude of the simulated aircraft and the climb rate, flight speed, and angle of attack of the simulated aircraft. The specific correlation formula is as follows: Where θ is the pitch angle, V y is the climb rate, V IAS is the indicated airspeed, and α is the angle of attack. After obtaining the climb rate of the simulated aircraft, the pitch angle can be determined according to the associated formula.

[0081] The flight characteristic simulation method provided by the present invention associates the flight attitude of the simulated aircraft with flight setting parameters, realizes climb and descent control, makes the attitude response of the simulated aircraft more consistent with that of a real aircraft, and has a higher degree of simulation.

[0082] In some embodiments, different aircraft models have different performance parameter limitations. When performing flight characteristics simulation, the simulation needs to be performed based on the performance parameter limitations of the aircraft model.

[0083] Figure 4 This is the second flow chart of the flight characteristics simulation method provided by the present invention. Figure 4 As shown, the method includes the following steps 401 to 404.

[0084] Step 401: Acquire target flight parameters, where the target flight parameters include target heading.

[0085] It should be noted that, for the description of step 401 , reference may be made to the description of step 101 in the aforementioned embodiment, which will not be repeated here.

[0086] Step 402: Determine corresponding target force and torque parameters based on the target flight parameters, wherein the target force and torque parameters include a roll attitude parameter, which is determined based on a deviation between the target heading and the current heading.

[0087] It should be noted that, for the description of step 402 , reference may be made to the description of step 102 in the aforementioned embodiment, which will not be repeated here.

[0088] Step 403: Determine the target value corresponding to the target force and torque parameters, where the target value corresponding to the target force and torque parameters is the smaller value between the current value corresponding to the target force and torque parameters and the threshold value corresponding to the target force and torque parameters. The threshold value of the target force and torque parameters is determined based on the setting value corresponding to the model configuration parameter.

[0089] It should be noted that determining the corresponding target force and torque parameters based on the target flight parameters, i.e., determining the current values ​​of the target force and torque parameters. After obtaining the current values ​​of the target force and torque parameters, target values ​​of the target force and torque parameters are determined based on threshold values ​​corresponding to the target force and torque parameters.

[0090] It can be understood that if the current value corresponding to the target force and torque parameters is less than or equal to the threshold value corresponding to the target force and torque parameters, then the target value corresponding to the target force and torque parameters is the current value corresponding to the target force and torque parameters; if the current value corresponding to the target force and torque parameters is greater than the threshold value corresponding to the target force and torque parameters, then the target value corresponding to the target force and torque parameters is the threshold value corresponding to the target force and torque parameters.

[0091] Furthermore, in terms of simulated aircraft models, existing flight characteristics simulation methods can only simulate a single aircraft model and do not have the function of controlling multiple aircraft models through parameters.

[0092] In an embodiment of the present invention, the aircraft model configuration parameters may include at least one of mass data, maximum speed, braking speed, take-off speed, level flight speed, maximum climb rate and ceiling, and the setting values ​​corresponding to the aircraft model configuration parameters correspond to the target simulated aircraft model.

[0093] It should be noted that the flight characteristics simulation method of the simulated aircraft provided by the present invention can be expanded to multiple aircraft models by configuring parameters. The main control parameters are: mass data, maximum speed, braking speed, take-off speed, level flight speed, maximum climb rate and ceiling. Through the above parameters, the acceleration and deceleration characteristics, climb rate, take-off and landing speed, take-off and landing distance and ceiling of the simulated aircraft can be controlled, thereby realizing the simulation of the main characteristics of different models of the target simulated aircraft.

[0094] Step 404: Perform flight characteristic simulation according to the target values ​​corresponding to the target force and torque parameters.

[0095] It should be noted that after the target value corresponding to the target torque parameter is determined, the flight characteristics simulation can be performed according to the target value corresponding to the target torque parameter.

