Helicopter Harpoon Function Simulation Method, Device, Electronic Device and Storage Medium

Abstract

The present invention provides a method, device, electronic device and storage medium for simulating the function of a helicopter harpoon, relating to the field of aviation technology. The method includes: determining the position information of the hook of the harpoon based on the position information of the helicopter and the relative position information between the hook of the harpoon and the helicopter; determining the force and moment of the harpoon based on the position information of the hook of the harpoon; and simulating the function of the harpoon based on the force and moment of the harpoon. Through real-time dynamic position information, the accurate determination of the force and moment of the harpoon is enabled, and thus the function of the harpoon is accurately simulated, improving the reliability of the harpoon function simulation and thereby enhancing the efficiency of the harpoon function simulation.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and particularly to a method, device, electronic device 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 during movement, resulting in large amplitudes of roll, pitch and heave. At this time, the flight deck at the stern of the ship is also in a state of greater undulation and shaking. Coupled with the influence of the disturbed air flow caused by the ship island and the sea breeze, in order to ensure the helicopter's landing, the harpoon grille device is a commonly used means for assisting landing.

[0003] The harpoon grille device is also known as the "landing positioning and locking device" and has been widely used in modern warships. One part of the harpoon grille device is the harpoon, and the power sources of the harpoon mainly include three types: pneumatic, hydraulic and electric; the mechanical structure of the harpoon can be divided into the harpoon locking structure on the belly of the helicopter, and the harpoon locking structure mainly includes a harpoon retracting and extending actuator, a claw-type locking hook and a strut of a spring-piston structure, etc.; the other part is the grille on the ship's flight deck. The grille is a circular area with a mesh-like shape inside and many small holes. The operation of 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 operates the harpoon to extend. After the locking hook of the harpoon meshes with the grille, it is immediately locked.

[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 considers the wheel friction, harpoon load and wind load. The existing method is for solving 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 helicopter landing simulation equipment, resulting in low efficiency of 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, so as to solve the problem that it cannot be applied to the real-time simulation of helicopter landing simulation equipment, resulting in low efficiency of harpoon function simulation.

[0006] The present invention provides a method for simulating the function of a helicopter harpoon, including:

[0007] Based on the position information of the helicopter and the relative position information between the locking hook of the harpoon and the helicopter, determine the position information of the locking hook of the harpoon;

[0008] Based on the position information of the locking hook of the harpoon, determine the force and moment of the harpoon;

[0009] Based on the force and moment of the harpoon, simulate the function of the harpoon.

[0010] According to a helicopter harpoon function simulation method provided by the present invention, determining the force and moment of the harpoon based on the position information of the locking hook of the harpoon includes:

[0011] Based on the position information of the locking hook of the harpoon, determining whether the locking hook of the harpoon is locked with the grille on the flight deck of the ship;

[0012] When it is determined that the locking hook of the harpoon is locked with the grille, determining the force and moment of the harpoon based on the relative displacement and relative velocity between the harpoon and the grille.

[0013] According to a helicopter harpoon function simulation method provided by the present invention, determining whether the locking hook of the harpoon is locked with the grille on the flight deck of the ship based on the position information of the locking hook of the harpoon includes:

[0014] Based on the position information of the locking hook of the harpoon, determining the distance between the locking hook of the harpoon and the center of the grille;

[0015] Based on the distance, determining whether the harpoon is within the range of the grille;

[0016] When the harpoon is within the range of the grille, determining whether the locking hook of the harpoon is locked with the grille on the flight deck of the ship based on the height of the locking hook of the harpoon and the height of the grille.

[0017] According to a helicopter harpoon function simulation method provided by the present invention, determining whether the locking hook of the harpoon is locked with the grille on the flight deck of the ship based on the height of the locking hook of the harpoon and the height of the grille includes:

[0018] When the height of the locking hook of the harpoon is less than the height of the grille, determining the position where the harpoon contacts the grille as the locking point position of the harpoon, and determining that the locking hook of the harpoon is locked with the grille on the flight deck of the ship based on the locking point position;

[0019] When the height of the locking hook of the harpoon is not less than the height of the grille, determining that the locking hook of the harpoon is not locked with the grille on the flight deck of the ship.

[0020] According to a helicopter harpoon function simulation method provided by the present invention, determining the force and moment of the harpoon based on the relative displacement and relative velocity between the harpoon and the grille includes:

[0021] Based on the relative displacement, the relative velocity, the stiffness coefficient of the harpoon, and the damping coefficient of the harpoon, determining the force of the harpoon;

[0022] Determine 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.

