Method and device for resolving launching parameters of net casting device for capturing moving target through net and computer program product

Abstract

The invention discloses a method and a device for resolving launching parameters of a net casting device for capturing a moving target through a net and a computer program product, and belongs to the technical field of capturing. The method comprises the steps that the movement track of a moving target is predicted according to the position and speed of the moving target, the position of the moving target is the position of the moving target relative to an emitter, and the emitter is used for emitting a net casting device; calculating the relationship between the launching moment, the launching altitude angle, the launching direction angle and the net throwing-out moment of the net throwing device and the motion trail of the net throwing device; under the constraint condition, the launching moment, the launching altitude angle, the launching direction angle and the catching moment of the net casting device are obtained through calculation, and the constraint condition is that the shortest relative distance between the net casting device and the moving target does not exceed the radius of a catching net of the net casting device, and the flight time of the net casting device for catching the moving target is shortest. The device comprises a moving target trajectory calculation module, a net casting device trajectory calculation module and a parameter calculation module. According to the technical scheme, the accuracy of capturing the moving target is improved.

Description

Technical Field

[0001] This invention relates to the field of capture technology, and in particular to a method, apparatus, and computer program product for calculating the launch parameters of a net launcher used for capturing moving targets. Background Technology

[0002] Currently, long-range net-catching technologies commonly employ net-catching projectiles resembling rifle grenades or net-catching missiles resembling rockets. Cylindrical net-catching devices rely on programmable guidance and position acquisition devices to ensure target hits, resulting in complex structures and high costs. This invention uses a disc or pie-shaped net-catching device, which has a simple structure but lacks its own navigation function. Launch parameters need to be determined before launch, thus requiring a calculation method to determine these parameters and ensure accurate target hits. Summary of the Invention

[0003] To address the problems existing in the prior art, the present invention provides a method for calculating the launch parameters of a net launcher for net capture of moving targets, comprising:

[0004] The trajectory of the moving target is predicted based on its position and speed. The position of the moving target is its position relative to the launcher, which is used to launch the net thrower. The relationship between the launch time, launch elevation angle, launch direction angle, and net release time of the net thrower and the trajectory of the net thrower is calculated. Under the constraints, the launch time, launch elevation angle, launch direction angle, and net release time of the net thrower are calculated. The constraints are: the shortest relative distance between the net thrower and the moving target does not exceed the radius of the net thrower's capture net, and the flight time of the net thrower to capture the moving target is minimized.

[0005] In another aspect, the present invention provides a device for calculating the launch parameters of a net launcher for capturing moving targets, comprising:

[0006] A moving target trajectory calculation module is used to predict the trajectory of a moving target based on its position and velocity. The position of the moving target is its position relative to the transmitter, which is used to launch the net launcher.

[0007] The trajectory calculation module for the net thrower is used to calculate the relationship between the launch time, launch elevation angle, launch direction angle, and net throwing time of the net thrower and the trajectory of the net thrower.

[0008] The parameter calculation module is used to calculate the launch time, launch elevation angle, launch direction angle, and net throwing time of the net launcher under constraints. The constraints are: the shortest relative distance between the net launcher and the moving target does not exceed the capture net radius of the net launcher, and the flight time of the net launcher from launch to net throwing is the shortest.

[0009] In another aspect, the present invention provides an electronic device comprising: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-described method for calculating the launch parameters of a net-caster for capturing a moving target.

[0010] In another aspect, the present invention provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the above-described method for calculating the launch parameters of a net-throwing device for capturing moving targets.

[0011] In another aspect, the present invention provides a computer program product containing instructions or programs, which, when executed by a computer, implements the above-described method for calculating the launch parameters of a net-caster for capturing moving targets.

[0012] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows:

[0013] The trajectory of the moving target is predicted based on its position and speed. The position of the moving target is its position relative to the launcher, which is used to launch the net thrower. The relationship between the launch time, launch elevation angle, launch direction angle, and net release time of the net thrower and the trajectory of the net thrower is calculated. Under constraints, the launch time, launch elevation angle, launch direction angle, and net release time of the net thrower are calculated. The constraints are: the shortest relative distance between the net thrower and the moving target does not exceed the radius of the net thrower's capture net, and the flight time of the net thrower to capture the moving target is minimized, thereby improving the accuracy of capturing the moving target. Attached Figure Description

[0014] Figure 1 This is a schematic flowchart of the method for calculating the launch parameters of a net launcher for capturing moving targets, provided in Embodiment 1 of the present invention.

