Air maneuvering capability modeling method considering homeward voyage hang constraint and space threat

Abstract

The invention relates to an air maneuvering capability modeling method considering homeward voyage hovering constraints and space threats. The method comprises the following steps: acquiring current state information of an air unit, modeling and calculating an air maneuverability envelope of the air unit when a return flight constraint is considered, and modeling and calculating according to the air maneuverability envelope of the air unit when the return flight constraint is considered to obtain an air maneuverability function of the air unit when the return flight constraint is considered; and correcting the air maneuvering capability function of the air unit when the homeward voyage constraint is considered by comprehensively considering the homeward voyage constraint of the air unit and the space threat suffered by the air unit from other units, so as to obtain the air maneuvering capability function of the air unit when the homeward voyage constraint, the homeward voyage constraint and the space threat are comprehensively considered. By adopting the method, accurate construction of the air maneuverability model can be realized, and reliable support is provided for air state analysis and air situation prediction.

Description

Technical Field

[0001] The present application relates to the technical field of system simulation modeling, and in particular to a method for modeling air maneuverability taking into account return-to-air constraints and space threats. Background Art

[0002] In the increasingly complex field of system simulation modeling, air units have the technical characteristics of high speed and high maneuverability. However, when air units conduct air maneuvers, they cannot continuously obtain ground resource guarantees, and as high-value targets, they are vulnerable to multiple threats in multi-dimensional space, which brings many constraints and challenges to the modeling of air mobility capabilities. How to accurately establish an air mobility capability model has become the key to analyzing air status and predicting air situations. Summary of the invention

[0003] Based on this, it is necessary to provide an air maneuverability modeling method that takes into account the return-to-air constraints and space threats in order to address the above-mentioned technical issues, achieve accurate construction of the air maneuverability model, and provide reliable support for air status analysis and air situation prediction.

[0004] A method for modeling air maneuverability considering return-to-flight constraints and space threats, the method comprising:

[0005] Get the current status information of the air unit;

[0006] According to the current state information of the air unit, the air maneuverability envelope of the air unit is calculated and modeled considering the return constraint, and according to the air maneuverability envelope of the air unit when the return constraint is considered, the air maneuverability function of the air unit when the return constraint is considered is obtained;

[0007] By considering the hovering constraints of the air unit itself, the air maneuverability function of the air unit when considering the return constraint is modified, and the air maneuverability function of the air unit when considering the return constraint and the hovering constraint is obtained;

[0008] By considering the spatial threat to the air unit from other units, the air maneuverability function of the air-to-air unit when the return constraint and hovering constraint are comprehensively considered is corrected, and the air maneuverability function of the air-to-air unit when the return constraint, hovering constraint and space threat are comprehensively considered is obtained.

[0009] In one embodiment, the current status information of the air unit includes: current position coordinates, flight azimuth, average flight speed, average fuel consumption, remaining fuel, number of units, mounts, missions and maneuvering time.

[0010] In one embodiment, the air maneuverability envelope of the air unit is calculated based on the current state information of the air unit and considering the return constraint, including:

[0011] Taking the current position coordinates of the aerial unit as the origin of the coordinate system, a spatial relation coordinate system is established based on the Cartesian coordinate system;

[0012] The first constraint relationship of the aerial unit is constructed according to the remaining fuel amount F and the average fuel consumption U of the aerial unit, which is expressed as

[0013] A+B≤L2;

[0014] Among them, A is the maximum maneuvering distance of the space unit considering the return constraint, B is the return distance, The total remaining available range of the air unit to take into account the return constraint;

[0015] In the spatial relation coordinate system, the air maneuverability envelope of the space-time unit considering the return constraint is calculated based on the first constraint relationship model, which is expressed as

[0016] (L2-A) 2 =A 2 +L1 2 -2A·L1·cos(π-α),α∈[0,2π];

[0017] Among them, L1 is the flight distance of the air unit, and α is the flight azimuth.

