Aircraft launching opportunity determination method and device, system, equipment and medium

Abstract

The invention provides an aircraft launching opportunity determination method, device, system, equipment and medium, and the method comprises the steps: responding to an aircraft launching instruction, and obtaining criterion parameters in real time, the criterion parameters comprising meteorological data, aircraft attitude data and platform actual attitude data, the aircraft attitude data comprises an aircraft pitch angle, an aircraft roll angle and an aircraft yaw angle; obtaining platform prediction attitude data at a pre-execution moment according to the platform actual attitude data at the historical moment, and judging whether the launching platform is in a stable state or not according to the platform prediction attitude data and the platform actual attitude data at the pre-execution moment when the pre-execution moment arrives; and in a stable state, if each item in the criterion parameters meets a preset launching condition and is in an automatic launching mode, determining the target launching opportunity of the aircraft according to the criterion parameters. The method solves the problems that in the prior art, the reliability of the transmitting opportunity is low, and hysteresis exists.

Description

Technical Field

[0001] The present application relates to the field of marine aircraft control technology, and in particular to a method and apparatus, system, equipment, and medium for determining an aircraft launch timing. Background Art

[0002] In the offshore platform launch scenario, the timing of aircraft launch is particularly important because the offshore meteorological conditions are complex and changeable, resulting in changeable sea conditions and the swaying of the platform hull.

[0003] At present, the launch timing is mainly determined based on the safe range of the aircraft pitch angle, that is, the pre-trained ship sway model is used for simulation prediction to calculate whether the aircraft is within the safe range, and if it is, it is launched. This design has the following two problems: First, the reliability of the launch timing determined by the aircraft pitch angle is low and cannot fully meet the needs of the aircraft's sea launch mission; second, the existing method executes the launch action according to the calculated launch timing, which has a certain lag. If the sea surface environment changes, such as the sudden appearance of large waves, it is easy to cause safety accidents. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method and device, system, equipment, and medium for determining the launch timing of an aircraft, which solves the problems of low reliability and lag in the launch timing existing in the prior art.

[0005] The present application provides a method for determining an aircraft launch timing, the method comprising:

[0006] In response to the aircraft launch instruction, the judgment parameters are acquired in real time, wherein the judgment parameters include meteorological data, aircraft attitude data and actual platform attitude data corresponding to the launch platform, and the aircraft attitude data includes an aircraft pitch angle, an aircraft roll angle and an aircraft yaw angle;

[0007] Obtaining predicted platform attitude data at a pre-execution moment according to actual platform attitude data at a historical moment, and judging whether the launch platform is in a stable state according to the predicted platform attitude data and the actual platform attitude data at the pre-execution moment when the pre-execution moment arrives, wherein the pre-execution moment is determined according to the launch instruction of the aircraft, and the historical moment is earlier than the pre-execution moment;

[0008] In the stable state, if each of the criterion parameters satisfies a preset launch condition and the aircraft is in an automatic launch mode, the target launch timing of the aircraft is determined according to the criterion parameters.

[0009] Further, determining the target launch timing of the aircraft according to the criterion parameter includes:

[0010] Determine whether the criterion parameters within a preset time period after the pre-execution time meet the preset launch condition, if the criterion parameters at any time within the preset time period meet the preset launch condition, determine the any time as the target launch opportunity, and end the criterion parameter acquisition operation;

[0011] If there are no judgment parameters that meet the preset emission conditions within the preset time period, prompt information prohibiting emission is generated.

[0012] Furthermore, the preset launch condition is:

[0013] Determining a preset wind speed range and a preset wind direction range according to the actual posture data of the platform;

[0014] Determining a preset platform pitch angle range, a preset platform roll angle range, and a preset platform yaw angle range according to the wind speed and wind direction in the meteorological data;

[0015] Determining a preset aircraft pitch angle range, a preset aircraft roll angle range, and a preset aircraft yaw angle range according to the wind speed, the wind direction, and the actual attitude data of the platform;

[0016] Each of the criteria parameters satisfies a preset launch condition, including:

[0017] The meteorological data satisfies the preset wind speed range and the preset wind direction range, the actual platform attitude data satisfies the preset platform pitch angle range, the preset platform roll angle range and the preset platform yaw angle range, and the aircraft attitude data satisfies the preset aircraft pitch angle range, the preset aircraft roll angle range and the preset aircraft yaw angle range.

[0018] Furthermore, obtaining the platform predicted posture data at the pre-execution time according to the platform actual posture data at the historical time includes:

[0019] Inputting the meteorological data into a marine environment disturbance model to obtain force data corresponding to the ship where the launch platform is located;

[0020] Inputting the force data into a ship motion model to obtain attitude change data of the ship;

[0021] The platform attitude change data of the launching platform is obtained according to the attitude change data of the ship, and the platform predicted attitude data at the pre-execution moment is obtained according to the platform attitude change data and the actual attitude data of the platform at the historical moment.

[0022] Furthermore, the real-time acquisition of the criterion parameters includes:

[0023] receiving a detection signal sent by a detection device in real time, and analyzing the detection signal by using a strapdown solution method to obtain the criterion parameter;

[0024] After the real-time acquisition of the criterion parameters, the method further includes:

[0025] If the judgment parameter does not satisfy at least one of the following, a prompt message prohibiting transmission is generated: the reliability of the actual attitude data of the platform and the reliability of the attitude data of the aircraft both meet the combined navigation conditions, and the real-time acquisition of the attitude data of the aircraft is normal.

[0026] Furthermore, the method further comprises:

[0027] In the stable state, if each of the criterion parameters satisfies the preset launch condition and the aircraft is in a manual launch mode, the current moment is used as the target launch timing in response to a launch instruction input by the user.

[0028] The embodiment of the present application also provides a device for determining an aircraft launch timing, the device comprising:

[0029] A data acquisition module, for acquiring criterion parameters in real time in response to an aircraft launch instruction, wherein the criterion parameters include meteorological data, aircraft attitude data, and actual platform attitude data corresponding to the launch platform, and the aircraft attitude data includes an aircraft pitch angle, an aircraft roll angle, and an aircraft yaw angle;

[0030] A stable state judgment module, used to obtain the platform predicted posture data at the pre-execution moment according to the platform actual posture data at the historical moment, and when the pre-execution moment arrives, judge whether the launch platform is in a stable state according to the platform predicted posture data and the platform actual posture data at the pre-execution moment, wherein the pre-execution moment is determined according to the aircraft launch instruction, and the historical moment is earlier than the pre-execution moment;

[0031] The launch timing determination module is used to determine the target launch timing of the aircraft according to the criterion parameters in the stable state if each of the criterion parameters meets the preset launch conditions and the aircraft is in the automatic launch mode.