[0015] Figure 2 This is an example of trajectory estimation and prediction for a moving target, an unmanned aerial vehicle, provided in Embodiment 1 of the present invention;

[0016] Figure 3 This is a schematic diagram of the aerodynamics along the velocity coordinate system and the projectile coordinate system provided in Embodiment 1 of the present invention;

[0017] Figure 4 This is a schematic diagram of the flight trajectory of the net thrower provided in Embodiment 1 of the present invention;

[0018] Figure 5 This is a schematic diagram of the flight trajectory curve of the net launcher provided in Embodiment 2 of the present invention;

[0019] Figure 6 This is a schematic diagram of the flight speed curve of the net thrower provided in Embodiment 2 of the present invention;

[0020] Figure 7 This is a schematic diagram of the trajectory inclination angle and trajectory deviation angle curves of the net-throwing device provided in Embodiment 2 of the present invention;

[0021] Figure 8 This is a schematic diagram of the attitude angle curve of the net thrower provided in Embodiment 2 of the present invention;

[0022] Figure 9 This is a schematic diagram of the net-casting parameter calculation device for capturing moving targets provided in Embodiment 3 of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” used in the embodiments of this invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0025] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0026] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if monitoring (the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when monitoring (the stated condition or event)," or "in response to monitoring (the stated condition or event)."

[0027] See Figure 1 This invention provides a method for calculating the launch parameters of a net launcher used for net capture of moving targets, comprising the following steps:

[0028] Step 101: Predict the trajectory of the moving target based on its position and speed.

[0029] For example, the net launcher is disc-shaped or pie-shaped and carries a capture net that can be opened approximately horizontally. The net launcher is launched from a transmitter equipped with a laser rangefinder, which can obtain the distance R between the net launcher and the moving target, the elevation angle ∈, and the direction angle α. The elevation angle ∈ is positively defined as the horizontal plane pointing upwards, and the direction angle α is the angle rotated clockwise from true north to the direction of the moving target. The target's position coordinates relative to the launch coordinate system can then be calculated. The moving target can be a flying drone or bird, or a moving person or animal.

[0030] The predicted velocity of the moving target is calculated using the Kalman filter method, as follows: The combined vector of the moving target's position and velocity at time k is:

[0031] x k =[X k Y k Z k v X，k x Y，k v Z，k ] T

[0032] Among them, (X) k Y k Z k (v) represents the position of the moving target relative to the transmitter. X，k v Y，k v Z，k ) represents the speed of the moving target.

[0033] The state transition equation is expressed as:

[0034] x k+1 =Fx k +w k

[0035] Where x k+1 w is the predicted value of the combined vector. k ~N(0, Q) represents the process noise, which follows a multidimensional Gaussian distribution with a mean of 0 and a covariance matrix of Q. F is the state transition matrix. If the sampling time is set to Δt, then F is expressed as:

[0036]

[0037] The observation equation is expressed as:

[0038] z k =Hx k +v k

[0039] Among them, z k = [X, Y, Z] T x is the actual measured position of the moving target relative to the transmitter. k ~N(0, R) represents measurement noise, which follows a multidimensional Gaussian distribution with a mean of 0 and a covariance matrix of R; H is the observation matrix, used to extract positional information from the combined vector.

[0040]

[0041] Then, the iterative process of the Kalman filter method is performed. The Kalman filter is a two-step recursive estimator, consisting of prediction and update parts, where state prediction is:

[0042]

[0043] in, For time k, the prior state estimate is given. The posterior state estimate at time k-1. Covariance prediction:

[0044] P k|k-1 =FP k-1|k-1 ×F T +Q

[0045] Among them, P k|k-1 Let P be the prior covariance at time k; k-1|k-1 Let be the posterior covariance at time k-1; Q is the process noise covariance.

[0046] Then update the Kalman gain:

[0047] K k =P k|k-1 H T HP k|k-1 H T +R) -1

[0048] Where K k Let R be the Kalman gain and R be the observation noise covariance. State update:

[0049]

[0050] And covariance update:

[0051] P k|k =(IK k H)×P k|k-1

[0052] Where P k|k Let I be the posterior covariance, and let I be the identity matrix.

