Flight path planning method, system, equipment, medium and product

Abstract

The invention discloses a flight path planning method, system and device, a medium and a product, and relates to the field of flight control, and the method comprises the steps: sending flight task information to a flight path planning program, and judging whether a current time flight path point reaches a permissible error range of a target point or not; if yes, outputting actual flight path coordinate values; if not, according to the current task information, planning a flight path by using an artificial potential field method; sending the coordinates of the current position point and the coordinates of the track point at the next moment in the track route to a flight control model, resolving by taking the coordinates of the current position point as a starting point and the coordinates of the track point at the next moment as a target point based on the flight control model, determining an actual flight coordinate value, and feeding back the actual flight coordinate value to the track planning program. According to the method and the device, the helicopter can plan the flight route in real time, and the obstacle avoidance effect is improved.

Description

Technical Field

[0001] This application relates to the field of flight control, and in particular to a method, system, device, medium, and product for flight path planning. Background Technology

[0002] A key advantage of helicopters lies in their ability to operate at low altitudes, such as below 30 meters, where they can utilize the environment for cover, avoid enemy fire, or follow terrain to avoid obstacles. However, with increasingly complex mission environments, helicopters face ever-growing challenges. During missions, helicopters often need to navigate through changing weather conditions, complex terrain, and potential enemy threats, placing higher demands on the adaptability and intelligence of flight models. Traditional flight models often struggle to cope with these complex and changing situations, while intelligent flight can automatically adjust flight parameters by sensing environmental changes in real time to ensure flight stability and safety. This intelligent control method not only improves the survivability of helicopters but also significantly enhances their combat effectiveness in complex battlefield environments.

[0003] The development of intelligent flight control technology for helicopters is of great significance not only to the military field but also to the civilian sector. In the civilian sector, helicopters are frequently used for emergency rescue, medical transport, and firefighting missions, which often require operation in extreme or hazardous environments. Intelligent flight technology can ensure the safe flight of helicopters in these complex environments, improve rescue efficiency, and reduce casualties and property damage. Furthermore, with the acceleration of urbanization, helicopters are demonstrating enormous potential in urban traffic management and logistics distribution. The application of intelligent flight technology will make helicopter operations in these fields more efficient and safer.

[0004] The trajectory planning program is responsible for planning a set of optimal expected path coordinates, while the flight control model is responsible for tracking the input path coordinates and providing an actual path coordinate and control inputs that conform to the helicopter's flight constraints. Currently, in most studies, the trajectory planning program typically provides a complete expected path before inputting it to the flight control model. This results in the flight control model only being able to track the expected route. However, the coordinates reached by the helicopter during actual flight will differ somewhat from the expected route, rendering the route provided by the flight control model meaningless. If obstacles are encountered during flight, the limited obstacle avoidance space and reaction time lead to poor obstacle avoidance performance. Summary of the Invention

[0005] The purpose of this application is to provide a flight path planning method, system, device, medium, and product to solve the problems of inability to plan flight paths in real time and poor obstacle avoidance performance.

[0006] To achieve the above objectives, this application provides the following solution: Firstly, this application provides a method for planning flight paths, including: The flight mission information is sent to the trajectory planning program; the flight mission information includes the three-dimensional coordinates of the starting point, target point, static obstacles and dynamic obstacles, as well as the trajectory segment step length; Based on the trajectory planning procedure, determine whether the current trajectory point is within the allowable error range of the target point; If so, output the actual flight path coordinates; If not, based on the aforementioned trajectory planning procedure, the trajectory route is planned using the artificial potential field method according to the current mission information; The current position coordinates and the next time step coordinates of the trajectory point in the flight path are sent to the flight control model. Based on the flight control model, the current position coordinates are used as the starting point and the next time step coordinates of the trajectory point are used as the target point to calculate and determine the actual flight coordinate values. The trajectory planning program communicates with the flight control model in real time. The actual flight coordinates are fed back to the trajectory planning program and added to the actual flight route. The program then returns to the step of "based on the trajectory planning program, determine whether the current trajectory point is within the allowable error range of the target point" until the actual flight route coordinates are output.

