Aircraft flight area control method and system

Abstract

The invention relates to a new-generation information technology, and discloses a method and a system for controlling a flight area of an aircraft, so as to improve the adaptability to a test environment. The method comprises the following steps: calculating a conversion matrix between associated coordinate systems; in the flight process of the aircraft, the coordinates of the current point and the corresponding safe area boundary in the emission coordinate system are solved in real time according to the conversion matrix between the associated coordinate systems, the latitude and longitude information of the current point and the azimuth angle data of the flight test reference trajectory; according to the coordinates of the emission coordinate system corresponding to the safe area boundary, the earth rotation angular velocity of the emission coordinate system and the original point vector diameter of the emission coordinate system, the longitude and latitude corresponding to the safe area boundary are calculated; according to the latitude and longitude of the current point and the latitude and longitude corresponding to the safe area boundary, judging whether the current point is in the safe area range, and if the current point is in the safe area, resolving a normal flight control program; otherwise, resolving the safety control program to enable the aircraft to dive to land.

Description

Technical Field

[0001] The present invention relates to a control or regulation method and system for non-electrical variables in new generation information technology, and in particular to a flight area control method and system for aircraft. Background Art

[0002] At present, with the increasing complexity of the use scenarios of modern aircraft, higher requirements are placed on the use of large aspect ratio aircraft. Large aspect ratio aircraft are developing towards having larger launch off-axis angles. Therefore, it is necessary to effectively verify the large off-axis launch conditions during flight tests. However, large off-axis launch conditions require large lateral maneuvers and a large envelope. The traditional method of dividing a large rectangular safety area according to the flight path has poor adaptability to large off-axis trajectories and is difficult to implement with limited existing test sites and resources.

[0003] Therefore, there is an urgent need for a large off-axis trajectory flight area control method and system with a small envelope, strong adaptability, and the ability to improve the safety of aircraft tests. Summary of the invention

[0004] The present invention aims to disclose an aircraft flight area control method and system to solve the technical problems that the existing large off-axis trajectory safety area control has poor adaptability and the large off-axis flight test is difficult to implement due to the limited test area.

[0005] To achieve the above-mentioned purpose, the aircraft flight area control method disclosed in the present invention includes: Step 1, storing the longitude, latitude and velocity azimuth obtained by solving the reference trajectory of the aircraft flight test in the flight control computer; Step 2: Establish a launch coordinate system based on the longitude and latitude of the launch point and the longitude and latitude of the target point, and represent the launch point and target point information in the geocentric coordinate system; Step 3, according to the transmission point information and the target point information, solve the first conversion matrix from the geocentric coordinate system to the transmission point geographic system, solve the second conversion matrix from the transmission point geographic system to the transmission coordinate system according to the first conversion matrix, and then solve the third conversion matrix from the geocentric coordinate system to the transmission coordinate system according to the product of the second conversion matrix and the first conversion matrix; Step 4, according to the longitude and latitude information of the launch point, calculate the projection of the geocentric vector of the origin of the launch coordinate system and the angular velocity of the earth's rotation in the launch coordinate system; Step 5: During the flight of the aircraft, the coordinates of the current point and the corresponding safety zone boundary in the launch coordinate system are calculated in real time based on the conversion matrix between the associated coordinate systems, the longitude and latitude information of the current point, and the azimuth data of the flight test reference trajectory; Step 6, calculating the longitude and latitude corresponding to the safety zone boundary according to the launch coordinate system coordinates corresponding to the safety zone boundary, the launch coordinate system earth rotation angular velocity and the launch coordinate system origin vector; Step 7, based on the longitude and latitude of the current point and the longitude and latitude corresponding to the safety zone boundary, determine whether the current point is within the safety zone. If the current point is within the safety zone, solve the normal flight control program; otherwise, solve the safety control program to make the aircraft dive and land.

