A guidance control method adapted to multitasking scenarios

Abstract

The application belongs to the technical field of flight control, and particularly relates to a guidance control method suitable for multi-task scenarios. The method comprises the following steps: step 100, acquiring task requirements, wherein the task requirements comprise multiple flight trajectories; step 200, acquiring guidance control logic, wherein the guidance control logic comprises main control logic, on-board guidance sub-control logic, on-board search sub-control logic, artificial guidance sub-control logic and command guidance sub-control logic; and step 300, performing airplane guidance control according to the task requirements and the guidance control logic. The guidance control method suitable for multi-task scenarios has the advantages that the combination of the main control logic and the sub-control logic can reasonably decompose the cross calling of the task requirements and the task scenarios, and the automatic guidance function has more reasonable logic and stronger scalability.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of flight control, and particularly relates to a guidance control method suitable for a multi-task scenario. BACKGROUND

[0002] Automatic guidance is one of the main functions of an automatic flight control system, and the automatic guidance includes: (1) long-distance guidance. A target is found and measured by an observation unit, and a guidance instruction is sent to guide the aircraft to a specified airspace or a flight phase capable of autonomous navigation. (2) Short-distance guidance. The long-distance guidance ends, and the short-distance guidance phase is entered, in which the conditions for finding the target are met, and the target is detected, distinguished, intercepted and tracked by means of the airborne electronic equipment, and the aircraft is controlled to gradually meet the task conditions. The automatic guidance function is mainly applied to automatically guide the aircraft to reach a specified position from a certain position according to the task requirements, and to complete various flight tasks through the task requirements and the task scenario.

[0003] With the improvement of the performance of modern aircraft and the complication of the task environment, the pilot will be greatly burdened by completely relying on the human to complete the complex logic switching. Therefore, a set of general and easy-to-understand control logic will be able to assist the pilot to complete the rapid instruction switching, reduce the operation burden of the pilot in the complex environment, and improve the task accuracy.

[0004] Therefore, it is desirable to have a technical solution to overcome or at least alleviate at least one of the aforementioned deficiencies of the prior art. SUMMARY

[0005] The purpose of the present application is to provide a guidance control method suitable for a multi-task scenario to solve at least one problem existing in the prior art.

[0006] The technical solution of the present application is:

[0007] A guidance control method suitable for a multi-task scenario, comprising:

[0008] Step 100, acquiring a task requirement, the task requirement including a plurality of flight trajectories;

[0009] Step 200, acquiring a guidance control logic, the guidance control logic including a main control logic, an on-board guidance sub-control logic, an on-board search sub-control logic, a manual guidance sub-control logic and a command guidance sub-control logic;

[0010] Step 300, performing aircraft guidance control according to the task requirement and the guidance control logic.

[0011] In at least one embodiment of the present application, the flight trajectory includes:

[0012] The near distance guiding full afterburner speed increasing climb trajectory, the engine maximum working state cruise flight climb trajectory, the far distance guiding speed increasing climb trajectory, the escape trajectory, and the descent trajectory.

[0013] In at least one embodiment of the present application, the main control logic comprises:

[0014] Step 211, entering the guiding control, judging whether it is the first time to enter the guiding;

[0015] If it is the first time to enter the guiding, then after the guiding initialization, entering step 212;

[0016] If it is not the first time to enter the guiding, then directly entering step 212;

[0017] Step 212, judging whether the artificial guiding instruction is valid;

[0018] If the artificial guiding instruction is valid, then reading the given height, the given speed, and the given heading artificially set, and entering the artificial guiding control sub-mode;

[0019] If the artificial guiding instruction is not valid, then reading the given height, the given speed, and the given heading sent by the task machine, and entering step 213;

[0020] Step 213, judging whether the on-board guiding instruction is valid;

[0021] If the on-board guiding instruction is valid, then entering the on-board guiding control sub-mode;

[0022] If the on-board guiding instruction is not valid, then entering step 214;

[0023] Step 214, judging whether the on-board searching instruction is valid;

[0024] If the on-board searching instruction is valid, then entering the on-board searching control sub-mode;

[0025] If the on-board searching instruction is not valid, then entering the command guiding control sub-mode.

[0026] In at least one embodiment of the present application, the on-board guiding sub-control logic comprises:

[0027] Step 221, entering the on-board guiding control sub-mode, judging whether it is the first time to enter the on-board guiding control sub-mode;

[0028] If it is the first time to enter the on-board guiding control sub-mode, then after the on-board guiding initialization, entering the mode I control;

[0029] If it is not the first time to enter the on-board guiding control sub-mode, then directly entering the mode I control.

