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

Abstract

Embodiments of the present application provide a high dynamic flight system safety control method, device, equipment and storage medium. The method comprises: S1: initializing data of the high dynamic flight system; S2: calculating support points of the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in the l k direction, and performing relevant discrimination; S3: calculating support points p k of the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in the l k direction, and judging whether the support points p k corresponding support hyperplane divides the origin and the Minkowski difference between the reachable set and the non-safe ellipsoid domain U; S4: detecting the number of points in the point set P, if the number is less than n+1, performing S5, otherwise, performing S6; S5: setting k=k+1, calculating l k , and then returning to S2; S6: calculating the barycentric coordinates Λ of the origin with respect to the simplex composed of the n+1 points, and discriminating whether the origin is inside the simplex composed of the n+1 points in the point set P. 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 system safety, it is necessary to consider whether its state will enter an unsafe domain. For systems with a certain degree of uncertainty, such as highly dynamic flight systems, it is often impossible to accurately determine their states. Therefore, reachable set analysis techniques are often used to calculate the set of all possible states of the highly dynamic flight system at a certain point in the future. This is known as the reachable set of the highly dynamic flight system at that moment. The safety of the highly dynamic flight system at that moment is then determined by determining whether the reachable set and the unsafe domain intersect. If the reachable set and the unsafe domain do not intersect, the highly dynamic flight system is considered safe at that moment. This type of safety problem involves determining whether the reachable set and the unsafe domain of a highly dynamic flight system intersect, and can be classified as a special collision detection problem. The box bounding method is generally used for analysis, but this method lacks accuracy, making it difficult to achieve safe control of highly dynamic flight systems. Summary of the Invention

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

[0004] S1: Initialize the unsafe ellipsoid domain U of the highly 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 support point in the direction, the reachable set is determined in l k Is the support point in the direction within the unsafe region 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 in l k The outer ellipsoid E in the direction + Is the high-dynamic flight system separated from the non-safe ellipsoid region 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;

[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, judge the Minkowski difference between the reachable set and the non-safe ellipsoidal region U in the direction of p k supporting point p in the direction of p k whether the corresponding supporting hyperplane divides the origin and the Minkowski difference between the reachable set and the non-safe ellipsoidal region U, if yes, determine that the high dynamic flight system is safe, stop iteration, and no adjustment is needed for the control rate of the high dynamic flight system, otherwise, add p k into the point set P, and execute S4;

[0007] S4: detect 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 , and then return to S2;

[0009] S6: calculate the barycentric coordinates Λ of the origin with respect to the simplex composed of the n+1 points, and determine whether the origin is inside the simplex composed of the n+1 points in the point set P based on the barycentric coordinates Λ, if yes, determine 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 min in the barycentric coordinates Λ, and delete the corresponding point p min in the point set P, and return to S5.

[0010] In some implementable manners of the first aspect, S1 comprises:

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

[0012]

[0013] where x U is an n-dimensional column vector, and is the geometric center of the non-safe ellipsoidal region U; E U is an n*n positive definite matrix, which is used to describe the shape and size of the non-safe ellipsoidal region U.

[0014] In some implementable manners of the first aspect, S1 comprises:

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

[0016]

[0017] where x0 is an n-dimensional column vector, and is the initial state ellipsoid; X0 is an n*n 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 highly 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 the ellipsoid and satisfies the following equation:

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

[0023] Among them, 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 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 coordinate of the center 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 support 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 U; E U is the shape matrix of the non-safe ellipsoid U; if S is greater than 1, the reachable set is determined to be in l k The support 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 zone 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. k Support point p in the direction k :

[0034]

[0035] p k =x * [k]―p uk ;

[0036] Among them, p uk Is the non-safe ellipsoid domain U in ―l k Support point in direction; p k is the Minkowski difference between a reachable set and a non-safe ellipsoid 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 U * [k] is the reachable set in l k Support point in direction.

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

[0038] Judgment 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 support point in the direction, the reachable set is determined in l k Is the support point in the direction within the unsafe region 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 in l k The outer ellipsoid E in the direction + Is the high-dynamic flight system separated from the non-safe ellipsoid region 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;

[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 , judge the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Does the corresponding supporting hyperplane divide 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 for S5: Let k = k + 1, calculate l k , then return to S2;

[0045] Adjustment module, used in 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 the 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 electronic device is provided, and the electronic device includes at least one processor, and a memory connected with the at least one processor in communication; the memory stores instructions executable 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 described above.

