Method and system for escorting search and rescue based on racecourse route cooperation
By employing a racecourse-based flight path coordination method for escort and search and rescue, the aircraft is assisted in flying along a racecourse-shaped flight path. This solves the problems of poor helicopter navigation accuracy and high risk, and achieves the effects of real-time monitoring and reduced search and rescue risks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- THE 28TH RES INST OF CHINA ELECTRONICS TECH GROUP CORP
- Filing Date
- 2026-04-28
- Publication Date
- 2026-06-02
AI Technical Summary
In existing search and rescue methods, helicopter navigation accuracy is poor and auxiliary aircraft cannot monitor the situation on both sides of the search and rescue helicopter in real time, resulting in high search and rescue risks.
The escort and search and rescue calculation method based on racecourse route coordination is adopted to assist the aircraft in flying along the racecourse-shaped route. By constructing the flight speed relationship, the situation on both sides of the search and rescue helicopter can be monitored in real time, thereby reducing the search and rescue risk.
Within a single calculation cycle, the auxiliary aircraft can monitor the situation on both sides of the search and rescue helicopter in real time, reducing search and rescue risks and improving search and rescue accuracy and safety.
Smart Images
Figure CN122135599A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aviation, and in particular to a calculation method and system for escort and search and rescue based on racecourse route coordination. Background Technology
[0002] With globalization, industries such as deep-sea fishing, ocean shipping, and air transport have flourished, leading to a corresponding increase in the incidence of accidents. In the vast ocean, remote and rugged mountainous areas, or complex disaster sites, the ability to quickly and accurately locate distressed targets and implement effective rescue operations is crucial to protecting people's lives and property.
[0003] To achieve the goal of rapid search and discovery, Chinese invention patent CN116541637B discloses a method for calculating the parachute landing search and rescue area, used to quickly calculate the parachute landing point after an air crash; Chinese invention patent CN118657261B discloses a method for calculating the search and rescue area for aircraft crashes on land, used to quickly calculate the crash search and rescue area; and Chinese invention patent CN117591795B discloses a method for estimating the success rate of large-scale maritime search and rescue involving multiple aircraft types. These three Chinese invention patents include methods for rapidly calculating search and rescue areas, as well as methods for balancing search and rescue success rates and resource allocation, which can assist search and rescue commanders in quickly and accurately deploying search and rescue resources, thereby improving the search and rescue success rate.
[0004] However, in current search and rescue operations, quickly and accurately delineating the search area does not guarantee a successful search and rescue operation. To enable rapid response, adaptability to various terrains, and expansion of the rescue area, helicopters are commonly used in current technologies for search and rescue. However, existing helicopters, due to their high maneuverability, are prone to accumulating errors and are susceptible to interference from various signal sources, resulting in poor navigation accuracy. With technological advancements, significant breakthroughs have been made in the technology of auxiliary aircraft (such as drones) capable of performing escort missions. These auxiliary aircraft can provide navigation for helicopters during search and rescue missions, compensating for the helicopters' poor navigation accuracy. In the search and rescue field, escort refers to the auxiliary aircraft providing navigation information and other auxiliary functions to helicopters performing missions, playing a crucial role in routine flights and search and rescue operations.
[0005] Chinese invention patent CN119673000B discloses a dog-leg-based escort search and rescue calculation method and system. This method involves deploying an escort auxiliary aircraft on the flank of a search and rescue helicopter. The auxiliary aircraft flies along a dog-leg route to provide escort for the search and rescue helicopter. However, this method has the following problems: 1. Within a calculation cycle, the auxiliary aircraft can only fly on one side of the search and rescue helicopter. Although it saves auxiliary aircraft resources and provides escort, this method cannot monitor the situation on both sides of the search and rescue helicopter in real time, increasing the search and rescue risk; 2. Due to the special nature of the dog-leg route, this method cannot increase the number of auxiliary aircraft to achieve real-time monitoring of the situation on both sides of the search and rescue helicopter, further increasing the risk to the search and rescue helicopter. Summary of the Invention
[0006] Purpose of the invention: The purpose of this invention is to provide a search and rescue calculation method and system based on racecourse route coordination, which has high calculation accuracy and can provide more comprehensive escort for search and rescue helicopters.
