Method, system, electronic device and storage medium for determining flight parameters of fire extinguishing bomb

Abstract

The present invention belongs to the technical field of fire extinguishing devices, and relates to a method, a system, an electronic device and a storage medium for determining the flight parameters of a fire extinguishing bomb. The method for determining the flight parameters of a fire extinguishing bomb includes obtaining the target azimuth (α1, β1, h1) of a fire extinguishing task; determining the fire extinguishing task distance X according to the launch azimuth (α2, β2, h2) of a fire truck and the target azimuth (α1, β1, h1) of the fire extinguishing task; determining the particle ballistic equation of the fire extinguishing bomb based on the fire extinguishing task distance X and the coupling factors affecting the accuracy of the fire extinguishing bomb; determining the landing point of the flight trajectory of the initial scheme based on the particle ballistic equation of the fire extinguishing bomb; and determining the optimal input parameters of the flight trajectory of the fire extinguishing bomb based on the landing point of the flight trajectory of the initial scheme. The present invention takes into account the uncertainties of the fire extinguishing bomb system, state uncertainties, aerodynamic parameter uncertainties and fire extinguishing environment uncertainties, realizes the control of the flight trajectory of the fire extinguishing bomb, can accurately detonate the fire extinguishing bomb at the ignition point, thereby realizing accurate landing point fire extinguishing, improving the fire extinguishing accuracy, having strong practicability and being worthy of popularization.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire extinguishing devices, and in particular relates to a method, system, electronic equipment and storage medium for determining flight parameters of a fire extinguishing bomb. Background Art

[0002] In firefighting and rescue, forest fire fighting often has the characteristics of high difficulty in firefighting, rapid fire spread, and great harm to people's lives and property, and has always been a firefighting problem. Traditional firefighting technology and firefighting equipment have the characteristics of limited firefighting capacity and single rescue function, and require close-range firefighting. For large-scale forest fire fighting scenes, not only is the firefighting cycle long and the rescue risk factor high, but it also threatens the life safety of firefighters.

[0003] In order to improve firefighting and rescue capabilities, shorten response time, reduce rescue risks, and effectively control complex forest fire situations, firefighting robots, firefighting helicopters and other firefighting equipment have gradually emerged in the field of forest fire extinguishing technology, as well as intelligent firefighting technologies such as fire-fighting bombs.

[0004] However, due to the complex uncertainty of the forest fire fighting environment caused by the coupling of many factors such as wind force, spread of fire points, terrain environment, etc., there are great obstacles to the application of fire extinguishing bombs in existing technologies. Even if some technologies are converted into products, the fire extinguishing accuracy is not high and they cannot be widely used in the fire fighting field. Summary of the invention

[0005] In view of this, the present invention provides a method, system, electronic device and storage medium for determining the flight parameters of a fire extinguishing bomb. Based on the demand for precise landing point fire extinguishing, the method takes into account the uncertainty of the fire extinguishing bomb system, the state uncertainty, the aerodynamic parameter uncertainty and the uncertainty of the fire extinguishing environment, and realizes the control of the flight trajectory of the fire extinguishing bomb, thereby achieving precise landing point fire extinguishing and improving the accuracy of fire extinguishing.

[0006] The technology of the present invention is:

[0007] The method for determining the flight parameters of a fire extinguishing bomb comprises the following steps:

[0008] Obtain the target position of the fire-fighting mission;

[0009] Determine the fire extinguishing task distance X according to the launch direction of the fire extinguishing vehicle and the target direction of the fire extinguishing task;

[0010] The particle ballistic equation of the fire-extinguishing bomb is determined based on the fire-extinguishing mission distance X and the coupling factors that affect the accuracy of the fire-extinguishing bomb;

[0011] Based on the particle ballistic equation of the fire extinguishing bomb, determine the landing point of the flight trajectory of the initial plan;

[0012] Based on the landing point of the initial flight trajectory, determine the maximum landing point deviation Z, and compare the maximum landing point deviation with the maximum allowed landing point deviation Z. 0 For comparison, if the maximum landing point deviation Z is greater than the maximum allowed landing point deviation Z 0 , then return and continue to adjust the flight trajectory control parameters of the fire extinguishing bomb according to the landing point until the maximum landing point side deviation Z is less than the maximum allowed landing point side deviation Z 0 , the maximum landing point lateral deviation Z is less than the maximum allowed landing point lateral deviation Z 0 The corresponding flight trajectory control parameters are used as the optimal fire extinguishing bomb flight trajectory input parameters.

