Aircraft closed-loop maneuvering method, device and equipment based on tracking target and medium

Abstract

The invention relates to an aircraft closed-loop maneuvering method, device and equipment based on a tracking target and a medium, and relates to the technical field of aircraft maneuvering, and the method comprises the steps: obtaining the first flight state information of an attack aircraft and the second flight state information of a target aircraft in real time; determining first reference data corresponding to a pure tracking strategy based on the first flight state information and the second flight state information; based on the first flight state information and the second flight state information, determining second reference data corresponding to each non-pure tracking strategy and a decision factor corresponding to the second reference data; and determining flight guidance point information corresponding to the attack aircraft according to the first reference data and / or each second reference data and each decision factor. The advantage flight guidance point information is calculated according to the maneuvering action of the attack aircraft and the flight state information of the target aircraft, so that the attack aircraft can lock the target in time.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft maneuvers, and in particular to a closed-loop maneuvering method, device, equipment and medium for an aircraft based on tracking a target. Background Art

[0002] Aircraft one-on-one air combat maneuvers refer to a one-on-one aerial battle between two aircraft in an air combat, in which they fight for air superiority through maneuvers, tactical strategies, and weapon systems.

[0003] Traditional one-on-one air combat maneuvers of aircraft often use open-loop control methods. The decision-making system selects one of the maneuvers according to the current situation of both sides in a certain decision cycle, and sends the selected maneuver to the attacking aircraft. The attacking aircraft executes the maneuver in an open loop within a single decision cycle.

[0004] When the attack aircraft performs a maneuver within the decision cycle, the maneuver of the attack aircraft loses contact with the movement of the target aircraft, ignoring the potential maneuver of the target aircraft. As a result, the maneuver result of the attack aircraft may deviate from the expected tactical effect, affecting the decision-making efficiency and resulting in the inability to seize the advantageous position in time. Summary of the invention

[0005] In order to reduce the deviation between the maneuvering result of the attacking aircraft and the expected tactical effect, the present application provides a closed-loop maneuvering method, device, equipment and medium for the aircraft based on tracking the target.

[0006] In the first aspect, the present application provides a closed-loop maneuvering method for an aircraft based on tracking a target, which adopts the following technical solutions:

[0007] The closed-loop maneuvering method of an aircraft based on tracking a target includes:

[0008] Acquire the first flight status information of the attacking aircraft and the second flight status information of the target aircraft in real time;

[0009] Based on the first flight state information and the second flight state information, determining first reference data corresponding to a pure tracking strategy, wherein the pure tracking strategy is a strategy corresponding to when the attacking aircraft tracks the target aircraft, a target tracking position corresponding to the attacking aircraft is the same as a position of the target aircraft;

[0010] Based on the first flight state information and the second flight state information, determine the second reference data corresponding to each non-pure tracking strategy and the decision factor corresponding to each second reference data, wherein, for each of the first reference data and each of the second reference data, the reference data is data used to describe the position of the target aircraft, and the decision factor is a parameter characterizing the importance of the reference data relative to the flight guidance point information, and the flight guidance point information is a vector corresponding to the target tracking position flown to by the attack aircraft;

[0011] The flight guidance point information corresponding to the attack aircraft is determined according to the first reference data, each of the second reference data and each of the decision factors, so as to guide the attack aircraft to fly according to the flight guidance point information.

[0012] The beneficial effects of the present invention are as follows: based on the first flight state information and the second flight state information acquired in real time, the first reference data and at least one second reference data corresponding at each moment, the closed-loop continuous flight guidance point information is determined in space, and the attack aircraft is guided to fly according to the flight guidance point information, so that the attack aircraft can lock the target in time. The generated flight guidance point information corresponding to the attack aircraft changes continuously with the second flight state information of the target aircraft, and the maneuvering action of guiding the attack aircraft to fly according to the flight guidance point information changes continuously with the second flight state information of the target aircraft, thereby establishing a closed-loop connection between the maneuvering action of the attack aircraft and the second flight state of the target aircraft.

[0013] Further, determining first reference data corresponding to the pure tracking strategy based on the first flight state information and the second flight state information includes:

[0014] Based on the ground coordinate system, acquiring the target coordinates of the target aircraft, and using the target coordinates as the first reference data, wherein the target coordinates are the coordinates of the current position of the target aircraft;

[0015] The determining, based on the first flight state information and the second flight state information, second reference data corresponding to each non-pure tracking strategy and a decision factor corresponding to each second reference data includes:

[0016] For each of the non-pure tracking strategies, based on a preset algorithm corresponding to each of the non-pure tracking strategies, the reference vector corresponding to the non-pure tracking strategy is calculated, each of the second reference data includes a reference vector, and the reference vector is used as the second reference data corresponding to the non-pure tracking strategy;

[0017] Based on a pre-trained artificial intelligence model, the decision factor corresponding to each reference vector is obtained in real time.

[0018] The beneficial effect of adopting the above further scheme is that the first flight status information and the second flight status information acquired in real time are used as the input of the artificial intelligence model, and the artificial intelligence model outputs decision factors corresponding to different reference vectors, so that the decision factors corresponding to different reference vectors can change with the changes of the first flight status information and the second flight status information, thereby improving the accuracy of determining the flight guidance point information.

[0019] Further, determining the flight guidance point information corresponding to the attack aircraft according to the first reference data, each of the second reference data and each of the decision factors includes:

[0020] Performing weighted calculation on each of the reference vectors based on the decision factor to obtain a first calculated value;

[0021] The sum of the first calculated value and the target coordinates is calculated to obtain a second calculated value, and the second calculated value is used as the flight guidance point information.

