Helicopter harpoon function simulation method and device, electronic equipment and storage medium

Abstract

The invention provides a helicopter harpoon function simulation method and device, electronic equipment and a storage medium, and relates to the technical field of aviation, and the method comprises the steps: determining the position information of a lock hook of a harpoon based on the position information of a helicopter and the relative position information of the lock hook of the harpoon and the helicopter; determining the force and moment of force of the harpoon based on the position information of the latch hook of the harpoon; and based on the force and the moment of force of the harpoon, simulating the function of the harpoon. Through the real-time dynamic position information, the force and the torque of the harpoon are accurately determined, then the function of the harpoon is accurately simulated, the reliability of the function simulation of the harpoon is improved, and the efficiency of the function simulation of the harpoon is improved.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and in particular to a method, device, electronic equipment and storage medium for simulating the function of a helicopter harpoon. Background Art

[0002] For helicopter landing simulation equipment, since small and medium-sized ships are greatly affected by wind and waves when moving, they will cause large roll, pitch and heave amplitudes. At this time, the flight deck at the rear of the ship is also in a state of greater ups and downs, coupled with the disturbed airflow caused by the island and the influence of sea breeze, in order to ensure the landing of the helicopter, the harpoon grid device is a commonly used landing aid.

[0003] The harpoon grid device, also known as the "landing positioning and locking device", has been widely used in modern warships. One part of the harpoon grid device is the harpoon, and the power source of the harpoon mainly includes three sources: pneumatic, hydraulic and electric. The mechanical structure of the harpoon can be divided into the harpoon locking structure on the belly of the helicopter, which mainly includes the harpoon retraction and release actuator, the claw-type lock hook and the strut of the spring-piston structure. The other part is the grid on the flight deck of the ship. The grid is a circular area with a mesh shape and many small holes. The harpoon is controlled by the pilot. The harpoon can be extended or retracted. When landing, after the helicopter's wheels touch the ship's surface, the pilot controls the harpoon to extend, and the harpoon's lock hook engages with the grid and locks immediately.

[0004] The existing technology for simulating the function of a helicopter harpoon provides a method for calculating the load of a helicopter harpoon, which only lists the force balance equation and the moment balance equation, and takes into account the wheel friction, the harpoon load and the wind load. The existing method solves the static force equation and is only used for the static analysis of the harpoon, and cannot be applied to the real-time simulation of the helicopter landing simulation equipment, resulting in low efficiency of the harpoon function simulation. Summary of the invention

[0005] The present invention provides a method, device, electronic device and storage medium for simulating the function of a helicopter harpoon, which are used to solve the problem that the harpoon function simulation efficiency is low due to the inability to be applied to the real-time simulation of a helicopter landing simulation device.

[0006] The present invention provides a method for simulating the function of a helicopter harpoon, comprising: Determining the position information of the harpoon's lock hook based on the position information of the helicopter and the relative position information between the harpoon's lock hook and the helicopter; Determining the force and torque of the harpoon based on the position information of the hook of the harpoon; Based on the forces and moments of the harpoon, the harpoon functionality is simulated.

[0007] According to a method for simulating the function of a helicopter harpoon provided by the present invention, the force and torque of the harpoon are determined based on the position information of the lock hook of the harpoon, including: Determining whether the harpoon's hook is locked with a grille on a flight deck of a ship based on the position information of the harpoon's hook; When it is determined that the hook of the harpoon is locked with the grille, the force and torque of the harpoon are determined based on the relative displacement and relative speed between the harpoon and the grille.

[0008] According to a method for simulating the function of a helicopter harpoon provided by the present invention, determining whether the harpoon's hook is locked with a grille on a flight deck of a ship based on the position information of the harpoon's hook comprises: Based on the position information of the hook of the harpoon, determining the distance between the hook of the harpoon and the center of the grille; Based on the distance, determining whether the harpoon is within the range of the grid; In the case that the harpoon is within the range of the grille, it is determined whether the hook of the harpoon is locked with the grille on the flight deck of the ship based on the height of the hook of the harpoon and the height of the grille.

