High-dynamic flight system safety control method, device, equipment and storage medium

Abstract

The embodiment of the invention provides a high-dynamic flight system safety control method and device, equipment and a storage medium. The method comprises the following steps: S1, initializing data of a high-dynamic flight system; s2, calculating a supporting point of the reachable set in the lk direction, and carrying out related judgment; s3, calculating a supporting point pk of the Minkowski difference of the reachable set and the non-safe ellipsoid domain U in the lk direction, and judging whether a supporting hyperplane corresponding to the supporting point pk divides the Minkowski difference of the original point and the reachable set and the non-safe ellipsoid domain U or not; s4, the number of points in the point set P is detected, if the number is smaller than n + 1, the step S5 is executed, and otherwise, the step S6 is executed; s5, letting k = k + 1, calculating lk, and then returning to S2; and S6, calculating the barycentric coordinate lambda of the original point relative to the simplex formed by the n + 1 points, and judging whether the original point is in the simplex formed by the n + 1 points in the point set P based on the barycentric coordinate lambda. In this way, the safety control of the high-dynamic flight system can be effectively realized.

Description

Technical Field

[0001] The present invention relates to the field of safety control technology, and in particular to a high-dynamic flight system safety control method, device, equipment and storage medium. Background Art

[0002] For the safety of the system, it is necessary to consider whether its state will enter the unsafe domain. For systems with certain uncertainties, such as high-dynamic flight systems, their states are often not accurately obtained. Therefore, the reachable set analysis technology is usually used to calculate the set of all possible states of the high-dynamic flight system at a certain moment in the future, that is, the reachable set of the high-dynamic flight system at that moment, and then the safety of the high-dynamic flight system at that moment is determined by judging whether the reachable set and the unsafe domain of the high-dynamic flight system intersect. If the reachable set and the unsafe domain intersect, the high-dynamic flight system is said to be unsafe at that moment; if the reachable set and the unsafe domain do not intersect, the high-dynamic flight system is said to be safe at that moment. This type of safety problem is a problem of judging whether the reachable set and the unsafe domain of the high-dynamic flight system intersect, which can be classified as a special collision detection problem. The box encirclement method is generally used to analyze this problem, but this method cannot guarantee accuracy, and it is difficult to achieve safe control of the high-dynamic flight system. Summary of the invention

[0003] In a first aspect, an embodiment of the present invention provides a high-dynamic flight system safety control method, the method comprising:

[0004] S1: Initialize the unsafe ellipsoid domain U of the high dynamic flight system, the reachable set at a specific time under the ellipsoid constraint, the loop count flag k, the direction vector l0, and the point set P;

[0005] S2: Calculate the reachable set in l k The outer ellipsoid E in the direction + , and based on this, calculate the reachable set in l k The supporting point in the direction is used to determine the reachable set in l k Is the support point in the direction within the unsafe domain U? If so, it is determined that the high-dynamic flight system is unsafe, and the iteration is stopped. The control rate of the high-dynamic flight system is adjusted. Otherwise, the finite-dimensional ellipsoid collision relation algebra is used to detect whether the reachable set is within l k The outer ellipsoid E in the direction + and whether it is separated from the non-safe ellipsoid domain U. If so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system. Otherwise, S3 is executed;

[0006] S3: Calculate the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k, determine the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Whether the corresponding supporting hyperplane divides the origin and the reachable set and the Minkowski difference of the unsafe ellipsoid domain U, if so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system, otherwise p k Add to point set P and execute S4;

[0007] S4: Check the number of points in the point set P. If the number is less than n+1, execute S5; otherwise, execute S6.

[0008] S5: Let k = k + 1, calculate l k , then return to S2;

[0009] S6: Calculate the centroid coordinates Λ of the origin with respect to the simplex formed by the n+1 points, and based on this, determine whether the origin is inside the simplex formed by the n+1 points in the point set P. If so, it is determined that the high-dynamic flight system is unsafe, stop iteration, and adjust the control rate of the high-dynamic flight system. Otherwise, find the minimum element λ in the centroid coordinates Λ min , and its corresponding point p in the point set P min Delete and return to S5.

[0010] In some implementations of the first aspect, S1 includes:

[0011] Given a non-safe ellipsoid domain U in n-dimensional Euclidean space, the coordinates x of the points in the non-safe ellipsoid domain U satisfy the following equation:

[0012]

[0013] Among them, x U is an n-dimensional column vector, which is the geometric center of the non-safe ellipsoid domain U; ​​E U It is an n×n dimensional positive definite matrix, which is used to describe the shape and size of the unsafe ellipsoid domain U.

