High-precision aircraft trajectory planning and control method and system

Abstract

The invention discloses a high-precision aircraft trajectory planning and control method and system, and the method comprises the steps: S10, collecting the initial state data of an aircraft, carrying out the preprocessing of the data, and calculating an optimal initial trajectory parameter through the processed data; s20, performing dynamic environment prediction calculation based on the optimal initial trajectory parameters, and optimizing a trajectory planning scheme; s30, calculating an accurate control instruction by using the optimized trajectory planning scheme; s40, continuously monitoring the actual track of the aircraft, comparing the actual track with the planned track, calculating a track deviation value, and adjusting a control instruction; s50, continuously optimizing the trajectory of the aircraft according to the adjusted control instruction; the method can effectively ensure that the aircraft can efficiently and safely run according to a preset target and path, and can adapt to the change of an external environment, avoid obstacles and keep stability and accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of flight trajectory planning and control, and in particular to a high-precision aircraft trajectory planning and control method and system. Background Art

[0002] With the continuous development of aerospace technology, high-precision aircraft play a vital role in many fields. However, aircraft face complex and changing environments during flight, such as airflow and magnetic field interference, which puts extremely high demands on their trajectory planning and control.

[0003] Traditional aircraft trajectory planning and control methods often have limited accuracy and are difficult to meet the needs of modern high-precision tasks. In this context, a high-precision aircraft trajectory planning and control method has emerged. This method is committed to achieving accurate planning and control of aircraft trajectories through advanced algorithms and technologies. Its system can collect and pre-process the initial state data of the aircraft, calculate the optimal initial trajectory parameters, then perform dynamic environmental prediction to optimize the trajectory planning scheme, and then accurately calculate the control instructions. At the same time, the system continuously monitors the actual trajectory, compares the planned trajectory to calculate the deviation value to adjust the control instructions, and continuously optimizes the aircraft trajectory to ensure that the aircraft can fly safely and accurately in complex environments. Summary of the invention

[0004] A high-precision aircraft trajectory planning and control method, comprising:

[0005] S10, collecting the initial state data of the aircraft, preprocessing the data, and using the processed data to calculate the optimal initial trajectory parameters;

[0006] S20, based on the optimal initial trajectory parameters, perform dynamic environment prediction calculation and optimize the trajectory planning scheme;

[0007] S30, using the optimized trajectory planning scheme to calculate precise control instructions;

[0008] S40, continuously monitoring the actual trajectory of the aircraft, calculating the trajectory deviation value by comparing the actual trajectory with the planned trajectory, and adjusting the control instructions;

[0009] S50: Continuously optimize the trajectory of the aircraft according to the adjusted control instructions.

[0010] A high-precision aircraft trajectory planning and control method as described above, wherein the optimal initial trajectory parameters are calculated using the processed data, comprises the following sub-steps:

[0011] The pre-processed data is analyzed using an optimization algorithm, and the initial flight path is determined by comprehensively considering the aircraft performance and mission requirements.

[0012] Calculates speed profiles based on data and a specific model.

[0013] A high-precision aircraft trajectory planning and control method as described above, wherein, based on the optimal initial trajectory parameters, dynamic environment prediction calculation is performed to optimize the trajectory planning scheme, including the following sub-steps:

[0014] Use meteorological data and terrain data to predict the dynamic environment of the aircraft during flight;

[0015] According to the dynamic environment prediction results and combined with the optimal initial trajectory parameters, the trajectory planning scheme is optimized using an optimization algorithm.

[0016] A high-precision aircraft trajectory planning and control method as described above, wherein the optimized trajectory planning scheme is used to calculate precise control instructions, including the following sub-steps:

[0017] According to the optimized trajectory planning scheme, determine the expected position, speed and attitude of the aircraft at different times;

[0018] Based on the desired state and the current state of the aircraft, a control algorithm is used to calculate precise control commands.

[0019] The high-precision aircraft trajectory planning and control method as described above, wherein the actual trajectory of the aircraft is continuously monitored, the trajectory deviation value is calculated by comparing the actual trajectory with the planned trajectory, and the control instruction is adjusted, including the following sub-steps:

[0020] The actual trajectory of the aircraft is constantly monitored through satellite positioning and inertial navigation systems;

[0021] Compare the actual trajectory with the planned trajectory and calculate the trajectory deviation value;

[0022] According to the trajectory deviation value, the feedback control algorithm is used to adjust the control command.

[0023] A high-precision aircraft trajectory planning and control method as described above, wherein the aircraft trajectory is continuously optimized according to the adjusted control instructions, comprising the following sub-steps:

[0024] Accurately transmit the adjusted control instructions to the aircraft control system, check the response and monitor the execution status in real time;

[0025] Continuously update data, analyze the causes of trajectory deviations and dynamically adjust trajectory planning solutions to optimize flight trajectory.