[0018] In one embodiment, the air maneuverability envelope of the space-time unit considering the return constraint is modeled and calculated to obtain the air maneuverability function of the space-time unit considering the return constraint, including:

[0019] According to the air maneuverability envelope of the space unit considering the return constraint, the expression for obtaining the maximum maneuvering distance A of the space unit considering the return constraint is:

[0020]

[0021] Based on the modeling and calculation of A and the coordinate transformation relationship, the air maneuverability function f(x,y) of the space unit considering the return constraint is obtained, which is expressed as

[0022]

[0023] Among them, x and y are the horizontal and vertical coordinates of the aerial unit in the spatial relationship coordinate system respectively.

[0024] In one embodiment, the hovering constraints of the air unit itself include hovering time constraints and refueling and replenishment constraints;

[0025] By considering the hovering constraints of the air unit itself, the air maneuverability function of the air unit when considering the return constraint is modified, and the air maneuverability function of the air unit when considering the return constraint and the hovering constraint is obtained, including:

[0026] By considering the hovering time constraint of the air unit, the air maneuverability function of the air unit when considering the return constraint is modified, and the air maneuverability function of the air unit when considering the return constraint and the hovering time constraint is obtained;

[0027] By considering the refueling and supply constraints of the aerial unit, the air maneuverability function of the aerial unit when the return constraint and the hovering time constraint are comprehensively considered is corrected, and the air maneuverability function of the aerial unit when the return constraint, the hovering time constraint and the refueling and supply constraints are comprehensively considered is obtained.

[0028] In one embodiment, by considering the hovering time constraint of the air unit, the air maneuverability function of the air unit when considering the return constraint is modified to obtain the air maneuverability function of the air unit when considering the return constraint and the hovering time constraint, including:

[0029] After the air unit reaches the maneuvering position T from the current position coordinate, the second constraint relationship of the air unit is constructed by considering that the air unit needs to meet the hovering time constraint at the maneuvering position T before returning to the take-off and landing point, which is expressed as

[0030] A′+B≤L2′;

[0031] in, In order to comprehensively consider the total remaining available range of the air unit when the return constraint and the hovering time constraint are considered, T_A is the hovering time of the air unit at the maneuvering position T, V is the average flight speed of the air unit, F is the remaining fuel, U is the average fuel consumption, A′ is the maximum maneuvering distance of the air unit when the return constraint and the hovering time constraint are considered comprehensively, and B is the return distance;

[0032] In the spatial relationship coordinate system established based on the Cartesian coordinate system with the current position coordinates of the air unit as the origin of the coordinate system, the air maneuverability envelope of the air-space unit is calculated by modeling according to the second constraint relationship, which comprehensively considers the return constraint and the hovering time constraint, and is expressed as

[0033] (l2′-A′) 2 =A′ 2 +l1 2 -2A′·L1·cos(π-α), α∈[0,2π];

[0034] Among them, L1 is the distance flown by the air unit, and α is the flight azimuth;

[0035] The air maneuverability envelope of the space-time unit is calculated by comprehensively considering the return constraint and the hovering time constraint, and the expression of A′ is obtained as follows:

[0036]

[0037] According to A′, the air maneuverability function of the space-time unit considering the return constraint is modified to obtain the air maneuverability function f′(x,y) of the space-time unit considering the return constraint and the hovering time constraint, which is expressed as

[0038]

[0039] Among them, x and y are the horizontal and vertical coordinates of the aerial unit in the spatial relationship coordinate system respectively.

