A method for automatically generating a flight trajectory based on flight performance

Abstract

The application discloses a kind of methods for automatically generating flight trajectory based on flight performance.It belongs to the field of electric digital data processing, comprising: creating flight trajectory segment model consisting of front section, intermediate point and rear section; generating flight program ARINC424 model object; assigning values to each trajectory segment front section, intermediate point and rear section; calculating the position, heading, turning radius and center coordinates of each trajectory segment according to aircraft performance; generating flight trajectory data.This method can automatically generate flight trajectory according to flight program code and aircraft performance, which helps to quickly assess obstacles and improve performance analysis efficiency.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method for automatically generating flight trajectories based on flight performance. Background Technology

[0002] Currently, airline flight performance engineers generate flight paths for obstacle assessment by manually entering flight procedure data into the flight performance calculation software interface provided by aircraft manufacturers such as Airbus and Boeing, based on the flight procedure graphics in the aeronautical charts. The drawback of this traditional method is that it relies solely on the flight performance calculation software provided by the aircraft manufacturers to generate flight paths, and the flight procedures can only be manually entered into the software. A single flight procedure involves thousands of data points, including airport, runway, heading, altitude, and coordinates, and parameters such as turning bank angle and turning direction require multiple adjustments to ensure a smooth and consistent flight path. As the number of airport flight procedures increases, the problem of excessive manual data entry and high error rates becomes increasingly prominent.

[0003] Citation 1: Chinese Invention Patent, "A Method and Apparatus for Checking and Controlling Flight Procedure Track Data," Authorization Announcement No.: CN111444174B. This invention discloses a method for converting ARINC424 flight procedure codes into track graphics and checking data such as obstacles. However, this method fails to incorporate specific aircraft-specific flight performance data, such as rate of climb, load, speed, and turning radius, into the flight trajectory calculation, resulting in a theoretical trajectory under standard conditions. This application, however, combines ARINC424 codes and flight performance parameter data, generating a more accurate trajectory.

[0004] Citation 2: Chinese Invention Patent Application, "A Rapid Calculation Method for Flight Performance Based on a Prototype Aircraft," Publication No.: CN114969959A. This application discloses a method for calculating flight performance by using prototype aircraft parameters and flight dynamics equations. However, it does not disclose how to automatically load flight program data to perform targeted flight performance calculations based on trajectory parameters. This application, on the other hand, achieves flight performance-based calculations and automatically loads flight programs to generate flight trajectories. Summary of the Invention

[0005] To address the long-standing drawback of relying solely on manual input of flight program data and the inability to automatically generate flight trajectories based on flight performance, the method of this invention enables automatic conversion of flight program codes and the generation of accurate flight trajectories based on flight performance.

[0006] To achieve the above objectives, the present invention includes the following steps:

[0007] S1: Create a flight trajectory segment model, which includes three parts: the front segment, the middle point, and the rear segment.

[0008] in:

[0009] The preceding segment includes: preceding segment trajectory type, preceding segment heading, preceding segment navigation beacon, and preceding segment arc radius.

[0010] The initial trajectory types include three types: flying along the heading, flying directly to the navigation beacon, and flying along an arc.

[0011] The intermediate points include: location type, location value, and navigation console.

[0012] The location types for intermediate points include four types: altitude reached, navigation station reached, distance reached, and radial line reached. The location value corresponds to the specific location for each of the four location types: altitude, navigation station, distance, and bearing.

[0013] The latter segment includes: the latter segment trajectory type, the latter segment navigation station, the latter segment heading, the latter segment radial line, and the latter segment distance.

[0014] The types of the subsequent trajectory include: immediate termination, turning to a new course, turning to a new navigation beacon, cutting into a new radial line, and cutting into a new navigation beacon arc.

[0015] S2: Obtain ARINC424 flight procedure data and generate ARINC424 model object.

[0016] Each ARINC424 model object consists of multiple segment objects; the segment object includes sequence number, route termination code, heading, anchor point, altitude, turning direction, reference navigation station, station bearing, station distance, center point, and arc radius.

[0017] S3: Extract the first and second flight segments (qleg and hleg) from the ARINC424 model object in sequence, assign values ​​to the first segment, the middle point and the second segment, and generate a flight trajectory segment object.

[0018] For each combination of qleg and hleg, generate a trajectory segment object;

[0019] One flight performance data trajectory segment corresponds to two ARINC424 flight segments. The first ARINC424 flight segment corresponds to the straight flight trajectory (first segment) and the starting point of the turn (midpoint) of the trajectory segment. The second ARINC424 flight segment corresponds to the straight flight portion of the trajectory segment after the turn (second segment). The flight trajectory type of the second segment of the previous trajectory segment must be the same as the flight trajectory type of the first segment of the next trajectory segment, and the heading and start and end points must be connected.

[0020] Furthermore, the steps for assigning values ​​to the front end include:

[0021] S3-1: Assign values ​​to the preceding segment of the trajectory based on the preceding segment qleg of the ARINC424 model object:

[0022] S3-1-1: If the first letter of the qleg path termination code is C or V (such as CF, VA, CI, etc., indicating that the first segment is flying along the heading): Set the first segment path type to flying along the heading, and the first segment heading to the heading of qleg.

[0023] S3-1-2: If the first letter of the qleg's path termination code is T or D (such as TF or DF, indicating that the first segment is a straight flight to the end point):

[0024] Set the initial trajectory type to direct flight navigation station, and the initial navigation station to the location point of qleg.

[0025] S3-1-3: If the first letter of the qleg's path termination code is A or R (such as AF or RF, indicating that the first segment of the flight follows an arc to the end point):

[0026] Set the initial trajectory type to "fly along an arc", the initial navigation station to the reference navigation station of qleg, and the initial arc radius to the station distance of qleg.

[0027] Furthermore, the steps for assigning values ​​to intermediate points include:

[0028] S3-2: Assign values ​​to intermediate points based on the forward segment qleg of the ARINC424 model object:

[0029] S3-2-1: If the second letter of the qleg path termination code is F (such as TF, DF, AF, RF, etc., indicating that the preceding segment ends at a certain positioning point):

[0030] Set the location type of the intermediate point to "reach the navigation station" and the location value to the location point of qleg.

[0031] S3-2-2: If the second letter of the qleg's path termination code is A (such as CA, VA, indicating that the initial climb ends at a specific altitude):

[0032] Set the location type of the intermediate point to reach height, and the location value to the height of qleg.

[0033] S3-2-3: If the second letter of the qleg's path termination code is D (such as CD, FD, indicating that the path ends after reaching a certain navigation beacon):

[0034] Set the location type of the intermediate point to reachable distance, and the location value and the guide navigation station to be the station distance of qleg and the reference navigation station, respectively.

[0035] S3-2-4: If the second letter of the qleg's path termination code is R (such as CR, VR, indicating that the path ends after reaching a certain radial line): Set the position type of the intermediate point to reach the radial line, and the position value and the guiding navigation station are the qleg's bearing and the reference navigation station, respectively.

[0036] Furthermore, the steps for assigning values ​​to the latter part include:

[0037] S3-3: Assign values ​​to the following segment based on the following segment hleg of the ARINC424 model object:

[0038] S3-3-1: If hleg is empty, it means that qleg is the last segment of the flight procedure. Set the trajectory type of the latter segment to end immediately and proceed to S4.

[0039] S3-3-2: If the first letter of the hleg's path termination code is C or V (such as CF, CA, VA, CR, etc., indicating that the latter part of the flight follows a certain radial line):

[0040] Set the subsequent trajectory type to "entering a new radial line", the subsequent navigation station to the hleg's positioning point, and the subsequent radial line to the hleg's heading.

[0041] S3-3-3: If the first letter of the hleg's path termination code is T or D (such as TF, DF, indicating that the latter part of the flight is heading towards a navigation beacon):

[0042] Set the subsequent trajectory type to "Turn to New Navigation Station", and the subsequent navigation station to the hleg's positioning point.

[0043] S3-3-4: If the first letter of the hleg path termination code is A or R (such as AF, RF, indicating that the latter part of the flight follows an arc):

[0044] Set the trajectory type of the latter segment to "Cut into new navigation station arc"; set the navigation station of the latter segment to the reference navigation station of hleg, and the distance of the latter segment to the station distance of hleg.

[0045] S4: Calculate the position, heading, turning radius, and center coordinates of each trajectory segment based on the aircraft's performance.

[0046] Further steps include:

[0047] S4-1: Calculate the position and heading of the intermediate point:

[0048] S4-1-1: Calculate the position of the intermediate point:

[0049] S4-1-1-1: When the location type of the intermediate point is "reaching the navigation station", the navigation station of the intermediate point will be used as the intermediate point.

[0050] S4-1-1-2: When the location type of the intermediate point is reach height:

[0051] The horizontal distance D from the starting point to the midpoint of the flight segment is calculated using the following formula:

[0052] D = (F – T) / (ΔH ×m×g); where:

[0053] ΔH is the altitude difference between the midpoint and the starting point of the flight segment;

[0054] m is the mass of the aircraft;

[0055] It is the engine thrust, a fixed value determined by the engine model and throttle position;

[0056] It is the drag experienced by the aircraft. In the formula It is air density. Is the plane at altitude Vacuum velocity at that location, It is the wing area. It is the drag coefficient; where:

[0057] , For aircraft takeoff speed, For engine thrust, For aircraft quality, For gravitational acceleration, For aircraft climb rate, The altitude of the aircraft. This is the runway elevation.

[0058] The position of the intermediate point is calculated based on D, the starting point of the segment, and the heading of the preceding segment.

[0059] S4-1-1-3: When the location type of the intermediate point is reachability:

[0060] Let n be the distance to the midpoint, and let L be the ray formed by the starting point of the segment and the preceding heading. Let M be the intersection of L and a circle with radius n. Calculate the vertical distance t from the navigation beacon at the midpoint to L, and calculate the distance s from the starting point of the segment to the navigation beacon at the midpoint. Based on t, s, and n, calculate the distance u from the starting point of the segment to point M.

[0061] Based on the starting coordinates of the flight segment, the distance u, and the heading of the previous segment, the position of point M is calculated, and point M is taken as the intermediate point.

[0062] S4-1-1-4: When the location type of the intermediate point is reaching the radial line:

[0063] The starting point of the flight segment and the preceding heading form ray L, and the intermediate point guide navigation station and the radial line azimuth form ray V. Calculate the position of the intersection point M of rays L and V, and take point M as the intermediate point.

[0064] S4-1-2: Calculate the heading at the intermediate point:

[0065] If the previous trajectory type is along the heading: set the heading of the intermediate point to the heading of the previous segment.

[0066] If the previous trajectory type is direct flight to a navigation beacon: calculate the azimuth W of the line connecting the starting point and the intermediate point of the flight segment, and set the heading of the intermediate point to W.

[0067] If the initial trajectory is an arc flight: calculate the azimuth F of the line connecting the initial navigation station (center of the arc) and the midpoint (end of the arc). Depending on whether the initial turning direction is clockwise or counterclockwise, set the heading of the midpoint to F + 90° or F - 90° respectively.

[0068] S4-2: Calculate the center point and radius of the latter part of the turn:

[0069] S4-2-1: When the trajectory type of the latter segment is equal to the arc of the new navigation station:

[0070] Midpoint M and heading W form ray L; the latter segment turns from point M and enters a circle G with the navigation station O as the center and the distance r from the latter segment as the radius; solve for the center Q and radius R of the circle S passing through point M and simultaneously tangent to ray L and circle G:

[0071] The distance D from point M to point O and the orientation MO are calculated based on the coordinates of points M and O, and then the angle θ between the orientation MO and the normal K of L is obtained.

[0072] Solve for triangle MQO using the law of sines:

[0073] sin (θ) / ( R + r ) = sin (∠MOQ) / R = sin ( 180 -θ-∠MOQ ) / D;

[0074] Obtain the distance R of MQ, then calculate the coordinates of point Q, and set point Q and distance R as the center point and radius of the subsequent turn.

[0075] S4-2-2: When the subsequent trajectory type is equal to turning to a new course or turning to a new navigation beacon:

[0076] Assume the default turning slope of the model is The flight speed at the midpoint is The formula for calculating the turning radius R is:

[0077] ,in: It is the acceleration due to gravity;

[0078] The midpoint and the midpoint heading form ray L. Draw a circle G through the midpoint that is tangent to L and has a radius of R. Use the center of circle G as the center of the subsequent turn.

[0079] S4-2-3: When the trajectory type of the latter segment is equal to the new radial line being cut:

[0080] S4-2-3-1: When the current segment trajectory type is equal to flying along the heading or flying directly to the navigation beacon:

[0081] The midpoint and the midpoint heading form ray L, and the rear navigation station and the rear radial line azimuth form ray V. Draw the common tangent circle G of L and V through the midpoint, and use the center and radius of G as the center point and radius of the rear turn, respectively.

[0082] S4-2-3-2: When the current segment trajectory type is equal to flying along an arc:

[0083] Let θ be the angle difference between the radial direction of the midpoint and the radial direction of the rear section, and let r be the arc radius of the front section. The turning radius of the rear section is calculated as R = r×sin (θ) / (1- sin (θ)).

[0084] Calculate the position of the final point K, which is located at a distance of R+r from the starting point of the front navigation station along the radial line from the midpoint, and set the center point of the turning circle of the rear section as K.

[0085] S4-2-4: When the trajectory type of the latter segment is equal to "immediately ends":

[0086] The midpoint is the end point of the trajectory segment, and the subsequent segment is set to empty.

[0087] S5: Convert each trajectory segment object into flight trajectory data.

[0088] The present invention has the following advantages:

[0089] This invention automatically converts flight program codes into flight trajectory data, taking into account aircraft flight performance and flight dynamics principles during the calculation process. It can accurately calculate flight trajectories under standard weather conditions and overcomes the drawback of traditional methods that require manual input of flight programs. It enables batch import of flight programs and trajectory generation, thereby significantly saving manual input time and improving accuracy and efficiency. This method can be applied to various scenarios such as obstacle assessment and flight program verification. Attached Figure Description

[0090] Figure 1 The diagram illustrates the main steps involved in generating a flight trajectory according to an embodiment of the present invention.

[0091] Figure 2This is a schematic diagram illustrating the process of generating a flight trajectory in an embodiment of the present invention.

[0092] Figure 3 This is a file photo of the departure flight procedure AGT-11D for ZGZJ Airport.

[0093] Figure 4 This is a schematic diagram of a trajectory with the intermediate point type being the distance to reach.

[0094] Figure 5 This is a schematic diagram of the trajectory where the intermediate point type is the distance to be reached and the subsequent segment type is turning to a new navigation station.

[0095] Figure 6 This is a schematic diagram of the trajectory of the latter segment, which is the arc of the new navigation station.

[0096] Figure 7 This is a schematic diagram of a trajectory where the first segment is a flight along an arc and the second segment is a cut into a new radial line. Detailed Implementation

[0097] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0098] Currently, airline flight performance engineers generate flight paths for obstacle assessment by manually entering flight procedure data into the flight performance calculation software interface provided by aircraft manufacturers such as Airbus and Boeing, based on the flight procedure graphics in the aeronautical charts. The drawback of this traditional method is that it relies solely on the flight performance calculation software provided by the aircraft manufacturers to generate flight paths, and the flight procedures can only be manually entered into the software. A single flight procedure involves thousands of data points, including airport, runway, heading, altitude, and coordinates, and parameters such as turning bank angle and turning direction require multiple adjustments to ensure a smooth and consistent flight path. As the number of airport flight procedures increases, the problem of excessive manual data entry and high error rates becomes increasingly prominent.

[0099] Based on this, the present invention proposes a method for automatically generating flight trajectories based on flight performance. The present invention realizes the automatic conversion of flight program codes into flight trajectory data, and takes into account the flight performance of the aircraft and the principles of flight dynamics during the calculation process. It can accurately calculate the flight trajectory under standard weather conditions, which solves the drawback of traditional methods that can only manually enter flight programs, and greatly improves accuracy and work efficiency.

[0100] One embodiment of the present invention is a process for generating flight trajectory data using this method.

[0101] like Figure 1As shown, one embodiment of the present invention includes the following steps:

[0102] S1: Create a flight trajectory segment model;

[0103] S2: Obtain ARINC424 flight procedure data and generate ARINC424 model object;

[0104] S3: Assign values ​​to the front segment, middle point, and rear segment to generate a flight trajectory segment object;

[0105] S4: Calculate the position, heading, turning radius, and center coordinates of each trajectory segment based on the aircraft's performance;

[0106] S5: Convert each trajectory segment object into flight trajectory data.

[0107] The detailed processing procedure of this embodiment is as follows: Figure 2 As shown:

[0108] S1: Create a flight trajectory model based on flight performance data:

[0109] Each flight trajectory object (PepSID) consists of multiple trajectory segment objects, and each trajectory segment includes three parts: the beginning segment, the middle point, and the end segment. Among them:

[0110] The preceding segment includes: preceding track type, preceding navigation beacon, preceding heading, and preceding DME distance.

[0111] The initial trajectory types include five types: flight along the heading, flight along the radial line, flight directly to the navigation beacon, flight clockwise along the DME arc, and flight counterclockwise along the DME arc.

[0112] The intermediate points include: location type, location value, and navigation console.

[0113] Intermediate point location types include four types: Altitude Reached, Navigation Station Reached, Distance to DME Reached, and Radial Line Reached. The location value corresponds to specific parameter values ​​for each of the four location types: altitude, navigation station, distance, and bearing. When the location type equals Distance to DME Reached or Radial Line Reached, a guiding navigation station must be set for the intermediate point.

[0114] The latter segment includes: the latter segment track type, the latter segment navigation station, the latter segment heading, the latter segment radial line, the latter segment DME distance, the latter segment turning slope, and the turning direction.

[0115] The types of the subsequent trajectory include five types: immediate termination, turning to a new course, turning to a new navigation beacon, cutting into a new radial line, and cutting into a new navigation beacon arc.

[0116] S2: Obtain ARINC424 flight procedure data and generate ARINC424 model object:

[0117] Obtain the ARINC424 encoded data of the flight program, create an ARINC424 model object ArincPro for each flight program, extract the ARINC424 encoded data of the flight program segments one by one, such as path termination code, anchor point, heading, altitude, etc., and convert them into segment objects ArincLeg, and add the ArincLeg objects to ArincPro in sequence according to the number.

[0118] Each ARINC424 model object consists of multiple segment objects (ArincLeg); the segment object includes sequence number, path termination code, heading, anchor point, altitude, turning direction, reference navigation station, station bearing, station distance, center point, and arc radius.

[0119] This embodiment selects the Airbus A320-232 aircraft model, and selects as follows: Figure 3 The departure flight procedure AGT-11D for runway 33 at ZGZJ airport is shown below. The ARINC424 encoding of the AGT-11D departure procedure is converted into an ARINC424 model object ArincPro, and each flight segment is converted into a flight segment object ArincLeg, as shown in Table 1.

[0120] Table 1: ZGZJ Airport AGT-11D Departure Procedure ARINC424 Segment Objects ArincLeg Table

[0121] Serial Number Route termination code course Location point high Turning direction Reference Navigation Station Taiwan location Taiwan Distance center point Arc radius 1 CD 332 LOC 5.5 2 DF WUQ right 3 TF WUQ33 4 AF WUQ36 Left WUQ 199 36 5 CF 203 AGTEL

[0122] S3: Convert the ARINC424 model object ArincPro to a flight trajectory model object PepSID:

[0123] Retrieve the preceding and following segment objects, ArincLeg, from the ArincPro object, naming the former qleg and the latter hleg. For each combination of qleg and hleg, create a trajectory segment object seg and add seg to PepSID.

[0124] If we sequentially name the two ArincLeg segments numbered 1 and 2, 2 and 3, 3 and 4, and 4 and 5 in the table above as qleg and hleg, then we can perform the following processing:

[0125] S3-1: Assign values ​​to the front part of seg based on the parameters of qleg:

[0126] The first segment (seg1) processes the qleg of sequence number 1 and the hleg of sequence number 2 in Table 1 as follows:

[0127] The path termination code for qleg in sequence number 1 is CD: Set the initial trajectory type of seg1 to flight along the heading, and the initial heading is the heading of qleg 332°.

[0128] S3-2: Assign values ​​to the intermediate points of seg based on the parameters of qleg:

[0129] The path termination code for qleg number 1 is CD: Set the position type of the intermediate point of seg1 to reach distance, the position value to the distance of qleg station 5.5 nautical miles, and the guide navigation station to the reference navigation station LOC of qleg.

[0130] S3-3: Assign values ​​to the latter part of seg based on the parameters of hleg:

[0131] The path termination code for hleg number 2 is DF: Set the subsequent trajectory type of seg1 to turn to a new navigation station, and the subsequent navigation station is the positioning point WUQ of hleg.

[0132] At this point, the assignment of seg1 is complete. Next, iterate through the subsequent ArincLegs in Table 1 to generate subsequent trajectory segment objects:

[0133] The second segment (seg2) processes the qleg of sequence number 2 and the hleg of sequence number 3 in Table 1 as follows:

[0134] Pre-segment assignment: The path termination code of qleg in sequence number 2 is DF: Set the pre-segment trajectory type of seg2 to direct flight navigation beacon, and the pre-segment navigation beacon to the positioning point WUQ of qleg;

[0135] Intermediate point assignment: The path termination code of qleg in sequence number 2 is DF: Set the position type of the intermediate point of seg2 to reach the navigation station, and the position value is the positioning point WUQ of qleg;

[0136] Post-course assignment: The path termination code of hleg number 3 is TF: Set the post-course trajectory type of seg2 to turn to new navigation station, and the post-course navigation station is the positioning point WUQ33 of hleg.

[0137] The third segment (seg3) processes the qleg of sequence number 3 and the hleg of sequence number 4 in Table 1 as follows:

[0138] Pre-segment assignment: The path termination code of qleg in sequence number 3 is TF: Set the pre-segment trajectory type of seg3 to direct flight navigation station, and the pre-segment navigation station to the positioning point WUQ33 of qleg;

[0139] Intermediate point assignment: The path termination code of qleg in sequence number 3 is TF: Set the position type of the intermediate point of seg3 to reach the navigation station, and the position value is the positioning point WUQ33 of qleg;

[0140] The following assignments are made: The path termination code of hleg number 4 is AF; the trajectory type of seg3 is set to "entering a new navigation station arc", the navigation station for the latter segment is the reference navigation station WUQ for hleg, and the distance for the latter segment is 36 nautical miles from the hleg station.

[0141] The fourth segment (seg4) processes the qleg of sequence number 4 and the hleg of sequence number 5 in Table 1 as follows:

[0142] Forward assignment: The path termination code of qleg in sequence 4 is AF: Set the forward trajectory type of seg4 to flight along an arc, the forward navigation station to the reference navigation station WUQ of qleg, and the forward arc radius to the station distance of qleg 36 nautical miles;

[0143] Intermediate point assignment: The path termination code of qleg in sequence 4 is AF: Set the position type of the intermediate point of seg4 to reach the navigation station, and the position value is the positioning point WUQ36 of qleg;

[0144] Post-course assignment: The path termination code of hleg number 5 is CF: Set the post-course trajectory type of seg4 to enter new radial line, the post-course navigation station is the positioning point AGTEL of hleg, and the post-course radial line is the heading 203° of hleg.

[0145] The fifth segment (seg5) processes the qleg and null value hleg of sequence number 5 in Table 1 as follows:

[0146] Forward assignment: The path termination code of qleg in sequence 5 is CF: Set the forward trajectory type of seg5 to flight along the heading, and the forward heading to qleg heading 203°;

[0147] Intermediate point assignment: Since the path termination code of qleg for sequence number 5 is CF: Set the position type of the intermediate point of seg5 to reach the navigation station, and the position value to qleg positioning point AGTEL;

[0148] The subsequent assignment: hleg is empty, and the subsequent trajectory type of seg5 is immediate termination.

[0149] The assignment of values ​​for each trajectory segment is shown in Table 2 below:

[0150] Table 2: PepSeg Table of AGT-11D Departure Procedure Objects for ZGZJ Airport

[0151]

[0152] S4: Calculate the position, heading, turning radius, and center coordinates of each trajectory segment based on the aircraft's performance.

[0153] Calculate for each segment in Table 2:

[0154] S4-1: Calculate the position and heading of the intermediate point:

[0155] S4-1-1: Calculate the position of the intermediate point:

[0156] The intermediate point location type of seg1 is distance to reach, execute S4-1-1-3:

[0157] like Figure 4 As shown, seg1 is the first segment of the departure flight procedure. The starting point of the segment, P, is the runway threshold of runway 33 at ZGZJ airport. P and the preceding heading Q (332°) form ray L. The intermediate navigation beacon O (LOC) and the arrival distance n (radius, 5.5 nautical miles) from the intermediate point form circle G. Ray L and circle G intersect at the intermediate point M. Calculate the position of point M:

[0158] Draw a perpendicular line from point O to line L, with the foot of the perpendicular at point E. The coordinates of point O, the coordinates of point P, and the heading Q are known. The distance t from point O to point E can be calculated. The distances n and t between the hypotenuse and one leg of right triangle OME are given, allowing us to determine the distance of the other leg ME. The distance s from point P to point O can be calculated. Similarly, the distances s and t between the hypotenuse and one leg of right triangle OPE are given, allowing us to determine the distance of the other leg PE. PM = PE - ME, where PM is the distance u from the starting point P to the intermediate point M. Substituting this into the example, we can calculate u = 7530 meters.

[0159] Based on the coordinates of point P, heading Q, and distance u, the coordinates of the midpoint M of seg1 can be calculated as N213310E1103417.

[0160] Seg1 is the first segment of the departure flight procedure. It uses the default climb gradient of 0.025 for the A320-232 aircraft to calculate the climb altitude. = 7530 × 0.025 = 188 meters, the altitude of the midpoint M = airport elevation 20 + 188 = 208 meters.

[0161] S4-1-2: Calculate the heading at the intermediate point:

[0162] The initial trajectory type of seg1 is flight along the heading, and the heading of the intermediate point is set to the initial heading of 332°.

[0163] S4-2: Calculate the center point and radius of the latter part of the turn:

[0164] The latter part of trajectory seg1 is a turn to a new navigation station, executing S4-2-2:

[0165] Calculate the turning radius R:

[0166] Formula 1: ,in:

[0167] The acceleration due to gravity is 9.81.

[0168] The turning slope is set to the default value of 20°.

[0169] It is the speed of the aircraft at the midpoint;

[0170] Formula 2: ,in:

[0171] The takeoff speed of the aircraft is taken as 75 m / s under full load in this embodiment.

[0172] The engine thrust is 100,000 N, according to the engine specifications table.

[0173] The air density is 1.225 kg / m³.

[0174] The wing area is 122.6 m².

[0175] The drag coefficient is 0.035.

[0176] For the aircraft mass, this embodiment uses a full-load mass of 65,000 kg;

[0177] The aircraft's climb rate is 12 m / s (climb rate).

[0178] The altitude at which the aircraft climbs is 188 meters in this embodiment;

[0179] Calculation yields =105 m / s;

[0180] Substituting into Formula 1, we get the turning radius R = 11025 / (9.8 × 0.364) = 3090 meters;

[0181] The heading from the starting point of seg1 to the midpoint M is 332°. The bearing of M to the subsequent navigation station WUQ is calculated to be 147°. The turning angle X = (147 – 332) + 360 = 175°. Therefore, the turn of the latter part of seg1 is clockwise.

[0182] like Figure 5As shown: The midpoint M and the heading W form ray L. A clockwise circle S with radius R is tangent to L at point M. Based on the coordinates of point M, heading W, and radius R, the center point Q of circle S can be calculated. Q is the center point of the latter part of the turn in seg1. Draw a tangent line to circle S past the latter navigation station F, with the point of tangency being T. Connect points P, M, T, and F to form the complete flight path of seg1.

[0183] Assign values ​​to segment seg2 in Table 2:

[0184] Calculate the position of the midpoint:

[0185] The intermediate point location type of seg2 is "reaching the navigation station". Execute S4-1-1-1: intermediate point navigation station WUQ is the intermediate point location.

[0186] Calculate the heading at the intermediate point:

[0187] The initial trajectory type of seg2 is direct flight to navigation beacons, calculating the starting point of the flight segment ( Figure 5 The heading of point T in the system is 123° from that of the intermediate navigation station WUQ. Set the heading of the intermediate point to 123°.

[0188] Calculate the center point and radius of the latter part of the turn:

[0189] The trajectory type of the latter part of seg2 is to turn to the new navigation station. The center point and turning radius of the latter part of seg2 are obtained in the same way as the latter part of seg1.

[0190] Assign values ​​to segment seg3 in Table 2:

[0191] Calculate the position of the midpoint:

[0192] The intermediate point location type of seg3 is "reaching the navigation station". Executing S4-1-1-1: intermediate point navigation station WUQ33 is the intermediate point location.

[0193] Calculate the heading at the intermediate point:

[0194] The initial trajectory type of seg3 is direct flight to navigation beacon. The heading between the starting point of the flight segment (WUQ navigation beacon) and the intermediate point WUQ33 is calculated to be 169°. The heading of the intermediate point is also set to 169°.

[0195] Calculate the center point and radius of the latter part of the turn:

[0196] The latter part of the trajectory type of seg3 is to cut into the new navigation station arc, and execute S4-2-1:

[0197] like Figure 6As shown, the first segment of seg3 starts from the starting point P (the ending point of seg2), travels along the heading W to the midpoint M, and M and the heading W form ray L; the second segment turns left from point M to enter the second segment of seg3, and the distance r between the navigation station O and the second segment forms circle G; solve for the center Q and radius R of the circle S that passes through point M and is tangent to both ray L and circle G:

[0198] The distance D from point M to point O and the orientation MO are calculated based on the coordinates, and then the angle θ between the orientation MO and the normal K of L is obtained.

[0199] Solve for triangle MQO using the law of sines:

[0200] sin(θ) / (R+r) = sin(∠MOQ) / R = sin(180-θ-∠MOQ) / D;

[0201] Obtain the distance R of MQ and the position of point Q, and set point Q and distance R as the center point and radius R of the subsequent turn.

[0202] Assign values ​​to segment seg4 in Table 2:

[0203] The intermediate point position type of seg4 is "reaching the navigation station". Executing S4-1-1-1: intermediate point navigation station WUQ36 is the intermediate point position.

[0204] The initial trajectory type of seg4 is to fly along an arc. Calculate the azimuth F of the line connecting the initial navigation station (WUQ) and the intermediate point M (WUQ36). The initial turning direction is clockwise. Set the heading of the intermediate point to F+90°.

[0205] Calculate the center point and radius of the latter part of the turn:

[0206] The latter segment trajectory type of seg4 is "entering a new radial line", and the former segment trajectory type is "flying along an arc", then execute S4-2-3-2:

[0207] like Figure 7 As shown, the first segment of seg4 starts from the starting point P (the ending point of seg3), and moves along an arc with center O (the first segment navigation station) and radius r (the radius of the first segment arc) to the midpoint M. The second segment turns at point M and enters the new radial line Y. Solve for the center point Q and radius R of the circle S that passes through point M and is tangent to both circle G and radial line Y:

[0208] Calculate the orientation X of the center O and point M, and obtain the angle θ between X and the new radial line Y of the following segment;

[0209] Since sin(θ) = R / (R + r), the radius R = r×sin(θ) / (1-sin(θ)).

[0210] Calculate the coordinates of point Q, which is located at a distance of R+r along the radial line X from point O, where Q is the center of circle S. Set point Q and radius R as the center and radius of the subsequent turn.

[0211] Assign values ​​to segment seg5 in Table 2:

[0212] The intermediate point location type of seg5 is "reaching the navigation station". Execute S4-1-1-1: intermediate point navigation station AGTEL is the intermediate point location.

[0213] Calculate the center point and radius of the latter part of the turn:

[0214] The trajectory type of the latter part of seg5 is immediate termination, and S4-2-4 is executed: the intermediate point navigation station AGTEL is set as the trajectory segment end point.

[0215] S5: Convert the coordinates, heading, center and radius of each point in the above trajectory segments into flight trajectory data.

[0216] The above description is merely one embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for automatically generating a flight trajectory based on flight performance, characterized by, The method comprises the following steps: S1: creating a flight trajectory segment model, including three parts of a front segment, a middle point and a rear segment; S2: obtaining ARINC424 flight program data to generate an ARINC424 model object; S3: sequentially taking out the front and rear two legs from the ARINC424 model object, assigning values to the front segment, the middle point and the rear segment, and generating a flight trajectory segment object, which comprises the following steps: S3-1: assigning values to the front segment according to the front leg qleg of the ARINC424 model object: S3-1-1: if the first letter of the leg termination code of qleg is C or V, setting the front segment trajectory type as heading along the course, and the front segment heading as the heading of qleg; S3-1-2: if the first letter of the leg termination code of qleg is T or D: setting the front segment trajectory type as direct to a navigation station, and the front segment navigation station as the fix of qleg; S3-1-3: if the first letter of the leg termination code of qleg is A or R: setting the front segment trajectory type as flying along an arc, the front segment navigation station as the reference navigation station of qleg, and the front segment arc radius as the station distance of qleg; S3-2: assigning values to the middle point according to the front leg qleg of the ARINC424 model object: S3-2-1: if the second letter of the leg termination code of qleg is F, setting the position type of the middle point as reaching a navigation station, and the position value as the fix of qleg; S3-2-2: if the second letter of the leg termination code of qleg is A, setting the position type of the middle point as reaching an altitude, and the position value as the altitude of qleg; S3-2-3: if the second letter of the leg termination code of qleg is D, setting the position type of the middle point as reaching a distance, and the position value and the lead navigation station as the station distance and the reference navigation station of qleg respectively; S3-2-4: if the second letter of the leg termination code of qleg is R, setting the position type of the middle point as reaching a radial line, and the position value and the lead navigation station as the station bearing and the reference navigation station of qleg respectively; S3-3: assigning values to the rear segment according to the rear leg hleg of the ARINC424 model object: S3-3-1: if hleg is empty, setting the rear segment trajectory type as ending immediately, and turning to S4; S3-3-2: if the first letter of the leg termination code of hleg is C or V: setting the rear segment trajectory type as cutting into a new radial line, the rear segment navigation station as the fix of hleg, and the rear segment radial line as the heading of hleg; S3-3-3: if the first letter of the leg termination code of hleg is T or D: setting the rear segment trajectory type as turning to a new navigation station, and the rear segment navigation station as the fix of hleg; S3-3-4: if the first letter of the leg termination code of hleg is A or R: setting the rear segment trajectory type as cutting into a new navigation station arc; setting the rear segment navigation station of seg as the reference navigation station of hleg, and the rear segment distance as the station distance of hleg; S4: calculating the position, heading, turning radius and center coordinates of each trajectory segment according to the performance of the aircraft; S5: converting each trajectory segment object into flight trajectory data.

2. The method of claim 1, wherein, Step S4 includes: S4-1: calculating the position and heading of the intermediate point: S4-1-1: calculating the position of the intermediate point: S4-1-1-1: when the position type of the intermediate point is the arrival navigation station, taking the intermediate point navigation station as the intermediate point; S4-1-1-2: when the position type of the intermediate point is the arrival altitude: Calculate the horizontal distance D from the start point of the flight segment to the intermediate point, the formula is: D=(F-T) / (ΔH×m×g); wherein: ΔH is the height difference between the intermediate point and the start point of the flight segment; m is the mass of the aircraft; F is the engine thrust, which is a fixed value determined by the aircraft type and the throttle position; T is the drag experienced by the aircraft; where p is the air density, V h is the true airspeed of the aircraft at altitude h, B is the wing area, C D is the drag coefficient; wherein: V0 is the airplane ground speed, m is the airplane mass, g is the gravitational acceleration, is the airplane climb rate, h is the airplane altitude, h0 is the runway elevation; According to D, the start point of the flight segment and the previous segment heading, the position of the intermediate point is calculated; S4-1-1-3: when the position type of the intermediate point is the arrival distance: Let the arrival distance of the intermediate point be n, the start point of the flight segment and the previous segment heading form a ray L, L intersects with the guide navigation station with the intermediate point as the center and the circle with a radius of n at point M; calculate the perpendicular distance t from the guide navigation station of the intermediate point to L, calculate the distance d from the start point of the flight segment to the guide navigation station of the intermediate point; according to t, d and n, the distance u from the start point of the flight segment to M is calculated; According to the coordinates of the start point of the flight segment, the distance u and the previous segment heading, the position of M is calculated, and M is taken as the intermediate point; S4-1-1-4: when the position type of the intermediate point is the arrival radial line: The start point of the flight segment and the previous segment heading form a ray L, the guide navigation station of the intermediate point and the radial line direction of the intermediate point form a ray V, the position of the intersection point M of rays L and V is calculated, and M is taken as the intermediate point; S4-1-2: calculating the heading of the intermediate point: If the previous trajectory type is flying along the heading: set the intermediate point heading as the previous segment heading; If the previous trajectory type is straight navigation station: calculate the azimuth W of the start point of the flight segment and the intermediate point, and set the intermediate point heading as W; If the previous trajectory type is flying along the arc: calculate the azimuth F of the previous navigation station and the intermediate point, and set the intermediate point heading as F+90° or F-90° according to the previous turning direction clockwise or counterclockwise; S4-2: calculating the center point and radius of the rear turning circle: S4-2-1: when the rear trajectory type is equal to the arc of cutting into the new navigation station: The intermediate point and the intermediate point direction form a ray L, the rear navigation station and the rear distance form a circle G with the center and radius, and a circle S passing through the intermediate point and tangent to the ray L and the circle G is solved, and the center and radius of the rear turning circle are set as the center and radius of S respectively; S4-2-2: when the rear trajectory type is equal to turning to the new heading or turning to the new navigation station: The default turning slope of the model is set as The flight speed at the middle point is V h The turning radius R is calculated by the following formula where: g is the acceleration due to gravity; The intermediate point and the intermediate point heading form a ray L, and a circle G passing through the intermediate point and tangent to L with a radius of R is drawn, and the center of G is taken as the center of the rear turning circle; S4-2-3: when the rear trajectory type is equal to cutting into the new radial line: S4-2-3-1: when the previous trajectory type is equal to flying along the heading or straight navigation station: The intermediate point and the intermediate point heading form a ray L, the rear navigation station and the rear radial line direction form a ray V, and a common tangent circle G of L and V is drawn through the intermediate point, and the center and radius of G are taken as the center point and radius of the rear turning circle respectively; S4-2-3-2: when the previous trajectory type is equal to flying along the arc: The angle difference between the radial line direction of the intermediate point and the radial line direction of the rear section is θ, the front section arc radius is r, and the rear section turning radius R is calculated as r x sin(θ) / (1-sin(θ)); The position of the end point Q is calculated along the radial line direction of the intermediate point, with the front section navigation station as the starting point and the distance being R+r, and the center point of the rear section turning is set as Q; S4-2-4: When the rear section track type is equal to immediate end: The intermediate point position is the track section termination position, and the rear section is set as empty.

3. The method of claim 2, wherein, Step S4-2-1 includes: The intermediate point M and the heading W form a ray L; the rear section turns and cuts into the rear section navigation station O as the center, and the rear section distance r is the radius of a circle G; the center point Q and the radius R of a circle S that passes through the M point and is tangent to the ray L and the circle G are solved: The distance D from the M point to the O point and the direction MO are calculated according to the coordinates of the M point and the O point, and the angle θ between the direction MO and the normal K of L is obtained; According to the sine theorem, the triangle MQO is solved: sin(θ) / (R+r)=sin(∠MOQ) / R=sin(180-θ-∠MOQ) / D; The distance R of MQ is obtained, and the Q point coordinates are calculated, and the Q point and the distance R are set as the center point and the radius of the rear section turning.

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