[0026] A high-precision aircraft trajectory planning and control system, comprising:

[0027] Data acquisition and preprocessing module: collects the initial state data of the aircraft, preprocesses the data, and uses the processed data to calculate the optimal initial trajectory parameters;

[0028] Trajectory planning module: Based on the optimal initial trajectory parameters, it performs dynamic environment prediction calculations and optimizes the trajectory planning scheme;

[0029] Control instruction calculation module: uses the optimized trajectory planning scheme to calculate precise control instructions;

[0030] Trajectory monitoring and adjustment module: continuously monitors the actual trajectory of the aircraft, calculates the trajectory deviation value by comparing the actual trajectory with the planned trajectory, and adjusts the control instructions;

[0031] Trajectory Optimization Module: Continuously optimizes the aircraft trajectory based on the adjusted control instructions.

[0032] A computer storage medium, characterized in that it comprises: at least one memory and at least one processor;

[0033] A memory for storing one or more program instructions;

[0034] A processor is used to run one or more program instructions to execute any of the above-mentioned high-precision aircraft trajectory planning and control methods.

[0035] The beneficial effects achieved by the present invention are as follows:

[0036] By collecting and preprocessing the initial state data of the aircraft, the accuracy of calculating the optimal initial trajectory parameters is ensured, laying a solid foundation for subsequent planning. Dynamic environment prediction calculations further optimize the trajectory planning scheme, allowing the aircraft to better adapt to complex and changing environments. The calculation of precise control instructions ensures precise control of the aircraft. Continuously monitoring the actual trajectory and adjusting the control instructions effectively reduces trajectory deviations, improves flight stability and safety, and continuously optimizes the aircraft trajectory to ensure the efficiency of the entire flight process. The system provides reliable guarantees for the precise flight of the aircraft and promotes technological development in the aviation field. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0038] Figure 1 It is a flow chart of a high-precision aircraft trajectory planning and control method provided in an embodiment of the present application.

[0039] Figure 2 It is a schematic diagram of a high-precision aircraft trajectory planning and control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The following is a clear and complete description of the technical solutions in the embodiments of the present invention 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] Embodiment 1

[0042] like Figure 1 As shown, the embodiment of the present application provides a high-precision aircraft trajectory planning and control method, including:

[0043] Step S10, collecting the initial state data of the aircraft, preprocessing the data, and using the processed data to calculate the optimal initial trajectory parameters;

[0044] First, collect the initial state data of the aircraft, including key parameters such as the position, speed, and attitude of the aircraft. After collecting the data, preprocess it to remove outliers and noise interference to ensure the accuracy and reliability of the data. Using the processed data, calculate the optimal initial trajectory parameters, comprehensively consider the performance indicators of the aircraft, mission requirements, and environmental factors, and use mathematical optimization methods to continuously adjust and optimize the parameters, including the following sub-steps:

[0045] Step S11, collecting initial state data of the aircraft through various sensors, and preprocessing the collected data to remove noise and errors;

[0046] First, the initial state data of the aircraft is collected through a variety of sensors, such as accelerometers, gyroscopes, and barometers. After the data is collected, preprocessing operations are performed immediately. Digital filtering technology is used to remove noise interference, smooth the data, and reduce the impact of random noise. At the same time, calibration is used to eliminate the errors of the sensor itself and improve the accuracy of the data. The data of different sensors are fused and aligned to ensure the consistency and reliability of various parameters.

[0047] Step S12: Analyze the preprocessed data using an optimization algorithm, determine the initial flight path by comprehensively considering the aircraft performance and mission requirements, and calculate a speed curve for further optimizing the path based on the data and a specific model;

[0048] First, based on the aircraft's maximum speed, endurance, maneuverability and other performance indicators, as well as specific mission requirements, the following formula is used to determine the most appropriate initial flight path:

[0049] Assume that the path consists of a series of discrete points, and the coordinates of the path points are (x i ,y i , z i ), i = 1, 2, ..., n. The objective function of path optimization is expressed as:

[0050]

[0051] Where F is the objective function of path optimization; ω1, ω2, ω3 are weight coefficients, satisfying ω1+ω2+ω3=1, which are used to adjust the importance of different objectives; n is the total number of discrete points that make up the flight path; i is an index variable, whose value range is i=1,2,...,n, which is used to traverse the discrete points in the flight path; L is the path length, which is obtained by summing the distances of each segment on the path. A shorter path length can save fuel and time; (x i ,y i , z i ) represents the coordinates of the ith discrete point on the path; T represents the flight time, which is related to the path length and the speed of the aircraft at different path points; (x i+1 ,y i+1 , z i+1 ) represents the coordinates of the i+1th path point of the aircraft in three-dimensional space, corresponding to the position components in different directions; V i is the speed of the aircraft at path point i; P is the path accuracy, which measures the closeness between the actual flight path and the ideal path; Preq is the path accuracy requirement, which is a specific indicator of path accuracy specified by the task and is a fixed value used to constrain the path accuracy during the path optimization process;