[0023] A method for simulating the function of a helicopter harpoon provided by the present invention further includes:

[0024] Couple the force and moment of the harpoon to the force and moment of the helicopter;

[0025] Based on the coupled force and moment, use helicopter dynamics theory to determine the target information of the helicopter; the target information includes at least one of the following: position, velocity, and attitude angle.

[0026] The present invention also provides a device for simulating the function of a helicopter harpoon, including:

[0027] A first determination module for determining the position information of the hook of the harpoon based on the position information of the helicopter and the relative position information between the hook of the harpoon and the helicopter;

[0028] A second determination module for determining the force and moment of the harpoon based on the position information of the hook of the harpoon;

[0029] A simulation module for simulating the function of the harpoon based on the force and moment of the harpoon.

[0030] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the method for simulating the function of a helicopter harpoon as described in any one of the above.

[0031] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the method for simulating the function of a helicopter harpoon as described in any one of the above.

[0032] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the method for simulating the function of a helicopter harpoon as described in any one of the above.

[0033] The method, device, electronic device, and storage medium for simulating the function of a helicopter harpoon provided by the present invention determine the position information of the hook of the harpoon based on the position information of the helicopter and the relative position information between the hook of the harpoon and the helicopter; determine the force and moment of the harpoon based on the position information of the hook of the harpoon; and simulate the function of the harpoon based on the force and moment of the harpoon. Through real-time dynamic position information, the accurate determination of the force and moment of the harpoon is achieved, and then the function of the harpoon is accurately simulated, improving the reliability of the harpoon function simulation and thus enhancing the efficiency of the harpoon function simulation. Brief Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is one of the schematic flowcharts of the helicopter harpoon function simulation method provided by the present invention.

[0036] Figure 2 It is the second of the schematic flowcharts of the helicopter harpoon function simulation method provided by the present invention.

[0037] Figure 3 It is the structural schematic diagram of the helicopter harpoon function simulation device provided by the present invention.

[0038] Figure 4 It is the structural schematic diagram of the electronic device provided by the present invention. Detailed Description of the Embodiments

[0039] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0040] The following will describe Figure 1 - Figure 2 the helicopter harpoon function simulation method of the present invention.

[0041] Figure 1 It is one of the schematic flowcharts of the helicopter harpoon function simulation method provided by the present invention. As Figure 1 shown, the method includes the following steps 101 - step 103.

[0042] Step 101: Based on the position information of the helicopter and the relative position information between the locking hook of the harpoon and the helicopter, determine the position information of the locking hook of the harpoon.

[0043] 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 execution subject of this method can 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.

[0044] Specifically, the position information of the helicopter includes the longitude, latitude, and altitude of the helicopter. By converting the relative position information between the grappling hook of the harpoon and the helicopter from the body-axis coordinate system to the geographic coordinate system, the position information of the grappling hook of the harpoon 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 grappling hook of the harpoon includes the longitude, latitude, and altitude of the grappling hook of the harpoon.

[0045] Step 102: Determine the force and moment of the harpoon based on the position information of the grappling hook of the harpoon.

[0046] Specifically, based on the position information of the grappling hook of the harpoon, the force and moment of the harpoon can be further determined; wherein, the force and moment of the harpoon are the force and moment when the harpoon is locked with the grille on the flight deck of the ship.

[0047] Step 103: Simulate the function of the harpoon based on the force and moment of the harpoon.

[0048] Specifically, based on the force and moment of the harpoon, the function of the harpoon can be simulated.

[0049] The method for simulating the function of the helicopter harpoon provided by the present invention determines the position information of the grappling hook of the harpoon by based on the position information of the helicopter and the relative position information between the grappling hook of the harpoon and the helicopter; determines the force and moment of the harpoon based on the position information of the grappling hook of the harpoon; and simulates the function of the harpoon based on the force and moment of the harpoon. Through the real-time dynamic position information, the force and moment of the harpoon can be accurately determined, and then the function of the harpoon can be accurately simulated, improving the reliability of the harpoon function simulation, thereby enhancing the efficiency of the harpoon function simulation.

[0050] Optionally, the specific implementation manner of the above step 102 includes:

[0051] Based on the position information of the grappling hook of the harpoon, determine whether the grappling hook of the harpoon is locked with the grille on the flight deck of the ship; in the case of determining that the grappling hook of the harpoon is locked with the grille, determine the force and moment of the harpoon based on the relative displacement and relative velocity between the harpoon and the grille.