[0006] Preferably, the step 2 specifically includes: Step 2.1: According to the latitude and longitude of the launch point , and the Earth's semi-major and semi-minor axes , solve the radius of curvature of the launch point And the three components of the launch point in the geocentric coordinate system ; Radius of curvature of the launch point circle The calculation formula is: ; The three-component calculation formula of the launch point in the geocentric coordinate system is: ; Step 2.2, according to the latitude and longitude of the target point , and the Earth's semi-major and semi-minor axes , solve the curvature radius of the target point And the three components of the target point in the geocentric coordinate system ; Curvature radius of the target point circle The calculation formula is: ; The three-component calculation formula of the target point in the geocentric coordinate system is: .

[0007] Preferably, the step 3 specifically includes: Step 3.1: Calculate the first transformation matrix from the geocentric coordinate system to the launch point geographic coordinate system , the calculation formula is as follows: ; Step 3.2, convert the radial vectors between the launch point and the target point from the geocentric coordinate system to the launch point geographic coordinate system. The three components of the radial vector in the launch point geographic coordinate system are , , The calculation formula is as follows: ; Step 3.3, calculate the launch azimuth according to the projection of the launch point and the target point vector in the launch point geographic coordinate system , the calculation formula is as follows: ; Step 3.4, calculate the second transformation matrix from the launch origin geographic coordinate system to the launch coordinate system according to the launch azimuth , the calculation formula is as follows: ; Step 3.5, based on the transformation matrix from the geocentric coordinate system to the launch point geographic coordinate system, and the transformation matrix from the launch point geographic coordinate system to the launch coordinate system, solve the third transformation matrix from the geocentric coordinate system to the launch coordinate system , the calculation formula is as follows: .

[0008] Preferably, the step 4 specifically includes: Step 4.1, according to the geographical latitude of the launch point Solving for the geocentric latitude of the launch point , the calculation formula is as follows: ; Step 4.2, calculate the radial vector from the center of the earth to the ground projection of the launch point according to the latitude of the center of the earth at the launch point , the calculation formula is as follows: ; Step 4.3, calculate the radius vector Components in the emission coordinate system , the calculation formula is as follows: ; Step 4.4, calculate the component of the Earth's rotation angular velocity vector in the launch coordinate system , the calculation formula is as follows: .

[0009] Preferably, the step 5 specifically includes: Step 5.1: According to the latitude and longitude coordinates of the current point of the aircraft Calculate the curvature radius of the current point and the coordinates of the current point in the geocentric coordinate system , and then solve the coordinates of the current point launch coordinate system ; The curvature radius of the current point circle The calculation formula is: ; The calculation formula of the current point in the geocentric coordinate system is as follows: ; The calculation formula of the current point in the launch coordinate system is as follows: ; Step 5.2, using the current aircraft longitude or latitude as the independent variable, the velocity azimuth as the dependent variable, and the trajectory data stored in the flight control computer as the interpolated data, interpolate the velocity azimuth of the reference trajectory corresponding to the current point ; Among them, the independent variable is a monotonically increasing value; Step 5.3, based on the velocity azimuth of the current point reference trajectory, calculate the azimuth of the upper and lower boundaries of the safety zone in the launch coordinate system relative to the current point of the reference trajectory , and then according to the distance between the upper and lower boundaries of the safety zone and the reference trajectory Calculate the coordinates of the upper and lower boundaries of the safety zone in the launch coordinate system; The azimuth angle calculation formula is as follows: ; Upper boundary of safe zone and the lower boundary The coordinate calculation formula in the launch coordinate system is as follows: ; .

[0010] Preferably, the step 6 specifically includes: Step 6.1, determine any point in the launch coordinate system The three components of the geocentric radius , and , solve the geocentric radius vector of any point in the launch coordinate system The solution formula is: ; ; Step 6.2, determine the solution formula of the geocentric latitude of any point in the launch coordinate system and the geographic latitude of any point in the launch coordinate system; Geocentric latitude The conversion formula is as follows: ; Geographical latitude The conversion formula is as follows: ; Step 6.3, calculate the coordinates of the geocentric vector of any point in the launch coordinate system based on the geocentric vector of the launch point and the launch point information. , calculate the difference between the longitude of any point in the launch coordinate system and the longitude of the launch point, and determine the settlement formula for the geographical longitude of any point in the launch coordinate system; The coordinates of the geocentric vector of any point in the launch coordinate system in the geocentric system are calculated as follows: ; The difference between the longitude of any point in the launch coordinate system and the longitude of the launch point is calculated as follows: ; The calculation method of the geographic longitude of any point in the launch coordinate system is as follows: ; Step 6.4: Set the launch coordinate system coordinates of the upper boundary point of the safety zone and the launch coordinate system coordinates of the lower boundary point Substitute the inputs in step 6.1 above into , and then solve the longitude and latitude of the upper boundary according to steps 6.2 and 6.3 and the latitude and longitude of the lower boundary .

