A DogLeg-based escort search and rescue calculation method and system

Abstract

The present invention discloses a convoy search and rescue calculation method based on DogLeg cooperation. The first step: Obtain the information of the rescue aircraft of the search and rescue aircraft. The second step: Obtain the information of the auxiliary aircraft, and set the value of the DogLeg corner θ in the accompanying flight path of the auxiliary aircraft. The third step: Set the cooperation constraints between the search and rescue aircraft and the auxiliary aircraft. The fourth step: Set the turning speed V1 of the auxiliary aircraft flying at a constant speed within the arc corner, and the average speed V2 of the auxiliary aircraft flying along a straight line. The fifth step: Construct the time cooperation relational expression f(t)=0 between the search and rescue aircraft and the auxiliary aircraft. The sixth step: Construct the route cooperation relational expression f(x)=0 between the search and rescue aircraft and the auxiliary aircraft. The seventh step: Obtain the relative position relationship between the search and rescue aircraft and the auxiliary aircraft. The purpose of the present invention is to provide a convoy search and rescue calculation method and system based on DogLeg cooperation that can timely and accurately plan the flight routes of helicopters and auxiliary aircraft.

Description

Technical Field

[0001] The present invention relates to the field of search and rescue, and in particular to a DogLeg collaboration-based escort search and rescue calculation method and system thereof. Background Art

[0002] In existing search and rescue activities, helicopters are widely used in search and rescue due to their advantages of fast response speed, strong terrain adaptability, and wide rescue range. However, helicopters are limited by their flight characteristics and are prone to poor navigation due to high maneuverability, error accumulation, multiple signal interference sources, and harsh search and rescue environment. With the development of technology, the technology of auxiliary aircraft that can perform escort missions has made major breakthroughs, making it possible to navigate helicopters when performing search and rescue missions. In the field of search and rescue, escort refers to the auxiliary functions of auxiliary aircraft to provide navigation information and other auxiliary functions to helicopters performing missions, and plays an extremely important role in daily flights and flight activities such as search and rescue.

[0003] In order to avoid obstacles and facilitate navigation during flight, the accompanying flight path of the auxiliary aircraft is usually a non-linear flight path, and the accompanying flight path is usually composed of several straight lines and several arcs connected at intervals. This flight path is very similar to a dog's thigh, so it is called a DogLeg path in the industry. However, the existing escort based on DogLeg collaboration has the following problems: due to different platforms, different flight characteristics, information synchronization and other issues, it is difficult to simultaneously calculate, plan, coordinate and control the search and rescue path of the helicopter performing the search and rescue mission and the accompanying flight path of the auxiliary aircraft escorting it. In addition, the distance between the helicopter and the auxiliary aircraft is constantly changing during the escort process, which can easily lead to escort failure. If the distance between the helicopter and the auxiliary aircraft is too far, the auxiliary aircraft cannot effectively provide the helicopter with navigation information; if the distance between the helicopter and the auxiliary aircraft is too close, a flight accident is likely to occur between the helicopter and the auxiliary aircraft. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a DogLeg collaborative escort search and rescue calculation method and system thereof that can timely and accurately plan the flight routes of helicopters and auxiliary aircraft.

[0005] Technical solution: The present invention provides a DogLeg collaborative escort search and rescue calculation method, the steps are as follows:

[0006] Step 1: Get the rescue aircraft information of the search and rescue aircraft;

[0007] Step 2: Get the aircraft information of the auxiliary aircraft, and set the value of the DogLeg angle θ in the accompanying flight path of the auxiliary aircraft (the DogLeg angle refers to the acute angle between the straight flight segment of the auxiliary aircraft and the flight path of the search and rescue flight);

[0008] Step 3: Setting the coordination constraints between the search and rescue aircraft and the auxiliary aircraft (the coordination constraints include information such as the relative height difference H between the search and rescue aircraft and the auxiliary aircraft, and the lateral distance difference Δ projected to the flight direction of the search and rescue aircraft);

[0009] Step 4: Set the average speed V1 of the auxiliary aircraft flying along a straight line, and the turning speed V2 of the auxiliary aircraft flying at a uniform speed in the corner of the arc;

[0010] Step 5: Construct the time coordination relationship between the search and rescue aircraft and the auxiliary aircraft f(t)=0;

[0011] Step 6: Construct the route coordination relationship between the search and rescue aircraft and the auxiliary aircraft f(x)=0;

[0012] Step 7: Combine the time coordination relationship f(t)=0, the route coordination relationship f(x)=0, the relative height difference H between the search and rescue aircraft and the auxiliary aircraft, and the flight envelope of the auxiliary aircraft to obtain the relative position relationship between the search and rescue aircraft and the auxiliary aircraft.