[0040] In one embodiment, by considering the refueling and replenishment constraints of the air unit, the air maneuverability function of the air-to-air unit when the return constraint and the hovering time constraint are comprehensively considered is modified to obtain the air maneuverability function of the air-to-air unit when the return constraint, the hovering time constraint and the refueling and replenishment constraints are comprehensively considered, including:

[0041] After the air unit reaches the maneuvering position T from the current position coordinate, the third constraint relationship of the air unit is constructed by considering that the air unit needs to meet the hovering time constraint and refueling constraint at the maneuvering position T before returning to the take-off and landing point, which is expressed as

[0042] A″+B≤L2″;

[0043] in, In order to comprehensively consider the total remaining available range of the air-to-ground unit under the return constraint, hovering time constraint and refueling supply constraint, F_p is the refueling fuel supply obtained by the air-to-ground unit at the maneuvering position T, and A″ is the maximum maneuvering distance of the air-to-ground unit under the return constraint, hovering time constraint and refueling supply constraint;

[0044] In the spatial relationship coordinate system established based on the Cartesian coordinate system with the current position coordinates of the air unit as the origin of the coordinate system, the air maneuverability envelope of the air-to-air unit is calculated by modeling according to the third constraint relationship when the return constraint, the hovering time constraint and the refueling and replenishment constraint are comprehensively considered, which is expressed as

[0045] (L2″-A″) 2 =A″ 2 +L1 2 -2A″·L1·cos(π-α),α∈[0,2π];

[0046] The air maneuverability envelope of the airborne unit is calculated by comprehensively considering the return constraint, the hovering time constraint and the refueling and replenishment constraint, and the expression of A″ is obtained as follows:

[0047]

[0048] According to A″, the air maneuverability function of the space-time unit considering the return constraint and the hovering time constraint is corrected, and the air maneuverability function f″(x,y) of the space-time unit considering the return constraint, the hovering time constraint and the refueling and replenishment constraint is obtained, which is expressed as

[0049]

[0050] In one embodiment, by considering the space threat to the air unit from other units, the air maneuverability function of the air-space unit when the return constraint and the hovering constraint are comprehensively considered is modified to obtain the air maneuverability function of the air-space unit when the return constraint, the hovering constraint and the space threat are comprehensively considered, including:

[0051] By considering the spatial threat of other units to the air unit, the spatial threat area within the maneuvering range of the air unit is obtained, and the maneuvering range constraint relationship of the air unit is constructed according to the spatial threat area, which is expressed as

[0052]

[0053] Among them, Q1(x,y) and Q2(x,y) are the space threat areas, x and y are the horizontal and vertical coordinates of the air unit in the spatial relationship coordinate system respectively;

[0054] According to the maneuver range constraint relationship of the air unit, the air maneuverability function of the air-space unit is modified when the return constraint, hovering time constraint and refueling supply constraint are comprehensively considered, and the air maneuverability function F(x,y) of the air-space unit when the return constraint, hovering time constraint and space threat are comprehensively considered is obtained, which is expressed as

[0055]

[0056] Among them, A″ is the maximum maneuvering distance of the space unit considering the return constraint, hovering time constraint and refueling and replenishment constraint, and α is the flight azimuth.

[0057] The above-mentioned air maneuverability modeling method considering return and hovering constraints and space threats is mainly affected by the return constraint, the hovering constraint of the air unit itself and the space threat of other units. The air maneuverability function of the air unit is calculated by comprehensively considering the return constraint, hovering constraint and space threat modeling, so as to achieve the accurate construction of the air maneuverability model. Moreover, under the comprehensive constraints of return constraint, hovering constraint and space threat, the maneuverability of the air unit is expressed as the comprehensive capability value after the maximum maneuvering distance and other capability attributes (such as the maximum detection capability after air maneuvering) are superimposed, which is convenient for supporting the subsequent air state analysis and air situation prediction. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 A flowchart of an air maneuverability modeling method considering return-to-home hovering constraints and space threats in one embodiment;

[0059] Figure 2 A schematic diagram of modeling the air maneuverability of an airborne unit considering return constraints in one embodiment;

[0060] Figure 3 A schematic diagram of modeling the air maneuverability of a space-time unit in an embodiment taking into account both the return constraint and the hover constraint;

[0061] Figure 4 A schematic diagram of the division of space threat areas in one embodiment;

[0062] Figure 5 A schematic diagram of air maneuver modeling of a space-time unit in one embodiment that comprehensively considers return constraints, hovering constraints, and space threats. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] In one embodiment, Figure 1 As shown, a method for modeling air maneuverability considering return-to-home constraints and space threats is provided, including the following steps:

[0065] Step S1, obtaining the current status information of the air unit.

