A wing parachute homing path real-time correction method and system

Abstract

The application provides a wing parachute homing path real-time correction method and system, comprising: acquiring the position and free attitude angle of a wing parachute system in a terrestrial inertial coordinate system with a target point on the ground as the origin; simulating the motion trajectory and the trajectory end position of the wing parachute system within a time period by using a wing parachute six-degree-of-freedom dynamics model according to the position and free attitude angle; acquiring the motion trajectory and the trajectory end position of the wing parachute system in a real wind field environment within the time period by using a positioning system; performing deviation analysis according to the simulated motion trajectory and the trajectory end position and the real motion trajectory and the trajectory end position, and obtaining a wind field estimation result; and correcting the wing parachute homing path in real time by using a three-section homing method according to the wind field estimation result. The application can correct and identify the surrounding wind field in the state of wing parachute unsteady flight on the basis of the wing parachute differential dynamics model and in combination with the rolling optimization strategy.

Description

TECHNICAL FIELD

[0001] The application relates to a wing parachute homing technology field, and in particular to a wing parachute homing path real-time correction method and system. BACKGROUND

[0002] The wing parachute system has become a research hotspot of a new type of air drop system due to the advantages of light weight, small size and controllability, however, the wing parachute system also has the research difficulties of weak controllable performance, complex modeling and being easily affected by a wind field. The wing parachute system needs to go through deployment, system identification, target approaching, energy consumption, terminal homing and landing stages in a homing process. In the energy management and landing stages, the wind field has a great influence on the flight trajectory of the wing parachute, and the action of the wind field makes the wing parachute possibly unstable or far away from a target point. Therefore, the wind field situation of a real-time position needs to be considered when the wing parachute homing trajectory is designed, and the wind field shear situation existing at different altitudes and the high-low wind field difference situation need to be considered in the whole homing process. However, the existing methods cannot accurately estimate the wind field in real time, so that the wing parachute homing deviation is large. SUMMARY

[0003] The application provides a wing parachute homing path real-time correction method and system, which is used for overcoming the defects that the wing parachute homing deviation is large in the prior art.

[0004] To achieve the above object, the application provides a wing parachute homing path real-time correction method, which comprises the following steps:

[0005] The position and a free attitude angle of a wing parachute system in a terrestrial inertial coordinate system with a target point on the ground as an origin are acquired;

[0006] According to the position and the free attitude angle, a six-degree-of-freedom dynamics model of the wing parachute is used to simulate a motion trajectory and a trajectory end position of the wing parachute system in a simulation time.

[0007] A positioning system is used to acquire a motion trajectory and a trajectory end position of the wing parachute system in a real wind field environment in a real time.

[0008] According to the simulated motion trajectory and the trajectory end position and the real motion trajectory and the trajectory end position, deviation analysis is performed to obtain a wind field estimation result.

[0009] According to the wind field estimation result, a three-section homing method is used to correct the wing parachute homing path in real time.

[0010] To achieve the above object, the application further provides a wing parachute homing path real-time correction system, which comprises:

[0011] ​​The information acquisition module is used to acquire the position and free attitude angles of the paraglider system in a geodetic inertial coordinate system with the target point on the ground as the origin; and to acquire information using the positioning system. The trajectory and end position of the paraglider system in a real wind field environment within a given time period;

[0012] The simulation module is used to simulate the paraglider system based on the stated position and free attitude angle using a six-degree-of-freedom dynamic model. The trajectory of motion within a time period and the position of the end of the trajectory;

[0013] The wind field estimation module is used to perform deviation analysis based on the simulated motion trajectory and trajectory end position as well as the actual motion trajectory and trajectory end position, and obtain the wind field estimation result.

[0014] The path correction module is used to correct the paraglider homing path in real time based on the wind field estimation results using the three-segment homing method.

[0015] To achieve the above objectives, the present invention also proposes a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method for real-time correction of a paraglider homing path.

[0016] To achieve the above objectives, the present invention also proposes a computer-readable storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method for real-time correction of a paraglider homing path.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] Traditional paraglider flight wind field identification techniques typically rely on the steady-state flight of the paraglider and the condition that the paraglider's flight speed and wind direction are aligned. They employ the least squares method for surrounding wind field identification, making them only suitable for constant wind fields or flight conditions with slow wind changes. In contrast, the real-time paraglider homing path correction method provided in this invention, based on a differential dynamics model of the paraglider system and incorporating a roll optimization strategy, can correct and identify the surrounding wind field even in unsteady flight conditions. Therefore, this invention is not limited by the paraglider system's flight state and can perform real-time identification and correction of the surrounding wind field throughout the entire flight process, even in unsteady conditions where the flight direction and wind direction are inconsistent. This meets the practical needs of paraglider airdrop systems in complex and variable wind field conditions. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 Flowchart of the real-time correction method for paraglider homing path provided by the present invention;