[0047] In a fourth aspect, a non-transitory computer-readable storage medium storing computer instructions is provided, and the computer instructions are used to enable a computer to perform the method described above.

[0048] To sum up, according to the embodiments of the present application, at least the following technical effects are achieved:

[0049] 1. The present application proposes an improved MPR collision detection algorithm. It aims to make full use of the information in the barycentric coordinates in the algorithm to obtain the selection of the iteration direction of the algorithm, so as to reduce the calculation amount. By using the improved MPR algorithm for collision detection, the detection time can be effectively reduced.

[0050] 2. The present application proposes a sufficient and necessary condition for collision relationship discrimination of finite-dimensional ellipsoids. By constructing a feature matrix and discriminating its determinant distribution in the positive half plane, the collision relationship between two ellipsoids is quickly discriminated. This method is suitable for relationship discrimination between finite-dimensional ellipsoids, and is more universal than existing methods.

[0051] 3. The improved MPR-based collision detection algorithm is used, and the outer ellipsoid detection and algebraic detection are added to speed up the safety discrimination algorithm. Compared with the existing method, the speed is faster, the calculation amount is less, and the calculation amount grows slowly with the increase of dimension and time step, so it can be applied to high dynamic flight system which has high requirements on algorithm speed for safety control, thereby effectively realizing the safety control of high dynamic flight system.

[0052] It should be understood that the content described in the summary section is not intended to limit the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0053] The above and other features, advantages, and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings that illustrate, by way of example, the principles of the application. The drawings serve the purpose of description and are not intended to limit the application, in which the same or similar reference numerals denote the same or similar elements, and in which:

[0054] Figure 1 A flowchart of a high dynamic flight system safety control method provided by the embodiments of the present application is shown in the figure;

[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] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 making creative efforts are within the scope of protection of the present invention.

[0058] In addition, the term "and / or" in this invention merely describes an association relationship between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " in this invention generally indicates that the related objects are in an "or" relationship.

[0059] To address the technical issues presented in the background art, embodiments of the present invention provide a highly dynamic flight system safety control method, apparatus, device, and storage medium. The following describes a highly dynamic flight system safety control method, apparatus, device, and storage medium provided by the present invention in detail, using specific embodiments, in conjunction with the accompanying drawings.

[0060] Figure 1 A flowchart of a high-dynamic flight system safety control method provided by an embodiment of the present invention is shown in FIG. 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 highly 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 support point in the direction, the reachable set is determined in l k Is the support point in the direction within the unsafe region 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 in l k The outer ellipsoid E in the direction +Is it separated from the unsafe ellipsoid region 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 , judge the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Does the corresponding supporting hyperplane divide 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. Based on this, determine whether the origin is inside the simplex formed by the n+1 points in the point set P. If so, the high-dynamic flight system is determined to be unsafe, stop the 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] To facilitate 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 highly dynamic flight system in n-dimensional Euclidean space, the coordinates x of the points in the non-safety ellipsoid domain U 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 U; E U It is an n×n dimensional positive definite matrix used to describe the shape and size of the unsafe ellipsoid U. In practice, the n-dimensional column vector x describing the geometric center of the unsafe ellipsoid U is UAnd the n×n dimensional positive definite matrix E describing the non-safe 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 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 highly 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 the ellipsoid and satisfies the following equation:

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

[0081] Among them, 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 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) Initialize the point set P.

[0089] Specifically, a point set P is established to store the Minkowski difference of 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 counting flag to record the current loop number. The counting flag is reset to zero during initialization, i.e., 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 have been obtained in step (1.3). It is noted that any point within 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 ′ > < l0, Φ(k0, i + 1)B[i]P[i]B 1 / 2 ;

[0100] = < l0, Φ(k0, i + 1)B[i]P[i]B zero > < l0, Φ(k0, i + 1)B[i]P[i]B 1 / 2 ;

[0101] (2.2) Calculate the support point of the reachable set in the l k direction.

[0102] Specifically, the support point of the reachable set in the l k direction is calculated according to the following equation:

[0103]

[0104] wherein x * [k] is the support point of the reachable set in the l k direction; x zero [i] is the barycenter coordinate of the reachable set; X + [k] is the shape matrix of the tightest outer ellipsoid of the reachable set in the l k direction.

[0105] (2.3) Determine whether the support point of the reachable set in the l k direction is inside the non-safe domain U.