[0032] The present application also provides a control system, the system comprising:

[0033] A computer, wherein the device for determining the launch timing of the aircraft as described above is deployed on the computer;

[0034] A criterion parameter acquisition module is connected to the computer and includes: an inertial measurement unit, a navigation system receiving unit, an anemometer and an unmanned measurement and control station;

[0035] The inertial measurement unit and the navigation system receiving unit are arranged on the launch platform and are used to obtain actual attitude data of the platform;

[0036] The anemometer is arranged on the transmitting platform to obtain the meteorological data;

[0037] The unmanned measurement and control station is used to obtain the attitude data of the aircraft;

[0038] The aircraft launch control box is connected to the computer and is used to perform an ignition operation at the target launch timing.

[0039] An embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for determining the launch timing of an aircraft as described above are performed.

[0040] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for determining the launch timing of an aircraft as described above are executed.

[0041] The method, device, system, equipment, and medium for determining the launch timing of an aircraft provided in the present application first use a detection device to obtain real-time meteorological data, aircraft attitude data, and platform attitude data; then use the platform attitude data at a historical moment to predict the platform attitude data at a pre-execution moment, and compare the predicted result with the actual platform attitude data at the pre-execution moment to determine whether the current launch platform is in a stable state; if it is unstable, the launch is prohibited; if it is stable, the attitude data is continued to be jointly compared to determine whether each criterion parameter meets the preset launch conditions; and when the preset launch conditions are met, the final target launch timing is further determined according to the criterion parameters in the automatic mode.

[0042] Compared with the launch timing determination method in the prior art, the present application obtains the real-time attitude data of the platform and the real-time attitude data of the aircraft by using an inertial measurement unit, etc., and compares them with the real-time meteorological data to determine whether the preset launch conditions are met, thereby determining the target launch timing, and automatically issuing an ignition command in the automatic mode to ignite the booster to achieve automatic launch of the aircraft. Through such a design, on the basis of continuing to use the pitch angle criterion, the roll angle and yaw angle criterion are added, and the criterion is more sufficient, which solves the problem of low reliability caused by the existing method of determining the launch timing by relying on the pitch angle. In addition, the present application also designs a prediction function, predicts the platform predicted attitude data at the pre-execution moment based on the platform's previous historical attitude data, and compares it with the platform's actual attitude data actually collected at the pre-execution moment. If there is no significant difference, it can enter the subsequent attitude and meteorological data comparison link. Through such a design, it is ensured that the meteorological environment is in a stable state and the platform operates in a stable state, avoiding the problem of hysteresis of the calculation result caused by the large waves appearing on the sea surface in an instant, the platform has a large attitude change, and the large attitude error between the calculation moment and the pre-execution moment.

[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A flow chart of a method for determining an aircraft launch timing provided by an embodiment of the present application is shown;

[0046] Figure 2 A flow chart showing another method for determining an aircraft launch timing provided by an embodiment of the present application;

[0047] Figure 3 A flowchart showing another method for determining an aircraft launch timing provided by an embodiment of the present application is shown;

[0048] Figure 4 A schematic diagram of the structure of a device for determining an aircraft launch timing provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of the structure of another device for determining the launch timing of an aircraft provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of electrical connections of a control system provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of the structure of a control system provided in an embodiment of the present application;

[0052] Figure 8 A schematic diagram of a working mode of a control system provided in an embodiment of the present application;

[0053] Fig. 9 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.

[0054] In the figure:

[0055] 400, a device for determining the launch timing of an aircraft, 410, a data acquisition module, 420, a stable state judgment module, 430, a launch timing determination module, 510, a back-end program module, 511, a data receiving and parsing submodule, 512, an algorithm processing submodule, 513, a posture data comparison submodule, 520, a front-end display module, 521, a parameter configuration submodule, 522, a data display submodule, 523, a result display submodule, 610, a computer, 620, an inertial measurement unit, 630, a navigation system receiving unit, 640, an anemometer, 650, an unmanned measurement and control station, 660, an aircraft launch control box, 670, a high-definition camera, 900, an electronic device, 910, a processor, 920, a memory, and 930, a bus. DETAILED DESCRIPTION

[0056] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0057] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied to the offshore platform launch scenario, where a launch platform is provided on the hull for launching an aircraft. Due to the complex and changeable sea surface environment, when launching at sea, affected by waves or the environment, a suitable launch opportunity may appear under a wave, but such a launch opportunity is not easy to capture manually.

[0058] In the existing launch timing selection method, the pre-trained ship sway model can be relied on to simulate and predict by changing the wind information, platform navigation data, etc., to obtain multiple sets of simulation results, which are the safe range of the pitch angle of the target aircraft, and then the launch timing is selected. However, the launch timing calculated by the pitch angle of the aircraft is less reliable and cannot fully meet the needs of the aircraft's sea launch mission. In addition, most aircraft launch timing calculation and control systems will approximate the attitude angle at the moment of calculation to the attitude angle at the final execution moment, and there will be a certain error during this period. If after the calculation is completed and before the launch action is executed, large waves appear on the sea surface instantly, causing a large attitude change of the platform, the calculation results of the traditional launch timing method at this moment have a certain lag. If the attitude angle at the previous moment is still used for judgment, it is easy to cause safety accidents.

[0059] Based on this, an embodiment of the present application provides a method for determining the launch timing of an aircraft to improve the reliability of the launch timing and avoid the problem of lag in the calculation of the launch timing.

[0060] See also Figure 1 , Figure 1 A flow chart of a method for determining an aircraft launch timing provided in an embodiment of the present application. Figure 1 As shown in , the method for determining the launch timing of an aircraft provided in an embodiment of the present application includes:

[0061] S101. In response to an aircraft launch instruction, criterion parameters are acquired in real time, wherein the criterion parameters include meteorological data, aircraft attitude data, and actual platform attitude data corresponding to the launch platform, and the aircraft attitude data includes an aircraft pitch angle, an aircraft roll angle, and an aircraft yaw angle.

