A method, system and medium for rapid estimation of trajectory and range

Abstract

The present invention relates to a method, system, and medium for rapid trajectory and range estimation. The method comprises: dividing the trajectory and range of a supersonic glide vehicle into a straight cruise segment, a circular turn segment, a heading calibration segment, and an approach flight segment; predicting the trajectory of the straight cruise segment based on the flight type; dividing the circular turn segment into multiple sub-circular turn segments, and sequentially predicting each sub-circular turn segment to predict the complete circular turn segment trajectory; predicting the heading calibration segment trajectory; predicting the approach flight segment trajectory; and obtaining the total trajectory data of the supersonic glide vehicle. The method uses geometric calculation to infer the flight trajectory and calculates the flight range based on the inferred trajectory. The method has a low computational effort and the result is substantially consistent with the flight simulation, and can be used to quickly determine the flight trajectory and return results.

Description

Technical Field

[0001] The present invention relates to the technical field of supersonic glide vehicle range assessment, and in particular to a method, system, and medium for rapid trajectory and range estimation. Background Art

[0002] A supersonic glide vehicle first cruises in a straight line at supersonic speeds, then returns to the airfield for recovery in an unpowered state. Once the initial starting point is determined, it's necessary to determine the impact of different initial cruising directions from that starting point on the vehicle's overall trajectory and flight airspace. The full range must also be calculated to determine whether the vehicle can successfully return to the airfield in this unpowered state. Currently, flight simulations are often used to determine flight trajectory and range, but each simulation is lengthy and labor-intensive.

[0003] How to calculate the flight range based on the inferred trajectory so that the calculation amount is small and the result is basically consistent with the flight simulation, so as to be used for rapid judgment of the flight trajectory and return results, is an urgent problem that needs to be solved. Summary of the Invention

[0004] The present invention provides a method, system and medium for quickly estimating a trajectory and range, so as to solve the problem that a single simulation takes a long time and has a large workload when determining a flight trajectory and range by using simulated flight.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a method for rapidly estimating a trajectory range for a supersonic glide vehicle, comprising: dividing the trajectory range of the supersonic glide vehicle into a straight cruise segment, a circular turn segment, a heading calibration segment, and an approach flight segment, wherein the straight cruise segment is the stage from the flight of the supersonic glide vehicle to the end of the cruise segment, in which the supersonic glide vehicle flies in a straight line at supersonic speed; the circular turn segment is the stage from the end of the straight flight, in which the supersonic glide vehicle turns in an unpowered state to align with a tangent point of a calibration circle; the heading calibration segment is the stage from the end of the circular turn segment to the tangent point of the calibration circle; and the approach flight segment is the final stage from the aircraft aligning with the runway to the arrival of the supersonic glide vehicle at an ideal landing point.

[0006] predicting the trajectory of the straight cruise segment based on the flight type, the flight type being powered level flight or unpowered flight;

[0007] The circular arc turning segment is divided into a plurality of sub-circular arc turning segments, and based on the initial position, initial track angle and the position of the calibration circle tangent point of each sub-circular arc turning segment, the angle of each sub-circular arc turning segment is determined, and each sub-circular arc turning segment is predicted in sequence to predict the complete circular arc turning segment flight trajectory;

[0008] Based on the end point position of the circular arc turning segment, the track angle and the position of the calibration circle tangent point, the course trajectory of the heading calibration segment is predicted;

[0009] Predicting the approach flight segment trajectory based on the calibration circle tangent point position and the ideal landing point of the aircraft;

[0010] Based on the straight cruise segment flight trajectory, the circular turn segment flight trajectory, the heading calibration segment flight trajectory, and the approach flight segment flight trajectory, total flight trajectory data of the supersonic glide vehicle is obtained.

[0011] Preferably, predicting the straight cruise segment trajectory based on the flight type specifically includes:

[0012] If the straight cruise section of the supersonic glider is powered level flight, then the flight speed V B , the flight time is t0, and the straight cruise range is S0 = V B ×t0, the speed V at the end point U of the straight cruise segment U =V B , height H U =H B , inclination angle γ U =0;

[0013] Based on the straight cruise segment distance S0, the longitude and latitude (lon) of the end point U of the straight cruise segment is calculated. U ,lat U ).

[0014] Preferably, predicting the straight cruise segment trajectory based on the flight type specifically includes:

[0015] If the supersonic glide vehicle is in unpowered flight during the straight cruise phase, the straight cruise range S0 is calculated as follows:

[0016] S0=∫Vdt

[0017]

[0018]

[0019] D=0.5ρV 2 C D S w

[0020] L=0.5ρV 2 C L S w

[0021] Where V Bis the flight speed of the aircraft at the initial point B, D is the aircraft resistance, L is the aircraft lift, C D C L are respectively the maximum lift-to-drag ratio angle of attack α of the aircraft opt The corresponding drag and lift coefficients, ρ is the air density, V is the flight speed of the aircraft, C D is the maximum lift-to-drag ratio angle of attack of the aircraft α opt The corresponding drag coefficient, S w is the geometric area of the aircraft wing, m is the mass of the aircraft, g is the acceleration of gravity, γ is the velocity inclination angle of the straight cruise stage, and the velocity of the end point U of the straight cruise stage is The height H of the end point U of the straight cruise segment U =H B -∫Hsinγdt, the track angle ψ of the end point U of the straight cruise segment U =ψ B , the inclination angle of the end point U of the straight cruise segment

[0022] Based on the straight cruise segment distance S0, the longitude and latitude (lon) of the end point U of the straight cruise segment is calculated. U ,lat U ).