[0066] Specifically, a certain aerial unit departs from the take-off and landing point O1, has flown a distance of L1, and is currently at O2. The current status information of the aerial unit is obtained, including the current position coordinates, flight azimuth α, average flight speed V (km / s), average fuel consumption U (L / km), remaining fuel F (L), number of units, mounts, missions, maneuvering time and other parameters.

[0067] Step S2, modeling and calculating the air maneuverability envelope of the air-to-air unit considering the return constraint based on the current state information of the air-to-air unit, and modeling and calculating based on the air maneuverability envelope of the air-to-air unit considering the return constraint to obtain the air maneuverability function of the air-to-air unit considering the return constraint.

[0068] Among them, considering the return constraint, the airborne unit cannot continuously obtain ground support resources and needs to return to the take-off and landing point O1 before the remaining fuel is exhausted. The modeling diagram of the air maneuverability of the airborne unit considering the return constraint is as follows: Figure 2 As shown, the specific steps include:

[0069] Taking the current position coordinates of the aerial unit as the origin of the coordinate system, a spatial relation coordinate system O2-xy is established based on the Cartesian coordinate system;

[0070] The first constraint relationship of the aerial unit is constructed according to the remaining fuel amount F and the average fuel consumption U of the aerial unit, which is expressed as

[0071] A+B≤L2;

[0072] Among them, A is the maximum maneuvering distance of the space unit considering the return constraint, B is the return distance, The total remaining available range of the air unit to take into account the return constraint;

[0073] According to the first constraint relationship, when considering the return constraint, the air maneuverability envelope of the air unit satisfies the elliptical geometric relationship with the take-off and landing point O1 and the current position O2 as the two centers and the total remaining available range L2 as the chord length. In the spatial relationship coordinate system, the air maneuverability envelope of the air unit when considering the return constraint is calculated according to the first constraint relationship modeling, which is expressed as

[0074] (l2-a) 2 =a 2 +l1 2 -2A·L1·cos(π-α),α∈[0,2π];

[0075] Wherein, L1 is the flight distance of the air unit, and α is the flight azimuth. Furthermore, the air maneuverability envelope range S obtained by calculating the air maneuverability envelope of the air unit considering the return constraint is as follows: Figure 2 As shown;

[0076] According to the air maneuverability envelope of the space unit considering the return constraint, the expression for obtaining the maximum maneuvering distance A of the space unit considering the return constraint is:

[0077]

[0078] Based on the modeling and calculation of A and the coordinate transformation relationship, the air maneuverability function F(x,y) of the space-time unit considering the return constraint is obtained, which is expressed as

[0079]

[0080] Among them, x and y are the horizontal and vertical coordinates of the aerial unit in the spatial relationship coordinate system respectively.

[0081] Step S3, by considering the hovering constraint of the air unit itself, the air maneuverability function of the air unit when considering the return constraint is corrected to obtain the air maneuverability function of the air unit when comprehensively considering the return constraint and the hovering constraint.

