Helicopter flight attitude tracking control method and system based on explicit model prediction

Abstract

The present application provides a helicopter flight attitude tracking control method and system based on explicit model prediction, which extracts the track change characteristics of the target helicopter during flight; extracts the time-related components and space-related components of each attitude node from the flight attitude record of the target helicopter, controls the attitude of the attitude node according to the time-related components and space-related components corresponding to the attitude node in combination with the track change characteristics to obtain the attitude control index of the target helicopter at each attitude node; determines the attitude bias information of the target helicopter based on all the attitude control indexes; and adjusts the flight attitude of the target helicopter based on the attitude error cost determined by the attitude bias information. The above scheme tracks and adjusts based on the attitude error cost, and can achieve control of the flight attitude of the target helicopter under the influence of multi-dimensional factors, thereby improving the stability of the flight attitude of the target helicopter.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft attitude control, and more specifically, to a helicopter flight attitude tracking control method and system based on explicit model prediction. Background Art

[0002] Aircraft attitude control is an important component of achieving flight trajectory tracking. Aircraft attitude control is crucial to ensuring the stability of the aircraft and its ability to perform complex flight missions. By accurately controlling the aircraft's attitude, high-precision control of the aircraft's position and speed can be achieved, thereby achieving accurate trajectory tracking. Aircraft attitude control is a key technology in the fields of aerospace and automation, and is widely used in scenarios such as aircraft navigation, missile guidance, and drone control. Its core task is to ensure that the aircraft can accurately fly along a predetermined trajectory under effective adjustment of its flight attitude during the execution of its mission, so as to reach the target position or complete a specific task.

[0003] In existing aircraft attitude control, aircraft attitude control mainly changes its attitude by changing the angle of the control surface to rotate the aircraft around three axes (lateral, longitudinal and vertical axes). Modern aircraft also use flight control computers to automatically adjust the control surfaces to maintain or change the attitude to ensure flight stability and maneuverability. However, in helicopter flight attitude tracking control, as time goes on, the target helicopter will be affected by multi-dimensional factors during the flight. For example, it is affected by flight environment factors (wind speed, wind direction and airflow) and time and space delays (deviations between the actual flight time of the helicopter and the scheduled time, and deviations between the actual flight position and the scheduled position). This causes the flight attitude of the target helicopter to have time and space deviation losses, resulting in a decrease in the stability of the target helicopter's flight attitude. Therefore, how to achieve regulation of the target helicopter's flight attitude under the influence of multi-dimensional factors, thereby improving the stability of the target helicopter's flight attitude, has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a helicopter flight attitude tracking control method and system based on explicit model prediction, which can realize the regulation of the flight attitude of a target helicopter under the influence of multi-dimensional factors, thereby improving the stability of the flight attitude of the target helicopter.

[0005] In a first aspect, the present application provides a helicopter flight attitude tracking control method based on explicit model prediction, comprising the following steps:

[0006] Obtain the flight attitude record of the target helicopter and extract the track change characteristics of the target helicopter during flight;

[0007] Extracting the time-related component and the space-related component of each attitude node when the trajectory baseline is used as the flight reference from the flight attitude record, for each attitude node, adjusting the attitude of the target helicopter according to the time-related component and the space-related component corresponding to the attitude node combined with the track change characteristics, and then obtaining the attitude control index of the target helicopter at each attitude node;

[0008] Based on the attitude control index at each attitude node, multiple yaw nodes after the target helicopter performs attitude control are extracted from all attitude nodes;

[0009] Determine the yaw state of each yaw node when tracking the flight attitude of the target helicopter, perform attitude tracking verification on the target helicopter based on all yaw states and attitude control indexes at each attitude node, and then obtain attitude bias information of the target helicopter;

[0010] The attitude error cost of the target helicopter in flight is extracted from the attitude bias information based on the pre-trained attitude explicit model, and then the flight attitude of the target helicopter is adjusted according to the attitude error cost.

[0011] In some embodiments, extracting the track change characteristics of the target helicopter during flight specifically includes:

[0012] Determine the flight response coefficient of the target helicopter in flight state;

[0013] The track change characteristics of the target helicopter during flight are determined based on the flight response coefficient and the multi-source track information of the target helicopter.

[0014] In some embodiments, determining the flight response coefficient of the target helicopter in the flight state specifically includes:

[0015] Acquire flight altitude data of the target helicopter as it flies along the flight trajectory;

[0016] Performing trend fitting on the flight altitude data to obtain a flight trend fitting curve;

[0017] The flight response coefficient of the target helicopter in the flight state is obtained by extracting the flight trend fitting curve.

[0018] In some embodiments, extracting the time-related component and the space-related component of each attitude node from the flight attitude record with the trajectory baseline as the flight reference specifically includes:

[0019] Obtain the trajectory baseline of the target helicopter;

[0020] Obtaining the timestamp, pitch attitude angle and spatial position corresponding to each attitude node in the flight attitude record;

[0021] Selecting an attitude node as a selected attitude node, extracting a timestamp at the same pitch attitude angle as the selected attitude node from the trajectory baseline, and determining a time correlation component of the selected attitude node when the trajectory baseline is used as a flight reference by using the extracted timestamp and the timestamp corresponding to the selected attitude node;

[0022] Extracting the spatial position at the same time stamp as the selected attitude node from the trajectory baseline, and determining the spatial correlation component of the selected attitude node when the trajectory baseline is used as a flight reference based on the extracted spatial position and the spatial position corresponding to the selected attitude node;

[0023] Continue to determine the time-related components and space-related components of the remaining attitude nodes when the trajectory baseline is used as the flight reference.

[0024] In some embodiments, extracting multiple yaw nodes after attitude control of the target helicopter from all attitude nodes based on the attitude control index at each attitude node specifically includes:

[0025] Compare the posture control index at each posture node with the preset posture control index, and extract all posture control indexes greater than the preset posture control index;

[0026] The attitude nodes corresponding to the extracted attitude control indexes are used as yaw nodes of the target helicopter after attitude control, thereby obtaining multiple yaw nodes of the target helicopter after attitude control.

[0027] In some embodiments, performing attitude tracking verification on the target helicopter based on all yaw states and attitude control indexes at each attitude node, and then obtaining attitude bias information of the target helicopter specifically includes:

[0028] The flight attitude loss of the target helicopter is determined by the attitude control index at each attitude node;

[0029] Determine the target helicopter's attitude tracking loss margin;

[0030] Determining the confidence tracking loss degree of the target helicopter by using the flight attitude loss amount and the attitude tracking loss margin;

[0031] Each yaw state is verified by the confidence tracking loss degree, and then all flight attitude offsets are obtained. All flight attitude offsets are combined to obtain attitude offset information of the target helicopter.

[0032] In some embodiments, the posture explicit model is a mathematical model used for posture estimation and analysis.