[0023] Preferably, the sequentially predicting each sub-arc turning segment to predict the complete arc turning segment flight trajectory specifically includes:

[0024] Step 1: Get the initial position of the sub-arc turning segment as U and the initial track angle ψ U The end position of the heading calibration segment is E1, the route UE is established, and the route angle is calculated

[0025] Step 2: Calculate the angle of the sub-arc turning segment:

[0026] Step 3: Iteratively calculate the arc segment position and range based on the sub-arc turning segment, the position P1 at the end of the sub-arc turning segment, and the track angle at the end of the sub-arc turning segment.

[0027] Step 4: Establish a route between the end position P1 of the sub-arc turning segment and the end position E1 of the heading calibration segment, and determine the track angle

[0028] Step 5: Judgement Is it less than the preset threshold M? If so, it means that the aircraft track has been aligned with the target at the end of the arc, and the trajectory calculation of the arc turning segment is ended; if not, P1 is used as the initial position U of the aircraft, and the track angle at the end of the arc is As the initial track angle of the aircraft Then, the first to fifth steps are repeated to predict the next sub-arc turning segment.

[0029] Preferably, the method further comprises: obtaining the altitude at the end of the circular turning segment based on the trajectory of the circular turning segment; Known ideal landing height The maximum gliding distance of the aircraft in the unpowered state after the arc turning section ends is:

[0030]

[0031] Where K is the maximum lift-to-drag ratio of the aircraft; if S max > S2, it is considered that the flight path has sufficient energy to successfully return, otherwise the energy is too low to complete the return, where S2 is the flight path of the approach flight segment.

[0032] To achieve the above objectives, in a second aspect, the present invention provides a trajectory and range rapid estimation system for supersonic glide vehicle trajectory and range estimation, comprising:

[0033] a range decomposition module, configured to divide the trajectory range of the supersonic glide vehicle into a straight cruise segment, a circular turn segment, a heading calibration segment, and an approach flight segment, wherein the straight cruise segment is the stage in which the supersonic glide vehicle flies in a straight line at supersonic speed from the time of flight to the end of the cruise segment; the circular turn segment is the stage in which the supersonic glide vehicle turns in an unpowered state to align with a tangent point of a calibration circle after the end of the straight flight; the heading calibration segment is the stage in which the supersonic glide vehicle flies from the end of the circular turn segment to the tangent point of the calibration circle; and the approach flight segment is the final stage in which the supersonic glide vehicle aligns with the runway until the supersonic glide vehicle reaches an ideal landing point.

[0034] A straight cruise segment prediction module is used to predict the trajectory of the straight cruise segment based on the flight type, where the flight type is powered level flight or unpowered flight;

[0035] a circular arc turning segment prediction module, configured to divide the circular arc turning segment into a plurality of sub-circular arc turning segments, determine the angle of each sub-circular arc turning segment based on the initial position, initial track angle and position of the calibration circle tangent point of each sub-circular arc turning segment, and predict each sub-circular arc turning segment in sequence to predict the complete circular arc turning segment flight trajectory;

[0036] A heading calibration segment prediction module is used to predict the trajectory of the heading calibration segment based on the end point position of the circular arc turning segment, the track angle, and the position of the calibration circle tangent point;

[0037] an approach flight segment prediction module, configured to predict the approach flight segment trajectory based on the calibration circle tangent point position and the ideal landing point of the aircraft; and

[0038] A total flight trajectory generation module is used to obtain total flight trajectory data of the supersonic glide vehicle based on the straight cruise segment flight trajectory, the arc turning segment flight trajectory, the heading calibration segment flight trajectory and the approach flight segment flight trajectory.

[0039] Preferably, the predicted straight cruise segment module is specifically used to:

[0040] If the straight cruise section of the supersonic glider is powered level flight, then the flight speed V B , the flight time is t0, and the straight cruise range is S0 = V B ×t0, the speed V at the end point U of the straight cruise segment U =V B , height H U =H B , inclination angle γ U =0;

[0041] Based on the straight cruise segment distance S0, the longitude and latitude (lon) of the end point U of the straight cruise segment is calculated. U ,lat U ).

[0042] Preferably, the predicted straight cruise segment module is specifically used to:

[0043] If the supersonic glide vehicle is in unpowered flight during the straight cruise phase, the straight cruise range S0 is calculated as follows:

[0044] S0=∫Vdt

[0045]

[0046]

[0047] D=0.5ρV 2 C D S w

[0048] L=0.5ρV 2 C L S w

[0049] Where V B is the flight speed of the aircraft at the initial point B, D is the aircraft resistance, L is the aircraft lift, C D C L are respectively the maximum lift-to-drag ratio angle of attack α of the aircraft optThe corresponding drag and lift coefficients, ρ is the air density, V is the flight speed of the aircraft, C D is the maximum lift-to-drag ratio angle of attack of the aircraft α opt The corresponding drag coefficient, S w is the geometric area of the aircraft wing, m is the mass of the aircraft, g is the acceleration of gravity, γ is the velocity inclination angle of the straight cruise stage, and the velocity of the end point U of the straight cruise stage is The height H of the end point U of the straight cruise segment U =H B -∫Hsinγdt, the track angle ψ of the end point U of the straight cruise segment U =ψ B , the inclination angle of the end point U of the straight cruise segment

[0050] Based on the straight cruise segment distance S0, the longitude and latitude (lon) of the end point U of the straight cruise segment is calculated. U ,lat U ).