[0013] Furthermore, the steps of obtaining the rescue machine information in the first step are as follows:

[0014] (A) The model or batch number of the search and rescue aircraft entered;

[0015] (B) If the input is the model of a search and rescue aircraft, the cruising flight speed range, flight altitude range, flight direction and other rescue aircraft information associated with the search and rescue aircraft in the database will be automatically captured; if the input is the batch number of the search and rescue aircraft, the model of the search and rescue aircraft corresponding to the batch number will be queried through the database, and then the cruising flight speed range, flight altitude range, flight direction and other rescue aircraft information associated with the search and rescue aircraft will be captured.

[0016] Furthermore, the aircraft information described in the second step includes the model and flight envelope of the auxiliary aircraft. The flight envelope refers to the performance parameter limits that the auxiliary aircraft can withstand within the safe operating range, including the boundary values ​​of key parameters such as the speed, altitude, load, attitude, overload (G force), etc.

[0017] Furthermore, the DogLeg corner θ in the second step is 30° to 45°.

[0018] Furthermore, in the fifth step, the steps of constructing the time coordination relationship f(t)=0 between the search and rescue aircraft and the auxiliary aircraft are as follows:

[0019] (A) Calculate the rescue time t0 when the rescue aircraft flies over the lateral distance difference Δ in a steady flight mode (i.e., cruising along a straight line at a constant speed);

[0020] (B) Decompose the accompanying flight path into a number of straight lines and a number of arcs, calculate the time t1 that the auxiliary aircraft takes to fly along each straight line and the time t2 that the auxiliary aircraft takes to fly along each arc, and then calculate the total flight time ∑t = ∑t1 + ∑t2 of the auxiliary aircraft;

[0021] (C) Construct ∑t = t0.

[0022] Furthermore, in the sixth step, the steps of constructing the route coordination relationship f(x)=0 between the search and rescue aircraft and the auxiliary aircraft are as follows:

[0023] (A) Determine the value of the lateral distance difference Δ;

[0024] (B) Decompose the accompanying flight path into a number of straight lines and a number of arcs, calculate the distance S1 projected from the auxiliary aircraft to the flight direction of the search and rescue aircraft when flying along each straight line and the distance S2 projected from the auxiliary aircraft to the flight direction of the search and rescue aircraft when flying along each arc, and then calculate the total flight distance ∑S = ∑S1 + ∑S2;

[0025] (C) Construct ∑S = Δ.

[0026] A DogLeg collaborative escort search and rescue computing system comprises a display module, a computing module and a database. The computing module has a built-in escort search and rescue computing method. The computing module is bidirectionally connected to the database and the computing module is bidirectionally connected to the display module. The display module is used to visually present the results of the computing module.

[0027] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. The present invention can simultaneously and compatibly calculate the results of multiple search and rescue aircraft and auxiliary aircraft with different platforms and different flight characteristics to coordinate search and rescue activities, and visualize the results, which can support commanders to quickly determine the coordinated flight strategy of search and rescue aircraft and auxiliary aircraft; 2. According to the performance of the search and rescue aircraft, the present invention can quickly calculate and analyze the boundary speed of the escort aircraft, and assist commanders in selecting auxiliary aircraft that is more matched with the search and rescue aircraft; 3. It can simultaneously calculate multiple numerical solutions for commanders to make optimal decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the process of the present invention.

[0029] Figure 2 FIG. 4 is a hardware schematic diagram of the present invention.

[0030] Figure 3 It is a schematic diagram of the flight paths of the search and rescue aircraft and the auxiliary aircraft projected to the same horizontal plane based on DogLeg collaboration in an embodiment of the present invention.

[0031] Figure 4 This is an enlarged view of a cycle after the search and rescue aircraft and the auxiliary aircraft based on DogLeg collaboration in an embodiment of the present invention are projected onto the same horizontal plane.

[0032] Figure 5 It is a schematic diagram of the search and rescue aircraft and the auxiliary aircraft flying at different altitudes in an embodiment of the present invention.