[0062] In this step, after receiving the aircraft launch command, the judgment parameters are obtained in real time, and then the appropriate launch time can be judged by the judgment parameters to complete the launch action indicated by the command. Specifically, the judgment parameters include meteorological data, including wind speed, wind direction, etc., which can be obtained by the wind speed and direction meter set on the launch platform. In addition, the judgment parameters can also include aircraft attitude data, including aircraft pitch angle, aircraft roll angle and aircraft yaw angle, which can be obtained through an unmanned measurement and control station. In addition, the judgment parameters can also include the actual attitude data of the launch platform, including the actual pitch angle of the platform, the actual roll angle of the platform and the actual yaw angle of the platform, which can be obtained by the inertial measurement unit IMU (Inertial Measurement Unit) set on the launch platform.

[0063] S102. Obtain the predicted platform attitude data at the pre-execution moment based on the actual platform attitude data at the historical moment, and when the pre-execution moment arrives, determine whether the launch platform is in a stable state based on the predicted platform attitude data and the actual platform attitude data at the pre-execution moment, wherein the pre-execution moment is determined based on the aircraft launch instruction, and the historical moment is earlier than the pre-execution moment.

[0064] In this step, it is determined whether the current meteorological conditions meet the requirements. It is understandable that if there is a sudden change in the weather at sea, the predicted theoretical value at the pre-execution time and the real-time collected value will be greatly different, and it will be impossible to enter the attitude angle comparison link. Therefore, it is necessary to ensure that the meteorological conditions at sea remain in a certain stable state during the actual calculation process of the launch and at the pre-execution time.

[0065] Specifically, if the platform predicted attitude data at the pre-execution time is not much different from the platform actual attitude data, it can be considered that the weather changes little and the weather conditions at sea remain in a certain stable state, so the next stage of judgment can be carried out. Otherwise, it is considered that the weather conditions at sea change suddenly, and the attitude of the launch platform will also change suddenly at this time. If the launch action is executed, it may cause a safety accident, so the launch is prohibited.

[0066] S103. In a stable state, if each of the criterion parameters satisfies a preset launch condition and the aircraft is in an automatic launch mode, the target launch timing of the aircraft is determined according to the criterion parameters.

[0067] In this step, if the above judgments are met, the step of joint comparison of attitude data is entered. The pitch angle, roll angle and yaw angle of the platform and the aircraft, and the current wind speed and wind direction values ​​of the platform are compared with the preset range of the corresponding parameters. If any condition is not met, the user is prompted to prohibit the launch; when all conditions are met, the current working mode is judged, and in the automatic launch mode, the target launch timing is determined according to the judgment parameters, so that the launch action is performed at the target launch timing.

[0068] The method for determining the launch timing of an aircraft provided in an embodiment of the present application first uses a detection device to obtain real-time meteorological data, aircraft attitude data, and platform attitude data; then uses the platform attitude data at a historical moment to predict the platform attitude data at a pre-execution moment, and compares the predicted result with the actual platform attitude data at the pre-execution moment to determine whether the current launch platform is in a stable state; if it is unstable, the launch is prohibited; if it is stable, the attitude data is continued to be jointly compared to determine whether each criterion parameter meets the preset launch conditions; and when the preset launch conditions are met, the final target launch timing is further determined according to the criterion parameters in the automatic mode.

[0069] Compared with the launch timing determination method in the prior art, the present application obtains the real-time attitude data of the platform and the real-time attitude data of the aircraft by using an inertial measurement unit, etc., and compares them with the real-time meteorological data to determine whether the preset launch conditions are met, thereby determining the target launch timing, and automatically issuing an ignition command in the automatic mode to ignite the booster to achieve automatic launch of the aircraft. Through such a design, on the basis of continuing to use the pitch angle criterion, the roll angle and yaw angle criterion are added, and the criterion is more sufficient, which solves the problem of low reliability caused by the existing method relying on the pitch angle to determine the launch timing. In addition, the present application also designs a prediction function, predicts the platform predicted attitude data at the pre-execution moment based on the platform's previous historical attitude data, and compares it with the platform's actual attitude data actually collected at the pre-execution moment. If there is no significant difference, it can enter the subsequent attitude and meteorological data comparison link. Through such a design, it is ensured that the meteorological environment is in a stable state and the platform operates in a stable state, avoiding the problem of hysteresis of the calculation result caused by the large waves appearing on the sea surface in an instant, the platform has a large attitude change, and a large attitude error occurs between the calculation moment and the pre-execution moment.

[0070] See also Figure 2 , Figure 2 This is a flow chart of a method for determining an aircraft launch timing provided by another embodiment of the present application. Figure 2 As shown in , the method for determining the launch timing of an aircraft provided in an embodiment of the present application includes:

[0071] S201, in response to the aircraft transmitting command, receiving the detection signal sent by the detection device in real time, and analyzing the detection signal by using the strapdown solution method to obtain the judgment parameter.

[0072] The judgment parameters include meteorological data, aircraft attitude data and actual platform attitude data corresponding to the launch platform. The aircraft attitude data includes the aircraft pitch angle, the aircraft roll angle and the aircraft yaw angle.

[0073] In step 201, receive the detection signal that detection device such as inertial measurement unit etc. sends in real time, and carry out analytical processing, enter in strapdown solution method, obtain the real-time attitude angle data of launch platform.Wherein, it is understandable that strapdown solution method is a kind of acceleration and angular velocity that can utilize inertial measurement element (such as accelerometer and gyroscope) etc. to measure carrier (such as aircraft, missile) etc., and can obtain the algorithm of carrier position, speed and attitude by integral operation.Meanwhile, receive the detection signal that detection device such as anemometer sends in real time, obtain meteorological data such as real-time wind speed and direction after data analysis.Meanwhile, receive the data that unmanned measurement and control station transmits back in real time, obtain the real-time attitude angle data of aircraft to be launched on launch platform under current pyrotechnic channel after analytical analysis.By this way, obtain the criterion parameter comprising meteorological data, aircraft attitude data and platform actual attitude data.

[0074] S202. If the judgment parameter does not satisfy at least one of the following, a prompt message prohibiting transmission is generated: the reliability of the platform's actual attitude data and the reliability of the aircraft's attitude data both meet the combined navigation conditions, and the real-time acquisition of the aircraft's attitude data is normal; otherwise, proceed to step S203.