[0022] The beneficial effect of adopting the above further scheme is that, based on the target coordinates combined with multiple weighted calculated reference vectors, the flight guidance point coordinates are determined in real time in space, and the first calculated value and the second calculated value can change continuously with the first flight status information and the second flight status information, thereby guiding the flight of the attack aircraft through closed-loop continuous flight guidance point information, avoiding many unnecessary maneuvers and improving decision-making efficiency.

[0023] Further, the non-pure tracking strategy includes a pre-tracking strategy and a post-tracking strategy; the calculation of the corresponding reference vector based on the preset algorithm corresponding to each of the non-pure tracking strategies includes:

[0024] Obtaining a first preset algorithm corresponding to the front tracking strategy and a second preset algorithm corresponding to the rear tracking strategy;

[0025] Based on the first flight state and the second flight state, obtaining each first parameter value in the first preset algorithm and each second parameter value in the second preset algorithm;

[0026] Based on each of the first parameter values, the reference vector corresponding to the front tracking strategy is obtained by the first preset algorithm. Based on each of the second parameter values, the reference vector corresponding to the post-tracking strategy is obtained by the second preset algorithm. in,

[0027] The first preset algorithm is:

[0028]

[0029] The second preset algorithm is:

[0030]

[0031] In the first preset algorithm and the second preset algorithm, k is the predicted value of the maneuverability of the target aircraft, V B is the current speed of the target aircraft, Δt is the time required for each decision, is located in the track coordinate system of the target aircraft Ox k The unit vector of the axis.

[0032] The beneficial effect of adopting the above further solution is that the reference vector is adjusted according to the first flight status information and the second flight status information obtained in real time. and the base vector Perform calculations.

[0033] Further, the non-pure tracking strategy includes a climbing maneuvering strategy and a diving maneuvering strategy; the calculation of the corresponding reference vector based on the preset algorithm corresponding to each of the non-pure tracking strategies also includes:

[0034] Acquire a third preset algorithm corresponding to the climbing maneuver strategy and a fourth preset algorithm corresponding to the diving maneuver strategy;

[0035] Based on the first flight state and the second flight state, obtaining each third parameter value in the third preset algorithm and each fourth parameter value in the fourth preset algorithm;

[0036] Based on each of the third parameter values, the reference vector corresponding to the climbing maneuver strategy is obtained by the third preset algorithm. Based on each of the fourth parameter values, the reference vector corresponding to the dive maneuver strategy is obtained by the fourth preset algorithm. in,

[0037] The third preset algorithm is:

[0038]

[0039] The fourth preset algorithm is:

[0040]

[0041] In the third preset algorithm and the fourth preset algorithm, k is the predicted value of the maneuverability of the target aircraft, VA is the current speed of the attacking aircraft, g is the gravitational acceleration, is located in the reference coordinate system of the target aircraft Oy i The unit vector of the axis.

[0042] The beneficial effect of adopting the above further solution is that the reference vector is adjusted according to the first flight status information and the second flight status information obtained in real time. and the base vector Perform calculations.

[0043] Furthermore, the non-pure tracking strategy further includes an inner ring circling strategy and an outer ring circling strategy; the calculation of the corresponding reference vector based on the preset algorithm corresponding to each of the non-pure tracking strategies also includes:

[0044] Obtaining a fifth preset algorithm corresponding to the inner-loop circling strategy and a sixth preset algorithm corresponding to the outer-loop circling strategy;

[0045] Based on the first flight state and the second flight state, acquiring each fifth parameter value in the fifth preset algorithm and each sixth parameter value in the sixth preset algorithm;

[0046] Based on each of the fifth parameter values, the reference vector corresponding to the inner ring circling strategy is obtained by the fifth preset algorithm. Based on each of the sixth parameter values, the reference vector corresponding to the outer ring circling strategy is obtained by the sixth preset algorithm. in,

[0047] The fifth preset algorithm is:

[0048]

[0049] The sixth preset algorithm is:

[0050]

[0051] In the fifth preset algorithm and the sixth preset algorithm, k is the predicted value of the maneuverability of the target aircraft, Q AB is the distance vector between the attacking aircraft and the turning center of the target aircraft in the horizontal plane based on the ground coordinate system, is located in the track coordinate system of the target aircraft Oz k The unit vector of the axis.

[0052] The beneficial effect of adopting the above further solution is that the reference vector is adjusted according to the first flight status information and the second flight status information obtained in real time. and the base vector Perform calculations.

[0053] Further, the predicted value k of the maneuverability of the target aircraft is obtained by:

[0054] Acquiring image information of the target aircraft;

[0055] Acquire the model information of the target aircraft based on the image information;

[0056] The predicted value k of maneuverability is acquired based on the aircraft model information.

[0057] The beneficial effect of adopting the above further solution is that the accuracy of model information judgment is improved.