[0033] Among them: 1. Display module; 2. Computing module; 3. Database; 4. Auxiliary aircraft; 5. Search and rescue aircraft. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0035] like Figure 2 As shown, the present invention shows an escort search and rescue computing system based on DogLeg collaboration, including a display module 1, a computing module 2 and a database 3, the computing module 2 has a built-in escort search and rescue computing method, the computing module 2 is bidirectionally connected to the database 3, the computing module 2 is bidirectionally connected to the display module 1, and the display module 1 is used to visualize the results of the computing module 2.

[0036] like Figure 1~Figure 4 The escort search and rescue calculation method based on DogLeg collaboration is shown, and the steps are as follows:

[0037] Step 1: Obtain rescue aircraft information of search and rescue aircraft 5. The specific sub-steps are as follows:

[0038] (A) The model or batch number of the search and rescue aircraft5 entered;

[0039] (B) If the input is the model of the search and rescue aircraft 5, the cruising flight speed range, flight altitude range, flight direction and other rescue aircraft information associated with the search and rescue aircraft 5 in the database are automatically captured; if the input is the batch number of the search and rescue aircraft 5, the model of the search and rescue aircraft 5 corresponding to the batch number is queried through the database, and then the cruising flight speed range, flight altitude range, flight direction and other rescue aircraft information associated with the search and rescue aircraft 5 are captured;

[0040] Step 2: Obtain the aircraft information of the auxiliary aircraft 4, including the model and flight envelope of the auxiliary aircraft 4, and set the value of the DogLeg angle in the accompanying flight path of the auxiliary aircraft 4. The DogLeg angle refers to the acute angle θ between the straight flight segment of the auxiliary aircraft 4 and the flight path of the search and rescue flight. The angle of the DogLeg angle θ is 30°~45°;

[0041] Step 3: Set the coordination constraints between the search and rescue aircraft 5 and the auxiliary aircraft 4. The coordination constraints include the relative height difference H between the search and rescue aircraft 5 and the auxiliary aircraft 4, and the lateral distance difference Δ projected to the flight direction of the search and rescue aircraft 5. To prevent the auxiliary aircraft 4 from being affected by the downwash of the search and rescue aircraft 5, the flight altitude of the auxiliary aircraft 4 is 300 to 500 feet (i.e., 90 to 150 meters) higher than that of the search and rescue aircraft 5, that is, the range of H is 300 to 500 feet (i.e., 90 to 150 meters); considering factors such as navigation efficiency, escort efficiency, and safety, after the positions of the search and rescue aircraft 5 and the auxiliary aircraft 4 are projected to the flight direction of the search and rescue aircraft 5, the position of the auxiliary aircraft 4 is 0.5 to 3 miles (i.e., 0.8 to 4.8 kilometers) behind the search and rescue aircraft 5, that is, the range of the lateral distance difference Δ is 0.5 to 3 miles (i.e., 0.8 to 4.8 kilometers);

[0042] Step 4: setting the average speed V1 of the auxiliary aircraft 4 flying along a straight line, and the turning speed V2 of the auxiliary aircraft 4 flying at a uniform speed in the arc corner;

[0043] Step 5: Construct the time coordination relationship f(t)=0 between the search and rescue aircraft 5 and the auxiliary aircraft 4. The sub-steps are as follows:

[0044] (A) Calculating the rescue time t0 for the rescue aircraft 5 to fly over the lateral distance difference Δ in a steady flight manner (i.e., flying along a straight line at a constant speed);

[0045] (B) decomposing the accompanying flight path into a plurality of straight lines and a plurality of arcs, respectively calculating the time t1 that the auxiliary aircraft 4 takes to fly along each straight line and the time t2 that the auxiliary aircraft 4 takes to fly along each arc, and then calculating the total flight time ∑t = ∑t1 + ∑t2 of the auxiliary aircraft 4;

[0046] (C) Construct ∑t = t0;

[0047] Step 6: Construct the route coordination relationship between the search and rescue aircraft 5 and the auxiliary aircraft 4, f(x)=0, and the sub-steps are as follows:

[0048] (A) Determine the value of the lateral distance difference Δ;

[0049] (B) Decomposing the accompanying flight path into a number of straight lines and a number of arcs, respectively calculating the distance S1 of the auxiliary aircraft 4 projected to the flight direction of the search and rescue aircraft 5 when flying along each straight line and the distance S2 of the auxiliary aircraft 4 projected to the flight direction of the search and rescue aircraft 5 when flying along each arc, and then calculating the total flight distance ∑S = ∑S1 + ∑S2 of the auxiliary aircraft 4 projected to the flight direction of the search and rescue aircraft 5;

[0050] (C) Construct ∑S = Δ;

[0051] Step 7: Combine the time coordination relationship f(t)=0, the route coordination relationship f(x)=0, the relative height difference H between the search and rescue aircraft 5 and the auxiliary aircraft 4, and the flight envelope of the auxiliary aircraft 4 to obtain the relative position relationship between the search and rescue aircraft 5 and the auxiliary aircraft 4.