[0075] In step 202, after obtaining the actual platform attitude data and the aircraft attitude data, it is determined whether to enter the combined navigation. If the combined navigation can be entered and the aircraft attitude data sent back by the unmanned measurement and control station can be received, it is considered that the preconditions are met and the next stage of judgment can be carried out; if any of the preconditions is not met, a prompt message prohibiting transmission is generated.

[0076] S203, input the meteorological data into the ocean environment disturbance model to obtain the force data corresponding to the ship where the launch platform is located; input the force data into the ship motion model to obtain the ship's attitude change data.

[0077] S204. Obtain the platform attitude change data of the launch platform according to the attitude change data of the ship, and obtain the platform predicted attitude data at the pre-execution moment according to the platform attitude change data and the actual attitude data of the platform at the historical moment.

[0078] In steps S203-S204, the pre-established ocean environment disturbance model and ship motion model are used to obtain the platform predicted attitude data at the pre-execution moment, and then the stability of the launch platform can be judged based on the platform predicted attitude data at the pre-execution moment and the platform actual attitude data.

[0079] Among them, in the marine environment disturbance model, the external forces of different directions and magnitudes that the ship (that is, the platform) is subjected to during navigation can be calculated according to different wind speeds and directions; in the ship motion model, the motion in six degrees of freedom is considered, namely, surge, sway, vertical swing, pitch, roll, and vertical roll, and according to the mechanical equations of the platform, the angular influence of external forces in different directions on the above six degrees of freedom of the ship's motion is determined.

[0080] Based on this, the software brings the attitude data of the previous calculation time into the above model equation to obtain the theoretical prediction value of the pre-execution time. Specifically, the meteorological data is input into the marine environment disturbance model to obtain the force data of the ship, and then the force data of the platform is input into the ship motion model to obtain the change in the attitude angle of the ship. Since the launch platform is set on the ship, it is equivalent to obtaining the platform attitude change data. After that, the platform predicted attitude data at the pre-execution time can be obtained based on the platform attitude change data and the actual platform attitude data at the historical moment.

[0081] S205. When the pre-execution time arrives, determine whether the launch platform is in a stable state based on the platform predicted posture data and the platform actual posture data at the pre-execution time.

[0082] Among them, the pre-execution time is determined according to the aircraft launch instruction, and the historical time is earlier than the pre-execution time.

[0083] The description of step S205 may refer to the description of step S102 and can achieve the same technical effect, so it will not be described in detail.

[0084] S206. In a stable state, if each of the criterion parameters satisfies the preset launch condition and the aircraft is in an automatic launch mode, it is determined whether the criterion parameters within a preset period of time after the pre-execution time meet the preset launch condition.

[0085] S207. If the criterion parameters at any time within the preset time period meet the preset launch conditions, determine any time as the target launch opportunity, and end the operation of obtaining the criterion parameters; if there are no criterion parameters that meet the preset launch conditions within the preset time period, generate a prompt message prohibiting launch.

[0086] In steps S206-S207, when the above judgments are satisfied, the step of joint comparison of attitude data is entered. The comparison method is as described in the above step 103 and will not be repeated here. When all conditions are satisfied, the current working mode is judged, and in the automatic launch mode, the target launch timing is determined according to the judgment parameters.

[0087] The process of determining the target launch timing is as follows: determine whether the launch window period has been entered. The so-called launch window period is a period of time starting from the pre-execution time preset by the user, that is, the preset time period in step S206. The duration of the window period can be freely set according to actual needs, for example, it can be set to 10 minutes. During the window period, the attitude data is always compared jointly to find a moment that meets the launch conditions within the window period as the target launch timing. If there is no moment that meets the launch conditions within the window period, the launch is prohibited.

[0088] S208. In a stable state, if each of the criteria parameters satisfies the preset launch conditions and the aircraft is in a manual launch mode, then in response to a launch command input by the user, the current moment is used as the target launch timing.

[0089] In step 208, when all the above judgments are satisfied, the step of joint comparison of attitude data is entered. The comparison method is as described in the above step 103 and will not be repeated here. When all conditions are satisfied, the current working mode is judged. If it is a manual mode, the launch timing judgment result can be displayed to the user to prompt the user that the current moment meets the launch conditions and is the target launch timing, so that the user can manually perform the launch operation at the target launch timing.

[0090] Optionally, in the aforementioned step S206, each item in the criterion parameter satisfies a preset transmission condition, including:

[0091] The meteorological data satisfies a preset wind speed range and a preset wind direction range, the actual platform attitude data satisfies a preset platform pitch angle range, a preset platform roll angle range, and a preset platform yaw angle range, and the aircraft attitude data satisfies a preset aircraft pitch angle range, a preset aircraft roll angle range, and a preset aircraft yaw angle range.

[0092] Specifically, each criterion parameter is pre-set with a corresponding preset range, for example, a preset wind speed range is set for the wind speed in the meteorological data, and a wind direction range is set for the wind direction in the meteorological data. If a criterion parameter is within the corresponding preset range, it is judged that the criterion parameter meets the preset launch condition. If each criterion parameter meets the preset launch condition, the subsequent operation can be continued, otherwise it is considered that it is not suitable to perform the launch operation.

[0093] Accordingly, before determining whether each item in the criterion parameter satisfies the preset emission condition, the method further includes a step of setting a preset range, specifically including:

[0094] According to the actual attitude data of the platform, the preset wind speed range and the preset wind direction range are determined; according to the wind speed and wind direction in the meteorological data, the preset platform pitch angle range, the preset platform roll angle range and the preset platform yaw angle range are determined; according to the wind speed, wind direction and the actual attitude data of the platform, the preset aircraft pitch angle range, the preset aircraft roll angle range and the preset aircraft yaw angle range are determined.

[0095] In this step, the settings of each preset range are independent of each other and do not affect each other. The setting process can be manually set or automatically set based on historical setting data and historical launch records. For example, under the actual posture of the platform, if an external force of a certain magnitude is applied in certain directions, the launched aircraft will fall into the water. Therefore, it is necessary to limit the wind speed range and wind direction range according to the actual posture data of the platform. Only when the wind speed and wind direction meet the corresponding preset ranges, the launch action is considered safe and feasible. Similarly, the preset posture range related to the platform can be determined according to the current wind speed and wind direction, and the preset posture range related to the aircraft can be determined according to the wind speed, wind direction and the actual posture of the platform.