[0058] In a second aspect, the present application provides an aircraft closed-loop maneuvering device based on tracking a target, comprising:

[0059] A first acquisition module, used for acquiring first flight status information of the attacking aircraft and second flight status information of the target aircraft in real time;

[0060] A first determination module is used to determine first reference data corresponding to a pure tracking strategy based on the first flight state information and the second flight state information, wherein the pure tracking strategy is a strategy corresponding to when the attacking aircraft tracks the target aircraft, a target tracking position corresponding to the attacking aircraft is the same as a position of the target aircraft;

[0061] a second determination module, for determining, based on the first flight state information and the second flight state information, second reference data corresponding to each non-pure tracking strategy and a decision factor corresponding to each second reference data, wherein, for each of the first reference data and each of the second reference data, the reference data is data for describing the position of the target aircraft, the decision factor is a parameter characterizing the importance of the reference data relative to the flight guidance point information, and the flight guidance point information is a vector corresponding to the target tracking position flown to by the attack aircraft;

[0062] The third determination module is used to determine the flight guidance point information corresponding to the attack aircraft according to the first benchmark data, each of the second benchmark data and each of the decision factors, so as to guide the attack aircraft to fly according to the flight guidance point information.

[0063] In a third aspect, the present application provides an electronic device, comprising a processor, wherein the processor is coupled to the memory;

[0064] The processor is used to execute the computer program stored in the memory so that the electronic device performs the method as described in any one of the first aspects.

[0065] In a fourth aspect, the present application provides a computer-readable storage medium, comprising a computer program or instructions, which, when executed on a computer, enables the computer to execute the method as described in any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A schematic diagram of a flow chart of a closed-loop maneuvering method for an aircraft based on tracking a target according to an embodiment of the present application;

[0067] Figure 2 A schematic diagram of the inner ring circling strategy of an embodiment of the present application;

[0068] Figure 3 A schematic diagram of the outer ring circling strategy of an embodiment of the present application;

[0069] Figure 4 A schematic diagram of a process for determining flight guidance point information in an embodiment of the present application;

[0070] Figure 5 A schematic diagram of all reference vectors between the attacking aircraft A and the target aircraft B according to an embodiment of the present application;

[0071] Figure 6 This is a structural block diagram of an aircraft closed-loop maneuvering device based on tracking targets according to an embodiment of the present application;

[0072] Figure 7 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0073] The present application is further described in detail below in conjunction with the accompanying drawings.

[0074] Before introducing the present application, the relevant background and terms in the present application are first explained.

[0075] Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0076] Artificial intelligence technology is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics and other technologies. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0077] Among them, machine learning (ML) is a multi-disciplinary interdisciplinary subject, involving probability theory, statistics, approximation theory, convex analysis, algorithm complexity theory and other disciplines. It specializes in studying how computers simulate or implement human learning behavior to acquire new knowledge or skills and reorganize existing knowledge structures to continuously improve their performance. Machine learning is the core of artificial intelligence and the fundamental way to make computers intelligent. Its applications are spread across all areas of artificial intelligence. Machine learning and deep learning usually include artificial neural networks, belief networks, reinforcement learning, transfer learning, inductive learning, adversarial learning and other technologies.

[0078] Big data refers to a collection of data that cannot be captured, managed, and processed by conventional software tools within a certain time frame. It is a massive, high-growth, and diverse information asset that requires new processing models to have stronger decision-making power, insight discovery, and process optimization capabilities. With the advent of the cloud era, big data has also attracted more and more attention. Big data requires special technologies to effectively process large amounts of data within a tolerable time frame. Technologies applicable to big data include large-scale parallel processing databases, data mining, distributed file systems, distributed databases, cloud computing platforms, the Internet, and scalable storage systems.

[0079] The embodiment of the present application provides a closed-loop maneuvering method for an aircraft based on tracking a target, which can be executed by a device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, etc., but is not limited thereto.

[0080] like Figure 1 As shown, a closed-loop maneuvering method for an aircraft based on tracking a target is performed by an electronic device. The main process of the method is described as follows (steps S101 to S104):

[0081] Step S101: Acquire the first flight status information of the attacking aircraft and the second flight status information of the target aircraft in real time.

[0082] Aircraft include unmanned aerial vehicles, manned aircraft and other types of flying devices. In this embodiment, the aircraft may be a fixed-wing aircraft. One-on-one air combat between aircraft includes attacking aircraft and target aircraft, wherein the attacking aircraft is the aircraft corresponding to the current electronic device, and the target aircraft is the air combat target of the attacking aircraft. The first flight status information and the second flight status information both include information that can reflect the flight status, such as flight speed and current position.

[0083] Before step S101, the method includes: establishing a reference coordinate system Ox i y i z i and track coordinate system Ox k y k z k .

[0084] The origin O of the reference coordinate system is located at the center of mass of the aircraft, Ox i Axis fixed pointing north, Oy i The axis is vertically upward in the plumb plane, Oz i Axis perpendicular to x i Oy i The planes form a right-handed coordinate system, and Oz i The positive axis points east;

[0085] The origin O of the track coordinate system is located at the center of mass of the aircraft, Ox k Axis along the direction of aircraft speed, Oy k Axis in the included Ox k The vertical plane of the axis is perpendicular to Ox k Axially, Oz k Axis perpendicular to x k Oy k The planes form a right-handed coordinate system.

[0086] Step S102: Based on the first flight status information and the second flight status information, determine the first benchmark data corresponding to the pure tracking strategy, where the pure tracking strategy is a strategy in which, when the attacking aircraft tracks the target aircraft, the target tracking position corresponding to the attacking aircraft is the same as the position of the target aircraft.

[0087] Step S103: Based on the first flight status information and the second flight status information, determine the second benchmark data corresponding to each non-pure tracking strategy and the decision factor corresponding to each second benchmark data, wherein, for each benchmark data in the first benchmark data and each second benchmark data, the benchmark data is data used to describe the position of the target aircraft, and the decision factor is a degree of importance characterizing the benchmark data relative to the flight guidance point information.