[0007] Technical Solution: The "racecourse" or "racecourse shape" described in this invention refers to a shape composed of two semicircles of the same diameter and two parallel straight lines. The radius of the semicircle in the racecourse route is R (the radius R of the semicircle in the racecourse route can also be called the escort radius of the auxiliary aircraft), and the distance between the center of the semicircle and the center of the racecourse route is L. The route described in this invention refers to the flight path of the search and rescue helicopter or auxiliary aircraft; the racecourse route described in this invention refers to the racecourse-shaped or "racecourse-shaped" route taken by the auxiliary aircraft relative to the search and rescue helicopter. A flight cycle described in this invention refers to the time interval between two consecutive times when the auxiliary aircraft and the search and rescue helicopter are in the same relative position. In this invention, the speed of the search and rescue helicopter and the auxiliary aircraft flying along the straight line is constant.
[0008] The escort and search and rescue calculation method based on racecourse route coordination described in this invention comprises the following steps: Step 1: Obtain the flight altitude H of the search and rescue helicopter hel The speed V of uniform flight hel Search and rescue flight information, including flight course and other information; Step 2: Set the flight altitude H of the auxiliary aircraft according to the escort constraints. uav and auxiliary flight information such as initial heading; Step 3: Within one flight cycle, establish the flight speed V of the auxiliary aircraft. uav Wind speed V in the same direction as the search and rescue helicopter's flight path W The total length S of the racecourse route uavRelationship; Step 4: Set the first total length S1 and the second total length S2 of the racecourse route, and calculate the maximum flight speed V of the auxiliary aircraft. max Minimum flight speed V of auxiliary aircraft min and the iteration step size δ of the flight speed; Step 5: Extract the relational expression established in Step 3, and take the wind speed V in the same direction as the flight direction of the search and rescue helicopter. W The value is the actual value, taken as V. uav = V1= V min Where V1 refers to the flight speed of the auxiliary aircraft participating in the calculation for the first time, V min The minimum flight speed V of the auxiliary aircraft obtained after the fourth step. min The corresponding racetrack length S is obtained. V The value; Step 6: Determine the length S of the racetrack obtained in Step 5. V The relationship between S and the first total length S1 of the racecourse route, if S V If S ≤ S1, then proceed to step seven. V If >S1, proceed to step eight; Step 7: Iterate to assist the flight speed V of the aircraft uav Take the flight speed V of the auxiliary aircraft. uav = V n+1 =V n +δ, where V n+1 V represents the flight speed of the auxiliary aircraft participating in the calculation for the (N+1)th time. n Returning to step 5, the flight speed of the auxiliary aircraft participating in the Nth calculation is calculated as V (from the N+1th calculation). n+1 The value of V in the Nth iteration of the calculation n After obtaining the value, it continues to participate in the calculation; Step 8: Output the calculation results and end the operation.
[0009] Furthermore, in the second step, the flight altitude H of the auxiliary aircraft... uav greater than the flight altitude H of the search and rescue helicopter hel Since auxiliary aircraft are typically smaller than search and rescue helicopters, they must fly at a higher altitude than the search and rescue helicopters to avoid interference from the airflow generated by the helicopters.
[0010] Furthermore, 300 feet ≤ H uav - H hel ≤500 feet. That is, 90 meters ≤ H uav - H hel ≤150 meters.
[0011] Furthermore, in the second step, the initial heading of the auxiliary aircraft is aligned with the search heading of the search and rescue helicopter.
[0012] Furthermore, the third step includes the following sub-steps: (A) Calculate the flight time t1 of the search and rescue helicopter within one flight cycle: t1 = (2L + R) / V hel Where R is the radius of the semicircle in the racecourse route, and L is the distance between the center of the semicircle in the racecourse route and the center of the racecourse route. (B) Calculate the flight time t2 of the auxiliary aircraft within one flight cycle: t2 = (4L + R) / (V) uav +V W ) + 2L / (V) uav -V W )+t c ; (C) Constructing t1 = t2, we obtain the following formula: (2L + R) / V hel = (4L + R) / (V) uav + V W ) + 2L / (V) uav -V W )+t c ; (D) Combine the formula obtained in step C with 2R = (V uav Solving the system of equations (+10) / 100, the resulting relation is denoted as: f(V) uav S uav ) = 0. Where t is c The total time for the auxiliary aircraft to fly along the circular arc of the racecourse route is due to V in the relationship. hel As a fixed value, the R value is related to V. uav The value of V is related, therefore, in the relational expression... uav The value is only related to V W It is related to the value of L.