[0021] Figure 2 This is a schematic diagram of a single model of the parachute system;

[0022] Figure 3 The principle of wind field identification during the straight flight of a paraglider;

[0023] Figure 4 The principle of wind field identification during paraglider turning;

[0024] Figure 5 This is a schematic diagram of the three-stage return navigation method;

[0025] Figure 6 The wind field identification results along the x-axis for the paraglider system in straight flight;

[0026] Figure 7 The y-axis wind field identification results for the paraglider system in straight flight;

[0027] Figure 8 The wind field identification results along the x-axis for the turning state of the paraglider system;

[0028] Figure 9 The y-axis wind field identification results for the turning state of the paraglider system;

[0029] Figure 10 The simulation trajectory for the three-segment homing of the paraglider is shown; where a is the three-dimensional trajectory and b is the horizontal projection trajectory.

[0030] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0032] This invention proposes a real-time correction method for paraglider homing paths, such as... Figure 1As shown, it includes the following steps:

[0033] 101: Obtain the position and free attitude angle of the paraglider system in the geodetic inertial coordinate system with the target point on the ground as the origin;

[0034] 102: Based on the position and free attitude angles, the wing parachute system is simulated using a six-degree-of-freedom dynamic model. The trajectory of motion within a time period and the position of the end of the trajectory;

[0035] 103: Obtaining information using a positioning system The trajectory and end position of the paraglider system in a real wind field environment within a given time period;

[0036] 104: Based on the simulated motion trajectory and trajectory end position as well as the actual motion trajectory and trajectory end position, a deviation analysis is performed to obtain the wind field estimation results;

[0037] 105: Based on the wind field estimation results, the parachute homing path is corrected in real time using the three-segment homing method.

[0038] In one embodiment, for step 102, based on the flight position and attitude angle, the paraglider system is simulated using a six-degree-of-freedom dynamic model. The trajectory of motion within a time period and the position of the end of the trajectory include:

[0039] With the center of mass of the parachute system as the origin, the horizontal velocity direction of the parachute is the positive x-axis, the vertical downward direction is the positive z-axis, and the y-axis direction is established with reference to the right-hand rule;

[0040] In the body coordinate system, based on the stated position and free attitude angles, the parachute system is simulated using a six-degree-of-freedom dynamic model. trajectory of motion within a time period and trajectory end position .

[0041] In this embodiment, the derivation of the six-degree-of-freedom dynamic model of the parachute system is based on the following assumptions:

[0042] (1) Ignore the deviation between the center of mass and the center of gravity of the parachute system;

[0043] (2) Ignore the Earth's rotation, that is, treat the ground coordinate system as an inertial system;

[0044] (3) The parachute system is a left-right symmetrical structure along the span.

[0045] Neglecting the relative motion between the canopy and the load, the parachute system is simplified to a single-unit model, assuming the entire parachute system is a rigid body, as shown in Figure 2. The parachute system has six degrees of freedom, namely three translational and three rotational degrees of freedom of rigid body A.

[0046] Taking the target point on the ground as the origin, the direction due east is... x The positive axis and the due north direction are y Positive axis, vertically upward. z Establish a ground-based inertial coordinate system with the positive axis. The origin is the center of mass of the parachute system, and the horizontal velocity direction of the parachute is... x Positive axis, vertically downwards is z Positive axis, y Establish a volume coordinate system with reference to the right-hand rule for the axis directions.

[0047] The six-degree-of-freedom dynamic model of the parachute system, derived based on Newton's second law, is as follows:

[0048] Adding a "~" above the letter representing a matrix indicates a skew-symmetric matrix, meaning it is cross-multiplied by the matrix on the right-hand side, such as... Specifically expressed as equation (1), matrix For equation (2), E It is a unit array.

[0049] (1)

[0050] (2)

[0051] Assume the actual mass of the parachute system is Its center of mass is The radius vector from the origin O of the ground inertial frame to MC is The corresponding radius vectors from point O to the roll center R and from R to the pitch center P are: and The velocity and angular velocity of point O are and The inertia tensor of the actual mass of the parachute system is: The inertia tensor of the actual mass relative to point O As shown in equation (3), the inertia tensor of the added mass relative to point O. As shown in equation (4); the true mass matrix of the parachute system relative to point O. As shown in equation (5), the additional mass matrix relative to point O. As shown in equation (6).