[0088] During the air combat, a variety of established maneuvering strategies are generated based on the flight status information of the two aircraft and the existing air combat experience. The maneuvering strategies include pure tracking strategies and multiple non-pure tracking strategies other than the pure tracking strategies. In this embodiment, the non-pure tracking strategies include front tracking strategies, rear tracking strategies and / or climbing maneuvering strategies, dive maneuvering strategies and / or inner loop circling strategies, and outer loop circling strategies.

[0089] The front tracking strategy means that the attack aircraft points to the front of the target aircraft, which is conducive to the attack aircraft approaching the target aircraft faster to lock the fire control weapon. The rear tracking strategy means that the attack aircraft points to the rear of the target aircraft, which is conducive to the attack aircraft maintaining an advantageous position, especially when the target aircraft turns quickly, it can prevent the attack aircraft from getting ahead.

[0090] The climb maneuver strategy means that the attack aircraft points to the top of the target aircraft and tends to attack the target aircraft from above. The climb maneuver strategy can convert kinetic energy into potential energy by slowing down by climbing. It can prevent the attack aircraft from getting ahead due to excessive speed and convert excess energy into high-altitude advantage. The dive maneuver strategy means that the attack aircraft points to the bottom of the target aircraft and tends to attack the target aircraft from below. The dive maneuver strategy can convert potential energy into kinetic energy by accelerating by diving, which is conducive to the attack aircraft releasing the position advantage and quickly approaching the target.

[0091] like Figure 2 As shown in the figure, the two aircrafts in a one-on-one air battle are attack aircraft A and target aircraft B. The inner circle circling strategy means that attack aircraft A points to the turning circle of target aircraft B. Attack aircraft A and target aircraft B are in a single-circle turning posture, which is conducive to attack aircraft A staying behind target aircraft B and accumulating angle advantages. Figure 3 As shown, the outer ring circling strategy means that the attack aircraft A points to the outside of the turning circle of the target aircraft B. The attack aircraft A and the target aircraft B are in a double-ring turning posture, which is beneficial for the attack aircraft A to turn in the opposite direction of the target aircraft B in advance to lock the target as soon as possible.

[0092] The first reference data corresponding to the pure tracking strategy includes the target coordinates, which are the coordinates of the current position of the target aircraft; the second reference data corresponding to each non-pure tracking strategy defines a corresponding reference vector.

[0093] A plurality of reference vectors corresponding to the non-pure tracking strategy form a three-dimensional maneuvering action decision space around the target aircraft in real time, wherein the origins of the reference vectors all coincide with the center of mass of the target aircraft.

[0094] The decision factor is a weight coefficient ranging from 0 to 1, which is used to reflect the maneuvering tendency of the attacking aircraft. The reference vectors of different decision factors have different degrees of influence on the guidance point information calculated subsequently. Therefore, the decision factor corresponding to each reference vector may be different.

[0095] In this embodiment, step S102 includes the following processing: based on the ground coordinate system, obtaining the target coordinates of the target aircraft, and using the target coordinates as the first reference data.

[0096] Step S103 includes the following processing: for each non-pure tracking strategy, based on the preset algorithm corresponding to each non-pure tracking strategy, calculate the baseline vector corresponding to the non-pure tracking strategy, and use the baseline vector as the second baseline data corresponding to the non-pure tracking strategy; based on the pre-trained artificial intelligence model, obtain the decision factor corresponding to each baseline vector in real time.

[0097] The ground coordinate system is a coordinate system whose three axes are consistent with the reference coordinate system of the attacking aircraft and whose origin is a point on the ground. The electronic device pre-stores a preset algorithm corresponding to the reference vector of each non-pure tracking strategy.

[0098] In this embodiment, the above-mentioned decision factors are used as the action space, and the first flight state information and the second flight state information of both aircraft (target aircraft and attack aircraft) are used as the state space. The reward function is designed according to the action space and the state space. After training the sample data set, a trained artificial intelligence model is obtained, and then the first flight state information and the second flight state information of both aircraft are used as the input of the artificial intelligence model. The artificial intelligence model outputs the first flight state information and the second flight state information in real time, which are the decision factors of all non-pure tracking strategies.

[0099] The first flight state information and the second flight state information acquired in real time are used as the input of the artificial intelligence model, and the artificial intelligence model outputs decision factors corresponding to different reference vectors, so that the decision factors corresponding to different reference vectors can change with the changes of the first flight state information and the second flight state information, thereby improving the accuracy of determining the flight guidance point information.

[0100] Step S104: Determine the flight guidance point information corresponding to the attack aircraft according to the first benchmark data, each second benchmark data and each decision factor, so as to guide the attack aircraft to fly according to the flight guidance point information, and the flight guidance point information is the vector corresponding to the target tracking position corresponding to the attack aircraft.

[0101] When the attack aircraft flies toward the flight guidance point, it adopts a guidance method in which the velocity vector always points to the flight guidance point information.

[0102] In this embodiment, according to the first flight state information and the second flight state information acquired in real time, the first reference data and at least one second reference data are combined at each moment, and closed-loop continuous flight guidance point information is determined in space, and the attack aircraft is guided to fly according to the flight guidance point information, so that the attack aircraft can lock the target in time. The generated flight guidance point information corresponding to the attack aircraft changes continuously with the second flight state information of the target aircraft, and the maneuvering action of guiding the attack aircraft to fly according to the flight guidance point information changes continuously with the second flight state information of the target aircraft, thereby establishing a closed-loop connection between the maneuvering action of the attack aircraft and the second flight state of the target aircraft.