[0052] The speed curve and trajectory are interdependent. The trajectory provides the basic framework for the speed curve, and the speed curve optimizes the trajectory to ensure safe and efficient flight of the aircraft. Based on the preprocessed data and a specific flight mechanics model, the speed curve of the aircraft at different stages is accurately calculated taking into account air resistance and aircraft power factors. The following is the derivation process of the calculation formula of the speed curve:

[0053] The force balance equation of the aircraft during flight is: F thrust -F drag =ma, where F thrust is the engine thrust, which provides the aircraft with forward power; F drag is the air resistance that hinders the movement of the aircraft; m is the mass of the aircraft, and a is the acceleration.

[0054] The engine thrust can be expressed as: F thrust =C T ρV 2 S, where V is the vehicle speed. Engine thrust is related to air density, velocity squared, and vehicle reference area and the power coefficient.

[0055] Air resistance can be expressed as: F drag =C D ρV 2 S, air resistance is also related to air density, velocity squared, aircraft reference area, and drag coefficient.

[0056] Substituting the above formula into the force balance equation, we get: C T ρV 2 SC D ρV 2 S=maSimplified, we can get: This yields the relationship between acceleration, air density, aircraft parameters, and speed.

[0057] In summary, the calculation formula for the speed curve of the aircraft at different stages is:

[0058]

[0059] Where V is the speed of the aircraft at time t, V0 is the initial speed, that is, the speed of the aircraft at the time when the speed curve is calculated; t represents the current time, which is used to calculate the speed of the aircraft at different time points; t0 initial time is the starting time point of the speed curve calculation; ρ is the air density, the size of the air density will affect the air resistance and other forces on the aircraft, and thus affect the speed change of the aircraft; S aircraft reference area; C T is the aircraft power coefficient; C D is the air resistance coefficient, which indicates the magnitude of the resistance encountered by the aircraft when moving in the air; m is the mass of the aircraft.

[0060] S20, based on the optimal initial trajectory parameters, perform dynamic environment prediction calculation and optimize the trajectory planning scheme, which specifically includes the following sub-steps:

[0061] Step S21, using meteorological data and terrain data information to predict the dynamic environment of the aircraft during flight;

[0062] Collect comprehensive and accurate meteorological data, including wind direction, wind speed, temperature, air pressure, humidity data, and detailed terrain data, and integrate and process these data through professional data analysis algorithms and models.

[0063] Step S22: According to the dynamic environment prediction result and in combination with the optimal initial trajectory parameters, an optimization algorithm is used to optimize the trajectory planning scheme;

[0064] Fully integrate the dynamic environment prediction results and the optimal initial trajectory parameters. Determine the optimization goal of minimizing flight time, fuel consumption or maximizing flight safety, and combine the aircraft performance limitations, weather conditions and terrain limitations as constraints. Set the objective function of the optimal trajectory planning solution to O, and its calculation formula is:

[0065]

[0066] Among them, O is the objective function; α, β, and γ are weight coefficients, which are used to adjust the importance of different parts in the objective function; t0 and t f are the start and end time of the flight respectively; D is the total length of the flight; V 地 (t) represents the ground speed at time, which is composed of the aircraft's own airspeed and other factors that affect the speed; f(t) is the fuel consumption rate function; P(t) represents the penalty term at time, which is used to measure flight safety. If the distance between the aircraft and the obstacle is less than the safe distance, a penalty will be incurred to ensure that the trajectory planning scheme meets the safety requirements.

[0067] The initial trajectory parameters are input into the optimization algorithm. In each iteration, the objective function value is calculated according to the current trajectory parameters to determine whether the constraints are met. If not, the parameters are adjusted or penalty measures are taken. The penalty term formula is as follows:

[0068]

[0069] Where P(t) represents the penalty term at time; k represents the penalty coefficient, which determines the intensity of the penalty when the distance between the aircraft and the obstacle is less than the safe distance; d safe Indicates the safety distance, which is a pre-set distance value, representing the minimum distance that must be maintained between the aircraft and the obstacle; d(t) is the distance between the aircraft and the obstacle at time; when d(t) < d safe When the distance between the aircraft and the obstacle is less than the safe distance, a penalty will be incurred, and the penalty value is k·(d safe -d(t)) 2 ; When d(t)≥d safe When , the aircraft is outside the safe distance and the penalty term is 0.

