Flight Area Control Method and System for Aircraft

Abstract

The present invention relates to a new generation of information technology, and discloses a method and a system for controlling the flight area of an aircraft to improve the adaptability to the test environment. The method includes: calculating the transformation matrix between the associated coordinate systems; during the flight of the aircraft, in real time calculating the coordinates of the current point and the corresponding safety zone boundary in the launch coordinate system according to the transformation 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; calculating the longitude and latitude corresponding to the safety zone boundary according to the coordinates of the safety zone boundary in the launch coordinate system, the angular velocity of the earth's rotation in the launch coordinate system, and the radius vector of the origin of the launch coordinate system; judging whether the current point is within the safety zone range according to the longitude and latitude of the current point and the longitude and latitude corresponding to the safety zone boundary. If the current point is within the safety zone, calculating the normal flight control program; otherwise, calculating the safety control program to make the aircraft dive and land.

Description

Technical Field

[0001] The present invention relates to a method and system for controlling or regulating non-electric variables in the new generation of information technology, and particularly to a method and system for controlling the flight area of an aircraft. Background Art

[0002] At present, with the increasing complexity of the usage scenarios of modern aircraft, higher requirements are put forward for the use of high aspect ratio aircraft. High aspect ratio aircraft are developing towards a larger launch off-axis angle. 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 with a large envelope. The traditional method of dividing a rectangular safety area in a large range according to the flight path has poor adaptability to large off-axis trajectories and is difficult to implement under the limited existing test sites and resources.

[0003] Therefore, there is an urgent need for a method and system for controlling the flight area of a large off-axis trajectory with a small envelope, strong adaptability, and capable of improving the test safety of the aircraft. Summary of the Invention

[0004] The object of the present invention is to disclose a method and system for controlling the flight area of an aircraft to solve the technical problems of poor adaptability of the existing control of the safety area of a large off-axis trajectory and the difficulty of implementing large off-axis flight tests due to limited test areas.

[0005] To achieve the above object, the method for controlling the flight area of an aircraft disclosed by the present invention includes:

[0006] Step 1, storing the longitude, latitude, and velocity azimuth angle obtained by discretizing the reference trajectory of the aircraft flight test in the flight control computer;

[0007] Step 2, establishing a launch coordinate system based on the geodetic height, longitude, and latitude of the launch point and the geodetic height, longitude, and latitude of the target point, and representing the information of the launch point and the target point in the geocentric coordinate system;

[0008] Step 3, calculating a first transformation matrix from the geocentric coordinate system to the geodetic coordinate system of the launch point according to the information of the launch point and the target point, calculating a second transformation matrix from the geodetic coordinate system of the launch point to the launch coordinate system according to the first transformation matrix, and then calculating a third transformation matrix from the geocentric coordinate system to the launch coordinate system according to the product of the second transformation matrix and the first transformation matrix;

[0009] Step 4, calculating the geocentric radius vector of the origin of the launch coordinate system and the projection of the earth's angular velocity of rotation in the launch coordinate system according to the longitude and latitude information of the launch point;

[0010] Step 5, during the flight of the aircraft, in real time, according to the transformation 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, calculate the coordinates of the current point and the corresponding safety zone boundary in the launch coordinate system;

[0011] Step 6, according to the coordinates of the safety zone boundary in the launch coordinate system, the earth's angular velocity of rotation in the launch coordinate system, and the radius vector of the origin of the launch coordinate system, calculate the longitude and latitude corresponding to the safety zone boundary;

[0012] Step 7, according to 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, calculate the normal flight control program; otherwise, calculate the safety control program to make the aircraft dive and land.

[0013] Preferably, step 2 specifically includes:

[0014] Step 2.1, according to the longitude, latitude, and altitude of the launch point , and the semi-major axis and semi-minor axis of the earth , calculate the radius of curvature of the prime vertical circle at the launch point and the three components of the launch point in the geocentric coordinate system ;

[0015] The formula for calculating the radius of curvature of the prime vertical circle at the launch point is:

[0016] ;

[0017] The formula for calculating the three components of the launch point in the geocentric coordinate system is:

[0018] ;

[0019] Step 2.2, according to the longitude, latitude, and altitude of the target point , and the semi-major axis and semi-minor axis of the earth , calculate the radius of curvature of the prime vertical circle at the target point and the three components of the target point in the geocentric coordinate system ;