[0103] like Figure 4 As shown, step S104 includes the following processing:

[0104] Step S1041: performing weighted calculation on each reference vector based on the decision factor to obtain a first calculated value;

[0105] Step S1042: Calculate the sum of the first calculated value and the target coordinates to obtain a second calculated value, and use the second calculated value as flight guidance point information.

[0106] Based on the target coordinates combined with multiple weighted calculated reference vectors, the flight guidance point coordinates are determined in real time in space. The first calculated value and the second calculated value can change continuously with the first flight status information and the second flight status information. The attack aircraft is guided through the closed-loop continuous flight guidance point information, which avoids many unnecessary maneuvers, improves decision-making efficiency, and provides a new solution to air combat maneuver strategies.

[0107] If the non-pure tracking strategy includes a pre-tracking strategy and a post-tracking strategy, the corresponding reference vector is calculated based on the preset algorithm corresponding to each non-pure tracking strategy, including the following processing:

[0108] Obtaining a first preset algorithm corresponding to the front tracking strategy and a second preset algorithm corresponding to the rear tracking strategy;

[0109] Based on the first flight state and the second flight state, obtaining each first parameter value in the first preset algorithm and each second parameter value in the second preset algorithm;

[0110] Based on each first parameter value, a reference vector corresponding to the front tracking strategy is obtained by a first preset algorithm. Based on each second parameter value, the reference vector corresponding to the post-tracking strategy is obtained by the second preset algorithm. in,

[0111] The first preset algorithm is:

[0112]

[0113] The second preset algorithm is:

[0114]

[0115] In the first preset algorithm and the second preset algorithm, k is the predicted value of the maneuverability of the target aircraft, and the maneuverability refers to the ability of the target aircraft to change its flight state or trajectory, V B is the current speed of the target aircraft, Δt is the time required for each decision, is located in the target aircraft's track coordinate system Ox k The unit vector of the axis.

[0116] The reference vector corresponding to the front tracking strategy Located in the target aircraft's track coordinate system Ox k In the positive direction of the axis, the reference vector corresponding to the post-tracking strategy Located in the target aircraft's track coordinate system Ox k negative direction of the axis.

[0117] If the non-pure tracking strategy includes a climbing maneuvering strategy and a diving maneuvering strategy, the corresponding reference vector is calculated based on the preset algorithms corresponding to the non-pure tracking strategies, including the following processing:

[0118] Acquire a third preset algorithm corresponding to the climbing maneuver strategy and a fourth preset algorithm corresponding to the diving maneuver strategy;

[0119] Based on the first flight state and the second flight state, obtaining each third parameter value in the third preset algorithm and each fourth parameter value in the fourth preset algorithm;

[0120] Based on each third parameter value, the reference vector corresponding to the climbing maneuver strategy is obtained by the third preset algorithm. Based on each fourth parameter value, the reference vector corresponding to the dive maneuver strategy is obtained by the fourth preset algorithm. in,

[0121] The third preset algorithm is:

[0122]

[0123] The fourth preset algorithm is:

[0124]

[0125] In the third preset algorithm and the fourth preset algorithm, k is the predicted value of the maneuverability of the target aircraft, and the maneuverability refers to the ability of the target aircraft to change its flight state or trajectory, V Ais the current speed of the attacking aircraft, g is the acceleration due to gravity, is the reference coordinate system of the target aircraft Oy i The unit vector of the axis.

[0126] Reference vector corresponding to the climb maneuver strategy Located in the reference coordinate system of the target aircraft Oy i The reference vector corresponding to the dive maneuver strategy is in the positive direction of the axis. Located in the reference coordinate system of the target aircraft Oy i negative direction of the axis.

[0127] If the non-pure tracking strategy includes an inner-loop circling strategy and an outer-loop circling strategy, then the corresponding reference vector is calculated based on the preset algorithms corresponding to the non-pure tracking strategies, including the following processing:

[0128] Obtaining a fifth preset algorithm corresponding to the inner-loop circling strategy and a sixth preset algorithm corresponding to the outer-loop circling strategy;

[0129] Based on the first flight state and the second flight state, obtaining each fifth parameter value in the fifth preset algorithm and each sixth parameter value in the sixth preset algorithm;

[0130] Based on each fifth parameter value, the reference vector corresponding to the inner ring circling strategy is obtained by the fifth preset algorithm. Based on each sixth parameter value, the reference vector corresponding to the outer ring circling strategy is obtained by the sixth preset algorithm. in,

[0131] The fifth preset algorithm is:

[0132]

[0133] The sixth preset algorithm is:

[0134]

[0135] In the fifth preset algorithm and the sixth preset algorithm, k is the predicted value of the maneuverability of the target aircraft, and the maneuverability refers to the ability of the target aircraft to change its flight state or trajectory, Q AB is the distance vector between the attacking aircraft and the target aircraft in the horizontal plane based on the ground coordinate system. is located in the target aircraft's track coordinate system Oz k The unit vector of the axis.

[0136] Reference vector corresponding to the inner ring circling strategy Located in the target aircraft's track coordinate system Oz k In the positive direction of the axis, the reference vector corresponding to the outer ring circling strategy Located in the target aircraft's track coordinate system Oz k negative direction of the axis.