[0014] In some implementations of the first aspect, S1 includes:

[0015] The initial state of the high dynamic flight system is in an n-dimensional ellipsoid, and all points x in the ellipsoid satisfy the following equation:

[0016]

[0017] Among them, x0 is an n-dimensional column vector, which is the initial state ellipsoid; X0 is an n×n-dimensional positive definite matrix, which is used to describe the shape and size of the initial state ellipsoid;

[0018] Taking time i as an example, the state transition law of the high dynamic flight system satisfies the following equation:

[0019] x[i+1]=A[i]x[i]+B[i]u[i],i≥k0;

[0020] Wherein, k0 is the initial time step, A[i] is an n×n dimensional matrix, which is the state transfer matrix of the system at time k; B[i] is an m×n dimensional matrix, which is the input matrix of the system at time i; x[i] is an n-dimensional column vector, which is the state of the system at time i; x[i+1] is an n-dimensional column vector, which is the state of the system at time i+1; u[i] is an m-dimensional column vector, which is the input of the driving device of the high dynamic flight system at time i; k0 is the initial time step, and the state of the high dynamic flight system at the initial time step is x0;

[0021] The input u[i] of the high dynamic flight system at time i is an uncertain m-dimensional vector constrained by an ellipsoid and satisfies the following equation:

[0022] (u[i]―q[i]) T Q[i] ―1 (u[i]―q[i])≤1;

[0023] Where q[i] is a known m-dimensional vector; Q[i] ―1 is a positive definite matrix.

[0024] In some implementations of the first aspect, S2 includes:

[0025] The reachable set is calculated according to the following equation at l k Directional support points:

[0026]

[0027] Among them, x * [k] is a reachable set in l k Support point in direction; x zero [i] is the barycentric coordinate of the reachable set, X + [k] is a reachable set in l k The shape matrix of the tightest outer ellipsoid in the direction.

[0028] In some implementations of the first aspect, S2 includes:

[0029] According to the following equation, the reachable set is determined in l k Whether the supporting point in the direction is within the non-safe zone U:

[0030]

[0031] Among them, x *[k] is a reachable set in l k Support point in direction; x U is the center coordinate of the non-safe ellipsoid domain U; ​​E U is the shape matrix of the unsafe ellipsoid domain U; ​​if S is greater than 1, then the reachable set is determined to be in l k The supporting point in the direction is outside the non-safe region U. If S is less than or equal to 1, then the reachable set is determined to be in l k The supporting point in the direction is within the non-safe region U.

[0032] In some implementations of the first aspect, S3 includes:

[0033] The Minkowski difference between the reachable set and the non-safe ellipsoid domain U is calculated according to the following equation in l k Support point p in the direction k :

[0034]

[0035] p k =x * [k]―p uk ;

[0036] Among them, p uk The non-safe ellipsoid domain U is in ―l k Support point in direction; p k is the Minkowski difference between a reachable set and a non-safe ellipsoid domain U in l k Directional support point; E U is the shape matrix x of the unsafe ellipsoid domain U U is the center coordinate x of the non-safe ellipsoid domain U * [k] is the reachable set in l k Directional support points.

[0037] In some implementations of the first aspect, S3 includes:

[0038] Judgement k The Minkowski difference between the reachable set and the non-safe ellipsoid domain U is l k Support point p in the direction k Is the angle between them greater than ninety degrees? If so, determine the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k The corresponding supporting hyperplane divides the origin and the Minkowski difference of the reachable set and the unsafe ellipsoid domain U, otherwise it is not divided.

[0039] In a second aspect, an embodiment of the present invention provides a high-dynamic flight system safety control device, the device comprising:

[0040] Initialization module, used for S1: initializing the unsafe ellipsoid domain U of the high dynamic flight system, the reachable set at a specific time under the ellipsoid constraint, the loop count flag k, the direction vector l0, and the point set P;

[0041] Discriminant module, used for S2: calculate the reachable set in l k The outer ellipsoid E in the direction + , and based on this, calculate the reachable set in l k The supporting point in the direction is used to determine the reachable set in l k Is the support point in the direction within the unsafe domain U? If so, it is determined that the high-dynamic flight system is unsafe, and the iteration is stopped. The control rate of the high-dynamic flight system is adjusted. Otherwise, the finite-dimensional ellipsoid collision relation algebra is used to detect whether the reachable set is within l k The outer ellipsoid E in the direction + and whether it is separated from the non-safe ellipsoid domain U. If so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system. Otherwise, S3 is executed;

[0042] Judgment module, used for S3: Calculate the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k , determine the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Whether the corresponding supporting hyperplane divides the origin and the reachable set and the Minkowski difference of the unsafe ellipsoid domain U, if so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system, otherwise p k Add to point set P and execute S4;