[0013] Preferably, the fire extinguishing task distance X is determined based on the following formula according to the target orientation of the fire extinguishing task and the launch orientation of the fire extinguishing vehicle:

[0014]

[0015] Among them, α 1 and α 2 are the latitudes of the target and launch azimuths, β 1 and β 2 Respectively represent the longitude of the target direction and the launch direction, h 1 and h 2 represents the height of the target azimuth and the launch azimuth respectively, Δα represents the latitude difference, Δβ represents the longitude difference, Δh is the height difference between the target azimuth and the launch azimuth, a, c and e represent intermediate variables respectively, R represents the radius of the earth, R = 6371km, and X is the fire extinguishing mission distance.

[0016] Preferably, determining the particle ballistic equation of the fire extinguishing bomb based on the fire extinguishing task distance X and the coupling factors affecting the accuracy of the fire extinguishing bomb comprises the following steps:

[0017] Based on the three-degree-of-freedom particle trajectory motion model, a multi-dimensional dynamic model of the fire extinguishing bomb is constructed;

[0018] Construct a basic model that considers the uncertainty of the initial state of the fire bomb and the uncertainty of the model parameters;

[0019] The basic model is introduced into the multidimensional dynamics model of the fire extinguishing bomb to obtain the particle ballistic equation of the fire extinguishing bomb.

[0020] Preferably, based on the three-degree-of-freedom particle trajectory motion model, the multidimensional dynamic model of the fire extinguishing bomb is constructed using the following formula:

[0021]

[0022] in,

[0023] v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the ballistic inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, F x is the aerodynamic drag, F y is the aerodynamic lift, F z is the aerodynamic lateral force, q=0.5ρv 2 , ρ is the air density, S is the cross-sectional area of ​​the fire extinguishing bomb, d is the diameter of the fire extinguisher bomb, C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, and g is the acceleration due to gravity.

[0024] Preferably, the following formula is used to construct a basic model that considers the uncertainty of the initial state of the fire extinguishing bomb and the uncertainty of the model parameters:

[0025]

[0026] Among them, the operator is the Hadamard product, is the actual state parameter, are model parameters, is the speed of the fire bomb under the model's nominal state, is the velocity height angle under the model nominal state, is the ballistic inclination angle of the model in the nominal state, v 0 is the initial velocity of the fire bomb, θ 0 is the initial velocity elevation angle, is the initial ballistic inclination angle, [N v ,N θ ,N ψ ] T and Each element in is a random number with a mean of 0 and a variance of 1. v ,σ θ ,σ ψ ] T and Each element in represents the deviation degree of each parameter from the nominal value. The deviation degree of each parameter from the nominal value is defined by the ratio of 3σ of the state parameter and model parameter to the nominal value of the corresponding parameter. σ is the standard deviation corresponding to each parameter. [F x ,F y ,F z ] T Each element in represents the initial model parameter, F x is the aerodynamic drag, F y is the aerodynamic lift, F z is the aerodynamic lateral force.

[0027] Preferably, the basic model is introduced into the multidimensional dynamics model of the fire extinguishing bomb to obtain the particle ballistic equation of the fire extinguishing bomb as follows:

[0028]

[0029] Among them, v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the trajectory inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, ρ is the air density, S is the cross-sectional area of ​​the fire-extinguishing bomb, d is the diameter of the fire extinguisher bomb, C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, g is the acceleration due to gravity, Each element in is a random number with mean 0 and variance 1. Each element in represents the degree of deviation of each parameter from the nominal value. The degree of deviation of each parameter from the nominal value is defined by the ratio of 3σ of the state parameter and model parameter to the nominal value of the corresponding parameter, and σ is the standard deviation corresponding to each parameter.

[0030] Preferably, based on the particle ballistic equation of the fire extinguishing bomb, determining the landing point of the flight trajectory of the initial solution includes the following steps:

[0031] The known conditions and state uncertainties are introduced into the particle ballistic equation of the fire extinguishing bomb, and the fourth-order Runge-Kutta method is used to solve it, and the state variables of the fire extinguishing bomb during flight are obtained.