[0011] Preferably, in step 7, the latitude and longitude of the current point are determined. , The necessary and sufficient conditions for the current point in the safety zone to be within the safety zone are: .

[0012] To achieve the above objectives, the present invention also discloses an aircraft flight area control system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above method when executing the computer program.

[0013] Preferably, the processor comprises: Navigation and positioning module, used to obtain the position information of the aircraft, for guidance and control command calculation and safety area calculation; The flight control solution module is used to store target information and characteristic information of the aircraft, and judge whether the aircraft is within the safety area according to the position information output by the navigation and positioning module and the safety area range output by the safety area solution module. If the aircraft is within the safety area, the normal flight control program is solved; otherwise, the safety control program is solved to make the aircraft dive and land; The safety area calculation module is used to calculate the safety area range according to the target test reference trajectory data and the position data of the current point, and output it to the flight control calculation module; The instruction execution module is used to execute the control instructions output by the flight control solution module, change the control force of the aircraft, and make the aircraft fly according to the instructions.

[0014] In summary, the core of the present invention is: during the flight of the aircraft, the coordinates of the current point and the corresponding safety zone boundary in the launch coordinate system are calculated in real time according to the conversion matrix between the associated coordinate systems, the longitude and latitude information of the current point and the azimuth data of the flight test reference trajectory; the longitude and latitude corresponding to the safety zone boundary are calculated according to the launch coordinate system coordinates corresponding to the safety zone boundary, the angular velocity of the earth's rotation in the launch coordinate system and the vector radius of the origin of the launch coordinate system; according to the longitude and latitude of the current point and the longitude and latitude corresponding to the safety zone boundary, it is determined whether the current point is within the safety zone. It has the following beneficial effects: For the large off-axis flight test of the aircraft, the large off-axis flight test reference trajectory data can be first solved offline and stored in the flight control computer. During the test, the boundary points of the safe area are solved according to the real-time latitude and longitude of the aircraft. By judging whether the aircraft is in the safe area, it is decided to solve the normal flight control program or the safe area control program. The principle is simple and the engineering applicability is strong. The safe area control capability of modern aircraft for large off-axis trajectories is improved, and the technical problems of poor adaptability of existing large off-axis trajectory safe area control and difficulty in implementing large off-axis flight tests due to limited test areas are solved.

[0015] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a flow chart of the aircraft flight area control method disclosed in Example 1 of the present invention.

[0017] Figure 2 and Figure 3 They are respectively schematic diagrams of part of the coordinate system disclosed in the embodiments of the present invention.

[0018] Figure 4 It is a logical function block diagram of the processor in the aircraft flight area control system disclosed in Example 2 of the present invention. DETAILED DESCRIPTION

[0019] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0020] Example 1 This embodiment discloses a flow chart of a method for controlling an aircraft flight area. Figure 1 As shown, the method mainly comprises the following steps: Step 1: According to the aerodynamic data of the aircraft and based on the aircraft dynamics equation, a six-degree-of-freedom trajectory model of the aircraft is constructed. The longitude, latitude and velocity azimuth of the flight test reference trajectory are calculated offline through the model to form a matrix data of three columns and multiple rows, which is stored in the flight control computer.

[0021] In this step, the so-called six degrees of freedom refer to three translational motions and three rotational motions corresponding to the X-axis, Y-axis and Z-axis. The X-axis, Y-axis and Z-axis are based on the launch coordinate system, and the longitude, latitude and altitude calculated are based on the national geodetic coordinate system, namely CGCS2000, and the corresponding English full name is China Geodetic Coordinate System 2000. At the same time, the longitude, latitude and velocity azimuth of the flight test reference trajectory calculated in this step are discrete, so interpolation processing is required in the subsequent real-time judgment of whether the aircraft is within the boundary of the safety zone.