[0043] Detection module, used for S4: detect the number of points in the point set P, if the number is less than n+1, execute S5, otherwise, execute S6;

[0044] Calculation module, used in S5: Let k = k + 1, calculate l k , then return to S2;

[0045] Adjustment module, used for S6: Calculate the centroid coordinate Λ of the origin with respect to the simplex formed by the n+1 points, and based on this, determine whether the origin is inside the simplex formed by the n+1 points in the point set P. If so, it is determined that the high-dynamic flight system is unsafe, stop iteration, and adjust the control rate of the high-dynamic flight system. Otherwise, find the minimum element λ in the centroid coordinate Λ min , and its corresponding point p in the point set P min Delete and return to S5.

[0046] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described above.

[0047] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to enable a computer to execute the method described above.

[0048] In summary, according to the embodiments of the present invention, at least the following technical effects are achieved:

[0049] 1. The present invention proposes an improved MPR collision detection algorithm. The purpose is to make full use of the information in the barycentric coordinates of the algorithm to select the algorithm iteration direction to reduce the amount of calculation. By using the improved MPR algorithm for collision detection, the detection time can be effectively reduced.

[0050] 2. The present invention proposes necessary and sufficient conditions for determining the collision relationship between finite-dimensional ellipsoids. By constructing a characteristic matrix and determining the distribution of its determinant in the positive half plane, the collision relationship between the two ellipsoids can be quickly determined. This method is suitable for determining the relationship between finite-dimensional ellipsoids and is more universal than existing methods.

[0051] 3. Use the collision detection algorithm based on the improved MPR, and add outer ellipsoid detection and algebraic detection to accelerate the safety judgment algorithm. Compared with the existing method, it is faster and requires less calculation. Although the calculation dimension and time step grow slowly, it can be applied to the safety control of high-dynamic flight systems that have high requirements on algorithm speed, thereby effectively realizing the safety control of high-dynamic flight systems.

[0052] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0054] Figure 1 A flowchart of a high dynamic flight system safety control method provided by an embodiment of the present invention;

[0055] Figure 2A structural diagram of a high dynamic flight system safety control device provided by an embodiment of the present invention;

[0056] Figure 3 The figure is a structural diagram of an exemplary electronic device capable of implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In addition, the term "and / or" in the present invention is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0059] In order to solve the technical problems in the background technology, the embodiments of the present invention provide a high-dynamic flight system safety control method, device, equipment and storage medium. In conjunction with the accompanying drawings, the following describes in detail a high-dynamic flight system safety control method, device, equipment and storage medium provided by the embodiments of the present invention through specific embodiments.

[0060] Figure 1 A flowchart of a high dynamic flight system safety control method provided by an embodiment of the present invention is as follows: Figure 1 As shown, the high dynamic flight system safety control method 100 may include:

[0061] S1: Initialize the unsafe ellipsoid domain U of the high dynamic flight system, the reachable set at a specific time under the ellipsoid constraint, the loop count flag k, the direction vector l0, and the point set P.

[0062] S2: Calculate the reachable set in l k The outer ellipsoid E in the direction + , and based on this, calculate the reachable set in l k The supporting point in the direction is used to determine the reachable set in l k Is the support point in the direction within the unsafe domain U? If so, it is determined that the high-dynamic flight system is unsafe, and the iteration is stopped. The control rate of the high-dynamic flight system is adjusted. Otherwise, the finite-dimensional ellipsoid collision relation algebra is used to detect whether the reachable set is within l k The outer ellipsoid E in the direction +Is it separated from the unsafe ellipsoid domain U? If so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system. Otherwise, execute S3.

[0063] S3: Calculate the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k , determine the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Whether the corresponding supporting hyperplane divides the origin and the reachable set and the Minkowski difference of the unsafe ellipsoid domain U, if so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system, otherwise p k Add to point set P and execute S4.

[0064] S4: Check the number of points in the point set P. If the number is less than n+1, execute S5; otherwise, execute S6.

[0065] S5: Let k = k + 1, calculate l k , then return to S2.

[0066] S6: Calculate the centroid coordinates Λ of the origin with respect to the simplex formed by the n+1 points, and based on this, determine whether the origin is inside the simplex formed by the n+1 points in the point set P. If so, it is determined that the high-dynamic flight system is unsafe, stop iteration, and adjust the control rate of the high-dynamic flight system. Otherwise, find the minimum element λ in the centroid coordinates Λ min , and its corresponding point p in the point set P min Delete and return to S5.

[0067] For further understanding, the above steps are described below in conjunction with specific embodiments:

[0068] (1.1) Initialization of the non-safe ellipsoid domain U.