[0009] According to a method for simulating a helicopter harpoon function provided by the present invention, determining whether the harpoon hook is locked with the grille on the flight deck of the ship based on the height of the harpoon hook and the height of the grille comprises: In the case where the height of the harpoon's lock hook is less than the height of the grille, determining the position where the harpoon contacts the grille as the lock point position of the harpoon, and determining that the harpoon's lock hook is locked to the grille on the flight deck of the ship based on the lock point position; In the case that the height of the locking hook of the harpoon is not less than the height of the grille, it is determined that the locking hook of the harpoon is not locked with the grille on the flight deck of the ship.

[0010] According to a method for simulating the function of a helicopter harpoon provided by the present invention, the force and torque of the harpoon are determined based on the relative displacement and relative speed between the harpoon and the grid, including: determining a force of the harpoon based on the relative displacement, the relative velocity, a stiffness coefficient of the harpoon, and a damping coefficient of the harpoon; Based on the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter, the moment of the harpoon is determined.

[0011] According to a method for simulating a helicopter harpoon function provided by the present invention, the method further comprises: coupling the forces and moments of the harpoon to the forces and moments of the helicopter; Based on the coupled forces and moments, helicopter dynamics theory is used to determine target information of the helicopter; the target information includes at least one of the following: position, velocity, and attitude angle.

[0012] The present invention also provides a helicopter harpoon function simulation device, comprising: A first determining module, configured to determine the position information of the harpoon's lock hook based on the position information of the helicopter and the relative position information between the harpoon's lock hook and the helicopter; A second determination module, configured to determine the force and torque of the harpoon based on the position information of the lock hook of the harpoon; A simulation module is used to simulate the function of the harpoon based on the force and torque of the harpoon.

[0013] 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 program, the method for simulating the function of a helicopter harpoon as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described helicopter harpoon function simulation methods.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for simulating the function of a helicopter harpoon as described above is implemented.

[0016] The helicopter harpoon function simulation method, device, electronic device and storage medium provided by the present invention determine the position information of the harpoon hook based on the position information of the helicopter and the relative position information between the harpoon hook and the helicopter; determine the force and torque of the harpoon based on the position information of the harpoon hook; and simulate the harpoon function based on the force and torque of the harpoon. Through the real-time dynamic position information, the force and torque of the harpoon are accurately determined, and then the harpoon function is accurately simulated, which improves the reliability of the harpoon function simulation and thus improves the efficiency of the harpoon function simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces 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 creative work.

[0018] Figure 1It is one of the flow charts of the helicopter harpoon function simulation method provided by the present invention.

[0019] Figure 2 This is the second flow chart of the helicopter harpoon function simulation method provided by the present invention.

[0020] Figure 3 It is a structural schematic diagram of a helicopter harpoon function simulation device provided by the present invention.

[0021] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Combine the following Figure 1-Figure 2 The helicopter harpoon function simulation method of the present invention is described.

[0024] Figure 1 FIG. 1 is one of the flow charts of the helicopter harpoon function simulation method provided by the present invention, such as Figure 1 As shown, the method includes the following steps 101 to 103.

[0025] Step 101: Determine the position information of the harpoon's hook based on the position information of the helicopter and the relative position information between the harpoon's hook and the helicopter.

[0026] It should be noted that the helicopter harpoon function simulation method provided by the present invention can be applied to the scenario of harpoon function simulation of flight simulation equipment, for example, the harpoon function simulation of a helicopter. The executor of the method may be a helicopter harpoon function simulation device, such as an electronic device, or a control module in the helicopter harpoon function simulation device for executing the helicopter harpoon function simulation method.

[0027] Specifically, the position information of the helicopter includes the longitude, latitude and altitude of the helicopter. The relative position information between the harpoon hook and the helicopter is converted from the body axis coordinate system to the geographic coordinate system, and the position information of the harpoon hook can be calculated in real time based on the converted relative position information and the position information of the helicopter; wherein the position information of the harpoon hook includes the longitude, latitude and altitude of the harpoon hook.

[0028] Step 102: Determine the force and torque of the harpoon based on the position information of the harpoon's lock hook.

[0029] Specifically, based on the position information of the harpoon's locking hook, the force and torque of the harpoon can be further determined; wherein the force and torque of the harpoon are the force and torque when the harpoon is locked with the grille on the flight deck of the ship.

[0030] Step 103: Simulate the function of the harpoon based on the force and torque of the harpoon.

[0031] Specifically, based on the forces and moments of the harpoon, the harpoon function can be simulated.