[0030] In at least one embodiment of the present application, the on-board search sub-control logic comprises:

[0031] Step 231, enter the on-board search control sub-mode, and determine whether it is the first time to enter the on-board search control sub-mode;

[0032] If it is the first time to enter the on-board search control sub-mode, then perform on-board search initialization and enter mode I control after the initialization;

[0033] If it is not the first time to enter the on-board search control sub-mode, then directly enter mode I control.

[0034] In at least one embodiment of the present application, the artificial guidance sub-control logic comprises:

[0035] Step 241, enter the artificial guidance control sub-mode, and determine whether it is the first time to enter the artificial guidance control sub-mode;

[0036] If it is the first time to enter the artificial guidance control sub-mode, then perform artificial guidance initialization and enter mode I control after the initialization;

[0037] If it is not the first time to enter the artificial guidance control sub-mode, then directly enter mode I control.

[0038] In at least one embodiment of the present application, the command guidance sub-control logic comprises:

[0039] Step 251, enter the command guidance control sub-mode, and determine whether it is the first time to enter the command guidance control sub-mode;

[0040] If it is the first time to enter the command guidance control sub-mode, then perform command guidance initialization and enter step 252 after the initialization;

[0041] If it is not the first time to enter the command guidance control sub-mode, then directly enter step 252;

[0042] Step 252, determine whether the mode II instruction is valid;

[0043] If the mode II instruction is valid, then enter step 253;

[0044] If the mode II instruction is not valid, then enter step 254;

[0045] Step 253, perform mode II instruction initialization, and enter mode II control regardless of whether the mode II instruction initialization is successful or not;

[0046] Step 254, determine whether the mode III instruction is valid;

[0047] If the mode III instruction is valid, then enter step 255;

[0048] If the mode III instruction is invalid, enter mode I control;

[0049] Step 255, mode III instruction initialization is performed, if the mode III instruction initialization is successful, enter mode III control, if the mode III instruction initialization is not successful, enter mode II control.

[0050] In at least one embodiment of the present application, in steps 253 and 255, after entering mode II control, if a preset condition is reached, enter mode III control.

[0051] The present application has at least the following beneficial technical effects:

[0052] The guidance control method of the present application suitable for multi-task scenarios deconstructs the cross-invocation of task requirements and task scenarios by combining the main control logic and the sub-control logic, so that the automatic guidance function uses more reasonable logic and has stronger scalability. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 is a task requirement diagram of one embodiment of the present application;

[0054] Figure 2 is a main control logic diagram of one embodiment of the present application;

[0055] Figure 3 is an on-board guidance sub-control logic diagram of one embodiment of the present application;

[0056] Figure 4 is an on-board search sub-control logic diagram of one embodiment of the present application;

[0057] Figure 5 is a manual guidance sub-control logic diagram of one embodiment of the present application;

[0058] Figure 6 is a command guidance sub-control logic diagram of one embodiment of the present application. DETAILED DESCRIPTION

[0059] For the purpose, technical solutions and advantages of the embodiments of the present application to be clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar notations represent the same or similar elements or elements with the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0060] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0061] The embodiments of the present application will be described in detail below with reference to the drawings. Figures 1 to 6 The present application will be described in further detail.

[0062] The present application provides a guidance control method suitable for multi-task scenarios, comprising the following steps:

[0063] Step 100, obtaining task requirements, the task requirements including multiple flight trajectories;

[0064] Step 200, obtaining guidance control logic, the guidance control logic including main control logic, on-board guidance sub-control logic, on-board search sub-control logic, artificial guidance sub-control logic, and command guidance sub-control logic;

[0065] Step 300, performing aircraft guidance control according to the task requirements and the guidance control logic.

[0066] The guidance control method suitable for multi-task scenarios of the present application, as Figure 1As shown, five flight trajectories are given in the task requirement, 1-2-3-4-5-6 represents the close-in guidance full-thrust acceleration climb trajectory, 1-2'-3'-F-E represents the engine maximum working state cruise climb trajectory, 1-2'-3'-4-5-6 represents the far-in guidance acceleration climb trajectory, F-E, A-B, C-D represents the escape trajectory, H1-T-K, H2-T-K, H3-K represents the descent trajectory. Among them, 1 represents the climb maneuver starting point, 2 represents the acceleration climb point, 2' represents the economic climb point, 3', 3, 4 represent the acceleration channel trajectory point, 5, 6 represent the acceleration climb point, F represents the sub-economic climb point, A, C represents the maneuver climb point, H1, H2, H3 represents the escape maneuver starting point, T represents the economic escape point, and K represents the acceleration escape point.