[0069] Specifically, given the non-safety ellipsoid domain U of the high-dynamic flight system in the n-dimensional Euclidean space, the coordinates x of the points in the non-safety ellipsoid domain U all satisfy the following equation:

[0070]

[0071] Among them, x U is an n-dimensional column vector, which is the geometric center of the non-safe ellipsoid domain U; ​​E U is an n×n dimensional positive definite matrix used to describe the shape and size of the unsafe ellipsoid domain U. In practice, the n-dimensional column vector x describing the geometric center of the unsafe ellipsoid domain U UAnd the n×n dimensional positive definite matrix E describing the unsafe ellipsoid domain U U All of this is known information.

[0072] (1.2) Initialization of the reachable set at a specific time under the ellipsoid constraint.

[0073] Specifically, the initial state of the high dynamic flight system is in an n-dimensional ellipsoid, and all points x in the initial state ellipsoid satisfy the following equation:

[0074]

[0075] Among them, x0 is an n-dimensional column vector, which is the initial state ellipsoid; X0 is an n×n-dimensional positive definite matrix, which is used to describe the shape and size of the initial state ellipsoid.

[0076] Taking time i as an example, the state transition law of the high dynamic flight system satisfies the following equation:

[0077] x[i+1]=A[i]x[i]+B[i]u[i],i≥k0;

[0078] Among them, k0 is the initial time step, A[i] is an n×n dimensional matrix, which is the state transfer matrix of the system at time k; B[i] is an m×n dimensional matrix, which is the input matrix of the system at time i; x[i] is an n-dimensional column vector, which is the state of the system at time i; x[i+1] is an n-dimensional column vector, which is the state of the system at time i+1; u[i] is an m-dimensional column vector, which is the input of the driving device of the high dynamic flight system at time i; k0 is the initial time step, and the state of the high dynamic flight system at the initial time step is x0.

[0079] The input u[i] of the high dynamic flight system at time i is an uncertain m-dimensional vector constrained by an ellipsoid and satisfies the following equation:

[0080] (u[i]―q[i]) T Q[i] ―1 (u[i]―q[i])≤1;

[0081] Where q[i] is a known m-dimensional vector; Q[i] ―1 is a positive definite matrix.

[0082] The shape matrix, center vector, input matrix, and state transfer matrix of the input ellipsoid at each moment between k0 and k-1 described here are all known.

[0083] (1.3) Initialize the direction vector l0.

[0084] Specifically, the initial direction vector points from the center of the reachable set to the non-safe region x UCenter. First calculate the center of the reachable set. Let the center of the reachable set be x + [k] = x zero [k], which is calculated by the following equation:

[0085] x + [k] = x zero [k];

[0086] x zero [k]=A[k-1]x zero [k―1]+B[k―1]q[k―1];

[0087] x zero [k0] = x0;

[0088] (1.4) Initialization of point set P.

[0089] Specifically, a point set P is established to store the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in the iterative process. k Support point p in the direction k .

[0090] (1.5) The loop count flag k is initialized.

[0091] Specifically, k represents a loop count flag to record the current loop number. The count flag is reset to zero during initialization, that is, k=0.

[0092] (2.1) Calculate the reachable set in l k The outer ellipsoid E in the direction + .

[0093] Specifically, the center coordinates of the outer ellipsoid are the center coordinates of the reachable set, which has been obtained in step (1.3). Any point in the ellipsoid satisfies:

[0094] (x―x zero [i]) T X + [k] ―1 (x―x zero [i])≤1;

[0095] The calculation method of the ellipsoid shape parameters is as follows:

[0096]

[0097] in:

[0098] Φ(k+1,k0)=A[k]Φ(k.k0),k≥k0,Φ(k,k)=I;

[0099] s i= <l0,Φ(k0,i+1)B[i]P[i]B ′ [i]Φ(k0,i+1)l0> 1 / 2 ;

[0100] s0= <l0,X zero l0> 1 / 2 ;

[0101] (2.2) Calculate the reachable set in l k Directional support points.

[0102] Specifically, the reachable set is calculated according to the following equation: k Directional support points:

[0103]

[0104] Among them, x * [k] is a reachable set in l k Support point in direction; x zero [i] is the barycentric coordinate of the reachable set, X + [k] is a reachable set in l k The shape matrix of the tightest outer ellipsoid in the direction.

[0105] (2.3) Determine the reachable set in l k Whether the supporting point in the direction is within the non-safe region U.