[0007] Secondly, this application provides a trajectory planning system, including: The sending module is used to send flight mission information to the trajectory planning program; the flight mission information includes the three-dimensional coordinate information of the starting point, target point, static obstacles and dynamic obstacles, as well as the trajectory segment step length; The judgment module is used to determine, based on the trajectory planning program, whether the current trajectory point is within the allowable error range of the target point; The actual flight path coordinate value output module is used to output the actual flight path coordinate values; The planning module is used to plan the trajectory route based on the trajectory planning program and the current task information using the artificial potential field method. The actual flight coordinate value determination module is used to send the current position coordinates and the next moment's track point coordinates in the flight path to the flight control model, and based on the flight control model, use the current position coordinates as the starting point and the next moment's track point coordinates as the target point to calculate and determine the actual flight coordinate values; the flight path planning program communicates with the flight control model in real time; The iterative planning module is used to feed back the actual flight coordinates to the trajectory planning program, add them to the actual flight route, and return to the step of "based on the trajectory planning program, determine whether the current trajectory point is within the allowable error range of the target point" until the actual flight route coordinates are output.

[0008] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described trajectory planning method.

[0009] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described trajectory planning method.

[0010] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described trajectory planning method.

[0011] According to the specific embodiments provided in this application, this application has the following technical effects: This application employs a tightly coupled strategy of segmented tracking and real-time communication. The trajectory planning program uses the artificial potential field method to plan the trajectory route and sends the current position coordinates and the coordinates of the next trajectory point to the flight control model. That is, the previous segment of the trajectory route is input to the flight control model for tracking. After tracking is completed, the actual flight coordinates of the helicopter are fed back to the trajectory planning program. The trajectory planning program replans a trajectory path based on the actual flight coordinates and then inputs the current position coordinates and the coordinates of the next trajectory point to the flight control model for tracking until the target point is reached, forming a closed-loop system of "planning-execution-feedback-replanning". The trajectory planning program and the flight control model communicate in real time through User Datagram Protocol (UDP) technology to achieve real-time updates of the trajectory route, thereby realizing real-time path planning in the event of sudden obstacles, improving obstacle avoidance performance, reducing trajectory tracking errors, and ensuring that the planned route can be tracked by the flight control model and will not diverge. This application enables helicopters to plan flight routes in real time, providing the helicopter flight control system with more maneuvering and evasion space, more stable maneuvering commands, and faster reaction time. The actual path coordinates and control parameters obtained are more meaningful for reference. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A schematic flowchart illustrating a flight path planning method provided in an embodiment of this application; Figure 2 A schematic diagram of the overall concept of another trajectory planning method provided in an embodiment of this application; Figure 3 A schematic diagram illustrating the principle of calculating the next time step track point using the artificial potential field method according to an embodiment of this application; Figure 4 A flowchart illustrating obstacle avoidance using an artificial potential field method according to an embodiment of this application; Figure 5 A flowchart of the overall process of a helicopter flight control system provided in an embodiment of this application. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0015] To make the objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] like Figure 1 As shown, this application provides a trajectory planning method, including: S1: Send flight mission information to the trajectory planning program; the flight mission information includes the three-dimensional coordinates of the starting point, target point, static obstacles and dynamic obstacles, as well as the trajectory segment step length.

[0017] S2: Based on the trajectory planning program, determine whether the current trajectory point is within the allowable error range of the target point. If yes, execute S3; otherwise, execute S4.

[0018] S3: Output the actual flight path coordinates.

[0019] S4: Based on the aforementioned trajectory planning procedure, and according to the current mission information, plan the trajectory route using the artificial potential field method.

