Aircraft variant throwing control method, device and equipment and storage medium

Abstract

The invention discloses a control method, device and equipment for variant throwing of an aircraft and a storage medium, and relates to the technical field of aircraft safety, and the method comprises the steps: firstly, collecting historical position information, historical speed information and historical attitude information of a target stage; a theoretical space distance threshold value, a theoretical relative speed threshold value and a theoretical attitude angle deviation threshold value are calculated respectively, and environmental parameters such as atmospheric pressure and wind speed are introduced for dynamic correction. A safety judgment system is formed by comparing three threshold values with real-time calculated values, and a grading intervention mechanism is triggered when any threshold value exceeds the limit. The intervention strategy is started from single posture fine adjustment, speed regulation and control or distance adjustment, and if the intervention strategy fails, multi-system cooperative combined intervention is started. In addition, the system also has an early warning prompt function of giving out collision risk warning in advance. According to the method, the risk of collision between the throwing body and the aircraft body is reduced, and the probability of flight accidents is greatly reduced.

Description

Technical Field

[0001] The present application relates to the field of aircraft safety technology, and in particular to a control method, device, equipment and storage medium for variant jettisoning of an aircraft. Background Art

[0002] In modern aerospace, variant jettisoning of aircraft is a critical step in completing various complex missions. From gradually jettisoning boosters during rocket launch to reduce weight and improve payload efficiency, to releasing payloads in orbit to expand satellite functionality, variant jettisoning operations are a common practice in a wide range of aerospace engineering practices. Its safety is directly linked to the success of missions and the preservation of expensive equipment, making it a core concern in aerospace technology research. During variant jettisoning, there is a risk of collision between the jettisoned object and the aircraft itself. Summary of the Invention

[0003] The present application provides a control method, device, equipment and storage medium for variant ejection of an aircraft, which can reduce the risk of collision between the ejected object and the aircraft body.

[0004] To achieve the above objectives, this application adopts the following technical solutions: In a first aspect, the present application provides a method for controlling a variant jettisoning of an aircraft, comprising: Acquiring historical data of the aircraft and the ejected object during the target phase, wherein the historical data includes historical position information, historical speed information, and historical attitude information; Obtain real-time position information, real-time velocity information, and real-time attitude information of the aircraft and the ejected object during the target phase; Calculating a theoretical spatial distance threshold of the target stage based on the historical position information, calculating a theoretical relative speed threshold of the target stage based on the historical speed information, and calculating a theoretical posture angle deviation threshold of the target stage based on the historical posture information; Calculating the spatial distance value of the target stage according to the real-time position information, calculating the relative speed value of the target stage according to the real-time speed information, and calculating the attitude angle difference value of the target stage according to the real-time attitude information; Determine whether the theoretical spatial distance threshold is greater than the spatial distance value to obtain a first judgment result, determine whether the theoretical relative speed threshold is less than the relative speed value to obtain a second judgment result, and determine whether the theoretical attitude angle deviation threshold is less than the attitude angle difference to obtain a third judgment result; If the first judgment result is that the theoretical spatial distance threshold is greater than the spatial distance value, if the second judgment result is that the theoretical relative speed threshold is less than the relative speed value, or if the third judgment result is that the theoretical posture angle deviation threshold is less than the posture angle difference, the intervention operation is initiated.

[0005] Optionally, the method further includes: Acquiring environmental parameters during the ejection process, wherein the environmental parameters include: atmospheric pressure, wind speed, and wind direction; Determine a corrected theoretical spatial distance threshold based on the theoretical spatial distance threshold, wind speed, and angle, where the angle is the angle between the wind direction and the flight direction of the aircraft; determine a corrected theoretical relative speed threshold based on the theoretical relative speed threshold, wind speed, and angle; and determine a corrected theoretical attitude angle deviation threshold based on the theoretical attitude angle deviation threshold, atmospheric pressure, and standard atmospheric pressure; The determining whether the theoretical spatial distance threshold is greater than the spatial distance value includes: Determining whether the corrected theoretical spatial distance threshold is greater than the spatial distance value; The determining whether the theoretical relative speed threshold is less than the relative speed value includes: Determining whether the corrected theoretical relative speed threshold is less than the relative speed value; The determining whether the theoretical attitude angle deviation threshold is less than the attitude angle difference includes: Determine whether the corrected theoretical attitude angle deviation threshold is less than the attitude angle difference.

[0006] Optionally, the method for determining the theoretical spatial distance threshold of the target stage is: Calculate the transition theoretical space distance value of the target stage according to the historical position information, arrange the transition theoretical space distance values in ascending order, and find the transition theoretical space distance value at the Nth position; The theoretical space distance threshold is determined according to the excessive theoretical space distance value and an adjustment coefficient.

[0007] Optionally, the method for determining the theoretical relative speed threshold of the target stage is: Calculating a transition theoretical relative speed value of the target stage according to the historical speed information; The theoretical relative speed threshold is determined according to the excessive theoretical relative speed value and the probability of an accident occurring.