[0032] From the solved state variables The position coordinates (x i ,y i ,z i ), i∈{1,2,...,n};

[0033] The position coordinate information is divided into (x i ,y i )(x i ,z i ) Two groups of data to be fitted are smoothed respectively using the least squares fitting method;

[0034] The first point of any data obtained is recorded as x 1 , the last point is x n , then the coordinate of the midpoint is x mid =(x 1 +x n ) / 2, take the midpoint of the fitted data As the location of the extrapolated drop point, and is the smoothed coordinate value;

[0035] Take x mid The theoretical velocity value of the fire extinguishing bomb corresponding to the point is used as the initial velocity value of the extrapolated landing point, and the velocity information v at a certain moment is obtained by substituting it into the following formula x ,v y ,v z Then, the position information and velocity information are brought into the particle ballistic equation of the fire extinguishing bomb to solve the ballistics and obtain the coordinates of the falling point of the fire extinguishing bomb (X im ,Z im );

[0036]

[0037] Among them, v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the trajectory inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, ρ is the air density, S is the cross-sectional area of ​​the fire-extinguishing bomb, d is the diameter of the fire extinguisher bomb, w x 、w z are the speeds of longitudinal wind and cross wind respectively; C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, g is the acceleration due to gravity, v x ,v y ,v z They are the speed information at a certain moment;

[0038] The falling point coordinates (X im ,Z im ) and the position and velocity information of a point on the trajectory satisfy the following functional correspondence:

[0039]

[0040] Among them, (X im ,Z im ) is the landing point of the fire extinguisher bomb, F is the particle ballistic equation, h im is the altitude of the area where the fire bomb landed. As the location of the extrapolated drop point, and is the smoothed coordinate value, v x ,v y ,v z They are the speed information at a certain moment.

[0041] The system for determining the flight parameters of the fire extinguishing bomb, based on the above method, comprises:

[0042] An acquisition module is used to obtain the target position of the fire-fighting task;

[0043] Determination module 1, used to determine the fire extinguishing task distance X according to the launch direction of the fire extinguishing vehicle and the target direction of the fire extinguishing task;

[0044] Determine module 2, for determining the particle ballistic equation of the fire extinguishing bomb based on the fire extinguishing mission distance X and the coupling factors affecting the accuracy of the fire extinguishing bomb;

[0045] Determine module three, which is used to determine the landing point of the flight trajectory of the initial plan based on the particle ballistic equation of the fire extinguishing bomb;

[0046] The optimal module is used to determine the maximum landing point deviation Z based on the landing point of the initial flight trajectory, and compare the maximum landing point deviation with the maximum allowed landing point deviation Z 0 For comparison, if the maximum landing point deviation Z is greater than the maximum allowed landing point deviation Z 0 , then return and continue to adjust the flight trajectory control parameters of the fire extinguishing bomb according to the landing point until the maximum landing point side deviation Z is less than the maximum allowed landing point side deviation Z 0 , the maximum landing point lateral deviation Z is less than the maximum allowed landing point lateral deviation Z 0 The corresponding flight trajectory control parameters are used as the optimal fire extinguishing bomb flight trajectory input parameters.

[0047] The electronic device comprises: a storage, a processor and a computer program stored in the storage and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned method for determining the flight parameters of the fire extinguishing bomb.

[0048] A computer-readable storage medium stores a computer program, which is executed by a processor to implement the above-mentioned method for determining the flight parameters of the fire extinguishing bomb.

[0049] Compared with the prior art, the method, system, electronic device and storage medium for determining the flight parameters of the fire extinguishing bomb provided by the present invention are based on the demand for precise landing point fire extinguishing, take into account the uncertainty of the fire extinguishing bomb system, state uncertainty, aerodynamic parameter uncertainty and uncertainty of the fire extinguishing environment, and realize the control of the flight trajectory of the fire extinguishing bomb. The fire extinguishing bomb can be accurately detonated at the fire point, thereby realizing precise landing point fire extinguishing, improving the accuracy of fire extinguishing, and having strong practicality and worthy of promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The present invention is a flowchart of a method for implementing the present invention.

[0051] Figure 2 It is a structural diagram of the system of the present invention.

[0052] Figure 3 It is a structural diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0053] The present invention provides a method, system, electronic device and storage medium for determining flight parameters of a fire extinguishing bomb. Figure 1 The present invention is described with reference to the flowchart of FIG.