[0051] Preferably, the arc turning segment prediction module is specifically used to divide the arc turning segment into multiple sub-arc turning segments, determine the angle of each sub-arc turning segment based on the initial position, initial track angle and calibration circle tangent point position of each sub-arc turning segment, and predict each sub-arc turning segment in turn through small arc iteration to predict the complete arc turning segment flight trajectory.

[0052] Preferably, it also includes a return judgment module for obtaining the altitude at the end of the circular arc turning segment based on the trajectory of the circular arc turning segment. Known ideal landing height The maximum gliding distance of the aircraft in the unpowered state after the arc turning section ends is:

[0053]

[0054] Where K is the maximum lift-to-drag ratio of the aircraft; if S max > S2, it is considered that the flight path has sufficient energy to successfully return, otherwise the energy is too low to complete the return, where S2 is the flight path of the approach flight segment.

[0055] To achieve the above objectives, in a third aspect, the present invention further relates to a computer-readable storage medium, in which instructions are stored, and when the instructions are executed, the above-mentioned method for rapid trajectory and range estimation is executed.

[0056] The present invention relates to a method, system, and medium for rapid trajectory and range estimation, which have the following beneficial effects compared to the prior art:

[0057] The present invention adopts multi-segment circular arc trajectory calculation to improve the accuracy of predicted trajectory; the circular arc trajectory takes into account the effect of speed decay on turning radius, making the range estimation more consistent with the actual flight mileage. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a flow chart of a method for rapid trajectory and range estimation in Example 1 of the present invention;

[0059] Figure 2 This is a schematic diagram of range decomposition of a method for rapid trajectory range estimation in Example 1 of the present invention;

[0060] Figure 3 This is a flow chart of multi-segment sub-arc turning segment trajectory range selection for a method for rapid trajectory range estimation in Example 1 of the present invention;

[0061] Figure 4 This is a schematic diagram of trajectory and range prediction for a multi-segment sub-arc turning segment of a trajectory and range rapid estimation method in Example 1 of the present invention;

[0062] Figure 5 This is a schematic diagram of the iterative calculation of the multi-segment sub-arc turning segment trajectory and range of a fast trajectory and range estimation method in Example 1 of the present invention;

[0063] Figure 6 This is a flow chart of iterative calculation of multi-segment sub-arc turning segment trajectory and range of a fast trajectory and range estimation method in embodiment 1 of the present invention;

[0064] Figure 7 This is a schematic diagram of the structure of a trajectory and range rapid estimation system in Example 2 of the present invention. DETAILED DESCRIPTION

[0065] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0066] Example 1

[0067] A fast trajectory range estimation method, see Figures 1-6 , used for trajectory and range estimation of a supersonic glide vehicle, including the following steps: S10 to S60.

[0068] S10: The trajectory of the supersonic glide vehicle is divided into a straight cruise segment, a circular turn segment, a heading calibration segment and an approach flight segment, wherein the straight cruise segment is the stage in which the supersonic glide vehicle flies in a straight line at supersonic speed from the flight to the end of the cruise segment, the circular turn segment is the flight stage in which the supersonic glide vehicle turns in an unpowered state to align with the tangent point of the calibration circle at the end of the straight flight, the heading calibration segment is the flight stage from the end of the circular turn segment to the tangent point of the calibration circle, and the approach flight segment is the final stage in which the aircraft aligns with the runway and the supersonic glide vehicle reaches the ideal landing point.

[0069] like Figure 2 The straight cruise segment is the stage in which the aircraft flies in a straight line from the flight starting point B to the end of the cruise segment U at supersonic speed, as shown in the figure BU below; the arc turn segment is the flight stage in which the aircraft turns in an unpowered state to align with the calibration circle tangent point E1 after the straight flight ends, as shown in the figure below. This stage is further divided into arc segments n (n = 1, 2, 3...), as shown in the figure below. The heading calibration segment is the flight stage from the end of the arc turn segment P1 to the calibration circle tangent point E1; the approach flight segment is the final stage in which the aircraft aligns with the runway to the landing of the aircraft, as shown in the figure below. Figure 2 E1E2 in the figure, E2 is the ideal landing point of the aircraft.

[0070] When the aircraft is gliding, the angle of attack corresponding to the maximum lift-to-drag ratio is called the maximum lift-to-drag ratio angle of attack α opt In this state, the glide distance is the greatest, and thus the aircraft of the present invention flies at the maximum lift-to-drag ratio angle of attack throughout its flight. In this example, the design is based on the angle at which the lift-to-drag ratio is maximized, reflecting the aircraft's maximum glide capability. However, in actual flight, different glide angles can be set based on the aircraft's lift-to-drag characteristics; the algorithm steps remain the same.