[0052] Specifically, based on the position information of the grappling hook of the harpoon, it can be determined whether the grappling hook of the harpoon is locked with the grille on the flight deck of the ship; in the case of determining that the grappling hook of the harpoon is locked with the grille, due to the dynamic change of the position of the helicopter in a short time, a phase displacement and relative velocity are generated between the harpoon and the grille, and then based on the relative displacement and relative velocity between the harpoon and the grille, the force and moment of the harpoon can be determined.

[0053] Optionally, determining whether the harpoon hook locks with the grille on the ship's flight deck based on the position information of the harpoon hook includes:

[0054] Based on the position information of the harpoon hook, determine the distance between the harpoon hook and the center of the grille; based on this distance, determine whether the harpoon is within the range of the grille; in the case where the harpoon is within the range of the grille, based on the height of the harpoon hook and the height of the grille, determine whether the harpoon hook locks with the grille on the ship's flight deck.

[0055] Specifically, convert the position information of the harpoon hook to the grille center coordinate system. Based on the converted position information and the position information of the center of the grille, the distance between the harpoon and the center of the grille can be determined, that is, the distance between the projection of the harpoon hook on the grille and the center of the grille can be determined; in the case where the distance is less than the radius of the grille, it is determined that the harpoon is within the range of the grille, and the flag indicating that the harpoon is within the range of the grille can be output, which can be used as one of the conditions for whether the harpoon is locked; in the case where the distance is not less than the radius of the grille, it is determined that the harpoon is not within the range of the grille. In the case where the harpoon is within the range of the grille, based on the height of the harpoon hook and the height of the grille, it can be determined whether the harpoon hook locks with the grille.

[0056] Optionally, determining whether the harpoon hook locks with the grille on the ship's flight deck based on the height of the harpoon hook and the height of the grille includes:

[0057] In the case where the height of the harpoon hook is less than the height of the grille, determine that the position where the harpoon contacts the grille is the locking point position of the harpoon, and based on the locking point position, determine that the harpoon hook locks with the grille on the ship's flight deck; in the case where the height of the harpoon hook is not less than the height of the grille, determine that the harpoon hook does not lock with the grille on the ship's flight deck.

[0058] Specifically, 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. It can be determined that the position where the harpoon contacts the grille is the locking point position of the harpoon, trigger the harpoon locking flag, and based on the locking point position, determine that the harpoon hook locks with the grille, and the locking position is the position where the harpoon contacts the grille. In the case where 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 does not lock with the grille.

[0059] In this application, by ignoring the detailed structure of the harpoon's locking hook and the small holes in the grille, and through the determination that the height of the harpoon's locking hook is less than the height of the grille, and adding the locking point of the harpoon, it is possible to accurately determine whether the harpoon's locking hook is locked with the grille on the ship's flight deck. Furthermore, it is possible to accurately determine the force and moment of the harpoon, realizing the simulation of the harpoon's function, saving a large amount of computational cost during the simulation, without affecting the simulation accuracy, improving the reliability of the harpoon function simulation, and thus enhancing the efficiency of the harpoon function simulation.

[0060] Optionally, determining the force and moment of the harpoon based on the relative displacement and relative velocity between the harpoon and the grille includes:

[0061] Determining the force of the harpoon based on the relative displacement, the relative velocity, the stiffness coefficient of the harpoon, and the damping coefficient of the harpoon; 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.

[0062] Specifically, in the elastic damping system composed of the harpoon and the grille, to improve the simulation efficiency, the stiffness and damping of the system are reduced to 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. Summing the product of the relative displacement of the harpoon and the stiffness coefficient of the harpoon and the product of the relative velocity and the damping coefficient of the harpoon can obtain the force of the harpoon; then calculating the product of the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter to obtain the moment of the harpoon.

[0063] It should be noted that the stiffness coefficient and damping coefficient of the harpoon can be adjusted according to the actual situation to make the accuracy of the harpoon function simulation higher.

[0064] In this application, when calculating the force and moment of the harpoon, through the relative displacement, relative velocity, stiffness coefficient, and damping coefficient of the harpoon, the static calculation of the force and moment of the harpoon is improved to dynamic calculation. The force and moment of the harpoon are calculated in real time according to the relative displacement and relative velocity 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, enhancing the efficiency of the harpoon function simulation.

[0065] Optionally, coupling the force and moment of the harpoon to the force and moment of the helicopter; based on the coupled force and moment, using helicopter dynamics theory to determine the target information of the helicopter; the target information includes at least one of the following: position, velocity, and attitude angle.