[0053] The current velocity estimate and future velocity prediction obtained through Kalman filtering are as follows:

[0054]

[0055] Once the future velocity of a moving target is estimated, its flight trajectory can be predicted. For example... Figure 2 The diagram illustrates an example of trajectory estimation and prediction for a moving target, an unmanned aerial vehicle (UAV), in this method.

[0056] Step S102: Determine the trajectory of the net thrower based on its launch time, launch elevation angle, launch direction angle, and the moment the net is thrown.

[0057] First, we analyze the equations of motion of the net launcher during its flight. Since the launch site is relatively close to the moving target, we assume the ground is a flat surface. The equations of motion of the net launcher in the launch coordinate system are as follows:

[0058]

[0059] Where m is the mass of the net thrower, and v x v y v z These represent the velocities of the net thrower along the x-axis, y-axis, and z-axis, respectively. V As resistance, L V For lift, Z V G is the lateral force, g is the acceleration due to gravity, and G is the acceleration due to gravity. VG The transformation matrix between the velocity coordinate system and the launch coordinate system is given by the following formula:

[0060]

[0061] Where α rwd β rwd These are the angle of attack and the sideslip angle, respectively. Since the net launcher flies in a manner similar to a flying saucer, the influence of the Magnus force can be ignored.

[0062] The flight trajectory of the net launcher is divided into two segments: the first segment is from the start of the launcher's operation until the net is launched; the second segment is from the launch of the net until the successful capture of the moving target.

[0063] During the first segment of its flight path, the net launcher is affected by air forces and its own gravity. The aerodynamic force acting on the net launcher is proportional to the dynamic pressure q of the airflow and the reference area S of the net launcher. Therefore, the general vector representation of the aerodynamic force R is:

[0064] R=C R ·q·S

[0065] Where C RThe aerodynamic coefficient is dimensionless, and the dynamic pressure is q = 0.5ρV. 2 , where ρ is the ambient atmospheric density, which can be calculated according to the USSA 1976 Standard Atmosphere Model, and V is the relative velocity between the net thrower and the airflow.

[0066] The velocity of the net launcher during flight is analyzed. The velocity coordinate system of the net launcher is defined according to the velocity of the net launcher relative to the air, and is composed of two parts: the velocity of the launcher relative to the ground and the wind speed. The wind speed can be calculated using environmental functions based on wind field modeling. Figure 3 As shown, regarding the influence of airflow on the flight of the net launcher, the wind vector is decomposed into the launch coordinate system. The velocity vector of the net launcher relative to the ground in the launch coordinate system is... Wind speed vector is Decompose it along the launch coordinate system into Right now:

[0067]

[0068] The launching azimuth of the net launcher is A0, and the wind direction angle is ψ. w The wind speed pitch angle is θ w Then the velocity vector of the net launcher relative to the atmosphere in the launch coordinate system is Right now

[0069]

[0070] Euler angles are used to determine the attitude of the net launcher during flight. Forces or torques can be transformed between coordinate systems using a rotation matrix, based on the net launcher's velocity vector V. rwd Its tilt angle θ in the launch coordinate system can be obtained. rwd and track yaw angle σ rwd The calculation formula is:

[0071]

[0072] The three attitude angles in the launch coordinate system are pitch angle and angle. The yaw angle ψ and roll angle γ can be obtained by integrating the aforementioned equations of motion, and the pitch angle... The initial values ​​are the launch elevation angle, the initial value of the yaw angle ψ is determined by the launch heading angle, and the roll angle γ is 0. Based on the three Euler angle relationship equations between the velocity coordinate system, the projectile coordinate system, and the launch coordinate system:

[0073]

[0074] It can be seen that of the eight Euler angles, only five are independent, and the remaining three Euler angles can be calculated using the three relational equations of Euler angles mentioned above. Based on the aforementioned analysis, given the velocity inclination angle θ... rwd , Track yaw angle σ rwd Pitch angle Given the five Euler angles (yaw angle ψ, roll angle γ), the wind attack angle α can be calculated numerically. rwd Wind sideslip angle β rwd and tilt angle v rwd ,Right now:

[0075]

[0076] Where it can be determined according to α rwd ,β rwd Perform aerodynamic calculations.

[0077] Then, the second segment of the net thrower's path is analyzed: after the net is thrown out, its reference area and resistance increase significantly, resulting in a significant decrease in its speed.

