Task-level simulation-oriented aerodynamic target track generation method

Abstract

The invention discloses a task-level simulation-oriented aerodynamic target track generation method. The method comprises the steps of obtaining a distance from an aircraft to a destination waypoint and a turning radius of the aircraft; when a preset first condition and a preset second condition are met, it is judged that the aircraft arrives at the destination waypoint, and the preset first condition is that the turning radius of the aircraft is larger than the distance from the aircraft to the destination waypoint; the preset second condition is that the speed vector of the aircraft is in front of the destination waypoint or the value of the speed vector of the aircraft is greater than the orthographic projection distance from the aircraft to the destination waypoint; judging whether the current destination waypoint is the last destination waypoint or not: if yes, generating a first flight target track of the aircraft, and updating the integration time of the aircraft; and if not, adjusting the direction vector of the aircraft reaching the next destination waypoint, generating a second flight target track of the aircraft, and updating the integration time of the aircraft.

Description

Technical Field

[0001] The present invention relates to the field of target track generation, and more specifically to an aerodynamic target track generation method oriented to task-level simulation. Background Art

[0002] The military revolution with the information revolution as the core is quietly changing the characteristics and laws of war, and mechanized warfare is transforming into information warfare. Under information conditions, a prominent feature of war is that information warfare is no longer a confrontation between weapons and platforms, but a combat system confrontation composed of various systems such as command and control systems, reconnaissance and surveillance systems, weapon control systems, and strike systems. The essence of war is system confrontation, and the combat effectiveness of electronic information equipment, as the core of the weapon and equipment system, is not only related to the confrontation objects such as early warning detection, intelligence reconnaissance, electronic interference, anti-radiation weapons, intelligence processing and command and control, but also closely related to the natural environment, firepower application, combat missions, combat styles, and combat processes. It is unrealistic to rely entirely on actual combat or actual installation to test the effectiveness of electronic information equipment and train troops in equipment application. In this case, the rational use of combat simulation technology will help us conduct in-depth, accurate, and more quantitative research on war phenomena, and enhance our understanding of the complexity of war such as systems, complexity, interconnection, and nonlinearity. It is of great significance to evaluate the combat effectiveness of weapon systems, improve the training effect of troops, and optimize combat tactics and methods.

[0003] The military revolution with the information revolution as the core is quietly changing the characteristics and laws of war, and mechanized warfare is transforming into information warfare. Under information conditions, a prominent feature of war is that information warfare is no longer a confrontation between weapons and platforms, but a combat system confrontation composed of various systems such as command and control systems, reconnaissance and surveillance systems, weapon control systems, and strike systems. The essence of war is system confrontation, and the combat effectiveness of electronic information equipment, as the core of the weapon and equipment system, is not only related to the confrontation objects such as early warning detection, intelligence reconnaissance, electronic interference, anti-radiation weapons, intelligence processing and command and control, but also closely related to the natural environment, firepower application, combat missions, combat styles, and combat processes. It is unrealistic to rely entirely on actual combat or actual installation to test the effectiveness of electronic information equipment and train troops in equipment application. In this case, the rational use of combat simulation technology will help us conduct in-depth, accurate, and more quantitative research on war phenomena, and enhance our understanding of the complexity of war such as systems, complexity, interconnection, and nonlinearity. It is of great significance to evaluate the combat effectiveness of weapon systems, improve the training effect of troops, and optimize combat tactics and methods. Summary of the invention

[0004] The present invention provides an aerodynamic target track generation method for task-level simulation to solve at least one of the problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A first aspect of the present invention provides a method for generating an aerodynamic target trajectory for task-level simulation, the method comprising:

[0007] Get the distance from the aircraft to the destination waypoint and the turning radius of the aircraft;