[0066] Specifically, couple the force and moment of the harpoon to the force and moment of the helicopter, that is, couple them to the total force and total moment of the helicopter, suppress the movement of the helicopter relative to the ship's flight deck, so that the helicopter is fixedly connected to the ship's flight deck; based on the coupled force and moment, using helicopter dynamics theory, the target information of the helicopter can be further determined; where the target information includes at least one of the following: position, velocity, and attitude angle.

[0067] Figure 2 is the second flow schematic diagram of the helicopter harpoon function simulation method provided by the present invention, as Figure 2 shown, the method includes steps 201 - step 210.

[0068] Step 201, based on the position information of the helicopter and the relative position information between the hook of the harpoon and the helicopter, determine the position information of the hook of the harpoon. By converting the relative position information between the hook of the harpoon and the helicopter from the body-axis coordinate system to the geographic coordinate system, the position information of the hook of the harpoon can be calculated in real time based on the converted relative position information and the position information of the helicopter; where the position information of the hook of the harpoon includes the longitude, latitude, and altitude of the hook of the harpoon.

[0069] Step 202, based on the position information of the hook of the harpoon, determine the distance between the hook of the harpoon and the center of the grille. By converting the position information of the hook of the harpoon to the grille center coordinate system, 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.

[0070] Step 203, determine whether the harpoon is within the grille range. If the harpoon is within the grille range, go to step 204; if the harpoon is not within the grille range, go to step 201.

[0071] Step 204, determine whether the altitude of the hook of the harpoon is less than the altitude of the grille. If the altitude of the hook of the harpoon is less than the altitude of the grille, go to step 205; if the altitude of the hook of the harpoon is not less than the altitude of the grille, go to step 206.

[0072] Step 205, determine the position where the harpoon contacts the grille as the locking point position of the harpoon, and based on the locking point position, determine that the hook of the harpoon is locked to the grille on the ship's flight deck. If the altitude of the hook of the harpoon is less than the altitude of the grille, it means that the hook of the harpoon 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, trigger the harpoon locking flag, and based on the locking point position, determine that the hook of the harpoon is locked to the grille, and the locking position is the position where the harpoon contacts the grille.

[0073] Step 206: Determine that the locking hook of the harpoon is not locked with the grille on the flight deck of the ship. When the height of the locking hook of the harpoon is not less than the height of the grille, it indicates that the locking hook of the harpoon is not inserted into the small hole on the grille, and it can be determined that the locking hook of the harpoon is not locked with the grille.

[0074] Step 207: Determine the force of the harpoon based on the relative displacement, relative velocity, stiffness coefficient of the harpoon, and damping coefficient of the harpoon. In the elastic damping system composed of the harpoon and the grille, by summing the product of the relative displacement of the harpoon and the stiffness coefficient of the harpoon and the product of the relative velocity and the damping coefficient of the harpoon, the force of the harpoon can be obtained.

[0075] Step 208: Determine 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. Calculate the product of the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter to obtain the moment of the harpoon.

[0076] Step 209: Couple the force and moment of the harpoon to the force and moment of the helicopter. Coupling the force and moment of the harpoon to the force and moment of the helicopter, that is, coupling to the total force and total moment of the helicopter, suppresses the movement of the helicopter relative to the flight deck of the ship, making the helicopter firmly connected to the flight deck of the ship.

[0077] Step 210: Based on the coupled force and moment, use helicopter dynamics theory to determine the target information of the helicopter; the target information includes at least one of the following: position, velocity, and attitude angle.

[0078] The helicopter harpoon function simulation device provided by the present invention is described below. The helicopter harpoon function simulation device described below can be mutually corresponding and referred to with the helicopter harpoon function simulation method described above.

[0079] Figure 3 is a schematic structural diagram of the helicopter harpoon function simulation device provided by the present invention, as Figure 3 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,

[0080] The first determination module 301 is configured to determine the position information of the locking hook of the harpoon based on the position information of the helicopter and the relative position information between the locking hook of the harpoon and the helicopter;

[0081] The second determination module 302 is configured to determine the force and moment of the harpoon based on the position information of the locking hook of the harpoon;

[0082] The simulation module 303 is configured to simulate the harpoon function based on the force and moment of the harpoon.