[0052] Example 1

[0053] An example is given for explanation by taking one cycle (ie, the auxiliary aircraft 4 flying two straight lines and one arc above the search and rescue aircraft 5 ).

[0054] Step 1: Input the model of the search and rescue aircraft 5, grab the rescue aircraft information such as the cruising flight speed range, flight altitude range, flight heading, etc. associated with the search and rescue aircraft 5 in the database, and set the cruising flight speed of the search and rescue aircraft 5 to 300 kilometers per hour and the flight altitude to 3000 meters above sea level;

[0055] Step 2: Obtain the aircraft information of the auxiliary aircraft 4, and obtain that the safe flight speed of the auxiliary aircraft 4 is 350 km / h~1440 km / h, the flight altitude limit is 15,000 meters, and the DogLeg angle θ in the accompanying flight path of the auxiliary aircraft 4 is set to 45°, and the speed of the auxiliary aircraft 4 is a uniform speed flight in a straight line and an arc;

[0056] Step 3: Set the coordination constraint between the search and rescue aircraft 5 and the auxiliary aircraft 4. In the coordination constraint, the relative height difference H between the search and rescue aircraft 5 and the auxiliary aircraft 4 is 300 feet (90 meters), that is, the height of the auxiliary aircraft 4 is 90 meters higher than the search and rescue aircraft, and the lateral distance difference Δ projected to the flight direction of the search and rescue aircraft 5 is 0.5 miles (△ = 0.8 kilometers), that is, the position of the auxiliary aircraft 4 is projected to the flight direction of the search and rescue aircraft 5, and is 0.8 kilometers behind the search and rescue aircraft 5;

[0057] Step 4: Set the speed V1 of the auxiliary aircraft 4 flying along the straight line, and the turning speed V2 of the auxiliary aircraft 4 flying at a uniform speed in the arc corner. Since the speed of the auxiliary aircraft 4 is a uniform speed flight in the straight line and the arc, V1=V2;

[0058] Step 5: Construct the time coordination relationship f(t)=0 between the search and rescue aircraft 5 and the auxiliary aircraft 4. The sub-steps are as follows:

[0059] (A) The rescue time t0 is set for the rescue aircraft 5 to fly along a straight line at a uniform speed over the lateral distance difference Δ;

[0060] (B) Decompose the accompanying flight path into two straight lines and one arc, and calculate the total flight time of the auxiliary aircraft 4 ∑t = 2×t1 +t2;

[0061] (C) After constructing ∑t = t0, we get 2×t1 + t2 = t0 = 0.8 / 300;

[0062] Step 6: Construct the route coordination relationship between the search and rescue aircraft 5 and the auxiliary aircraft 4, f(x)=0, and the sub-steps are as follows:

[0063] (A) Determine the lateral distance difference Δ = 0.8 km;

[0064] (B) Decompose the accompanying flight path into two straight lines and one arc, and calculate the distance S1 of the auxiliary aircraft 4 projected to the flight direction of the search and rescue aircraft 5 when flying along each straight line and the distance S2 of the auxiliary aircraft 4 projected to the flight direction of the search and rescue aircraft 5 when flying along each arc, S1 = L × cosθ = L × cos45°, S2 = sin(90°-θ )×R×2 = sin45°×R×2, where , , then the total flight distance projected by the auxiliary aircraft 4 to the flight direction of the search and rescue aircraft 5 ∑S = 2×S1 +S2;

[0065] (C) Construct ∑S = 2×S1 +S2 = Δ = 0.8;

[0066] Step 7: Combine the time coordination equation f(t)=0 and the route coordination equation f(x)=0, that is:

[0067] ,

[0068] The flight speed range of the auxiliary aircraft 4 is obtained as follows: 333.1 km / h ≤ V1 ≤ 424.2 km / h;

[0069] Once again, V1 is combined with the relative height difference H between the search and rescue aircraft 5 and the auxiliary aircraft 4, and the flight envelope of the auxiliary aircraft 4 to obtain:

[0070] 350 km / h ≤ V1 ≤ 424.2 km / h, and the auxiliary aircraft 4 is at an altitude higher than the search and rescue aircraft by 90 meters;

[0071] Different values ​​are selected within the range of V1 as needed, for example, the values ​​of V1 are respectively taken as: 380 km / h, 400 km / h, 410 km / h, and the flight trajectories of the search and rescue aircraft 5 and the auxiliary aircraft 4 are obtained.