[0096] It is understood that by configuring the values ​​of the model configuration parameters, different aircraft models can be configured for flight characteristics simulation, that is, the aircraft models can be expanded. For example, the aircraft models can be expanded by modifying the configuration file of the intelligent aircraft modeling system or other means. The above method can increase the range of simulated aircraft models of the flight characteristics simulation method, expanding the scope of application of the flight characteristics simulation method.

[0097] In some embodiments, in terms of responding to the meteorological environment, existing flight characteristics simulation methods are unable to respond to the meteorological environment.

[0098] Figure 5 This is the third flow chart of the flight characteristics simulation method provided by the present invention. Figure 5 As shown, the method includes the following steps 501 to 505.

[0099] Step 501: Acquire target flight parameters, where the target flight parameters include target heading.

[0100] It should be noted that, for the description of step 501 , reference may be made to the description of step 101 in the aforementioned embodiment, which will not be repeated here.

[0101] Step 502: Determine corresponding target force and torque parameters according to the target flight parameters.

[0102] It should be noted that, for the description of step 502 , reference may be made to the description of step 102 in the aforementioned embodiment, which will not be repeated here.

[0103] Step 503: Obtain target environment parameters.

[0104] It should be noted that the target environmental parameters are environmental information input when performing flight characteristics simulation, and the target environmental parameters can affect the flight characteristics simulation. For example, the target environmental parameters can include meteorological environment, etc.

[0105] Step 504: Convert the target environmental parameters into environmental wind parameters, where the environmental wind parameters include wind direction parameters and wind speed parameters.

[0106] It should be noted that the target environmental parameters can be converted into environmental wind parameters according to the correspondence between the preset environmental parameters and the environmental wind parameters, or according to a preset calculation formula, etc. The present invention does not limit the method of converting the target environmental parameters into environmental wind parameters.

[0107] Step 505: Perform flight characteristic simulation based on the ambient wind parameters and the target force and torque parameters.

[0108] It should be noted that the method of simulating flight characteristics based on the ambient wind parameters and the target force and torque parameters includes control according to a preset formula, or input model control, etc. The present invention does not limit the method of simulating flight characteristics based on the ambient wind parameters and the target force and torque parameters.

[0109] It can be understood that the flight characteristics simulation method provided by the present invention can respond to the setting of complex meteorological environment, convert the target environmental parameters into wind speed and wind direction, and then perform characteristic modeling based on the wind speed and direction and target force and torque parameters, thereby improving the simulation effect of flight characteristics simulation.

[0110] In some embodiments, flight motion parameters of the simulated aircraft may be generated based on target force and torque parameters.

[0111] Figure 6 FIG. 1 is a schematic diagram of the application flow of the flight characteristics simulation method provided by the present invention. Figure 6 As shown, the flight characteristic simulation based on the ambient wind parameters and the target force and torque parameters may include:

[0112] Step 601: Determine flight motion parameters based on the target force and torque parameters, where the flight motion parameters include altitude information.

[0113] It should be noted that the target force and torque parameters may include force and torque control information, and kinematic calculations may be performed based on the force and torque control information to generate flight motion parameters, wherein the flight motion parameters include altitude information. The present invention does not limit the method for determining flight motion parameters based on the target force and torque parameters.

[0114] Step 602: Determine atmospheric parameters based on the altitude information.

[0115] It should be noted that the method of determining the atmospheric parameters based on the altitude information may include obtaining the atmospheric parameters based on the altitude information and the current location information, or obtaining the atmospheric parameter information from the server based on the altitude information, etc. The present invention does not limit the method of determining the atmospheric parameters based on the altitude information.

[0116] Step 603: Determine flight characteristic parameters based on the atmospheric parameters, the flight motion parameters, and the ambient wind parameters.

[0117] It should be noted that after obtaining the atmospheric parameters, flight motion parameters, and ambient wind parameters, the flight characteristic parameters can be determined by calculation according to a formula, calculation by an input module, or calculation by an input calculation module.

