Mode-mixed marine target drone program-controlled flight method

Abstract

The invention discloses a mode-mixed marine target aircraft program-controlled flight method, which is composed of a route fixed mode and a route follow-up mode, that is, a target aircraft only processes received ship information in a route task section, and carries out real-time calculation, adjustment and refreshing on navigation waypoints to keep the relative orientation and distance of the target aircraft relative to a ship unchanged; the flight route waypoints outside the task segment are not refreshed and calculated, and the flight is still carried out according to the fixed flight route. According to the method, route planning operation is easy and convenient, the target aircraft can automatically judge the position of the target aircraft in the flight process to achieve main ship switching, information receiving, route resolving, adjusting and refreshing, especially when multiple aircrafts fly along with the ship in the same air, the workload and operation pressure of ground operators are greatly relieved, and high engineering practicability is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of route planning, and in particular relates to a mode-mixed marine target drone program-controlled flight method. Background Art

[0002] At present, with the rapid development of UAV technology and the diversity of application scenarios, flying with ships has become the norm in training. The core technology is that the target drone keeps its relative position, distance and heading unchanged with the ship as the center. The traditional method of programmed flight of marine target drones adopts the full follow-up mode of the route, that is, when the ship data is updated, the flight control computer refreshes and solves all waypoints, which will cause the entire route to follow the movement. When planning the route, the initial specific position coordinates of the ship must be determined first, but in actual training, the initial position of the ship is often uncertain or cannot accurately reach the origin of the route planning, so the accuracy required for the hook diameter is difficult to guarantee. When different sections follow different ships in a mission, the route planning of ground operators is further increased. Secondly, during the flight, the operator needs to pay attention to the flight status of the target drone at all times and manually switch the ship information that needs to be uploaded by the ground measurement and control system in time. In the case of multi-machine coordinated flight, great requirements are placed on the operating ability of ground operators during the flight. Summary of the invention

[0003] The present invention aims to solve the problems raised in the background technology and to provide a mode-mixed marine target drone program-controlled flight method.

[0004] In order to achieve the purpose of the present invention, the present invention discloses a mode-mixed marine target drone programmed flight method. The present invention proposes a mode-mixed marine target drone programmed flight method. Aiming at the medium- and high-speed marine target drone ship-following mission requirements, the method consists of a fixed route mode and a route following mode. In combination with the preset mission requirements, during the programmed flight of the target drone, the flight control computer determines the current position of the target drone by comparing the received target drone position information, the current navigation waypoints and the waypoint information of the preset mission segment. The target drone only solves, refreshes and adjusts the waypoints within the mission segment and flies according to a fixed route outside the mission segment. The invention is easy to operate and has strong engineering practicability.

[0005] The invention first designs a route according to a mission, determines a starting point and an ending point of each voyage mission of the sortie, determines a master ship number, a hook diameter, and a starting and ending waypoint number of a ship to be followed in each mission segment, and sends the numbers to a flight control computer. Secondly, during the flight, the flight control computer determines the current position of the target aircraft in real time. When the target aircraft is outside the mission segment, the master ship number of the ship to be followed is automatically transmitted to a ground measurement and control system and its ship information is received. The target aircraft still flies along a fixed route with the take-off point as the navigation center. When the target aircraft is within the mission segment, according to the received master ship information, the current navigation waypoint is solved, adjusted, and refreshed in real time in combination with preset ship-following requirements with the master ship as the navigation center. The target aircraft flies along the refreshed route to achieve the ship-following purpose. The waypoints outside the current mission segment are not solved. Finally, after the current mission segment is completed, the flight control computer flies again with the take-off point as the navigation center, and determines whether there is a next mission segment. If there is, the flight control computer automatically switches to the master ship number of the next mission and receives the position information. When the target aircraft arrives in the mission segment, the route is solved again. If not, the target aircraft flies along the fixed route to the end. The specific steps include:

[0006] Step 1: Design the route according to the mission, determine the starting point and ending point of each mission segment of the sortie, and set the host ship number, hook diameter, starting waypoint number, and ending waypoint number of each mission segment, and send them to the flight control computer memory through the measurement and control link;

[0007] Step 2: When the target drone is flying under program control, the flight control computer determines the current position through the target waypoint number and the starting and ending waypoint numbers of the mission segment; when it is outside the mission segment, it flies along a fixed route with the take-off point as the navigation center, and at the same time, the target drone transmits the host ship number of the target mission segment to the ground measurement and control software in real time and receives the host ship information sent by it;

[0008] Step 3: When in the mission segment, the target drone uses the host ship as the navigation center, and solves, adjusts, and refreshes the navigation waypoints in the current mission segment in real time. The target drone flies according to the refreshed route, and the route outside the mission segment is not solved and refreshed;

[0009] Step 4: After the current mission segment is completed, the flight control computer stops solving and refreshing the waypoints, and re-flies along the preset route with the take-off point as the navigation center. At the same time, it determines whether there is the next mission segment. If so, repeat steps 2 and 3. If not, fly along the fixed route until the end.