[0071] S20: Predicting a straight cruise segment trajectory based on the flight type, where the flight type is powered level flight or unpowered flight.

[0072] In this embodiment, it specifically includes:

[0073] The longitude and latitude, altitude, speed and trajectory angle of the starting point B of the straight cruise segment are all known, which are lon B ,Lat B ,H B ,V B ,ψ B ; The cruising flight distance is set to S0.

[0074] If the straight cruise section of the supersonic glider is powered level flight, then the flight speed V B , the flight time is t0, and the straight cruise range is S0 = V B ×t0, the speed V at the end point U of the straight cruise segment U =VB , height H U =H B , inclination angle γ U =0;

[0075] Based on the straight cruise segment distance S0, the longitude and latitude of the end point U of the straight cruise segment is calculated (lon U ,lat U ).

[0076] If the supersonic glide vehicle is in unpowered flight during the straight cruise phase, the straight cruise range S0 is calculated as follows:

[0077] S0=∫Vdt

[0078]

[0079]

[0080] D=0.5ρV 2 C D S w

[0081] L=0.5ρV 2 C L S w

[0082] Where V B is the flight speed of the aircraft at the initial point B, D is the aircraft resistance, L is the aircraft lift, C D C L are respectively the maximum lift-to-drag ratio angle of attack α of the aircraft opt The corresponding drag and lift coefficients, ρ is the air density, V is the flight speed of the aircraft, C D is the maximum lift-to-drag ratio angle of attack of the aircraft α opt The corresponding drag coefficient, S w is the geometric area of the aircraft wing, m is the mass of the aircraft, g is the acceleration of gravity, γ is the velocity inclination angle of the straight cruise phase, and the velocity of the end point U of the straight cruise phase is The height H of the end point U of the straight cruise segment U =H B -∫Hsinγdt, the track angle ψ at the end point U of the straight cruise segment U =ψ B , the inclination angle of the end point U of the straight cruise segment

[0083] Based on the straight cruise segment distance S0, the longitude and latitude of the end point U of the straight cruise segment is calculated (lon U ,lat U ).

[0084] In one example, assuming that the earth is a sphere with a radius of R, R = 6378137m, then the longitude and latitude (lon) of U at the end of the straight cruise segment is U ,lat U )for:

[0085]

[0086] S30: The arc turning segment is divided into multiple sub-arc turning segments. Based on the initial position, initial track angle and calibration circle tangent point position of each sub-arc turning segment, the angle of each sub-arc turning segment is determined, and each sub-arc turning segment is predicted in turn to predict the complete arc turning segment flight trajectory.

[0087] Supersonic aircraft are relatively fast, and turning arc segments account for a significant portion of their total flight range. Therefore, the accuracy of arc segment trajectory prediction plays a crucial role in the accuracy of the full-flight trajectory prediction. This invention divides the arc segment prediction into multiple segments. The number of segments is determined by the relative relationship between the aircraft's initial track angle and the target point. The end of the arc segment is marked by the tangent direction facing the target point.

[0088] In this embodiment, if Figure 3 As shown, each sub-arc turning segment is predicted in turn to predict the complete arc turning segment trajectory, specifically including: S31-S35

[0089] S31: Get the initial position of the sub-arc turning segment as U and the initial track angle ψ U The end position of the heading calibration segment is E1, the route UE is established, and the route angle is calculated

[0090] S32: Calculate the angle of the sub-arc turning segment:

[0091] S33: Iteratively calculate the arc position and range based on the sub-arc turning segment, the position P1 at the end of the sub-arc turning segment, and the track angle at the end of the sub-arc turning segment.

[0092] S34: The end position P1 of the sub-arc turning segment and the end position E1 of the heading calibration segment establish a route and determine the track angle

[0093] S35: Judgment Is it less than the preset threshold M? If so, it means that the aircraft track has been aligned with the target at the end of the arc, and the arc turning segment trajectory calculation is ended; if not, P1 is used as the aircraft's initial position U, and the track angle at the end of the arc is As the initial track angle of the aircraft Then, steps S31 to S35 are repeatedly executed to predict the next sub-arc turning segment.

[0094] Figure 4 This is a schematic diagram of the trajectory range prediction of the multi-segment sub-arc turning segment. The initial position of the aircraft is U and the initial track angle is ψ U , and establish sub-arc turning segment 1 according to processes S32 and S33, such as Figure 4 As shown in (a), the track angle is determined according to S34. Using S35 Perform conditional judgment. If it is not satisfied, use P1A1 as the new UA to generate sub-arc turning segment 2, such as Figure 4 (b); Then generate the sub-arc turning segment 3 in the same way, as shown in Figure 4 As shown in (c), the final sub-arc turning segment 3 satisfies The condition is to determine the sub-arc turning segment n=3, and finally the sub-arc turning segment 1, the sub-arc turning segment 2, and the sub-arc turning segment 3 are used as the total predicted arc trajectory, as follows Figure 4 (d) shown.