[0008] When a preset first condition and a preset second condition are met, it is determined that the aircraft has arrived at the destination waypoint, the first condition being that the turning radius of the aircraft is greater than the distance from the aircraft to the destination waypoint, and the second condition being that the velocity vector of the aircraft is directly in front of the destination waypoint or the value of the velocity vector of the aircraft is greater than the orthographic projection distance from the aircraft to the destination waypoint;

[0009] Determine whether the current destination waypoint is the last destination waypoint:

[0010] If yes, then the first flight target track of the aircraft is generated and the integration time of the aircraft is updated;

[0011] If not, the direction vector of the aircraft to reach the next destination waypoint is adjusted, a second flight target track of the aircraft is generated, and the integration time of the aircraft is updated.

[0012] Optionally, obtaining the distance from the aircraft to the destination waypoint includes:

[0013] The distance from the aircraft to the destination waypoint is obtained according to the direction vector of the destination waypoint. The formula is:

[0014]

[0015] in, is the distance from the aircraft to the destination waypoint, D x , D y , D z They are the components of the direction vector of the destination waypoint in the X-axis, Y-axis, and Z-axis directions respectively.

[0016] Optionally, obtaining the turning radius of the aircraft includes:

[0017] Determine the size of the aircraft's current speed and the curve speed:

[0018] If the current speed of the aircraft is greater than or equal to the curve speed, the turning radius of the aircraft is

[0019]

[0020] Among them, R T is the turning radius of the aircraft, V is the current speed of the aircraft, G cmd is the turning gravity; if the current speed of the aircraft is less than the turning speed, the turning radius of the aircraft is

[0021]

[0022] Where θ is the angular velocity of the aircraft.

[0023] Optionally, adjusting the direction vector of the aircraft to reach the next destination waypoint includes:

[0024] Set the aircraft's flight mode to terrain following mode to adjust the aircraft's heading vector; or

[0025] The constant altitude rate of the aircraft is used to adjust the direction vector of the aircraft in combination with the curvature of the earth.

[0026] Optionally, when the flight mode of the aircraft is terrain following mode, the future position formula of the aircraft is:

[0027]

[0028] in, is the future position of the aircraft, is the aircraft position vector, is the unit horizontal vector in the current vector direction, V Mag is the magnitude of the aircraft velocity vector, D t The time used to predict the future position of an aircraft.

[0029] Optionally, the flight target track of the aircraft is predicted within a time period used for predicting the future position of the aircraft.

[0030] Optionally, the adjusting the direction vector of the aircraft in combination with the curvature of the earth includes:

[0031] The position of the aircraft and the position of the destination waypoint are converted into a spherical coordinate system to obtain the longitude and latitude of the aircraft and the destination waypoint;

[0032] Obtaining a heading angle of the aircraft according to the longitude and latitude of the aircraft and the destination waypoint;

[0033] Adjust the aircraft's heading vector by the aircraft's heading angle and the earth's radius.

[0034] Optionally, the integration time of the aircraft includes

[0035] D T =D T'+dt,

[0036] Among them, D T is the integration time of the aircraft, D T ' is the original integration time, dt is the integration time interval.

[0037] Optionally, the method further comprises

[0038] Integrate the flight trajectory of the aircraft between each destination waypoint until the aircraft integration time exceeds the current simulation time, and end the simulation.

[0039] A second aspect of the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect of the present invention when executing the program.

[0040] The beneficial effects of the present invention are as follows:

[0041] The present invention provides a method for generating aerodynamic target tracks for mission-level simulation, which simulates the motion track of an aircraft by using the speed, turning radius, direction and distance between the aircraft and the destination waypoint, solving the problem that the accuracy and angle of non-aerodynamic waypoint flight calculations are difficult to meet the needs of weapon system verification. The present invention uses representative aerodynamics to integrate the position and speed of the aircraft within the scene update interval, and has the advantages of high efficiency and high accuracy. Users can adjust and modify according to actual needs to meet different route requirements, effectively improving the accuracy and efficiency of the research on mission-level simulation waypoint generation algorithms, and is of great significance for evaluating the combat effectiveness of weapon systems, improving the training effects of troops, and optimizing combat tactics and methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0043] Figure 1 A flow chart showing the aerodynamic target track generation method for task-level simulation of the present invention;