[0013] Furthermore, the second total length of the racecourse route described in step four is S2 = R + 2πR, i.e., L = 0.
[0014] Furthermore, in the fourth step, the first total length S1 of the racecourse route is set by setting an upper limit for the L value.
[0015] Furthermore, step four includes the following sub-steps: (a) Set the number of iterations N; (b) Take the wind speed V in the same direction as the flight direction of the search and rescue helicopter.W The value is 0, and the second total length S2 of the racecourse route is substituted into the relationship constructed in the third step to obtain the maximum flight speed V of the auxiliary aircraft. max ; (c) Take the wind speed V in the same direction as the flight direction of the search and rescue helicopter. W The value of is 0, and the first total length S1 of the racecourse route is substituted into the relational formula constructed in the third step to obtain the minimum flight speed Vmin of the auxiliary aircraft. (d) The iteration step size of the flight speed is calculated according to the following formula: ,in This is for rounding down.
[0016] The escort and search and rescue calculation system based on racecourse route coordination includes a display module, a calculation module, and a database. The calculation module has built-in the escort and search and rescue calculation method based on racecourse route coordination. The calculation module is bidirectionally connected to the database and bidirectionally connected to the display module. The display module is used to visualize the results of the calculation module.
[0017] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. Within one calculation cycle, the auxiliary aircraft can fly around the search and rescue helicopter, and can monitor the situation on both sides of the search and rescue helicopter in real time, reducing the search and rescue risk of the search and rescue helicopter; 2. Since the flight path of the auxiliary aircraft is closed, several auxiliary aircraft can be deployed around the search and rescue helicopter to realize real-time monitoring of the surrounding situation of the search and rescue helicopter and reduce the risk of the search and rescue helicopter. Attached Figure Description
[0018] Figure 1 This is a flowchart of the present invention.
[0019] Figure 2 This is a schematic diagram of the search and rescue helicopter and the auxiliary aircraft flying relative to each other in this invention.
[0020] Figure 3 This is a schematic diagram of the escort and search and rescue calculation system based on racecourse route coordination in this invention.
[0021] Among them: 1. Search and rescue helicopters; 2. Auxiliary aircraft. Detailed Implementation
[0022] The technical solution of the present invention will be further described below with reference to the accompanying drawings.
[0023] See appendix Figures 1-3 The escort and search and rescue calculation method based on racecourse route coordination shown in this invention comprises the following steps: Step 1: Obtain the flight altitude H of search and rescue helicopter 1 helThe speed V of uniform flight hel Search and rescue flight information, including flight course and other information; Step 2: Set the flight altitude H of auxiliary aircraft 2 according to the escort constraints. uav and auxiliary flight information such as initial heading; Step 3: Within one flight cycle, establish the flight speed V of auxiliary aircraft 2. uav Wind speed V in the same direction as the flight direction of search and rescue helicopter 1 W The total length S of the racecourse route uav Relationship; Step 4: Set the first total length S1 and the second total length S2 of the racecourse route, and calculate the maximum flight speed V of the auxiliary aircraft 2. max The minimum flight speed V of auxiliary aircraft 2 min and the iteration step size δ of the flight speed; Step 5: Extract the relationship established in Step 3, and take the wind speed V in the same direction as the flight direction of search and rescue helicopter 1. W The value is the actual value, taken as V. uav = V1= V min Where V1 refers to the flight speed of the auxiliary aircraft 2, which is participating in the calculation for the first time, V min The minimum flight speed V of the auxiliary aircraft 2 obtained after the fourth step. min The corresponding racetrack length S is obtained. V The value; Step 6: Determine the length S of the racetrack obtained in Step 5. V The relationship between S and the first total length S1 of the racecourse route, if S V If S ≤ S1, then proceed to step seven. V If >S1, proceed to step eight; Step 7: Iterate the flight speed V of auxiliary aircraft 2 uav Take the flight speed V of auxiliary aircraft 2 uav = V n+1 = V n +δ, where V n+1 V represents the flight speed of auxiliary aircraft 2 in the (N+1)th calculation. n Return to step 5 for the flight speed of auxiliary aircraft 2 participating in the Nth calculation, and return to V for the (N+1)th calculation. n+1 The value of V in the Nth iteration of the calculation n After obtaining the value, it continues to participate in the calculation; Step 8: Output the calculation results and end the operation.