[0032] The helicopter harpoon function simulation method provided by the present invention determines the position information of the harpoon hook based on the position information of the helicopter and the relative position information between the harpoon hook and the helicopter; determines the force and torque of the harpoon based on the position information of the harpoon hook; and simulates the harpoon function based on the force and torque of the harpoon. The real-time dynamic position information enables the accurate determination of the force and torque of the harpoon, and then accurately simulates the harpoon function, thereby improving the reliability of the harpoon function simulation and thus improving the efficiency of the harpoon function simulation.

[0033] Optionally, a specific implementation of step 102 includes: Based on the position information of the harpoon's hook, determine whether the harpoon's hook is locked with the grille on the flight deck of the ship; when it is determined that the harpoon's hook is locked with the grille, determine the force and torque of the harpoon based on the relative displacement and relative speed between the harpoon and the grille.

[0034] Specifically, based on the position information of the harpoon's hook, it can be determined whether the harpoon's hook is locked with the grille on the flight deck of the ship; when it is determined that the harpoon's hook is locked with the grille, since the position of the helicopter changes dynamically in a short period of time, a phase displacement and relative speed are generated between the harpoon and the grille, and based on the relative displacement and relative speed between the harpoon and the grille, the force and torque of the harpoon can be determined.

[0035] Optionally, the determining whether the locking hook of the harpoon is locked with a grille on a flight deck of a ship based on the position information of the locking hook of the harpoon includes: Based on the position information of the harpoon's hook, determine the distance between the harpoon's hook and the center of the grille; based on the distance, determine whether the harpoon is within the range of the grille; when the harpoon is within the range of the grille, determine whether the harpoon's hook is locked with the grille on the flight deck of the ship based on the height of the harpoon's hook and the height of the grille.

[0036] Specifically, the position information of the hook of the harpoon is converted to the center coordinate system of the grid. Based on the converted position information and the position information of the center of the grid, the distance between the harpoon and the center of the grid can be determined, that is, the distance between the projection of the hook of the harpoon to the grid and the center of the grid is determined; when the distance is less than the radius of the grid, it is determined that the harpoon is within the range of the grid, and a mark of the harpoon within the range of the grid is output, which can be used as one of the conditions for whether the harpoon is locked; when the distance is not less than the radius of the grid, it is determined that the harpoon is not within the range of the grid. When the harpoon is within the range of the grid, it can be determined whether the hook of the harpoon is locked with the grid based on the height of the hook of the harpoon and the height of the grid.

[0037] Optionally, the determining whether the hook of the harpoon is locked with the grille on the flight deck of the ship based on the height of the hook of the harpoon and the height of the grille comprises: In a case where the height of the harpoon's hook is less than the height of the grille, the position where the harpoon contacts the grille is determined to be the locking point position of the harpoon, and based on the locking point position, it is determined that the harpoon's hook is locked with the grille on the flight deck of the ship; in a case where the height of the harpoon's hook is not less than the height of the grille, it is determined that the harpoon's hook is not locked with the grille on the flight deck of the ship.

[0038] Specifically, when the height of the harpoon hook is less than the height of the grille, it means that the harpoon hook is inserted into the small hole on the grille, and the position where the harpoon contacts the grille can be determined as the locking point position of the harpoon, triggering the harpoon locking mark, and based on the locking point position, it is determined that the harpoon hook is locked with the grille, and the locking position is the position where the harpoon contacts the grille. When the height of the harpoon hook is not less than the height of the grille, it means that the harpoon hook is not inserted into the small hole on the grille, and it can be determined that the harpoon hook is not locked with the grille.

[0039] In the present application, the detailed structure of the harpoon's locking hook and the small holes in the grille are ignored. By determining that the height of the harpoon's locking hook is less than the height of the grille and adding a locking point of the harpoon, it is possible to accurately determine whether the harpoon's locking hook is locked with the grille on the flight deck of the ship, and then accurately determine the force and torque of the harpoon, thereby simulating the harpoon function, saving a lot of computing costs during the simulation, without affecting the simulation accuracy, thereby improving the reliability of the harpoon function simulation and thus improving the efficiency of the harpoon function simulation.