[0020] The formula for calculating the radius of curvature of the prime vertical circle at the target point is:

[0021] ;

[0022] The formula for calculating the three components of the target point in the geocentric coordinate system is:

[0023] ;

[0024] Preferably, step 3 specifically includes:

[0025] Step 3.1, solve the first transformation matrix from the geocentric coordinate system to the geographic coordinate system of the launch point , and the calculation formula is as follows:

[0026] ;

[0027] Step 3.2, convert the position vectors of the launch point and the target point from the geocentric coordinate system to the geographic coordinate system of the launch point. The three components of the position vector in the geographic coordinate system of the launch point , , The calculation formulas are as follows:

[0028] ;

[0029] Step 3.3, calculate the launch azimuth angle according to the projection of the position vectors of the launch point and the target point in the geographic coordinate system of the launch point. The calculation formula is as follows:

[0030] ;

[0031] Step 3.4, solve the second transformation matrix from the geographic coordinate system of the launch origin to the launch coordinate system according to the launch azimuth angle. The calculation formula is as follows:

[0032] ;

[0033] Step 3.5, solve the third transformation matrix from the geocentric coordinate system to the launch coordinate system based on the transformation matrix from the geocentric coordinate system to the geographic coordinate system of the launch point and the transformation matrix from the geographic coordinate system of the launch point to the launch coordinate system . The calculation formula is as follows:

[0034] .

[0035] Preferably, step 4 specifically includes:

[0036] Step 4.1, solve the geocentric latitude of the launch point according to the geographic latitude of the launch point. The calculation formula is as follows:

[0037] ;

[0038] Step 4.2, solve the position vector from the geocenter to the ground projection of the launch point according to the geocentric latitude of the launch point. The calculation formula is as follows:

[0039] ;

[0040] Step 4.3, calculate the position vector Components in the launch coordinate system , and the calculation formula is as follows:

[0041] ;

[0042] Step 4.4, calculate the components of the earth's angular velocity vector in the launch coordinate system , and the calculation formula is as follows:

[0043] .

[0044] Preferably, the specific steps of step 5 are as follows:

[0045] Step 5.1, according to the geodetic coordinates of the current point of the aircraft calculate the radius of curvature of the prime vertical circle at the current point and the coordinates of the current point in the geocentric coordinate system , and then solve the coordinates of the current point in the launch coordinate system ;

[0046] The radius of curvature of the prime vertical circle at the current point The calculation formula is:

[0047] ;

[0048] The calculation formula of the current point in the geocentric coordinate system is as follows:

[0049] ;

[0050] The calculation formula of the current point in the launch coordinate system is as follows:

[0051] ;

[0052] Step 5.2, using the longitude or latitude of the aircraft at the current moment as the independent variable, the velocity azimuth angle as the dependent variable, and the trajectory data stored in the flight control computer as the interpolated data, interpolate to obtain the velocity azimuth angle of the reference trajectory corresponding to the current point ; where the independent variable is a monotonically increasing quantity;

[0053] Step 5.3, according to the velocity azimuth angle of the reference trajectory at the current point, calculate the azimuth angle 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 relative to the reference trajectory solve the coordinates of the upper and lower boundaries of the safety zone in the launch coordinate system;

[0054] The calculation formula of the azimuth angle is as follows:

[0055] ;

[0056] The upper boundary of the safety zone and the lower boundary The coordinate calculation formula in the launch coordinate system is as follows:

[0057] ;

[0058] .

[0059] Preferably, step 6 specifically includes:

[0060] Step 6.1, determine the three geocentric radius vector components of any point in the launch coordinate system , and , and solve the geocentric radius vector of any point in the launch coordinate system. The solution formula is:

[0061] ;

[0062] ;

[0063] Step 6.2, determine the solution formula for the geocentric latitude of any point in the launch coordinate system and the geodetic latitude of any point in the launch coordinate system;

[0064] Geocentric latitude The conversion formula is as follows:

[0065] ;

[0066] Geodetic latitude The conversion formula is as follows:

[0067] ;

[0068] Step 6.3, according to the geocentric radius vector of any point in the launch coordinate system and the launch point information, solve the coordinates of this geocentric radius vector in the geocentric coordinate system, 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 geodetic longitude of any point in the launch coordinate system;