[0010] Furthermore, in step 1, the route is designed according to the mission, and the waypoint information includes longitude, latitude, altitude, and speed, which are represented by J, B, H, and V respectively. The entry waypoint number n1, n2, n3... and the exit waypoint number n1+N1, n2+N2, n3+N3... of each voyage in the mission are determined, and the ship-carrying requirements for each voyage are determined, including: the main ship number, the hook diameter, the entry waypoint number, and the exit waypoint number. The above-mentioned ship-carrying requirements and flight routes are sent to the flight control computer memory.

[0011] Furthermore, in step 2, the target aircraft transmits the host ship number of the target mission segment to the ground measurement and control software in real time and receives the host ship information sent by it including longitude, latitude, and heading.

[0012] Furthermore, step 2 is specifically as follows: during program-controlled flight, the flight control computer determines the position of the target aircraft according to the preset mission information through the flight target waypoint number, the mission start waypoint number, and the end waypoint number; if it is outside the mission segment, the longitude and latitude of the take-off point P is used. 0 (J 0 , B 0 , H 0 ) is the navigation center, the central meridian SL 0 =J 0 , the current navigation waypoint latitude and longitude coordinate information is converted into SL 0 Lower Gaussian coordinates P 1 (x 1 ,y 1 、z 1 ), P 2 (x 2 ,y 2 、z 2 ), P 3 (x 3 ,y 3 、z 3 ) for navigation solution. At the same time, the host ship number in the waiting follow-up mission segment is sent to the ground measurement and control system, and the host ship information Ship (J, B, C) is received in real time, which is longitude, latitude and heading respectively.

[0013] Furthermore, in step 3, when the target waypoint number changes to the mission starting point number for the first time, it is determined that the target drone is in the mission segment. The target drone uses the host ship as the navigation center, and performs real-time calculation, adjustment, and refresh of the navigation waypoints in the current mission segment through the received ship information, and flies according to the refreshed route. The route outside the mission segment is not calculated, and the following operations are completed:

[0014] Step 3.1, lock the current ship's longitude, latitude, and heading as the initial ship information Ship (J S0 , B S0 , C S0 ), with the current ship information as the navigation center, the central longitude and latitude of this mission segment is Ship_L 0 =J s0 No change, for the current navigation waypoint P n , P n+1 Perform Gaussian transformation;

[0015] Step 3.2: Calculate the initial segment P n P n+1 slope k;

[0016] Step 3.3: Calculate the initial ship position to the initial segment P n P n+1 Distance L 1 ;

[0017] Step 3.4: Calculate the initial flight segment P according to the mission trajectory requirement L n P n+1 Required offset ΔL=LL 1 ;

[0018] Step 3.5: Determine the initial ship in the initial segment P n P n+1 the left or right side of

[0019] Step 3.6: Calculate the navigation Gaussian coordinates P' that meet the requirements through steps 3.2 to 3.5 n , P' n+1 ;

[0020] Step 3.7, calculate the direction and distance of the new navigation waypoint relative to the ship, and keep it unchanged during this mission segment;

[0021] Step 3.8: Ship data is refreshed and converted to Ship_L 0 Lower Gaussian coordinates Ship'(x S ,y S 、z S ), the azimuth and distance calculated in step 3.7 are used to solve the Gaussian coordinates of the navigation waypoint that meets the requirements;

[0022] Step 3.9, solve the calculated navigation waypoint Gaussian coordinates to the route waypoint format, and adjust and refresh the original navigation waypoint;

[0023] Step 3.10: No calculation or adjustment is performed on the routes outside the current mission segment;

[0024] Step 3.11: If the ship data is updated, repeat steps 3.8 to 3.11. When the target waypoint is greater than the exit waypoint, it is determined to be outside the mission segment and the solution is stopped.

[0025] Compared with the prior art, the significant progress of the present invention is that a mixed-mode marine target drone program-controlled flight method consists of a fixed route mode and a mission segment route following mode. The method has the advantages of simple route planning and operation. During the flight, the target drone can automatically determine the location of the target drone to realize host ship switching, information reception, route calculation, adjustment, and refresh. Especially when it involves multiple aircraft flying in the same air with the ship, it greatly reduces the workload and operating pressure of ground operators and has strong engineering practicability.