[0106] Specifically, whether the support point of the reachable set in the l k direction is inside the non-safe domain U is determined according to the following equation:

[0107]

[0108] wherein x * [k] is the support point of the reachable set in the l k direction; x U is the barycenter coordinate of the non-safe ellipsoid domain U; E U is the shape matrix of the non-safe ellipsoid domain U; if S is less than or equal to 1, it is determined that the support point of the reachable set in the l k direction is inside the non-safe domain U, and further it is determined that the high dynamic flight system is 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 support point of the reachable set in the l k direction is outside the non-safe domain U, and the subsequent processing is continued.

[0109] (2.4) Determine whether the outer ellipsoid E k of the reachable set in the l + direction and the non-safe ellipsoid domain U are separated by using the finite-dimensional ellipsoid collision relationship algebra.

[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 coordinate of the center 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 U, x U is the center coordinate of the non-safe ellipsoid domain U;

[0113] Afterwards, 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 be used, 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. The iteration is stopped and there is no need to adjust the control rate of the high-dynamic flight system. Otherwise, it is not separated and subsequent processing is continued.

[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 Is the non-safe ellipsoid domain U in ―l k Support point in direction; p kis the support point of the Minkowski difference of the reachable set and the non-secure ellipsoidal region U in the direction l k E is the support point of the Minkowski difference of the reachable set and the non-secure ellipsoidal region U in the direction l U x is the shape matrix of the non-secure ellipsoidal region U U x is the center coordinate of the non-secure ellipsoidal region U * [k] is the support point of the reachable set in the direction l k which has been calculated in step (2.3).

[0122] (3.2) judging whether the support point p k of the Minkowski difference of the reachable set and the non-secure ellipsoidal region U in the direction l k corresponding support hyperplane divides the origin and the Minkowski difference of the reachable set and the non-secure ellipsoidal region U.

[0123] Specifically, it is judged whether the angle between l k and the support point p k of the Minkowski difference of the reachable set and the non-secure ellipsoidal region U in the direction 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 point p k of the Minkowski difference of the reachable set and the non-secure ellipsoidal region U in the direction l k corresponding support hyperplane divides the origin and the Minkowski difference of the reachable set and the non-secure ellipsoidal region U, and further determines that the high dynamic flight system is safe, stops iteration, and does not need to adjust the control rate of the high dynamic flight system, otherwise, it is not divided, p k is added to the point set P, and subsequent processing is performed.

[0124] (4.1) detecting the number of points in the point set P, if the number is less than n+1, step (5.1) is performed, otherwise, (6.1) is performed.

[0125] (5.1) setting k=k+1, calculating l k , and then returning to (2.1);

[0126] Specifically, when the number of points is less than n+1, there must be a point in the hyperplane of the simplex whose two-norm is the smallest, that is, the closest to the origin, and it is assumed that the point is P s . Assuming that the total number of points is j, j n . P i coordinates are:

[0127] P i =(x 1i ,x 2i ,…x ni ) T ;

[0128] Similarly, P s satisfies:

[0129] λ1P1+λ2P2+…+λ j P j = P s ;

[0130] λ1+λ2+…+λ j = 1;

[0131] Let:

[0132] Λ = (λ1, λ2, …, λ j ) T ;

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

[0134] From which the equation is listed:

[0135]

[0136]

[0137] Since P i is selected as the vertex of the simplex, the matrix is a non-singular matrix, and 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 the opposite direction of P s , which is expressed by the formula:

[0140] l k = ―P s ;

[0141] After that, return to step (2.1).

[0142] (6.1) At this time, the point set P has n+1 points inside, which form a simplex, and it is necessary to determine whether the origin is inside the simplex with n+1 vertices by relevant calculation. According to the convex optimization theory, it can be known that any point in space can be linearly represented by the n+1 points, and the coefficient λ satisfies:

[0143] λ1+λ2+…+λ n+1 = 1;

[0144] By this method, it is known that:

[0145] λ1*P1+λ2*P2+…+λ N+1 *P N+1 =0;

[0146] If all λs are greater than or equal to 0, the origin is inside the simplex. Denote the barycentric coordinates of the origin with respect to the simplex composed of the n+1 vertices as Λ, satisfying Λ T =[λ1,λ2,…,λ n+1 ];

[0147] From the above, it is known that:

[0148]

[0149] Wherein, the coordinates of P i are P 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 Λ, and determine whether the origin is inside the simplex according to Λ. If all elements in Λ are greater than 0, it means that the origin is inside the simplex. Since the simplex is in the Minkowski difference between the system reachable set and the ellipsoid non-safe domain, it means that the origin is in the Minkowski difference between the system reachable set and the ellipsoid non-safe domain. Therefore, it is determined that the high dynamic flight system is unsafe, the iteration is stopped, and the control rate of the high dynamic flight system is adjusted. Otherwise, find the minimum element λ min in the barycentric coordinates Λ, and delete the corresponding point p min in the point set P, and return to (5.1).