[0069] The calculation method for the coordinates of the geocentric radius vector of any point in the launch coordinate system in the geocentric coordinate system is as follows:

[0070] ;

[0071] The calculation method for the difference between the longitude of any point in the launch coordinate system and the longitude of the launch point is as follows:

[0072] ;

[0073] The calculation method for the geodetic longitude of any point in the launch coordinate system is as follows:

[0074] ;

[0075] Step 6.4, substitute the coordinates of the upper boundary point of the safety zone in the launch coordinate system and the coordinates of the lower boundary point of the safety zone in the launch coordinate system into the input in the above Step 6.1 in sequence , and then solve the longitude and latitude of the upper boundary and the longitude and latitude of the lower boundary in sequence according to Step 6.2 and Step 6.3.

[0076] Preferably, in the above Step 7, the necessary and sufficient condition for judging that the current point is within the safety zone according to the longitude and latitude of the current point , and the longitude and latitude corresponding to the boundary of the safety zone is:

[0077] .

[0078] To achieve the above object, the present invention also discloses a flight area control system for an aircraft, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above method is implemented.

[0079] Preferably, the processor includes:

[0080] A navigation and positioning module, which is used to obtain the position information of the aircraft and is used for guidance control instruction calculation and safety area calculation;

[0081] A flight control calculation module, which is used to store the target information and the characteristic information of the aircraft, and judge whether the aircraft is within the safety area range according to the position information output by the navigation and positioning module and the safety area range output by the safety area calculation module. If the aircraft is within the safety area range, a normal flight control program is calculated; otherwise, a safety control program is calculated to make the aircraft dive and land;

[0082] A safety area calculation module, which 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;

[0083] An instruction execution module, which is used to execute the control instruction output by the flight control calculation module, change the control force of the aircraft, and make the aircraft fly according to the instruction.

[0084] In summary, the core of the present invention lies in: during the flight of the aircraft, calculating in real time the coordinates of the current point and the corresponding safety zone boundary in the launch coordinate system based on the transformation matrix between relevant associated coordinate systems, the longitude and latitude information of the current point, and the azimuth data of the flight test reference trajectory; calculating the longitude and latitude corresponding to the safety zone boundary based on the coordinates of the safety zone boundary in the launch coordinate system, the angular velocity of the earth's rotation in the launch coordinate system, and the radius vector of the origin of the launch coordinate system; and determining whether the current point is within the safety zone range based on the longitude and latitude of the current point and the longitude and latitude corresponding to the safety zone boundary. It has the following beneficial effects:

[0085] For the large off-axis flight test of the aircraft, first, the data of the large off-axis flight test reference trajectory can be calculated offline and stored in the flight control computer. During the test, the boundary points of the safety zone are calculated based on the real-time longitude, latitude, and altitude of the aircraft. By determining whether the aircraft is within the safety zone, the normal flight control program or the safety zone control program is determined. The principle is simple and the engineering applicability is strong, improving the safety zone control ability of modern aircraft for large off-axis trajectories and solving the technical problems of poor adaptability of the existing safety zone control for large off-axis trajectories and difficulty in implementing large off-axis flight tests due to limited test areas.

[0086] Hereinafter, the present invention will be described in further detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0088] Figure 1 is a schematic flowchart of a method for controlling the flight area of an aircraft disclosed in Embodiment 1 of the present invention.

[0089] Figure 2 and Figure 3 are respectively schematic diagrams of some coordinate systems disclosed in embodiments of the present invention.

[0090] Figure 4 is a schematic block diagram of the logical functions of a processor in an aircraft flight area control system disclosed in Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0091] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.

[0092] Embodiment 1

[0093] This embodiment discloses a schematic flowchart of a method for controlling the flight area of an aircraft. As Figure 1 shown, the method mainly includes the following steps:

[0094] Step 1: According to the aerodynamic data of the aircraft, based on the aircraft dynamics equation, construct a six-degree-of-freedom trajectory model of the aircraft. Through offline calculation of the model, the longitude, latitude, and velocity azimuth of the flight test reference trajectory are obtained, forming matrix data with three columns and multiple rows, which are stored in the flight control computer.