[0052] (3)

[0053] (4)

[0054] (5)

[0055] (6)

[0056] in, Defined as:

[0057] (7)

[0058] In the formula , and This represents the additional mass component of the parachute.

[0059] Let the intermediate terms in the derivation of the momentum and angular momentum theorems be:

[0060] (8)

[0061] (9)

[0062] (10)

[0063] (11)

[0064] In the formula, P and H They represent momentum and angular momentum, respectively, and their subscripts are... r and a These represent the actual mass item and the added mass item, respectively. and This represents the momentum and angular momentum of the actual mass relative to the origin O. and Let represent the momentum and angular momentum of the added mass relative to the origin O. Let the subscripts of the aerodynamic and gravitational terms for force and torque be respectively... aero and ex The six-degree-of-freedom dynamic model of the parachute system is as follows:

[0065] (11)

[0066] In the formula, and For aerodynamic forces and aerodynamic torque, , For gravity and gravitational torque, and , , , These represent the intermediate terms concerning force and torque in the derivation of equations (8), (9), (10), and (11), respectively.

[0067] Based on the initial state value of the paraglider system at the start of homing, the spatial position and flight speed information of the paraglider system at the next moment can be obtained by numerically integrating Equation (11) over the time interval from the current moment to the next moment. By repeating this step, the state information of the paraglider system at any subsequent moment can be obtained.

[0068] In the next embodiment, for step 104, a deviation analysis is performed based on the simulated motion trajectory and trajectory end position, as well as the actual motion trajectory and trajectory end position, to obtain the wind field estimation result, including:

[0069] 401: Based on the simulated motion trajectory and trajectory end position and the actual motion trajectory and trajectory end position, perform deviation analysis to obtain the position difference of the trajectory with and without the influence of wind field;

[0070] 402: Calculate the wind field value based on the position difference.

[0071] In one embodiment, for step 104, such as Figure 3 and 4 As shown, the direct flight trajectory NM Due to the effect of the wind field, it deviated from its destination. Point, turning segment trajectory PQ Due to the effect of the wind field, the final deviation reached... Points. Divide the trajectory before and after the wind field into equal parts. n Segment, with each time period ∆ t i The wind field during that time period is identified by summing the distance differences between two points on the internal flight path. The sum of the positional deviations at each corresponding point in time on both paths is calculated, and the predicted wind field is set as the independent variable. The result is obtained using the principle of minimum deviation. x shaft and y The magnitude of the wind speed along the axial direction.

[0072] Based on the simulated motion trajectory and trajectory endpoint position, as well as the actual motion trajectory and trajectory endpoint position, a deviation analysis is performed to obtain the positional difference of the trajectory with and without wind field influence, including:

[0073] Based on the simulated motion trajectory and trajectory endpoint position, as well as the actual motion trajectory and trajectory endpoint position, let... Simulation of time and real observation x The axis coordinates are respectively and , y The axis coordinates are respectively and ,but Time trajectory x shaft and y The axis coordinate deviation is:

[0074]

[0075] set up n part Composition The trajectory deviation within the time period is:

[0076]

[0077] In the formula, This represents the trajectory deviation.

[0078] In the next embodiment, for step 104, the wind field value is calculated based on the position difference, including:

[0079] set up Wind field during the period Then, the least squares method is used to find the result that makes Minimum wind field value:

[0080]

[0081] In the formula This refers to the trajectory deviation. The wind field value for identification.

[0082] In another embodiment, for step 105, the paraglider's trajectory during homing is connected according to a certain geometric curve. To ensure the paraglider accurately reaches the target point, the trajectory is planned into several segments, and control constraints are applied to each segment. Thus, the paraglider homing trajectory is designed as segmented control. A classic paraglider homing trajectory can be approximately divided into three segments, such as... Figure 5 As shown, the paragliding system starts from point A, glides to point B, and then performs a single-sided pull-down control to turn and fly to point D at a constant yaw rate. Finally, it descends to the target point G(O). The whole process can be approximated as three parts: straight flight, turning, and descent.