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

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

[0152] 2. The present application proposes a sufficient and necessary condition for collision relationship discrimination of finite-dimensional ellipsoid. By constructing a feature matrix and judging its determinant distribution in the positive half plane, the collision relationship between two ellipsoids can be quickly discriminated. This method is suitable for relationship discrimination between finite-dimensional ellipsoids, and has more universality than existing methods.

[0153] 3. The improved MPR-based collision detection algorithm is used to accelerate the safety judgment algorithm, which is faster and less computationally intensive than existing methods. The algorithm can be applied to high dynamic flight systems, which have high requirements for algorithm speed, thus effectively realizing the safety control of high dynamic flight systems.

[0154] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0155] The above is the introduction of the method embodiment, and the following will further illustrate the scheme of the present application through the device embodiment.

[0156] Figure 2 The structure diagram of a high dynamic flight system safety control device provided for the embodiment of the present application is shown in FIG. 2, which can include: Figure 2

[0157] The initialization module 201 is configured to S1: initialize the non-safety ellipsoid domain U of the high dynamic flight system, the reachable set under the ellipsoid constraint at a specific time, the cycle count flag k, the direction vector l0, and the point set P.

[0158] The judgment module 202 is configured to S2: calculate the outer ellipsoid E k of the reachable set in the direction of l + , and calculate the support point of the reachable set in the direction of l k based on the outer ellipsoid E k , and determine whether the support point of the reachable set in the direction of l k is in the non-safety domain U, if yes, it is determined that the high dynamic flight system is unsafe, the iteration is stopped, and the control rate of the high dynamic flight system is adjusted, otherwise, it is determined whether the outer ellipsoid E + and the non-safety ellipsoid domain U are separated in the direction of l k , if yes, it is determined that the high dynamic flight system is safe, the iteration is stopped, and the control rate of the high dynamic flight system does not need to be adjusted, otherwise, S3 is executed.

[0159] The judgment module 203 is configured to S3: calculate the Minkowski difference of the reachable set and the non-safety ellipsoid domain U in the direction of l k , and calculate the support point p k in the direction of l k ., judge the Minkowski difference of the reachable set and the non-safe ellipsoid domain U in the direction of l k supporting point p in the direction of l k corresponding supporting hyperplane divides the origin and the Minkowski difference of the reachable set and the non-safe ellipsoid domain U, if yes, determine that the high dynamic flight system is safe, stop iteration, and no adjustment is needed for the control rate of the high dynamic flight system, otherwise, add p k into the point set P, and execute S4.

[0160] The detection module 204 is configured to execute S4: detect the number of points in the point set P, if the number is less than n+1, execute S5, otherwise, execute S6.

[0161] The calculation module 205 is configured to execute S5: let k=k+1, calculate l k , and then return to S2.

[0162] The adjustment module 206 is configured to execute S6: calculate the barycentric coordinates Λ of the origin with respect to the simplex composed of the n+1 points, and determine whether the origin is inside the simplex composed of the n+1 points in the point set P based on the barycentric coordinates Λ, if yes, determine 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 min in the barycentric coordinates Λ, and delete the corresponding point p min in the point set P, and return to S5.

[0163] It can be understood that, Figure 2 each module / unit in the high dynamic flight system safety control device 200 shown in the figure has the function of implementing each step in the high dynamic flight system safety control method 100 shown in the figure, and can achieve the corresponding technical effects, and for the sake of brevity, will not be repeated here. Figure 1 each module / unit in the high dynamic flight system safety control device 200 shown in the figure has the function of implementing each step in the high dynamic flight system safety control method 100 shown in the figure, and can achieve the corresponding technical effects, and for the sake of brevity, will not be repeated here.

[0164] Figure 3 is a block diagram of an example electronic device that can implement an embodiment of the application. The electronic device 300 is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device 300 can also represent various forms of mobile devices such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the applications described and / or claimed in this document.

[0165] As Figure 3As shown, the electronic device 300 can include a computing unit 301 that can perform various appropriate actions and processes in accordance with 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. Various programs and data required for the operation of the electronic device 300 can also be stored in the RAM 303. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0166] Various 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, a speaker, etc., a storage unit 308, such as a magnetic 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 can be various general and / or special purpose 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 special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 301 performs various methods and processes described above, such as the method 100. For example, in some embodiments, the method 100 can be implemented as a computer program product including a computer program tangibly embodied in a computer readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 can be performed. Alternatively, in other embodiments, the computing unit 301 can be configured to perform the method 100 by any other appropriate means, such as 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), 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 that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can 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. Such program code 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 when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0170] In the context of the present invention, computer-readable media can be tangible media that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable media can be a computer-readable signal medium or a computer-readable storage medium. Computer-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. More specific examples of computer-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, 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 brevity, they will not be repeated here.