[0095] 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, Y, and Z axes are based on the launch coordinate system, and the longitude, latitude, and altitude calculated are based on the national geodetic coordinate system, that is, CGCS2000, the full English name of which 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 needs to be carried out when subsequently judging in real time whether the aircraft is within the boundary of the safety zone.

[0096] Step 2: According to the longitude, latitude, and altitude of the launch point , and the longitude, latitude, and altitude of the target point , establish a launch coordinate system and represent the launch point and target point information in the geocentric coordinate system.

[0097] Geocentric coordinate system ( system): The coordinate origin is at the center of the earth , the axis points to the intersection of the meridian plane where the launch point is located and the equatorial plane, the

[0098] axis is perpendicular to the equatorial plane and points to the north pole,

[0099] forming a right-handed coordinate system. , and the semi-major axis and semi-minor axis of the earth , calculate the radius of curvature of the prime vertical circle at the launch point and the three components of the launch point in the geocentric coordinate system .

[0100] The formula for calculating the radius of curvature of the prime vertical circle at the launch point is:

[0101] .

[0102] The formula for calculating the three components of the launch point in the geocentric coordinate system is:

[0103] .

[0104] Step 2.2: According to the longitude, latitude, and altitude of the target point , and the semi-major axis and semi-minor axis of the Earth , calculate the radius of curvature of the prime vertical circle of the target point and the three components of the target point in the geocentric coordinate system .

[0105] The radius of curvature of the prime vertical circle of the target point The calculation formula is:

[0106] .

[0107] The calculation formula for the three components of the target point in the geocentric coordinate system is:

[0108] .

[0109] Step 3, according to the launch point information and the target point information, calculate the transformation matrix from the geocentric coordinate system to the geographic coordinate system of the launch point ( system), then calculate the transformation matrix from the geographic coordinate system of the launch point to the launch coordinate system, and further calculate the transformation matrix from the geocentric coordinate system to the launch coordinate system.

[0110] In this step, the geographic coordinate system of the launch point is: with the position on the Earth's surface at the moment of the aircraft launch as the coordinate origin, the axis rotates with the Earth and points to the due north and due east respectively, the axis is perpendicular to this plane and forms a right-handed system. The launch coordinate system is: the coordinate origin is fixedly connected to the aircraft launch point 0, the axis is perpendicular to the horizontal plane of the launch point and points upward, the axis is perpendicular to the axis and points in the direction of the target point, the axis is perpendicular to the plane and forms a right-handed coordinate system.

[0111] Refer to Figure 2 , is the geocentric coordinate system; is the launch coordinate system, is the launch angle. Refer to Figure 3 , is the geographic coordinate system, where, points to the north at the moment, points to the sky, points to the east; the geographic coordinate system of the launch point is a coordinate system with the launch point as the origin and the three axes pointing to the north, sky, and east of this point; the geographic coordinate system of the target point is a coordinate system with the target point as the origin and the three axes pointing to the north, sky, and east of this point.

[0112] Furthermore, in specific implementation, step 2 includes:

[0113] Step 3.1: Solve the transformation matrix from the geocentric coordinate system to the geographic coordinate system of the launch point. The calculation formula is as follows:

[0114] .

[0115] Step 3.2: Transform the position vectors of the launch point and the target point from the geocentric coordinate system to the geographic coordinate system of the launch point. The three components of the position vector in the geographic coordinate system of the launch point 、 、 The calculation formulas are as follows:

[0116] .

[0117] Step 3.3: Calculate the launch azimuth angle According to the projection of the position vectors of the launch point and the target point in the geographic coordinate system of the launch point. The calculation formula is as follows:

[0118] .

[0119] Step 3.4: Solve the transformation matrix from the geographic coordinate system of the launch point to the launch coordinate system according to the launch azimuth angle. The calculation formula is as follows:

[0120] .

[0121] Step 3.5: Solve the transformation matrix from the geocentric coordinate system to the launch coordinate system according to the transformation matrix from the geocentric coordinate system to the geographic coordinate system of the launch point and the transformation matrix from the geographic coordinate system of the launch point to the launch coordinate system The calculation formula is as follows:

[0122] .

[0123] Step 4: Solve the geocentric position vector of the origin of the launch coordinate system and the projection of the earth's angular velocity in the launch coordinate system according to the longitude and latitude information of the launch point.