[0137] In this embodiment, the value of the same parameter in each first parameter value, each second parameter value, each third parameter value, each fourth parameter value, each fifth parameter value and each sixth parameter value may be the same.

[0138] like Figure 5 As shown, in this embodiment, the attack aircraft A and the target aircraft B are engaged in a one-on-one air battle. The non-pure tracking strategy includes the front tracking strategy, the rear tracking strategy, the climbing maneuvering strategy, the diving maneuvering strategy, the inner loop circling strategy, and the outer loop circling strategy. Therefore, the reference vector includes and The pure tracking strategy is a strategy that corresponds to the target tracking position of the attacking aircraft being the same as the position of the target aircraft when the attacking aircraft is tracking the target aircraft, that is, Figure 5 The line connecting the center of mass of the attacking aircraft A and the center of mass of the target aircraft B.

[0139] The first calculated value can be expressed as:

[0140]

[0141] The second calculated value can be expressed as:

[0142] The second calculated value P t = first calculated value + target coordinate P B

[0143] Among them, α1, α2, α3, α4, α5 and α6 are decision factors, P t is the flight guidance point information of the attacking aircraft, the target coordinates P B is the current position coordinate of the target aircraft.

[0144] According to the above six non-pure tracking strategies and pure tracking strategy, the electronic device can determine the closed-loop continuous flight guidance point coordinates in space based on the target coordinates at each moment to guide the attack aircraft to fly. The generated flight guidance point information corresponding to the attack aircraft changes continuously with the second flight state information of the target aircraft, and the maneuvering action of guiding the attack aircraft to fly according to the flight guidance point information changes continuously with the second flight state information of the target aircraft, thereby establishing a closed-loop connection between the maneuvering action of the attack aircraft and the second flight state of the target aircraft.

[0145] In this embodiment, each algorithm parameter value includes a predicted value k of the maneuverability of the target aircraft, wherein the predicted value k of the maneuverability of the target aircraft is obtained by: obtaining image information of the target aircraft; obtaining model information of the target aircraft based on the image information; and obtaining the predicted value k of the maneuverability based on the model information.

[0146] The attack aircraft is also provided with an image acquisition device, which is in communication connection with the electronic device. Exemplarily, the image acquisition device is a camera. The electronic device stores comparative images of aircraft with various aircraft model information. The model information of the target aircraft can be obtained by comparing the image information with the comparative image. The electronic device also stores a mapping relationship table of the model information and the predicted value of the maneuverability. The predicted value k of the maneuverability can be obtained by querying the mapping relationship table according to the obtained model information. The model information of the target aircraft is analyzed based on big data, thereby improving the accuracy of the model information judgment.

[0147] Based on the same technical concept, the present application also provides an aircraft closed-loop maneuvering device based on tracking targets, such as Figure 6 As shown, the closed-loop maneuvering device 200 for an aircraft based on tracking a target mainly includes:

[0148] A first acquisition module 201 is used to acquire first flight status information of the attacking aircraft and second flight status information of the target aircraft in real time;

[0149] The first determination module 202 is used to determine the first reference data corresponding to the pure tracking strategy based on the first flight state information and the second flight state information, wherein the pure tracking strategy is a strategy corresponding to when the attacking aircraft tracks the target aircraft, the target tracking position corresponding to the attacking aircraft is the same as the position of the target aircraft;

[0150] The second determination module 203 is used to determine the second reference data corresponding to each non-pure tracking strategy and the decision factor corresponding to each second reference data based on the first flight state information and the second flight state information, wherein, for each reference data in the first reference data and each second reference data, the reference data is data used to describe the position of the target aircraft, the decision factor is a parameter characterizing the importance of the reference data relative to the flight guidance point information, and the flight guidance point information is a vector corresponding to the target tracking position flown to by the attack aircraft;

[0151] The third determination module 204 is used to determine the flight guidance point information corresponding to the attack aircraft according to the first reference data, each second reference data and each decision factor, so as to guide the attack aircraft to fly according to the flight guidance point information.

[0152] Optionally, the first determining module 202 includes:

[0153] The first acquisition submodule is used to acquire the target coordinates of the target aircraft based on the ground coordinate system, and use the target coordinates as the first reference data, where the target coordinates are the coordinates of the current position of the target aircraft.

[0154] Optionally, the second determining module 203 includes:

[0155] A first calculation submodule is used to calculate, for each non-pure tracking strategy, a reference vector corresponding to the non-pure tracking strategy based on a preset algorithm corresponding to each non-pure tracking strategy, each second reference data includes a reference vector, and the reference vector is used as the second reference data corresponding to the non-pure tracking strategy;

[0156] The second acquisition submodule is used to obtain the decision factor corresponding to each benchmark vector in real time based on a pre-trained artificial intelligence model.

[0157] Optionally, the third determining module 204 includes:

[0158] A second calculation submodule, configured to perform weighted calculation on each reference vector based on the decision factor to obtain a first calculation value;

[0159] The third calculation submodule is used to calculate the sum of the first calculation value and the target coordinates to obtain a second calculation value, and use the second calculation value as the flight guidance point information.

[0160] The non-pure tracking strategy includes a pre-tracking strategy and a post-tracking strategy; optionally, the first calculation submodule includes:

[0161] A third acquisition submodule is used to acquire a first preset algorithm corresponding to the front tracking strategy and a second preset algorithm corresponding to the rear tracking strategy;

[0162] A fourth acquisition submodule, configured to acquire, based on the first flight state and the second flight state, each first parameter value in the first preset algorithm and each second parameter value in the second preset algorithm;

[0163] The fourth calculation submodule is used to obtain a reference vector corresponding to the front tracking strategy through a first preset algorithm based on each first parameter value. Based on each second parameter value, the reference vector corresponding to the post-tracking strategy is obtained by the second preset algorithm.