[0040] Optionally, the determining the force and torque of the harpoon based on the relative displacement and relative speed between the harpoon and the grille includes: The force of the harpoon is determined based on the relative displacement, the relative speed, the stiffness coefficient of the harpoon and the damping coefficient of the harpoon; and the torque of the harpoon is determined based on the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter.

[0041] Specifically, in the elastic damping system composed of a harpoon and a grille, in order to improve the simulation efficiency, the stiffness and damping of the system are converted into the stiffness and damping of the harpoon, that is, the grille is regarded as a rigid body and the harpoon is regarded as an elastic body. The product of the relative displacement of the harpoon and the stiffness coefficient of the harpoon is summed with the product of the relative velocity and the damping coefficient of the harpoon to obtain the force of the harpoon; then the product of the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter is calculated to obtain the torque of the harpoon.

[0042] It should be noted that the stiffness coefficient and the damping coefficient of the harpoon can be adjusted according to actual conditions, so that the accuracy of the harpoon function simulation is higher.

[0043] In the present application, when calculating the force and torque of the harpoon, the static calculation of the force and torque of the harpoon is improved to a dynamic calculation through the relative displacement, relative speed, stiffness coefficient and damping coefficient of the harpoon. The force and torque of the harpoon are calculated in real time according to the relative displacement and relative speed of the harpoon at the locking point, and then the position and attitude response of the helicopter are determined to complete the simulation of the harpoon function, thereby improving the efficiency of the harpoon function simulation.

[0044] Optionally, the force and torque of the harpoon are coupled to the force and torque of the helicopter; based on the coupled force and torque, helicopter dynamics theory is used to determine the target information of the helicopter; the target information includes at least one of the following: position, speed and attitude angle.

[0045] Specifically, the force and torque of the harpoon are coupled to the force and torque of the helicopter, that is, coupled to the total force and total torque of the helicopter, so as to suppress the movement of the helicopter relative to the flight deck of the ship, so that the helicopter and the flight deck of the ship are fixed together; based on the coupled force and torque, the helicopter dynamics theory is used to further determine the target information of the helicopter; wherein the target information includes at least one of the following: position, speed and attitude angle.

[0046] Figure 2 FIG. 2 is a flow chart of the method for simulating the helicopter harpoon function provided by the present invention. Figure 2 As shown, the method includes steps 201 to 210.

[0047] Step 201, based on the position information of the helicopter and the relative position information between the harpoon hook and the helicopter, determine the position information of the harpoon hook. The relative position information between the harpoon hook and the helicopter is converted from the body axis coordinate system to the geographic coordinate system, and the position information of the harpoon hook can be calculated in real time based on the converted relative position information and the position information of the helicopter; wherein the position information of the harpoon hook includes the longitude, latitude and altitude of the harpoon hook.

[0048] Step 202: Determine the distance between the hook of the harpoon and the center of the grille based on the position information of the hook of the harpoon. The position information of the hook of the harpoon is converted to the center coordinate system of the grille, and the distance between the harpoon and the center of the grille can be determined based on the converted position information and the position information of the center of the grille.

[0049] Step 203, determine whether the harpoon is within the range of the grid. If the harpoon is within the range of the grid, go to step 204; if the harpoon is not within the range of the grid, go to step 201.

[0050] Step 204, determine whether the height of the harpoon hook is less than the height of the grille. If the height of the harpoon hook is less than the height of the grille, go to step 205; if the height of the harpoon hook is not less than the height of the grille, go to step 206.

[0051] Step 205, determine the position where the harpoon contacts the grille as the locking point position of the harpoon, and determine that the harpoon hook is locked with the grille on the flight deck of the ship based on the locking point position. In the case where the height of the harpoon hook is less than the height of the grille, it means that the harpoon hook is inserted into the small hole on the grille, and the position where the harpoon contacts the grille can be determined as the locking point position of the harpoon, triggering the harpoon locking flag, and determine that the harpoon hook is locked with the grille based on the locking point position, and the locking position is the position where the harpoon contacts the grille.

[0052] Step 206, determine that the hook of the harpoon is not locked with the grille on the flight deck of the ship. If the height of the hook of the harpoon is not less than the height of the grille, it means that the hook of the harpoon is not inserted into the small hole on the grille, and it can be determined that the hook of the harpoon is not locked with the grille.