[0096] The method for determining the launch timing of an aircraft provided in the embodiment of the present application, on the basis of the aforementioned embodiment, designs a launch time window (i.e., the aforementioned preset time period), and always judges whether the real-time criterion parameters meet the preset launch conditions within the time window, and determines the moment that meets the preset launch conditions as the target launch timing. Compared with the prior art, the design of the time window further improves the safety of aircraft launch. In addition, the embodiment of the present application also sets a preset range for each criterion parameter according to meteorological data and platform attitude data, and then can judge whether the criterion parameter is within the corresponding range, and comprehensively analyze whether the launch conditions are met based on the judgment results. Compared with the prior art, the criterion of the present application is more comprehensive, and the preset range in the launch conditions can be set according to meteorological data, etc., in line with the actual environment where the launch platform and the aircraft are located. In addition, the embodiment of the present application also designs a marine environment disturbance model and a ship motion model, and the attitude angle change data of the platform can be obtained by using these two models, which provides a prediction basis for the prediction of the platform attitude data. In addition, before judging whether the criterion parameters meet the preset launch conditions, the embodiment of the present application also designs a combined navigation judgment and an aircraft attitude data status criterion to ensure the reliability of the actual platform attitude data and the aircraft attitude data obtained, and to ensure that the aircraft attitude data can be obtained normally, so as to avoid the calculation error of the subsequent target launch timing due to unreliable data. Compared with the prior art, the present application uses the actual measurement results as the criterion, which is more convincing, and adopts the combined navigation technology, using sensors to measure the platform attitude in real time, replacing the attitude safety range results obtained by the algorithm model simulation, avoiding the idealized results of the model simulation algorithm, and affecting the final timing calculation. In addition, the embodiment of the present application also designs a manual mode. In the manual mode, there is no need to judge the preset launch conditions within the window period, but when the above conditions are met, the user directly operates manually to control the aircraft to take off. The two modes can be flexibly switched according to the actual needs and preferences of the user.

[0097] See also Figure 3 , Figure 3 This is a flow chart of a method for determining an aircraft launch timing provided by another embodiment of the present application. Figure 3As shown in, firstly, the detection data of the inertial measurement unit IMU (Inertial Measurement Unit) and the GNSS (Global Navigation Satellite System) receiver (i.e., the navigation system receiving unit) of the launch platform are obtained in steps S301 and S302 respectively, and then the two parts of the detection data are subjected to strapdown solution operation in step S303 to obtain the actual attitude data of the platform. At the same time, the detection data of the wind speed and direction meter is also obtained in step S304, and the meteorological data is obtained after analysis. The detection data of the unmanned measurement and control station is obtained in step S305, and the aircraft attitude data is obtained after analysis. In step S306, real-time command interaction is performed with the aircraft launch control box. In step S307, the platform attitude data of the historical moment is obtained, and the ship motion model equation and the ocean environment disturbance model equation are established in step S308. In step S309, the predicted attitude data is calculated, and the platform attitude prediction data of the pre-execution moment is obtained by using these two model equations.

[0098] After obtaining the actual platform attitude data and the aircraft attitude data, determine whether to enter the integrated navigation in step S310. If the integrated navigation can be entered and the aircraft attitude data sent back by the unmanned measurement and control station can be received, perform the platform stability judgment in step S311; otherwise, enter step S316, prohibit takeoff, and prompt the user to prohibit launch.

[0099] In step S311, compare the actual platform attitude data at the pre-execution moment with the platform attitude prediction data obtained in the aforementioned step S309. If the two are not much different, it is considered that the current sea surface environment is in a stable state, and therefore the platform is also relatively stable, and a joint comparison of the attitude data of steps S312-S314 can be performed; otherwise, enter step S316, prohibit takeoff, prompt the user to prohibit launch, and return to the starting position of the entire process.

[0100] In step S312, it is determined whether the aircraft attitude data transmitted back by the UAV measurement and control station is within the corresponding preset range, specifically, whether the aircraft pitch angle is within the aircraft pitch angle range, whether the aircraft roll angle is within the aircraft roll angle range, and whether the aircraft yaw angle is within the yaw angle range. In step S313, it is determined whether the actual platform attitude data of the launch platform is within the corresponding preset range, specifically, whether the platform pitch angle is within the platform pitch angle range, whether the platform roll angle is within the platform roll angle range, and whether the platform yaw angle is within the yaw angle range. In step S314, it is determined whether the meteorological data is within the corresponding preset range, specifically, whether the current wind speed is within the preset wind speed range, and whether the current wind direction is within the preset wind direction range. Among them, the judgment order of steps S312-S314 can be freely set. If any of the above steps S312-S314 is not within the corresponding preset range, then enter step S316, prohibit takeoff, and prompt the user to prohibit launch; when each item is met, enter step S315 to determine the current working mode.

[0101] In step S315, if the current working mode is manual mode, then enter step S317, allow launch, and display the launch timing judgment result on the interface to prompt the user to launch; if the current working mode is automatic mode, then enter step S318 to determine whether it has entered the launch window period, and after entering the launch window period, enter step S319 to determine whether the launch window period has ended. If the launch window period has not ended, enter step S320 to continue to judge the preset launch conditions. When all the preset launch conditions are met, it is determined that the current launch timing meets the requirements, enter step S321, allow takeoff, and in step S322, automatically control the aircraft launch control box to perform the ignition operation; if any of the above conditions is not met, return to step S318, and continue to judge the conditions within the launch window period; if it is determined in step S319 that the launch window period has passed, it is determined that the current launch timing does not meet the launch requirements, enter step S323, and prohibit takeoff.

[0102] See also Figure 4 , Figure 5 , Figure 4 A schematic diagram of the structure of a device for determining an aircraft launch timing provided in an embodiment of the present application, Figure 5 This is a schematic diagram of the structure of another device for determining the launch timing of an aircraft provided in an embodiment of the present application. Figure 4 As shown in , the device 400 for determining the launch timing of an aircraft includes:

[0103] The data acquisition module 410 is used to obtain the judgment parameters in real time in response to the aircraft launch instruction, wherein the judgment parameters include meteorological data, aircraft attitude data and actual platform attitude data corresponding to the launch platform, and the aircraft attitude data includes the aircraft pitch angle, aircraft roll angle and aircraft yaw angle.