[0124] Furthermore, in specific implementation, step 4 includes:

[0125] Step 4.1: Solve the geocentric latitude of the launch point according to the geographic latitude of the launch point. The calculation formula is as follows:

[0126] .

[0127] Step 4.2: Solve the position vector from the center of the earth to the ground projection of the launch point according to the geocentric latitude of the launch point. The calculation formula is as follows:

[0128] .

[0129] Step 4.3, calculate the radius vector Components in the launch coordinate system , and the calculation formula is as follows:

[0130] .

[0131] Step 4.4, calculate the components of the earth's angular velocity vector in the launch coordinate system , and the calculation formula is as follows:

[0132] .

[0133] Step 5, according to the longitude and latitude information of the current point during the flight of the aircraft and the azimuth data of the flight test reference trajectory, solve the coordinates of the safety zone boundary corresponding to the current point in the launch coordinate system.

[0134] Furthermore, in specific implementation, the said Step 5 includes:

[0135] Step 5.1, according to the current point's geodetic coordinates calculate the radius of curvature of the prime vertical circle at the current point and the coordinates of the current point in the geocentric coordinate system , and further solve the coordinates of the current point in the launch coordinate system .

[0136] The calculation formula for the radius of curvature of the prime vertical circle at the current point is as follows :

[0137] .

[0138] The calculation formula for the current point in the geocentric coordinate system is as follows:

[0139] .

[0140] The calculation formula for the current point in the launch coordinate system is as follows:

[0141] .

[0142] Step 5.2, use the longitude (or latitude) of the aircraft at the current moment as the independent variable, where the independent variable must be a monotonically increasing quantity, use the velocity azimuth angle as the dependent variable, and use the trajectory data stored in the flight control computer as the interpolated data to interpolate the velocity azimuth angle of the reference trajectory at this time .

[0143] Step 5.3, according to the velocity azimuth angle of the reference trajectory at the current point, calculate the azimuth angles 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 distances of the upper and lower boundaries of the safety zone relative to the reference trajectory Solve for the coordinates of the upper and lower boundaries of the safe area in the launch coordinate system.

[0144] The azimuth calculation formula is as follows:

[0145] 。

[0146] The upper boundary of the safe area and the lower boundary The coordinate calculation formulas in the launch coordinate system are as follows:

[0147] ;

[0148] 。

[0149] Step 6: Calculate the longitude and latitude corresponding to the safe area boundary based on the coordinates of the safe area boundary in the launch coordinate system, the angular velocity of the Earth's rotation in the launch coordinate system, and the radius vector of the origin of the launch coordinate system.

[0150] Furthermore, in specific implementation, step 2 includes:

[0151] Step 6.1: Calculate the three components of the geocentric radius vector of any point in the launch coordinate system 、 and Calculate the geocentric radius vector of any point in the launch coordinate system. The calculation formula is as follows:

[0152] ;

[0153] 。

[0154] 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.

[0155] The conversion formula for geocentric latitude is as follows:

[0156] 。

[0157] The conversion formula for geographic latitude is as follows:

[0158] 。

[0159] Geocentric latitude refers to the angle between the line connecting a point and the center of the Earth and the equatorial plane of the Earth. Geodetic latitude (i.e., the above-mentioned "geographic latitude") refers to the angle between the normal of the ground at a certain place and the equatorial plane; this is a technical term in the industry and will not be elaborated.

[0160] Step 6.3: Calculate the coordinates of the geocentric radius vector of any point in the geocentric coordinate system based on the geocentric radius vector of the point and the launch point information in the launch coordinate system. , further calculate the difference between the longitude of any point in the launch coordinate system and the longitude of the launch point, and then calculate the geographical longitude of any point from the launch point.

[0161] The calculation method of the coordinates of the geocentric radius vector of any point in the launch coordinate system in the geocentric coordinate system is as follows:

[0162] .

[0163] The calculation method of the difference between the longitude of any point in the launch coordinate system and the longitude of the launch point is as follows:

[0164] .

[0165] The calculation method of the geographical longitude of any point in the launch coordinate system is as follows:

[0166] .

[0167] Step 6.4: Substitute 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 into the input in Step 6.1 above in sequence , and then according to Step 6.2 and Step 6.3, the longitude and latitude of the upper boundary and the longitude and latitude of the lower boundary can be solved in sequence.