[0026] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 The present invention is a flow chart of a method for program-controlled flight of a mixed-mode marine target drone;

[0029] Figure 2 This is a schematic diagram of the initial route map and the initial position of the ship in Example 1;

[0030] Figure 3 This is a schematic diagram of the shipboard task setting window in Example 1;

[0031] Figure 4 This is a flight trajectory diagram of the target drone outside the mission segment in Example 1;

[0032] Figure 5 This is a flight trajectory diagram of the host ship with unchanged heading in the first mission segment of the target aircraft in Example 1;

[0033] Figure 6 This is a flight trajectory diagram of the host ship's course change during the first mission segment of the target drone in Example 1;

[0034] Figure 7 This is a flight trajectory diagram of the target aircraft following a fixed route after the mission in Example 1 is completed;

[0035] Figure 8 This is the flight trajectory diagram of the target drone in the second mission segment of Example 1;

[0036] Fig. 9 This is the flight trajectory diagram after the target drone mission in Example 1 is completed;

[0037] Fig.10 This is a flight trajectory diagram of the target drone outside the mission segment in Example 2;

[0038] Fig.11 This is a flight trajectory diagram of the host ship with unchanged heading in the first mission segment of the target aircraft in Example 2;

[0039] Fig.12 This is a flight trajectory diagram of the host ship's course change during the first mission phase of the target drone in Example 2;

[0040] Fig.13 This is the flight trajectory diagram of the target aircraft in the second mission segment of Example 2;

[0041] Fig.14This is the flight trajectory diagram after the target aircraft mission in Example 2 is completed. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] The present invention discloses a mixed-mode programmed flight method for a marine target drone, which consists of a fixed route mode and a route following mode, that is, the target drone processes received ship information only within a route mission segment, and performs real-time solution, adjustment, and refresh of navigation waypoints to keep the relative orientation and distance relative to the ship unchanged; route waypoints outside the mission segment are not refreshed and solved, and the drone still flies along a fixed route.

[0044] In engineering practice, firstly, the route is designed according to the mission, the starting point and the ending point of each voyage mission of the sortie are determined, and the host ship number, hook diameter, starting waypoint number and ending waypoint number of the to-be-accompanying ship in each mission segment are determined and sent to the flight control computer memory; secondly, during the flight, the flight control computer determines the current position of the target aircraft. When it is outside the mission segment, it automatically transmits the host ship number to the ground measurement and control system and receives its ship information. The target aircraft flies along a fixed route with the take-off point as the navigation center. When it is in the mission segment, it takes the host ship as the navigation center according to the received host ship information. The target aircraft flies along the refreshed route to achieve the purpose of following the ship. The remaining waypoints outside the mission segment are not solved. Finally, after completing the current mission segment, the flight control computer flies with the take-off point as the navigation center again, and at the same time determines whether there is the next mission segment. If there is, it automatically switches to the next mission segment main ship number and receives its information. When arriving at the mission segment, the navigation waypoints are solved, refreshed and adjusted again with the main ship as the navigation center. If there is no, it flies along the fixed route until the end. The present invention greatly reduces the route planning work and the operating pressure during the flight of the operator, especially when it involves the subject of multi-machine collaborative following the ship, and has strong engineering practicality.

[0045] like Figure 1 As shown, a mixed-mode marine target drone program-controlled flight method specifically includes the following steps:

[0046] Step 1: Design the route according to the mission, determine the starting point and ending point of each mission segment of the sortie, and set the host ship number, hook diameter, starting waypoint number, and ending waypoint number of each mission segment, and send them to the flight control computer memory through the measurement and control link;

[0047] Step 2: When the target drone is flying under program control, the flight control computer determines the current position through the target waypoint number, the starting waypoint number of the mission segment, and the ending waypoint number. When it is outside the mission segment, it flies along a fixed route with the take-off point as the navigation center. At the same time, the target drone transmits the host ship number of the target mission segment to the ground measurement and control software in real time and receives the host ship information sent by it;

[0048] Step 3: When in the mission segment, the target drone uses the host ship as the navigation center, and solves, adjusts, and refreshes the navigation waypoints in the current mission segment in real time. The target drone flies according to the refreshed route, and the route outside the mission segment is not solved and refreshed;

[0049] Step 4: After the current mission segment is completed, the flight control computer stops solving and refreshing the waypoints, and re-flies according to the preset route using the take-off point as the navigation. At the same time, it is determined whether there is the next mission segment. If there is, repeat steps 2 and 3. If not, fly along the fixed route until the end.