[0033] In a second aspect, the present application provides a helicopter flight attitude tracking control system based on explicit model prediction, comprising:

[0034] An acquisition module is used to acquire the flight attitude record of the target helicopter and extract the track change characteristics of the target helicopter during flight;

[0035] A processing module is used to extract the time-related component and the space-related component of each attitude node when the trajectory baseline is used as the flight reference from the flight attitude record, and for each attitude node, the attitude of the target helicopter is controlled according to the time-related component and the space-related component corresponding to the attitude node combined with the track change characteristics, so as to obtain the attitude control index of the target helicopter at each attitude node;

[0036] The processing module is further used to extract multiple yaw nodes after the target helicopter performs attitude control from all attitude nodes based on the attitude control index at each attitude node;

[0037] The processing module is also used to determine the yaw state of each yaw node when tracking the flight attitude of the target helicopter, perform attitude tracking verification on the target helicopter based on all the yaw states and the attitude control index at each attitude node, and then obtain the attitude bias information of the target helicopter;

[0038] The execution module is used to extract the attitude error cost of the target helicopter in flight from the attitude bias information based on the pre-trained attitude explicit model, and then adjust the flight attitude of the target helicopter according to the attitude error cost.

[0039] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned helicopter flight attitude tracking control method based on explicit model prediction.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned helicopter flight attitude tracking control method based on explicit model prediction is implemented.

[0041] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects:

[0042] In the helicopter flight attitude tracking control method and system based on explicit model prediction provided by the present application, first, the flight attitude record of the target helicopter is obtained, and the track change characteristics of the target helicopter during flight are extracted; secondly, the time-related components and space-related components of each attitude node when the trajectory baseline is used as the flight reference are extracted from the flight attitude record, and for each attitude node, the attitude of the target helicopter is controlled according to the time-related components and space-related components corresponding to the attitude node combined with the track change characteristics, and then the attitude control index of the target helicopter at each attitude node is obtained; further, based on the attitude control index at each attitude node, multiple yaw nodes after the attitude control of the target helicopter are extracted from all attitude nodes; then, the yaw state of each yaw node is determined when the flight attitude of the target helicopter is tracked, and the target helicopter is checked for attitude tracking based on all the yaw states and the attitude control index at each attitude node, and then the attitude bias information of the target helicopter is obtained; finally, the attitude error cost of the target helicopter in the flight state is extracted from the attitude bias information based on the pre-trained attitude explicit model, and then the flight attitude of the target helicopter is adjusted according to the attitude error cost.

[0043] It can be seen that the present application can realize the control of the flight attitude of the target helicopter under the influence of multi-dimensional factors, thereby improving the stability of the flight attitude of the target helicopter; firstly, the dynamic change of the track of the target helicopter during the flight is determined by the dynamic responsiveness of the target helicopter to the flight attitude and the multi-source trajectory information of the target helicopter, so as to effectively analyze and predict the flight behavior of the target helicopter, and then adaptively adjust the flight attitude through the flight behavior of the target helicopter, thereby avoiding the trajectory deviation problem caused by the environmental factors of the flight; secondly, the attitude of the attitude node is controlled based on the time-related component and the space-related component of the attitude node combined with the dynamic change of the track during the flight, and the coordination index of the target helicopter in the process of attitude adjustment is obtained, so as to effectively evaluate the degree of consistency between the flight attitude and the expected plan, and then optimize the control performance of the target helicopter under time and space fluctuations, thereby avoiding the flight environment. Then, based on the attitude control index of each attitude node, multiple yaw nodes are identified, and then the attitude tracking verification of the target helicopter is performed according to the yaw state of each yaw node and the attitude control index of each attitude node, and the flight attitude bias of the target helicopter at different attitude nodes is obtained, so as to effectively evaluate the performance of the target helicopter in different flight phases or conditions, and then the flight attitude of the target helicopter is adjusted to enhance the robustness under various operating conditions; finally, based on the pre-trained attitude explicit model, the attitude error cost of the target helicopter in the flight state is extracted from all flight attitude biases, and the flight attitude of the target helicopter is adjusted according to the attitude error cost; in summary, the technical solution provided by the present application can realize the control of the flight attitude of the target helicopter under the influence of multi-dimensional factors, thereby improving the stability of the flight attitude of the target helicopter. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is an exemplary flow chart of a helicopter flight attitude tracking control method based on explicit model prediction according to some embodiments of the present application;

[0045] Figure 2 is an exemplary flow chart of determining track change characteristics according to some embodiments of the present application;

[0046] Figure 3 is an exemplary flow chart of determining a time-related component and a space-related component according to some embodiments of the present application;

[0047] Figure 4 It is a structural schematic diagram of a helicopter flight attitude tracking control system based on explicit model prediction according to some embodiments of the present application;

[0048] Figure 5It is a structural schematic diagram of a computer device for implementing a helicopter flight attitude tracking control method based on explicit model prediction as shown in some embodiments of the present application. DETAILED DESCRIPTION

[0049] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0050] refer to Figure 1 , which is an exemplary flow chart of a helicopter flight attitude tracking control method based on explicit model prediction according to some embodiments of the present application. The helicopter flight attitude tracking control method 100 based on explicit model prediction mainly includes the following steps:

[0051] In step 101, the flight attitude record of the target helicopter is obtained, and the track change characteristics of the target helicopter during flight are extracted.

[0052] In specific implementation, the flight attitude record of the target helicopter can be obtained through the helicopter flight monitoring database, and the flight attitude record represents the attitude data information of the target helicopter flying in three-dimensional space, that is, the timestamp, attitude pitch angle and spatial position of the target helicopter at different attitude nodes. The flight attitude data information recorded in the flight attitude record is recorded when the current target helicopter flies along the real flight trajectory, wherein one attitude node corresponds to a timestamp, attitude pitch angle and spatial position, the pitch attitude angle can be collected by a fiber optic gyroscope, the pitch attitude angle represents the rotation angle of the target helicopter around the horizontal axis (the axis from one side of the wing to the other side), and the spatial position can be collected by a global positioning system (GPS). The attitude node represents the attitude state point at a specific time or position in the attitude trajectory of the target helicopter. These attitude nodes carry the attitude information of the target helicopter at a specific time or specific position, which will not be repeated here.

[0053] It should be noted that the helicopter flight monitoring database in this embodiment is a system for storing, managing and analyzing various data during the helicopter flight process, which generally include the status, performance indicators, environmental conditions and attitude trajectory of the aircraft.

[0054] In some embodiments, reference Figure 2 As shown in FIG. 1 , this figure is an exemplary flow chart of determining the track change characteristics according to some embodiments of the present application. In this embodiment, the track change characteristics of the target helicopter during flight can be extracted by the following steps:

[0055] First, in step 1011, the flight response coefficient of the target helicopter in the flight state is determined;

[0056] Next, in step 1012, the track change characteristics of the target helicopter during flight are determined based on the flight response coefficient and the multi-source trajectory information of the target helicopter.