[0164] The non-pure tracking strategy includes a climbing maneuvering strategy and a diving maneuvering strategy; optionally, the first calculation submodule includes:

[0165] A fifth acquisition submodule, used to acquire a third preset algorithm corresponding to the climbing maneuver strategy and a fourth preset algorithm corresponding to the diving maneuver strategy;

[0166] A sixth acquisition submodule, used to acquire each third parameter value in the third preset algorithm and each fourth parameter value in the fourth preset algorithm based on the first flight state and the second flight state;

[0167] A fifth calculation submodule is used to obtain a reference vector corresponding to the climbing maneuver strategy through a third preset algorithm based on each third parameter value. Based on each fourth parameter value, the reference vector corresponding to the dive maneuver strategy is obtained by the fourth preset algorithm.

[0168] The non-pure tracking strategy also includes an inner loop circling strategy and an outer loop circling strategy; Optionally, the first calculation submodule includes:

[0169] A seventh acquisition submodule, used to acquire a fifth preset algorithm corresponding to the inner ring circling strategy and a sixth preset algorithm corresponding to the outer ring circling strategy;

[0170] An eighth acquisition submodule, configured to acquire, based on the first flight state and the second flight state, each fifth parameter value in the fifth preset algorithm and each sixth parameter value in the sixth preset algorithm;

[0171] The sixth calculation submodule is used to obtain the reference vector corresponding to the inner ring circling strategy through the fifth preset algorithm based on each fifth parameter value. Based on each sixth parameter value, the reference vector corresponding to the outer ring circling strategy is obtained by the sixth preset algorithm.

[0172] Optionally, the predicted value k of the maneuverability of the target aircraft is obtained by:

[0173] A ninth acquisition submodule, used to acquire image information of the target aircraft;

[0174] a tenth acquisition submodule, for acquiring model information of the target aircraft based on the image information;

[0175] The eleventh acquisition submodule is used to acquire the predicted value of maneuverability based on the aircraft model information.

[0176] In one example, the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0177] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0178] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0179] 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 modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0180] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0181] Based on the same technical concept, the present application also provides an electronic device, such as Figure 7 As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include an information input / information output I / O interface 303 , one or more of a communication component 304 , and a communication bus 305 .

[0182] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned closed-loop maneuvering method of the aircraft based on tracking the target; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method operated on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), programmable read-only memory (Programmable Read-Only Memory, PROM), read-only memory (Read-Only Memory, ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0183] The I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0184] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PC1 (Peripheral Component Interconnect) bus or an ElSA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0185] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the closed-loop maneuvering method of the aircraft based on tracking the target given in the above embodiment.

[0186] The electronic device 300 may include but is not limited to mobile terminals such as digital broadcast receivers, PDAs (personal digital assistants), PMPs (portable multimedia players), etc., and fixed terminals such as digital TVs, desktop computers, etc., and may also be servers, etc.

[0187] 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 steps of the above-mentioned closed-loop maneuvering method of an aircraft based on tracking a target are implemented.

[0188] The computer-readable storage medium may include: 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, and other media that can store program codes.

[0189] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0190] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A closed-loop maneuvering method for an aircraft based on tracking a target, characterized in that: include: Acquire the first flight status information of the attacking aircraft and the second flight status information of the target aircraft in real time; Based on the first flight state information and the second flight state information, determining first reference data corresponding to a pure tracking strategy, wherein the pure tracking strategy is a strategy corresponding to when the attacking aircraft tracks the target aircraft, a target tracking position corresponding to the attacking aircraft is the same as a position of the target aircraft; Based on the first flight state information and the second flight state information, determine the second reference data corresponding to each non-pure tracking strategy and the decision factor corresponding to each second reference data, wherein, for each of the first reference data and each of the second reference data, the reference data is data used to describe the position of the target aircraft, and the decision factor is a parameter characterizing the importance of the reference data relative to the flight guidance point information, and the flight guidance point information is a vector corresponding to the target tracking position flown to by the attack aircraft; The flight guidance point information corresponding to the attack aircraft is determined according to the first reference data, each of the second reference data and each of the decision factors, so as to guide the attack aircraft to fly according to the flight guidance point information.

2. The closed-loop maneuvering method for an aircraft based on tracking a target according to claim 1, characterized in that: The determining, based on the first flight state information and the second flight state information, first reference data corresponding to the pure tracking strategy includes: Based on the ground coordinate system, acquiring the target coordinates of the target aircraft, and using the target coordinates as the first reference data, wherein the target coordinates are the coordinates of the current position of the target aircraft; The determining, based on the first flight state information and the second flight state information, second reference data corresponding to each non-pure tracking strategy and a decision factor corresponding to each second reference data includes: For each of the non-pure tracking strategies, based on a preset algorithm corresponding to each of the non-pure tracking strategies, the reference vector corresponding to the non-pure tracking strategy is calculated, each of the second reference data includes a reference vector, and the reference vector is used as the second reference data corresponding to the non-pure tracking strategy; Based on a pre-trained artificial intelligence model, the decision factor corresponding to each reference vector is obtained in real time.