[0050] Step 1 is specifically as follows: design a route according to the mission. The waypoint information includes longitude, latitude, altitude, and speed, which are represented by J, B, H, and V respectively. Determine the entry waypoint number n1, n2, n3... and exit waypoint number n1+N1, n2+N2, n3+N3... of each voyage in the mission, and determine the ship-carrying requirements for each voyage including the main ship number, hook diameter, entry waypoint number, and exit waypoint number. The above-mentioned ship-carrying requirements and flight routes are sent to the flight control computer memory.

[0051] Step 2 is as follows: During program-controlled flight, the flight control computer determines the position of the target aircraft based on the flight target waypoint number, the mission start waypoint number, and the end waypoint number according to the preset mission information. If it is outside the mission segment, the longitude and latitude of the take-off point P 0 (J 0 , B 0 , H 0 ) is the navigation center, the central meridian SL 0 =J 0 , the current navigation waypoint latitude and longitude coordinate information is converted into SL 0 Lower Gaussian coordinates P 1 (x 1 ,y 1 、z 1 ), P 2 (x 2 ,y 2 、z 2 ), P 3 (x 3 ,y 3 、z 3 ) for navigation solution. At the same time, the host ship number in the waiting follow-up mission segment is sent to the ground measurement and control system, and the host ship information Ship (J, B, C) is received in real time, which is longitude, latitude and heading respectively.

[0052] Step 3 is as follows: when the target waypoint number changes to the mission start waypoint number for the first time, it is determined that the target aircraft is in the mission segment. The flight control computer uses the host ship as the navigation center and performs real-time calculation, adjustment, and refresh of the navigation waypoints in the current mission segment through the received ship information. The target aircraft flies according to the refreshed route, and the route outside the mission segment is not calculated. It mainly completes the following operations:

[0053] Step 3.1, lock the current ship's longitude, latitude, and heading S0 , B S0 , C S0 ), in this section, the main ship is used as the navigation center for Gaussian transformation, and the central longitude and latitude are Ship_L 0 =J s0 , where the Gaussian coordinates of the ship's position are Ship'(x S0 ,y S0 、z S0 ), and at the same time, the latitude and longitude coordinates of the navigation waypoint P n (J n , B n , H n ), P n+1 (J n+1 , B n+1 , H n+1 ) is converted to Ship_L 0 Lower Gaussian coordinates P n (x n ,y n 、z n ), P n+1 (x n+1 ,y n+1 、z n+1 );

[0054] Step 3.2: Calculate flight segment P n P n+1 Slope

[0055] Step 3.3: Calculate the initial ship position to segment P n P n+1 distance:

[0056]

[0057] Step 3.4: Calculate the initial flight route P according to the mission radius requirement L n P n+1 Offset ΔL = LL 1 ;

[0058] Step 3.5, calculate the ship's position around the current segment:

[0059] First, calculate the mission segment direction psi1:

[0060]

[0061] Secondly, calculate the distance from the ship to the waypoint P' n+1 Direction PSI2:

[0062]

[0063] Finally, calculate the heading difference Δpsi:

[0064] Δpsi=psi1-psi2, when Δpsi<0, the ship is on the right side of the route; Δpsi>0, the ship is on the left side of the route;

[0065] Step 3.6: Finally, calculate the Gaussian coordinates P' that meet the hook diameter requirements n (x a ,y a 、z a ), P' n+1 (x b ,y b 、z b ), in practical engineering applications, only P' n (x a ,y a ), P' n+1 (x b ,y b )

[0066] When on the left:

[0067] x a =x n +Δl*k / sqrt(1+k*k)

[0068] y a =y n -Δl*1 / sqrt(1+k*k)

[0069] x b =x n +Δl*k / sqrt(1+k*k)

[0070] y b =y n -Δl*1 / sqrt(1+k*k)

[0071] When on the right side:

[0072] x a =x n -Δl*k / sqrt(1+k*k)

[0073] y a=y n +Δl*1 / sqrt(1+k*k)

[0074] x b =x n -Δl*k / sqrt(1+k*k)

[0075] y b =y n +Δl*1 / sqrt(1+k*k)

[0076] Step 3.7: Calculate the Gaussian coordinates P' of the navigation waypoint that meets the hook radius condition n (x a ,y a ), P' n+1 (x b ,y b ) relative to the initial ship's position and distance, and obtain P' n (P a , L a ), P' n+1 (P b , L b ), which remains unchanged during this mission period;

[0077]

[0078] L a =sqrt((x a -x s0 )*(x a -x s0 )+(y a -y s0 )*(y a -y s0 ))

[0079] L b =sqrt((x b -x s0 )*(x b -x s0 )+(y b -y s0 )*(y b -y s0 ))