[0057] In some embodiments, the flight response coefficient of the target helicopter in flight may be determined by the following steps, namely:

[0058] Acquire flight altitude data of the target helicopter as it flies along the flight trajectory;

[0059] Performing trend fitting on the flight altitude data to obtain a flight trend fitting curve;

[0060] The flight response coefficient of the target helicopter in the flight state is obtained by extracting the flight trend fitting curve.

[0061] In specific implementation, the flight altitude data of the target helicopter as it flies along the flight trajectory can be obtained through the helicopter flight monitoring database, and the flight altitude data can be collected at time intervals such as GPS, wherein the flight altitude data represents a set of flight altitude values ​​collected when the target helicopter flies along the flight trajectory, that is, the flight altitude data includes multiple flight altitude values.

[0062] In specific implementation, the quadratic polynomial fitting in the polynomial fitting can be used to perform trend fitting on the flight altitude data to obtain a flight trend fitting curve, that is, the flight altitude value in the flight altitude data is used as the dependent variable, and the time point corresponding to the flight altitude value is used as a variable to input into the quadratic polynomial fitting model, and finally the flight trend fitting curve is output by the quadratic polynomial fitting model. In addition, in other embodiments, other polynomial fitting methods can also be used to fit the flight altitude data, which is not limited here. It should be noted that the flight trend fitting curve in this embodiment represents the curve obtained after fitting the flight altitude of the target helicopter.

[0063] Among them, in some embodiments, the flight response coefficient of the target helicopter in the flight state can be obtained by extracting the flight trend fitting curve, which can be specifically obtained by the following steps, namely:

[0064] Extracting the maximum slope of the ascending data segment from the flight trend fitting curve;

[0065] Extracting the maximum slope of the descending data segment from the flight trend fitting curve;

[0066] The flight response coefficient of the target helicopter in the flight state is determined by the maximum inclination of the ascending data segment and the maximum inclination of the descending data segment.

[0067] It should be noted that, in this embodiment, the rising data segment represents the data segment in the flight trend fitting curve that is in an rising state, and the falling data segment in this embodiment represents the data segment in the flight trend fitting curve that is in a falling state.

[0068] In specific implementation, the maximum inclination of the rising data segment can be extracted from the flight trend fitting curve through the derivative method, and the maximum inclination of the falling data segment can be extracted from the flight trend fitting curve. It will not be repeated here. In addition, the rising data segment and the falling data segment in the flight trend fitting curve can be obtained by dividing it through the sliding window method, that is: the flight trend fitting curve is slid through the sliding window, and the values ​​in the sliding window are compared (that is, the current value is compared with the previous value by difference calculation), so as to obtain the rising data segment and the falling data segment in the flight trend fitting curve (the data segment with a positive value after the size comparison is taken as the rising data segment, and the data segment with a negative value after the size comparison is taken as the falling trend data segment), which will not be repeated here.

[0069] It should be noted that the maximum inclination of the rising data segment in this embodiment represents the maximum slope of the rising data segment in the flight trend fitting curve, and the maximum inclination of the falling trend data segment in this embodiment represents the maximum slope of the falling trend data segment in the flight trend fitting curve.

[0070] In specific implementation, the flight response coefficient of the target helicopter in flight is determined by the maximum inclination of the ascending data segment and the maximum inclination of the descending data segment, that is, the ratio of the maximum inclination of the ascending data segment to the maximum inclination of the descending data segment is calculated, and the ratio calculation result is used as the flight response coefficient of the target helicopter in flight. In addition, in other embodiments, other calculation methods can also be used to calculate the flight response coefficient of the target helicopter in flight.

[0071] It should be noted that the flight response coefficient in this application represents the dynamic response degree of the target helicopter to the flight attitude, that is, the larger the flight response coefficient, the greater the dynamic response degree of the target helicopter to the flight attitude, and the smaller the flight response coefficient, the smaller the dynamic response degree of the target helicopter to the flight attitude.

[0072] It should be noted that the target helicopter usually has a flight trajectory change. Therefore, in order to better evaluate the flight trajectory change of the target helicopter, the trajectory evaluation of the target helicopter can be enhanced by determining the flight response coefficient.

[0073] In some embodiments, the following steps may be used to determine the track change characteristics of the target helicopter during flight based on the flight response coefficient and the multi-source track information of the target helicopter, namely:

[0074] Acquire multi-source trajectory information of the target helicopter, wherein the multi-source trajectory information includes trajectory data collected by multiple different sensors;

[0075] Fusing the trajectory data collected by all different sensors in the multi-source trajectory information to obtain fused trajectory data;

[0076] Extracting a maximum fusion trajectory value and a minimum fusion trajectory value from the fusion trajectory data;

[0077] The track change characteristics of the target helicopter during flight are determined and extracted according to the flight response coefficient, the maximum fusion trajectory value and the minimum fusion trajectory value.

[0078] In a specific implementation, multi-source trajectory information of the target helicopter can be obtained through a helicopter flight monitoring database, and the multi-source trajectory information includes trajectory data collected by multiple different sensors, and the trajectory data collected by the multiple different sensors include trajectory data collected by GPS, trajectory data collected by an inertial navigation system (INS), and trajectory data measured by a ground radar. The trajectory data, for example, the flight altitude, in addition, in other embodiments, it can also be other trajectory data, for example, trajectory time point, yaw angle.

[0079] In specific implementation, the trajectory data collected by all different sensors in the multi-source trajectory information can be fused through a Kalman filter to obtain fused trajectory data, that is, in the present application, the trajectory data collected by GPS, the trajectory data collected by INS, and the trajectory data measured by ground radar are fused by a Kalman filter. For example, the trajectory values ​​collected by different sensors at each moment are fused in a weighted summation manner, wherein the weights of different sensors can be set according to the sensitivity of the sensors, which will not be repeated here. In addition, in other embodiments, other data fusion technologies can also be used to fuse the trajectory data collected by all different sensors in the multi-source trajectory information, which is not limited here.

[0080] It should be noted that the trajectory fusion data in this embodiment represents a set of data obtained by fusing trajectory data from different sensors. The trajectory fusion data includes multiple trajectory fusion values. By fusing the trajectory data from different sensors, a more accurate, continuous and reliable motion path of the target helicopter can be effectively obtained. This fusion can make up for the inaccuracy of single sensor data and improve the overall quality of the trajectory.