[0118] For example, atmospheric parameters, flight motion parameters, and ambient wind parameters can be input into the flight parameter calculation module of the simulated aircraft. Based on the current flight motion parameters, ambient wind parameters, and atmospheric environment information at the current location of the simulated aircraft, corresponding flight characteristic parameter information, including but not limited to true airspeed, indicated airspeed, and Mach number parameter information, can be calculated. The true airspeed and Mach number calculation formulas are as follows:

[0119] V TAS =V b +V w ;M a =V TAS / V sound ;P total =P static *pow(1+0.2*(M a *M a ), 3.5);

[0120] Where V TAS is the true airspeed, V b is the body shaft speed, V w is the wind speed, M a is the Mach number, V sound is the speed of sound at the location of the simulated aircraft, P total is the total pressure, P static is the static pressure, V IAsis the indicated airspeed.

[0121] As the above formula shows, changes in wind speed will cause changes in true airspeed, Mach number, dynamic pressure, and indicated airspeed. This means that the intelligent aircraft modeling system responds to the meteorological environment, affecting flight parameters. For example, if there is a headwind during flight, the ground speed will decrease while maintaining the indicated airspeed. A crosswind will cause the simulated aircraft to yaw.

[0122] It is understood that the flight characteristics simulation method provided by the present invention can respond to the meteorological environment, converting the meteorological environment into wind speed and direction, which is then applied to the simulated aircraft, thereby changing the simulated aircraft's flight state. This method can determine aircraft characteristic parameters while incorporating environmental factors, thereby enhancing the simulation effect of the flight characteristics simulation method.

[0123] In some embodiments, in terms of responding to complex instructions, existing flight characteristics simulation methods can only track speed, altitude and heading, and cannot respond to comprehensive and complex instructions such as takeoff, aerial flight (level flight and maneuvering), approach, landing, go-around / escape, etc.

[0124] Figure 7 This is a flow chart of the method for obtaining target flight parameters provided by the present invention. Figure 7 As shown, obtaining target flight parameters may include:

[0125] Step 701: Obtain target integrated control instructions;

[0126] It should be noted that the method for obtaining the target comprehensive control instruction may be receiving the target comprehensive control instruction input by the user, or receiving the target comprehensive control instruction transmitted by other devices, etc. The present invention does not limit the method for obtaining the target comprehensive control instruction.

[0127] Step 702: Determine at least two target basic control instructions corresponding to the target integrated control instruction according to the target integrated empty instruction and the preset correspondence between integrated control instructions and basic control instructions.

[0128] It should be noted that, according to the preset correspondence between the comprehensive control instruction and the basic control instruction, the target comprehensive control instruction can be divided into at least two target basic control instructions.

[0129] Step 703: Determine target flight parameters corresponding to the at least two target basic control instructions according to the flight parameters corresponding to each target basic control instruction in the at least two target basic control instructions.

[0130] It should be noted that, according to the flight parameters corresponding to each target basic control instruction, target flight parameters corresponding to at least two target basic control instructions can be determined.

[0131] The flight characteristics simulation method provided by the present invention can receive basic control instructions such as target speed, target altitude, target climb rate, target roll angle and target heading. At the same time, it can also receive comprehensive complex instructions such as taxiing, takeoff, aerial flight (level flight and maneuvering), approach, landing, go-around / escape, etc., and then parse the complex instructions into basic control instructions to realize the control of the simulated aircraft.

[0132] For example, a takeoff command requires controlling the aircraft to accelerate during rollout, climb to a specified altitude, and then maintain level flight at the current heading. The specific command decomposition and implementation process are as follows:

[0133] 1) Taxi: The target heading is controlled to the current heading, the target altitude is controlled to the current altitude, and the target speed is controlled to the takeoff speed. The simulated aircraft is controlled to maintain the current heading and speed and accelerate from 0 to the takeoff speed. When the flight speed reaches the takeoff speed, it is judged to enter the next stage.