[0054] Example 1

[0055] like Figure 1 As shown, the method for determining the flight parameters of the fire extinguishing bomb provided by the present invention comprises the following steps:

[0056] 1. Determine the location of the fire based on GPS as the target location for the fire extinguishing mission.

[0057] 2. Determine the fire-fighting mission distance X according to the launch direction of the fire-fighting vehicle and the target direction of the fire-fighting mission:

[0058] Use α 1 and α 2 denote the latitude of the target azimuth and the launch azimuth, β 1 and β 2 Respectively represent the longitude of the target direction and the launch direction, h 1 and h 2 They represent the height of the target azimuth and the launch azimuth respectively, Δα represents the latitude difference, Δβ represents the longitude difference, Δh is the height difference between the target azimuth and the launch azimuth, a, c and e represent intermediate variables respectively, R represents the radius of the earth, R = 6371km, and the fire extinguishing task distance X is determined based on the following formula:

[0059]

[0060] in,

[0061] 3. Determining the particle ballistic equation of the fire extinguishing bomb based on the fire extinguishing mission distance X and the coupling factors affecting the accuracy of the fire extinguishing bomb includes the following steps:

[0062] (1) Based on the three-degree-of-freedom particle trajectory motion model, the multidimensional dynamic model of the fire extinguishing bomb is constructed using the following formula:

[0063]

[0064] in,

[0065] v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the ballistic inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, F x is the aerodynamic drag, F y is the aerodynamic lift, F z is the aerodynamic lateral force, q=0.5ρv 2 , ρ is the air density, S is the cross-sectional area of ​​the fire extinguishing bomb, d is the diameter of the fire extinguisher bomb, C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, and g is the acceleration due to gravity.

[0066] (2) The basic model considering the uncertainty of the initial state of the fire extinguisher bomb and the uncertainty of the model parameters is constructed using the following formula:

[0067]

[0068] Among them, the operator is the Hadamard product, is the actual state parameter, are model parameters, is the speed of the fire bomb under the model's nominal state, is the velocity height angle under the model nominal state, is the ballistic inclination angle of the model in the nominal state, v 0 is the initial velocity of the fire bomb, θ 0 is the initial velocity elevation angle, is the initial ballistic inclination angle, [N v ,N θ ,N ψ ] T and Each element in is a random number with a mean of 0 and a variance of 1. v ,σ θ ,σ ψ ] T and Each element in represents the deviation degree of each parameter from the nominal value. The deviation degree of each parameter from the nominal value is defined by the ratio of 3σ of the state parameter and model parameter to the nominal value of the corresponding parameter. σ is the standard deviation corresponding to each parameter. [F x ,F y ,F z ] T Each element in represents the initial model parameter, F x is the aerodynamic drag, F y is the aerodynamic lift, F z is the aerodynamic lateral force.

[0069] (3) Substituting the above basic model into the multidimensional dynamics model of the fire extinguishing bomb, the particle trajectory equation of the fire extinguishing bomb is obtained as shown in the following formula:

[0070]

[0071] Among them, v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the trajectory inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, ρ is the air density, S is the cross-sectional area of ​​the fire-extinguishing bomb, d is the diameter of the fire extinguisher bomb, C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, g is the acceleration due to gravity, Each element in is a random number with mean 0 and variance 1. Each element in represents the degree of deviation of each parameter from the nominal value. The degree of deviation of each parameter from the nominal value is defined by the ratio of 3σ of the state parameter and model parameter to the nominal value of the corresponding parameter, and σ is the standard deviation corresponding to each parameter.

[0072] 4. Based on the particle ballistic equation of the fire extinguishing bomb, determine the landing point of the flight trajectory of the initial plan, including the following steps:

[0073] The known conditions and state uncertainties are introduced into the particle ballistic equation of the fire extinguishing bomb, and the fourth-order Runge-Kutta method is used to solve it, and the state variables of the fire extinguishing bomb during flight are obtained. From the solved state variables The position coordinates (x i ,y i ,z i ), i∈{1,2,...,n}, the position coordinate information is divided into (x i ,y i )(x i ,z i ) Two sets of data to be fitted are smoothed using the least squares fitting method, and the first point of any data obtained is recorded as x 1 , the last point is x n , then the coordinate of the midpoint is x mid =(x 1 +x n ) / 2, take the midpoint of the fitted data As the location of the extrapolated drop point, and is the smoothed coordinate value, take x mid The theoretical velocity value of the fire extinguishing bomb corresponding to the point is used as the initial velocity value of the extrapolated landing point, and the velocity information v at a certain moment is obtained by substituting it into the following formula x ,v y ,v z Then, the position information and velocity information are brought into the particle ballistic equation of the fire extinguishing bomb to solve the ballistics and obtain the coordinates of the falling point of the fire extinguishing bomb (X im ,Z im ):