[0080] Step 3.8: After the ship data is refreshed, first convert it to Ship_L 0 Lower Gaussian coordinates Ship'(x S ,y S 、z S ), through P' n (P a , L a ), P'n+1 (P b , L b ), and obtain the Gaussian coordinates of the waypoints that meet the requirements to replace the original P' n (x n ,y n 、z n ), P' n+1 (x n+1 ,y n+1 、z n+1 );

[0081]

[0082] Step 3.9: The calculated waypoint Gaussian coordinates P' n (x n ,y n 、z n ), P' n+1 (x n+1 ,y n+1 、z n+1 ) is converted to latitude and longitude format to replace the original waypoint information P n (J n , B n , H n ), P n+1 (J n+1 , B n+1 , H n+1 ), and adjust and refresh it;

[0083] Step 3.10: No waypoint solution or adjustment is performed for waypoints outside the mission segment;

[0084] Step 3.11: If the ship data is updated, repeat steps 3.8 to 3.11. When the target waypoint is greater than the exit waypoint, it is determined to be outside the mission segment and the solution is stopped.

[0085] Step 4 is as follows: After the current mission segment is completed, the flight control computer stops solving and refreshing the waypoints, and re-flies along the preset route with the take-off point as the navigation center. At the same time, it is determined whether there is the next mission segment. If there is, steps 2 and 3 are repeated. If not, the fixed route is flown to the end.

[0086] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention provides two embodiments, wherein Embodiment 1 is a single-machine flight, and Embodiment 2 is a multi-machine (three-machine) flight. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings and principles in the embodiments of the present invention. It should be understood that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, and therefore should not be regarded as limiting the scope of protection. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0087] Example 1

[0088] like Figure 1 As shown, a flow chart of a method for program-controlled flight of a mixed-mode marine target drone provided by an embodiment of the present invention includes the following steps:

[0089] Step 1: Design the route according to the mission, determine the starting point and ending point of each mission segment of the sortie, and set the host ship number, hook diameter, starting waypoint number, and ending waypoint number of each mission segment, and send them to the flight control computer memory through the measurement and control link;

[0090] Step 2: When the target drone is flying under program control, the flight control computer determines the current position through the target waypoint number and the starting and ending waypoint numbers of the mission segment. When it is outside the mission segment, it flies along a fixed route with the take-off point as the navigation center. At the same time, the target drone transmits the host ship number of the target mission segment to the ground measurement and control software in real time and receives the host ship information sent by it;

[0091] Step 3: When in the mission segment, the target drone uses the host ship as the navigation center, and the flight control computer solves, adjusts, and refreshes the navigation waypoints in the current mission segment in real time. The target drone flies according to the refreshed route, and the route outside the mission segment is not solved and refreshed;

[0092] Step 4: After the current mission segment is completed, the flight control computer stops solving and refreshing the waypoints, and re-flies according to the preset route using the take-off point as the navigation. At the same time, it is determined whether there is the next mission segment. If there is, repeat steps 2 and 3. If not, fly along the fixed route until the end.

[0093] Furthermore, the step 1 is specifically as follows: designing a route according to the mission, the waypoint information includes longitude, latitude, altitude, and speed, which are represented by J, B, H, and V respectively, determining the entry waypoint number n1, n2, n3... and exit waypoint number n1+N1, n2+N2, n3+N3... of each voyage in the mission, and determining the ship-carrying requirements for each voyage including: main ship number, hook diameter, entry waypoint number, and exit waypoint number. The above-mentioned ship-carrying requirements and flight routes are sent to the flight control computer memory.

[0094] Figure 2 , Figure 3 The figure shows a schematic diagram of the route planned before flight and the setting window of the ship's mission requirements. To facilitate subsequent comparison, two completely identical routes 1 and 2 are set in Implementation 1, which are displayed with red and green lines. Route 1 is the target aircraft flight route, and Route 2 is the reference route.

[0095] Two escort flights were conducted in this mission. The initial heading of ship No. 1 was 0° and the speed was 4m / s. The initial heading of ship No. 3 was 90° and the speed was 6m / s. The waypoint number of the first mission segment was 6-7, the main ship was ship No. 1, and the hook diameter was required to be 3000m. The waypoint number of the second mission segment of the target aircraft was 11-12, the main ship was ship No. 3, and the hook diameter was required to be -2000m. During the simulation, both ships maintained uniform motion.