[0106] Specifically, the reachable set is determined in l according to the following equation: k Whether the supporting point in the direction is within the non-safe zone U:

[0107]

[0108] Among them, x * [k] is a reachable set in l k Support point in direction; x U is the center coordinate of the non-safe ellipsoid domain U; ​​E U is the shape matrix of the unsafe ellipsoid domain U; ​​if S is less than or equal to 1, then the reachable set is determined to be in l k The support point in the direction is within the unsafe region U, and then the high dynamic flight system is determined to be unsafe. The iteration is stopped and the control rate of the high dynamic flight system is adjusted. If S is greater than 1, it is determined that the reachable set is in l k The supporting point in the direction is outside the non-safe zone U, and the subsequent processing continues.

[0109] (2.4) Using the finite-dimensional ellipsoid collision relation algebra to detect and determine the reachable set in l k The outer ellipsoid E in the direction + And whether the non-safe ellipsoid domain U is separated.

[0110] Specifically, construct a (n+1)×(n+1)-dimensional detection matrix E A [k] and U, satisfy the following equation:

[0111]

[0112] Among them, x zero [i] is the barycentric coordinate of the reachable set, X + [k] is a reachable set in l k The shape matrix of the tightest outer ellipsoid in the direction, E U is the shape matrix of the unsafe ellipsoid domain U, x U is the center coordinate of the non-safe ellipsoid domain U;

[0113] After that, calculate the detection matrix E A The distribution of the eigenvalues ​​of [k] and U in the positive half plane; specifically:

[0114] Let a variable λ, and let the determinant of the matrix λA+B be a function f(λ) about λ, that is:

[0115] f(λ)=det(λA+B);

[0116] Determine the distribution of the solution of the function in the positive half plane. If there are two unequal real roots, it means that the reachable set is in l k The outer ellipsoid E in the direction + It is separated from the unsafe ellipsoid domain U, and then it is determined that the high dynamic flight system is safe, and the iteration is stopped. There is no need to adjust the control rate of the high dynamic flight system. Otherwise, it is not separated, and subsequent processing continues.

[0117] (3.1) Calculate the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k .

[0118] Specifically, the Minkowski difference between the reachable set and the non-safe ellipsoid domain U is calculated according to the following equation: k Support point p in the direction k :

[0119]

[0120] p k =x * [k]―p uk ;

[0121] Among them, p uk The non-safe ellipsoid domain U is in ―l k Support point in direction; p kis the support point of the Minkowski difference between the reachable set and the non-safe ellipsoidal domain U in the direction of l k ; E U is the shape matrix of the non-safe ellipsoidal domain U x U is the central coordinate of the non-safe ellipsoidal domain U x * [k] is the support point of the reachable set in the direction of l k , which has been calculated in step (2.3).

[0122] (3.2) Determine whether the support hyperplane corresponding to the support point p k of the Minkowski difference between the reachable set and the non-safe ellipsoidal domain U in the direction of l k divides the origin and the Minkowski difference between the reachable set and the non-safe ellipsoidal domain U.

[0123] Specifically, determine whether the angle between l k and the support point p k of the Minkowski difference between the reachable set and the non-safe ellipsoidal domain U in the direction of l k is greater than ninety degrees. For example, by calculating the inner product of l k and p k , and determining whether the inner product is greater than 0. If so, it is determined that the support hyperplane corresponding to the support point p k of the Minkowski difference between the reachable set and the non-safe ellipsoidal domain U in the direction of l k divides the origin and the Minkowski difference between the reachable set and the non-safe ellipsoidal domain U, and then it is determined that the high-dynamic flight system is safe, stop the iteration, and there is no need to adjust the control rate of the high-dynamic flight system. Otherwise, if it is not divided, add p k to the point set P and perform subsequent processing.

[0124] (4.1) Detect the number of points in the point set P. If the number is less than n + 1, execute step (5.1). Otherwise, execute (6.1).

[0125] (5.1) Let k = k + 1, calculate l k , and then return to (2.1);

[0126] Specifically, when the number of points is less than n + 1, there must be a point in the hyperplane where the simplex is located whose two-norm is the smallest, that is, the closest to the origin, and assume this point is point P s . Assume the total number of points is j, j < N + 1, and each point is P1, P2...P n . P i coordinates are:

[0127] P i =(x 1i ,x 2i ,…x ni ) T ;

[0128] Likewise, P s satisfy:

[0129] λ1P1+λ2P2+…+λ j P j =P s ;

[0130] λ1+λ2+…+λ j =1;

[0131] set up:

[0132] Λ=(λ1,λ2,…,λ j ) T ;

[0133] Let the origin be O. Since OP s is perpendicular to the hyperplane, so it is also perpendicular to the vector on the hyperplane. Since j points form a simplex, <P i ―P1,P s >=0. Where i ranges from 2 to j.