[0134] 2) Climb: The target heading is controlled to the current heading, the target altitude is controlled to the level flight altitude, and the target speed is controlled to the level flight speed. The simulated aircraft is controlled to maintain the current heading, climb from the current altitude to the level flight altitude, and accelerate from the takeoff speed to the level flight speed. When the flight altitude reaches the level flight altitude, it is determined to enter the next stage.

[0135] 3) Level Flight: The target heading is controlled to the current heading, the target altitude is controlled to the current altitude, and the target speed is controlled to the current speed. At this time, the simulated aircraft is controlled to maintain the current heading, speed, and altitude, that is, the simulated aircraft is controlled to fly level.

[0136] As described in the example above, takeoff commands can be broken down into three basic control commands: roll, climb, and level flight. These three basic control commands can be further broken down into three flight parameters: target heading, target altitude, and target height. Other complex and comprehensive commands can also be broken down into basic commands and flight parameters using the above method, enabling control of the simulated aircraft and improving the operational simplicity of flight characteristics simulation.

[0137] The following describes an exemplary application of an embodiment of the present invention in a practical application scenario.

[0138] Figure 8 This is a schematic diagram of the structure of the intelligent aircraft modeling system provided by the present invention. Figure 8As shown in FIG, the intelligent aircraft modeling system is the flight characteristics simulation system provided by the present invention. The intelligent aircraft modeling system consists of three modules, namely the logic control module, the six-degree-of-freedom module and the flight parameter calculation module. Among them, the logic control module receives control instructions and generates force and torque control information, the six-degree-of-freedom module receives force and torque control information and performs kinematic calculation to generate flight motion parameters, and the flight parameter calculation module receives flight motion parameters and generates flight characteristic parameters. The relationship between each module and the implementation flow chart are shown in FIG. Figure 8 shown.

[0139] 1. Logic Control Module: Generates control forces and torques for the simulated aircraft based on control commands. The control commands can be used to obtain target flight parameters, which are then used to generate force and torque control information. The intelligent aircraft modeling system receives basic control commands from the user, including target flight parameters such as target speed, target altitude, and target heading. It also receives complex control commands and parses them into basic control commands and target flight parameters through the logic control module. A proportional-integral-differential (PID) control function is used to generate the X-axis force based on the target speed and current speed information. A target climb rate is calculated based on the target altitude and current altitude information, and a PID control function is used to generate the Z-axis force based on the target climb rate and current climb rate information. A PID control function is used to generate the Y-axis force to eliminate the lateral velocity of the simulated aircraft. A Z-axis torque is calculated based on the target heading and current heading information. The Z-axis torque is calculated using a six-degree-of-freedom module to generate the yaw rate. The target roll angle is generated based on the yaw rate using the coordinated turning formula provided in the above embodiment. The X-axis torque is then calculated based on the target roll angle and current roll angle information. A target pitch angle is generated based on the pitch angle calculation formula provided in the above embodiment based on the climb rate information, and a Y-axis torque is calculated based on the target pitch angle and current pitch angle information. The generated force and torque parameters are limited by the aircraft configuration parameters before being output. For example, the maximum speed and braking speed in the aircraft configuration parameters can be used to limit the generated X-axis force of the aircraft body, thereby determining the acceleration and deceleration effects of the simulated aircraft and flight characteristics such as the maximum flight speed.

[0140] 2. Six-Degree-of-Freedom Module: Generates flight motion parameters for the simulated aircraft based on control forces and torques. The six-degree-of-freedom module of the intelligent aircraft modeling system receives the force and torque control information generated by the logic control module and sequentially calculates the aircraft's axial acceleration and angular acceleration, axial velocity and angular velocity, linear acceleration and angular acceleration in the north-east coordinate system, latitude and longitude altitude position, and three-axis attitude, i.e., the flight motion parameters.