[0083] Based on wind field estimation results, the parachute homing path is corrected in real time using a three-stage homing method, including:

[0084] Based on the wind field estimation results, the wind velocity is projected onto a ground inertial coordinate system with the target point as the origin. Using the geometric relationships of the trajectory, analytical solutions for the three segments of the homing trajectory are obtained, yielding precise values ​​in the x, y, and z directions. Considering the effect of wind field, we obtain equation (15):

[0085] (15)

[0086] In the formula, R The turning radius; xA , y A and z A The starting point of the return voyage A The coordinates; The speed of paraglider flight; Let z be the component of the parachute velocity in the z-direction; This is the initial yaw angle; The landing yaw angle is determined by the wind field in the landing area. Time used for the direct flight phase; Time used for the turning phase; The time used for the descent phase;

[0087] Assuming the yaw rate during the turn is constant, the time taken for this process is:

[0088] (16)

[0089] Based on consumption time Calculate the time for the first flight segment, i.e., the time used for the direct flight phase. t LD for:

[0090] (17)

[0091] (18)

[0092] in, For the descent phase, the conditions under which the paraglider system can reach the target point are: .

[0093] During the three-stage return journey, assuming the paraglider begins its return landing at an appropriate altitude, its basic trajectory follows a straight flight-turn-descent process. The specific steps are as follows:

[0094] (1) A point in the flight trajectory A The trajectory planning starts from the initial point, and the wind field value at the initial point is considered to be the wind field for the entire return process. The initial analytical solution of a return trajectory starting from this point is obtained according to equation (15).

[0095] (2) When the paraglider flies for one time step arrive After the landing point is reached, it is determined whether the preset descent altitude is met. If it is, the bird lands and the return journey ends; if not, the process continues to the next step.

[0096] (3) Targeting Identify the wind field and compare it with A Compare point wind field values. If the difference is within an acceptable range... Within that time step, continue flying for the next time step; if the difference exceeds the specified range, use the current wind field as new wind field data for trajectory replanning.

[0097] Repeat steps (2) and (3) until the parachute lands.

[0098] This embodiment uses a measured wind field from a certain location for simulation, performing step-length wind field identification on a paraglider precision airdrop system in both straight-flying and turning states. The identification results are compared with the measured wind field. Figures 6~9 As shown in the figure, the two curves are very close, demonstrating the effectiveness of the method in this patent. (The paraglider system in straight flight state...) x shaft and y The maximum error in identifying the axial wind field is 0.15 m / s, and the wing parachute system in the turning state... x The maximum error in identifying the axial wind field is 0.52 m / s, and the paraglider system is in a turning state. y The maximum error in wind field identification along the axial direction is 0.54 m / s. This indicates that this method is not only applicable to wind field identification under relatively stable flight conditions such as straight flight of the paraglider, but also to surrounding identification under unsteady conditions such as rapid turns, providing more accurate wind field information for the paraglider's homing control system.

[0099] Using the real-time correction method for paraglider homing path provided by this invention, the homing result is as follows: Figure 10 As shown in the figure, the wind field identification and homing method proposed in this patent enables the paraglider system to land accurately at the target point, and can therefore be extended to existing precision airdrop systems.

[0100] This invention also proposes a real-time correction system for paraglider homing paths, comprising:

[0101] The information acquisition module is used to acquire the position and free attitude angles of the paraglider system in a geodetic inertial coordinate system with the target point on the ground as the origin; and to acquire information using the positioning system. The trajectory and end position of the paraglider system in a real wind field environment within a given time period;

[0102] The simulation module is used to simulate the paraglider system based on the stated position and free attitude angle using a six-degree-of-freedom dynamic model. The trajectory of motion within a time period and the position of the end of the trajectory;

[0103] The wind field estimation module is used to perform deviation analysis based on the simulated motion trajectory and trajectory end position as well as the actual motion trajectory and trajectory end position, and obtain the wind field estimation result.

[0104] The path correction module is used to correct the paraglider homing path in real time based on the wind field estimation results using the three-segment homing method.

[0105] This invention also proposes a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the aforementioned real-time correction method for paraglider homing paths. This computer device can be a server. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store sample data. The network interface of the computer device is used for communication with external terminals via a network connection.

[0106] The present invention also proposes a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described method for real-time correction of a paraglider homing path.

[0107] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0108] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for real-time correction of a paraglider homing path, characterized in that, Includes the following steps: Obtain the position and free attitude angle of the paraglider system in the geodetic inertial coordinate system with the target point on the ground as the origin; Based on the stated position and free attitude angle, the parachute system was simulated using a six-degree-of-freedom dynamic model. The trajectory of motion within a time period and the position of the end of the trajectory; Using the positioning system to obtain The trajectory and end position of the paraglider system in a real wind field environment within a given time period; Based on the simulated motion trajectory and trajectory end position as well as the actual motion trajectory and trajectory end position, a deviation analysis is performed to obtain the wind field estimation result; Based on the wind field estimation results, the parachute homing path is corrected in real time using the three-stage homing method, including: Based on the wind field estimation results, the wind velocity is projected onto a ground inertial coordinate system with the target point as the origin. According to the geometric relationship of the trajectory, the analytical solution for the three segments of the homing trajectory is solved, yielding precise values ​​in the x, y, and z directions. Considering the effect of the wind field, the following is obtained: In the formula, R The turning radius; x A , y A and z A The starting point of the return voyage A The coordinates; The speed of paraglider flight; Let z be the component of the parachute velocity in the z-direction; This is the initial yaw angle; The landing yaw angle is determined by the wind field in the landing area. Time used for the direct flight phase; Time used for the turning phase; The time used for the descent phase; Assuming the yaw rate during the turn is constant, the time taken for this process is: Based on consumption time Calculate the time for the first flight segment, i.e., the time used for the direct flight phase. t LD for: in, For the descent phase, the conditions under which the paraglider system can reach the target point are: .