[0081] In a specific implementation, the track change characteristics of the target helicopter during flight are determined based on the flight response coefficient, the maximum fusion trajectory value and the minimum fusion trajectory value, that is: first, the ratio of the minimum fusion trajectory value to the maximum fusion trajectory value is calculated, and then the ratio calculation result is multiplied by the flight response coefficient, and finally, the product calculation result is used as the track change characteristics of the target helicopter during flight. In addition, in other embodiments, other calculation methods can also be used to calculate the track change characteristics of the target helicopter during flight, which are not limited here.

[0082] It should be noted that the track change characteristics in the present application represent the dynamic changes in the target helicopter's flight track. The track change characteristics reflect the motion change state of the target helicopter. The larger the track change characteristics, the larger the dynamic changes in the target helicopter's flight track. When the track change characteristics are smaller, the dynamic changes in the target helicopter's flight track are smaller. Therefore, by determining the track change characteristics, the flight behavior of the target helicopter can be effectively analyzed and predicted, and then adaptive adjustments can be made through the flight behavior of the target helicopter, thereby avoiding the trajectory deviation problem caused by flight environment factors.

[0083] In step 102, the time correlation component and the space correlation component of each attitude node when the trajectory baseline is used as the flight reference are extracted from the flight attitude record. For each attitude node, the attitude of the target helicopter is controlled according to the time correlation component and the space correlation component corresponding to the attitude node combined with the track change characteristics, so as to obtain the attitude control index of the target helicopter at each attitude node.

[0084] It should be noted that the trajectory baseline in the present application represents the expected flight trajectory route of the target helicopter, that is, the flight trajectory route used as a reference, wherein the flight attitude data information recorded in the flight attitude record is recorded when the current target helicopter flies along the actual flight trajectory. Due to the influence of external environmental factors and the influence of the helicopter's own performance, the actual flight trajectory of the target helicopter will deviate from its flight trajectory route (that is, the trajectory baseline) to a certain extent.

[0085] In some embodiments, reference Figure 3 As shown, this figure is an exemplary flow chart for determining the time correlation component and the space correlation component according to some embodiments of the present application. In this embodiment, the time correlation component and the space correlation component of each attitude node when the trajectory baseline is used as the flight reference are extracted from the flight attitude record, which can be implemented by the following steps:

[0086] First, in step 1021, the trajectory baseline of the target helicopter is obtained;

[0087] Next, in step 1022, the timestamp, pitch attitude angle and spatial position corresponding to each attitude node in the flight attitude record are obtained;

[0088] Further, in step 1023, an attitude node is selected as a selected attitude node, a timestamp at the same pitch attitude angle as the selected attitude node is extracted from the trajectory baseline, and a time correlation component of the selected attitude node when the trajectory baseline is used as a flight reference is determined by using the extracted timestamp and the timestamp corresponding to the selected attitude node;

[0089] Then, in step 1024, the spatial position at the same time stamp as the selected attitude node is extracted from the trajectory baseline, and the spatial correlation component of the selected attitude node when the trajectory baseline is used as the flight reference is determined by the extracted spatial position and the spatial position corresponding to the selected attitude node;

[0090] Finally, in step 1025, the time-related components and space-related components of the remaining attitude nodes are continuously determined when the trajectory baseline is used as the flight reference.

[0091] In specific implementation, the trajectory baseline of the target helicopter can be obtained through the helicopter flight monitoring database. The trajectory baseline is generated by fitting the Bezier curve in the path search according to the mission objectives, flight area and time requirements of the target helicopter, that is, the trajectory baseline of the target helicopter is generated by the starting point, control point and end point defined by the mission objectives, flight area and time requirements of the target helicopter. In addition, in other embodiments, other algorithms can also be used to generate the trajectory baseline of the target helicopter, for example, the Dijkstra algorithm and dynamic programming algorithm in the path search algorithm, which are not limited here.

[0092] It should be noted that the trajectory baseline in this application represents the reference trajectory of the target helicopter's intended flight path, which is usually an ideal trajectory designed in advance when planning a flight mission based on mission requirements, flight area, time requirements and other factors.

[0093] In specific implementation, the timestamp at the same pitch attitude angle as the selected attitude node is extracted from the trajectory baseline, that is, each trajectory point in the entire trajectory baseline is traversed, and for each trajectory point, its pitch attitude angle is checked to see if it is equal to the pitch attitude angle of the selected attitude node. If they are equal, the timestamp of the trajectory point is recorded. It should be noted that, in this embodiment, when there are multiple timestamps at the same pitch attitude angle as the selected attitude node on the trajectory baseline, the timestamp on the trajectory baseline that is closest to the timestamp of the selected attitude node is selected.

[0094] In specific implementation, the time correlation component of the selected attitude node when it takes the trajectory baseline as the flight reference is determined by the extracted timestamp and the timestamp corresponding to the selected attitude node, that is, the absolute difference between the extracted timestamp and the timestamp corresponding to the selected attitude node is calculated, and the inverse of the absolute difference calculation result is used as the time correlation component of the selected attitude node when it takes the trajectory baseline as the flight reference. In addition, in other embodiments, other calculation methods can also be used to calculate the time correlation component of the selected attitude node when it takes the trajectory baseline as the flight reference, which is not limited here.

[0095] It should be noted that the time correlation component in the present application represents the degree of correlation between the expected timestamp and the actual timestamp of the target helicopter at the same pitch attitude angle, that is, the larger the time correlation component is, the greater the degree of correlation between the expected timestamp and the actual timestamp of the target helicopter at the same pitch attitude angle, and vice versa. By determining the time correlation component, the time deviation of the target helicopter at the same pitch attitude angle can be effectively identified.

[0096] In the specific implementation, the spatial position at the same timestamp as the selected posture node is extracted from the trajectory baseline, that is, every trajectory point in the entire trajectory baseline is traversed, and for each trajectory point, its spatial position is checked to see if it is equal to the spatial position of the selected posture node. If they are equal, the spatial position of the trajectory point is recorded.

[0097] In specific implementation, the spatial correlation component of the selected attitude node when the trajectory baseline is used as the flight reference is determined by the extracted spatial position and the spatial position corresponding to the selected attitude node, that is, the absolute difference between the extracted spatial position and the spatial position corresponding to the selected attitude node is calculated, and the reciprocal of the absolute difference calculation result is used as the spatial correlation component of the selected attitude node when the trajectory baseline is used as the flight reference. In addition, in other embodiments, other calculation methods can also be used to calculate the spatial correlation component of the selected attitude node when the trajectory baseline is used as the flight reference, which is not limited here.

[0098] It should be noted that the spatial correlation component in the present application represents the degree of correlation between the expected spatial position and the actual spatial position of the target helicopter at the same timestamp, that is, the larger the time correlation component is, the greater the degree of correlation between the expected spatial position and the actual spatial position of the target helicopter at the same timestamp, and vice versa. By determining the spatial correlation component, the spatial position deviation of the target helicopter at the same timestamp can be effectively identified.