[0020] S5: Send the current position coordinates and the next moment's trajectory coordinates in the flight path to the flight control model, and based on the flight control model, use the current position coordinates as the starting point and the next moment's trajectory coordinates as the target point to calculate and determine the actual flight coordinate values; the trajectory planning program communicates with the flight control model in real time.

[0021] S6: Feed back the actual flight coordinates to the flight path planning program, add them to the actual flight path, return to S2, and continue until the actual flight path coordinates are output.

[0022] In an exemplary embodiment, S4 specifically includes: S41: Based on the trajectory planning procedure, determine whether the current trajectory point has reached the target point. If yes, execute S42; otherwise, execute S43.

[0023] S42: Output the sequence of waypoints.

[0024] S43: Calculate surface obstacle points within the helicopter's influence range based on threat zone information and unknown threat information.

[0025] S44: Based on the artificial potential field method, calculate the gravitational vectors of the current track point and the target point, as well as the repulsive vectors of the current track point and the surface obstacle point.

[0026] S45: Calculate the resultant force vector based on the sum of the gravitational force and the sum of the repulsive force, and calculate the track point at the next moment given a step size.

[0027] S46: Update the current time track point according to the next time track point, and return "Based on the track planning program, determine whether the current time track point has reached the target point", until the track point sequence is output.

[0028] In an exemplary embodiment, the artificial potential field method is: in, This is the vector of the resultant force acting on the helicopter; and These are the repulsive and gravitational vectors acting on the helicopter, respectively. and It is divided into repulsive potential energy and gravitational potential energy experienced by the helicopter at the current moment; and These represent the distance from the helicopter's current flight path to the surface obstacle and the distance from the helicopter's current flight path to the target point, respectively. This represents the maximum impact distance of a static threat. and These are the unit distance vectors from the surface obstacle point to the helicopter and the unit distance vectors from the helicopter to the target point, respectively. and These are the proportional gain factors for the repulsive potential field and the gravitational potential field, respectively.

[0029] In an exemplary embodiment, S5 specifically includes: S51: Input the current position coordinates and the next time trajectory coordinates into the position control system in the flight control model, calculate the desired speed and acceleration, and generate the desired speed command.

[0030] S52: Input the desired speed command into the speed and attitude control system in the flight control model, convert the speed errors in the x and y directions into desired roll angle and desired pitch angle, generate a horizontal attitude command, and calculate the collective pitch command based on the directional speed.

[0031] S53: Input the horizontal attitude command and the collective pitch command to the helicopter actuator, and decouple the horizontal attitude command into the rotor control command; the rotor control command includes collective pitch and cyclic pitch; the cyclic pitch includes longitudinal cyclic pitch and lateral cyclic pitch.

[0032] S54: Based on the dynamic equations, determine the actual three-axis speed according to the rotor control commands.

[0033] S55: Calculate the actual angular acceleration based on the rotational dynamics equations.

[0034] S56: Determine the actual position coordinates and actual attitude angles based on the actual three-axis velocity and the actual angular acceleration.

[0035] S57: Store the actual position coordinates, the actual attitude angle, and the rotor control command to a local file. Simultaneously, input the actual position coordinates to the position control system, and input the actual attitude angle and the actual three-axis velocity to the speed and attitude control system. Return to the step of "converting the speed errors in the x and y directions into the desired roll and pitch angles, generating horizontal attitude commands, and calculating collective pitch commands based on the axial velocity" until the simulation time reaches the preset flight time. Output the actual position coordinates corresponding to the preset flight time and use the actual position coordinates as the actual flight coordinate values.

[0036] In this embodiment, the trajectory planning program and the flight control model communicate in real time via the UDP communication protocol. In actual operation, other communication methods are also used instead.