[0067] The guidance control method of the present application suitable for multi-task scenarios, as shown in Figure 2 As shown, the main control logic includes:

[0068] Step 211, enter the guidance control, and judge whether it is the first time to enter the guidance;

[0069] If it is the first time to enter the guidance, the guidance initialization is performed, and then step 212 is entered;

[0070] If it is not the first time to enter the guidance, step 212 is directly entered;

[0071] Step 212, judge whether the artificial guidance instruction is valid;

[0072] If the artificial guidance instruction is valid, the given height, the given speed and the given heading artificially bound are read, and the artificial guidance control sub-mode is entered;

[0073] If the artificial guidance instruction is invalid, the given height, the given speed and the given heading sent by the task machine are read, and step 213 is entered;

[0074] Step 213, judge whether the on-board guidance instruction is valid;

[0075] If the on-board guidance instruction is valid, the on-board guidance control sub-mode is entered;

[0076] If the on-board guidance instruction is invalid, step 214 is entered;

[0077] Step 214, judge whether the on-board search instruction is valid;

[0078] If the on-board search instruction is valid, the on-board search control sub-mode is entered;

[0079] If the on-board search instruction is invalid, the command guidance control sub-mode is entered.

[0080] As shown in Figure 3As shown, in this embodiment, the onboard bootstrap control logic includes:

[0081] Step 221: Enter the onboard guidance and control sub-mode and determine whether it is the first time entering the onboard guidance and control sub-mode;

[0082] If it is the first time entering the onboard guidance and control sub-mode, then after onboard guidance initialization, it enters mode I control;

[0083] If it is not the first time entering the onboard guidance and control sub-mode, then directly enter mode I control.

[0084] like Figure 4 As shown, in this embodiment, the onboard search sub-control logic includes:

[0085] Step 231: Enter the onboard search control submode and determine whether it is the first time entering the onboard search control submode;

[0086] If this is the first time entering the onboard search control submode, then after onboard search initialization, enter Mode I control;

[0087] If this is not the first time entering the onboard search control sub-mode, then directly enter mode I control.

[0088] like Figure 5 As shown, in this embodiment, the artificial guide control logic includes:

[0089] Step 241: Enter the manual guidance and control sub-mode, and determine whether it is the first time entering the manual guidance and control sub-mode;

[0090] If this is the first time entering the manually guided control sub-mode, then after manual guidance initialization, it will enter mode I control;

[0091] If it is not the first time entering the manually guided control sub-mode, then directly enter mode I control.

[0092] like Figure 6 As shown, in this embodiment, the command and guidance sub-control logic includes:

[0093] Step 251: Enter the command and guidance control sub-mode and determine whether it is the first time entering the command and guidance control sub-mode;

[0094] If this is the first time entering the command and guidance control sub-mode, then proceed to step 252 after command and guidance initialization;

[0095] If this is not the first time entering the command, guidance and control sub-mode, proceed directly to step 252;

[0096] Step 252: Determine if the Mode II command is valid;

[0097] If the mode II instruction is valid, go to step 253;

[0098] If the mode II instruction is not valid, go to step 254;

[0099] Step 253, perform mode II instruction initialization, and enter mode II control regardless of whether the mode II instruction initialization is successful or not;

[0100] Step 254, determine whether the mode III instruction is valid;

[0101] If the mode III instruction is valid, go to step 255;

[0102] If the mode III instruction is not valid, enter mode I control;

[0103] Step 255, perform mode III instruction initialization, and enter mode III control if the mode III instruction initialization is successful, or enter mode II control if the mode III instruction initialization is not successful.

[0104] In steps 253 and 255, if a preset condition is met after entering mode II control, enter mode III control.

[0105] The guiding control method for adapting to a multi-task scenario according to the present application selects corresponding sub-control logic according to the main control logic, and enters different mode controls under the condition of meeting the conditions, so as to control the aircraft to fly to the specified position according to the selected flight trajectory and guiding mode.