[0070] Continue to iterate until the stopping condition is met, and finally output the optimal trajectory planning solution including parameters such as position, altitude, speed, heading, etc. at each time point.

[0071] Step S30, using the optimized trajectory planning scheme to calculate precise control instructions, specifically includes the following sub-steps:

[0072] Step S31: Determine the expected position, speed and attitude of the aircraft at different times according to the optimized trajectory planning scheme;

[0073] In-depth analysis of the data information contained in the optimized trajectory planning scheme, extracting the time-related parameter sequence, as well as the corresponding position coordinate function, velocity function and attitude angle function. Then, assigning the time variable in turn according to the preset time interval, substituting it into the position coordinate function, thereby determining the expected position of the aircraft at different times, including the horizontal coordinate, vertical coordinate and altitude coordinate in three-dimensional space. Subsequently, the time variable is substituted into the velocity function to calculate the expected velocity component in each direction. For the determination of attitude, based on the attitude angle function and combined with the time variable, the expected attitude information such as the pitch angle, yaw angle and roll angle of the aircraft at different times is obtained.

[0074] Step S32: Based on the desired state and the current state of the aircraft, a control algorithm is used to calculate precise control instructions;

[0075] Based on the desired state and the current state of the aircraft, accurate control instructions are calculated. Usually, a PID (proportional-integral-differential) controller is used. The core idea is to adjust the control amount according to the error between the desired state and the actual state, so as to achieve accurate control of the aircraft. Specifically, the PID controller calculates the control instruction u(t) through the following formula:

[0076]

[0077] Among them, u(t) is the control instruction; K p is the proportionality factor, which is used to directly amplify the error; e(t) represents the error; K i is the integral coefficient, which eliminates the static error by accumulating all past errors; K d It is the differential coefficient, which is used to predict the future trend of the system, reduce overshoot and improve response speed.

[0078] Step S40, continuously monitoring the actual trajectory of the aircraft, calculating the trajectory deviation value by comparing the actual trajectory with the planned trajectory, and adjusting the control instructions;

[0079] By continuously monitoring the actual trajectory, deviations in the aircraft during flight can be discovered in a timely manner. The trajectory deviation value calculated after comparing the actual trajectory with the planned trajectory provides a basis for adjusting the control instructions, which specifically includes the following sub-steps:

[0080] Step S41, continuously monitoring the actual trajectory of the aircraft through satellite positioning and inertial navigation systems;

[0081] The satellite positioning system can accurately determine the position coordinates of the aircraft on the earth, while the inertial navigation system continuously calculates the position changes of the aircraft by measuring the acceleration and angular velocity of the aircraft. The two systems work together to monitor the actual trajectory of the aircraft in real time. The satellite positioning system provides high-precision absolute position information, while the inertial navigation system can continue to independently monitor the trajectory when the satellite signal is interfered with or lost, ensuring the continuity and reliability of monitoring.

[0082] Step S42, comparing the actual trajectory with the planned trajectory, and calculating the trajectory deviation value;

[0083] Determine the time point and spatial position for comparison and accurately calculate the deviation value. By analyzing the difference between the actual position and the planned position at the same time point, the displacement deviation of the aircraft in different directions can be obtained. At the same time, considering the continuity of the trajectory, it is also necessary to compare parameters such as speed and acceleration to comprehensively evaluate the degree of trajectory deviation. The calculated trajectory deviation value will serve as an important basis for subsequent adjustment of control instructions.

[0084] Assume that the aircraft is flying in three-dimensional space, and the position coordinates at a certain time t on the planned trajectory are (x p (t), y p (t),z p (t)), the velocity vector is The acceleration vector is The position coordinates of the actual trajectory at the same time t are (x a (t), y a (t),z a (t)), the velocity vector is The acceleration vector is

[0085] (1) Position deviation vector

[0086] Position deviation size

[0088] (2) Speed ​​deviation vector

[0089] Speed ​​deviation

[0091] (3) Acceleration deviation vector

[0092] Acceleration deviation

[0094] Step S43: According to the trajectory deviation value, the control instruction is adjusted using a feedback control algorithm.

[0095] Based on the obtained trajectory deviation value, the feedback control algorithm is used to adjust the control instructions. The feedback control algorithm uses the trajectory deviation value as the input. If the position deviation is large, the aircraft's thrust vector, rudder deflection angle and other control parameters are adjusted to increase the aircraft's acceleration or change its flight direction so that it converges quickly toward the planned trajectory. During the implementation process, the feedback control algorithm continuously monitors changes in the trajectory deviation value and updates the control instructions in real time to achieve high-precision and high-stability control of the aircraft's trajectory.