[0044] Figure 2 A schematic diagram showing the structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0046] The continuous development of military simulation has made track optimization algorithms more and more concerned in the field of simulation. Track generation algorithms are methods based on mathematics and computer science. At present, the waypoint generation method for non-aerodynamic targets is a commonly used waypoint generation method. The core of its generation algorithm is to multiply the velocity vector by the period in the geodetic coordinate system (X-axis, Y-axis, Z-axis), but the accuracy angle of such solution is difficult to meet the needs of weapon system verification. In order to solve this problem, the present invention proposes a method for generating aerodynamic target tracks for task-level simulation. The method uses representative aerodynamics to integrate the position and speed of the aircraft within the scene update interval, which effectively improves the accuracy and efficiency of the research on the waypoint generation algorithm for task-level simulation.

[0047] A first aspect of the present invention provides a method for generating an aerodynamic target trajectory for task-level simulation, the method comprising:

[0048] Get the turning radius of the aircraft and the distance from the aircraft to the destination waypoint;

[0049] When the aircraft reaches the destination waypoint, the aircraft's integration time is initialized to the time of the aircraft's last scene update. The aircraft's command speed is initialized to the minimum of the aircraft's maximum speed and the user-defined destination waypoint speed.

[0050] The turning radius of the aircraft is obtained according to the current speed of the aircraft and the turning speed of the aircraft. The current speed of the aircraft and the turning speed are judged: if the current speed of the aircraft is greater than or equal to the turning speed, the turning radius of the aircraft is

[0051]

[0052] Among them, R T is the turning radius of the aircraft, V is the current speed of the aircraft, G cmd is the turning gravity; if the current speed of the aircraft is less than the turning speed, the turning radius of the aircraft is

[0053]

[0054] Where θ is the angular velocity of the aircraft.

[0055] The turning speed of an aircraft refers to the speed at which the aircraft maintains a stable flight when executing a curve of a specific radius. This flight speed ensures that the aircraft does not tilt excessively or lose stability within a given turning radius. Measuring or calculating the turning speed usually involves the following steps:

[0056] The cornering speed V1 can be calculated by the following formula:

[0057] Where R is the desired turning radius, g is the acceleration due to gravity (9.81 m / s 2 ), n is the desired load factor (usually defined during design).

[0058] Calculate the direction vector to the destination waypoint:

[0059]

[0060] in, is the direction vector of the destination waypoint (m); is the destination waypoint position (m); is the current position of the aircraft (m).

[0061] The distance from the aircraft to the destination waypoint is obtained according to the direction vector of the destination waypoint. The formula is:

[0062]

[0063] in, is the distance from the aircraft to the destination waypoint (m), D x , D y , D z They are the components (m) of the direction vector of the destination waypoint in the X-axis, Y-axis, and Z-axis directions respectively.

[0064] When a preset first condition and a preset second condition are satisfied, it is determined that the aircraft has arrived at the destination waypoint, wherein the preset first condition is that the turning radius of the aircraft is greater than the distance from the aircraft to the destination waypoint, and the second condition is that the velocity vector of the aircraft is directly in front of the destination waypoint or the value of the velocity vector of the aircraft is greater than the positive projection distance from the aircraft to the destination waypoint;

[0065] If the aircraft has not reached the destination waypoint, the distance from the aircraft to the destination waypoint and the turning radius of the aircraft are re-obtained.

[0066] Determine whether the current destination waypoint is the last destination waypoint:

[0067] If yes, then the first flight target track of the aircraft is generated and the integration time of the aircraft is updated;

[0068] If not, the direction vector of the aircraft to reach the next destination waypoint is adjusted, a second flight target track of the aircraft is generated, and the integration time of the aircraft is updated.