[0134] This gives the equation:

[0135]

[0136]

[0137] Because P i The choice is a simplex vertex, so the matrix is ​​a non-singular matrix. After solving Λ, it is easy to get:

[0138] P s =(P1,P2,…P j )*Λ;

[0139] At this time, the new direction vector is P s The opposite direction is expressed by the formula:

[0140] l k =-P s ;

[0141] Then return to step (2.1).

[0142] (6.1) At this time, there are n+1 points inside the point set P, which form a simplex. It is necessary to use relevant calculations to determine whether the origin is inside this simplex composed of n+1 vertices. According to convex optimization theory, any point in space can be linearly represented by these n+1 points, and the coefficient λ satisfies:

[0143] λ1+λ2+…+λ n+1 =1;

[0144] Through this method, we can know:

[0145] λ1*P1+λ2*P2+…+λ N+1 *P N+1 =0;

[0146] If all λ are greater than or equal to 0, the origin is inside the simplex. Let the centroid coordinates of the origin with respect to the simplex formed by the n+1 vertices be Λ, satisfying Λ T =[λ1,λ2,…,λ n+1 ];

[0147] From the above, we can know that:

[0148]

[0149] Among them, P i The coordinates of i =(x 1i ,x 2i ,…x ni ) T . Since it is a simplex, the square matrix on the left is a non-singular matrix, and Λ must have a solution. Solve for Λ, and use Λ to determine whether the origin is inside the simplex. If all elements in Λ are greater than 0, it means that the origin is inside the simplex. And because the simplex is within the Minkowski difference between the system reachable set and the ellipsoidal unsafe domain, this means that the origin is within the Minkowski difference between the system reachable set and the ellipsoidal unsafe domain. Therefore, it is determined that the high dynamic flight system is unsafe, stop the iteration, and adjust the control rate of the high dynamic flight system. Otherwise, find the minimum element λ in the center of gravity coordinate Λ min , and its corresponding point p in the point set P min Delete and return to (5.1).

[0150] In summary, according to the embodiments of the present invention, at least the following technical effects are achieved:

[0151] 1. The present invention proposes an improved MPR collision detection algorithm. The purpose is to make full use of the information in the barycentric coordinates of the algorithm to select the algorithm iteration direction to reduce the amount of calculation. By using the improved MPR algorithm for collision detection, the detection time can be effectively reduced.

[0152] 2. The present invention proposes necessary and sufficient conditions for determining the collision relationship between finite-dimensional ellipsoids. By constructing a characteristic matrix and determining the distribution of its determinant in the positive half plane, the collision relationship between the two ellipsoids can be quickly determined. This method is suitable for determining the relationship between finite-dimensional ellipsoids and is more universal than existing methods.

[0153] 3. Use the collision detection algorithm based on the improved MPR, and add outer ellipsoid detection and algebraic detection to accelerate the safety judgment algorithm. Compared with the existing method, it is faster and requires less calculation. Although the calculation dimension and time step grow slowly, it can be applied to the safety control of high-dynamic flight systems that have high requirements on algorithm speed, thereby effectively realizing the safety control of high-dynamic flight systems.

[0154] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described order of actions, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0155] The above is an introduction to a method embodiment. The following is a further explanation of the solution of the present invention through an apparatus embodiment.

[0156] Figure 2 A structural diagram of a high dynamic flight system safety control device provided by an embodiment of the present invention, such as Figure 2 As shown, the high dynamic flight system safety control device 200 may include:

[0157] Initialization module 201 is used for S1: initializing the unsafe ellipsoid domain U of the high dynamic flight system, the reachable set at a specific time under the ellipsoid constraint, the loop count flag k, the direction vector l0, and the point set P.

[0158] The discriminant module 202 is used for S2: calculating the reachable set in l k The outer ellipsoid E in the direction + , and based on this, calculate the reachable set in l k The supporting point in the direction is used to determine the reachable set in l k Is the support point in the direction within the unsafe domain U? If so, it is determined that the high-dynamic flight system is unsafe, and the iteration is stopped. The control rate of the high-dynamic flight system is adjusted. Otherwise, the finite-dimensional ellipsoid collision relation algebra is used to detect whether the reachable set is within l k The outer ellipsoid E in the direction + Is it separated from the unsafe ellipsoid domain U? If so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system. Otherwise, execute S3.

[0159] The judgment module 203 is used for S3: calculating the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k, determine the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Whether the corresponding supporting hyperplane divides the origin and the reachable set and the Minkowski difference of the unsafe ellipsoid domain U, if so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system, otherwise p k Add to point set P and execute S4.

[0160] The detection module 204 is used for S4: detecting the number of points in the point set P, if the number is less than n+1, executing S5, otherwise, executing S6.