[0022] Step 2: According to the latitude and longitude of the launch point , the latitude and longitude of the target point , establish a launch coordinate system, and represent the launch point and target point information in the geocentric coordinate system.

[0023] Geocentric coordinate system ( System): The origin of the coordinate system is at the center of the earth , Axis points to the launch point The intersection of the meridian plane and the equatorial plane, The axis is perpendicular to the equatorial plane and points to the North Pole. A right-handed coordinate system is formed.

[0024] Furthermore, in specific implementation, the step 2 includes: Step 2.1: According to the latitude and longitude of the launch point , and the Earth's semi-major and semi-minor axes , solve the radius of curvature of the launch point And the three components of the launch point in the geocentric coordinate system .

[0025] Radius of curvature of the launch point circle The calculation formula is: .

[0026] The three-component calculation formula of the launch point in the geocentric coordinate system is: .

[0027] Step 2.2, according to the latitude and longitude of the target point , and the Earth's semi-major and semi-minor axes , solve the curvature radius of the target point And the three components of the target point in the geocentric coordinate system .

[0028] Curvature radius of the target point circle The calculation formula is: .

[0029] The three-component calculation formula of the target point in the geocentric coordinate system is: .

[0030] Step 3: Based on the launch point information and target point information, calculate the geocentric coordinate system to the launch point geographic system ( The transformation matrix from the launch point geographic system to the launch coordinate system is solved, and the transformation matrix from the geocentric coordinate system to the launch coordinate system is further solved.

[0031] In this step, the launch point geographic system is: the position of the aircraft on the earth's surface at the time of launch is the coordinate origin, The axis rotates with the earth and points due north and due east respectively. The axis is perpendicular to the plane and forms a right-handed system. The launch coordinate system is: the origin of the coordinate is fixedly connected to the launch point 0 of the aircraft, The axis is perpendicular to the horizontal plane of the launch point and points upward. Axis and The axis is vertical and points in the direction of the target point. Axis and The planes are perpendicular and form a right-handed coordinate system.

[0032] Reference Figure 2 , is the geocentric coordinate system; is the launch coordinate system, is the emission angle. Figure 3 , is the geographic coordinate system, where Always point north, Point to the sky, Pointing to the east; the launch point geographic system is a coordinate system with the launch point as the origin and the three axes pointing to the north celestial east of the point; the target point geographic system is a coordinate system with the target point as the origin and the three axes pointing to the north celestial east of the point.

[0033] Furthermore, in specific implementation, the step 2 includes: Step 3.1, solve the transformation matrix from the geocentric coordinate system to the launch point geographic coordinate system, the calculation formula is as follows: .

[0034] Step 3.2, convert the radial vectors between the launch point and the target point from the geocentric coordinate system to the launch point geographic coordinate system. The three components of the radial vector in the launch point geographic coordinate system are , , The calculation formula is as follows: .

[0035] Step 3.3, calculate the launch azimuth according to the projection of the launch point and the target point vector in the launch point geographic coordinate system , the calculation formula is as follows: .

[0036] Step 3.4, calculate the transformation matrix from the launch point geographic coordinate system to the launch coordinate system according to the launch azimuth. The calculation formula is as follows: .

[0037] Step 3.5, based on the transformation matrix from the geocentric coordinate system to the launch point geographic coordinate system, and the transformation matrix from the launch point geographic coordinate system to the launch coordinate system, solve the transformation matrix from the geocentric coordinate system to the launch coordinate system , the calculation formula is as follows: .

[0038] Step 4: Calculate the projection of the origin of the launch coordinate system and the angular velocity of the earth's rotation in the launch coordinate system based on the longitude and latitude information of the launch point.

[0039] Furthermore, in specific implementation, the step 4 includes: Step 4.1, according to the geographical latitude of the launch point Solving for the geocentric latitude of the launch point , the calculation formula is as follows: .

[0040] Step 4.2, calculate the radial vector from the center of the earth to the ground projection of the launch point according to the latitude of the center of the earth at the launch point , the calculation formula is as follows: .