[0037] In another exemplary embodiment, such as Figure 2 As shown, this application provides a trajectory planning method, including: (1) Set the flight mission and input the mission information into the trajectory planning program. The trajectory planning program then inputs the information into the path planning algorithm in the program. The path planning algorithm refers to the algorithm used in the trajectory planning program to plan the path. It is a part of the trajectory planning program. The mission information is first input into the trajectory planning program, and then the trajectory planning program inputs the information into the path planning algorithm in the program. The path planning algorithm plans a path based on this.

[0038] (2) Determine whether the current track point is within the allowable error range near the target point.

[0039] The conditional statement is: in, Indicates the current waypoint. Indicates the target point. Indicates the allowable error range. This indicates the distance between the current flight path (i.e., the helicopter's current position) and the target point.

[0040] (3) If the target point is not reached, the path planning algorithm uses the artificial potential field method to plan the route based on the current task information.

[0041] The planning principle of the artificial potential field method is as follows: When a helicopter approaches an obstacle, it experiences a repulsive force, and the closer it gets to the obstacle, the greater the repulsive force. When a helicopter approaches a target point, it experiences a gravitational force, and the closer it gets to the target point, the smaller the gravitational force. like Figures 3-4 As shown, within the maximum threat influence distance (this distance is artificially set; beyond this distance, the helicopter is considered unaffected by the threat, i.e., the repulsive force is 0; within this influence distance, the helicopter calculates the magnitude of the repulsive force using the formula below), the resultant force (F) at the current time's track point is calculated. Given a step size, the track point at the next time moment can be determined; otherwise, the helicopter moves along the line connecting the track point to the target point, satisfying the principle that the shortest distance between two points is a straight line. The formula for the artificial potential field method is: In the formula, and These are the repulsive and gravitational vectors acting on the helicopter, respectively. Let be the vector of the resultant force acting on the helicopter. and It is divided into repulsive potential energy and gravitational potential energy experienced by the helicopter at the current moment. and These are the distances from the helicopter's current flight path to the surface obstacle (the closest point on the obstacle surface to the helicopter's current flight path) and the distance to the target point, respectively. This represents the maximum impact distance of a static threat. and These represent the unit distance vector from the helicopter to the surface obstacle point at the current moment, and the unit distance vector from the helicopter to the target point, respectively. and These are the proportional gain factors for the repulsive potential field and the gravitational potential field, respectively.

[0042] (4) Send the current position coordinates and the next moment track coordinates of the planned route in step (3) to the flight control model.

[0043] (5) The flight control model receives the coordinate information in step (4), sets the current position point as the starting point, and uses the track point at the next moment as the target point for calculation.

[0044] The coordinates of the current and next time track points along the planned route are retrieved, and this coordinate information is transmitted to the flight control model via a communication protocol. In this application, the flight control model can be a UH-60A flight control model.

[0045] After receiving the two coordinates mentioned above, the flight control model sets the current time track point as the starting point and the next time track point as the target point, and sets the flight time between the two points as m seconds (the size of m directly affects the speed of the helicopter), and then performs the calculation.

[0046] like Figure 5 As shown, the solution steps for the flight control model are as follows: 1) Input the position information (starting point and target point) into the position control system in the flight control model to calculate the desired velocity and acceleration. The formula for calculating the desired velocity is: in, For the desired speed command, , , These are proportional, integral, and differential gains, respectively. The difference between the target position coordinates and the actual position coordinates represents the position error.

[0047] 2) Input the desired speed command to the speed and attitude control system of the flight control model. The speed and attitude control system converts the speed errors in the x and y directions into desired roll and pitch angles, generates attitude commands, and calculates collective pitch commands based on the vertical speed.

[0048] The formulas for the horizontal attitude angle and collective pitch are: in, and These are the desired roll angle and the desired pitch angle, respectively. , and These are the speed loop proportional gain, derivative gain, and vertical speed control gain, respectively. , and These are the differences between the expected velocity and the actual velocity in the x, y, and z directions, respectively, representing the velocity error in the three directions; , and Let be the differences between the expected acceleration and the actual acceleration in the x, y, and z directions, respectively, representing the acceleration error in the three directions.