[0161] Calculation module 205, used in S5: Let k = k + 1, calculate l k , then return to S2.

[0162] The adjustment module 206 is used for S6: calculating the centroid coordinate Λ of the origin with respect to the simplex formed by the n+1 points, and judging whether the origin is inside the simplex formed by the n+1 points in the point set P based on the centroid coordinate Λ. If so, it is determined that the high-dynamic flight system is unsafe, and the iteration is stopped, and the control rate of the high-dynamic flight system is adjusted. Otherwise, the minimum element λ in the centroid coordinate Λ is found. min , and its corresponding point p in the point set P min Delete and return to S5.

[0163] Understandably, Figure 2 Each module / unit in the high dynamic flight system safety control device 200 has the function of realizing Figure 1 The functions of the various steps in the high-dynamic flight system safety control method 100 shown and the ability to achieve their corresponding technical effects are not described in detail here for the sake of brevity.

[0164] Figure 3 300 is a block diagram of an exemplary electronic device capable of implementing an embodiment of the present invention. Electronic device 300 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 300 may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown in the present invention, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required in the present invention.

[0165] like Figure 3As shown, the electronic device 300 may include a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 may also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0166] A number of components in the electronic device 300 are connected to the I / O interface 305, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the electronic device 300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0167] The computing unit 301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 301 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer program product, including a computer program, which is tangibly contained in a computer-readable medium, such as a storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method 100 in any other appropriate manner (e.g., by means of firmware).

[0168] The various embodiments described above in the present invention can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general programmable processor, which may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0170] In the context of the present invention, a computer-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a computer-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0171] It should be noted that the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute method 100 and achieve the corresponding technical effect achieved by executing the method in an embodiment of the present invention. For the sake of concise description, they will not be repeated here.

[0172] In addition, the present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method 100 is implemented.

[0173] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and the present invention is not limited here.

[0174] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A high dynamic flight system safety control method, characterized in that: The method comprises: S1: Initialize the unsafe ellipsoid domain U of the high dynamic flight system, the reachable set at a specific time under the ellipsoid constraint, the loop count flag k, the direction vector l0, and the point set P; S2: Calculate the reachable set in l k The outer ellipsoid E in the direction + , and based on this, calculate the reachable set in l k The supporting point in the direction is used to determine the reachable set in l k Is the support point in the direction within the unsafe domain U? If so, it is determined that the high-dynamic flight system is unsafe, and the iteration is stopped. The control rate of the high-dynamic flight system is adjusted. Otherwise, the finite-dimensional ellipsoid collision relation algebra is used to detect whether the reachable set is within l k The outer ellipsoid E in the direction + and whether it is separated from the non-safe ellipsoid domain U. If so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system. Otherwise, S3 is executed; S3: Calculate the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k , determine the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Whether the corresponding supporting hyperplane divides the origin and the reachable set and the Minkowski difference of the unsafe ellipsoid domain U, if so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system, otherwise p k Add to point set P and execute S4; S4: Check the number of points in the point set P. If the number is less than n+1, execute S5; otherwise, execute S6. S5: Let k = k + 1, calculate l k , then return to S2; S6: Calculate the centroid coordinates Λ of the origin with respect to the simplex formed by the n+1 points, and based on this, determine whether the origin is inside the simplex formed by the n+1 points in the point set P. If so, it is determined that the high-dynamic flight system is unsafe, stop iteration, and adjust the control rate of the high-dynamic flight system. Otherwise, find the minimum element λ in the centroid coordinates Λ min , and its corresponding point p in the point set P min Delete and return to S5.

2. The method according to claim 1, characterized in that: The S1 includes: Given a non-safe ellipsoid domain U in n-dimensional Euclidean space, the coordinates x of the points in the non-safe ellipsoid domain U satisfy the following equation: Among them, x U is an n-dimensional column vector, which is the geometric center of the non-safe ellipsoid domain U; ​​E U It is an n×n dimensional positive definite matrix, which is used to describe the shape and size of the unsafe ellipsoid domain U.