[0096] Step S50: Continuously optimize the trajectory of the aircraft according to the adjusted control instructions, specifically including the following sub-steps:

[0097] Step S51, accurately transmit the adjusted control instruction to the aircraft control system, check the response and monitor the execution status in real time;

[0098] Accurately transmit the adjusted control instructions to the aircraft control system through a reliable communication link. Ensure the stability and anti-interference ability of communication to prevent errors or loss of instructions during transmission. Check the response of the aircraft control system to the instructions, confirm that the control system correctly receives the instructions, and start the corresponding actuators. Continuously monitor the execution status of the control instructions through sensors and monitoring equipment on the aircraft. Pay close attention to changes in engine thrust, progress of attitude adjustment, and changes in other key parameters.

[0099] Step S52, continuously updating data, analyzing the cause of trajectory deviation and dynamically adjusting the trajectory planning scheme to optimize the flight trajectory;

[0100] Continuously collect the actual trajectory data of the aircraft and related information on dynamic environmental changes, continuously update the database, use advanced sensor technology and data processing algorithms to ensure the accuracy and real-time nature of the data, make a detailed comparison between the updated actual trajectory and the planned trajectory, and deeply analyze the causes of trajectory deviation. One is due to sudden changes in the external environment, and the other is problems with the aircraft's own system. According to the analysis results, dynamically adjust the trajectory planning plan. Combined with the current state of the aircraft and future environmental changes, optimize the trajectory path and adjust the control parameters to minimize trajectory deviation, improve the accuracy and stability of the flight trajectory, and ensure that the aircraft can always fly in the best way.

[0101] Embodiment 2

[0102] like Figure 2 As shown, Embodiment 2 of the present application provides a high-precision aircraft trajectory planning and control system, including:

[0103] Data collection and preprocessing module 21: collects the initial state data of the aircraft, preprocesses the data, and uses the processed data to calculate the optimal initial trajectory parameters, including the following submodules:

[0104] Data collection and processing submodule 211: collects the initial state data of the aircraft through various sensors, and pre-processes the collected data to remove noise and errors; uses various high-precision sensors installed on the aircraft, such as accelerometers, gyroscopes, barometers, etc., to collect the initial position, speed, attitude and other state data of the aircraft in an all-round way. The collected data will be affected by environmental interference and the errors of the sensors themselves, and there will be noise, so it is necessary to pre-process the data, and remove the random noise and system errors by modeling and predicting the data, so as to improve the accuracy and reliability of the data.

[0105] Optimal initial trajectory parameter calculation submodule 212: Analyze the pre-processed data using an optimization algorithm, determine the initial flight path by comprehensively considering the aircraft performance and mission requirements, and calculate the speed curve based on the data and a specific model. Based on the aircraft's maximum speed, endurance, maneuverability and other performance indicators, as well as specific mission requirements, the following formula is used to determine the most appropriate initial flight path:

[0106] Assume that the path consists of a series of discrete points, and the coordinates of the path points are (x i ,y i , z i ), i = 1, 2, ..., n. The objective function of path optimization can be expressed as:

[0107]

[0108] Where F is the objective function of path optimization; ω1, ω2, ω3 are weight coefficients, satisfying ω1+ω2+ω3=1, which are used to adjust the importance of different objectives; n is the total number of discrete points that make up the flight path; i is an index variable, whose value range is i=1,2,...,n, which is used to traverse the discrete points in the flight path; L is the path length, which is obtained by summing the distances of each segment on the path. A shorter path length can save fuel and time; (x i ,y i , z i ) represents the coordinates of the ith discrete point on the path; T represents the flight time, which is related to the path length and the speed of the aircraft at different path points; (x i+1 ,y i+1 , z i+1 ) represents the coordinates of the i+1th path point of the aircraft in three-dimensional space, corresponding to the position components in different directions; V iis the speed of the aircraft at path point i; P is the path accuracy, which measures the closeness between the actual flight path and the ideal path; Preq is the path accuracy requirement, which is a specific indicator of path accuracy specified by the task and is a fixed value used to constrain the path accuracy during the path optimization process;

[0109] Next, based on the preprocessed data and a specific flight mechanics model, the speed curve of the aircraft at different stages is accurately calculated taking into account air resistance and aircraft power factors. The following is the derivation process of the calculation formula of the speed curve:

[0110] The force balance equation of the aircraft during flight is: F thrust -F drag =ma, where F thrust is the engine thrust, which provides the aircraft with forward power; F drag is the air resistance that hinders the movement of the aircraft; m is the mass of the aircraft, and a is the acceleration.

[0111] The engine thrust can be expressed as: F thrust =C T ρV 2 S, where V is the vehicle speed. Engine thrust is related to air density, velocity squared, and vehicle reference area and the power coefficient.