[0049] 3) The calculated horizontal attitude command (i.e. and ) and collective distance instructions Input to the helicopter.

[0050] 4) The helicopter actuators decouple attitude commands into rotor control commands, including collective pitch and cyclic pitch, calculated using the following formula: in, , , These are the longitudinal periodic pitch, the lateral periodic pitch, and the total pitch, respectively. , These are the transmission gain coefficients for longitudinal periodic pitch and lateral periodic pitch, respectively.

[0051] 5) The actual triaxial velocities can be calculated from the dynamic equations, as follows: The three-axis velocities are calculated using horizontal attitude commands. , These are the actual control parameters for the helicopter, which will be used as the final output data. For the body mass, , For aerodynamic damping, Main rotor lift, The tensile coefficient, This represents the actual three-axis speed.

[0052] 6) The actual angular acceleration can be calculated from the rotational dynamics equations, as shown in the following formula: Among them, the actual triaxial velocity is used for integration to obtain the actual position, and the actual angular acceleration is used for integration to obtain the actual attitude angle. , , The moment of inertia of the machine body along its three axes. , , For aerodynamic torque, This is the actual angular acceleration.

[0053] 7) The actual position and actual attitude angle can be obtained by integrating the actual three-axis velocity and the actual angular acceleration. The integration time interval is 0.01 seconds, that is, the actual position and other information obtained are the actual position and other information 0.01 seconds after the start of flight.

[0054] 8) Store the actual position coordinates, actual attitude angles, and control parameters (i.e., longitudinal and lateral cyclic pitch and collective pitch) obtained in step 7) to a local file (as the final output). At the same time, input the actual position coordinates obtained in step 7) to the position control system, and input the actual attitude angles and actual three-axis velocity information obtained in step 7) to the speed and attitude control system. Repeat the above steps until the simulation time reaches the preset flight time m seconds (m / 0.01+1 points will be stored in the list, with an interval of 0.01 seconds between each point, and the total interval time is m seconds), then the calculation is complete.

[0055] (6) After the calculation is completed, the flight control model sends the actual flight coordinates back to the path planning algorithm. Since the coordinates are obtained by the flight control model, they meet the constraints of the helicopter's flight performance, ensuring the safety of the helicopter when flying according to the planned route.

[0056] After the calculation is completed, the flight control model sends the actual position coordinates obtained at the m-th second back to the path planning algorithm through the communication protocol. These coordinates are the actual flight coordinates of the helicopter, which meet the constraints such as the helicopter's flight performance and ensure the safety of the helicopter when flying according to the planned route.

[0057] (7) After receiving the actual flight coordinates, the planning algorithm adds them to the actual flight route and repeats steps (2) to (6).

[0058] (8) If it is determined that the current waypoint has reached the allowable error range near the target point, the program stops running and the actual flight route is output.

[0059] (9) Output the local file stored in step 8) of the flight control model.

[0060] This application integrates a trajectory planning program with a flight control model. The trajectory planning program, which incorporates a path planning algorithm, significantly improves flight safety and mission reliability in complex environments. This cross-platform collaborative mechanism forms a closed-loop system of "planning-execution-feedback-replanning." The trajectory planning program, with real-time generation of 3D trajectories as its core, uses an iterative optimization mechanism to update the route using actual flight coordinates as the starting point, achieving real-time path planning in unexpected obstacle scenarios. Simultaneously, it reduces trajectory tracking errors, ensuring that the planned route can be tracked by the flight control model and does not diverge.

[0061] This application provides a trajectory planning system, including: The sending module is used to send flight mission information to the trajectory planning program; the flight mission information includes the three-dimensional coordinate information of the starting point, target point, static obstacles and dynamic obstacles, as well as the step length of the trajectory segment.

[0062] The judgment module is used to determine, based on the trajectory planning program, whether the current trajectory point is within the allowable error range of the target point.

