Method, device and equipment for determining angle of turning hand wheel of airplane and storage medium

Abstract

The invention discloses a method and a device for determining an angle of a turning handwheel of an airplane, computer equipment and a storage medium, which are used for improving the accuracy and the efficiency of determining the angle of the turning handwheel of the airplane. According to the main technical scheme, the deviation distance and the deviation angle of an aircraft relative to a target sliding line are obtained; determining whether the deviation distance is greater than a preset value; if the deviation distance is greater than the preset value, calculating an expected turning angle of the aircraft through the deviation distance; if the deviation distance is smaller than or equal to the preset numerical value, the expected turning angle of the aircraft is calculated through the deviation distance and the deviation angle; and determining an airplane turning hand wheel angle corresponding to the expected airplane turning angle through a preset angle corresponding relation.

Description

Technical Field

[0001] The present invention relates to the technical field of assisted flight, and particularly to a method, device, equipment and storage medium for determining the angle of an aircraft turning handwheel. Background Art

[0002] When a pilot drives an aircraft from a parking apron or a jet bridge to a runway take-off point, the pilot needs to control the aircraft to complete straight and turning taxiing according to instructions. When driving straight, the pilot only needs to slightly adjust the steering of the aircraft's front wheels to keep the aircraft moving in a straight line; when turning, the pilot needs to adjust the turning handwheel for a large turn. Affected by the field of vision during turning, the pilot can only refer to the taxiing line that is far from the aircraft. This requires the pilot to have rich experience and anticipation during the surface taxiing process, especially when turning.

[0003] Currently, based on machine vision technology, the detection and recognition of taxiing lines are realized. Combining image processing technology, the taxiing line and the current state of the aircraft can be compared to judge the deviation distance and deviation angle between the current heading and the target taxiing line. The result is provided to the pilot in the form of a graphic or text prompt. Based on this information, the pilot turns the turning handwheel of the aircraft according to the operation experience of the pilot, and then realizes the direction control of the aircraft's front wheels, that is, the existing turning handwheel angle needs to rely on the manual control of the pilot. Summary of the Invention

[0004] The present invention provides a method, device, computer equipment and storage medium for determining the angle of an aircraft turning handwheel, which are used to improve the accuracy and efficiency of determining the angle of the aircraft turning handwheel.

[0005] An embodiment of the present invention provides a method for determining the angle of an aircraft turning handwheel, and the method includes:

[0006] Obtain the deviation distance and deviation angle of the aircraft relative to the target taxiing line;

[0007] Determine whether the deviation distance is greater than a preset value;

[0008] If the deviation distance is greater than the preset value, calculate the expected turning angle of the aircraft through the deviation distance;

[0009] If the deviation distance is less than or equal to the preset value, calculate the expected turning angle of the aircraft through the deviation distance and the deviation angle;

[0010] Determine the aircraft turning handwheel angle corresponding to the aircraft expected turning angle through a preset angle correspondence.

[0011] In an optional embodiment provided by the application, the calculating the expected turning angle of the aircraft through the deviation distance includes:

[0012] Substitute the deviation distance into the first function to calculate the expected turning angle of the aircraft.

[0013] In an optional embodiment provided by the application, the step of substituting the deviation distance into the first function to calculate the expected turning angle of the aircraft includes:

[0014] Substitute the deviation distance into the first function to calculate the expected turning angle of the aircraft;

[0015] wherein, the is used for eliminating the deviation distance, k is a preset change rate; y is the deviation distance, and χ is a preset angle.

[0016] In an optional embodiment provided by the application, χ is in the range of 0 to π / 2; k > 0, and the magnitude of k affects the turning angle χ d The change rate from the maximum value χ to 0, the smaller the value of k, the smoother the change.

[0017] In an optional embodiment provided by the application, the step of calculating the expected turning angle of the aircraft by using the deviation distance and the deviation angle includes:

[0018] Substitute the deviation distance and the deviation angle into the second function to calculate the expected turning angle of the aircraft.

[0019] In an optional embodiment provided by the application, the step of substituting the deviation distance and the deviation angle into the second function to calculate the expected turning angle of the aircraft includes:

[0020] Substitute the deviation distance and the deviation angle into the second function to calculate the expected turning angle of the aircraft;

[0021] wherein, the is used for eliminating the deviation distance, the βψ is used for eliminating the deviation angle, k is a preset change rate; y is the deviation distance, χ is a preset angle, ψ is the deviation angle, and β is a preset constant.