[0041] Step 4.3, calculate the radius vector Components in the emission coordinate system , the calculation formula is as follows: .

[0042] Step 4.4, calculate the Earth's rotation angular velocity vector Components in the emission coordinate system , the calculation formula is as follows: .

[0043] Step 5, based on the latitude and longitude information of the current point of the aircraft during flight and the azimuth data of the flight test reference trajectory, calculate the coordinates of the safety zone boundary corresponding to the current point in the launch coordinate system.

[0044] Furthermore, in specific implementation, the step 5 includes: Step 5.1, according to the longitude and latitude coordinates of the current point Calculate the curvature radius of the current point and the coordinates of the current point in the geocentric coordinate system , and then further solve the coordinates of the current point launch coordinate system .

[0045] The calculation formula for the curvature radius of the current point Maoyou circle is as follows : .

[0046] The calculation formula of the current point in the geocentric coordinate system is as follows: .

[0047] The calculation formula of the current point in the launch coordinate system is as follows: .

[0048] Step 5.2, use the current aircraft longitude (or latitude) as the independent variable, where the independent variable must be a monotonically increasing value, use the velocity azimuth as the dependent variable, and use the trajectory data stored in the flight control computer as the interpolated data to interpolate the velocity azimuth of the reference trajectory at this time. .

[0049] Step 5.3, based on the velocity azimuth of the current point reference trajectory, calculate the azimuth of the upper and lower boundaries of the safety zone in the launch coordinate system relative to the current point of the reference trajectory , and then according to the distance between the upper and lower boundaries of the safety zone and the reference trajectory Calculate the coordinates of the upper and lower boundaries of the safe zone in the launch coordinate system.

[0050] The azimuth angle calculation formula is as follows: .

[0051] Upper boundary of safe zone and the lower boundary The coordinate calculation formula in the launch coordinate system is as follows: ; .

[0052] Step 6, calculate the longitude and latitude corresponding to the safety zone boundary according to the launch coordinate system coordinates corresponding to the safety zone boundary, the launch coordinate system earth rotation angular velocity and the launch coordinate system origin vector.

[0053] Furthermore, in specific implementation, the step 2 includes: Step 6.1: Calculate any point in the launch coordinate system The three components of the geocentric radius , and , solve the geocentric radius vector of any point in the launch coordinate system The calculation formula is as follows: ; .

[0054] Step 6.2, calculate the geocentric latitude of any point in the launch coordinate system, and further calculate the geographic latitude of any point in the launch coordinate system.

[0055] Geocentric latitude The conversion formula is as follows: .

[0056] Geographical latitude The conversion formula is as follows: .

[0057] Geocentric latitude refers to the linear angle formed by the line connecting a certain point with the center of the earth and the equatorial plane of the earth. Geodetic latitude (that is, the "geographic dimension" mentioned above) refers to the angle between the ground normal of a certain place and the equatorial plane. This is an industry term and will not be elaborated on.

[0058] Step 6.3, calculate the coordinates of the geocentric vector of any point in the geocentric coordinate system according to the geocentric vector of any point in the launch coordinate system and the launch point information , further calculate the difference between the longitude of any point in the launch coordinate system and the longitude of the launch point, and then solve the geographical longitude of any point at the launch point.

[0059] The coordinates of the geocentric vector radius at any point in the launch coordinate system in the geocentric coordinate system are calculated as follows: .

[0060] The difference between the longitude of any point in the launch coordinate system and the longitude of the launch point is calculated as follows: .

[0061] The calculation method of the geographic longitude of any point in the launch coordinate system is as follows: .

[0062] Step 6.4: Set the launch coordinate system coordinates of the upper boundary point of the safety zone and the launch coordinate system coordinates of the lower boundary point Substitute the inputs in step 6.1 above into , and then according to step 6.2 and step 6.3, the longitude and latitude of the upper boundary can be solved in turn and the latitude and longitude of the lower boundary .