[0099] In some embodiments, the following steps may be used to control the attitude of the target helicopter according to the time-related component and the space-related component corresponding to the attitude node in combination with the track change characteristics, namely:

[0100] Acquire the horizontal attitude response amount and the vertical attitude response amount of the target helicopter when the attitude is adjusted at the attitude node;

[0101] The horizontal attitude response amount and the vertical attitude response amount are subjected to response and coordination according to the track change characteristics to obtain a horizontal attitude response coordination amount and a vertical attitude response coordination amount;

[0102] Determine the spatiotemporal change degree of the attitude of the attitude node in the horizontal direction according to the time-related component, the space-related component and the horizontal attitude response harmonic amount;

[0103] Determine the spatiotemporal change degree of the attitude of the attitude node in the vertical direction according to the time-related component, the space-related component and the vertical attitude response harmonic amount;

[0104] The attitude control index of the target helicopter at the attitude node is determined according to the attitude spatiotemporal variation degree in the horizontal direction and the attitude spatiotemporal variation degree in the vertical direction.

[0105] In specific implementation, the attitude control index of the target helicopter at each attitude node is determined through the implementation step of "controlling the attitude of the target helicopter according to the time-related component and the space-related component corresponding to the attitude node in combination with the track change characteristics".

[0106] In specific implementation, the horizontal attitude response and the vertical attitude response of the target helicopter when the attitude is adjusted under the attitude node can be obtained through the helicopter flight monitoring database. The horizontal attitude response indicates the response of the target helicopter to the attitude change in the horizontal plane when the attitude is adjusted under the attitude node, for example, the coordinate value in the horizontal direction. The vertical attitude response indicates the response of the target helicopter to the attitude change in the vertical direction when the attitude is adjusted under the attitude node, for example, the coordinate value in the vertical and horizontal directions. The horizontal attitude response and the vertical attitude response can be obtained by collecting the attitude sensor, which is not limited here.

[0107] In a specific implementation, the horizontal attitude response amount and the vertical attitude response amount are responded and harmonized by the track change characteristics to obtain the horizontal attitude response harmonized amount and the vertical attitude response harmonized amount, that is, the horizontal attitude response amount and the vertical attitude response amount are respectively difference calculated with the track change characteristics, and the corresponding difference calculation results are used as the horizontal attitude response harmonized amount and the vertical attitude response harmonized amount. In addition, in other embodiments, other calculation methods can also be used to calculate the horizontal attitude response harmonized amount and the vertical attitude response harmonized amount, which are not limited here.

[0108] It should be noted that the horizontal attitude response harmonization amount in this embodiment represents the value obtained after harmonizing the horizontal attitude response amount, and the vertical attitude response harmonization amount in this embodiment represents the value obtained after harmonizing the vertical attitude response amount. During the flight of the target helicopter, the horizontal attitude response amount and the vertical attitude response amount of the target helicopter are usually affected by the track change. Therefore, the horizontal attitude response amount and the vertical attitude response amount can be harmonized according to the track change characteristics to eliminate the impact of the track change on the target helicopter.

[0109] In specific implementation, the spatiotemporal variation degree of the posture of the posture node in the horizontal direction is determined according to the time-related component, the space-related component and the horizontal posture response harmonic amount, that is: the ratio of the space-related component and the time-related component is calculated, the ratio calculation result and the horizontal posture response harmonic amount are multiplied, and the product calculation result is used as the spatiotemporal variation degree of the posture of the posture node in the horizontal direction. In addition, in other embodiments, other calculation methods can also be used to calculate the spatiotemporal variation degree of the posture of the posture node in the horizontal direction, which is not limited here.

[0110] It should be noted that, in this embodiment, the spatiotemporal variation degree of the attitude in the horizontal direction represents the degree to which the flight attitude of the target helicopter in the horizontal direction changes with time and space, that is, the greater the spatiotemporal variation degree of the attitude in the horizontal direction, the greater the degree to which the flight attitude of the target helicopter in the horizontal direction changes with time and space, and vice versa.

[0111] It should be noted that, in this embodiment, the spatiotemporal variation degree of the attitude in the vertical direction represents the degree to which the flight attitude of the target helicopter in the vertical direction changes with time and space, that is, the greater the spatiotemporal variation degree of the attitude in the vertical direction, the greater the degree to which the flight attitude of the target helicopter in the vertical direction changes with time and space, and vice versa.

[0112] In specific implementation, the attitude control index of the target helicopter at the attitude node is determined by the attitude spatiotemporal variation degree in the horizontal direction and the attitude spatiotemporal variation degree in the vertical direction, that is, the attitude spatiotemporal variation degree in the horizontal direction and the attitude spatiotemporal variation degree in the vertical direction are summed, and the sum is used as the attitude control index of the attitude node. In addition, in other embodiments, other calculation methods can be used to couple the attitude spatiotemporal variation degree in the horizontal direction and the attitude spatiotemporal variation degree in the vertical direction, which is not limited here.

[0113] It should be noted that the attitude control index in the present application represents an indicator for measuring the attitude adjustment capability of the target helicopter, that is, the larger the attitude control index, the better the attitude adjustment capability of the target helicopter, and vice versa. The determination of the attitude control index can effectively measure the adjustment deviation between the actual attitude change and attitude adjustment of the target helicopter, thereby reflecting the degree of consistency between the flight attitude and the expected plan, and then optimizing the spatial control performance of the flight control system, thereby avoiding attitude deviation losses caused by time and space delays.

[0114] It should also be noted that the attitude control in the present application refers to the process of controlling and analyzing the flight attitude of the target helicopter at different attitude nodes, wherein the attitude of the target helicopter is controlled according to the time-related component and the space-related component corresponding to the attitude node in combination with the track change characteristics, that is: the horizontal attitude response amount and the vertical attitude response amount of the target helicopter when the attitude is controlled at the attitude node are obtained; the horizontal attitude response amount and the vertical attitude response amount are responded and harmonized by the track change characteristics to obtain the horizontal attitude response harmonization amount and the vertical attitude response harmonization amount; the attitude spatiotemporal variation degree of the attitude node in the horizontal direction is determined according to the time-related component, the space-related component and the horizontal attitude response harmonization amount; the attitude spatiotemporal variation degree of the attitude node in the vertical direction is determined according to the time-related component, the space-related component and the vertical attitude response harmonization amount; the attitude control index of the target helicopter at the attitude node is determined by the attitude spatiotemporal variation degree in the horizontal direction and the attitude spatiotemporal variation degree in the vertical direction, that is, the attitude control of the target helicopter at different attitude nodes is completed.

[0115] In step 103, a plurality of yaw nodes after attitude control of the target helicopter are extracted from all attitude nodes based on the attitude control index at each attitude node.