[0078] At this point, the inclination angle θ and yaw angle σ are calculated using the following formulas:

[0079]

[0080] In the formula, V is the velocity of the net thrower in the second segment of the path, v x v y v z Let x, y, and z be the components of the velocity along the x-axis, y-axis, and z-axis, respectively. Based on the three Euler angle equations mentioned above, the angle of attack and sideslip angle can be simplified as follows:

[0081]

[0082] The initial angle of attack of the net launcher is 0, i.e., α = 0. Due to the strong flight attitude stability of the net launcher, its pitch angle changes more slowly than its tilt angle, as shown in the formula:

[0083]

[0084] Based on this, the angle of attack of the net thrower before throwing the net can be calculated, such as Figure 4 As shown, by adjusting the parameter k, such as taking a value of 0.5, the net thrower can be made to have an attitude close to a horizontal attitude when throwing the net, thus achieving a small-angle net opening.

[0085] The analysis of the first and second segments of the net thrower's path shows that, given the launch speed of the net thrower, its flight path can be uniquely determined based on the launch time, launch elevation angle, launch direction angle, and net throwing time.

[0086] Step S103: Under the constraints, calculate the launch time, launch elevation angle, launch direction angle, and net launch time.

[0087] According to the model established for the flight trajectory of the net launcher in step S102, it is necessary to solve for four variables: launch time, launch elevation angle, launch direction angle, and net launching time. Under the constraint of the relative distance between the net launcher and the moving target, multiple solutions may appear in the feasible region. Therefore, it is necessary to add the constraint of the shortest flight time of the net launcher to make the solution unique.

[0088] The index functional is defined as:

[0089]

[0090] Where J is the index functional, r tf For t f The relative distance between the net launcher and the moving target at any given time; t f The relative velocity V between the net launcher and the moving target xd The moment when r = 0, that is, the flight time of the net launcher from launch to the moment the net is released, r tf and t f The relative velocity V is calculated by combining the trajectory of the moving target and the trajectory of the net launcher. k1 is a weighting coefficient that balances the effects of distance and time. xd for:

[0091] V xd =(V m -V t ) T (r m -r t ) / |(r m -r t )|

[0092] Since the aforementioned index functional represents the optimization objective of the net thrower successfully capturing the moving target in the shortest possible time, it contains the constraint r. tf and t f It has a theoretically unique solution and can be solved using the SQP algorithm (Sequential Quadratic Programming).

[0093] The SQP algorithm constructs a quadratic programming subproblem at a given iteration point through a quadratic approximation. By solving this subproblem, the next iteration point is obtained. The algorithm gradually approaches the optimal solution of the optimization problem by solving a series of constructed QP (Quadratic Programming) subproblems.

[0094] First, we construct the QP subproblems. Quadratic programming refers to the problem of finding the minimum value of a quadratic function Q(x) under linear equality and inequality constraints. The formula is as follows:

[0095]

[0096] According to the optimization index design scheme, G in the above formula is a zero matrix, g = [1, k1], and we assume a1, a2, ..., a m Linearly independent, x = (r tf ,tf) T b1, b2, ..., b p Let m be a known constant and m ≤ 2, p ≥ m.

[0097] Then, the QP subproblem is solved.

[0098] For example, the solution process for the above QP subproblem can be as follows:

[0099] 1. First, select the initial feasible point x(1) of the problem, and determine the index set J1 at point x(1) such that a i (i∈J1) are linearly independent, let k=1;

[0100] 2. Solve positive definite quadratic programming problems containing only equality constraints.

[0101]

[0102] Let its solution be d(k);

[0103] 3. If d(k) = 0, then calculate the corresponding multiplier. Proceed to step 4, otherwise proceed to step 5;

[0104] 4. If If the condition is met, then x(k) is the optimal solution, and the calculation ends; otherwise, the solution is obtained. Let x(k+1) = x(k), J k+1 =J k k = k + 1, return to step 2;

[0105] 5. If satisfy Then let And find the index set J at point x(k+1). k+1 Let k = k + 1, then return to step 2; otherwise, proceed to step 6.

[0106] 6. Calculate the step size Let x(k+1) = x(k) + α k d(k), and find the index set J at point x(k+1). k+1 Let k = k + 1, then return to step 2.

[0107] Using the above-mentioned sequential quadratic optimization method, the launch time, launch elevation angle, launch direction angle, and net-throwing time of the net thrower under the constraints can be obtained.