[0104] The stable state judgment module 420 is used to obtain the platform predicted attitude data at the pre-execution moment based on the platform actual attitude data at the historical moment, and when the pre-execution moment arrives, it is used to judge whether the launch platform is in a stable state based on the platform predicted attitude data and the platform actual attitude data at the pre-execution moment, wherein the pre-execution moment is determined according to the aircraft launch instruction, and the historical moment is earlier than the pre-execution moment.

[0105] The launch timing determination module 430 is used to determine the target launch timing of the aircraft according to the criterion parameters in a stable state if each of the criterion parameters meets the preset launch conditions and the aircraft is in an automatic launch mode.

[0106] Furthermore, the transmission timing determination module 430 is used to:

[0107] Determine whether the criterion parameters within a preset period of time after the pre-execution time meet the preset launch conditions. If the criterion parameters at any time within the preset period of time meet the preset launch conditions, determine any time as the target launch time, and end the criterion parameter acquisition operation;

[0108] If there are no judgment parameters that meet the preset emission conditions within the preset time period, a prompt message prohibiting emission is generated.

[0109] Furthermore, the device also includes a preset range determination module, which is used to:

[0110] Determine the preset wind speed range and preset wind direction range based on the actual platform attitude data;

[0111] Determine the preset platform pitch angle range, preset platform roll angle range and preset platform yaw angle range according to the wind speed and wind direction in the meteorological data;

[0112] Determine the preset aircraft pitch angle range, the preset aircraft roll angle range and the preset aircraft yaw angle range according to the wind speed, wind direction and actual platform attitude data;

[0113] Each of the criteria parameters meets the preset launch conditions, including:

[0114] The meteorological data satisfies a preset wind speed range and a preset wind direction range, the actual platform attitude data satisfies a preset platform pitch angle range, a preset platform roll angle range, and a preset platform yaw angle range, and the aircraft attitude data satisfies a preset aircraft pitch angle range, a preset aircraft roll angle range, and a preset aircraft yaw angle range.

[0115] Furthermore, the stable state determination module 420 is used to:

[0116] The meteorological data is input into the ocean environment disturbance model to obtain the force data corresponding to the ship where the launch platform is located;

[0117] Input the force data into the ship motion model to obtain the ship's attitude change data;

[0118] The platform attitude change data of the launching platform is obtained according to the attitude change data of the ship, and the platform predicted attitude data at the pre-execution moment is obtained according to the platform attitude change data and the actual attitude data of the platform at the historical moment.

[0119] Furthermore, the data acquisition module 410 is used to:

[0120] Receive the detection signal sent by the detection device in real time, and analyze the detection signal using the strapdown solution method to obtain the judgment parameter;

[0121] The device also includes a data reliability verification module, which is used to:

[0122] If the judgment parameter does not meet at least one of the following, a prompt message prohibiting transmission is generated: the reliability of the platform's actual attitude data and the reliability of the aircraft's attitude data both meet the combined navigation conditions, and the real-time acquisition of the aircraft's attitude data is normal.

[0123] Furthermore, the transmission timing determination module 430 is used to:

[0124] In a stable state, if each of the criterion parameters satisfies the preset launch conditions and the aircraft is in a manual launch mode, the current moment is used as the target launch timing in response to the launch command input by the user.

[0125] like Figure 5As shown in , the device for determining the launch timing of the aircraft adopts a modular design, which is mainly divided into two modules: a back-end program module 510 and a front-end display module 520. Among them, the back-end program module 510 mainly includes a receiving and parsing data submodule 511, an algorithm processing submodule 512, and an attitude data comparison submodule 513. The receiving and parsing data submodule 511 is mainly responsible for receiving and parsing the data measured by the inertial measurement unit and the navigation system receiving unit of the platform, receiving and parsing the data returned by the unmanned measurement and control station, receiving and parsing the data of the wind speed and direction instrument of the platform, and interacting with the aircraft launch control box for instructions. The algorithm processing submodule 512 is mainly responsible for converting the inertial measurement unit and navigation system receiving unit data of the analyzed platform into the actual attitude data of the platform, namely the pitch angle, roll angle, yaw angle, longitude and latitude, and altitude, etc. through the strapdown solution method, and provides a prediction function to infer the predicted attitude data of the platform at the pre-execution time through the ship motion model and the marine environment interference model; in the automatic mode, when the pre-execution time arrives, the theoretical predicted attitude data predicted by the above algorithm is first compared with the actual collected attitude data. If there is no large difference, such as the change amplitude of the attitude angle value does not exceed 20 degrees, then enter the attitude data comparison submodule 513; the attitude data comparison submodule 513 is mainly responsible for continuously judging whether the pitch angle of the platform, the roll angle of the platform, the yaw angle of the platform, the pitch angle of the aircraft, the roll angle of the aircraft, the yaw angle of the aircraft, the wind speed value of the platform, and the wind direction value of the platform are within the preset range of the corresponding parameters after the software calculation starts;

[0126] The front-end display module 520 mainly includes a parameter configuration submodule 521, a data display submodule 522 and a result display submodule 523. The parameter configuration submodule 521 is mainly responsible for supporting the user's launch parameter configuration, configuring communication parameters, controlling the communication interface switch and displaying the communication status. The data display submodule 522 is mainly responsible for displaying the software algorithm processing result data, the unmanned measurement and control station return data, the wind speed and wind direction instrument collection data, the aircraft launch control box measurement resistance value, the flag position in the device calculation process, the aircraft launch control box and the unmanned measurement and control station status information and the user configuration launch parameter result information. The result display submodule 523 is mainly responsible for displaying the launch status, the current working mode, the countdown to enter the launch window period in automatic mode, the countdown to the end of the window period in automatic mode, the launch result in automatic mode, etc. to the user.

[0127] In this embodiment, a user-friendly interactive interface is provided to support the user to configure the launch mission parameters and to display the calculation process data and results to the user, thereby ensuring the personnel's control over each link of the launch, reducing the personnel's workload, and also reducing the impact of human factors on the launch timing calculation.

[0128] The specific implementation method and beneficial effects of the device for determining the launch timing of an aircraft provided in the embodiment of the present application can be found in the method embodiment, which will not be repeated here.