[0112] Air resistance can be expressed as: F drag =C D ρV 2 S, air resistance is also related to air density, velocity squared, aircraft reference area, and drag coefficient.

[0113] Substituting the above formula into the force balance equation, we get: C T ρV 2 SC D ρV 2 S=maSimplified, we can get: This yields the relationship between acceleration, air density, aircraft parameters, and speed.

[0114] In summary, the calculation formula for the speed curve of the aircraft at different stages is:

[0115]

[0116] Where V is the speed of the aircraft at time t, V0 is the initial speed, that is, the speed of the aircraft at the time when the speed curve is calculated; t represents the current time, which is used to calculate the speed of the aircraft at different time points; t0 initial time is the starting time point of the speed curve calculation; ρ is the air density, the size of the air density will affect the air resistance and other forces on the aircraft, and thus affect the speed change of the aircraft; S aircraft reference area; C T is the aircraft power coefficient; C D is the air resistance coefficient, which indicates the magnitude of the resistance encountered by the aircraft when moving in the air; m is the mass of the aircraft.

[0117] Trajectory planning module 22: Based on the optimal initial trajectory parameters, dynamic environment prediction calculation is performed to optimize the trajectory planning scheme, including the following sub-modules:

[0118] Dynamic environment prediction submodule 221: Use meteorological data and terrain data information to predict the dynamic environment of the aircraft during flight; in this submodule, the main task is to collect and analyze various external environment data. Including wind direction, wind speed, temperature, air pressure, humidity, these factors will have a direct impact on the flight performance of the aircraft, and terrain data covers the altitude changes, mountain locations, valley directions, and obstacle distribution in the flight area. Through the comprehensive processing of these data, using numerical weather forecast models, geographic information system analysis technology and other means, the dynamic environment that the aircraft will face during flight is predicted in advance, providing basic data for subsequent trajectory optimization.

[0119] Trajectory planning optimization submodule 222: Based on the dynamic environment prediction results and the optimal initial trajectory parameters, the trajectory planning scheme is optimized using an optimization algorithm; the dynamic environment prediction results and the optimal initial trajectory parameters are fully integrated. Minimizing flight time, fuel consumption or maximizing flight safety is determined as the optimization goal, and the aircraft performance restrictions, meteorological conditions restrictions and terrain restrictions are combined as constraints. The objective function of the optimal trajectory planning scheme is set to O, and its calculation formula is:

[0120]

[0121] Among them, O is the objective function; α, β, and γ are weight coefficients, which are used to adjust the importance of different parts in the objective function; t0 and t f are the start and end time of the flight respectively; D is the total length of the flight; V 地(t) represents the ground speed at time, which is composed of the aircraft's own airspeed and other factors that affect the speed; f(t) is the fuel consumption rate function; P(t) represents the penalty term at time, which is used to measure flight safety. If the distance between the aircraft and the obstacle is less than the safe distance, a penalty will be incurred to ensure that the trajectory planning scheme meets the safety requirements.

[0122] The initial trajectory parameters are input into the optimization algorithm. In each iteration, the objective function value is calculated according to the current trajectory parameters to determine whether the constraints are met. If not, the parameters are adjusted or penalty measures are taken. The penalty term formula is as follows:

[0123]

[0124] Where P(t) represents the penalty term at time; k represents the penalty coefficient, which determines the intensity of the penalty when the distance between the aircraft and the obstacle is less than the safe distance; d safe Indicates the safety distance, which is a pre-set distance value, representing the minimum distance that must be maintained between the aircraft and the obstacle; d(t) is the distance between the aircraft and the obstacle at time; when d(t) < d safe When the distance between the aircraft and the obstacle is less than the safe distance, a penalty will be incurred, and the penalty value is k·(d safe -d(t)) 2 ; When d(t)≥d safe When , the aircraft is outside the safe distance and the penalty term is 0.

[0125] Continue to iterate until the stopping condition is met, and finally output the optimal trajectory planning solution including parameters such as position, altitude, speed, heading, etc. at each time point.

[0126] Control instruction calculation module 23: uses the optimized trajectory planning scheme to calculate precise control instructions, including the following submodules:

[0127] Expected state determination submodule 231: Determine the expected position, speed and attitude of the aircraft at different times according to the optimized trajectory planning scheme; Based on the optimized trajectory planning scheme, conduct a detailed analysis of each time point of the aircraft during the flight process. By reading the data information in the trajectory planning, accurately calculate the expected position that the aircraft should be at at different times, including longitude, latitude and altitude coordinate information. At the same time, according to the flight speed requirements and the change trend of the trajectory, determine the expected speed of the aircraft at the corresponding time, including horizontal speed and vertical speed.