[0083] The helicopter harpoon function simulation device provided by the present invention determines the position information of the harpoon's locking hook based on the position information of the helicopter and the relative position information between the locking hook of the harpoon and the helicopter; determines the force and moment of the harpoon based on the position information of the harpoon's locking hook; and simulates the harpoon function based on the force and moment of the harpoon. Through real-time dynamic position information, the force and moment of the harpoon can be accurately determined, and then the harpoon function can be accurately simulated, improving the reliability of the harpoon function simulation and thus enhancing the efficiency of the harpoon function simulation.

[0084] Optionally, the second determination module 302 is specifically configured to:

[0085] Based on the position information of the harpoon's locking hook, determine whether the harpoon's locking hook is locked with the grille on the ship's flight deck;

[0086] When it is determined that the harpoon's locking hook is locked with the grille, determine the force and moment of the harpoon based on the relative displacement and relative speed between the harpoon and the grille.

[0087] Optionally, the second determination module 302 is further configured to:

[0088] Based on the position information of the harpoon's locking hook, determine the distance between the harpoon's locking hook and the center of the grille;

[0089] Based on the distance, determine whether the harpoon is within the grille range;

[0090] When the harpoon is within the grille range, determine whether the harpoon's locking hook is locked with the grille on the ship's flight deck based on the height of the harpoon's locking hook and the height of the grille.

[0091] Optionally, the second determination module 302 is further configured to:

[0092] When the height of the harpoon's locking hook is less than the height of the grille, determine the position where the harpoon contacts the grille as the locking point position of the harpoon, and determine that the harpoon's locking hook is locked with the grille on the ship's flight deck based on the locking point position;

[0093] When the height of the harpoon's locking hook is not less than the height of the grille, determine that the harpoon's locking hook is not locked with the grille on the ship's flight deck.

[0094] Optionally, the second determination module 302 is further configured to:

[0095] Based on the relative displacement, the relative speed, the stiffness coefficient of the harpoon, and the damping coefficient of the harpoon, determine the force of the harpoon;

[0096] Determine the torque of the harpoon based on the force of the harpoon and the distance between the harpoon and the center of gravity of the helicopter.

[0097] Optionally, the helicopter harpoon function simulation device 300 further includes:

[0098] A coupling module, configured to couple the force and torque of the harpoon to the force and torque of the helicopter;

[0099] A third determination module, configured to determine the target information of the helicopter based on the coupled force and torque by using helicopter dynamics theory; the target information includes at least one of the following: position, speed, and attitude angle.

[0100] Figure 4 It is a schematic physical structure diagram of an electronic device provided by the present invention. As Figure 4 shown, the electronic device 400 may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440. Among them, 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 logical instructions in the memory 430 to execute the helicopter harpoon function simulation method, and the method includes: determining the position information of the hook of the harpoon based on the position information of the helicopter and the relative position information between the hook of the harpoon and the helicopter; determining the force and torque of the harpoon based on the position information of the hook of the harpoon; and simulating the harpoon function based on the force and torque of the harpoon.

[0101] In addition, when the logical instructions in the above-mentioned memory 430 are implemented in the form of software function units and sold or used as an independent product, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0102] 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 various methods. The method 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 moment of the harpoon based on the position information of the harpoon hook; and simulating the harpoon function based on the force and moment of the harpoon.

[0103] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the helicopter harpoon function simulation method provided by the above-mentioned various methods. The method 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 moment of the harpoon based on the position information of the harpoon hook; and simulating the harpoon function based on the force and moment of the harpoon.

[0104] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0105] 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, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, 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, magnetic disk, optical disc, etc., and includes several instructions for causing 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.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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; simulating the function of the harpoon based on the forces and moments of the harpoon; 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, based on the relative displacement and relative speed of the harpoon and the grille, the force and torque of the harpoon are determined; 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.

2. The helicopter harpoon function simulation method according to claim 1, 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.

3. The helicopter harpoon function simulation method according to claim 2, 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.

4. The helicopter harpoon function simulation method according to any one of claims 1 to 3, 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.

5. 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 for simulating the function of the harpoon based on the forces and moments of the harpoon; The second determination module is specifically used to determine whether the lock hook of the harpoon is locked with the grille on the flight deck of the ship based on the position information of the lock hook of the harpoon; when it is determined that the lock hook of the harpoon 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; The second determination module is further used to determine the force of the harpoon based on the relative displacement, the relative speed, the stiffness coefficient of the harpoon and the 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. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the helicopter harpoon function simulation method as described in any one of claims 1 to 4 is 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 helicopter harpoon function simulation method according to any one of claims 1 to 4 is implemented.

8. 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 4 is implemented.

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