[0024] Optionally, in the second step, the flight altitude H of the auxiliary aircraft 2 is...uav greater than the flight altitude H of search and rescue helicopter 1 hel Since the auxiliary aircraft 2 is usually smaller than the search and rescue helicopter 1, in order to avoid interference from the airflow generated by the search and rescue helicopter 1, the auxiliary aircraft 2 must fly at a higher altitude than the search and rescue helicopter 1.
[0025] Optional, 300 feet ≤ H uav - H hel ≤500 feet. That is, 90 meters ≤ H uav - H hel ≤150 meters.
[0026] Optionally, in the second step, the initial heading of the auxiliary aircraft 2 is the same as the search heading of the search and rescue helicopter 1.
[0027] Optionally, the third step may include the following sub-steps: (A) Calculate the flight time t1 of search and rescue helicopter 1 within one flight cycle: t1 = (2L + R) / V hel Where R is the radius of the semicircle in the racecourse route, and L is the distance between the center of the semicircle in the racecourse route and the center of the racecourse route. (B) Calculate the flight time t2 of auxiliary aircraft 2 within one flight cycle: t2 = (4L + R) / (V) uav +V W ) + 2L / (V) uav -V W )+t c ; (C) Constructing t1 = t2, we obtain the following formula: (2L + R) / V hel = (4L + R) / (V) uav + V W ) + 2L / (V) uav -V W )+t c ; (D) Combine the formula obtained in step C with 2R = (V uav Solving the system of equations (+10) / 100, the resulting relation is denoted as: f(V) uav S uav ) = 0. Where t is c The total time for auxiliary aircraft 2 to fly along the circular arc of the racecourse route is due to V in the relationship. hel As a fixed value, the R value is related to V. uav The value of V is related, therefore, in the relational expression... uav The value is only related to V W It is related to the value of L.
[0028] Optionally, in the fourth step, the second total length of the racecourse route is S2 = R + 2πR, i.e., L = 0.
[0029] Optionally, in the fourth step, the first total length S1 of the racecourse route is set by setting an upper limit for the value of L.
[0030] Optionally, step four may include the following sub-steps: (a) Set the number of iterations N; (b) Take the wind speed V in the same direction as the flight direction of the search and rescue helicopter. W The value is 0, and the second total length S2 of the racecourse route is substituted into the relationship constructed in the third step to obtain the maximum flight speed V of the auxiliary aircraft. max ; (c) Take the wind speed V in the same direction as the flight direction of the search and rescue helicopter. W The value of is 0, and the first total length S1 of the racecourse route is substituted into the relational formula constructed in the third step to obtain the minimum flight speed Vmin of the auxiliary aircraft. (d) The iteration step size of the flight speed is calculated according to the following formula: ,in This is for rounding down.
[0031] The present invention also illustrates an escort and search and rescue calculation system based on racecourse route coordination, including a display module, a calculation module and a database. The calculation module has a built-in escort and search and rescue calculation method based on racecourse route coordination. The calculation module is bidirectionally connected to the database and bidirectionally connected to the display module. The display module is used to visualize the results of the calculation module.
[0032] Example
[0033] The following values have been substituted with specific explanations.
[0034] The calculation method for escort and search and rescue based on racecourse route coordination is as follows: Step 1: Assuming the batch number of search and rescue helicopter 1 is 6001, after retrieving information from the database, obtain the flight altitude H of search and rescue helicopter 1. hel = 3km (kilometers), constant speed V hel = 100km / h (kilometers per hour), flight heading 90 degrees to the right from due north (i.e., from west to east), etc. Search and rescue flight information; Step 2: Based on the escort constraints, set the flight altitude of auxiliary aircraft 2 to be 1100m higher than that of the search and rescue helicopter, i.e., the flight altitude H of auxiliary aircraft 2. uav= 3.1km (kilometers), initial heading is due north to the right 90 degrees (i.e., from west to east), and other auxiliary flight information; Step 3: Within one flight cycle, establish the flight speed V of auxiliary aircraft 2. uav Wind speed V in the same direction as the flight direction of search and rescue helicopter 1 W The total length S of the racecourse route uav Relationship: f(V) uav S uav The value is 0, and the specific sub-steps are as follows: (A) Calculate the flight time t1 of search and rescue helicopter 1 within one flight cycle: t1 = (2L + R) / V hel Where R is the radius of the semicircle in the racecourse route, and L is the distance between the center of the semicircle in the racecourse route and the center of the racecourse route. (B) Calculate the flight time t2 of auxiliary aircraft 2 within one flight cycle: t2 = (4L + R) / (V) uav +V W ) + 2L / (V) uav -V W +120 / 3600; (C) Constructing t1 = t2, we obtain the following formula: (2L + R) / V hel = (4L + R) / (V) uav + V W ) + 2L / (V) uav -V W +120 / 3600; (D) Combine the formula obtained in step C with 2R = (V uav Solving the system of equations (+10) / 100, the resulting relation is denoted as: f(V) uav S uav =0. Since the auxiliary aircraft 2 flies along the arc of the racecourse route at a speed of 3° / second centered on the center point of the arc, and this is converted to hours, t in this embodiment is... c = 120 / 3600.