[0141] 3. Flight Parameter Calculation Module: Generates flight characteristic parameters for the simulated aircraft based on flight motion parameters. The intelligent aircraft modeling system's flight parameter calculation module receives the six-degree-of-freedom flight motion parameters, calculates atmospheric parameters at the simulated aircraft's location based on the altitude information contained in the flight motion parameters, and calculates wind speed and direction parameters based on the target environment parameters. Flight characteristic parameter information, including but not limited to true airspeed, indicated airspeed, and Mach number, is calculated based on the flight motion parameters, atmospheric parameters, and wind speed and direction parameters.

[0142] The flight characteristics simulation method provided by the present invention can expand the aircraft model by modifying or configuring parameter information through a configuration file. The flight attitude of the intelligent aircraft can also be associated with the flight state, so that the aircraft attitude response is closer to the real aircraft response. It can also respond to the meteorological environment, convert the meteorological environment into wind speed and direction to act on the simulated aircraft, so that the flight state of the model aircraft changes. It can also respond to complex instructions. In addition to the basic instructions other than tracking target speed, altitude and heading, it can respond to comprehensive and complex instructions such as taxiing, takeoff, aerial flight (level flight and maneuvering), approach, landing, go-around / escape, etc. The response simulation degree of the flight characteristics simulation method for model aircraft provided by the present invention is higher than that of the existing technology.

[0143] The flight characteristics simulation system provided by the present invention is described below. The flight characteristics simulation system described below and the flight characteristics simulation method described above can be referenced to each other.

[0144] Figure 9 FIG. 1 is a schematic diagram of the structure of the flight characteristics simulation system provided by the present invention. Figure 9 As shown, the flight characteristics simulation system 800 includes a setting parameter acquisition module 801, a control parameter acquisition module 802 and a flight characteristics simulation module 803.

[0145] Setting a parameter acquisition module 801 for acquiring target flight parameters, wherein the target flight parameters include target heading;

[0146] A control parameter acquisition module 802 is configured to determine corresponding target force and torque parameters based on the target flight parameters, wherein the target force and torque parameters include a roll attitude parameter, which is determined based on the deviation between the target heading and the current heading;

[0147] The flight characteristic simulation module 803 is used to perform flight characteristic simulation according to the target force and torque parameters.

[0148] Based on the above embodiment, in this embodiment, the control parameter acquisition module 802 includes a yaw parameter unit and an X-direction torque unit, wherein:

[0149] The yaw parameter unit is configured to determine a target roll angle corresponding to the target yaw angular velocity based on the target yaw angular velocity and a preset correspondence between the yaw angular velocity and the roll angle, wherein the target yaw angular velocity is determined based on the target heading and the current heading;

[0150] The X-direction torque unit is used to determine the body axis X-direction torque according to the target roll angle and the current roll angle, and the body axis X-direction torque is the target force and torque parameter.

[0151] Based on the above embodiment, in this embodiment, the control parameter acquisition module 802 includes a climbing rate unit and a Y-direction torque unit, wherein:

[0152] The climb rate unit is configured to determine a target pitch angle corresponding to the target climb rate based on the target climb rate and a preset correspondence between the climb rate and the pitch angle, wherein the target climb rate is determined based on the target altitude and the current altitude;

[0153] The Y-direction torque unit is used to determine the Y-direction torque of the body axis according to the target pitch angle and the current pitch angle, and the Y-direction torque of the body axis is the target force and torque parameter.

[0154] Based on the above embodiments, in this embodiment, the flight characteristics simulation system also includes a target value determination module, which is used to determine the target value corresponding to the target force and torque parameters. The target value corresponding to the target force and torque parameters is the smaller value between the current value corresponding to the target force and torque parameters and the threshold value corresponding to the target force and torque parameters. The threshold value of the target force and torque parameters is determined according to the setting value corresponding to the aircraft model configuration parameter; the flight characteristics simulation module 803 is specifically used to: perform the flight characteristics simulation according to the target value corresponding to the target force and torque parameters.