[0096] Further, the step 2 is specifically as follows: after entering the route, the flight control computer determines whether it is within the mission segment by judging the flight target waypoint number, the mission start waypoint number, and the end waypoint number according to the preset ship information. If it is outside the mission segment, the launch origin latitude and longitude P 0 (J 0 , B 0 , H 0 ) is the central meridian SL 0 =J 0 , the latitude and longitude coordinates of the current navigation waypoint are converted into the SL 0 Lower Gaussian coordinates P 1 (x 1 ,y 1 、z 1 ), P 2 (x 2 ,y 2 、z 2 ), P 3 (x 3 ,y 3 、z 3 ) for navigation processing. At the same time, the host ship number in the waiting follow-up mission segment is sent to the ground measurement and control system, and the host ship information Ship (J, B, C) is received in real time, which are longitude, latitude and heading respectively.

[0097] Figure 4 When the target aircraft is judged to be outside the mission segment, a fixed flight trajectory diagram is given with the take-off point as the navigation center. At this time, the route is not refreshed and solved.

[0098] Furthermore, the step 3 is specifically as follows: when the target point number m∈[n1,n1+N1], m∈

[0099] [n2,n2+N2]…, that is, it is determined to be in the following segment, and the waypoints in this segment enter the following mode. The other segments remain unchanged, and the flight control computer refreshes and solves the navigation waypoints. The steps are as follows:

[0100] Step 3.1, lock the current ship's longitude, latitude, and heading S0 , B S0 , C S0 ), the central meridian is Ship_L 0 =J s0 , in this section, the Gaussian transformation is performed with the main ship as the navigation center, and the ship position is Ship'(x S0 ,y S0 、z S0 ), and at the same time, the latitude and longitude coordinates of the navigation waypoint P n (J n , B n , H n ), P n+1 (J n+1 , B n+1 , H n+1 ) is converted to Ship_L 0 Lower Gaussian coordinates P' n (x n ,y n 、z n ), P' n+1 (x n+1 ,y n+1 、z n+1 );

[0101] Step 3.2: Calculate the slope of the flight segment

[0102] Step 3.3: Calculate the initial ship position to segment P n P n+1 distance:

[0103]

[0104] Step 3.4: Calculate the initial flight route P according to the mission radius requirement L n P n+1 Offset ΔL = LL 1 ;

[0105] Step 3.5, calculate the ship's position around the current segment:

[0106] First, calculate the mission segment direction psi1:

[0107]

[0108] Secondly, calculate the distance from the ship to the waypoint P'n+1 Direction PSI2:

[0109]

[0110] Finally, calculate the heading difference:

[0111] Δpsi=psi1-psi2, when Δpsi<0, the ship is on the right side of the route; Δpsi>0, the ship is on the left side of the route;

[0112] Step 3.6, finally calculate the Gaussian coordinates that meet the hook diameter requirements, P″ n (x a ,y a 、z a ), P″ n+1 (x b ,y b 、z b ), in actual engineering applications, only P″ needs to be calculated n (x a ,y a ), P″ n+1 (x b ,y b )

[0113] When on the left:

[0114] x a =x n +Δl*k / sqrt(1+k*k)

[0115] y a =y n -Δl*1 / sqrt(1+k*k)

[0116] x b =x n +Δl*k / sqrt(1+k*k)

[0117] y b =y n -Δl*1 / sqrt(1+k*k)

[0118] When on the right side:

[0119] x a =x n -Δl*k / sqrt(1+k*k)

[0120] y a =y n +Δl*1 / sqrt(1+k*k)

[0121] x b =x n-Δl*k / sqrt(1+k*k)

[0122] y b =y n +Δl*1 / sqrt(1+k*k)

[0123] Step 3.7: Calculate the navigation waypoint P″ that meets the hook radius condition n (x a ,y a ), P″ n+1 (x b ,y b ) After turning, the polar coordinate azimuth and distance relative to the ship are obtained as P″ n (P a , L a ), P″ n+1 (P b , L b );

[0124]

[0125] L a =sqrt((x a -x s0 )*(x a -x s0 )+(y a -y s0 )*(y a -y s0 ))

[0126] L b =sqrt((x b -x s0 )*(x b -x s0 )+(y b -y s0 )*(y b -y s0 ))

[0127] Step 3.8: After the ship data is refreshed, first convert it to Ship-L 0 Lower Gaussian coordinates Ship'(x S ,y S 、z S ),through P″ n (P a , L a ), P″ n+1 (P b , L b ) Get the Gaussian coordinates of the waypoint that meet the requirements to replace the original P' n (x n ,yn 、z n ), P' n+1 (x n+1 ,y n+1 、z n+1 );

[0128]

[0129] Step 3.9: Gaussian coordinates P' n (x n ,y n 、z n ), P' n+1 (x n+1 ,y n+1 、z n+1 ) is converted to longitude and latitude to replace the original waypoint information P n (J n , B n , H n ), P n+1 (J n+1 , B n+1 , H n+1 ), refresh the route;

[0130] Step 3.10: Waypoints outside the mission segment will not be refreshed;

[0131] Step 3.10: If the ship data is updated, repeat steps 3.8 to 3.11 until the mission segment is exited, that is, the target point is greater than the exit point.