[0095] Among them, Figure 6 As shown, the iterative calculation of the arc segment position and the flight range according to the sub-arc turning segment in S33 specifically includes: S331-S336,

[0096] When S331 turns without power, the speed V of the starting point U of the unpowered turn is known. U 、Coordinate position (lon U ,lat U ), and the trajectory angle ψ U And the angle ∠UOP1 corresponding to the arc segment.

[0097] S332: Calculate the turning radius at the current speed Where g is the acceleration due to gravity and φ is the maximum roll angle during a turn.

[0098] S333: The range increment ΔS and the longitude and latitude coordinate increments (Δlon, Δlat) caused by the trajectory angular direction change Δψ. If the aircraft rolls to the right, Δψ can be selected between 0.1° and 1°. Otherwise, Δψ = -Δψ. The smaller the value, the higher the calculation accuracy, but it also increases the number of iterations.

[0099] ΔS=Radius×Δψ

[0100]

[0101]

[0102] ΔH=-V U sin(γU )

[0103] S334: Update coordinates and flight distance

[0104] S=S+ΔS

[0105] UP1UP1

[0106] lon U =lon U +Δlon

[0107] lat U =lat U +Δlat

[0108] H U =H U +ΔH

[0109] S335: Update speed V U and trajectory angle ψ

[0110]

[0111]

[0112] ψ=ψ+Δψ

[0113] In the unpowered state, due to

[0114]

[0115]

[0116]

[0117] thus

[0118]

[0119]

[0120]

[0121]

[0122] Where D is the drag of the aircraft, m is gravity, g is the acceleration of gravity, γ is the aircraft velocity angle, L is the aircraft lift, and φ is the aircraft roll angle; C D With lift C L are the drag and lift coefficients calculated at the angle of attack corresponding to the maximum lift-to-drag ratio, ρ is the air density, S w is the geometric area of the wing.

[0123] If the turn is powered, then Step 5 above is:

[0124] V U =V U

[0125] γ U =γ U

[0126] ψ=ψ+Δψ

[0127]

[0128]

[0129] S336: Determine whether ψ is greater than ψ0+∠UOP1. If it is less than ψ0, return to Step 2 to continue the calculation. If it is greater than ψ0, it proves that the end point P1 of the arc segment has been calculated, and the calculated longitude and latitude, speed and speed direction are assigned to P1.

[0130]

[0131]

[0132]

[0133]

[0134]

[0135]

[0136] S40: Based on the position of the end point of the arc turning segment, the track angle, and the position of the calibration circle tangent point, a course trajectory of the heading calibration segment is predicted.

[0137] S50: Based on the position of the calibration circle tangent point and the ideal landing point of the aircraft, the approach flight segment trajectory is predicted.

[0138] In the above example, the latitude and longitude of the arc segment end point P1 are calculated Track angle The subsequent flight is a straight line, starting from P1 and ending at the calibration circle tangent point E1. The longitude and latitude of P1 and E1 are known, so the course calibration segment distance can be calculated based on the longitude and latitude of the two points.

[0139]

[0140] Since the speed of the aircraft has dropped to less than 0.5Ma when it reaches point E1, the arc of the turn to align with E1E2 can be ignored for the entire range. Therefore, the approach flight segment can be directly regarded as a straight line segment. Since the longitude and latitude of E1 and E2 are known, the heading calibration segment range can be calculated based on the longitude and latitude of the two points.

[0141]

[0142] Set the distance of the last two straight segments to S2.

[0143] S60: Obtaining total flight trajectory data of the supersonic glide vehicle based on the straight cruise segment flight trajectory, the circular turn segment flight trajectory, the heading calibration segment flight trajectory, and the approach flight segment flight trajectory.

[0144] In the above example, the total distance is calculated as:

[0145]

[0146] Among them, S is the total flight distance, S0 is the straight cruise distance, is the turning arc distance, is the distance of the heading calibration segment after the turning segment. It is the final approach flight segment.

[0147] Therefore, any given initial position (lon B ,lat B ), and the initial track angle is ψ B , the entire flight trajectory and range distance S of the supersonic aircraft can be calculated according to the above S10-S50 of this embodiment without flight simulation.

[0148] In some embodiments, after S60, the method further includes S70: obtaining the altitude at the end of the arc turning segment based on the arc turning segment trajectory. Known ideal landing height After the arc turning section ends, the maximum gliding distance of the aircraft in the unpowered state is:

[0149]

[0150] Where K is the maximum lift-to-drag ratio of the aircraft; if S max If the flight path is greater than S2, the flight path is considered to have sufficient energy for a successful return. Otherwise, the energy is too low to complete the return, where S2 is the approach flight segment. This return determination provides a preliminary basis for subsequent flight simulation, nominal trajectory selection, and actual flight decisions.

[0151] Example 2

[0152] A fast trajectory range estimation system, such as Figure 2 and 7 As shown, the trajectory range estimation for a supersonic glide vehicle includes a range decomposition module 71, a straight cruise segment prediction module 72, a circular turn segment prediction module 73, a heading calibration segment prediction module 74, an approach flight segment prediction module 75, and a total range trajectory generation module 76.