[0022] In an optional embodiment provided by the application, β is a constant between 0.5 and 2.

[0023] An embodiment of the present invention provides a device for determining the angle of an aircraft turning handwheel, the device includes:

[0024] An acquisition module, configured to acquire the deviation distance and the deviation angle of the aircraft relative to the target taxi line;

[0025] A determination module, configured to determine whether the deviation distance is greater than a preset value;

[0026] A calculation module, configured to calculate an expected turning angle of the aircraft through the deviation distance if the deviation distance is greater than the preset value;

[0027] The calculation module is further configured to calculate an expected turning angle of the aircraft through the deviation distance and the deviation angle if the deviation distance is less than or equal to the preset value;

[0028] The determination module is further configured to determine an aircraft turning handwheel angle corresponding to the expected turning angle of the aircraft through a preset angle correspondence.

[0029] A computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where when the processor executes the computer program, the method for determining the aircraft turning handwheel angle as described above is implemented.

[0030] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for determining the aircraft turning handwheel angle as described above is implemented.

[0031] A method, device, computer device, and storage medium for determining an aircraft turning handwheel angle provided by the present invention first obtain a deviation distance and a deviation angle of the aircraft relative to a target taxi line, and then determine whether the deviation distance is greater than a preset value; if the deviation distance is greater than the preset value, calculate an expected turning angle of the aircraft through the deviation distance; if the deviation distance is less than or equal to the preset value, calculate an expected turning angle of the aircraft through the deviation distance and the deviation angle; determine an aircraft turning handwheel angle corresponding to the expected turning angle of the aircraft through a preset angle correspondence. Compared with the prior art that determines the aircraft turning handwheel angle based on the pilot's operation experience, the present application calculates the expected turning angle of the aircraft based on the deviation distance and the deviation angle, and then determines the aircraft turning handwheel angle corresponding to the expected turning angle of the aircraft according to the preset angle correspondence, so that the automatic determination of the aircraft turning handwheel angle is realized through the present application without relying on the pilot's operation experience. Therefore, the accuracy and efficiency of determining the aircraft turning handwheel angle can be improved through the present application. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings without creative efforts based on these drawings.

[0033] Figure 1It is a flowchart of a method for determining the angle of an aircraft turning handwheel in an embodiment of the present invention;

[0034] Figure 2 It is a curve graph of a preset angle correspondence relationship in an embodiment of the present invention;

[0035] Figure 3 It is a control schematic diagram of straight taxiing in an embodiment of the present invention;

[0036] Figure 4 It is a control schematic diagram of turning taxiing in an embodiment of the present invention;

[0037] Figure 5 It is a principle block diagram of a device for determining the angle of an aircraft turning handwheel in an embodiment of the present invention;

[0038] Figure 6 It is a schematic diagram of a computer device in an embodiment of the present invention. Specific embodiments

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] In one embodiment, as Figure 1 shown, a method for determining the angle of an aircraft turning handwheel is provided, and the method includes the following steps:

[0041] S10, Obtain the deviation distance and deviation angle of the aircraft relative to the target taxiing line.

[0042] Among them, the deviation distance is the straight-line distance between the current position of the aircraft and the target taxiing line; the deviation angle is the included angle between the current heading of the aircraft and the target taxiing line.

[0043] In this embodiment, the real-time position (latitude and longitude, altitude) of the aircraft can be obtained through GPS, and then the distance between the current position and the target point or track (deviation distance) can be calculated, and the included angle between the current heading and the target direction (deviation angle) can be calculated. Or obtain the motion state of the aircraft measured by the accelerometer and gyroscope, combine the initial position information, deduce the current position and heading, and calculate the deviation distance and deviation angle between the current position and the target taxiing line. This embodiment does not make specific limitations on this.

[0044] S20, Determine whether the deviation distance is greater than a preset value.

[0045] Among them, the preset value is a specific value set according to actual needs. For example, the preset value can be 0.5 meters, 1 meter, 1.5 meters, etc. In this embodiment, the preset value can specifically be 1 meter. When the deviation distance is greater than 1 meter, the deviation distance is preferentially processed, that is, jump to step S30 and continue to execute; only when the deviation distance is less than or equal to 1 meter, the deviation angle signal is introduced into the feedback, that is, jump to step S40 and continue to execute.