[0129] See also Figure 6 , Figure 6 This is a schematic diagram of electrical connections of a control system provided in an embodiment of the present application. Figure 6 As shown in , the control system includes:

[0130] A computer 610, on which the aforementioned device for determining the launch timing of an aircraft is deployed;

[0131] The judgment parameter acquisition module is connected to the computer 610 and includes: an inertial measurement unit 620, a navigation system receiving unit 630, an anemometer 640 and an unmanned measurement and control station 650;

[0132] The inertial measurement unit 620 and the navigation system receiving unit 630 are arranged on the launch platform to obtain the actual attitude data of the platform;

[0133] Anemometer 640 is provided on the launch platform to obtain meteorological data;

[0134] The unmanned measurement and control station 650 is used to obtain the aircraft attitude data;

[0135] The aircraft launch control box 660 is connected to the computer 610 and is used to perform ignition operations at the target launch timing.

[0136] Specifically, the control system includes a computer 610, an inertial measurement unit 620, a navigation system receiving unit 630 (i.e., the aforementioned GNSS receiver), an anemometer 640, an unmanned measurement and control station 650, and an aircraft launch control box 660. Among them, the computer 610 is mainly responsible for determining the launch timing of the aircraft and providing a human-computer interaction interface to the user. The inertial measurement unit 620 is mainly responsible for measuring the real-time attitude data of the platform, and calculating the attitude angle by parameters such as gyroscopes and accelerometers; the navigation system receiving unit 630 is mainly responsible for measuring the positioning information of the platform launcher, such as longitude and latitude, altitude, ground speed, number of received satellites, etc. The above-mentioned inertial measurement unit 620 and navigation system receiving unit 630 are combined for combined navigation, and after being processed by the strapdown algorithm, the actual attitude data of the platform, such as pitch angle, roll angle, yaw angle, etc., are obtained. The anemometer 640 is mainly responsible for collecting real-time meteorological data of the platform, such as wind speed value, wind direction value, etc. The unmanned measurement and control station 650 is mainly responsible for transmitting the real-time attitude data of the aircraft on the platform to the launch timing determination device, such as the pitch angle, roll angle and yaw angle of the aircraft. The aircraft launch control box 660 is mainly responsible for executing and responding to the device's instructions such as measuring resistance, switching channels, ignition, etc. in the automatic mode of the aircraft launch timing determination device, and completing the task of automatically igniting the booster.

[0137] Optionally, the system also includes a high-definition camera 670, which is mainly responsible for transmitting real-time images of the launch site back to the control room to ensure that every link in the launch process is under control and that emergencies can be handled in a timely manner.

[0138] The specific connection method is as follows Figure 6 As shown, it includes a power supply part and a communication part. The power supply part adopts DC (Direct Current) 5V / 24V and the main body battery for power supply, and the communication part mainly adopts RS232 / RS485 serial communication and UDP communication. Through the USB to serial cable and the network cable, the inertial measurement unit 620, the navigation system receiving unit 630, the anemometer 640, and the unmanned measurement and control station 650 are connected to the USB port or the network port of the computer 610, and the high-definition camera 670 is connected to the network port of the computer 610, and works in the form of POE (Power over Ethernet).

[0139] In manual mode, the aircraft launch control box 660 is not connected to the computer 610 for communication and is operated manually by the user. In automatic mode, the aircraft launch control box 660 is connected to the computer 610 for communication. When the aircraft is ready, the hardware unlock button is pressed, and the aircraft launch timing determination device starts calculating the aircraft launch timing in automatic mode. When the user's preset launch conditions are met, the user is prompted with the timing calculation result and an automatic launch command is issued.

[0140] See also Figure 7 , Figure 8 , Figure 7 A schematic diagram of the structure of a control system provided in an embodiment of the present application is shown in FIG. Figure 8 This is a schematic diagram of the working mode of a control system provided in an embodiment of the present application. Figure 7 As shown in , the overall control system is composed of a hardware environment and software devices, mainly including: a computer 610, an inertial measurement unit 620, a navigation system receiving unit 630, an anemometer 640, an unmanned measurement and control station 650, an aircraft launch control box 660 and an aircraft launch timing determination device.

[0141] like Figure 8 As shown, the device for determining the launch timing of the aircraft is installed on a computer 610. An inertial measurement unit 620 and a navigation system receiving unit 630 are installed on the platform aircraft launch platform to provide the device with real-time attitude data of the launch platform; an anemometer 640 is installed on the platform to provide the device with meteorological data such as wind speed and wind direction of the platform at the current moment; an unmanned measurement and control station 650 is mainly responsible for providing the device with real-time attitude data of the aircraft; an aircraft launch control box 660 is mainly responsible for automatically executing the operation of igniting the booster after the launch conditions are met in the automatic mode; a high-definition camera 670 is responsible for transmitting the video images of the launch site to the control site in real time to ensure timely response to emergencies.

[0142] Furthermore, the inertial measurement unit 620 is mainly responsible for collecting the values ​​of the internal gyroscope and accelerometer to calculate the attitude angle data of the object being measured, such as the pitch angle, roll angle and yaw angle, and communicate with the device for determining the launch timing of the aircraft through the serial port.

[0143] The navigation system receiving unit 630 adopts a 555 tracking channel design and supports all GNSS systems, including GPS, GLONASS, BEIDOU, and Galileo. It is mainly responsible for collecting parameters such as the latitude and longitude, altitude, and ground speed of the measured object, and communicates with the device for determining the launch timing of the aircraft through the serial port.

[0144] The computer 610 mainly provides an interactive platform for the aircraft launch timing calculation control software, and supports users to view the upper computer interface provided by the software.

[0145] The aircraft launch control box 660 communicates with the aircraft launch timing determination device through the serial port, and is responsible for command interaction in automatic mode to implement the measurement of the pyrotechnic channel resistance, switching of the pyrotechnic channel, and ignition operations.

[0146] The anemometer is responsible for collecting real-time wind speed, wind direction and other meteorological information on the 640 acquisition platform, and communicates with the aircraft launch timing calculation and control software through the serial port.

[0147] The unmanned measurement and control station 650 communicates with the device for determining the launch timing of the aircraft through the UDP (User Datagram Protocol) protocol, and is responsible for transmitting in real time the attitude angle data of the aircraft to be launched on the launch platform connected to the current pyrotechnic channel.