[0132] like Figure 5 When the target drone enters the mission section, with ship No. 1 as the main ship, the flight route is solved, refreshed and adjusted according to the hook diameter requirements. The target drone follows the real-time adjusted flight trajectory and the ground software route adjustment status, such as Figure 6 When the ship's heading changes from the original 0° to 345° during the following process, the route is also followed to make the target aircraft maintain the same heading as the ship.

[0133] Further, the step 4 is specifically as follows: after the current mission segment is completed, the target aircraft re-uses the launch origin as the central longitude and latitude line SL 0 After the route is solved, the flight control computer determines whether there is the next mission segment and repeats step 3.

[0134] Figure 7 Give the target aircraft's flight trajectory according to the original fixed waypoint after the first ship mission is completed. Figure 8 The flight trajectory diagram of the target aircraft performing the second ship-following mission with ship No. 3 as the main ship for route calculation and adjustment is given. Fig. 9 After the mission is completed, the target aircraft will re-fly along a fixed route with the take-off point as the navigation center.

[0135] Example 2

[0136] The following is an example of a three-aircraft mission accompanying a ship in the air.

[0137] Step 1: Design the route according to the mission, determine the starting point and ending point of each mission segment, and set the host ship number, hook diameter, starting waypoint number, and ending waypoint number of each mission segment, and send them to the flight control computer memory through the measurement and control link. The specific requirements are as follows:

[0138] First mission segment:

[0139] Target drone No. 1: waypoint No. 6-7, main ship No. 1, hook diameter 2000m;

[0140] Target drone No. 2: waypoint No. 6-7, main ship No. 1, hook diameter -2000m;

[0141] Target drone No. 3: waypoint No. 6-7, main ship No. 1, hook diameter 4000m;

[0142] Second mission segment:

[0143] Target drone No. 1: waypoint No. 11-12, main ship No. 3, hook diameter -2000m;

[0144] Target drone No. 2: waypoint No. 11-12, main ship No. 3, hook diameter 2000m;

[0145] Target drone No. 3: waypoint No. 11-12, main ship No. 3, hook diameter -4000m;

[0146] In Example 2, target drones 1, 2, and 3 fly routes 1, 2, and 3 respectively, and the route colors are red, green, and blue respectively. In order to facilitate subsequent observation of route position adjustments, a purple route is added as a reference route.

[0147] Step 2: When the target drone is flying under program control, the flight control computer determines the current position through the target waypoint number and the starting and ending waypoint numbers of the mission segment. When it is outside the mission segment, it flies along a fixed route with the take-off point as the navigation center. At the same time, the target drone transmits the host ship number of the target mission segment to the ground measurement and control software in real time and receives the host ship information sent by it. Fig.10 The three target drones are given a fixed flight trajectory with the launch origin as the navigation center outside the mission segment. Since the speeds of the three target drones remain consistent during the flight, their display icons overlap in the figure. Since the ship-following function is not turned on outside the mission segment, the four routes overlap safely.

[0148] Step 3, when the target drone arrives at the mission segment, the target drone uses the host ship as the navigation center, and solves, adjusts, and refreshes the navigation waypoints in the current mission segment in real time. The target drone flies according to the refreshed route. The routes outside the mission segment are not solved or refreshed. The target drone processes, refreshes, and adjusts the received ship information. Fig.11 Given the flight trajectory of the target aircraft in the first mission segment with ship No. 1 as the main ship, Fig.12 The flight trajectory of the target aircraft after adjusting its route after the main ship's heading changes is given.

[0149] Step 4: After the current mission segment is completed, the flight control computer stops solving and refreshing the waypoints, and re-flies according to the preset route with the take-off point as the navigation. At the same time, it is determined whether there is a next mission segment. If there is, steps 2 and 3 are repeated. If not, the fixed route is flown to the end. In Example 2, when the target drone's target point number is 11, it re-enters the ship-following mission, takes ship No. 3 as the main ship, refreshes, solves, and adjusts the route, and its flight trajectory is as follows: Fig.13 As shown, the target point number is 12:00, and the mission with the ship ends. The ship will fly again along a fixed route with the launch origin as the navigation center. The flight trajectory is as follows Fig.14 shown.