[0074]

[0075] Among them, v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the trajectory inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, ρ is the air density, S is the cross-sectional area of ​​the fire-extinguishing bomb, d is the diameter of the fire extinguisher bomb, w x 、w z are the speeds of longitudinal wind and cross wind respectively; C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, g is the acceleration due to gravity, v x ,v y ,v z They are the speed information at a certain moment.

[0076] The coordinates of the fire bomb's landing point (X im ,Z im ) and the position and velocity information of a point on the trajectory satisfy the following functional correspondence:

[0077]

[0078] Among them, (X im ,Z im ) is the landing point of the fire extinguisher bomb, F is the particle ballistic equation, h im is the altitude of the area where the fire bomb landed. As the location of the extrapolated drop point, and is the smoothed coordinate value, v x ,v y ,v z They are the speed information at a certain moment.

[0079] Based on the landing point of the flight trajectory of the above scheme, the maximum landing point deviation Z is determined by comparison, and the maximum landing point deviation is compared with the maximum allowed landing point deviation Z. 0 For comparison, if the maximum landing point deviation Z is greater than the maximum allowed landing point deviation Z 0 , then return and continue to adjust the flight trajectory control parameters of the fire extinguishing bomb according to the landing point until the maximum landing point side deviation Z is less than the maximum allowed landing point side deviation Z 0 , the maximum landing point lateral deviation Z is less than the maximum allowed landing point lateral deviation Z 0 The corresponding flight trajectory control parameters are used as the optimal fire extinguishing bomb flight trajectory input parameters.

[0080] Specifically, as a further implementation plan, the initial speed v of the fire extinguishing bomb is further adjusted according to the landing point. 0 、Initial velocity height angle θ 0、Initial ballistic inclination ψ 0 The following steps are involved:

[0081] 1) First use θ 1 =π / 4, adjust θ according to the deviation between the landing point of the initial flight trajectory and the target point;

[0082] 2) If the landing point is larger than the target point, take θ 2 =θ 1 / 2, and then determine the position deviation between its landing point and the target point;

[0083] 3) Determine whether the landing point is greater than or less than the target point. If it is still greater than the target point, take θ n =θ n-1 / 2; if the landing point is smaller than the target point, take θ n =(θ n-1 +θ n-2 ) / 2;

[0084] 4) Repeat the previous step until the deviation between the landing point and the target point is less than 15m;

[0085] 5) Set ψ first 1 = 0, adjust ψ according to whether the landing point of the landing point prediction feedback is on the left or right side of the target point;

[0086] 6) If the landing point is on the left side of the target point, first take ψ 2 =π / 2;

[0087] 7) If the landing point is on the right side of the target point, take ψ 3 =ψ 2 / 2;

[0088] 8) If the predicted feedback landing point is still on the right side of the target point and the deviation from the target point is less than the deviation between the landing point and the target point in the previous step, then take ψ n =ψ n-1 / 2; if the predicted feedback landing point is on the left side of the target point or its deviation from the target point is greater than the deviation between the landing point and the target point in the previous step, then take ψ n =(ψ n-1 +ψ n-2 ) / 2;

[0089] 9) Repeat the previous step until the lateral deviation between the landing point and the target point is less than 10m;

[0090] 10) If ψ 1 = 0, the landing point is on the right side of the target point, so first take ψ 2 =-π / 2, repeat steps 7) to 8) until the lateral deviation between the landing point and the target point is less than 10m.