[0008] Optionally, the method for determining the theoretical attitude angle deviation threshold value in the target stage is: Calculating a transition theoretical posture angle deviation value of the target stage according to the historical posture information; Calculating a mean and a standard deviation based on the theoretical attitude angle deviation values; The theoretical attitude angle deviation threshold is determined according to the mean, standard deviation and standard deviation coefficient.

[0009] Optionally, the method further includes: A warning message is issued, wherein the warning message is used to indicate that there is a risk of collision.

[0010] Optionally, the initiating intervention operation includes: Start a single intervention operation. If the single intervention operation cannot be completed, start a combined intervention operation.

[0011] In a second aspect, the present application provides a control device for a variant jettisoning of an aircraft, comprising: An acquisition module is used to acquire historical data of the aircraft and the ejected object during the target phase, wherein the historical data includes historical position information, historical speed information, and historical attitude information; Obtain real-time position information, real-time velocity information, and real-time attitude information of the aircraft and the ejected object during the target phase; a processing module, configured to calculate a theoretical spatial distance threshold of the target stage based on the historical position information, calculate a theoretical relative speed threshold of the target stage based on the historical speed information, and calculate a theoretical posture angle deviation threshold of the target stage based on the historical posture information; Calculating the spatial distance value of the target stage according to the real-time position information, calculating the relative speed value of the target stage according to the real-time speed information, and calculating the attitude angle difference value of the target stage according to the real-time attitude information; a judgment module, configured to judge whether the theoretical spatial distance threshold is greater than the spatial distance value to obtain a first judgment result, judge whether the theoretical relative speed threshold is less than the relative speed value to obtain a second judgment result, and judge whether the theoretical posture angle deviation threshold is less than the posture angle difference to obtain a third judgment result; If the first judgment result is that the theoretical spatial distance threshold is greater than the spatial distance value, if the second judgment result is that the theoretical relative speed threshold is less than the relative speed value, or if the third judgment result is that the theoretical posture angle deviation threshold is less than the posture angle difference, the intervention operation is initiated.

[0012] In a third aspect, the present application provides a computing device, including a memory and a processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as described in any one of the first aspects.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program for executing the method as described in any one of the first aspects.

[0014] It can be seen from the above technical solution that this application has at least the following beneficial effects: In this application, through multi-dimensional data fusion and dynamic decision-making mechanism, the risk of collision between the ejected object and the aircraft body is reduced, the probability of flight accidents is greatly reduced, and the safety and reliability of the aircraft variant ejection are significantly improved. First, the theoretical threshold is calculated based on the historical data of the target phase, and the safety margin is quantified using statistical principles, which effectively reduces the risk of misjudgment due to static standards. Secondly, the introduction of environmental parameters such as atmospheric pressure, wind speed and direction to dynamically correct the theoretical threshold can adapt to the complex and changing flight environment in real time, enhance the environmental adaptability of the method, and avoid safety hazards caused by environmental factors.

[0015] In terms of judgment logic, a multi-index collaborative safety assessment system is formed through a comprehensive assessment of spatial distance, relative speed, and attitude angle deviation, comprehensively covering the key risk factors in the separation process and reducing the limitations of single-dimensional judgment. The design of the hierarchical intervention mechanism, with a progressive response from single operation to combined intervention, not only ensures intervention efficiency, but also avoids excessive intervention that affects the flight mission, while reserving safety redundancy for emergency situations. In addition, the early warning prompt function issues a collision risk warning in advance, buying more time for the operator or automatic control system to take action, further enhancing flight safety assurance capabilities.

[0016] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be realized in any single embodiment. On the contrary, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution or beneficial effect is included in at least one embodiment. Therefore, the description of a technical feature, technical solution or beneficial effect in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in the present embodiment can also be combined in any appropriate manner. Those skilled in the art will understand that the embodiment can be implemented without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in specific embodiments that do not embody all embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of a method for controlling a variant jettisoning of an aircraft provided in an embodiment of the present application; Figure 2 A schematic diagram of a control device for a variant jettisoning of an aircraft provided in an embodiment of the present application; Figure 3 A schematic diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The terms "first", "second" and "third" in this application specification and the accompanying drawings are used to distinguish different objects rather than to limit a specific order.

[0019] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0020] To make the description of the following embodiments clear and concise, a brief introduction to the related technologies is first given: Vehicle variant jettisoning is the process of separating and jettisoning certain components (such as a rocket's booster or a satellite's payload release mechanism) during a specific phase of an aerospace mission. This operation is crucial for reducing vehicle weight, changing flight attitude, and achieving specific mission objectives (such as satellite payload deployment).

[0021] However, in actual engineering applications, aircraft variant jettisoning faces the technical challenge of determining safe separation conditions. Specifically, if the conditions for separation between the jettisoned object and the aircraft body are not met during the jettisoning process, a collision is very likely to occur, resulting in mission failure.

[0022] In view of this, an embodiment of the present application provides a method for controlling a variant jettison of an aircraft, which can be executed by a processing device. The processing device can be a terminal or a server. Terminals include, but are not limited to, smartphones, tablet computers, laptop computers, personal digital assistants, or smart wearable devices. The server can be a cloud server, such as a central server in a central cloud computing cluster, or an edge server in an edge cloud computing cluster. Of course, the server can also be a server in a local data center. A local data center refers to a data center directly controlled by a user.