[0172] In addition, the present application also provides a computer program product, the computer program product comprises a computer program, the computer program realizes the method 100 when being executed by a processor.

[0173] It should be understood that the steps can be reordered, added, or deleted using the various forms of flow shown above. For example, the steps described in the present application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present application is not limited herein.

[0174] The above specific embodiments do not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

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 highly 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 support point in the direction, the reachable set is determined in l k Is the support point in the direction within the unsafe region 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 in l k The outer ellipsoid E in the direction + Is the high-dynamic flight system separated from the non-safe ellipsoid region 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; 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 , judge the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Does the corresponding supporting hyperplane divide 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. Based on this, determine whether the origin is inside the simplex formed by the n+1 points in the point set P. If so, the high-dynamic flight system is determined to be unsafe, stop the 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; The method uses the finite-dimensional ellipsoid collision relation algebra to detect and judge the reachable set in l k The outer ellipsoid E in the direction + Whether it is separated from the non-safety ellipsoid domain U, including: Construct (n+1)×(n+1) dimensional detection matrix E A [k] and U, satisfy the following equation: Among them, x zero [i] is the coordinate of the center 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 non-safe ellipsoid domain U, x U is the center coordinate of the non-safe ellipsoid domain U; Afterwards, calculate the detection matrix E A The distribution of the eigenvalues ​​of [k] and U in the positive half plane; specifically: Let a variable λ be used, and let the determinant of the matrix λA+B be a function f(λ) about λ, that is: f(λ)=det(λA+B); 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. The iteration is stopped and there is no need to adjust the control rate of the high-dynamic flight system. Otherwise, it is not separated and subsequent processing is continued.

2. The method according to claim 1, characterized in that Said S1 comprises: 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 U; E U It is an n×n dimensional positive definite matrix used to describe the shape and size of the unsafe ellipsoid domain U.

3. The method according to claim 2, characterized in that Said S1 comprises: 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: Where 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 highly 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 the ellipsoid and satisfies the following equation: (u[i]-q[i]) T Q[i] -1 (u[i]-q[i])≤1; Among them, 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 k Directional support points: Among them, x * [k] is a reachable set in l k Support point in direction; x zero [i] is the coordinate of the center 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 support 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 U; E U is the shape matrix of the non-safe ellipsoid U; if S is greater than 1, the reachable set is determined to be in l k The support 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 zone 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. k Support point p in the direction k : p k =x * [k]-p uk ; Among them, p uk Is the non-safe ellipsoid domain U in -l k Support point in direction; p k is the Minkowski difference between the reachable set and the non-safe ellipsoid 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 U * [k] is the reachable set in l k Support point in direction.

7. The method according to claim 6, characterized in that The S3 includes: Judgment 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.

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 support point in the direction, the reachable set is determined in l k Is the support point in the direction within the unsafe region 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 in l k The outer ellipsoid E in the direction + Is the high-dynamic flight system separated from the non-safe ellipsoid region 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; 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 , judge the Minkowski difference between the reachable set and the non-safe ellipsoid domain U in l k Support point p in the direction k Does the corresponding supporting hyperplane divide 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 for S5: Let k = k + 1, calculate l k , then return to S2; Adjustment module, used in 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 the 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; In the discrimination module, the detection and judgment of the reachable set using the finite-dimensional ellipsoid collision relation algebra is performed. k The outer ellipsoid E in the direction + Whether it is separated from the non-safety ellipsoid domain U, including: Construct (n+1)×(n+1) dimensional detection matrix E A [k] and U, satisfy the following equation: Among them, x zero [i] is the coordinate of the center 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 non-safe ellipsoid domain U, x U is the center coordinate of the non-safe ellipsoid domain U; Afterwards, the detection matrix E is calculated A The distribution of the eigenvalues ​​of [k] and U in the positive half plane; specifically: Let a variable λ be used, and let the determinant of the matrix λA+B be a function f(λ) about λ, that is: f(λ)=det(λA+B); 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. The iteration is stopped and there is no need to adjust the control rate of the high-dynamic flight system. Otherwise, it is not separated and subsequent processing is continued.

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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