[0150] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0151] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mixed-mode marine target drone program-controlled flight method, characterized in that: The following steps are involved: Step 1: Design the route according to the mission, determine the starting point and ending point of each mission segment of the sortie, and set the host ship number, hook diameter, starting waypoint number, and ending waypoint number of each mission segment, and send them to the flight control computer memory through the measurement and control link; Step 2: When the target drone is flying under program control, the flight control computer determines the current position through the target waypoint number and the starting and ending waypoint numbers of the mission segment; when it is outside the mission segment, it flies along a fixed route with the take-off point as the navigation center, and at the same time, the target drone transmits the host ship number of the target mission segment to the ground measurement and control software in real time and receives the host ship information sent by it; Step 3: When in the mission segment, the target drone uses the host ship as the navigation center, and solves, adjusts, and refreshes the navigation waypoints in the current mission segment in real time. The target drone flies according to the refreshed route, and the route outside the mission segment is not solved and refreshed; Step 4: After the current mission segment is completed, the flight control computer stops solving and refreshing the waypoints, and re-flies along the preset route with the take-off point as the navigation center. At the same time, it determines whether there is the next mission segment. If so, repeat steps 2 and 3. If not, fly along the fixed route until the end.

2. A method for controlled flight of a mixed-mode marine target drone according to claim 1, characterized in that: In step 1, the route is designed according to the mission. The waypoint information includes longitude, latitude, altitude, and speed, which are represented by J, B, H, and V respectively. The entry waypoint number n1, n2, n3... and the exit waypoint number n1+N1, n2+N2, n3+N3... of each voyage in the mission are determined, and the ship requirements for each voyage are determined, including: main ship number, hook diameter, entry waypoint number, and exit waypoint number. The above ship requirements and flight route are sent to the flight control computer memory.

3. The method for controlled flight of a mixed-mode marine target drone according to claim 1, characterized in that: In step 2, the target aircraft transmits the host ship number of the target mission segment to the ground measurement and control software in real time and receives the host ship information sent by it, including longitude, latitude, and heading.

4. A mixed-mode marine target drone program-controlled flight method according to claim 3, characterized in that: Step 2 is specifically as follows: during program-controlled flight, the flight control computer determines the position of the target aircraft according to the preset mission information through the flight target waypoint number, the mission start waypoint number, and the end waypoint number; if it is outside the mission segment, the longitude and latitude of the take-off point P0 (J0, B0, H0) is used as the navigation center, and the central longitude and latitude line S-L0 = J0, and the longitude and latitude coordinate information of the current navigation waypoint is converted into Gaussian coordinates P1 (x1, y1, z1), P2 (x2, y2, z2), and P3 (x3, y3, z3) under S-L0 for navigation solution. At the same time, the host ship number in the waiting follow-up mission segment is sent to the ground measurement and control system, and its host ship information Sh ip (J, B, C) is received in real time, which are longitude, latitude, and heading respectively.

5. The method for controlled flight of a mixed-mode marine target drone according to claim 1, characterized in that: In step 3, when the target waypoint number changes to the mission starting point number for the first time, the target drone is determined to be in the mission segment. The target drone uses the host ship as the navigation center, and performs real-time calculation, adjustment, and refresh of the navigation waypoints in the current mission segment through the received ship information, and flies according to the refreshed route. The route outside the mission segment is not calculated, and the following operations are completed: Step 3.1, lock the current ship's longitude, latitude, and heading as the initial ship information Ship (J S0 , B S0 , C S0 ), with the current ship information as the navigation center, the central longitude and latitude in this mission segment is Ship_L0=J s0 No change, for the current navigation waypoint P n , P n+1 Perform Gaussian transformation; Step 3.2: Calculate the initial segment P n P n+1 slope k; Step 3.3: Calculate the initial ship position to the initial segment P n P n+1 Distance L1; Step 3.4: Calculate the initial flight segment P according to the mission trajectory requirement L n P n+1 Required offset ΔL = L-L1; Step 3.5: Determine the initial ship in the initial segment P n P n+1 the left or right side of Step 3.6: Calculate the navigation Gaussian coordinates P′ that meet the requirements through steps 3.2 to 3.5 n , P′ n+1 ; Step 3.7, calculate the direction and distance of the new navigation waypoint relative to the ship, and keep it unchanged during this mission segment; Step 3.8: After refreshing, the ship data is converted into Gaussian coordinates Ship′(x S ,y S 、z S ), the azimuth and distance calculated in step 3.7 are used to solve the Gaussian coordinates of the navigation waypoint that meets the requirements; Step 3.9, solve the calculated navigation waypoint Gaussian coordinates to the route waypoint format, and adjust and refresh the original navigation waypoint; Step 3.10: No calculation or adjustment is performed on the routes outside the current mission segment; Step 3.11: If the ship data is updated, repeat steps 3.8 to 3.

11. When the target waypoint is greater than the exit waypoint, it is determined to be outside the mission segment and the solution is stopped.

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