[0091] The above method can also be implemented based on the system, such as Figure 2 The system for determining the flight parameters of the fire extinguishing bomb shown in the figure comprises an acquisition module 1, a determination module 1 2, a determination module 2 3, a determination module 3 4 and a selection module 5, wherein the acquisition module 1 is used to obtain the target orientation (α 1 ,β 1 ,h 1 ), the determining module 1 2 is used to determine the launch direction (α 2 ,β 2 ,h 2 ) and the target position of the fire-fighting mission (α 1 ,β 1 ,h 1 ) determine the fire extinguishing task distance X, determine the second module 3 is used to determine the particle ballistic equation of the fire extinguishing bomb based on the fire extinguishing task distance X and the coupling factors affecting the accuracy of the fire extinguishing bomb, determine the third module 4 is used to determine the landing point of the initial solution flight trajectory based on the particle ballistic equation of the fire extinguishing bomb, and the optimal module 5 is used to determine the maximum landing point lateral deviation Z based on the landing point of the initial solution flight trajectory, and compare the maximum landing point lateral deviation with the allowable maximum landing point lateral deviation Z 0 For comparison, if the maximum landing point deviation Z is greater than the maximum allowed landing point deviation Z 0 , then return and continue to adjust the flight trajectory control parameters of the fire extinguishing bomb according to the landing point until the maximum landing point side deviation Z is less than the maximum allowed landing point side deviation Z 0 , the maximum landing point lateral deviation Z is less than the maximum allowed landing point lateral deviation Z 0 The corresponding flight trajectory control parameters are used as the optimal fire extinguishing bomb flight trajectory input parameters.

[0092] The above method can also be implemented by relying on electronic equipment, such as Figure 3 As shown, the structure of the electronic device specifically includes a storage 6, a processor 7, and a computer program stored in the storage 6 and executable on the processor 7. The processor 7 executes the computer program to implement the method for determining the flight parameters of the fire extinguishing bomb as described above.

[0093] A communication interface is provided between the storage 6 and the processor 7, and the communication interface realizes signal connection between the two and realizes data transmission. The communication interface can be implemented in the form of a serial interface or a parallel interface.

[0094] The processor 7 may be a central processing unit CPU, or a specific integrated circuit ASIC, or may be one or more integrated circuits configured to implement the embodiments of the present application.

[0095] The above method can also be implemented by relying on a computer-readable storage medium, on which a computer program is stored. The computer program is executed by the processor 7 to implement the above method for determining the flight parameters of the fire extinguishing bomb.

[0096] The method, system, electronic device and storage medium for determining the flight parameters of the fire extinguishing bomb provided by the present invention take into account the uncertainty of the fire extinguishing bomb system, the state uncertainty, the aerodynamic parameter uncertainty and the uncertainty of the fire extinguishing environment, realize the control of the flight trajectory of the fire extinguishing bomb, and enable the fire extinguishing bomb to be accurately detonated at the fire point, thereby realizing precise landing point fire extinguishing, improving the fire extinguishing accuracy, having strong practicality and being worthy of promotion.