[0153] The range decomposition module 72 is configured to divide the trajectory range of the supersonic glide vehicle into a straight cruise segment, a circular turn segment, a heading calibration segment, and an approach flight segment. The straight cruise segment is the stage from the flight to the end of the cruise segment, in which the supersonic glide vehicle flies in a straight line at supersonic speed. The circular turn segment is the stage from the end of the straight flight, in which the supersonic glide vehicle turns in an unpowered state to align with the tangent point of the calibration circle. The heading calibration segment is the stage from the end of the circular turn segment to the tangent point of the calibration circle. The approach flight segment is the final stage from the aircraft aligning with the runway to the supersonic glide vehicle reaching the desired landing point.

[0154] A straight cruise segment prediction module 72 is used to predict a straight cruise segment trajectory based on the flight type, where the flight type is powered level flight or unpowered flight;

[0155] The arc turning segment prediction module 73 is used to divide the arc turning segment into multiple sub-arc turning segments, determine the angle of each sub-arc turning segment based on the initial position, initial track angle and calibration circle tangent point position of each sub-arc turning segment, and predict each sub-arc turning segment in sequence to predict the complete arc turning segment flight trajectory;

[0156] The heading calibration segment prediction module 74 is used to predict the trajectory of the heading calibration segment based on the arc turning segment end point position, the track angle and the calibration circle tangent point position;

[0157] The predicted approach flight segment module 75 is configured to predict the trajectory of the approach flight segment based on the position of the calibration circle tangent point and the ideal landing point of the aircraft; and

[0158] The total flight trajectory generating module 76 is used to obtain the total flight trajectory data of the supersonic glide vehicle based on the straight cruise segment flight trajectory, the arc turning segment flight trajectory, the heading calibration segment flight trajectory and the approach flight segment flight trajectory.

[0159] In some embodiments, the predicted straight cruise segment module 72 is specifically configured to:

[0160] If the straight cruise section of the supersonic glider is powered level flight, then the flight speed V B , the flight time is t0, and the straight cruise range is S0 = V B×t0, the speed V at the end point U of the straight cruise segment U =V B , height H U =H B , inclination angle γ U =0;

[0161] Based on the straight cruise segment distance S0, the longitude and latitude of the end point U of the straight cruise segment is calculated (lon U ,lat U ).

[0162] In some embodiments, the predicted straight cruise segment module 72 is specifically configured to:

[0163] If the supersonic glide vehicle is in unpowered flight during the straight cruise phase, the straight cruise range S0 is calculated as follows:

[0164] S0=∫Vdt

[0165]

[0166]

[0167] D=0.5ρV 2 C D S w

[0168] L=0.5ρV 2 C L S w

[0169] Where V B is the flight speed of the aircraft at the initial point B, D is the aircraft resistance, L is the aircraft lift, C D C L are respectively the maximum lift-to-drag ratio angle of attack α of the aircraft opt The corresponding drag and lift coefficients, ρ is the air density, V is the flight speed of the aircraft, C D is the maximum lift-to-drag ratio angle of attack of the aircraft α opt The corresponding drag coefficient, S w is the geometric area of the aircraft wing, m is the mass of the aircraft, g is the acceleration of gravity, γ is the velocity inclination angle of the straight cruise phase, and the velocity of the end point U of the straight cruise phase is The height H of the end point U of the straight cruise segment U =H B -∫Hsinγdt, the track angle ψ at the end point U of the straight cruise segment U =ψ B , the inclination angle of the end point U of the straight cruise segment

[0170] Based on the straight cruise segment distance S0, the longitude and latitude of the end point U of the straight cruise segment is calculated (lon U ,lat U ).

[0171] In some embodiments, the arc turn segment prediction module 73 is specifically used to divide the arc turn segment into multiple sub-arc turn segments, determine the angle of each sub-arc turn segment based on the initial position, initial track angle and calibration circle tangent point position of each sub-arc turn segment, and predict each sub-arc turn segment in turn through small arc iteration to predict the complete arc turn segment flight trajectory.

[0172] Specifically, the following may be included:

[0173] Step 1: Get the initial position of the sub-arc turning segment as U and the initial track angle ψ U The end position of the heading calibration segment is E1, the route UE is established, and the route angle is calculated

[0174] Step 2: Calculate the angle of the sub-arc turning segment:

[0175] Step 3: Iteratively calculate the arc segment position and range based on the sub-arc turning segment, the position P1 at the end of the sub-arc turning segment, and the track angle at the end of the sub-arc turning segment.

[0176] Step 4: Establish a route between the end position P1 of the sub-arc turning segment and the end position E1 of the heading calibration segment, and determine the track angle

[0177] Step 5: Judgement Is it less than the preset threshold M? If so, it means that the aircraft track has been aligned with the target at the end of the arc, and the trajectory calculation of the arc turning segment is ended; if not, P1 is used as the initial position U of the aircraft, and the track angle at the end of the arc is As the initial track angle of the aircraft Then, the first to fifth steps are repeated to predict the next sub-arc turning segment.

[0178] In some embodiments, a return judgment module 77 (not shown in the drawings) is further included to obtain the altitude at the end of the arc turning segment based on the arc turning segment trajectory. Known ideal landing height After the arc turning section ends, the maximum gliding distance of the aircraft in the unpowered state is:

[0179]

[0180] Where K is the maximum lift-to-drag ratio of the aircraft; if S max >S2, it is considered that the flight path has enough energy to return successfully; otherwise, the energy is too low to complete the return, where S2 is the approach flight segment.