[0046] S30. If the deviation distance is greater than the preset value, calculate the expected turning angle of the aircraft through the deviation distance.

[0047] In order to enable the aircraft to smoothly track the expected taxiway, it is necessary to design a suitable ground taxi control law, which not only ensures the asymptotic convergence of the position tracking error, but also can obtain a better transient process and improve the smoothness of tracking. Taking tracking a straight taxiway as an example, when the aircraft is far from the expected taxiway, the aircraft flies towards the expected taxiway at a large angle to quickly reduce the distance between them; when the aircraft gets closer and closer to the expected taxiway, the aircraft can approach the expected taxiway at a more and more gentle angle until it flies along the direction of the expected taxiway.

[0048] Based on the above idea, calculating the expected turning angle of the aircraft through the deviation distance includes: substituting the deviation distance into a first function to calculate the expected turning angle of the aircraft. The first function can specifically be the arctangent function.

[0049] In the embodiment of the present application, substituting the deviation distance into the first function to calculate the expected turning angle of the aircraft includes: substituting the deviation distance into the first function to calculate the expected turning angle of the aircraft; where is used for eliminating the deviation distance, k is a preset rate of change, k > 0, and the magnitude of k affects the rate of change of the turning angle χ d from the maximum value χ to 0. The smaller the value of k, the smoother this change; χ is a preset angle, and the selection of parameters k and χ needs to be adjusted according to the actual turning ability of the aircraft. χ is generally selected within the range of 0 to π / 2; y is the deviation distance.

[0050] S40. If the deviation distance is less than or equal to the preset value, calculate the expected turning angle of the aircraft through the deviation distance and the deviation angle.

[0051] In the embodiment of the present application, calculating the expected turning angle of the aircraft through the deviation distance and the deviation angle includes: substituting the deviation distance and the deviation angle into a second function to calculate the expected turning angle of the aircraft.

[0052] Specifically, calculating the desired turning angle of the aircraft by substituting the deviation distance and the deviation angle into the second function includes: substituting the deviation distance and the deviation angle into the second function to calculate the desired turning angle of the aircraft; wherein, the is used for eliminating the deviation distance, βψ is used for eliminating the deviation angle, and k is a preset change rate; y is the deviation distance, χ is a preset angle, ψ is the deviation angle, and β is a preset constant. The β is a constant between 0.5 and 2.

[0053] S50. Determine the aircraft turning handwheel angle corresponding to the desired turning angle of the aircraft through the preset angle correspondence relationship.

[0054] Wherein, the preset angle correspondence relationship is the turning relationship described in Figure 2 . This turning relationship is a pre-customized piecewise function correspondence relationship, which describes the relationship between the turning handwheel angle and the turning angle. For example, when the turning angle is 40 degrees, the angle of the turning handwheel is 60 degrees. In this embodiment, the desired turning angle of the aircraft can be calculated through the deviation distance and the deviation angle, and then according to the Figure 2 turning relationship, further determine the aircraft turning handwheel angle corresponding to the desired turning angle of the aircraft. Then, use the aircraft turning handwheel angle as the external input of the landing gear simulation unit to enable the aircraft to taxi according to the desired taxiing trajectory.

[0055] Such as Figure 3 the control schematic diagram of straight taxiing shown, which gives the magnitudes of the desired turning angles of the aircraft corresponding to different values of k when χ takes π / 3. When the deviation distance between the aircraft center of gravity and the taxiway center line is large, the desired turning angle of the aircraft generated based on the ground taxiing control law is large, and thus the generated turning handle deflection angle is large to achieve rapid tracking of the taxiway; when the deviation distance between the aircraft center of gravity and the taxiway center line is small, the desired turning angle of the aircraft generated based on the ground taxiing control law is small, and thus the generated turning handle deflection angle is small to achieve relatively smooth tracking of the taxiway.

[0056] From the above Figure 3 it can be seen that different deviation distances correspond to different turning angles. The larger the deviation distance, the larger the turning angle; the smaller the deviation distance, the smaller the turning angle. The design of this ground taxiing control law takes into account both the rapidity and smoothness of tracking the desired taxiway.