[0082] Among them, the air unit's own hovering constraints include hovering time constraints, refueling and supply constraints, and other hovering conditions. Considering the return constraints and hovering constraints, the modeling diagram of the air maneuverability of the air unit is as follows: Figure 3 As shown, the specific steps include:

[0083] In the first step, by considering the hovering time constraint of the air unit, the air maneuverability function of the air unit considering the return constraint is corrected, and the air maneuverability function of the air unit considering the return constraint and the hovering time constraint is obtained, including:

[0084] After the air unit reaches the maneuvering position T from the current position coordinate, the second constraint relationship of the air unit is constructed by considering that the air unit needs to meet the hovering time constraint at the maneuvering position T before returning to the take-off and landing point, which is expressed as

[0085] A′+B≤L2′;

[0086] in, In order to comprehensively consider the total remaining available range of the air unit when the return constraint and the hovering time constraint are considered, T_A is the hovering time of the air unit at the maneuvering position T and the unit is per second, V is the average flight speed of the air unit, F is the remaining fuel, U is the average fuel consumption, A′ is the maximum maneuvering distance of the air unit when the return constraint and the hovering time constraint are considered comprehensively, and B is the return distance;

[0087] In the spatial relationship coordinate system established based on the Cartesian coordinate system with the current position coordinates of the air unit as the origin of the coordinate system, the air maneuverability envelope of the air-space unit is calculated by modeling according to the second constraint relationship, which comprehensively considers the return constraint and the hovering time constraint, and is expressed as

[0088] (l2′-A′) 2 =A′ 2 +l1 2 -2A′·L1·cos(π-α), α∈[0,2π];

[0089] Wherein, L1 is the flight distance of the air unit, and α is the flight azimuth. Furthermore, according to the air maneuverability envelope of the air unit considering the return constraint and the hovering time constraint, the air maneuverability envelope range S′ is obtained as follows: Figure 3 As shown;

[0090] The air maneuverability envelope of the space-time unit is calculated by comprehensively considering the return constraint and the hovering time constraint, and the expression of A′ is obtained as follows:

[0091]

[0092] According to A′, the air maneuverability function of the space-time unit considering the return constraint is modified to obtain the air maneuverability function f′(x,y) of the space-time unit considering the return constraint and the hovering time constraint, which is expressed as

[0093]

[0094] Among them, x and y are the horizontal and vertical coordinates of the aerial unit in the spatial relationship coordinate system respectively.

[0095] In the second step, by considering the refueling and replenishment constraints of the air unit, the air maneuverability function of the air unit when the return constraint and the hovering time constraint are comprehensively considered is corrected, and the air maneuverability function of the air unit when the return constraint, the hovering time constraint and the refueling and replenishment constraint are comprehensively considered is obtained, including:

[0096] After the air unit reaches the maneuvering position T from the current position coordinate, the third constraint relationship of the air unit is constructed by considering that the air unit needs to meet the hovering time constraint and refueling constraint at the maneuvering position T before returning to the take-off and landing point, which is expressed as

[0097] A″+B≤L2″;

[0098] in, In order to comprehensively consider the total remaining available range of the airborne unit when the return constraint, the hovering time constraint and the refueling and replenishment constraint are taken into account, F_p is the refueling fuel supply obtained by the airborne unit at the maneuvering position T and the unit is per liter, and A″ is the maximum maneuvering distance of the airborne unit when the return constraint, the hovering time constraint and the refueling and replenishment constraint are taken into account;

[0099] In the spatial relationship coordinate system established based on the Cartesian coordinate system with the current position coordinates of the air unit as the origin of the coordinate system, the air maneuverability envelope of the air-to-air unit is calculated by modeling according to the third constraint relationship when the return constraint, the hovering time constraint and the refueling and replenishment constraint are comprehensively considered, which is expressed as

[0100] (L2″-A″) 2 =A″ 2 +L1 2 -2A″·L1·cos(π-α), α∈[0,2π];

[0101] Further, the air maneuverability envelope range S″ obtained by calculating the air maneuverability envelope of the air-to-air unit by comprehensively considering the return constraint, the hovering time constraint and the refueling and replenishment constraint is as follows: Figure 3 As shown;

[0102] The air maneuverability envelope of the airborne unit is calculated by comprehensively considering the return constraint, the hovering time constraint and the refueling and replenishment constraint, and the expression of A″ is obtained as follows:

[0103]