[0128] Control instruction calculation submodule 232: Based on the desired state and the current state of the aircraft, a control algorithm is used to calculate precise control instructions; a PID (proportional-integral-differential) controller is usually used, and its core idea is to adjust the control amount according to the error between the desired state and the actual state, so as to achieve precise control of the aircraft. Specifically, the PID controller calculates the control instruction u(t) by the following formula:

[0129]

[0130] Among them, u(t) is the control instruction; K p is the proportionality factor, which is used to directly amplify the error; e(t) represents the error; K i is the integral coefficient, which eliminates static errors by accumulating all past errors; K d It is the differential coefficient, which is used to predict the future trend of the system, reduce overshoot and improve response speed.

[0131] Trajectory monitoring and adjustment module 24: continuously monitors the actual trajectory of the aircraft, calculates the trajectory deviation value by comparing the actual trajectory with the planned trajectory, and adjusts the control instructions, including the following submodules:

[0132] Actual trajectory monitoring submodule 241: The actual trajectory of the aircraft is continuously monitored through satellite positioning and inertial navigation systems; the satellite positioning system receives satellite signals and uses the principle of triangulation to accurately determine the position of the aircraft on the earth, including longitude, latitude and altitude information. The inertial navigation system is based on the principle of Newtonian mechanics, and measures the acceleration and angular velocity of the aircraft, and calculates the position, speed and attitude of the aircraft through integral calculation.

[0133] Trajectory deviation calculation submodule 242: Compare the actual trajectory with the planned trajectory and calculate the trajectory deviation value; determine the time point and spatial position of the comparison and accurately calculate the deviation value. By analyzing the difference between the actual position and the planned position at the same time point, the displacement deviation of the aircraft in different directions can be obtained. At the same time, considering the continuity of the trajectory, it is also necessary to compare parameters such as speed and acceleration to comprehensively evaluate the degree of trajectory deviation. The calculated trajectory deviation value will serve as an important basis for subsequent adjustment of control instructions.

[0134] Assume that the aircraft is flying in three-dimensional space, and the position coordinates at a certain time t on the planned trajectory are (x p (t), y p (t),z p (t)), the velocity vector is The acceleration vector is The position coordinates of the actual trajectory at the same time t are (x a (t), y a (t),za (t)), the velocity vector is The acceleration vector is

[0135] (4) Position deviation vector

[0136] Position deviation size

[0138] (5) Speed ​​deviation vector

[0139] Speed ​​deviation

[0141] (6) Acceleration deviation vector

[0142] Acceleration deviation

[0144] Control instruction adjustment submodule 243: According to the trajectory deviation value, the feedback control algorithm is used to adjust the control instruction; according to the obtained trajectory deviation value, the feedback control algorithm is used to adjust the control instruction. The feedback control algorithm uses the trajectory deviation value as the input. If the position deviation is large, the thrust vector, rudder deflection angle and other control parameters of the aircraft are adjusted to increase the acceleration of the aircraft or change the flight direction so that it converges quickly toward the planned trajectory. During the implementation process, the feedback control algorithm continuously monitors the changes in the trajectory deviation value and updates the control instruction in real time.

[0145] Trajectory optimization module 25: Continuously optimize the trajectory of the aircraft according to the adjusted control instructions, including the following submodules:

[0146] Instruction transmission and monitoring submodule 251: accurately transmit the adjusted control instructions to the aircraft control system, check the response and monitor the execution status in real time; after the instructions are transmitted to the aircraft control system, closely check the response of the aircraft to the instructions. Through sensors and monitoring equipment, obtain the status changes of the aircraft in real time to determine whether the control instructions are correctly executed, and continuously monitor the execution status of the aircraft.

[0147] Trajectory optimization and adjustment submodule 252: continuously update data, analyze the causes of trajectory deviation and dynamically adjust the trajectory planning scheme to optimize the flight trajectory; continuously collect and update various data, including the real-time status data and environmental data of the aircraft. By analyzing these data, find out the causes of trajectory deviation. Continuously collect the actual trajectory data of the aircraft and related information of dynamic environmental changes, continuously update the database, use advanced sensor technology and data processing algorithms to ensure the accuracy and real-time nature of the data, make a detailed comparison between the updated actual trajectory and the planned trajectory, and deeply analyze the causes of trajectory deviation. One is due to sudden changes in the external environment, and the other is problems with the aircraft's own system. According to the analysis results, dynamically adjust the trajectory planning scheme.

[0148] Corresponding to the above embodiment, an embodiment of the present invention provides a computer storage medium, including: at least one memory and at least one processor;

[0149] The memory is used to store one or more program instructions;

[0150] A processor, configured to run one or more program instructions to execute a high-precision aircraft trajectory planning and control method;

[0151] Corresponding to the above-mentioned embodiment, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer storage medium contains one or more program instructions, and the one or more program instructions are used by a processor to execute a high-precision aircraft trajectory planning and control method.