[0057] When the aircraft is taxiing on a given taxiway and is subjected to external disturbances (which can be artificially applied), such external disturbances can include situations where the aircraft's heading deviates due to incorrect operation of the turning handwheel, accidental touching of the side stick, foot pedals, throttle lever, etc. The aircraft's heading will deviate from the desired taxiway direction by an angle. At this time, the deviation distance between the aircraft's center of gravity and the taxiway is relatively small, and the turning command generated based on the deviation distance is small. The turning command generated based on the deviation angle plays a dominant role at this time, guiding the aircraft's heading to be adjusted to be consistent with the taxiway direction.

[0058] As Figure 4 shown in the control schematic diagram of turning taxiing, the control idea during turning taxiing is similar to that during straight taxiing. During taxiing, according to the deviation distance and deviation angle, the turning angle can be controlled in real time to achieve the purpose of taxiing along the desired taxiway.

[0059] A method for determining the angle of an aircraft turning handwheel provided by an embodiment of the present invention first obtains the deviation distance and deviation angle of the aircraft relative to the target taxiing line, and then determines whether the deviation distance is greater than a preset value; if the deviation distance is greater than the preset value, the desired turning angle of the aircraft is calculated through the deviation distance; if the deviation distance is less than or equal to the preset value, the desired turning angle of the aircraft is calculated through the deviation distance and the deviation angle; the angle of the aircraft turning handwheel corresponding to the desired turning angle of the aircraft is determined through a preset angle correspondence relationship. Compared with the prior art that determines the angle of the aircraft turning handwheel based on the pilot's operation experience, the present application calculates the desired turning angle of the aircraft based on the deviation distance and deviation angle, and then determines the angle of the aircraft turning handwheel corresponding to the desired turning angle of the aircraft according to the preset angle correspondence relationship, thereby realizing the automatic determination of the angle of the aircraft turning handwheel through the present application without relying on the pilot's operation experience. Therefore, through the present application, the accuracy and efficiency of determining the angle of the aircraft turning handwheel can be improved.

[0060] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0061] In one embodiment, a device for determining the angle of an aircraft turning handwheel is provided. The device for determining the angle of the aircraft turning handwheel corresponds one-to-one with the method for determining the angle of the aircraft turning handwheel in the above embodiment. As Figure 5 shown, the device for determining the angle of the aircraft turning handwheel includes: an acquisition module 10, a determination module 20, and a calculation module 30. The detailed description of each functional module is as follows:

[0062] The acquisition module 10 is configured to acquire the deviation distance and deviation angle of the aircraft relative to the target taxiing line;

[0063] A determination module 20, configured to determine whether the deviation distance is greater than a preset value;

[0064] A calculation module 30, configured to calculate an expected turning angle of the aircraft through the deviation distance if the deviation distance is greater than the preset value;

[0065] The calculation module 30 is further configured to calculate an expected turning angle of the aircraft through the deviation distance and the deviation angle if the deviation distance is less than or equal to the preset value;

[0066] The determination module 20 is further configured to determine an aircraft turning handwheel angle corresponding to the expected turning angle of the aircraft through a preset angle correspondence.

[0067] In an optional embodiment provided by the application, the calculation module 30 is specifically configured to:

[0068] Substitute the deviation distance into a first function to calculate an expected turning angle of the aircraft.

[0069] In an optional embodiment provided by the application, the calculation module 30 is specifically configured to:

[0070] Substitute the deviation distance into the first function to calculate an expected turning angle of the aircraft;

[0071] wherein, the is used for eliminating the deviation distance, k is a preset change rate; y is the deviation distance, and χ is a preset angle.

[0072] In an optional embodiment provided by the application, χ is in the range of 0 to π / 2; k > 0, and the magnitude of k affects the turning angle χ d The change rate of transitioning from the maximum value χ to 0, the smaller the value of k, the smoother the change.

[0073] In an optional embodiment provided by the application, the calculation module 30 is specifically configured to:

[0074] Substitute the deviation distance and the deviation angle into a second function to calculate an expected turning angle of the aircraft.

[0075] In an optional embodiment provided by the application, the calculation module 30 is specifically configured to:

[0076] Substitute the deviation distance and the deviation angle into the second function to calculate an expected turning angle of the aircraft;

[0077] wherein, the It is used to eliminate the deviation distance. βψ is used to eliminate the deviation angle. k is a preset change rate; y is the deviation distance, χ is a preset angle, ψ is the deviation angle, and β is a preset constant.

[0078] In an optional embodiment provided by the application, β is a constant between 0.5 and 2.