[0069] If the aircraft meets the above conditions and the destination waypoint is the last waypoint, the aircraft will be deactivated, the first flight target track of the aircraft will be generated, that is, the overall flight target track of the aircraft, and the integration time of the aircraft will be updated until the integration time of the aircraft is greater than the current simulation time, so as to ensure that the flight process of the aircraft between all the predetermined waypoints meets the expectations and ensure the integrity and accuracy of the simulation; if the aircraft meets the above conditions and the destination waypoint is not the last waypoint, the second flight target track of the aircraft will be generated, that is, the flight target track of the current segment of the aircraft, the integration time of the aircraft will be updated, the position and altitude information of the next destination waypoint of the aircraft will be updated, and the direction vector of the aircraft to the next destination waypoint will be adjusted. The aircraft will use the terrain following state of the new destination waypoint, reset the command speed, and the direction vector of the aircraft to the next destination waypoint will be recalculated as described above.

[0070] Set the terrain following mode or adjust the direction vector of the aircraft to the destination waypoint in combination with the curvature of the earth;

[0071] In terrain following mode, the aircraft's flight altitude is adjusted. The aircraft's future position formula is:

[0072]

[0073] in, is the future position of the aircraft, is the position vector of the aircraft, is the unit horizontal vector in the current vector direction, V Mag is the magnitude of the aircraft velocity vector, D t The time used to predict the future position of an aircraft.

[0074] The time used to predict the future position of the aircraft is a time interval. During this time interval, the flight target track of the aircraft is simulated and the integration time of the aircraft is updated. If the integration time of the aircraft is greater than the simulation time, the simulation is terminated.

[0075] If the terrain following mode is not set, the aircraft will maintain a constant high rate based on the current position of the aircraft and the position of the destination waypoint, and the direction vector of the aircraft will be corrected in combination with the curvature of the earth to obtain the flight target track of the aircraft and update the integration time of the aircraft. If the direction vector causes the aircraft to fly above the maximum altitude and below the minimum altitude, the altitude detection adjustment will be performed. The maximum altitude of the altitude detection defaults to 100,000 meters, the minimum altitude is 250 meters, or it can be flown at a specified altitude above the ground.

[0076] Correction of the vehicle's direction vector according to the curvature of the earth includes

[0077] The current position of the aircraft and the position of the destination waypoint are converted to a spherical coordinate system to obtain the longitude and latitude of the aircraft and the destination waypoint; the heading angle of the aircraft is obtained using spherical trigonometry based on the longitude and latitude of the aircraft and the destination waypoint; the direction vector of the aircraft is adjusted by the heading angle of the aircraft and the radius of the earth so that the flight path of the aircraft is consistent with the curvature of the earth.

[0078] Among them, the calculation formula for the heading angle of the aircraft using spherical trigonometry is:

[0079]

[0080] Among them, θ a is the heading angle of the aircraft, φ1 is the latitude of the aircraft, φ2 is the latitude of the destination waypoint, and Δλ is the longitude difference between the aircraft and the destination waypoint.

[0081] The specific steps for updating the integration time of the aircraft are: obtaining the integration time interval, that is, the time period each time the aircraft updates its status in the flight simulation. The integration time interval determines the simulation time step and calculation accuracy.

[0082] The integration time interval is a fixed value, which can be selected as 0.1 second or 1 second according to the complexity of the aircraft simulation and the required accuracy.

[0083] The aircraft flies along the direction vector during the integration time interval. For each integration, the integration time of the aircraft is updated to

[0084] D T =D T '+dt,

[0085] Among them, D T is the integration time of the aircraft (s), D T ' is the original integration time, dt is the integration time interval (s).

[0086] Original integration time D T 'Usually set to 0 at the beginning of the simulation as the starting point of the time count. During the simulation, the time will be updated according to the set integration time interval.