[0108] In another embodiment of this application, a simulation verification is performed on the method for calculating the launch parameters of a net launcher used to capture a moving target. The moving target is a drone. It is assumed that the initial position of the drone is [100, 20, 20], its flight speed is [-1; 0; -5], the launch speed of the net launcher is 50 m / s, the drag coefficient CD is 0.3, the lift coefficient CL is 0.15, and the reference area is 0.01 m². 2 With a drag coefficient CD of 0.15, a lift coefficient CL of 0, a reference area of ​​0.5, and a net thrower weight of 0.2 kg, calculations were performed to verify and optimize the solution, resulting in the following:

[0109] Launch time is 0 (i.e., it can be launched immediately);

[0110] Launch direction angle: 0.0214216237734816 rad (0 for true north, positive for clockwise);

[0111] Launch elevation angle: 0.606439300603241 rad;

[0112] The net was thrown out after launch in 4.06993405987267 seconds.

[0113] in, Figure 5 The flight trajectory curve of the net launcher. Figure 6 The flight speed curve of the net thrower. Figure 7 The trajectory inclination and deviation curves of the net launcher. Figure 8 The image shows the attitude angle curve of the net launcher. Simulation verification shows that since the net launcher has no guidance control, environmental factors such as UAV maneuvering and wind, as well as inaccurate calculation of the net launcher parameters, will cause the final position deviation. Therefore, as long as the endpoint position deviation is less than the capture net radius, the UAV can be effectively captured.

[0114] See Figure 2 An embodiment of the present invention provides a device for calculating the launch parameters of a net launcher for capturing moving targets, the device comprising:

[0115] A moving target trajectory calculation module is used to predict the trajectory of a moving target based on its position and velocity. The position of the moving target is its position relative to the transmitter, which is used to launch the net launcher.

[0116] The trajectory calculation module for the net thrower is used to calculate the relationship between the launch time, launch elevation angle, launch direction angle, and net throwing time of the net thrower and the trajectory of the net thrower.

[0117] The parameter calculation module is used to calculate the launch time, launch elevation angle, launch direction angle, and net throwing time of the net launcher under constraints. The constraints are: the shortest relative distance between the net launcher and the moving target does not exceed the capture net radius of the net launcher, and the flight time of the net launcher from launch to net throwing is the shortest.

[0118] It should be noted that the above-described embodiment of the net-casting device for calculating the launch parameters of a moving target is only illustrated by the division of the functional modules described above. In practical applications, the functions described above can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the net-casting device for calculating the launch parameters of a moving target provided in the above-described embodiment and the method embodiment for calculating the launch parameters of a moving target share the same concept; the specific implementation process is detailed in the method embodiment and will not be repeated here.

[0119] This invention provides an electronic device comprising a memory and a processor. The processor is connected to the memory and configured to execute the above-described method for calculating the launch parameters of a net launcher for capturing moving targets, based on instructions stored in the memory. The number of processors can be one or more, and the processor can be single-core or multi-core. The memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and includes at least one memory chip. Examples of computer-readable media described below are possible examples of such memory.

[0120] This invention provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set. The at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the above-described method for calculating the launch parameters of a net launcher used for capturing moving targets. The computer-readable storage medium includes both permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transfer medium, which can be used to store information accessible by a computing device.

[0121] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the methods described in the aforementioned embodiments of the method for calculating the launch parameters of a net-caster for capturing moving targets.

[0122] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. A method for calculating the launch parameters of a net launcher used for net capture of moving targets, characterized in that, The method includes: The trajectory of the moving target is predicted based on the position and speed of the moving target, wherein the position of the moving target is the position of the moving target relative to the launcher, and the launcher is used to launch the net thrower; Calculate the relationship between the launch time, launch elevation angle, launch direction angle, and net-casting time of the net thrower and the trajectory of the net thrower. Under constraints, the launch time, launch elevation angle, launch direction angle, and net release time of the net thrower are calculated. The constraints are: the shortest relative distance between the net thrower and the moving target does not exceed the capture net radius of the net thrower, and the flight time of the net thrower to capture the moving target is minimized.

2. The method according to claim 1, characterized in that, The method of predicting the trajectory of a moving target based on its position and velocity includes: Based on the position and velocity of the moving target, the position and velocity of the moving target at the nth time in the future are calculated using the Kalman filter method, thus obtaining the position and velocity of the moving target at the next n times, where n is a positive integer; The trajectory of the moving target is obtained based on the position and velocity of the moving target at the next n time points.