[0023] In the aerospace field, aircraft variant ejection is a critical step in completing complex missions. However, traditional methods for determining safe separation conditions rely on empirical formulas and limited test data, making them difficult to adapt to complex and changing flight environments and effectively controlling collision risks. To address this challenge, this paper proposes a control method for aircraft variant ejection.

[0024] The core of the invention lies in building a scientific and quantitative safety threshold system based on historical data. By collecting the historical position, speed, and attitude information of the aircraft and the ejected object during the target phase, statistical analysis and probability models are used to calculate the theoretical spatial distance threshold, theoretical relative speed threshold, and theoretical attitude angle deviation threshold, thus transforming abstract safety requirements into specific and measurable numerical standards. At the same time, considering the influence of environmental factors such as atmospheric pressure, wind speed and direction during actual flight, environmental parameters are introduced to dynamically correct the theoretical thresholds, allowing the judgment criteria to adapt to different operating conditions in real time.

[0025] The safety of separation is comprehensively assessed by comparing the position, velocity, and attitude of the aircraft and ejected object in real time with revised theoretical thresholds. If safety conditions are not met, a graded intervention mechanism is immediately activated, progressing from single actions to combined interventions to ensure effective risk control and initiating emergency termination procedures when necessary. Furthermore, an early warning function further enhances safety assurance, providing early warning of potential collision risks.

[0026] This method reduces the risk of collision between the ejected object and the aircraft body, significantly improves the safety and reliability of the aircraft variant ejection, greatly reduces the probability of flight accidents, and provides a solid guarantee for the smooth implementation of space missions.

[0027] In order to make the technical solution of the present application clearer and easier to understand, the technical solution of the present application is introduced below with reference to the accompanying drawings.

[0028] like Figure 1 As shown in FIG, this figure is a flow chart of a method for controlling a variant ejection of an aircraft provided in an embodiment of the present application. The method includes: S201: The processing device obtains historical data of the aircraft and the ejected object in the target phase, where the historical data includes historical position information, historical speed information, and historical attitude information.

[0029] The target phase refers to a specific stage in the vehicle variant's separation process, such as the initial separation phase, the cruising speed phase, and the terminal separation phase. The flight environment and dynamic characteristics of different target phases vary, so corresponding safe separation condition determination criteria need to be formulated separately.

[0030] Historical data refers to the collection of various types of information recorded during the aircraft and ejection object's ejection process in the past target phase.

[0031] Historical position information records the three-dimensional coordinates (x, y, z) of the aircraft and the ejected object in space. By installing position sensors (such as GPS positioning devices) on the aircraft and the ejected object respectively, it can intuitively reflect the spatial position relationship between the two during the ejection process and is the key basis for calculating the theoretical spatial distance threshold.

[0032] Historical velocity information is obtained by installing velocity sensors (such as Doppler velocimeters) on the aircraft and the ejected object respectively. It reflects the motion state of the aircraft and the ejected object during the ejection process and is used to calculate the theoretical relative velocity threshold and determine the safe upper limit of the relative motion velocity.

[0033] Historical attitude information mainly consists of the spatial pointing angles of the aircraft and the ejected object, such as pitch angle, yaw angle, and roll angle. These are obtained by installing attitude sensors (such as inertial measurement units) on the aircraft and the ejected object respectively. These information are used to calculate the theoretical attitude angle deviation threshold and measure the safety level of the attitude angle difference between the two.

[0034] S202: The processing device obtains real-time position information, real-time speed information, and real-time attitude information of the aircraft and the ejected object in the target phase.

[0035] Real-time position information refers to the three-dimensional (x, y, z) coordinates of the aircraft and the ejected object in space, acquired in real time by a GPS positioning device at the moment of ejection. Real-time velocity information is the velocity data of the aircraft and the ejected object collected in real time by a Doppler velocimeter. Real-time attitude information is the spatial orientation angle data of the aircraft and the ejected object, measured in real time by gyroscopes, star sensors, and attitude meters, expressed in pitch, yaw, and roll angles.

[0036] S203. The processing device calculates a theoretical spatial distance threshold of the target stage based on the historical position information, calculates a theoretical relative speed threshold of the target stage based on the historical speed information, and calculates a theoretical posture angle deviation threshold of the target stage based on the historical posture information.

[0037] The theoretical space distance threshold represents the minimum space distance that should be maintained between the aircraft and the ejected object to ensure safe separation at this stage.

[0038] The significance of the theoretical relative speed threshold is that it is the safe upper limit of the relative motion speed between the aircraft and the ejected object during this stage, so as to avoid collision due to excessive speed.

[0039] The theoretical attitude angle deviation threshold is used to measure the safety level of the attitude angle difference between the aircraft and the ejected object, and to prevent interference caused by excessive attitude angle deviation.

[0040] The method for determining the theoretical spatial distance threshold in the target stage is: The transition theoretical space distance value of the target stage is calculated according to the historical position information, the transition theoretical space distance values are arranged in ascending order, and the transition theoretical space distance value at the Nth position is found.

[0041] For example, the target phase is the initial departure phase , the aircraft is The position coordinates of a certain moment in the stage are , the position coordinates of the ejected body at the same time are According to the distance formula between two points in space, the theoretical distance between the aircraft and the ejected object can be calculated by the following formula:

[0042] Where d is the transition theoretical space distance value.

[0043] First, filter out the historical data without collision and calculate The theoretical space distances for transitions when no collision occurs are 50, 30, 60, and 25. These are sorted from smallest to largest as 25, 30, 50, and 60. The theoretical space distance value at the 25th percentile is then found.

[0044] The calculation expression is:

[0045]

[0046] in, It means it is in the 25th percentile position. for The number of samples when no collision occurs in the stage, is the excess theoretical spatial distance value at the 25% position.

[0047] The theoretical space distance threshold is determined based on the excessive theoretical space distance value and the adjustment coefficient.

[0048] The adjustment coefficient is used to take into account the uncertainties existing in actual flight and to correct the excessive theoretical space distance value, so as to make the determined theoretical space distance threshold safer and more adaptable.

[0049] Refer to historical data when no collisions occurred in the past to preliminarily determine an adjustment coefficient The approximate value range of Within the value range, select different Values, respectively Multiply them to get different safety distance values. Simulate each safety distance value to see if the ejected object and the aircraft will collide. Keep trying to adjust The value is set and simulated until the collision situation in the simulation process meets the pre-set safety requirements. At this time, the selected α value is the same as The value obtained by multiplication is the final minimum safe space distance threshold , which is the theoretical space distance threshold.

[0050] The method for determining the theoretical relative speed threshold in the target phase is: A transition theoretical relative speed value of the target stage is calculated according to the historical speed information.

[0051] For example, the velocity vector of the aircraft at a certain moment in the cruising speed phase is , the velocity vector of the ejected body at the same moment is , then the relative velocity calculation expression is:

[0052] in, is the theoretical relative speed value.

[0053] The theoretical relative speed threshold is determined based on the excessive theoretical relative speed value and the probability of an accident.

[0054] The accident probability refers to the possibility of collision, interference, etc. causing mission failure or safety risk events when the aircraft and the ejected object are at a specific relative speed during the aircraft variant ejection process.

[0055] The calculation expression is:

[0056] Where P is the probability of an accident, is the number of accidents, is the total number of samples. It is usually expressed as a value between 0 and 1. For example, an accident probability of 0.02 means that under the current conditions, the probability of an accident is 2%.

[0057] Assuming the relative speed The horizontal axis is the probability of accident occurrence As the vertical axis, the probability curve is obtained by data fitting , in order to ensure safe separation, set an acceptable accident probability threshold , by solving , get the relative speed safety threshold ; At the cruising speed stage, by performing logistic regression analysis on a large amount of historical data and observing the data distribution trend, it is found that P increases with the increase of v, and the growth rate is slow at first and then fast, which is similar to an "S-shaped" curve. By selecting the logistic function, the relationship between the accident probability and the relative speed is obtained as follows:

[0058] in, and is the regression coefficient. Determine the regression coefficient and When constructing the likelihood function using the collected historical data, we first take its logarithm to obtain a log-likelihood function that is easy to calculate. We then obtain the gradient by taking the partial derivatives of a and b in the log-likelihood function. Using the gradient descent method, we iteratively update a and b at a set learning rate. When the function converges, the obtained a and b become the final regression coefficients.

[0059] Final settings , we can substitute it into the formula to get the theoretical relative speed threshold .

[0060] The method for determining the theoretical attitude angle deviation threshold in the target phase is: The excessive theoretical posture angle deviation value of the target stage is calculated based on the historical posture information.

[0061] For example, the attitude angle of the aircraft at a certain moment in a certain stage is , the velocity vector of the ejected body at the same moment is .in represents the pitch angle, represents the yaw angle, Indicates the roll angle.

[0062] The theoretical attitude angle deviation is:

[0063]

[0064]

[0065] in, is the theoretical pitch angle deviation value, is the theoretical yaw angle deviation value, It is the excess theoretical roll angle deviation value.

[0066] Calculate the mean and standard deviation based on the excess theoretical attitude angle deviation values.

[0067] By analyzing m groups of posture angle data, we can get a Datasets, Datasets, Calculate the data set separately. 、 、 The mean and standard deviation of the dataset.

[0068] The calculation expression of the mean is:

[0069]

[0070]

[0071] in, for The mean of the data set, for The mean of the data set, for The mean of the data set, is the number of attitude angle data, For the The theoretical pitch angle deviation value is For the The theoretical yaw angle deviation value is exceeded. For the The theoretical roll angle deviation value is exceeded.

[0072] The calculation expression of standard deviation is:

[0073]

[0074]

[0075] Among them, among them, for The standard deviation of the data set, for The standard deviation of the data set, for The standard deviation of the dataset.

[0076] The theoretical attitude angle deviation threshold is determined according to the mean, standard deviation and standard deviation coefficient.

[0077] The standard deviation coefficient ranges from 2 to 3.

[0078] The theoretical attitude angle deviation threshold is: , , .in is a coefficient determined according to safety requirements, and .

[0079] S204. The processing device calculates the spatial distance value of the target stage according to the real-time position information, calculates the relative speed value of the target stage according to the real-time speed information, and calculates the attitude angle difference of the target stage according to the real-time attitude information.

[0080] The formula for calculating the spatial distance value is consistent with the over-calculated theoretical spatial distance value, the formula for calculating the relative speed value is consistent with the over-calculated theoretical relative speed value, and the formula for calculating the attitude angle difference is consistent with the over-calculated theoretical attitude angle deviation value.

[0081] S205. The processing device determines whether the theoretical spatial distance threshold is greater than the spatial distance value to obtain a first judgment result, determines whether the theoretical relative speed threshold is less than the relative speed value to obtain a second judgment result, determines whether the theoretical attitude angle deviation threshold is less than the attitude angle difference to obtain a third judgment result.

[0082] This application also introduces environmental parameters to dynamically modify the theoretical threshold, enabling real-time adaptation to complex and changing flight environments, enhancing the method's environmental adaptability and avoiding safety hazards caused by environmental factors. The modified theoretical threshold is then compared with the real-time calculated value.

[0083] First, the environmental parameters during the ejection process are obtained, including atmospheric pressure, wind speed, and wind direction. The corrected theoretical space distance threshold is determined based on the theoretical space distance threshold, wind speed, and angle, where the angle is the angle between the wind direction and the aircraft's flight direction.

[0084] Assume that the theoretical spatial distance threshold is , wind speed is , the angle between the wind direction and the aircraft's flight direction is Through historical data analysis, it is found that the correction value of the spatial distance safety threshold There is a certain relationship between wind speed and angle, and an empirical formula is established , then the corrected theoretical space distance threshold is:

[0085] in, is the corrected theoretical space distance threshold, is the theoretical space distance threshold, is the correction coefficient of spatial distance, is the wind speed, It is the angle between wind direction and aircraft flight direction.

[0086] The corrected theoretical relative speed threshold is determined according to the theoretical relative speed threshold, the wind speed, and the angle.

[0087] Assuming the theoretical relative speed threshold is , considering the influence of wind speed on relative speed, the corrected theoretical relative speed threshold is:

[0088] in, is the corrected theoretical relative speed threshold, is the theoretical relative speed threshold, is the relative speed correction factor.

[0089] The corrected theoretical attitude angle deviation threshold is determined according to the theoretical attitude angle deviation threshold, atmospheric pressure and standard atmospheric pressure.

[0090] Assume that the original posture angle safety threshold is , , , the atmospheric pressure is p, and the corrected theoretical attitude angle deviation threshold obtained through experiments and data analysis is:

[0091]

[0092]

[0093] in, is the corrected theoretical pitch angle deviation threshold, is the corrected theoretical yaw angle deviation threshold, is the corrected theoretical roll angle deviation threshold, is the standard atmospheric pressure, p is the atmospheric pressure, is the attitude angle correction coefficient.

[0094] Determining whether the corrected theoretical spatial distance threshold is greater than the spatial distance value; The theoretical spatial distance threshold, pre-calculated and corrected based on historical location information, is compared with the current spatial distance value calculated based on real-time location information. If the corrected theoretical spatial distance threshold is greater than the spatial distance value, the actual distance between the aircraft and the ejected object is less than the safety standard, posing a collision risk. The first judgment result is "yes." Conversely, if the corrected theoretical spatial distance threshold is less than or equal to the spatial distance value, the current distance is considered within the safe range, and the first judgment result is "no."

[0095] Determining whether the corrected theoretical relative speed threshold is less than the relative speed value; Comparing the corrected theoretical relative speed threshold with the relative speed value, when the corrected theoretical relative speed threshold is less than the relative speed value, it means that the relative movement speed of the aircraft and the ejected object is too fast and exceeds the safety upper limit, and the second judgment result is "yes"; if the corrected theoretical relative speed threshold is greater than or equal to the relative speed value, it indicates that the relative speed is within a safe and controllable range, and the second judgment result is "no".

[0096] Determine whether the corrected theoretical attitude angle deviation threshold is less than the attitude angle difference.

[0097] Compare the corrected theoretical attitude angle deviation threshold with the attitude angle difference. If the corrected theoretical attitude angle deviation threshold is less than the attitude angle difference, it means that the attitude angle difference between the aircraft and the ejected object is too large, which may cause attitude interference risk. The third judgment result is "yes"; if the corrected theoretical attitude angle deviation threshold is greater than or equal to the attitude angle difference, it means that the attitude angle difference is within a safe range. The third judgment result is "no".

[0098] The corrected theoretical attitude angle deviation threshold is less than the attitude angle difference, and if any one of the pitch angle, yaw angle, and roll angle in the attitude angle is less than the third judgment result, the result is "yes".

[0099] S206. If the first judgment result is that the theoretical spatial distance threshold is greater than the spatial distance value, if the second judgment result is that the theoretical relative speed threshold is less than the relative speed value, or if the third judgment result is that the theoretical posture angle deviation threshold is less than the posture angle difference value, start the intervention operation.

[0100] If the first judgment result is "yes", if the second judgment result is "yes" or if the third judgment result is "yes", a warning prompt message is issued, the warning prompt message is used to prompt the existence of a collision risk and initiate an intervention operation.

[0101] Warning prompt information includes: sound warning, light warning and vibration warning.

[0102] For example, a rapid beeping sound is emitted, a red warning light begins to flash, and obvious vibrations are generated to alert the operator on the aircraft and ground control personnel.

[0103] Start the intervention operation, first start a single intervention operation, if the single intervention operation cannot be completed, then start the combined intervention operation.

[0104] For example, if any of the three judgment results is "yes," the corresponding single intervention operation is immediately initiated. For the first judgment result of "yes," the spacecraft's orbital parameters or the ejection object's separation trajectory are adjusted to increase the spatial distance between the two. For example, using the thrust generated by the engine to raise the spacecraft's orbit or shift it laterally, increasing the distance between the two and the ejection object.

[0105] If the second judgment result is "yes," the aircraft is accelerated or decelerated by starting the main engines, or by using braking devices (such as a drag parachute or aerodynamic braking surfaces) to reduce speed. For example, during the cruising phase, if the relative speed is too high, the reverse thrust engines can be briefly activated to reduce the relative speed between the aircraft and the ejected object.

[0106] When the third judgment result is "yes", the RCS is used to jet in a specific direction to change the pitch angle, yaw angle or roll angle of the aircraft, and gradually reduce the difference from the safe attitude angle.

[0107] During a single intervention, the processing device continuously acquires position, velocity, and attitude information in real time and re-performs three judgments. If, after a period of time (e.g., 10 seconds), all judgments return to "no," the single intervention is considered successful, and the jettisoning process returns to a safe state. If any of the judgments return to "yes," the single intervention is deemed unsuccessful and a combined intervention is initiated.

[0108] For example, when attitude fine-tuning fails to make the attitude angle difference meet safety requirements, and speed control fails to reduce the relative speed below the theoretical relative speed threshold, and distance adjustment fails to make the spatial distance value greater than the theoretical spatial distance threshold, attitude adjustment, speed control, and distance adjustment are started simultaneously. Specific operations include: While using the RCS to adjust attitude, the main engines are activated to adjust speed, and multiple pulse ignitions are used to alter the spacecraft's trajectory, increasing the distance between them and addressing safety hazards in a multi-dimensional collaborative manner. If it is determined that a single intervention operation cannot be completed, the processing equipment immediately issues a command to simultaneously activate multiple intervention devices and systems. During this process, the position, velocity, and attitude of the spacecraft and the ejected object are monitored in real time at a higher frequency (e.g., 100 times per second) to continuously evaluate the intervention's effectiveness.

[0109] After the combined intervention operation, when all judgment results become "no", that is, when the corrected theoretical spatial distance threshold is less than or equal to the spatial distance value, the corrected theoretical relative speed threshold is greater than or equal to the relative speed value, and the corrected theoretical attitude angle deviation threshold is greater than or equal to the attitude angle difference value, the combined intervention operation is considered successful and the intervention is stopped.

[0110] Based on the above description, this application has the following beneficial effects: Through multi-dimensional data fusion and a dynamic decision-making mechanism, the risk of collision between the ejected object and the aircraft itself is reduced, the probability of flight accidents is significantly reduced, and the safety and reliability of aircraft variant ejection are significantly improved. First, a theoretical threshold is calculated based on historical data from the target phase, and the safety margin is quantified using statistical principles, effectively reducing the risk of misjudgment caused by static standards. Second, the theoretical threshold is dynamically corrected by introducing environmental parameters such as atmospheric pressure, wind speed and direction. This allows for real-time adaptation to complex and changing flight environments, enhancing the method's environmental adaptability and avoiding safety hazards caused by environmental factors.

[0111] In terms of judgment logic, a multi-index collaborative safety assessment system is formed through a comprehensive assessment of spatial distance, relative speed, and attitude angle deviation, comprehensively covering the key risk factors in the separation process and reducing the limitations of single-dimensional judgment. The design of the hierarchical intervention mechanism, with a progressive response from single operation to combined intervention, not only ensures intervention efficiency, but also avoids excessive intervention that affects the flight mission, while reserving safety redundancy for emergency situations. In addition, the early warning prompt function issues a collision risk warning in advance, buying more time for the operator or automatic control system to take action, further enhancing flight safety assurance capabilities.

[0112] Combined with the above Figure 1 The control method for variant ejection of the aircraft provided in the embodiment of the present application is introduced in detail. The devices and equipment provided in the embodiment of the present application will be introduced in conjunction with the accompanying drawings.

[0113] like Figure 2 As shown, this figure is a schematic diagram of a control device for a variant jettisoning of an aircraft provided by an embodiment of the present application, the device comprising: An acquisition module 301 is used to acquire historical data of the aircraft and the ejected object during the target phase, wherein the historical data includes historical position information, historical speed information, and historical attitude information; Obtain real-time position information, real-time velocity information, and real-time attitude information of the aircraft and the ejected object during the target phase; Processing module 302, configured to calculate a theoretical spatial distance threshold of the target stage based on the historical position information, calculate a theoretical relative speed threshold of the target stage based on the historical speed information, and calculate a theoretical attitude angle deviation threshold of the target stage based on the historical attitude information; Calculating the spatial distance value of the target stage according to the real-time position information, calculating the relative speed value of the target stage according to the real-time speed information, and calculating the attitude angle difference value of the target stage according to the real-time attitude information; The judgment module 303 is configured to judge whether the theoretical spatial distance threshold is greater than the spatial distance value to obtain a first judgment result, judge whether the theoretical relative speed threshold is less than the relative speed value to obtain a second judgment result, and judge whether the theoretical attitude angle deviation threshold is less than the attitude angle difference to obtain a third judgment result; If the first judgment result is that the theoretical spatial distance threshold is greater than the spatial distance value, if the second judgment result is that the theoretical relative speed threshold is less than the relative speed value, or if the third judgment result is that the theoretical posture angle deviation threshold is less than the posture angle difference, the intervention operation is initiated.

[0114] Optionally, the acquisition module 301 is further configured to acquire environmental parameters during the ejection process, the environmental parameters including atmospheric pressure, wind speed, and wind direction; The processing module 302 is further configured to determine a corrected theoretical spatial distance threshold based on the theoretical spatial distance threshold, wind speed, and angle, where the angle is the angle between the wind direction and the flight direction of the aircraft; determine a corrected theoretical relative speed threshold based on the theoretical relative speed threshold, wind speed, and angle; and determine a corrected theoretical attitude angle deviation threshold based on the theoretical attitude angle deviation threshold, atmospheric pressure, and standard atmospheric pressure. The judgment module 303 is also used to judge whether the corrected theoretical spatial distance threshold is greater than the spatial distance value; judge whether the corrected theoretical relative speed threshold is less than the relative speed value; and judge whether the corrected theoretical attitude angle deviation threshold is less than the attitude angle difference.

[0115] Optionally, the processing module 302 is specifically configured to calculate the transition theoretical spatial distance value of the target stage based on the historical position information, arrange the transition theoretical spatial distance values in ascending order, and find the transition theoretical spatial distance value at the Nth position; The theoretical space distance threshold is determined according to the excessive theoretical space distance value and an adjustment coefficient.

[0116] Optionally, the processing module 302 is specifically configured to calculate a transition theoretical relative speed value of the target stage according to the historical speed information; The theoretical relative speed threshold is determined according to the excessive theoretical relative speed value and the probability of an accident occurring.

[0117] Optionally, the processing module 302 is specifically configured to calculate a transition theoretical posture angle deviation value of the target stage according to the historical posture information; Calculating a mean and a standard deviation based on the theoretical attitude angle deviation values; The theoretical attitude angle deviation threshold is determined according to the mean, standard deviation and standard deviation coefficient.

[0118] Optionally, the processing module 302 is further configured to issue a warning prompt message, where the warning prompt message is used to indicate that there is a collision risk.

[0119] Optionally, the processing module 302 is further configured to initiate a single intervention operation, and if the single intervention operation cannot be completed, initiate a combined intervention operation.

[0120] The control device for variant jettisoning of an aircraft according to an embodiment of the present application may correspond to executing the method described in the embodiment of the present application, and the above-mentioned other operations and / or functions of each module / unit of the control device for variant jettisoning of an aircraft are respectively to realize Figure 1 For the sake of brevity, the corresponding processes of the various methods in the illustrated embodiments are not described again here.

[0121] The present application also provides a computing device. Figure 3 As shown, this figure is a schematic diagram of a computing device provided by an embodiment of the present application, and the computing device 700 includes a bus 701, a processor 702, a communication interface 703 and a memory 704. The processor 702, the memory 704 and the communication interface 703 communicate with each other via the bus 701.

[0122] The bus 701 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0123] The processor 702 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0124] The communication interface 703 is used for communicating with the outside.

[0125] The memory 704 may include volatile memory, such as random access memory (RAM). The memory 704 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0126] The memory 704 stores executable codes, and the processor 702 executes the executable codes to perform the aforementioned control method for variant jettisoning of the aircraft.

[0127] Specifically, in the implementation Figure 2 In the case of the embodiment shown, and Figure 2 When each module or unit of the control device for the variant jettisoning of the aircraft described in the embodiment is implemented by software, the execution Figure 2 The software or program code required for the functions of each module / unit in the controller may be partially or completely stored in the memory 704. The processor 702 executes the program code corresponding to each unit stored in the memory 704 to perform the control method for the variant jettisoning of the aircraft.

[0128] Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium can be any available medium capable of being stored by a computing device, or a data storage device such as a data center that contains one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, hard disk, or magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to execute the aforementioned method for controlling a variant jettisoning of an aircraft.

[0129] The present application also provides a computer program product comprising one or more computer instructions that, when loaded and executed on a computing device, fully or partially generate the process or function described in the present application.

[0130] The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, or data center to another website, computer, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0131] When the computer program product is executed by a computer, the computer performs any of the aforementioned methods for controlling a variant jettison of an aircraft. The computer program product may be a software installation package, which can be downloaded and executed on a computer when any of the aforementioned methods for controlling a variant jettison of an aircraft is required.

[0132] The descriptions of the processes or structures corresponding to the above figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0133] The above description is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling a variant jettisoning of an aircraft, characterized in that: The method comprises: Acquiring historical data of the aircraft and the ejected object during the target phase, wherein the historical data includes historical position information, historical speed information, and historical attitude information; Obtain real-time position information, real-time velocity information, and real-time attitude information of the aircraft and the ejected object during the target phase; Calculating a theoretical spatial distance threshold of the target stage based on the historical position information, calculating a theoretical relative speed threshold of the target stage based on the historical speed information, and calculating a theoretical posture angle deviation threshold of the target stage based on the historical posture information; Calculating the spatial distance value of the target stage according to the real-time position information, calculating the relative speed value of the target stage according to the real-time speed information, and calculating the attitude angle difference value of the target stage according to the real-time attitude information; Determine whether the theoretical spatial distance threshold is greater than the spatial distance value to obtain a first judgment result, determine whether the theoretical relative speed threshold is less than the relative speed value to obtain a second judgment result, and determine whether the theoretical attitude angle deviation threshold is less than the attitude angle difference to obtain a third judgment result; If the first judgment result is that the theoretical spatial distance threshold is greater than the spatial distance value, if the second judgment result is that the theoretical relative speed threshold is less than the relative speed value, or if the third judgment result is that the theoretical posture angle deviation threshold is less than the posture angle difference, the intervention operation is initiated.

2. The method according to claim 1, characterized in that The method further comprises: Acquiring environmental parameters during the ejection process, wherein the environmental parameters include: atmospheric pressure, wind speed, and wind direction; Determine a corrected theoretical spatial distance threshold based on the theoretical spatial distance threshold, wind speed, and angle, where the angle is the angle between the wind direction and the flight direction of the aircraft; determine a corrected theoretical relative speed threshold based on the theoretical relative speed threshold, wind speed, and angle; and determine a corrected theoretical attitude angle deviation threshold based on the theoretical attitude angle deviation threshold, atmospheric pressure, and standard atmospheric pressure; The determining whether the theoretical spatial distance threshold is greater than the spatial distance value includes: Determining whether the corrected theoretical spatial distance threshold is greater than the spatial distance value; The determining whether the theoretical relative speed threshold is less than the relative speed value includes: Determining whether the corrected theoretical relative speed threshold is less than the relative speed value; The determining whether the theoretical attitude angle deviation threshold is less than the attitude angle difference includes: Determine whether the corrected theoretical attitude angle deviation threshold is less than the attitude angle difference.

3. The method according to claim 1, characterized in that The method for determining the theoretical spatial distance threshold of the target stage is: Calculate the transition theoretical space distance value of the target stage according to the historical position information, arrange the transition theoretical space distance values in ascending order, and find the transition theoretical space distance value at the Nth position; The theoretical space distance threshold is determined according to the excessive theoretical space distance value and an adjustment coefficient.

4. The method according to claim 1, wherein The method for determining the theoretical relative speed threshold of the target stage is: Calculating a transition theoretical relative speed value of the target stage according to the historical speed information; The theoretical relative speed threshold is determined according to the excessive theoretical relative speed value and the probability of an accident occurring.

5. The method according to claim 1, wherein The method for determining the theoretical attitude angle deviation threshold value in the target stage is: Calculating a transition theoretical posture angle deviation value of the target stage according to the historical posture information; Calculating a mean and a standard deviation based on the theoretical attitude angle deviation values; The theoretical attitude angle deviation threshold is determined according to the mean, standard deviation and standard deviation coefficient.

6. The method according to claim 1, characterized in that The method further comprises: A warning message is issued, wherein the warning message is used to indicate that there is a risk of collision.

7. The method according to claim 1, characterized in that The initiating intervention operation includes: Start a single intervention operation. If the single intervention operation cannot be completed, start a combined intervention operation.

8. A control device for a variant jettisoning of an aircraft, characterized in that: The device comprises: An acquisition module is used to acquire historical data of the aircraft and the ejected object during the target phase, wherein the historical data includes historical position information, historical speed information, and historical attitude information; Obtain real-time position information, real-time velocity information, and real-time attitude information of the aircraft and the ejected object during the target phase; a processing module, configured to calculate a theoretical spatial distance threshold of the target stage based on the historical position information, calculate a theoretical relative speed threshold of the target stage based on the historical speed information, and calculate a theoretical posture angle deviation threshold of the target stage based on the historical posture information; Calculating the spatial distance value of the target stage according to the real-time position information, calculating the relative speed value of the target stage according to the real-time speed information, and calculating the attitude angle difference value of the target stage according to the real-time attitude information; a judgment module, configured to judge whether the theoretical spatial distance threshold is greater than the spatial distance value to obtain a first judgment result, judge whether the theoretical relative speed threshold is less than the relative speed value to obtain a second judgment result, and judge whether the theoretical posture angle deviation threshold is less than the posture angle difference to obtain a third judgment result; If the first judgment result is that the theoretical spatial distance threshold is greater than the spatial distance value, if the second judgment result is that the theoretical relative speed threshold is less than the relative speed value, or if the third judgment result is that the theoretical posture angle deviation threshold is less than the posture angle difference, the intervention operation is initiated.

9. A computing device, characterized in that including memory and processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

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