[0155] Based on the above embodiment, in this embodiment, the aircraft model configuration parameters include at least one of mass data, maximum speed, braking speed, take-off speed, level flight speed, maximum climb rate and ceiling, and the setting values ​​corresponding to the aircraft model configuration parameters correspond to the target simulated aircraft model.

[0156] Based on the above embodiments, in this embodiment, the flight characteristics simulation system also includes an environmental parameter acquisition module, which is used to: obtain target environmental parameters; convert the target environmental parameters into environmental wind parameters, and the environmental wind parameters include wind direction parameters and wind speed parameters; the flight characteristics simulation module 803 is specifically used to: perform flight characteristics simulation based on the environmental wind parameters and the target force and torque parameters.

[0157] Based on the above embodiments, in this embodiment, the flight characteristics simulation system also includes a motion parameter acquisition module, which is used to determine the flight motion parameters based on the target force and torque parameters, and the flight motion parameters include altitude information; determine the atmospheric parameters based on the altitude information; the flight characteristics simulation module 803 is specifically used to: determine the flight characteristic parameters based on the atmospheric parameters, the flight motion parameters and the ambient wind parameters.

[0158] The flight characteristics simulation system provided by the present invention determines the roll attitude parameters according to the target heading, and then simulates the flight characteristics according to the roll attitude parameters, so that the attitude response of the simulated aircraft is more consistent with that of the real aircraft, thereby improving the simulation effect of the simulated aircraft.

[0159] Figure 10 Schematic diagram of the physical structure of the electronic device provided by the present invention. Figure 10 As shown, the electronic device may include: a processor 901, a communications interface 902, a memory 903, and a communications bus 904, wherein the processor 901, the communications interface 902, and the memory 903 communicate with each other via the communications bus 904. The processor 901 may call logic instructions in the memory 903 to execute a flight characteristics simulation method, which includes: obtaining target flight parameters, wherein the target flight parameters include a target heading; determining corresponding target force and torque parameters based on the target flight parameters, wherein the target force and torque parameters include a roll attitude parameter, wherein the roll attitude parameter is determined based on the deviation between the target heading and the current heading; and performing flight characteristics simulation based on the target force and torque parameters.

[0160] In addition, the logic instructions in the above-mentioned memory 903 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0161] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the flight characteristic simulation method provided by the above methods, which includes: obtaining target flight parameters, the target flight parameters including target heading; determining corresponding target force and torque parameters based on the target flight parameters, the target force and torque parameters including roll attitude parameters, the roll attitude parameters being determined based on the deviation between the target heading and the current heading; and performing flight characteristic simulation based on the target force and torque parameters.

[0162] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0163] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the flight characteristic simulation method provided by the above-mentioned methods, the method comprising: obtaining target flight parameters, the target flight parameters including target heading; determining corresponding target force and torque parameters based on the target flight parameters, the target force and torque parameters including roll attitude parameters, the roll attitude parameters being determined based on the deviation between the target heading and the current heading; and performing flight characteristic simulation based on the target force and torque parameters.

[0164] The above-mentioned non-transient computer-readable storage medium can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or non-transient computer-readable storage media. Non-transient computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. More specific examples (non-exhaustive list) of non-transient computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM) or flash memory, optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, non-transient computer-readable storage media can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0165] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a non-transitory computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0166] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0167] Computer program code for performing the operations of this specification may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0168] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0169] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A flight characteristics simulation method, characterized in that: include: Acquiring target flight parameters, wherein the target flight parameters include target heading; Determining corresponding target force and torque parameters based on the target flight parameters, the target force and torque parameters including a roll attitude parameter, the roll attitude parameter being determined based on a deviation between the target heading and the current heading; performing flight characteristic simulation according to the target force and torque parameters; Determining corresponding target force and torque parameters according to the target flight parameters includes: determining, based on a target yaw rate and a preset correspondence between the yaw rate and the roll angle, a target roll angle corresponding to the target yaw rate, wherein the target yaw rate is determined based on the target heading and the current heading; Determine the body axis X-direction moment according to the target roll angle and the current roll angle, wherein the body axis X-direction moment is the target force and moment parameter; The target flight parameters further include a target altitude, and the target force and torque parameters include a pitch attitude parameter. Determining corresponding target force and torque parameters based on the target flight parameters includes: determining, based on a target climb rate and a preset correspondence between a climb rate and a pitch angle, a target pitch angle corresponding to the target climb rate, wherein the target climb rate is determined based on the target altitude and the current altitude; The Y-axis moment of the body axis is determined according to the target pitch angle and the current pitch angle, and the Y-axis moment of the body axis is the target force and moment parameter.