[0116] In some embodiments, based on the attitude control index at each attitude node, multiple yaw nodes after attitude control of the target helicopter are extracted from all attitude nodes can be specifically obtained by the following steps, namely:

[0117] Compare the posture control index at each posture node with the preset posture control index, and extract all posture control indexes greater than the preset posture control index;

[0118] The attitude nodes corresponding to the extracted attitude control indexes are used as yaw nodes of the target helicopter after attitude control, thereby obtaining multiple yaw nodes of the target helicopter after attitude control.

[0119] It should be noted that when the attitude control index is less than or equal to the preset attitude control index, no processing is performed. In addition, the preset attitude control index in this embodiment represents a pre-set standard attitude control index, which is used to determine whether the attitude node is yawed. That is, when the attitude control index at the attitude node exceeds the preset attitude control index, it indicates that the attitude node is yawed. Specifically, the preset attitude coordination can be set according to actual needs and is not limited here.

[0120] It should also be noted that the yaw node in the present application represents an attitude node with yaw. By determining the yaw node, the yaw state of the target helicopter when flying along the flight trajectory can be effectively identified.

[0121] In step 104, the yaw state of each yaw node is determined when the flight attitude of the target helicopter is tracked, and the attitude tracking verification of the target helicopter is performed based on all the yaw states and the attitude control index at each attitude node, thereby obtaining the attitude bias information of the target helicopter.

[0122] In some embodiments, the yaw state of each yaw node when tracking the flight attitude of the target helicopter may be determined by the following steps, namely:

[0123] Obtain the yaw angle of each yaw node when tracking the flight attitude of the target helicopter;

[0124] The yaw angle of each yaw node is compared with the corresponding expected yaw angle, and then the yaw state of each yaw node is obtained when the flight attitude of the target helicopter is tracked.

[0125] In specific implementation, the yaw angle of each yaw node when tracking the flight attitude of the target helicopter can be obtained through the helicopter flight monitoring database. The yaw angle can be specifically collected by an inertial measurement system (IMU). In this application, the yaw angle represents the angle of rotation of the target helicopter around its vertical axis during flight, which is crucial for the navigation and control of the target helicopter. By precisely controlling the yaw angle, the target helicopter can track the predetermined flight attitude and maintain the correct heading even when the external environment changes.

[0126] In specific implementation, the yaw angle of each yaw node is compared with the corresponding expected yaw angle, and then the yaw state of each yaw node when the flight attitude of the target helicopter is tracked is obtained, that is: for each yaw node, the absolute difference between the yaw angle of the yaw node and the corresponding expected yaw angle is calculated to obtain the deviation of the yaw angle, and the deviation is used as the yaw state of the yaw node when the flight attitude of the target helicopter is tracked, and then the yaw state of each yaw node when the flight attitude of the target helicopter is tracked is obtained, wherein, in this embodiment, the deviation of the yaw angle from the expected yaw angle is used to characterize the yaw state of the yaw node.

[0127] It should be noted that the yaw state in the present application represents the deviation between the yaw angle of the target helicopter at the yaw node and the expected yaw angle. By determining the yaw state, potential errors or anomalies in the yaw adjustment can be effectively identified and corrected to ensure that the helicopter flies according to the predetermined heading and stability.

[0128] In some embodiments, the attitude tracking verification of the target helicopter is performed based on all yaw states and attitude control indexes at each attitude node, and then the attitude bias information of the target helicopter is obtained by specifically adopting the following steps, namely:

[0129] The flight attitude loss of the target helicopter is determined by the attitude control index at each attitude node;

[0130] Determine the target helicopter's attitude tracking loss margin;

[0131] Determining the confidence tracking loss degree of the target helicopter by using the flight attitude loss amount and the attitude tracking loss margin;

[0132] Each yaw state is verified by the confidence tracking loss degree, and then all flight attitude offsets are obtained. All flight attitude offsets are combined to obtain attitude offset information of the target helicopter.

[0133] In specific implementation, the flight attitude loss of the target helicopter is determined by the attitude control index at each attitude node, that is: the variance calculation is performed on all the attitude control indices, and the variance calculation result is used as the flight attitude loss of the target helicopter. In addition, in other embodiments, other calculation methods can be used to calculate the flight attitude loss of the target helicopter, which is not limited here. It should be noted that the flight attitude loss in this embodiment represents a measure of the deviation of the flight attitude of the target helicopter from the expected target during the flight.

[0134] During specific implementation, the attitude tracking loss margin of the target helicopter is determined. The attitude tracking loss margin can be pre-set according to the flight performance of the target helicopter, that is, helicopters with different flight performances have different attitude tracking loss margins. In the present application, the attitude tracking loss margin is set between 0.1 and 0.3. In addition, in other embodiments, it can also be set according to actual needs. There is no limitation here. It should be noted that the attitude tracking loss margin in the present embodiment represents a measure of the maximum attitude deviation that the system can tolerate in the attitude tracking system of the target helicopter. In aircraft or other dynamic systems, the attitude tracking loss margin helps to evaluate and ensure that the system can still maintain stable and reliable attitude tracking performance in the face of various disturbances and uncertainties.

[0135] In specific implementation, the confidence tracking loss degree of the target helicopter is determined by the flight attitude loss amount and the attitude tracking loss margin, that is, the flight attitude loss amount and the attitude tracking loss margin are difference calculated, and the difference calculation result is used as the confidence tracking loss degree of the target helicopter. In addition, in other embodiments, other calculation methods can be used to calculate the confidence tracking loss degree of the target helicopter, which is not limited here. It should be noted that the confidence tracking loss degree in this embodiment represents the effective loss amount in the flight attitude of the target helicopter.

[0136] In specific implementation, each yaw state is verified by the confidence tracking loss degree, that is: for each yaw state, the deviation corresponding to the yaw state is summed with the confidence tracking loss degree, and the sum is used as the flight attitude bias, thereby obtaining all the flight attitude biases. In addition, in other embodiments, other calculation methods can be used to calculate the flight attitude bias, which is not limited here.

[0137] In a specific implementation, all flight attitude biases are combined in the order of the yaw nodes to obtain attitude bias information of the target helicopter, wherein the attitude bias information includes multiple flight attitude biases. In this embodiment, the flight attitude bias represents a quantized error of the target helicopter deviating from a predetermined attitude during attitude adjustment, that is, the larger the flight attitude bias, the larger the quantized error of the target helicopter deviating from the predetermined attitude during attitude adjustment, indicating that the flight attitude of the target helicopter has obvious abnormalities; the smaller the flight attitude bias, the smaller the quantized error of the target helicopter deviating from the predetermined attitude during attitude adjustment, indicating that the flight attitude of the target helicopter has no obvious abnormalities. By determining the attitude bias information, the performance of the target helicopter under different flight stages or conditions can be effectively evaluated, and then adaptive adjustments can be made to enhance the robustness under various operating conditions.