[0079] For the specific limitations of the device for determining the aircraft turning handwheel angle, reference can be made to the limitations of the method for determining the aircraft turning handwheel angle in the above text, which will not be elaborated here. Each module in the above device for determining the aircraft turning handwheel angle can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0080] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 6 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes a method for determining the aircraft turning handwheel angle.

[0081] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are realized:

[0082] Obtain the deviation distance and deviation angle of the aircraft relative to the target taxi line;

[0083] Determine whether the deviation distance is greater than a preset value;

[0084] If the deviation distance is greater than the preset value, calculate the expected turning angle of the aircraft through the deviation distance;

[0085] If the deviation distance is less than or equal to the preset value, calculate the expected turning angle of the aircraft through the deviation distance and the deviation angle;

[0086] Determine the aircraft turning handwheel angle corresponding to the aircraft expected turning angle through a preset angle correspondence.

[0087] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0088] Obtain the deviation distance and deviation angle of the aircraft relative to the target taxi line;

[0089] Determine whether the deviation distance is greater than a preset value;

[0090] If the deviation distance is greater than the preset value, calculate the desired turning angle of the aircraft through the deviation distance;

[0091] If the deviation distance is less than or equal to the preset value, calculate the desired turning angle of the aircraft through the deviation distance and the deviation angle;

[0092] Determine the aircraft turning handwheel angle corresponding to the desired turning angle of the aircraft through a preset angle correspondence.

[0093] Those of ordinary skill in the art can understand that to implement all or part of the processes in the above method embodiments, it can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the method embodiments as described above. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0094] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In practical applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

[0095] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for determining an aircraft turning hand wheel angle, characterized in that: The method comprises: Obtain the deviation distance and deviation angle of the aircraft relative to the target taxi line; Determining whether the deviation distance is greater than a preset value; If the deviation distance is greater than the preset value, the expected turning angle of the aircraft is calculated according to the deviation distance; If the deviation distance is less than or equal to the preset value, calculating the expected turning angle of the aircraft by using the deviation distance and the deviation angle; The aircraft turning hand wheel angle corresponding to the expected turning angle of the aircraft is determined through the preset angle correspondence relationship.

2. The method according to claim 1, characterized in that: The calculating the expected turning angle of the aircraft by using the deviation distance comprises: Substitute the deviation distance into the first function to calculate the desired turning angle of the aircraft.

3. The method according to claim 2, characterized in that Substituting the deviation distance into the first function to calculate the expected turning angle of the aircraft includes: Substituting the deviation distance into the first function The desired turning angle of the aircraft is calculated; Among them, the Used to eliminate the deviation distance, k is the preset change rate; y is the deviation distance, and χ is the preset angle.

4. The method according to claim 3, characterized in that χ is in the range of 0 to π / 2; k>0, the size of k affects the turning angle χ d The rate of change from the maximum value χ to 0, the smaller the k value, the smoother the change.

5. The method according to claim 1, characterized in that The step of calculating the expected turning angle of the aircraft using the deviation distance and the deviation angle comprises: Substituting the deviation distance and the deviation angle into the second function, the desired turning angle of the aircraft is calculated.

6. The method according to claim 5, characterized in that Substituting the deviation distance and the deviation angle into a second function to calculate the desired turning angle of the aircraft includes: Substitute the deviation distance and the deviation angle into the second function The desired turning angle of the aircraft is calculated; Among them, the Used to eliminate the deviation distance, the βψ is used to eliminate the deviation angle, k is the preset rate of change; y is the deviation distance, χ is the preset angle, ψ is the deviation angle, and β is a preset constant.

7. The method according to claim 6, characterized in that The β is a constant of 0.5-2.

8. A device for determining an aircraft turning hand wheel angle, characterized in that: The device comprises: An acquisition module is used to acquire the deviation distance and deviation angle of the aircraft relative to the target taxi line; A determination module, used to determine whether the deviation distance is greater than a preset value; A calculation module, configured to calculate the expected turning angle of the aircraft according to the deviation distance if the deviation distance is greater than the preset value; The calculation module is further configured to calculate the expected turning angle of the aircraft by using the deviation distance and the deviation angle if the deviation distance is less than or equal to the preset value; The determination module is further used to determine the aircraft turning hand wheel angle corresponding to the expected turning angle of the aircraft through a preset angle correspondence relationship.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for determining the aircraft turning hand wheel angle according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for determining the aircraft turning hand wheel angle according to any one of claims 1 to 7 is implemented.

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