[0104] According to A″, the air maneuverability function of the space-time unit considering the return constraint and the hovering time constraint is corrected, and the air maneuverability function f″(x,y) of the space-time unit considering the return constraint, the hovering time constraint and the refueling and replenishment constraint is obtained, which is expressed as

[0105]

[0106] Step S4, by taking into account the spatial threats to the aerial unit from other units, the air maneuverability function of the aerial unit when the return constraint and the hovering constraint are comprehensively considered is corrected to obtain the air maneuverability function of the aerial unit when the return constraint, the hovering constraint and the spatial threat are comprehensively considered.

[0107] Specifically, the space threat area within the maneuvering range of the air unit is divided into two parts, namely the safe area and the threat area, such as Figure 4 As shown, Figure 4R1 is the radius of the threat zone. When an air unit is in a safe zone, it will not be threatened by other units, and the space threat has no effect on the air mobility modeling of the air unit. When an air unit is in a threat zone, it will be threatened by other units, such as the threat range and threat intensity from different units. When modeling the air mobility here, it is necessary to strictly avoid the space threat of other units.

[0108] Among them, the schematic diagram of the air maneuverability modeling of the space-time unit taking into account the return constraint, hovering constraint and space threat is as follows: Figure 5 As shown, the specific steps include:

[0109] By considering the spatial threat of other units to the air unit, the spatial threat area within the maneuvering range of the air unit is obtained, and the maneuvering range constraint relationship of the air unit is constructed according to the spatial threat area, which is expressed as

[0110]

[0111] Among them, Q1(x,y) and Q2(x,y) are the space threat areas, x and y are the horizontal and vertical coordinates of the air unit in the spatial relationship coordinate system respectively;

[0112] According to the maneuver range constraint relationship of the air unit, the air maneuverability function of the air-space unit is modified when the return constraint, hovering time constraint and refueling supply constraint are comprehensively considered, and the air maneuverability function F(x,y) of the air-space unit when the return constraint, hovering time constraint and space threat are comprehensively considered is obtained, which is expressed as

[0113]

[0114] Among them, A″ is the maximum maneuvering distance of the space unit considering the return constraint, hovering time constraint and refueling and replenishment constraint, and α is the flight azimuth.

[0115] It can be understood that under the comprehensive constraints of return constraints, hovering constraints and space threats, the overall performance of the air maneuverability of the air unit is the superposition of the effective maneuvering range and other capability attributes (such as the maximum detection capability after air maneuvering). Based on the detection capability range of the air unit at the current position O2, each grid point after spatial discretization is traversed (the discretization method and density can be determined according to the actual situation), and the expansion area formed by the additional air maneuverability is obtained to obtain the maximum detection capability after air maneuvering, so as to support the subsequent air state analysis and air situation prediction.

[0116] It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps can be executed in other orders. Figure 1 At least a part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages do not necessarily have to be executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages does not necessarily have to be sequentially, but can be executed in rotation or alternation with other steps or at least part of the sub-steps or stages of other steps.

[0117] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

[0119] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for modeling air maneuverability considering return-to-air constraints and space threats, characterized in that: The method comprises: Get the current status information of the air unit; Modeling and calculating the air maneuverability envelope of the air unit when considering the return constraint according to the current state information of the air unit, and modeling and calculating according to the air maneuverability envelope of the air unit when considering the return constraint to obtain the air maneuverability function of the air unit when considering the return constraint; By considering the hovering constraint of the aerial unit itself, the aerial maneuverability function of the aerial unit when the return constraint is considered is modified to obtain the aerial maneuverability function of the aerial unit when the return constraint and the hovering constraint are comprehensively considered; By taking into account the spatial threats posed by other units to the aerial unit, the aerial maneuverability function of the aerial unit when the return constraint and the hovering constraint are comprehensively considered is corrected, thereby obtaining the aerial maneuverability function of the aerial unit when the return constraint, the hovering constraint and the spatial threat are comprehensively considered.