[0106] The guiding control method for adapting to a multi-task scenario according to the present application adopts the combination of the main control logic and the sub-control logic, unifies the task demand and the task scenario, and the control logic is first proposed in China, which fills the domestic blank. The control logic greatly simplifies the cross calling problem of the task demand and the task scenario, improves the rationality of system switching by using the general logic architecture, conforms to the use habit of the pilot, and at the same time, reserves the logic interface for possible new task scenarios and task demands in the future, and guarantees the expandability. The control logic has strong universality, is easy to popularize, is suitable for subsequent automatic guiding function design, and has great application value.

[0107] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical range disclosed in the present application can be easily thought by those skilled in the art, and should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A guidance and control method adapted to multi-task scenarios, characterized in that, include: Step 100: Obtain mission requirements, which include multiple flight paths; Step 200: Obtain the guidance control logic, which includes the main control logic, the onboard guidance sub-control logic, the onboard search sub-control logic, the manual guidance sub-control logic, and the command guidance sub-control logic; The main control logic includes: Step 211: Enter boot control and determine if this is the first time entering the boot process; If this is the first time entering the bootloader, then proceed to step 212 after bootloader initialization; If this is not the first time entering the guide, proceed directly to step 212; Step 212: Determine if the manual guidance command is valid; If the manual guidance command is valid, the given altitude, given speed, and given heading are read from the manual data and the manual guidance control sub-mode is entered. If the manual guidance command is invalid, read the given altitude, given speed, and given heading sent by the mission machine, and proceed to step 213; Step 213: Determine if the onboard boot command is valid; If the onboard guidance command is valid, then enter the onboard guidance control sub-mode; If the onboard boot command is invalid, proceed to step 214; Step 214: Determine if the onboard search command is valid; If the onboard search command is valid, then enter the onboard search control sub-mode; If the onboard search command is invalid, the system will enter the command and control sub-mode. Step 300: Perform aircraft guidance control according to the mission requirements and the guidance control logic.

2. The guidance and control method for adapting to multi-task scenarios according to claim 1, characterized in that, The flight trajectory includes: Close-range guided full afterburner acceleration climb trajectory, engine maximum operating state cruise flight climb trajectory, long-range guided acceleration climb trajectory, evacuation trajectory, and descent trajectory.

3. The guidance and control method adapted to multi-task scenarios according to claim 2, characterized in that, The onboard boot control logic includes: Step 221: Enter the onboard guidance and control sub-mode and determine whether it is the first time entering the onboard guidance and control sub-mode; If it is the first time entering the onboard guidance and control sub-mode, then after onboard guidance initialization, it enters mode I control; If it is not the first time entering the onboard guidance and control sub-mode, then directly enter mode I control.

4. The guidance and control method adapted to multi-task scenarios according to claim 3, characterized in that, The onboard search sub-control logic includes: Step 231: Enter the onboard search control submode and determine whether it is the first time entering the onboard search control submode; If this is the first time entering the onboard search control submode, then after onboard search initialization, enter Mode I control; If this is not the first time entering the onboard search control sub-mode, then directly enter mode I control.

5. The guidance and control method for adapting to multi-task scenarios according to claim 4, characterized in that, The artificial director control logic includes: Step 241: Enter the manual guidance and control sub-mode, and determine whether it is the first time entering the manual guidance and control sub-mode; If this is the first time entering the manually guided control sub-mode, then after manual guidance initialization, it will enter mode I control; If it is not the first time entering the manually guided control sub-mode, then directly enter mode I control.

6. The guidance and control method for adapting to multi-task scenarios according to claim 5, characterized in that, The command and guidance sub-control logic includes: Step 251: Enter the command and guidance control sub-mode and determine whether it is the first time entering the command and guidance control sub-mode; If this is the first time entering the command and guidance control sub-mode, then proceed to step 252 after command and guidance initialization; If this is not the first time entering the command, guidance and control sub-mode, proceed directly to step 252; Step 252: Determine if the Mode II command is valid; If the Mode II command is valid, proceed to step 253; If the Mode II command is invalid, proceed to step 254; Step 253: Perform Modal II instruction initialization. Regardless of whether the Modal II instruction initialization is successful, enter Modal II control. Step 254: Determine if the Mode III command is valid; If the Mode III instruction is valid, proceed to step 255; If the Mode III command is invalid, then enter Mode I control; Step 255: Perform Modal III instruction initialization. If Modal III instruction initialization is successful, enter Modal III control. If Modal III instruction initialization fails, enter Modal II control.

7. The guidance and control method for adapting to multi-task scenarios according to claim 6, characterized in that, In steps 253 and 255, after entering mode II control, if the preset conditions are met, then enter mode III control.

Images