[0063] The actual flight path coordinate value output module is used to output the actual flight path coordinate values.

[0064] The planning module is used to plan the trajectory route based on the trajectory planning program and the current task information using the artificial potential field method.

[0065] The actual flight coordinate value determination module is used to send the current position coordinates and the next moment's track point coordinates in the flight path to the flight control model, and based on the flight control model, use the current position coordinates as the starting point and the next moment's track point coordinates as the target point to calculate and determine the actual flight coordinate values; the flight path planning program communicates with the flight control model in real time.

[0066] The iterative planning module is used to feed back the actual flight coordinates to the trajectory planning program, add them to the actual flight route, and return to the step of "based on the trajectory planning program, determine whether the current trajectory point is within the allowable error range of the target point" until the actual flight route coordinates are output.

[0067] This application improves the integration capability between helicopter trajectory planning programs and helicopter flight control models. Addressing the discrepancy between the trajectory planned by the trajectory planning program and the actual flight path of the helicopter flight control model, it proposes a technology that enables tight coupling between the trajectory planning program and the helicopter flight control model. Specifically, the trajectory planning method and system provided in this application further construct communication interfaces for the trajectory planning program and the flight control model. Through real-time data communication between the two, tight coupling is achieved, enabling real-time updates of the optimal trajectory based on actual conditions, while ensuring that the flight control model can complete the flight mission along the specified trajectory.

[0068] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments. The computer device can be a server or a terminal. The computer device includes a processor, a memory, an input / output interface (I / O), and a communication interface. The processor, memory, and I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device stores data to be processed. The I / O interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used for communicating with an external terminal via a network connection. When the computer program is executed by the processor, it implements the above-described methods.

[0069] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0070] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0071] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0072] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0073] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by hardware related to computer program instructions. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0074] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0075] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method of flight path planning, characterized by, The method comprises the following steps: sending flight task information to a flight path planning program; the flight task information comprises three-dimensional coordinate information of a starting point, a target point, static obstacles and dynamic obstacles, and a flight path segment step; based on the flight path planning program, determining whether the current flight path point reaches the allowable error range of the target point; if yes, outputting actual flight route coordinate values; if no, based on the flight path planning program, planning a flight path route according to current task information by using an artificial potential field method; sending the current position point coordinate and the next time flight path point coordinate in the flight path route to a flight control model, and based on the flight control model, taking the current position point coordinate as a starting point and the next time flight path point coordinate as a target point to calculate actual flight coordinate values; real-time communication between the flight path planning program and the flight control model; feeding back the actual flight coordinate values to the flight path planning program, adding the actual flight coordinate values to the actual flight route, and returning to the step of determining whether the current flight path point reaches the allowable error range of the target point based on the flight path planning program until the actual flight route coordinate values are outputted.

2. The method of claim 1, wherein, based on the flight path planning program, planning a flight path route according to current task information by using an artificial potential field method, specifically comprising the following steps: based on the flight path planning program, determining whether the current flight path point reaches the target point; if yes, outputting a flight path point sequence; if no, calculating surface obstacle points within the influence distance of the helicopter according to threat area information and unknown threat information; based on the artificial potential field method, calculating the gravitational vector of the current flight path point and the target point and the repulsive vector of the current flight path point and the surface obstacle points; calculating a resultant force vector according to the gravitational resultant and the repulsive resultant, and calculating a next time flight path point by giving a step length; updating the current flight path point according to the next time flight path point, and returning to the step of determining whether the current flight path point reaches the target point based on the flight path planning program until the flight path point sequence is outputted.

3. The method of claim 2, wherein, the artificial potential field method comprises the following steps: wherein, is the resultant force vector experienced by the helicopter; and are the repulsive and attractive force vectors experienced by the helicopter, respectively; and are the repulsive and attractive potential energy experienced by the helicopter at the current time instant, respectively; and are the distance from the surface obstacle point to the current time instant trajectory point and the distance from the current time instant trajectory point to the target point, respectively; is the maximum influence distance of the static threat; and are the unit distance vector from the surface obstacle point to the helicopter and the unit distance vector from the helicopter to the target point, respectively, and are the positive proportional gain factors of the repulsive and attractive potential fields, respectively.