[0063] Step 7: Determine whether the current point is within the safety zone based on the latitude and longitude of the current point and the latitude and longitude corresponding to the safety zone boundary. If the current point is within the safety zone, solve the normal flight control program; otherwise, solve the safety control program. In this way, after solving the safety control program, the pitch channel rudder can be controlled. Make the aircraft dive to the ground.

[0064] When it is implemented specifically, When the aircraft is in a safe area, it can be judged that it is in a safe area, otherwise the aircraft can be controlled to dive and land.

[0065] Thus, based on the above scheme of the present embodiment, although the flight control computer is loaded with discrete data of the flight test reference trajectory, during the control process of the flight area, the longitude and latitude corresponding to the upper and lower safety zone boundaries in the launch system coordinate system can be calculated in real time by interpolating the information of the current point of the aircraft in combination with the discrete data of the loaded reference trajectory, and then judging whether the real-time longitude and latitude of the current point is within the safety area; compared with directly loading the data of the safety zone boundary, on the one hand, the amount of data loaded is greatly reduced; on the other hand, the frequent table lookup and reading and writing of data are also greatly reduced.

[0066] Example 2 Corresponding to the above method, this embodiment discloses an aircraft flight area control system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above method when executing the computer program. The method of this embodiment includes at least the following steps: Step 1, storing the discrete longitude, latitude and velocity azimuth after solving the aircraft flight test reference trajectory in the flight control computer.

[0067] Step 2: Establish a launch coordinate system based on the longitude and latitude of the launch point and the longitude and latitude of the target point, and represent the launch point and target point information in the geocentric coordinate system.

[0068] Step 3, based on the launch point information and the target point information, solve the first transformation matrix from the geocentric coordinate system to the launch point geographic system, solve the second transformation matrix from the launch point geographic system to the launch coordinate system based on the first transformation matrix, and then solve the third transformation matrix from the geocentric coordinate system to the launch coordinate system based on the product of the second transformation matrix and the first transformation matrix.

[0069] Step 4: Calculate the projection of the origin of the launch coordinate system and the angular velocity of the earth's rotation in the launch coordinate system based on the longitude and latitude information of the launch point.

[0070] Step 5: During the flight of the aircraft, the coordinates of the current point and the corresponding safety zone boundary in the launch coordinate system are calculated in real time based on the conversion matrix between the associated coordinate systems, the longitude and latitude information of the current point, and the azimuth data of the flight test reference trajectory.

[0071] Step 6, calculate the longitude and latitude corresponding to the safety zone boundary according to the launch coordinate system coordinates corresponding to the safety zone boundary, the launch coordinate system earth rotation angular velocity and the launch coordinate system origin vector.

[0072] Step 7, based on the longitude and latitude of the current point and the longitude and latitude corresponding to the safety zone boundary, determine whether the current point is within the safety zone. If the current point is within the safety zone, solve the normal flight control program; otherwise, solve the safety control program to make the aircraft dive and land.

[0073] Preferably, if Figure 4 As shown, the functional logic framework of the processor in the system of this embodiment can be specifically divided into: The navigation and positioning module is used to obtain the position information of the aircraft for the calculation of guidance and control instructions and the calculation of the safe area.

[0074] The flight control solution module is used to store target information and characteristic information of the aircraft, and judge whether the aircraft is within the safety area according to the position information output by the navigation and positioning module and the safety area range output by the safety area solution module. If the aircraft is within the safety area, the normal flight control program is solved; otherwise, the safety control program is solved to make the aircraft dive and land.

[0075] The safety area calculation module is used to calculate the safety area range according to the target test reference trajectory data and the position data of the current point, and output it to the flight control calculation module.

[0076] The instruction execution module is used to execute the control instructions output by the flight control solution module, change the control force of the aircraft, and make the aircraft fly according to the instructions.