[0181] The implementation process, method and effect of the track and distance rapid estimation system of this embodiment are the same as those of the track and distance rapid estimation method described in the first embodiment, and will not be repeated here.

[0182] Example 3

[0183] The present invention relates to a computer-readable storage medium, which stores instructions. When the instructions are executed, a method for quickly estimating a trajectory and range is executed. The execution process, method, and effect of the method are the same as those of the method for quickly estimating a trajectory and range described in Example 1, and will not be repeated here.

[0184] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0185] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for rapid trajectory and range estimation, characterized in that: Used for trajectory and range estimation of supersonic glide vehicles, including: The trajectory of the supersonic glide vehicle is divided into a straight cruise segment, a circular turn segment, a heading calibration segment, and an approach flight segment. The straight cruise segment is the stage in which the supersonic glide vehicle flies in a straight line at supersonic speed from the time of flight to the end of the cruise segment. The circular turn segment is the stage in which the supersonic glide vehicle turns in an unpowered state to align with the tangent point of the calibration circle after the end of the straight flight. The heading calibration segment is the stage in which the supersonic glide vehicle flies from the end of the circular turn segment to the tangent point of the calibration circle. The approach flight segment is the final stage in which the supersonic glide vehicle aligns with the runway until the supersonic glide vehicle reaches the desired landing point. predicting the trajectory of the straight cruise segment based on the flight type, the flight type being powered level flight or unpowered flight; The arc turning segment is divided into a plurality of sub-arc turning segments, and based on the initial position, initial track angle, and position of the calibration circle tangent point of each sub-arc turning segment, the angle of each sub-arc turning segment is determined, and each sub-arc turning segment is sequentially predicted to predict the complete arc turning segment flight trajectory. The sequentially predicting each sub-arc turning segment to predict the complete arc turning segment flight trajectory specifically includes: Step 1: Get the initial position of the sub-arc turning segment as U and the initial track angle And the end position of the heading calibration segment is , establish routes , calculate the course angle ; Step 2: Calculate the angle of the sub-arc turning segment: ; Step 3: Iteratively calculate the arc segment position and range based on the sub-arc turning segment, and the position at the end of the sub-arc turning segment , the track angle at the end of the sub-arc turning segment ; Step 4: End position of the sub-arc turning segment End position of the heading calibration segment Establish a route and determine the track angle ; Step 5: Judgement Is it less than the preset threshold? If yes, it means that the aircraft track has been aligned with the target at the end of the arc, and the calculation of the arc turning segment trajectory is ended; if not, then As the initial position of the aircraft , track angle at the end of the arc As the initial track angle of the aircraft , then repeat the first to fifth steps to predict the next sub-arc turning segment; Based on the end point position of the circular arc turning segment, the track angle and the position of the calibration circle tangent point, the course trajectory of the heading calibration segment is predicted; Predicting the approach flight segment trajectory based on the calibration circle tangent point position and the ideal landing point of the aircraft; Based on the straight cruise segment flight trajectory, the circular turn segment flight trajectory, the heading calibration segment flight trajectory, and the approach flight segment flight trajectory, total flight trajectory data of the supersonic glide vehicle is obtained.

2. A method for rapid trajectory and range estimation according to claim 1, characterized in that: The predicting of the straight cruise segment trajectory based on the flight type specifically includes: If the straight cruise section of the supersonic glider is powered level flight, the flight speed , flight time , its straight-line cruising range is , the end point of the straight cruise segment Speed ,high ,inclination ; Based on the straight cruise range , calculate the end point of the straight cruise segment Latitude and longitude .

3. A method for rapid trajectory and range estimation according to claim 1, characterized in that: The predicting of the straight cruise segment trajectory based on the flight type specifically includes: If the supersonic glider is in unpowered flight during the straight cruise phase, the straight cruise range is The calculation is as follows: ； in The initial point of the aircraft Flight speed, is the aircraft drag, is the lift of the aircraft, are respectively the maximum lift-to-drag ratio angle of attack of the aircraft The corresponding drag and lift coefficients, is the air density, is the flight speed of the aircraft, is the geometric area of the aircraft wing, is the mass of the aircraft, is the acceleration due to gravity, is the speed inclination angle of the straight cruise stage, the end point of the straight cruise segment Speed , the end point of the straight cruise segment Height , the end point of the straight cruise segment Track angle , the end point of the straight cruise segment The inclination ; Based on the straight cruise range , calculate the end point of the straight cruise segment Latitude and longitude .

4. A method for rapid trajectory and range estimation according to claim 1, characterized in that: Also includes: The altitude at the end of the circular turning segment is obtained based on the trajectory of the circular turning segment. , the ideal landing point height is known , then the maximum gliding distance of the aircraft in the unpowered state after the arc turning section ends is: ； in is the maximum lift-to-drag ratio of the aircraft; if , then it is considered that the flight trajectory has enough energy to successfully return, otherwise the energy is too low to complete the return, where S2 is the approach flight segment.