[0087] The integration time interval is used to calculate the time interval that the aircraft flies in each iteration and determines the time step of the simulation.

[0088] During the integration process, the aircraft flies in a straight line or curve between waypoints, and the whole process is repeated until the integration time of the aircraft exceeds the current simulation time, and the flight target track of the aircraft is obtained to ensure the integrity and accuracy of the simulation of the aircraft's flight target track.

[0089] In a specific embodiment, the aircraft in this embodiment is a helicopter, and it is commanded by the C3I model to hover. The command speed of the helicopter is set to 0, forcing the helicopter to slow down and hover until the C3I model sends an engagement action command to the next destination waypoint. The commanded turning weight is initialized according to the type of flight path the aircraft is currently following. Assuming that the aircraft is flying on an orbit, the gravity is set to 3.0, and the destination waypoint is set to terrain following mode. The aircraft will use terrain following to reach the predetermined destination waypoint. When the command speed and turning weight are initialized, the turning radius and direction vector of the helicopter are calculated.

[0090] Set destination waypoint location The current position of the aircraft Then the direction vector of the destination waypoint is That is, the direction vector of the destination waypoint is (100, 100, 300).

[0091] Let the component D of the direction vector in the X-axis direction be x = 10, the component D of the direction vector in the Y-axis direction y = 20, the component element D of the direction vector in the Z-axis direction z =10, then the distance from the aircraft to the next destination waypoint is That is, the distance from the aircraft to the next destination waypoint is 24 meters.

[0092] Assume the current speed of the aircraft is V = 900m / s, the angular rate curve of the aircraft speed is fitted as θ = 30r / s, and the aircraft's cornering speed V1 is 1000m / s. At this time, the current speed of the aircraft is less than the cornering speed, then the turning radius of the aircraft is

[0093] Whether the aircraft has reached the destination waypoint is determined based on a preset first condition and a preset second condition: the preset first condition is that the turning radius of the aircraft is greater than the distance from the aircraft to the destination waypoint, and the preset second condition is that the velocity vector of the aircraft is directly in front of the destination waypoint or the value of the velocity vector of the aircraft is greater than the positive projection distance from the aircraft to the destination waypoint.

[0094] At this time, the turning radius of the aircraft is 30m, and the distance from the aircraft to the next destination waypoint is 24m, which meets the preset first condition; and the aircraft's velocity vector is directly in front of the destination waypoint, which meets the preset second condition, so it can be judged that the aircraft has arrived at the destination waypoint.

[0095] Assuming that the destination waypoint reached by the aircraft at this time is not the last destination waypoint, the target flight track of the current segment of the aircraft is generated, the next destination waypoint of the aircraft is updated, and its destination altitude is adjusted to the altitude of the next destination waypoint, the command speed is reset, and the direction vector of the aircraft to reach the next destination waypoint is recalculated.

[0096] Assuming that the aircraft does not need to set the terrain following mode at this time, the aircraft's flight altitude is maintained at 1000 meters, and the aircraft's direction vector is adjusted according to the earth's curvature so that the aircraft's flight path is consistent with the earth's curvature. Update the aircraft's integration time, assuming that the original integration time is D T =49s, the integration time interval is dt=4s, the simulation time is 50s, and the integration time of the updated aircraft is D T =D T '+dt=49+4=53s. At this time, the integration time of the aircraft is greater than the simulation time. The flight track of the aircraft is integrated and the simulation ends.

[0097] The present invention provides an aerodynamic target track generation method for mission-level simulation, which uses representative aerodynamics to integrate aircraft position and speed within the scene update interval. The waypoint generation method has the advantages of high efficiency and high precision. Users can adjust and modify it according to actual needs to meet different route requirements, effectively improving the precision and efficiency of mission-level simulation waypoint generation algorithm research.