2. The method according to claim 1, characterized in that The current status information of the air unit includes: current position coordinates, flight azimuth, average flight speed, average fuel consumption, remaining fuel, number of units, mounts, missions and maneuvering time.

3. The method according to claim 2, characterized in that Modeling and calculating the air maneuverability envelope of the air unit when considering the return constraint according to the current state information of the air unit, including: Taking the current position coordinates of the aerial unit as the origin of the coordinate system, a spatial relationship coordinate system is established based on a Cartesian coordinate system; The first constraint relationship of the aerial unit is constructed according to the remaining fuel amount F and the average fuel consumption U of the aerial unit, which is expressed as A+B≤L2; Among them, A is the maximum maneuvering distance of the air unit when considering the return constraint, B is the return distance, is the total remaining available range of the air unit taking into account the return constraint; In the spatial relationship coordinate system, the air maneuverability envelope of the air unit when considering the return constraint is calculated based on the first constraint relationship model, which is expressed as (L2-A) 2 =A 2 +L1 2 -2A·L1·cos(π-α), α∈[0,2π]; Wherein, L1 is the distance flown by the aerial unit, and α is the flight azimuth.

4. The method according to claim 3, characterized in that Modeling and calculation are performed according to the air maneuverability envelope of the air unit when the return constraint is considered, and the air maneuverability function of the air unit when the return constraint is considered is obtained, including: According to the air maneuverability envelope of the air unit when considering the return constraint, the expression for obtaining the maximum maneuvering distance A of the air unit when considering the return constraint is: Based on the modeling calculation of A and the coordinate transformation relationship, the air maneuverability function f(x, y) of the air unit considering the return constraint is obtained, which is expressed as Wherein, x and y are respectively the horizontal coordinate and the vertical coordinate of the aerial unit in the spatial relation coordinate system.

5. The method according to claim 4, characterized in that The hovering constraints of the aerial unit itself include hovering time constraints and refueling and replenishment constraints; By considering the hovering constraint of the aerial unit itself, the aerial maneuverability function of the aerial unit when the return constraint is considered is corrected, and the aerial maneuverability function of the aerial unit when the return constraint and the hovering constraint are comprehensively considered is obtained, including: By considering the hovering time constraint of the aerial unit, the aerial maneuverability function of the aerial unit when the return constraint is considered is modified to obtain the aerial maneuverability function of the aerial unit when the return constraint and the hovering time constraint are comprehensively considered; By considering the refueling and replenishment constraints of the aerial unit, the air maneuverability function of the aerial unit when the return constraint and the hovering time constraint are comprehensively considered is corrected, and the air maneuverability function of the aerial unit when the return constraint, the hovering time constraint and the refueling and replenishment constraints are comprehensively considered is obtained.

6. The method according to claim 5, characterized in that By considering the hovering time constraint of the aerial unit, the aerial maneuverability function of the aerial unit when the return constraint is considered is corrected, and the aerial maneuverability function of the aerial unit when the return constraint and the hovering time constraint are comprehensively considered is obtained, including: After the aerial unit reaches the maneuvering position T from the current position coordinate, by considering that the aerial unit needs to satisfy the hovering time constraint at the maneuvering position T before returning to the take-off and landing point, the second constraint relationship of the aerial unit is constructed, which is expressed as A′+B≤L2′; in, The total remaining available range of the air unit when the return constraint and the hovering time constraint are comprehensively considered, T_A is the hovering time of the air unit at the maneuvering position T, V is the average flight speed of the air unit, F is the remaining fuel, U is the average fuel consumption, A′ is the maximum maneuvering distance of the air unit when the return constraint and the hovering time constraint are comprehensively considered, and B is the return distance; In a spatial relationship coordinate system established based on a Cartesian coordinate system with the current position coordinates of the aerial unit as the origin of the coordinate system, the air maneuverability envelope of the aerial unit when the return constraint and the hovering time constraint are comprehensively considered is calculated according to the second constraint relationship modeling, and is expressed as: (L2′-A′) 2 =A′ 2 +L1 2 -2A′·L1·cos(π-α),α∈[0,2π]; Wherein, L1 is the distance flown by the air unit, and α is the flight azimuth; The expression of A′ is obtained by calculating the air maneuverability envelope of the air unit when the return constraint and the hovering time constraint are comprehensively considered: The air maneuverability function of the air unit when considering the return constraint is modified according to A′, and the air maneuverability function f′(x, y) of the air unit when considering the return constraint and the hovering time constraint is obtained, which is expressed as Wherein, x and y are respectively the horizontal coordinate and the vertical coordinate of the aerial unit in the spatial relation coordinate system.