[0077] In summary, the method and system respectively disclosed in the above two embodiments of the present invention can firstly calculate the large off-axis flight test reference trajectory data offline and store it in the flight control computer for the large off-axis flight test of the aircraft. During the test, the boundary points of the safe area are calculated according to the real-time latitude and longitude of the aircraft. By judging whether the aircraft is in the safe area, it is decided to solve the normal flight control program or the safe area control program. The principle is simple and the engineering applicability is strong. The safe area control capability of modern aircraft for large off-axis trajectories is improved, and the technical problems of poor adaptability of the existing large off-axis trajectory safe area control and difficulty in implementing large off-axis flight tests due to limited test areas are solved.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling an aircraft flight area, characterized in that: include: Step 1, storing the longitude, latitude and velocity azimuth obtained by solving the reference trajectory of the aircraft flight test in the flight control computer; Step 2: Establish a launch coordinate system based on the longitude and latitude of the launch point and the longitude and latitude of the target point, and represent the launch point and target point information in the geocentric coordinate system; Step 3, according to the transmission point information and the target point information, solve the first conversion matrix from the geocentric coordinate system to the transmission point geographic system, solve the second conversion matrix from the transmission point geographic system to the transmission coordinate system according to the first conversion matrix, and then solve the third conversion matrix from the geocentric coordinate system to the transmission coordinate system according to the product of the second conversion matrix and the first conversion matrix; Step 4, according to the longitude and latitude information of the launch point, calculate the projection of the geocentric vector of the origin of the launch coordinate system and the angular velocity of the earth's rotation in the launch coordinate system; Step 5: During the flight of the aircraft, the coordinates of the current point and the corresponding safety zone boundary in the launch coordinate system are calculated in real time based on the conversion matrix between the associated coordinate systems, the longitude and latitude information of the current point, and the azimuth data of the flight test reference trajectory; Step 6, calculating the longitude and latitude corresponding to the safety zone boundary according to the launch coordinate system coordinates corresponding to the safety zone boundary, the launch coordinate system earth rotation angular velocity and the launch coordinate system origin vector; Step 7, judging whether the current point is within the safety zone according to the latitude and longitude of the current point and the latitude and longitude corresponding to the safety zone boundary, and solving the normal flight control program if the current point is within the safety zone; Otherwise, the safety control program is solved to make the aircraft dive to the ground.