3. The method according to claim 2, characterized in that The S1 includes: The initial state of the high dynamic flight system is in an n-dimensional ellipsoid, and all points x in the ellipsoid satisfy the following equation: Among them, x0 is an n-dimensional column vector, which is the initial state ellipsoid; X0 is an n×n-dimensional positive definite matrix, which is used to describe the shape and size of the initial state ellipsoid; Taking time i as an example, the state transition law of the high dynamic flight system satisfies the following equation: x[i+1]=A[i]x[i]+B[i]u[i],i≥k0; Wherein, k0 is the initial time step, A[i] is an n×n dimensional matrix, which is the state transfer matrix of the system at time k; B[i] is an m×n dimensional matrix, which is the input matrix of the system at time i; x[i] is an n-dimensional column vector, which is the state of the system at time i; x[i+1] is an n-dimensional column vector, which is the state of the system at time i+1; u[i] is an m-dimensional column vector, which is the input of the driving device of the high dynamic flight system at time i; k0 is the initial time step, and the state of the high dynamic flight system at the initial time step is x0; The input u[i] of the high dynamic flight system at time i is an uncertain m-dimensional vector constrained by an ellipsoid and satisfies the following equation: (u[i]―q[i]) T Q[i] ―1 (u[i]―q[i])≤1; Where q[i] is a known m-dimensional vector; Q[i] ―1 is a positive definite matrix.

4. The method according to claim 3, characterized in that The S2 includes: The reachable set is calculated according to the following equation at l k Directional support points: Among them, x * [k] is a reachable set in l k Support point in direction; x zero [i] is the barycentric coordinate of the reachable set, X + [k] is a reachable set in l k The shape matrix of the tightest outer ellipsoid in the direction.

5. The method according to claim 4, characterized in that The S2 includes: According to the following equation, the reachable set is determined in l k Whether the supporting point in the direction is within the non-safe zone U: Among them, x * [k] is a reachable set in l k Support point in direction; x U is the center coordinate of the non-safe ellipsoid domain U; ​​E U is the shape matrix of the unsafe ellipsoid domain U; ​​if S is greater than 1, then the reachable set is determined to be in l k The supporting point in the direction is outside the non-safe region U. If S is less than or equal to 1, then the reachable set is determined to be in l k The supporting point in the direction is within the non-safe region U.

6. The method according to claim 5, characterized in that The S3 includes: The Minkowski difference between the reachable set and the non-safe ellipsoid domain U is calculated according to the following equation in l k Support point p in the direction k : p k =x * [k]―p uk ; Among them, p uk The non-safe ellipsoid domain U is in ―l k Support point in direction; p k is the Minkowski difference between a reachable set and a non-safe ellipsoid domain U in l k Directional support point; E U is the shape matrix x of the unsafe ellipsoid domain U U is the center coordinate x of the non-safe ellipsoid domain U * [k] is the reachable set in l k Directional support points.

7. The method according to claim 6, characterized in that The S3 includes: Judgement k The Minkowski difference between the reachable set and the non-safe ellipsoid domain U is l k Support point p in the direction k Is the angle between them greater than ninety degrees? If so, determine the Minkowski difference between the reachable set and the non-safe ellipsoid domain U at l k Support point p in the direction k The corresponding supporting hyperplane divides the origin and the Minkowski difference of the reachable set and the unsafe ellipsoid domain U, otherwise it is not divided.

8. A high dynamic flight system safety control device, characterized in that: The device comprises: Initialization module, used for S1: initializing the unsafe ellipsoid domain U of the high dynamic flight system, the reachable set at a specific time under the ellipsoid constraint, the loop count flag k, the direction vector l0, and the point set P; Discriminant module, used for S2: calculate the reachable set in l k The outer ellipsoid E in the direction + , and based on this, calculate the reachable set in l k The supporting point in the direction is used to determine the reachable set in l k Is the support point in the direction within the unsafe domain U? If so, it is determined that the high-dynamic flight system is unsafe, and the iteration is stopped. The control rate of the high-dynamic flight system is adjusted. Otherwise, the finite-dimensional ellipsoid collision relation algebra is used to detect whether the reachable set is within l k The outer ellipsoid E in the direction + and whether it is separated from the non-safe ellipsoid domain U. If so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system. Otherwise, S3 is executed; Judgment module, used for S3: Calculate the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k , determine the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Whether the corresponding supporting hyperplane divides the origin and the reachable set and the Minkowski difference of the unsafe ellipsoid domain U, if so, it is determined that the high-dynamic flight system is safe, and the iteration is stopped without adjusting the control rate of the high-dynamic flight system, otherwise p k Add to point set P and execute S4; Detection module, used for S4: detect the number of points in the point set P, if the number is less than n+1, execute S5, otherwise, execute S6; Calculation module, used in S5: Let k = k + 1, calculate l k , then return to S2; Adjustment module, used for S6: Calculate the centroid coordinate Λ of the origin with respect to the simplex formed by the n+1 points, and based on this, determine whether the origin is inside the simplex formed by the n+1 points in the point set P. If so, it is determined that the high-dynamic flight system is unsafe, stop iteration, and adjust the control rate of the high-dynamic flight system. Otherwise, find the minimum element λ in the centroid coordinate Λ min , and its corresponding point p in the point set P min Delete and return to S5.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

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