3. The method according to claim 1, characterized in that, The calculation of the relationship between the launch time, launch elevation angle, launch direction angle, and net-casting time of the net thrower and the trajectory of the net thrower includes: The equation of motion of the net launcher during its flight is obtained based on its launch velocity. The Euler angles during the flight of the net launcher are obtained based on the launch elevation angle, launch direction angle, and the equation of motion. The trajectory of the net thrower is obtained based on the launch time of the net thrower, the release time of the net, the equation of motion, and the Euler angles.

4. The method according to claim 3, wherein obtaining the equation of motion of the net launcher during its flight based on the launch velocity of the net launcher comprises: The equation of motion is obtained from the following formula: Where m is the mass of the net thrower, and v x v y v z The velocities of the net thrower along the x-axis, y-axis, and z-axis are respectively, D V As resistance, L V For lift, Z V G is the lateral force, g is the acceleration due to gravity, and G is the acceleration due to gravity. VG This is the transformation matrix between the velocity coordinate system and the launch coordinate system; The transformation matrix between the velocity coordinate system and the launch coordinate system is: Where α vwd β rwd These are the angle of attack and sideslip angle during the flight of the net launcher.

5. The method according to claim 3, wherein obtaining the Euler angles during the flight of the net launcher based on the launch elevation angle, launch direction angle, and the equation of motion comprises: The Euler angles of the first and second segments of the net thrower during flight are obtained based on the launch elevation angle, launch direction angle, and the equation of motion. The first segment of the path is the path from the launch of the net thrower to the moment before the net thrower releases the net. The second path segment is the path from when the net thrower throws out the net until the net thrower captures the moving target; The Euler angles of the first path segment of the net thrower are: Where, α rwd β rwd v rwd θ rwd σ rwd , ψ and γ represent the angle of attack, sideslip angle, bank angle, velocity inclination angle, track yaw angle, pitch angle, yaw angle, and roll angle of the first path segment, respectively. rwdx V rwdy V rwdz These are the components of the velocity vector of the net launcher relative to the atmosphere in the launch coordinate system along the coordinate axes x, y, and z, respectively; the pitch angle is... The initial value is the launch elevation angle, the initial value of the yaw angle ψ is determined by the launch direction angle, and the roll angle γ is 0; The Euler angles of the second path segment of the net thrower are: Among them, α, β, ν, θ, σ, ψ and γ represent the angle of attack, sideslip angle, bank angle, velocity angle, track yaw angle, pitch angle, yaw angle, and roll angle of the second path segment, respectively; V is the velocity of the net thrower in the second path segment. x v y v z These represent the components of velocity along the x-axis, y-axis, and z-axis, respectively.

6. The method according to claim 1, characterized in that, The constraints include: Where J is the constraint condition, r tf For t f The relative distance between the net thrower and the moving target at time t; f The flight time of the net thrower from the moment of launch to the moment the net is thrown.

7. The method according to claim 1, characterized in that, Under the constraints, the calculation of the net launch time, launch elevation angle, launch direction angle, and net launch time includes: The calculation method is a sequence quadratic optimization algorithm.

8. A device for calculating the launch parameters of a net launcher used for capturing moving targets, characterized in that, The device includes: A moving target trajectory calculation module is used to predict the trajectory of a moving target based on its position and velocity. The position of the moving target is its position relative to the transmitter, which is used to launch the net launcher. The trajectory calculation module for the net thrower is used to calculate the relationship between the launch time, launch elevation angle, launch direction angle, and net throwing time of the net thrower and the trajectory of the net thrower. The parameter calculation module is used to calculate the launch time, launch elevation angle, launch direction angle, and net throwing time of the net launcher under constraints. The constraints are: the shortest relative distance between the net launcher and the moving target does not exceed the capture net radius of the net launcher, and the flight time of the net launcher from launch to net throwing is the shortest.

9. An electronic device, characterized in that, The electronic device includes: a processor and a memory for storing executable instructions of the processor; The processor is configured to execute the net launcher parameter calculation method for net capture of a moving target as described in any one of claims 1-7.

10. A computer program product containing instructions, characterized in that, When the computer program product is run on a computer, the method as described in any one of claims 1-7 is executed by the computer.

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