4. The method of claim 1, wherein, taking the current position point coordinate as a starting point and the next time flight path point coordinate as a target point to calculate actual flight coordinate values, specifically comprising the following steps: inputting the current position point coordinate and the next time flight path point coordinate into a position control system in the flight control model, calculating expected speed and acceleration, and generating an expected speed instruction; inputting the expected speed instruction into a speed and attitude control system in the flight control model, converting the speed error in the x direction and the y direction into an expected roll angle and an expected pitch angle, generating a horizontal attitude instruction, and calculating a total distance instruction according to the speed; inputting the horizontal attitude instruction and the total distance instruction into a helicopter actuator, decoupling the horizontal attitude instruction into a rotor control instruction; the rotor control instruction comprises a total distance and a cyclic pitch; the cyclic pitch comprises a longitudinal cyclic pitch and a lateral cyclic pitch; based on a dynamics equation, determining actual three-axis speed according to the rotor control instruction; calculating actual angular acceleration according to a rotational dynamics equation; determining actual position coordinates and actual attitude angles according to the actual three-axis speed and the actual angular acceleration; The actual position coordinates, the actual attitude angle and the rotor control instruction are stored to a local file, the actual position coordinates are input to the position control system, the actual attitude angle and the actual three-axis speed are input to the speed and attitude control system, the step of "converting the x-direction and y-direction speed errors into desired roll angle and pitch angle, generating horizontal attitude instruction, and calculating total distance instruction according to the speed" is returned until the simulation time reaches the preset flight time, the actual position coordinates corresponding to the preset flight time are output, and the actual position coordinates are taken as actual flight coordinate values.

5. The method of claim 4, wherein, The horizontal attitude instruction is: The total distance instruction is: in, and These are the desired roll angle and the desired pitch angle, respectively. , and These are the speed loop proportional gain, derivative gain, and vertical speed control gain, respectively. , and These are the differences between the expected velocity and the actual velocity in the x, y, and z directions, respectively, representing the velocity error in the three directions; , and Let be the differences between the expected acceleration and the actual acceleration in the x, y, and z directions, respectively, representing the acceleration error in the three directions.

6. The method of claim 4, wherein, The rotor control instruction is: wherein, , and are the longitudinal periodic variable displacement, the lateral periodic variable displacement and the total displacement, respectively; and are the transmission gain factors for the longitudinal periodic variable displacement and the lateral periodic variable displacement, respectively.

7. A trajectory planning system, characterized in that, comprises: The sending module is configured to send flight task information to the path planning program, wherein the flight task information comprises three-dimensional coordinate information of a starting point, a target point, static obstacles and dynamic obstacles, and a path segment step length. The judgment module is configured to judge whether a current time path point reaches an allowable error range of the target point based on the path planning program. The actual flight route coordinate value output module is configured to output actual flight route coordinate values. The planning module is configured to plan a path route by using an artificial potential field method based on the path planning program according to current task information. The actual flight coordinate value determination module is configured to send a current position point coordinate and a next time path point coordinate in the path route to a flight control model, and determine actual flight coordinate values by taking the current position point coordinate as a starting point and the next time path point coordinate as a target point based on the flight control model. The path planning program and the flight control model communicate in real time. The iterative planning module is configured to feed back the actual flight coordinate values to the path planning program and add the actual flight coordinate values to an actual flight route, and return to the step of "judging whether a current time path point reaches an allowable error range of the target point based on the path planning program" until actual flight route coordinate values are output.

8. A computer device comprising: A memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the path route planning method in any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the path route planning method in any one of claims 1-6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the path route planning method in any one of claims 1-6.

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