7. The method according to claim 6, characterized in that By considering the refueling and replenishment constraints of the aerial unit, the air maneuverability function of the aerial unit when the return constraint and the hovering time constraint are comprehensively considered is corrected, and the air maneuverability function of the aerial unit when the return constraint, the hovering time constraint and the refueling and replenishment constraints are comprehensively considered is obtained, including: After the aerial unit reaches the maneuvering position T from the current position coordinate, the third constraint relationship of the aerial unit is constructed by considering that the aerial unit needs to meet the hovering time constraint and the refueling and replenishment constraint at the maneuvering position T before returning to the take-off and landing point, which is expressed as A″+B≤L2″; in, is the total remaining available range of the air unit when the return constraint, the hovering time constraint and the refueling and replenishment constraint are comprehensively considered; F_p is the refueling fuel supply obtained by the air unit at the maneuvering position T; A″ is the maximum maneuvering distance of the air unit when the return constraint, the hovering time constraint and the refueling and replenishment constraint are comprehensively considered; In a spatial relation coordinate system established based on a Cartesian coordinate system with the current position coordinate of the aerial unit as the origin of the coordinate system, the air maneuverability envelope of the aerial unit is calculated based on the third constraint relationship model when the return constraint, the hovering time constraint and the refueling and replenishment constraint are comprehensively considered, expressed as (L2″-A″) 2 =A″ 2 +L1 2 -2A″·L1·cos(π-α), α∈[0,2π]; The air maneuverability envelope of the air unit is calculated by comprehensively considering the return constraint, the hovering time constraint and the refueling and replenishment constraint, and the expression of A″ is obtained as follows: According to A″, the air maneuverability function of the air unit when the return constraint and the hovering time constraint are comprehensively considered is corrected to obtain the air maneuverability function f″(x,y) of the air unit when the return constraint, the hovering time constraint and the refueling and replenishment constraint are comprehensively considered, which is expressed as 8. The method according to claim 1, characterized in that By considering the space threat of other units to the air unit, the air maneuverability function of the air unit when the return constraint and the hovering constraint are comprehensively considered is modified to obtain the air maneuverability function of the air unit when the return constraint, the hovering constraint and the space threat are comprehensively considered, including: By considering the spatial threat of other units to the aerial unit, the spatial threat area within the maneuvering range of the aerial unit is obtained, and the maneuvering range constraint relationship of the aerial unit is constructed according to the spatial threat area, which is expressed as Wherein, Q1(x, y) and Q2(x, y) are the space threat areas, and x and y are the horizontal and vertical coordinates of the air unit in the space relationship coordinate system, respectively; According to the maneuvering range constraint relationship of the air unit, the air maneuverability function of the air unit when the return constraint, hovering time constraint and refueling supply constraint are comprehensively considered is modified to obtain the air maneuverability function F(x,y) of the air unit when the return constraint, hovering time constraint and space threat are comprehensively considered, which is expressed as Wherein, A″ is the maximum maneuvering distance of the air unit when considering the return constraint, the hovering time constraint and the refueling and replenishment constraint, and α is the flight azimuth.

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