[0053] Step 207, based on the relative displacement, relative speed, the stiffness coefficient of the harpoon and the damping coefficient of the harpoon, the force of the harpoon is determined. In the elastic damping system composed of the harpoon and the grid, the product of the relative displacement of the harpoon and the stiffness coefficient of the harpoon is summed with the product of the relative speed and the damping coefficient of the harpoon to obtain the force of the harpoon.

[0054] Step 208, determining the moment of the harpoon based on the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter. The moment of the harpoon is obtained by calculating the product of the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter.

[0055] Step 209, coupling the force and torque of the harpoon to the force and torque of the helicopter. The force and torque of the harpoon are coupled to the force and torque of the helicopter, that is, coupled to the total force and total torque of the helicopter, to suppress the movement of the helicopter relative to the flight deck of the ship, so that the helicopter and the flight deck of the ship are fixed together.

[0056] Step 210, based on the coupled forces and moments, helicopter dynamics theory is used to determine the target information of the helicopter; the target information includes at least one of the following: position, velocity, and attitude angle.

[0057] The helicopter harpoon function simulation device provided by the present invention is described below. The helicopter harpoon function simulation device described below and the helicopter harpoon function simulation method described above can be referenced to each other.

[0058] Figure 3 Schematic diagram of the structure of the helicopter harpoon function simulation device provided by the present invention. Figure 3 As shown, the helicopter harpoon function simulation device 300 includes: a first determination module 301, a second determination module 302 and a simulation module 303; wherein,

[0059] A first determining module 301 is used to determine the position information of the harpoon hook based on the position information of the helicopter and the relative position information between the harpoon hook and the helicopter; A second determination module 302, configured to determine the force and torque of the harpoon based on the position information of the hook of the harpoon; The simulation module 303 is used to simulate the function of the harpoon based on the force and torque of the harpoon.

[0060] The helicopter harpoon function simulation device provided by the present invention determines the position information of the harpoon hook based on the position information of the helicopter and the relative position information between the harpoon hook and the helicopter; determines the force and torque of the harpoon based on the position information of the harpoon hook; and simulates the harpoon function based on the force and torque of the harpoon. Through the real-time dynamic position information, the force and torque of the harpoon are accurately determined, and then the harpoon function is accurately simulated, which improves the reliability of the harpoon function simulation and thus improves the efficiency of the harpoon function simulation.

[0061] Optionally, the second determining module 302 is specifically configured to: Determining whether the harpoon's hook is locked with a grille on a flight deck of a ship based on the position information of the harpoon's hook; When it is determined that the hook of the harpoon is locked with the grille, the force and torque of the harpoon are determined based on the relative displacement and relative speed between the harpoon and the grille.

[0062] Optionally, the second determining module 302 is further configured to: Based on the position information of the hook of the harpoon, determining the distance between the hook of the harpoon and the center of the grille; Based on the distance, determining whether the harpoon is within the range of the grid; In the case that the harpoon is within the range of the grille, it is determined whether the hook of the harpoon is locked with the grille on the flight deck of the ship based on the height of the hook of the harpoon and the height of the grille.

[0063] Optionally, the second determining module 302 is further configured to: In the case where the height of the harpoon's lock hook is less than the height of the grille, determining the position where the harpoon contacts the grille as the lock point position of the harpoon, and determining that the harpoon's lock hook is locked to the grille on the flight deck of the ship based on the lock point position; In the case that the height of the locking hook of the harpoon is not less than the height of the grille, it is determined that the locking hook of the harpoon is not locked with the grille on the flight deck of the ship.

[0064] Optionally, the second determining module 302 is further configured to: determining a force of the harpoon based on the relative displacement, the relative velocity, a stiffness coefficient of the harpoon, and a damping coefficient of the harpoon; Based on the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter, the moment of the harpoon is determined.

[0065] Optionally, the helicopter harpoon function simulation device 300 further includes: A coupling module, for coupling the force and torque of the harpoon to the force and torque of the helicopter; The third determination module is used to determine the target information of the helicopter based on the coupled forces and moments and using helicopter dynamics theory; the target information includes at least one of the following: position, speed and attitude angle.

[0066] Figure 4 is a schematic diagram of the physical structure of an electronic device provided by the present invention, such as Figure 4As shown, the electronic device 400 may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the helicopter harpoon function simulation method, which includes: determining the position information of the harpoon hook based on the position information of the helicopter and the relative position information between the harpoon hook and the helicopter; determining the force and torque of the harpoon based on the position information of the harpoon hook; simulating the harpoon function based on the force and torque of the harpoon.