[0138] It should also be noted that the attitude tracking verification in this embodiment represents the process of performing deviation verification on the yaw angles of different yaw nodes of the target helicopter, wherein the attitude tracking verification of the target helicopter is performed based on all yaw states and the attitude control index at each attitude node, that is: the flight attitude loss of the target helicopter is determined by the attitude control index at each attitude node; the attitude tracking loss margin of the target helicopter is determined; the confidence tracking loss degree of the target helicopter is determined by the flight attitude loss amount and the attitude tracking loss margin; each yaw state is verified by the confidence tracking loss degree, and then all flight attitude biases are obtained, all flight attitude biases are combined to obtain the attitude bias information of the target helicopter, and thus the attitude tracking verification of the target helicopter is completed.

[0139] In step 105, the attitude error cost of the target helicopter in flight is extracted from the attitude bias information based on the pre-trained attitude explicit model, and then the flight attitude of the target helicopter is adjusted according to the attitude error cost.

[0140] In some embodiments, the following steps may be used to extract the attitude error cost of the target helicopter in flight from the attitude bias information based on the pre-trained attitude explicit model, namely:

[0141] Extracting a pre-trained pose-explicit model;

[0142] Each flight attitude bias in the attitude bias information is input as an input parameter into the pre-trained attitude explicit model, and the pre-trained attitude explicit model outputs the attitude error cost of the target helicopter in the flight state.

[0143] In specific implementation, a pre-trained attitude explicit model can be extracted through a helicopter flight monitoring database. The attitude explicit model in the present application is a mathematical model for attitude estimation and analysis, and the attitude explicit model is an information entropy model. The present application uses information entropy to characterize the attitude error cost of the target helicopter in flight, that is, the information entropy represents the average uncertainty of a random variable. The higher the entropy value, the greater the uncertainty or the amount of information. During the flight of the target helicopter, when the flight attitude deviates from the expected flight attitude, the flight attitude bias of the target helicopter will have a certain volatility. Therefore, the present application measures the attitude error cost of the target helicopter in flight by the degree of confusion and average uncertainty of the flight attitude bias in the attitude bias information. In addition, in other embodiments, other attitude explicit models can be used to extract the attitude error cost of the target helicopter in flight from the attitude bias information, which is not limited here.

[0144] It should be noted that the attitude error cost in the present application represents the amount of flight loss caused by attitude bias during the flight of the target helicopter, that is, the larger the flight loss is, the larger the flight loss is caused by attitude bias during the flight of the target helicopter, indicating that the target helicopter has a larger trajectory deviation at this time; the smaller the flight loss is, the smaller the flight loss is caused by attitude bias during the flight of the target helicopter, indicating that the target helicopter has a smaller trajectory deviation at this time. By determining the attitude error cost, the degree of track deviation of the target helicopter can be effectively tracked, and then the flight of the target helicopter can be adjusted according to the attitude error cost, thereby improving the flight stability of the target helicopter.

[0145] In some embodiments, the flight attitude of the target helicopter may be adjusted by the attitude error cost by the following steps, namely:

[0146] The attitude error cost is compared with the preset error cost. When the attitude error cost is greater than the preset error cost, the helicopter flight attitude tracking system adjusts the flight attitude of the target helicopter based on the feedback between the attitude error cost and the preset error cost. When the attitude error cost is less than or equal to the preset error cost, no processing is performed.

[0147] In specific implementation, when the attitude error cost is greater than the preset error cost, the helicopter flight attitude tracking system adjusts the flight attitude of the target helicopter based on the feedback amount between the attitude error cost and the preset error cost, and the feedback amount is the absolute difference between the attitude error cost and the preset error cost, and the feedback amount represents the size of the adjustment to be made to the target helicopter.

[0148] It should be noted that the preset error cost is a pre-set standard attitude error cost, which is used to compare with the current attitude error cost. When the current attitude error cost exceeds the preset error cost, it indicates that the flight attitude of the current target helicopter exceeds the set safety range. The preset error cost can be set specifically according to actual needs.

[0149] It should also be noted that when the attitude error cost is greater than the preset error cost, it indicates that the flight attitude of the target helicopter exceeds the set safety range at this time, and the flight attitude of the target helicopter needs to be tracked and adjusted by the helicopter flight attitude tracking system, for example, the yaw angle of the target helicopter is adjusted so that the attitude error cost is within the preset safety range (that is, the adjusted attitude error cost is not greater than the preset error cost). If the attitude error cost exceeds the preset error cost, that is, the attitude deviation is still large, indicating that further adjustment is needed. When the attitude error cost is less than or equal to the preset error cost, it indicates that the flight attitude of the target helicopter does not exceed the set safety range at this time, so no processing is performed.

[0150] In addition, it should be noted that the helicopter flight attitude tracking system in this embodiment is a system used to monitor and control the actual attitude of the helicopter during flight and the predetermined attitude. The main goal is to ensure that the helicopter operates according to the predetermined flight path or trajectory, and make adjustments when necessary to achieve the purpose of precise control and safe flight.

[0151] In addition, in another aspect of the present application, in some embodiments, the present application provides a helicopter flight attitude tracking control system based on explicit model prediction, referring to Figure 4 , which is a structural schematic diagram of a helicopter flight attitude tracking control system based on explicit model prediction according to some embodiments of the present application. The helicopter flight attitude tracking control system 200 based on explicit model prediction includes: an acquisition module 201, a processing module 202 and an execution module 203, which are respectively described as follows:

[0152] Acquisition module 201, in this application, acquisition module 201 is mainly used to acquire the flight attitude record of the target helicopter and extract the track change characteristics of the target helicopter during flight;

[0153] Processing module 202, in the present application, processing module 202 is mainly used to extract the time-related component and the space-related component of each attitude node when the trajectory baseline is used as the flight reference from the flight attitude record, and for each attitude node, the attitude of the target helicopter is controlled according to the time-related component and the space-related component corresponding to the attitude node combined with the track change characteristics, so as to obtain the attitude control index of the target helicopter at each attitude node;

[0154] The processing module 202 is further used to extract multiple yaw nodes after the target helicopter performs attitude control from all attitude nodes based on the attitude control index at each attitude node;

[0155] In addition, the processing module 202 is also used to determine the yaw state of each yaw node when tracking the flight attitude of the target helicopter, and perform attitude tracking verification on the target helicopter based on all the yaw states and the attitude control index at each attitude node, thereby obtaining the attitude bias information of the target helicopter;

[0156] Execution module 203, in the present application, the execution module 203 is mainly used to extract the attitude error cost of the target helicopter in flight from the attitude bias information based on the pre-trained attitude explicit model, and then adjust the flight attitude of the target helicopter according to the attitude error cost.