2. The real-time correction method for paraglider homing path as described in claim 1, characterized in that, Based on the stated position and free attitude angle, the parachute system was simulated using a six-degree-of-freedom dynamic model. The trajectory of motion within a time period and the position of the end of the trajectory include: With the center of mass of the parachute system as the origin, the horizontal velocity direction of the parachute is the positive x-axis, the vertical downward direction is the positive z-axis, and the y-axis direction is established with reference to the right-hand rule; In the aforementioned body coordinate system, based on the stated position and free attitude angles, the parachute system is simulated using a six-degree-of-freedom dynamic model. trajectory of motion within a time period and trajectory end position .

3. The real-time correction method for paraglider homing path as described in claim 1, characterized in that, Based on the simulated motion trajectory and trajectory endpoint position, as well as the actual motion trajectory and trajectory endpoint position, a deviation analysis is performed to obtain the wind field estimation results, including: Based on the simulated motion trajectory and trajectory end position, as well as the actual motion trajectory and trajectory end position, deviation analysis is performed to obtain the position difference of the trajectory with and without the influence of wind field. The wind field value is calculated based on the location difference.

4. The real-time correction method for paraglider homing path as described in claim 3, characterized in that, Based on the simulated motion trajectory and trajectory endpoint position, as well as the actual motion trajectory and trajectory endpoint position, a deviation analysis is performed to obtain the positional difference of the trajectory with and without wind field influence, including: Based on the simulated motion trajectory and trajectory endpoint position, as well as the actual motion trajectory and trajectory endpoint position, let... Simulation of time and real observation x The axis coordinates are respectively and , y The axis coordinates are respectively and ,but Time trajectory x shaft and y The axis coordinate deviation is: set up n part Composition The trajectory deviation within the time period is: In the formula, This represents the trajectory deviation.

5. The real-time correction method for paraglider homing path as described in claim 3, characterized in that, Based on the aforementioned location difference, the wind field value is calculated, including: set up Wind field during the period Then, the least squares method is used to find the result that makes Minimum wind field value: In the formula, This refers to the trajectory deviation. This represents the wind field value.

6. A real-time correction system for paraglider homing paths, characterized in that, include: The information acquisition module is used to acquire the position and free attitude angle of the paraglider system in the geodetic inertial coordinate system with the target point on the ground as the origin; Using the positioning system to obtain The trajectory and end position of the paraglider system in a real wind field environment within a given time period; The simulation module is used to simulate the paraglider system based on the stated position and free attitude angle using a six-degree-of-freedom dynamic model. The trajectory of motion within a time period and the position of the end of the trajectory; The wind field estimation module is used to perform deviation analysis based on the simulated motion trajectory and trajectory end position as well as the actual motion trajectory and trajectory end position, and obtain the wind field estimation result. The path correction module is used to correct the paraglider homing path in real time based on the wind field estimation results using the three-segment homing method, including: Based on the wind field estimation results, the wind velocity is projected onto a ground inertial coordinate system with the target point as the origin. According to the geometric relationship of the trajectory, the analytical solution for the three segments of the homing trajectory is solved, yielding precise values ​​in the x, y, and z directions. Considering the effect of the wind field, the following is obtained: In the formula, R The turning radius; x A , y A and z A The starting point of the return voyage A The coordinates; The speed of paraglider flight; Let z be the component of the parachute velocity in the z-direction; This is the initial yaw angle; The landing yaw angle is determined by the wind field in the landing area. Time used for the direct flight phase; Time used for the turning phase; The time used for the descent phase; Assuming the yaw rate during the turn is constant, the time taken for this process is: Based on consumption time Calculate the time for the first flight segment, i.e., the time used for the direct flight phase. t LD for: in, For the descent phase, the conditions under which the paraglider system can reach the target point are: .

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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