[0067] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, 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 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.

[0068] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program 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 helicopter harpoon function simulation method provided by the above-mentioned methods, the method including: determining the position information of the harpoon's hook based on the position information of the helicopter and the relative position information between the harpoon's hook and the helicopter; determining the force and torque of the harpoon based on the position information of the harpoon's hook; and simulating the harpoon function based on the force and torque of the harpoon.

[0069] 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 helicopter harpoon function simulation method provided by the above-mentioned methods, the method comprising: determining the position information of the harpoon's hook based on the position information of the helicopter and the relative position information of the harpoon's hook and the helicopter; determining the force and torque of the harpoon based on the position information of the harpoon's hook; and simulating the harpoon function based on the force and torque of the harpoon.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for 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 some parts of the embodiments.

[0072] 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 embodiments of the present invention.

Claims

1. A method for simulating the function of a helicopter harpoon, characterized in that: include: Determining the position information of the harpoon's lock hook based on the position information of the helicopter and the relative position information between the harpoon's lock hook and the helicopter; Determining the force and torque of the harpoon based on the position information of the hook of the harpoon; Based on the forces and moments of the harpoon, the harpoon functionality is simulated.

2. The helicopter harpoon function simulation method according to claim 1, characterized in that: The determining the force and torque of the harpoon based on the position information of the hook of the harpoon comprises: Determining whether the harpoon's hook is locked with a grille on a flight deck of a ship based on the position information of the harpoon's hook; When it is determined that the hook of the harpoon is locked with the grille, the force and torque of the harpoon are determined based on the relative displacement and relative speed between the harpoon and the grille.

3. The helicopter harpoon function simulation method according to claim 2, characterized in that: The determining, based on the position information of the harpoon's hook, whether the harpoon's hook is locked with a grille on the flight deck of the ship comprises: Based on the position information of the hook of the harpoon, determining the distance between the hook of the harpoon and the center of the grille; Based on the distance, determining whether the harpoon is within the range of the grid; In the case that the harpoon is within the range of the grille, it is determined whether the hook of the harpoon is locked with the grille on the flight deck of the ship based on the height of the hook of the harpoon and the height of the grille.

4. The helicopter harpoon function simulation method according to claim 3, characterized in that: The determining whether the hook of the harpoon is locked with the grille on the flight deck of the ship based on the height of the hook of the harpoon and the height of the grille comprises: In the case where the height of the harpoon's lock hook is less than the height of the grille, determining the position where the harpoon contacts the grille as the lock point position of the harpoon, and determining that the harpoon's lock hook is locked to the grille on the flight deck of the ship based on the lock point position; In the case that the height of the locking hook of the harpoon is not less than the height of the grille, it is determined that the locking hook of the harpoon is not locked with the grille on the flight deck of the ship.

5. The helicopter harpoon function simulation method according to claim 2, characterized in that: The determining the force and torque of the harpoon based on the relative displacement and relative speed between the harpoon and the grid comprises: determining a force of the harpoon based on the relative displacement, the relative velocity, a stiffness coefficient of the harpoon, and a damping coefficient of the harpoon; Based on the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter, the moment of the harpoon is determined.

6. The helicopter harpoon function simulation method according to any one of claims 1 to 4, characterized in that: The method further comprises: coupling the forces and moments of the harpoon to the forces and moments of the helicopter; Based on the coupled forces and moments, helicopter dynamics theory is used to determine target information of the helicopter; the target information includes at least one of the following: position, velocity, and attitude angle.

7. A helicopter harpoon function simulation device, characterized in that: include: A first determining module, configured to determine the position information of the harpoon's lock hook based on the position information of the helicopter and the relative position information between the harpoon's lock hook and the helicopter; A second determination module, configured to determine the force and torque of the harpoon based on the position information of the lock hook of the harpoon; A simulation module is used to simulate the function of the harpoon based on the force and torque of the harpoon.

8. 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 program, the helicopter harpoon function simulation method as described in any one of claims 1 to 6 is implemented.

9. 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 helicopter harpoon function simulation method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the helicopter harpoon function simulation method according to any one of claims 1 to 6 is implemented.

Images