[0148] The high-definition camera 670 communicates with the computer 610 via a network cable and operates in the form of POE power supply. Through the host computer interface, the user can see the real-time video screen of the launch site on the computer 610.

[0149] See also Fig. 9 , Fig. 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 9 As shown in , the electronic device 900 includes a processor 910 , a memory 920 and a bus 930 .

[0150] The memory 920 stores machine-readable instructions executable by the processor 910. When the electronic device 900 is running, the processor 910 communicates with the memory 920 via the bus 930. When the machine-readable instructions are executed by the processor 910, the above-mentioned Figures 1 to 3 The steps of the method for determining the launch timing of an aircraft in the method embodiment shown, and the specific implementation method thereof can be referred to the method embodiment, which will not be described in detail here.

[0151] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figures 1 to 3 The steps of the method for determining the launch timing of an aircraft in the method embodiment shown, and the specific implementation method thereof can be referred to the method embodiment, which will not be described in detail here.

[0152] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0153] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0154] 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 on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0155] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0156] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0157] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for determining an aircraft launch timing, characterized in that: The method comprises: In response to the aircraft launch instruction, the judgment parameters are acquired in real time, wherein the judgment parameters include meteorological data, aircraft attitude data and actual platform attitude data corresponding to the launch platform, and the aircraft attitude data includes an aircraft pitch angle, an aircraft roll angle and an aircraft yaw angle; Obtaining predicted platform attitude data at a pre-execution moment according to actual platform attitude data at a historical moment, and judging whether the launch platform is in a stable state according to the predicted platform attitude data and the actual platform attitude data at the pre-execution moment when the pre-execution moment arrives, wherein the pre-execution moment is determined according to the launch instruction of the aircraft, and the historical moment is earlier than the pre-execution moment; In the stable state, if each of the criterion parameters satisfies a preset launch condition and the aircraft is in an automatic launch mode, the target launch timing of the aircraft is determined according to the criterion parameters.

2. The method according to claim 1, characterized in that Determining the target launch timing of the aircraft according to the criterion parameter includes: Determine whether the criterion parameters within a preset time period after the pre-execution time meet the preset launch condition, if the criterion parameters at any time within the preset time period meet the preset launch condition, determine the any time as the target launch opportunity, and end the criterion parameter acquisition operation; If there are no judgment parameters that meet the preset emission conditions within the preset time period, prompt information prohibiting emission is generated.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: Determining a preset wind speed range and a preset wind direction range according to the actual posture data of the platform; Determining a preset platform pitch angle range, a preset platform roll angle range, and a preset platform yaw angle range according to the wind speed and wind direction in the meteorological data; Determining a preset aircraft pitch angle range, a preset aircraft roll angle range, and a preset aircraft yaw angle range according to the wind speed, the wind direction, and the actual attitude data of the platform; Each of the criteria parameters satisfies a preset launch condition, including: The meteorological data satisfies the preset wind speed range and the preset wind direction range, the actual platform attitude data satisfies the preset platform pitch angle range, the preset platform roll angle range and the preset platform yaw angle range, and the aircraft attitude data satisfies the preset aircraft pitch angle range, the preset aircraft roll angle range and the preset aircraft yaw angle range.

4. The method according to claim 1, characterized in that The step of obtaining the platform predicted posture data at the pre-execution time according to the platform actual posture data at the historical time includes: Inputting the meteorological data into a marine environment disturbance model to obtain force data corresponding to the ship where the launch platform is located; Inputting the force data into a ship motion model to obtain attitude change data of the ship; The platform attitude change data of the launching platform is obtained according to the attitude change data of the ship, and the platform predicted attitude data at the pre-execution moment is obtained according to the platform attitude change data and the actual attitude data of the platform at the historical moment.

5. The method according to claim 1, characterized in that The real-time acquisition of criterion parameters includes: receiving a detection signal sent by a detection device in real time, and analyzing the detection signal by using a strapdown solution method to obtain the criterion parameter; After the real-time acquisition of the criterion parameters, the method further includes: If the judgment parameter does not satisfy at least one of the following, a prompt message prohibiting transmission is generated: the reliability of the actual attitude data of the platform and the reliability of the attitude data of the aircraft both meet the combined navigation conditions, and the real-time acquisition of the attitude data of the aircraft is normal.

6. The method according to claim 1, characterized in that The method further comprises: In the stable state, if each of the criterion parameters satisfies the preset launch condition and the aircraft is in a manual launch mode, the current moment is used as the target launch timing in response to a launch instruction input by the user.

7. A device for determining the launch timing of an aircraft, characterized in that: The device comprises: A data acquisition module, for acquiring criterion parameters in real time in response to an aircraft launch instruction, wherein the criterion parameters include meteorological data, aircraft attitude data, and actual platform attitude data corresponding to the launch platform, and the aircraft attitude data includes an aircraft pitch angle, an aircraft roll angle, and an aircraft yaw angle; A stable state judgment module, used to obtain the platform predicted posture data at the pre-execution moment according to the platform actual posture data at the historical moment, and when the pre-execution moment arrives, judge whether the launch platform is in a stable state according to the platform predicted posture data and the platform actual posture data at the pre-execution moment, wherein the execution moment is determined according to the aircraft launch instruction, and the historical moment is earlier than the execution moment; The launch timing determination module is used to determine the target launch timing of the aircraft according to the criterion parameters in the stable state if each of the criterion parameters meets the preset launch conditions and the aircraft is in the automatic launch mode.

8. A control system, characterized in that: The control system comprises: A computer, wherein the device for determining the launch timing of an aircraft as claimed in claim 7 is deployed on the computer; A criterion parameter acquisition module is connected to the computer and includes: an inertial measurement unit, a navigation system receiving unit, an anemometer and an unmanned measurement and control station; The inertial measurement unit and the navigation system receiving unit are arranged on the launch platform and are used to obtain actual attitude data of the platform; The anemometer is arranged on the transmitting platform to obtain the meteorological data; The unmanned measurement and control station is used to obtain the attitude data of the aircraft; The aircraft launch control box is connected to the computer and is used to perform an ignition operation at the target launch timing.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for determining the launch timing of an aircraft as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining the launch timing of an aircraft as claimed in any one of claims 1 to 6 are executed.

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