[0097] The above disclosure is only a preferred specific embodiment of the present invention, but the embodiments of the present invention are not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A method for determining flight parameters of a fire extinguishing bomb, characterized in that: The following steps are involved: Obtain the target position of the fire-fighting mission; Determine the fire extinguishing task distance X according to the launch direction of the fire extinguishing vehicle and the target direction of the fire extinguishing task; The particle ballistic equation of the fire-extinguishing bomb is determined based on the fire-extinguishing mission distance X and the coupling factors that affect the accuracy of the fire-extinguishing bomb; Based on the particle ballistic equation of the fire extinguishing bomb, determine the landing point of the flight trajectory of the initial plan; Based on the landing point of the flight trajectory of the initial solution, determine the maximum landing point deviation Z, and compare the maximum landing point deviation with the maximum allowed landing point deviation Z0. If the maximum landing point deviation Z is greater than the maximum allowed landing point deviation Z0, return and continue to adjust the flight trajectory control parameters of the fire extinguishing bomb according to the landing point of the fire extinguishing bomb until the maximum landing point deviation Z is less than the maximum allowed landing point deviation Z0. The flight trajectory control parameters corresponding to the maximum landing point deviation Z is less than the maximum allowed landing point deviation Z0 as the optimal fire extinguishing bomb flight trajectory input parameters; The fire extinguishing task distance X is determined based on the following formula according to the target direction of the fire extinguishing task and the launch direction of the fire extinguishing vehicle: Among them, α1 and α2 are the latitudes of the target azimuth and the launch azimuth, β1 and β2 are the longitudes of the target azimuth and the launch azimuth, h1 and h2 are the altitudes of the target azimuth and the launch azimuth, Δα is the latitude difference, Δβ is the longitude difference, Δh is the altitude difference between the target azimuth and the launch azimuth, a, c and e are intermediate variables, R is the radius of the earth, R = 6371 km, and X is the fire fighting mission distance; The particle ballistic equation of the fire extinguishing bomb is determined based on the fire extinguishing task distance X and the coupling factors affecting the accuracy of the fire extinguishing bomb, including the following steps: Based on the three-degree-of-freedom particle trajectory motion model, a multi-dimensional dynamic model of the fire extinguishing bomb is constructed; Construct a basic model that considers the uncertainty of the initial state of the fire bomb and the uncertainty of the model parameters; Substituting the basic model into the multidimensional dynamics model of the fire extinguishing bomb, the particle ballistic equation of the fire extinguishing bomb is obtained; Based on the three-degree-of-freedom particle trajectory motion model, the multi-dimensional dynamic model of the fire extinguishing bomb is constructed using the following formula: in, v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the ballistic inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, F x is the aerodynamic drag, F y is the aerodynamic lift, F z is the aerodynamic lateral force, q=0.5ρv 2 , ρ is the air density, S is the cross-sectional area of ​​the fire extinguishing bomb, d is the diameter of the fire extinguisher bomb, C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, and g is the acceleration due to gravity; The following formula is used to construct a basic model that considers the uncertainty of the initial state of the fire extinguishing bomb and the uncertainty of the model parameters: Among them, the operator is the Hadamard product, is the actual state parameter, are model parameters, is the speed of the fire bomb under the model's nominal state, is the velocity height angle at the nominal state of the model, is the ballistic inclination angle under the nominal state of the model, v0 is the initial velocity of the fire extinguishing bomb, θ0 is the initial velocity height angle, is the initial ballistic inclination angle, [N v ,N θ ,N ψ ] T and Each element in is a random number with a mean of 0 and a variance of 1. v ,σ θ ,σ ψ ] T and Each element in represents the degree of deviation of each parameter from the nominal value. The degree of deviation of each parameter from the nominal value is defined by the ratio of 3σ of the state parameter and model parameter to the nominal value of the corresponding parameter. σ is the standard deviation corresponding to each parameter. [F x ,F y ,F z ] T Each element in represents the initial model parameter, F x is the aerodynamic drag, F y is the aerodynamic lift, F z is the aerodynamic lateral force; Continuing to adjust the flight trajectory control parameters of the fire extinguishing bomb according to the landing point of the fire extinguishing bomb includes the following steps: 1) First, θ1=π / 4 is used to adjust θ according to the deviation between the landing point of the initial flight trajectory and the target point; 2) If the landing point is larger than the target point, then θ2 = θ1 / 2, and then determine the position deviation between the landing point and the target point; 3) Determine whether the landing point is greater than or less than the target point. If it is still greater than the target point, take θ n =θ n-1 / 2; if the landing point is smaller than the target point, take θ n =(θ n-1 +θ n-2 ) / 2; 4) Repeat the previous step until the deviation between the landing point and the target point is less than 15m; 5) First set ψ1 = 0, and adjust ψ according to whether the landing point of the landing point prediction feedback is on the left or right side of the target point; 6) If the landing point is on the left side of the target point, first take ψ2 = π / 2; 7) If the landing point is on the right side of the target point, then ψ3 = ψ2 / 2; 8) If the predicted feedback landing point is still on the right side of the target point and the deviation from the target point is less than the deviation between the landing point and the target point in the previous step, then take ψ n =ψ n-1 / 2; if the predicted feedback landing point is on the left side of the target point or its deviation from the target point is greater than the deviation between the landing point and the target point in the previous step, then take ψ n =(ψ n-1 +ψ n-2 ) / 2; 9) Repeat the previous step until the lateral deviation between the landing point and the target point is less than 10m; 10) If the landing point is on the right side of the target point when ψ1 = 0, first take ψ2 = -π / 2, and repeat steps 7) to 8) until the lateral deviation between the landing point and the target point is less than 10m.

2. The method for determining the flight parameters of a fire extinguishing bomb according to claim 1, characterized in that: Substituting the basic model into the multidimensional dynamics model of the fire extinguishing bomb, the particle ballistic equation of the fire extinguishing bomb is obtained as follows: Among them, v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the trajectory inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, ρ is the air density, S is the cross-sectional area of ​​the fire-extinguishing bomb, d is the diameter of the fire extinguisher bomb, C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, g is the acceleration due to gravity, Each element in is a random number with mean 0 and variance 1. Each element in represents the degree of deviation of each parameter from the nominal value. The degree of deviation of each parameter from the nominal value is defined by the ratio of 3σ of the state parameter and model parameter to the nominal value of the corresponding parameter, and σ is the standard deviation corresponding to each parameter.