2. The flight characteristics simulation method according to claim 1, wherein: Before performing flight characteristic simulation according to the target force and torque parameters, the method further includes: Determining target values ​​corresponding to the target force and torque parameters, where the target values ​​corresponding to the target force and torque parameters are smaller values ​​between current values ​​corresponding to the target force and torque parameters and threshold values ​​corresponding to the target force and torque parameters, where the threshold values ​​of the target force and torque parameters are determined based on setting values ​​corresponding to model configuration parameters; The flight characteristic simulation according to the target force and torque parameters includes: The flight characteristics simulation is performed according to the target values ​​corresponding to the target force and torque parameters.

3. The flight characteristics simulation method according to claim 1, wherein: Before performing flight characteristic simulation according to the target force and torque parameters, the method further includes: Get target environment parameters; Converting the target environmental parameters into environmental wind parameters, wherein the environmental wind parameters include wind direction parameters and wind speed parameters; The flight characteristic simulation according to the target force and torque parameters includes: A flight characteristic simulation is performed based on the ambient wind parameters and the target force and torque parameters.

4. The flight characteristics simulation method according to claim 3, characterized in that: Before performing flight characteristic simulation according to the ambient wind parameters and the target force and torque parameters, the method further includes: Determining flight motion parameters according to the target force and torque parameters, wherein the flight motion parameters include altitude information; determining atmospheric parameters based on the altitude information; The performing of flight characteristic simulation according to the ambient wind parameters and the target force and torque parameters includes: Flight characteristic parameters are determined according to the atmospheric parameters, the flight motion parameters and the ambient wind parameters.

5. A flight characteristics simulation system, characterized in that: include: Setting a parameter acquisition module for acquiring target flight parameters, wherein the target flight parameters include target heading; a control parameter acquisition module, configured to determine corresponding target force and torque parameters based on the target flight parameters, wherein the target force and torque parameters include a roll attitude parameter, which is determined based on a deviation between the target heading and the current heading; a flight characteristics simulation module, configured to perform flight characteristics simulation based on the target force and torque parameters; The control parameter acquisition module includes a yaw parameter unit and an X-direction torque unit, wherein: The yaw parameter unit is configured to determine a target roll angle corresponding to the target yaw angular velocity based on the target yaw angular velocity and a preset correspondence between the yaw angular velocity and the roll angle, wherein the target yaw angular velocity is determined based on the target heading and the current heading; The X-direction torque unit is used to determine the body axis X-direction torque according to the target roll angle and the current roll angle, wherein the body axis X-direction torque is the target force and torque parameter; The target flight parameters also include a target altitude, and the control parameter acquisition module includes a climb rate unit and a Y-direction torque unit, wherein: The climb rate unit is configured to determine a target pitch angle corresponding to the target climb rate based on the target climb rate and a preset correspondence between the climb rate and the pitch angle, wherein the target climb rate is determined based on the target altitude and the current altitude; The Y-direction torque unit is used to determine the Y-direction torque of the body axis according to the target pitch angle and the current pitch angle, and the Y-direction torque of the body axis is the target force and torque parameter.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the flight characteristics simulation method according to any one of claims 1 to 4 are implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the flight characteristics simulation method according to any one of claims 1 to 4 are implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the flight characteristics simulation method according to any one of claims 1 to 4 are implemented.

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