[0072] The calculated flight trajectories of the search and rescue aircraft 5 and the auxiliary aircraft 4 are visually presented on the display module 1 .

[0073] Example 2

[0074] An example is given for explanation by taking one cycle (ie, the auxiliary aircraft 4 flying two straight lines and one arc above the search and rescue aircraft 5 ).

[0075] Step 1: Input the model of the search and rescue aircraft 5, grab the rescue aircraft information such as the cruising speed range, flight altitude range, flight heading, etc. associated with the search and rescue aircraft 5 in the database, and set the cruising speed of the search and rescue aircraft 5 to 400 kilometers per hour and the flight altitude to 3,500 meters above sea level;

[0076] Step 2: Obtain the aircraft information of the auxiliary aircraft 4, and obtain that the safe flight speed of the auxiliary aircraft 4 is 360 km / h~1500 km / h, the flight altitude limit is 15000 meters, and the DogLeg angle θ in the accompanying flight path of the auxiliary aircraft 4 is set to 40°. The auxiliary aircraft 4 performs variable speed flight in a straight line, and the speed of the auxiliary aircraft 4 is uniform in an arc.

[0077] Step 3: Set the coordination constraint between the search and rescue aircraft 5 and the auxiliary aircraft 4. In the coordination constraint, the relative height difference H = 450 feet (i.e. 137 meters) between the search and rescue aircraft 5 and the auxiliary aircraft 4, that is, the height of the auxiliary aircraft 4 is 137 meters higher than the search and rescue aircraft, and the lateral distance difference Δ = 1 mile (i.e. △ = 1.6 kilometers) projected to the flight direction of the search and rescue aircraft 5, that is, the position of the auxiliary aircraft 4 is projected to the flight direction of the search and rescue aircraft 5, and is 1.6 kilometers behind the search and rescue aircraft 5;

[0078] Step 4: Set the speed V1 of the auxiliary aircraft 4 flying along a straight line, and the turning speed V2 of the auxiliary aircraft 4 flying at a uniform speed in the arc corner;

[0079] Step 5: Construct the time coordination relationship f(t)=0 between the search and rescue aircraft 5 and the auxiliary aircraft 4. The sub-steps are as follows:

[0080] (A) The rescue time t0 is set for the rescue aircraft 5 to fly along a straight line at a uniform speed over the lateral distance difference Δ;

[0081] (B) Decompose the accompanying flight path into two straight lines and one arc, and calculate the total flight time of the auxiliary aircraft 4 ∑t = 2×t1 +t2;

[0082] (C) After constructing ∑t = t0, we get 2×t1 + t2 = t0 = 1.6 / 400;

[0083] Step 6: Construct the route coordination relationship between the search and rescue aircraft 5 and the auxiliary aircraft 4, f(x)=0, and the sub-steps are as follows:

[0084] (A) Determine the lateral distance difference Δ = 1.6 km;

[0085] (B) Decompose the accompanying flight path into two straight lines and one arc, and calculate the distance S1 projected from the auxiliary aircraft 4 to the flight direction of the search and rescue aircraft 5 when flying along each straight line and the distance S2 projected from the auxiliary aircraft 4 to the flight direction of the search and rescue aircraft 5 when flying along each arc, S1 = L × cosθ = L × cos40°, S2 = sin(90°-θ )×R×2 = sin50°×R×2, where , , then the total flight distance projected by the auxiliary aircraft 4 to the flight direction of the search and rescue aircraft 5 ∑S = 2×S1 +S2;

[0086] (C) Construct ∑S = 2×S1 +S2 = Δ = 1.6;

[0087] Step 7: Combine the time coordination equation f(t)=0 and the route coordination equation f(x)=0, that is:

[0088] ,

[0089] The flight speed range of the auxiliary aircraft 4 is obtained as follows: 345 km / h ≤ V1 ≤ 450.1 km / h;

[0090] Once again, V1 is combined with the relative height difference H between the search and rescue aircraft 5 and the auxiliary aircraft 4, and the flight envelope of the auxiliary aircraft 4 to obtain:

[0091] 360 km / h ≤ V1 ≤ 450.1 km / h, and the altitude of the auxiliary aircraft 4 is 137 meters higher than the search and rescue aircraft;

[0092] Different values ​​are selected within the range of V1 as needed, for example, the values ​​of V1 are respectively taken as: 370 km / h, 400 km / h, 420 km / h, and the flight trajectories of the search and rescue aircraft 5 and the auxiliary aircraft 4 are obtained.

[0093] The calculated flight trajectories of the search and rescue aircraft 5 and the auxiliary aircraft 4 are visually presented on the display module 1 .

Claims

1. A DogLeg collaborative escort search and rescue calculation method, the steps are as follows: Step 1: Get the rescue aircraft information of the search and rescue aircraft; Step 2: Get the aircraft information of the auxiliary aircraft and set the value of the DogLeg angle θ in the accompanying flight path of the auxiliary aircraft; Step 3: Setting the coordination constraints between the search and rescue aircraft and the auxiliary aircraft, wherein the coordination constraints include the relative height difference H between the search and rescue aircraft and the auxiliary aircraft, and the lateral distance difference Δ projected to the flight direction of the search and rescue aircraft; Step 4: Set the average speed V1 of the auxiliary aircraft flying along a straight line, and the turning speed V2 of the auxiliary aircraft flying at a uniform speed in the corner of the arc; Step 5: Construct the time coordination relationship between the search and rescue aircraft and the auxiliary aircraft f(t)=0, the steps are as follows: (A) Calculate the rescue time t0 when the rescue aircraft flies over the lateral distance difference Δ in a steady flight mode; (B) Decompose the accompanying flight path into a number of straight lines and a number of arcs, calculate the time t1 that the auxiliary aircraft takes to fly along each straight line and the time t2 that the auxiliary aircraft takes to fly along each arc, and then calculate the total flight time ∑t = ∑t1+∑t2 of the auxiliary aircraft; (C) Construct ∑t = t0; Step 6: Construct the route coordination relationship between the search and rescue aircraft and the auxiliary aircraft f(x)=0, the steps are as follows: (A) Determine the value of the lateral distance difference Δ; (B) Decompose the accompanying flight path into a number of straight lines and a number of arcs, calculate the distance S1 projected from the auxiliary aircraft to the flight direction of the search and rescue aircraft when flying along each straight line and the distance S2 projected from the auxiliary aircraft to the flight direction of the search and rescue aircraft when flying along each arc, and then calculate the total flight distance ∑S = ∑S1 + ∑S2; (C) Construct ∑S = Δ; Step 7: Combine the time coordination relationship f(t)=0, the route coordination relationship f(x)=0, the relative height difference H between the search and rescue aircraft and the auxiliary aircraft, and the flight envelope of the auxiliary aircraft to obtain the relative position relationship between the search and rescue aircraft and the auxiliary aircraft.

2. The DogLeg collaborative escort search and rescue calculation method according to claim 1, characterized in that: The steps for obtaining the rescue machine information in the first step are as follows: (A) The model or batch number of the search and rescue aircraft entered; (B) If the input is the model of a search and rescue aircraft, the patrol rescue aircraft information associated with the search and rescue aircraft in the database will be automatically captured; if the input is the batch number of the search and rescue aircraft, the model of the search and rescue aircraft corresponding to the batch number will be queried through the database, and then the rescue aircraft information associated with the search and rescue aircraft will be captured.

3. The DogLeg collaborative escort search and rescue calculation method according to claim 1, characterized in that: The aircraft information described in the second step includes the model and flight envelope of the auxiliary aircraft.

4. The DogLeg collaborative escort search and rescue calculation method according to claim 1, characterized in that: The DogLeg corner θ in the second step is 30° to 45°.

5. A DogLeg collaborative escort search and rescue computing system, characterized by: It includes a display module, a calculation module and a database. The calculation module is equipped with the escort search and rescue calculation method described in any one of claims 1 to 4. The calculation module is bidirectionally connected to the database, and the calculation module is bidirectionally connected to the display module. The display module is used to visually present the results of the calculation module.

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