[0168] Step 7: According to 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. Thereby, after solving the safety control program, the pitch channel rudder can be controlled to make the aircraft dive and land.

[0169] Specifically, when , it can be determined that it is within the safety zone, otherwise the aircraft can be controlled to dive and land.

[0170] Thereby, based on the above solution of this embodiment, although the discrete data of the flight test reference trajectory is loaded in the flight control computer, during the control process of the flight area, the longitude and latitude corresponding to the upper and lower safety zone boundaries in the launch coordinate system can be interpolated and calculated in real time by combining the information of the current point of the aircraft with the discrete data of the loaded reference trajectory, and then it can be determined whether the real-time longitude and latitude of the current point are within the safety zone; compared with directly loading the data of the safety zone boundary, on the one hand, the amount of loaded data is greatly reduced; on the other hand, the processing of frequently looking up tables and reading and writing data is also greatly reduced.

[0171] Embodiment 2

[0172] Corresponding to the above method, this embodiment discloses a flight area control system for an aircraft, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above method is implemented. Among them, the method of this embodiment at least includes the following steps:

[0173] Step 1: Store the longitude, latitude, and velocity azimuth angles discretized after solving the reference trajectory of the aircraft flight test in the flight control computer.

[0174] Step 2: Establish an emission coordinate system based on the longitude, latitude, and altitude of the launch point and the longitude, latitude, and altitude of the target point, and represent the launch point and target point information in the geocentric coordinate system.

[0175] Step 3: Calculate the first transformation matrix from the geocentric coordinate system to the geographic coordinate system of the launch point according to the launch point information and the target point information, calculate the second transformation matrix from the geographic coordinate system of the launch point to the emission coordinate system according to the first transformation matrix, and then calculate the third transformation matrix from the geocentric coordinate system to the emission coordinate system according to the product of the second transformation matrix and the first transformation matrix.

[0176] Step 4: Calculate the geocentric radius vector of the origin of the emission coordinate system and the projection of the earth's angular velocity of rotation in the emission coordinate system according to the longitude and latitude information of the launch point.

[0177] Step 5: During the flight of the aircraft, in real time, calculate the coordinates of the current point and the corresponding safety zone boundary in the emission coordinate system according to the transformation matrix between the relevant coordinate systems, the longitude and latitude information of the current point, and the azimuth angle data of the flight test reference trajectory.

[0178] Step 6: Calculate the longitude and latitude corresponding to the safety zone boundary according to the coordinates of the safety zone boundary in the emission coordinate system, the earth's angular velocity of rotation in the emission coordinate system, and the radius vector of the origin of the emission coordinate system.

[0179] Step 7: Determine whether the current point is within the safe area according to the longitude and latitude of the current point and the longitude and latitude corresponding to the safety zone boundary. If the current point is within the safe area, calculate the normal flight control program; otherwise, calculate the safety control program to make the aircraft dive and land.

[0180] Preferably, as Figure 4 shown, the functional logic framework of the processor in the system of this embodiment can be specifically divided into:

[0181] A navigation and positioning module, which is used to obtain the position information of the aircraft and is used for the solution of guidance control instructions and the solution of the safety area.

[0182] The flight control calculation module is used to store the target information and the characteristic information of the aircraft, and determine whether the aircraft is within the safe area range according to the position information output by the navigation and positioning module and the safe area range output by the safe area calculation module. If the aircraft is within the safe area range, it calculates the normal flight control program; otherwise, it calculates the safety control program to make the aircraft dive and land.

[0183] The safe area calculation module is used to calculate the safe 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.

[0184] The instruction execution module is used to execute the control instructions output by the flight control calculation module, change the control force of the aircraft, and make the aircraft fly according to the instructions.

[0185] In summary, for the large off-axis flight test of the aircraft, the methods and systems respectively disclosed in the above two embodiments of the present invention can first calculate the large off-axis flight test reference trajectory data offline and store it in the flight control computer. During the test, the boundary points of the safe area are calculated according to the real-time latitude, longitude and altitude of the aircraft. By judging whether the aircraft is within the safe area, it is decided to calculate the normal flight control program or the safe area control program. The principle is simple and the engineering applicability is strong. It improves the safe area control ability of modern aircraft for large off-axis trajectories, and solves 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.

[0186] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. 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 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: 。 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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