3. The method for determining the flight parameters of a fire extinguishing bomb according to claim 1, characterized in that: Based on the particle ballistic equation of the fire extinguishing bomb, the landing point of the flight trajectory of the initial scheme is determined, including the following steps: The known conditions and state uncertainties are introduced into the particle ballistic equation of the fire extinguishing bomb, and the fourth-order Runge-Kutta method is used to solve it, and the state variables of the fire extinguishing bomb during flight are obtained. From the solved state variables The position coordinates (x i ,y i ,z i ), i∈{1,2,...,n}; The position coordinate information is divided into (x i ,y i )(x i ,z i ) Two groups of data to be fitted are smoothed respectively using the least squares fitting method; The first point of any data obtained is x1, and the last point is x n , then the coordinate of the midpoint is x mid =(x1+x n ) / 2, take the midpoint of the fitted data As the location of the extrapolated drop point, and is the smoothed coordinate value; Take x mid The theoretical velocity value of the fire extinguishing bomb corresponding to the point is used as the initial velocity value of the extrapolated landing point, and the velocity information v at a certain moment is obtained by substituting it into the following formula x ,v y ,v z Then, the position information and velocity information are brought into the particle ballistic equation of the fire extinguishing bomb to solve the ballistics and obtain the coordinates of the falling point of the fire extinguishing bomb (X im ,Z im ): Among them, v is the speed of the fire-extinguishing bomb, θ is the speed elevation angle, ψ is the trajectory inclination angle, x is the range, y is the flight altitude, z is the side deviation of the landing point, m is the mass of the fire-extinguishing bomb, ρ is the air density, S is the cross-sectional area of ​​the fire-extinguishing bomb, d is the diameter of the fire extinguisher bomb, w x 、w z are the speeds of longitudinal wind and cross wind respectively; C x , C y , C z are the drag coefficient, lift coefficient and lateral force coefficient respectively, g is the acceleration due to gravity, v x ,v y ,v z They are the speed information at a certain moment; The falling point coordinates (X im ,Z im ) and the position and velocity information of a point on the trajectory satisfy the following functional correspondence: Among them, (X im ,Z im ) is the landing point of the fire extinguisher bomb, F is the particle ballistic equation, h im is the altitude of the area where the fire bomb landed. As the location of the extrapolated drop point, and is the smoothed coordinate value, v x ,v y ,v z They are the speed information at a certain moment.

4. A system for determining flight parameters of a fire extinguishing bomb, based on the method of any one of claims 2 and 3, characterized in that: include: An acquisition module (1) is used to acquire the target position of the fire extinguishing task; Determining module one (2), for determining the fire extinguishing task distance X according to the launch direction of the fire extinguishing vehicle and the target direction of the fire extinguishing task; Determine module 2 (3), for determining the particle ballistic equation of the fire extinguishing bomb based on the fire extinguishing mission distance X and the coupling factors affecting the accuracy of the fire extinguishing bomb; Determine module three (4), for determining the landing point of the flight trajectory of the initial solution based on the particle ballistic equation of the fire extinguishing bomb; The optimal selection module (5) is used to determine the maximum landing point deviation Z based on the landing point of the flight trajectory of the initial solution, and compare the maximum landing point deviation with the maximum landing point deviation Z0 allowed. If the maximum landing point deviation Z is greater than the maximum landing point deviation Z0 allowed, then return and continue to adjust the flight trajectory control parameters of the fire extinguishing bomb according to the landing point until the maximum landing point deviation Z is less than the maximum landing point deviation Z0 allowed. The flight trajectory control parameters corresponding to the maximum landing point deviation Z being less than the maximum landing point deviation Z0 allowed are used as the optimal fire extinguishing bomb flight trajectory input parameters.

5. An electronic device, characterized in that include: A storage device (6), a processor (7), and a computer program stored in the storage device (6) and executable on the processor (7), wherein the processor (7) executes the computer program to implement the method for determining the flight parameters of a fire extinguishing bomb as claimed in claim 1.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor (6) to implement the method for determining the flight parameters of a fire extinguishing bomb as claimed in claim 1.

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