[0152] The embodiments disclosed in the present invention provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned high-precision aircraft trajectory planning and control method.

[0153] In the embodiment of the present invention, the processor may be an integrated circuit chip having the ability to process signals. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0154] The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, or a mature storage medium in the art. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware.

[0155] The storage medium may be a memory, which may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0156] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.

[0157] The volatile memory may be a random access memory (RAM) which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced synchronous DRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus DRAM (DRRAM).

[0158] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0159] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the present invention can be implemented using a combination of hardware and software. When software is used, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0160] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-precision aircraft trajectory planning and control method, characterized in that: include: S10, collecting the initial state data of the aircraft, preprocessing the data, and using the processed data to calculate the optimal initial trajectory parameters; S20, based on the optimal initial trajectory parameters, perform dynamic environment prediction calculation and optimize the trajectory planning scheme; S30, using the optimized trajectory planning scheme to calculate precise control instructions; S40, continuously monitoring the actual trajectory of the aircraft, calculating the trajectory deviation value by comparing the actual trajectory with the planned trajectory, and adjusting the control instructions; S50: Continuously optimize the trajectory of the aircraft according to the adjusted control instructions.

2. A high-precision aircraft trajectory planning and control method according to claim 1, characterized in that: Collect the initial state data of the aircraft and pre-process the data, including the following sub-steps: Collect the initial status data of the aircraft through various sensors; The collected data is preprocessed to remove noise and errors.

3. A high-precision aircraft trajectory planning and control method according to claim 2, characterized in that: The optimal initial trajectory parameters are calculated using the processed data, including the following sub-steps: The pre-processed data is analyzed using an optimization algorithm, and the initial flight path is determined by comprehensively considering the aircraft performance and mission requirements. Calculates speed profiles based on data and a specific model.

4. A high-precision aircraft trajectory planning and control method according to claim 1, characterized in that: Based on the optimal initial trajectory parameters, dynamic environment prediction calculation is performed to optimize the trajectory planning scheme, including the following sub-steps: Use meteorological data and terrain data to predict the dynamic environment of the aircraft during flight; According to the dynamic environment prediction results and combined with the optimal initial trajectory parameters, the trajectory planning scheme is optimized using an optimization algorithm.

5. A high-precision aircraft trajectory planning and control method according to claim 1, characterized in that: Using the optimized trajectory planning scheme, calculate the precise control instructions, including the following sub-steps: According to the optimized trajectory planning scheme, determine the expected position, speed and attitude of the aircraft at different times; Based on the desired state and the current state of the aircraft, a control algorithm is used to calculate precise control commands.

6. A high-precision aircraft trajectory planning and control method according to claim 1, characterized in that: Continuously monitor the actual trajectory of the aircraft, compare the actual trajectory with the planned trajectory, calculate the trajectory deviation value, and adjust the control instructions, including the following sub-steps: The actual trajectory of the aircraft is constantly monitored through satellite positioning and inertial navigation systems; Compare the actual trajectory with the planned trajectory and calculate the trajectory deviation value; According to the trajectory deviation value, the feedback control algorithm is used to adjust the control command.

7. A high-precision aircraft trajectory planning and control method according to claim 1, characterized in that: According to the adjusted control instructions, the trajectory of the aircraft is continuously optimized, including the following sub-steps: Accurately transmit the adjusted control instructions to the aircraft control system, check the response and monitor the execution status in real time; Continuously update data, analyze the causes of trajectory deviations and dynamically adjust trajectory planning solutions to optimize flight trajectory.

8. A high-precision aircraft trajectory planning and control system, characterized in that: include: Data acquisition and preprocessing module: collects the initial state data of the aircraft, preprocesses the data, and uses the processed data to calculate the optimal initial trajectory parameters; Trajectory planning module: Based on the optimal initial trajectory parameters, it performs dynamic environment prediction calculations and optimizes the trajectory planning scheme; Control instruction calculation module: uses the optimized trajectory planning scheme to calculate precise control instructions; Trajectory monitoring and adjustment module: continuously monitors the actual trajectory of the aircraft, calculates the trajectory deviation value by comparing the actual trajectory with the planned trajectory, and adjusts the control instructions; Trajectory Optimization Module: Continuously optimizes the aircraft trajectory based on the adjusted control instructions.

9. A computer storage medium, characterized in that: include: at least one memory and at least one processor; A memory for storing one or more program instructions; A processor, used to run one or more program instructions to execute a high-precision aircraft trajectory planning and control method as described in any one of claims 1-7.

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