3. The closed-loop maneuvering method for an aircraft based on tracking a target according to claim 1, characterized in that: The step of determining the flight guidance point information corresponding to the attack aircraft according to the first reference data, each of the second reference data and each of the decision factors includes: Performing weighted calculation on each of the reference vectors based on the decision factor to obtain a first calculated value; The sum of the first calculated value and the target coordinates is calculated to obtain a second calculated value, and the second calculated value is used as the flight guidance point information.

4. The closed-loop maneuvering method for an aircraft based on tracking a target according to claim 2, characterized in that: The non-pure tracking strategy includes a pre-tracking strategy and a post-tracking strategy; The calculating the corresponding reference vector based on the preset algorithm corresponding to each of the non-pure tracking strategies includes: Obtaining a first preset algorithm corresponding to the front tracking strategy and a second preset algorithm corresponding to the rear tracking strategy; Based on the first flight state and the second flight state, obtaining each first parameter value in the first preset algorithm and each second parameter value in the second preset algorithm; Based on each of the first parameter values, the reference vector corresponding to the front tracking strategy is obtained by the first preset algorithm. Based on each of the second parameter values, the reference vector corresponding to the post-tracking strategy is obtained by the second preset algorithm. in, The first preset algorithm is: The second preset algorithm is: In the first preset algorithm and the second preset algorithm, k is the predicted value of the maneuverability of the target aircraft, V B is the current speed of the target aircraft, Δt is the time required for each decision, is located in the track coordinate system of the target aircraft Ox k The unit vector of the axis.

5. The closed-loop maneuvering method for an aircraft based on tracking a target according to claim 2 or 4, characterized in that: The non-pure tracking strategy includes a climbing maneuvering strategy and a diving maneuvering strategy; the calculation of the corresponding reference vector based on the preset algorithm corresponding to each of the non-pure tracking strategies also includes: Acquire a third preset algorithm corresponding to the climbing maneuver strategy and a fourth preset algorithm corresponding to the diving maneuver strategy; Based on the first flight state and the second flight state, obtaining each third parameter value in the third preset algorithm and each fourth parameter value in the fourth preset algorithm; Based on each of the third parameter values, the reference vector corresponding to the climbing maneuver strategy is obtained by the third preset algorithm. Based on each of the fourth parameter values, the reference vector corresponding to the dive maneuver strategy is obtained by the fourth preset algorithm. in, The third preset algorithm is: The fourth preset algorithm is: In the third preset algorithm and the fourth preset algorithm, k is the predicted value of the maneuverability of the target aircraft, V A is the current speed of the attacking aircraft, g is the acceleration due to gravity, is located in the reference coordinate system of the target aircraft Oy i The unit vector of the axis.

6. The closed-loop maneuvering method for an aircraft based on tracking a target according to claim 5, characterized in that: The non-pure tracking strategy also includes an inner ring circling strategy and an outer ring circling strategy; the calculation of the corresponding reference vector based on the preset algorithm corresponding to each of the non-pure tracking strategies also includes: Obtaining a fifth preset algorithm corresponding to the inner-loop circling strategy and a sixth preset algorithm corresponding to the outer-loop circling strategy; Based on the first flight state and the second flight state, acquiring each fifth parameter value in the fifth preset algorithm and each sixth parameter value in the sixth preset algorithm; Based on each of the fifth parameter values, the reference vector corresponding to the inner ring circling strategy is obtained by the fifth preset algorithm. Based on each of the sixth parameter values, the reference vector corresponding to the outer ring circling strategy is obtained by the sixth preset algorithm. in, The fifth preset algorithm is: The sixth preset algorithm is: In the fifth preset algorithm and the sixth preset algorithm, k is the predicted value of the maneuverability of the target aircraft, Q AB is the distance vector between the attacking aircraft and the turning center of the target aircraft in the horizontal plane based on the ground coordinate system, is located in the track coordinate system of the target aircraft Oz k The unit vector of the axis.

7. The closed-loop maneuvering method for an aircraft based on tracking a target according to claim 6, characterized in that: The predicted value k of the maneuverability of the target aircraft is obtained by: Acquiring image information of the target aircraft; Acquire the model information of the target aircraft based on the image information; The predicted value k of maneuverability is acquired based on the aircraft model information.

8. A closed-loop maneuvering device for an aircraft based on tracking a target, characterized in that: include: A first acquisition module, used for acquiring first flight status information of the attacking aircraft and second flight status information of the target aircraft in real time; A first determination module is used to determine first reference data corresponding to a pure tracking strategy based on the first flight state information and the second flight state information, wherein the pure tracking strategy is a strategy corresponding to when the attacking aircraft tracks the target aircraft, a target tracking position corresponding to the attacking aircraft is the same as a position of the target aircraft; a second determination module, for determining, based on the first flight state information and the second flight state information, second reference data corresponding to each non-pure tracking strategy and a decision factor corresponding to each second reference data, wherein, for each of the first reference data and each of the second reference data, the reference data is data for describing the position of the target aircraft, the decision factor is a parameter characterizing the importance of the reference data relative to the flight guidance point information, and the flight guidance point information is a vector corresponding to the target tracking position flown to by the attack aircraft; The third determination module is used to determine the flight guidance point information corresponding to the attack aircraft according to the first benchmark data, each of the second benchmark data and each of the decision factors, so as to guide the attack aircraft to fly according to the flight guidance point information.

9. An electronic device, characterized in that: comprising a processor coupled to the memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, which, when executed on a computer, causes the computer to execute the method according to any one of claims 1 to 7.

Images