[0157] In addition, the present application also provides a computer device, which includes a memory and a processor, the memory stores code, and the processor is configured to obtain the code and execute the above-mentioned helicopter flight attitude tracking control method based on explicit model prediction.

[0158] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing a helicopter flight attitude tracking control method based on explicit model prediction according to some embodiments of the present application. The helicopter flight attitude tracking control method based on explicit model prediction in the above embodiment can be achieved by Figure 5 The computer device 300 shown in the figure is implemented, and the computer device 300 includes at least one processor 301, a communication bus 302, a memory 303 and at least one communication interface 304.

[0159] Processor 301 can be a general-purpose central processing unit (CPU), or an application-specific integrated circuit (ASIC) or one or more processors for controlling the execution of the helicopter flight attitude tracking control method based on explicit model prediction in the present application.

[0160] The communication bus 302 may be used to transmit information between the above-mentioned components.

[0161] The memory 303 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compressed optical disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 303 may exist independently and be connected to the processor 301 via the communication bus 302. The memory 303 may also be integrated with the processor 301.

[0162] The memory 303 is used to store the program code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the program code stored in the memory 303. The program code may include one or more software modules. The determination of the helicopter flight attitude tracking control method based on explicit model prediction in the above embodiment can be implemented by the processor 301 and one or more software modules in the program code in the memory 303.

[0163] The communication interface 304 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0164] In a specific implementation, as an embodiment, a computer device may include multiple processors, each of which may be a single-CPU processor or a multi-CPU processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0165] The above-mentioned computer device may be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of computer device.

[0166] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned helicopter flight attitude tracking control method based on explicit model prediction.

[0167] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0168] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A helicopter flight attitude tracking control method based on explicit model prediction, characterized in that: The steps include: Obtain the flight attitude record of the target helicopter and extract the track change characteristics of the target helicopter during flight; Extracting the time-related component and the space-related component of each attitude node when the trajectory baseline is used as the flight reference from the flight attitude record, for each attitude node, adjusting the attitude of the target helicopter according to the time-related component and the space-related component corresponding to the attitude node combined with the track change characteristics, and then obtaining the attitude control index of the target helicopter at each attitude node; Based on the attitude control index at each attitude node, multiple yaw nodes after the target helicopter performs attitude control are extracted from all attitude nodes; Determine the yaw state of each yaw node when tracking the flight attitude of the target helicopter, perform attitude tracking verification on the target helicopter based on all yaw states and attitude control indexes at each attitude node, and then obtain attitude bias information of the target helicopter; The attitude error cost of the target helicopter in flight is extracted from the attitude bias information based on the pre-trained attitude explicit model, and then the flight attitude of the target helicopter is adjusted according to the attitude error cost.

2. The method according to claim 1, characterized in that Extracting the track change characteristics of the target helicopter during flight specifically includes: Determine the flight response coefficient of the target helicopter in flight state; The track change characteristics of the target helicopter during flight are determined based on the flight response coefficient and the multi-source track information of the target helicopter.

3. The method according to claim 2, characterized in that Determining the flight response coefficient of the target helicopter in flight specifically includes: Acquire flight altitude data of the target helicopter as it flies along the flight trajectory; Performing trend fitting on the flight altitude data to obtain a flight trend fitting curve; The flight response coefficient of the target helicopter in flight state is obtained by extracting the flight trend fitting curve.

4. The method according to claim 1, characterized in that Extracting the time-related component and the space-related component of each attitude node from the flight attitude record with the trajectory baseline as the flight reference specifically includes: Obtain the trajectory baseline of the target helicopter; Obtaining the timestamp, pitch attitude angle and spatial position corresponding to each attitude node in the flight attitude record; Selecting an attitude node as a selected attitude node, extracting a timestamp at the same pitch attitude angle as the selected attitude node from the trajectory baseline, and determining a time correlation component of the selected attitude node when the trajectory baseline is used as a flight reference by using the extracted timestamp and the timestamp corresponding to the selected attitude node; Extracting the spatial position at the same time stamp as the selected attitude node from the trajectory baseline, and determining the spatial correlation component of the selected attitude node when the trajectory baseline is used as a flight reference based on the extracted spatial position and the spatial position corresponding to the selected attitude node; Continue to determine the time-related components and space-related components of the remaining attitude nodes when the trajectory baseline is used as the flight reference.

5. The method according to claim 1, characterized in that Based on the attitude control index at each attitude node, multiple yaw nodes after the target helicopter performs attitude control are extracted from all attitude nodes, specifically including: Compare the posture control index at each posture node with the preset posture control index, and extract all posture control indexes greater than the preset posture control index; The attitude nodes corresponding to the extracted attitude control indexes are used as yaw nodes of the target helicopter after attitude control, thereby obtaining multiple yaw nodes of the target helicopter after attitude control.

6. The method according to claim 1, characterized in that The attitude tracking and verification of the target helicopter is performed based on all yaw states and the attitude control indexes at each attitude node, and the attitude bias information of the target helicopter is obtained, which specifically includes: The flight attitude loss of the target helicopter is determined by the attitude control index at each attitude node; Determine the target helicopter's attitude tracking loss margin; Determining the confidence tracking loss degree of the target helicopter by using the flight attitude loss amount and the attitude tracking loss margin; Each yaw state is verified by the confidence tracking loss degree, and then all flight attitude offsets are obtained. All flight attitude offsets are combined to obtain attitude offset information of the target helicopter.

7. The method according to claim 1, characterized in that The posture explicit model is a mathematical model used for posture estimation and analysis.

8. A helicopter flight attitude tracking control system based on explicit model prediction, characterized in that: include: An acquisition module is used to acquire the flight attitude record of the target helicopter and extract the track change characteristics of the target helicopter during flight; A processing module is used to extract the time-related component and the space-related component of each attitude node when the trajectory baseline is used as the flight reference from the flight attitude record, and for each attitude node, the attitude of the target helicopter is controlled according to the time-related component and the space-related component corresponding to the attitude node combined with the track change characteristics, so as to obtain the attitude control index of the target helicopter at each attitude node; The processing module is further used to extract multiple yaw nodes after the target helicopter performs attitude control from all attitude nodes based on the attitude control index at each attitude node; The processing module is also used to determine the yaw state of each yaw node when tracking the flight attitude of the target helicopter, perform attitude tracking verification on the target helicopter based on all the yaw states and the attitude control index at each attitude node, and then obtain the attitude bias information of the target helicopter; The execution module is used to extract the attitude error cost of the target helicopter in flight from the attitude bias information based on the pre-trained attitude explicit model, and then adjust the flight attitude of the target helicopter according to the attitude error cost.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the helicopter flight attitude tracking control method based on explicit model prediction as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the helicopter flight attitude tracking control method based on explicit model prediction is implemented as described in any one of claims 1 to 7.

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