[0035] Step 4: Set the first total length S1 and the second total length S2 of the racecourse route, and calculate the maximum flight speed V of the auxiliary aircraft 2. max The minimum flight speed V of auxiliary aircraft 2 min The iteration step size δ for the flight speed includes the following sub-steps: (a) Set the number of iterations N = 100; (b) Take the wind speed V in the same direction as the flight direction of search and rescue helicopter 1. W The value is 0, and the second total length of the racecourse route S2 = R + 2πR (i.e., L = 0) is substituted into the relation constructed in the third step, that is, the following two formulas are solved simultaneously: , The minimum flight speed V of auxiliary aircraft 2 is obtained. max ≈ 750 km / h, R ≈ 3.84 km; (c) Take the wind speed V in the same direction as the flight direction of search and rescue helicopter 1. W The value is 0, and the first total length of the racecourse route, S1 = 5.4 kilometers (i.e., 3 nautical miles), is substituted into the relationship constructed in the third step, that is, the following two formulas are solved simultaneously: , The maximum flight speed V of auxiliary aircraft 2 is obtained. min ≈ 363 km / h, R ≈ 1.91 km; (d) The iteration step size of the flight speed is calculated according to the following formula: ; Step 5: Extract the relationship established in Step 3, and take the wind speed V in the same direction as the flight direction of search and rescue helicopter 1. W The actual value is 18.52 km / h (i.e., 10 knots). Let V be the value we are using. uav = V1= V min = 363 km / h, thus obtaining the corresponding racetrack length S V = 5.2 kilometers (i.e. 2.8 nautical miles); Step 6: Determine the length S of the racetrack obtained in Step 5. V The relationship between S and the first total length S1 of the racecourse route, if S V If S ≤ S1, then proceed to step seven. V If >S1, proceed to step eight; Step 7: Due to the judgment of S in step 6 V ≤S max The flight speed V of the iterative auxiliary aircraft 2 uav Take the flight speed V of auxiliary aircraft 2 uav = V2 = V1 + δ = 366 km / h. Return to step 5, iterate the value of 366 km / h to 363 km / h, and continue to participate in the calculation. Step 8: Output the calculation results and end the operation.
[0036] In this embodiment, the auxiliary aircraft 2 is set to fly at a speed of 3° / s along the arc of the racecourse route, that is, it flies 3° around the center of the semicircle every second. In other embodiments, the auxiliary aircraft 2 can also fly at other speeds, for example, the auxiliary aircraft 2 can fly at the same speed along the arc of the racecourse route as at a straight line, in which case t c = 2πR / V uav .
[0037] It should be noted that in this embodiment, the unit of length can be kilometers or nautical miles, and they should be consistent in calculation. 1 nautical mile = 1.8 kilometers. Similarly, in this embodiment, the unit of speed can be kilometers per hour or knots. 1 knot = 1.8 kilometers per hour, that is, 1 knot represents a displacement of 1 nautical mile in 1 hour.
Claims
1. A calculation method for escort and search and rescue based on racecourse route coordination, characterized in that: It includes the following steps: Step 1: Obtain search and rescue flight information from search and rescue helicopters; Step 2: Set the auxiliary flight information for the auxiliary aircraft according to the escort constraints; Step 3: Within one flight cycle, establish the flight speed V of the auxiliary aircraft. uav Wind speed V in the same direction as the search and rescue helicopter's flight path W The total length S of the racecourse route uav Relationship; