Method for realizing fly-around and multi-angle entry based on virtual target point
By calculating the coordinates of virtual target points and using the velocity tracking method to generate time-varying virtual target points, the problems of aircraft flying around and entering from multiple angles are solved, achieving smooth flying around and entering effects.
Patent Information
- Application Number
- CN202511004895.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-21
- Publication Date
- 2025-11-21
AI Technical Summary
When there is a danger zone below the flight path, the aircraft cannot fly directly toward the target and must meet specific entry angle requirements. Existing technologies cannot generate virtual target points online to meet the needs of bypassing and entering.
The coordinates of the virtual target point are calculated using the speed tracking method, including the coordinates of the virtual target in the initial segment, the flight segment, the transition segment, the turn-in segment, and the entry segment. By using parameters such as the center point of the flight segment, the center point of the turn-in segment, and the turning radius, time-varying virtual target points are generated to meet the requirements of the flight segment and the entry angle.
It achieves smooth connection of bypass flight and multi-angle entry under the condition of considering the available overload capacity of the aircraft, and meets the bypass flight requirements and entry direction requirements of the aircraft.
Smart Images
Figure CN120993930A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aircraft guidance and control, specifically to a method for achieving around-flight and multi-angle entry based on virtual target points. Background Technology
[0002] Because of a danger zone below the flight path, the aircraft cannot fly directly to the target and must perform a detour. Furthermore, when the distance between the aircraft and the target point (the distance between the aircraft's projection onto the target point's horizontal plane and the target point) is a specified value, the angle between the ray pointing from the aircraft's projection onto the target point and the ray pointing from the launch point's projection onto the target point (called the approach angle) must meet the pre-launch preset value. How the flight control system can generate a virtual target point online based on the preset detour point and approach angle, while considering the aircraft's available overload capacity, to meet the requirements of the approach angle and target tracking is a problem that urgently needs to be solved. Summary of the Invention
[0003] The purpose of this invention is to provide a method for achieving flight around and multi-angle entry based on a virtual target point, so that the aircraft can meet the flight around requirements and meet the entry direction requirements when passing through a specified distance.
[0004] To achieve the above objectives, the present invention employs the following technical solution: A method for achieving flyaround and multi-angle entry based on a virtual target point, wherein the horizontal guidance law of the aircraft uses a velocity tracking method to track the virtual target, the method comprising: Based on the target point coordinates, fly-around point coordinates, and turning radius, calculate the virtual target coordinates of the initial segment; based on the target point coordinates, ground distance, and entry angle, calculate the entry point coordinates and virtual target coordinates of the entry segment; using the entry point coordinates, entry angle, and turning radius, calculate the center coordinates of the transition segment; using the fly-around center point coordinates, the center coordinates of the transition segment, and the turning radius, calculate the start point, end point, and virtual target coordinates of the transition segment; then, based on the target point coordinates, fly-around center point coordinates, the center coordinates of the translated transition segment, the turning radius, the entry angle, the real-time horizontal coordinates of the aircraft, and the fly-around point coordinates, calculate the virtual target coordinates of the fly-around segment and the transition segment; finally, combine the corresponding virtual target coordinates of the initial segment, fly-around segment, transition segment, transition segment, and entry segment to form the virtual target coordinates for fly-around and multi-angle entry.
[0005] Furthermore, the initial segment refers to the distance from the launch point to the start point of the fly-around segment; the fly-around segment refers to the distance from the start point of the fly-around segment to the start point of the transition segment; the transition segment refers to the distance from the start point of the transition segment to the end point of the transition segment; the transition-entry segment refers to the distance from the end point of the transition segment to the entry point; and the entry segment refers to the distance from the entry point to the target point.
[0006] Furthermore, based on the coordinates of the target point in the binding... Coordinates of the flight point Turning radius Calculate the virtual target coordinates of the initial segment; Coordinates of the center point of the flight path during the flight path segment as follows:
[0007] in, It is a symbolic function; Calculate the coordinates of the starting point of the flight using the coordinates of the center point of the flight. as follows:
[0008] The virtual target coordinates of the initial segment are then: : .
[0009] Furthermore, based on the coordinates of the target points in the binding... Distance and entry angle Calculate the coordinates of the entry point of the entry segment. And the virtual target coordinates of the entry segment : Calculate the coordinates of the entry point :
[0010] Virtual target coordinates of the entry segment :
[0011] in, These are the X-axis and Z-axis coordinates of the entry point, respectively; the entry point is the point where the aircraft enters the entry segment.
[0012] Furthermore, using the entry point coordinates , entry angle and turning radius Calculate the center coordinates of the transition segment. : .
[0013] Furthermore, through the coordinates of the center point of the flight path during the flight path segment... , the center coordinates of the transition segment Turning radius Calculate the starting point of the transition section. End point of transition section and the virtual target coordinates of the transition section : The center coordinates of the transition segment will be entered. Translation Then, the center coordinates of the translated segment are obtained. :
[0014] Calculate the start point of the transition section End point of transition section :
[0015]
[0016]
[0017] Virtual target coordinates of the transition section : .
[0018] Furthermore, based on the target point coordinates Coordinates of the center point of the orbit After translation, return to the center coordinates of the segment. Turning radius , entry angle Real-time horizontal coordinates of the aircraft and the coordinates of the flight point Calculate the virtual target coordinates during the flight segment. and the virtual target coordinates of the transition segment : Virtual target coordinates of the flight segment :
[0019] Virtual target coordinates of the transition segment : .
[0020] Furthermore, the coordinates of the virtual targets corresponding to the initial segment, the fly-around segment, the transition segment, the turn-in segment, and the entry segment are spliced together to form a virtual target that realizes the fly-around and entry angles:
[0021] in, The virtual target coordinates are used throughout the entire flight process.
[0022] A terminal device includes a processor, a memory, and a computer program stored in the memory; when the processor executes the computer program, it implements the method for achieving around-the-fly and multi-angle entry based on a virtual target point.
[0023] A computer-readable storage medium storing a computer program; when executed by a processor, the computer program implements the method for achieving flight around and multi-angle entry based on a virtual target point.
[0024] Compared with the prior art, the present invention has the following technical features: 1. Based on the target, fly-around point, and entry angle information pre-programmed before launch, this invention generates time-varying virtual target point coordinates while considering the available overload capacity of the aircraft. The aircraft achieves the fly-around and entry angle requirements by tracking the virtual target point.
[0025] 2. In constructing the virtual target coordinates, this invention takes into account the available overload of the aircraft. During the flight of the aircraft, the virtual target moves according to a certain pattern over time, ensuring the smoothness of the trajectory connection between the initial segment, the fly-around segment, the transition segment, the transition and entry segment. Attached Figure Description
[0026] Figure 1 This is a schematic flowchart of the method of the present invention; Figure 2 This is a horizontal trajectory curve of different bypass points and attack entry directions in one embodiment of the present invention. Detailed Implementation
[0027] The problem addressed by this invention is that, before takeoff, the aircraft is programmed with bypass points and entry angle information based on the danger zone conditions and optimal entry angle, requiring the aircraft to pass through the bypass points and fly towards the target at the programmed entry angle during flight. To address this, this invention provides a method for bypassing and multi-angle entry based on a virtual target point. In this method, the aircraft's horizontal guidance law employs a velocity tracking method to track the virtual target. The method includes: Based on the target point coordinates, fly-around point coordinates, and turning radius, calculate the virtual target coordinates of the initial segment; based on the target point coordinates, ground distance, and entry angle, calculate the entry point coordinates and virtual target coordinates of the entry segment; using the entry point coordinates, entry angle, and turning radius, calculate the center coordinates of the transition segment; using the fly-around center point coordinates, the center coordinates of the transition segment, and the turning radius, calculate the start point, end point, and virtual target coordinates of the transition segment; then, based on the target point coordinates, fly-around center point coordinates, the center coordinates of the translated transition segment, the turning radius, the entry angle, the real-time horizontal coordinates of the aircraft, and the fly-around point coordinates, calculate the virtual target coordinates of the fly-around segment and the transition segment; finally, combine the corresponding virtual target coordinates of the initial segment, fly-around segment, transition segment, transition segment, and entry segment to form the virtual target coordinates for fly-around and multi-angle entry.
[0028] See appendix Figure 1The specific steps of this invention are as follows: Step 1: Divide the aircraft's flight process into the initial segment, the circling segment, the transition segment, the transition and entry segment, and the entry segment; first, based on the loaded target point coordinates... Coordinates of the flight point Turning radius Calculate the virtual target coordinates of the initial segment; in this embodiment, set .
[0029] Coordinates of the center point of the flight path during the flight path segment as follows:
[0030] in, The symbol is a function; in all coordinates of the scheme, x represents the X-axis coordinate and z represents the Z-axis coordinate, and different subscripts represent different positions; the X-axis and Z-axis are mutually perpendicular coordinate axes in the horizontal plane.
[0031] Calculate the coordinates of the starting point of the flight using the coordinates of the center point of the flight. as follows:
[0032] The virtual target coordinates of the initial segment are then: :
[0033] Step 2, based on the target point coordinates of the binding Distance and entry angle Calculate the coordinates of the entry point of the entry segment. And the virtual target coordinates of the entry segment .
[0034] Calculate the coordinates of the entry point :
[0035] Virtual target coordinates of the entry segment for:
[0036] in, These are the X-axis and Z-axis coordinates of the entry point, respectively; the entry point is the point where the aircraft enters the entry segment.
[0037] Step 3, using the entry point coordinates , entry angle and turning radius Calculate the center coordinates of the transition segment. .
[0038]
[0039] Step 4, using the coordinates of the center point of the flight path. , the center coordinates of the transition segment Turning radius Calculate the starting point of the transition section. End point of transition section and the virtual target coordinates of the transition section .
[0040] The center coordinates of the transition segment will be entered. Translation Then, the center coordinates of the translated segment are obtained. :
[0041] Calculate the start point of the transition section according to the following logic. End point of transition section :
[0042]
[0043]
[0044] Virtual target coordinates of the transition section :
[0045] Step 5, based on the target point coordinates Coordinates of the center point of the orbit After translation, return to the center coordinates of the segment. Turning radius , entry angle Real-time horizontal coordinates of the aircraft and the coordinates of the flight point Calculate the virtual target coordinates during the flight segment. and the virtual target coordinates of the transition segment .
[0046] Virtual target coordinates of the flight segment :
[0047] Virtual target coordinates of the transition segment :
[0048] Step 6: Piece together the coordinates of the virtual targets corresponding to the initial segment, the fly-around segment, the transition segment, the turn-in segment, and the entry segment to form a virtual target that realizes the fly-around and entry angles.
[0049]
[0050] in, The virtual target coordinates are defined for the entire flight process. In this scheme, the initial segment refers to the distance from the launch point to the start point of the fly-around segment; the fly-around segment refers to the distance from the start point of the fly-around segment to the start point of the transition segment; the transition segment refers to the distance from the start point of the transition segment to the end point of the transition segment; the transition-entry segment refers to the distance from the end point of the transition segment to the entry point; and the entry segment refers to the distance from the entry point to the target point.
[0051] Example In one embodiment of the present invention, assuming the launch point coordinates of the aircraft are (0, 0) m, the target point coordinates are (100000, 0) m, the orbital point coordinates are (50000, ±3000), the entry angles are ±20°, the distance between the aircraft and the target point at the entry point is 3 km, and the turning radius calculated using the minimum speed and available overload of the aircraft during the turning segment is 20 km, the horizontal position curve of the aircraft is as follows: Figure 2 As shown. The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.
Claims
1. A method for achieving around-flying and multi-angle entry based on virtual target points, characterized in that, The aircraft's horizontal guidance law employs a velocity-tracking method to track a virtual target, the method comprising: Based on the target point coordinates, fly-around point coordinates, and turning radius, calculate the virtual target coordinates of the initial segment; based on the target point coordinates, ground distance, and entry angle, calculate the entry point coordinates and virtual target coordinates of the entry segment; using the entry point coordinates, entry angle, and turning radius, calculate the center coordinates of the transition segment; using the fly-around center point coordinates, the center coordinates of the transition segment, and the turning radius, calculate the start point, end point, and virtual target coordinates of the transition segment; then, based on the target point coordinates, fly-around center point coordinates, the center coordinates of the translated transition segment, the turning radius, the entry angle, the real-time horizontal coordinates of the aircraft, and the fly-around point coordinates, calculate the virtual target coordinates of the fly-around segment and the transition segment; finally, combine the corresponding virtual target coordinates of the initial segment, fly-around segment, transition segment, transition segment, and entry segment to form the virtual target coordinates for fly-around and multi-angle entry.
2. The method for achieving around-flying and multi-angle entry based on a virtual target point according to claim 1, characterized in that, The initial segment refers to the distance from the launch point to the start point of the fly-around segment; the fly-around segment refers to the distance from the start point of the fly-around segment to the start point of the transition segment; the transition segment refers to the distance from the start point of the transition segment to the end point of the transition segment; the transition-entry segment refers to the distance from the end point of the transition segment to the entry point; and the entry segment refers to the distance from the entry point to the target point.
3. The method for achieving around-flying and multi-angle entry based on a virtual target point according to claim 1, characterized in that, Based on the target point coordinates of the binding Coordinates of the orbiting point Turning radius Calculate the virtual target coordinates of the initial segment; Coordinates of the center point of the flight path during the flight path segment as follows: in, It is a symbolic function; Calculate the coordinates of the starting point of the flight using the coordinates of the center point of the flight. as follows: The virtual target coordinates of the initial segment are then: : 。 4. The method for achieving around-flying and multi-angle entry based on a virtual target point according to claim 1, characterized in that, Based on the target point coordinates of binding Distance and entry angle Calculate the coordinates of the entry point of the entry segment. And the virtual target coordinates of the entry segment : Calculate the coordinates of the entry point : Virtual target coordinates of the entry segment : in, These are the X-axis and Z-axis coordinates of the entry point, respectively; the entry point is the point where the aircraft enters the entry segment.
5. The method for achieving around-flying and multi-angle entry based on a virtual target point according to claim 1, characterized in that, Using the coordinates of the entry point , entry angle and turning radius Calculate the center coordinates of the transition segment. : 。 6. The method for achieving around-flying and multi-angle entry based on a virtual target point according to claim 1, characterized in that, Coordinates of the center point of the flight path during the flight path segment , the center coordinates of the transition segment Turning radius Calculate the starting point of the transition section. End point of transition section and the virtual target coordinates of the transition section : The center coordinates of the transition segment will be entered. Translation Then, the center coordinates of the translated segment are obtained. : Calculate the start point of the transition section End point of transition section : Virtual target coordinates of the transition section : 。 7. The method for achieving around-flying and multi-angle entry based on a virtual target point according to claim 1, characterized in that, Based on the target point coordinates Coordinates of the center point of the orbit After translation, return to the center coordinates of the segment. Turning radius , entry angle Real-time horizontal coordinates of the aircraft and the coordinates of the flight point Calculate the virtual target coordinates of the flight segment. and the virtual target coordinates of the transition segment : Virtual target coordinates of the flight segment : Virtual target coordinates of the transition segment : 。 8. The method for achieving around-flying and multi-angle entry based on a virtual target point according to claim 1, characterized in that, The virtual target coordinates corresponding to the initial segment, the fly-around segment, the transition segment, the turn-in segment, and the entry segment are concatenated to form a virtual target that realizes the fly-around and entry angles: in, The virtual target coordinates are used throughout the entire flight process.
9. A terminal device, comprising a processor, a memory, and a computer program stored in the memory; characterized in that, When the processor executes the computer program, it implements the method for achieving around-flying and multi-angle entry based on a virtual target point as described in any one of claims 1-8.
10. A computer-readable storage medium storing a computer program; characterized in that, When the computer program is executed by the processor, it implements the method for achieving around-flying and multi-angle entry based on a virtual target point as described in any one of claims 1-8.