[0098] like Figure 2 As shown, another embodiment of the present invention provides a computer device, it can be understood that, Figure 2 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0099] like Figure 2 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0100] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0101] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0102] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 2 not shown, usually called a "hard drive"). Although Figure 2 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0103] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0104] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 20. Figure 2 As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that although Figure 2Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0105] The processor unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the method provided in Embodiment 1 of the present invention.

[0106] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0107] It should also be noted that, in the description of the present invention, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0108] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A method for generating aerodynamic target tracks for task-level simulation, characterized in that: The method includes: Get the distance from the aircraft to the destination waypoint and the turning radius of the aircraft; When a preset first condition and a preset second condition are satisfied, it is determined that the aircraft has arrived at the destination waypoint, the preset first condition being that the turning radius of the aircraft is greater than the distance from the aircraft to the destination waypoint, and the preset second condition being that the velocity vector of the aircraft is directly in front of the destination waypoint or the value of the velocity vector of the aircraft is greater than the orthographic projection distance from the aircraft to the destination waypoint; Determine whether the current destination waypoint is the last destination waypoint: If yes, then the first flight target track of the aircraft is generated and the integration time of the aircraft is updated; If not, the direction vector of the aircraft to reach the next destination waypoint is adjusted, a second flight target track of the aircraft is generated, and the integration time of the aircraft is updated.

2. The method according to claim 1, characterized in that The method of obtaining the distance from the aircraft to the destination waypoint includes: The distance from the aircraft to the destination waypoint is obtained according to the direction vector of the destination waypoint. The formula is: in, is the distance from the aircraft to the destination waypoint, D x , D y , D z They are the components of the direction vector of the destination waypoint in the X-axis, Y-axis, and Z-axis directions respectively.

3. The method according to claim 1, characterized in that The method of obtaining the turning radius of the aircraft includes: Determine the size of the aircraft's current speed and the curve speed: If the current speed of the aircraft is greater than or equal to the curve speed, the turning radius of the aircraft is Among them, R T is the turning radius of the aircraft, V is the current speed of the aircraft, G cmd is the turning gravity; If the current speed of the aircraft is less than the curve speed, the turning radius of the aircraft is Where θ is the angular velocity of the aircraft.

4. The method according to claim 1, characterized in that The method of adjusting the direction vector of the aircraft to reach the next destination waypoint includes: Set the aircraft's flight mode to terrain following mode to adjust the aircraft's heading vector; or The constant altitude rate of the aircraft is used to adjust the direction vector of the aircraft in combination with the curvature of the earth.

5. The method according to claim 4, characterized in that When the flight mode of the aircraft is terrain following mode, the formula for the future position of the aircraft is: in, is the future position of the aircraft, is the aircraft position vector, is the unit horizontal vector in the current vector direction, V Mag is the magnitude of the aircraft velocity vector, D t The time used to predict the future position of an aircraft.

6. The method according to claim 5, characterized in that The flight target track of the aircraft is predicted within the time period used for predicting the future position of the aircraft.

7. The method according to claim 4, characterized in that The step of adjusting the direction vector of the aircraft in combination with the curvature of the earth includes: The position of the aircraft and the position of the destination waypoint are converted into a spherical coordinate system to obtain the longitude and latitude of the aircraft and the destination waypoint; Obtaining a heading angle of the aircraft according to the longitude and latitude of the aircraft and the destination waypoint; Adjust the aircraft's heading vector by the aircraft's heading angle and the earth's radius.

8. The method according to claim 1, characterized in that: The integration time of the more aircraft includes D T =D T '+dt, Among them, D T is the integration time of the aircraft, D T ' is the original integration time, dt is the integration time interval.

9. The method according to claim 8, characterized in that The method further comprises Integrate the flight trajectory of the aircraft between each destination waypoint until the aircraft integration time exceeds the current simulation time, and end the simulation.

10. A computer 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 method according to any one of claims 1 to 9 is implemented.

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