2. The method for controlling the flight area of ​​an aircraft according to claim 1, characterized in that: The step 2 specifically includes: Step 2.1: According to the latitude and longitude of the launch point , and the Earth's semimajor and semiminor axes , solve the radius of curvature of the launch point And the three components of the launch point in the geocentric coordinate system ; Radius of curvature of the launch point circle The calculation formula is: ； The three-component calculation formula of the launch point in the geocentric coordinate system is: ； Step 2.2, according to the latitude and longitude of the target point , and the Earth's semimajor and semiminor axes , solve the curvature radius of the target point And the three components of the target point in the geocentric coordinate system ; Curvature radius of the target point circle The calculation formula is: ； The three-component calculation formula of the target point in the geocentric coordinate system is: 。 3. The method for controlling the flight area of ​​an aircraft according to claim 2, characterized in that: The step 3 specifically includes: Step 3.1: Calculate the first transformation matrix from the geocentric coordinate system to the launch point geographic coordinate system , the calculation formula is as follows: ； Step 3.2: Convert the radial vectors between the launch point and the target point from the geocentric coordinate system to the launch point geographic coordinate system. The three components of the radial vector in the launch point geographic coordinate system are , , The calculation formula is as follows: ； Step 3.3, calculate the launch azimuth according to the projection of the launch point and the target point vector in the launch point geographic coordinate system , the calculation formula is as follows: ； Step 3.4, calculate the second transformation matrix from the launch origin geographic coordinate system to the launch coordinate system according to the launch azimuth , the calculation formula is as follows: ； Step 3.5, based on the transformation matrix from the geocentric coordinate system to the launch point geographic coordinate system, and the transformation matrix from the launch point geographic coordinate system to the launch coordinate system, solve the third transformation matrix from the geocentric coordinate system to the launch coordinate system , the calculation formula is as follows: 。 4. The method for controlling the flight area of ​​an aircraft according to claim 3, characterized in that: The step 4 specifically includes: Step 4.1, according to the geographical latitude of the launch point Solving for the geocentric latitude of the launch point , the calculation formula is as follows: ； Step 4.2, calculate the radial vector from the center of the earth to the ground projection of the launch point according to the latitude of the center of the earth at the launch point , the calculation formula is as follows: ； Step 4.3, calculate the radius vector Components in the emission coordinate system , the calculation formula is as follows: ； Step 4.4, calculate the Earth's rotation angular velocity vector Components in the emission coordinate system , the calculation formula is as follows: 。 5. The method for controlling the flight area of ​​an aircraft according to claim 4, characterized in that: The step 5 specifically includes: Step 5.1: According to the latitude and longitude coordinates of the current point of the aircraft Calculate the curvature radius of the current point and the coordinates of the current point in the geocentric coordinate system , and then solve the coordinates of the current point launch coordinate system ; The curvature radius of the current point circle The calculation formula is: ； The calculation formula of the current point in the geocentric coordinate system is as follows: ； The calculation formula of the current point in the launch coordinate system is as follows: ； Step 5.2, using the current aircraft longitude or latitude as the independent variable, the velocity azimuth as the dependent variable, and the trajectory data stored in the flight control computer as the interpolated data, interpolate the velocity azimuth of the reference trajectory corresponding to the current point ; Among them, the independent variable is a monotonically increasing value; Step 5.3, based on the velocity azimuth of the current point reference trajectory, calculate the azimuth of the upper and lower boundaries of the safety zone in the launch coordinate system relative to the current point of the reference trajectory , and then according to the distance between the upper and lower boundaries of the safety zone and the reference trajectory Calculate the coordinates of the upper and lower boundaries of the safety zone in the launch coordinate system; The azimuth angle calculation formula is as follows: ； Upper boundary of safe zone and the lower boundary The coordinate calculation formula in the launch coordinate system is as follows: ； 。 6. The method for controlling the flight area of ​​an aircraft according to claim 5, characterized in that: The step 6 specifically includes: Step 6.1, determine any point in the launch coordinate system The three components of the geocentric radius , and , solve the geocentric radius vector of any point in the launch coordinate system The solution formula is: ； ； Step 6.2, determine the solution formula of the geocentric latitude of any point in the launch coordinate system and the geographic latitude of any point in the launch coordinate system; Geocentric latitude The conversion formula is as follows: ； Geographical latitude The conversion formula is as follows: ； Step 6.3, calculate the coordinates of the geocentric vector of any point in the launch coordinate system based on the geocentric vector of the launch point and the launch point information. , calculate the difference between the longitude of any point in the launch coordinate system and the longitude of the launch point, and determine the settlement formula for the geographical longitude of any point in the launch coordinate system; The coordinates of the geocentric vector of any point in the launch coordinate system in the geocentric system are calculated as follows: ； The difference between the longitude of any point in the launch coordinate system and the longitude of the launch point is calculated as follows: ； Geographic longitude of any point in the launch coordinate system The calculation method is as follows: ； Step 6.4: Set the launch coordinate system coordinates of the upper boundary point of the safety zone and the launch coordinate system coordinates of the lower boundary point Substitute the inputs in step 6.1 above into , and then solve the longitude and latitude of the upper boundary according to steps 6.2 and 6.3 and the latitude and longitude of the lower boundary .

7. The method for controlling the flight area of ​​an aircraft according to claim 6, characterized in that: In step 7, the latitude and longitude of the current point are determined. , The necessary and sufficient conditions for the current point in the safety zone to be within the safety zone are: 。 8. An aircraft flight area control system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the aircraft flight area control method described in any one of claims 1 to 7 is implemented.

9. The aircraft flight area control system according to claim 8, characterized in that: The processor comprises: Navigation and positioning module, used to obtain the position information of the aircraft, for guidance and control command calculation and safety area calculation; The flight control solution module is used to store target information and characteristic information of the aircraft, and judge whether the aircraft is within the safety area according to the position information output by the navigation and positioning module and the safety area range output by the safety area solution module. If the aircraft is within the safety area, the normal flight control program is solved; otherwise, the safety control program is solved to make the aircraft dive and land; The safety area calculation module is used to calculate the safety area range according to the target test reference trajectory data and the position data of the current point, and output it to the flight control calculation module; The instruction execution module is used to execute the control instructions output by the flight control solution module, change the control force of the aircraft, and make the aircraft fly according to the instructions.

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