5. A trajectory and range rapid estimation system, characterized in that: Used for trajectory and range estimation of supersonic glide vehicles, including: a range decomposition module, configured to divide the trajectory range of the supersonic glide vehicle into a straight cruise segment, a circular turn segment, a heading calibration segment, and an approach flight segment, wherein the straight cruise segment is the stage in which the supersonic glide vehicle flies in a straight line at supersonic speed from the time of flight to the end of the cruise segment; the circular turn segment is the stage in which the supersonic glide vehicle turns in an unpowered state to align with a tangent point of a calibration circle after the end of the straight flight; the heading calibration segment is the stage in which the supersonic glide vehicle flies from the end of the circular turn segment to the tangent point of the calibration circle; and the approach flight segment is the final stage in which the supersonic glide vehicle aligns with the runway until the supersonic glide vehicle reaches an ideal landing point. A straight cruise segment prediction module is used to predict the trajectory of the straight cruise segment based on the flight type, where the flight type is powered level flight or unpowered flight; The arc turning segment prediction module is used to divide the arc turning segment into multiple sub-arc turning segments, determine the angle of each sub-arc turning segment based on the initial position, initial track angle and the position of the calibration circle tangent point of each sub-arc turning segment, and predict each sub-arc turning segment in sequence to predict the complete arc turning segment flight trajectory. The sequential prediction of each sub-arc turning segment to predict the complete arc turning segment flight trajectory specifically includes: Step 1: Get the initial position of the sub-arc turning segment as U and the initial track angle And the end position of the heading calibration segment is , establish routes , calculate the course angle ; Step 2: Calculate the angle of the sub-arc turning segment: ; Step 3: Iteratively calculate the arc segment position and range based on the sub-arc turning segment, and the position at the end of the sub-arc turning segment , the track angle at the end of the sub-arc turning segment ; Step 4: End position of the sub-arc turning segment End position of the heading calibration segment Establish a route and determine the track angle ; Step 5: Judgement Is it less than the preset threshold? If yes, it means that the aircraft track has been aligned with the target at the end of the arc, and the calculation of the arc turning segment trajectory is ended; if not, then As the initial position of the aircraft , track angle at the end of the arc As the initial track angle of the aircraft , then repeat the first to fifth steps to predict the next sub-arc turning segment; A heading calibration segment prediction module is used to predict the trajectory of the heading calibration segment based on the end point position of the circular arc turning segment, the track angle, and the position of the calibration circle tangent point; An approach flight segment prediction module is configured to predict the approach flight segment trajectory based on the calibration circle tangent point position and the ideal landing point of the aircraft; and A total flight trajectory generation module is used to obtain total flight trajectory data of the supersonic glide vehicle based on the straight cruise segment flight trajectory, the arc turning segment flight trajectory, the heading calibration segment flight trajectory and the approach flight segment flight trajectory.

6. The trajectory and range rapid estimation system according to claim 5, characterized in that: The predicted straight cruise segment module is specifically used to: If the straight cruise section of the supersonic glider is powered level flight, the flight speed , flight time , its straight-line cruising range is , the end point of the straight cruise segment Speed ,high ,inclination ; Based on the straight cruise range , calculate the end point of the straight cruise segment Latitude and longitude .

7. The trajectory and range rapid estimation system according to claim 5, characterized in that: The predicted straight cruise segment module is specifically used to: If the supersonic glider is in unpowered flight during the straight cruise phase, the straight cruise range is The calculation is as follows: ； in The initial point of the aircraft Flight speed, is the aircraft drag, is the lift of the aircraft, are respectively the maximum lift-to-drag ratio angle of attack of the aircraft The corresponding drag and lift coefficients, is the air density, is the flight speed of the aircraft, is the maximum lift-to-drag ratio angle of attack of the aircraft The corresponding drag coefficient, is the geometric area of the aircraft wing, is the mass of the aircraft, is the acceleration due to gravity, is the speed inclination angle of the straight cruise stage, the end point of the straight cruise segment Speed , the end point of the straight cruise segment Height , the end point of the straight cruise segment Track angle , the end point of the straight cruise segment The inclination ; Based on the straight cruise range , calculate the end point of the straight cruise segment Latitude and longitude .

8. The trajectory and range rapid estimation system according to claim 5, characterized in that: The arc turning segment prediction module is specifically used to divide the arc turning segment into multiple sub-arc turning segments, determine the angle of each sub-arc turning segment based on the initial position, initial track angle and calibration circle tangent point position of each sub-arc turning segment, and predict each sub-arc turning segment in turn through small arc iteration to predict the complete arc turning segment flight trajectory.

9. The trajectory and range rapid estimation system according to claim 5, characterized in that: It also includes a return judgment module for obtaining the altitude at the end of the circular arc turning segment based on the trajectory of the circular arc turning segment. , the ideal landing point height is known , then the maximum gliding distance of the aircraft in the unpowered state after the arc turning section ends is: ； in is the maximum lift-to-drag ratio of the aircraft; if , then it is considered that the flight trajectory has enough energy to successfully return, otherwise the energy is too low to complete the return, where S2 is the approach flight segment.

10. A computer-readable storage medium, characterized in that: The storage medium stores instructions, which, when executed, execute a method for quickly estimating a trajectory and range according to any one of claims 1 to 4.

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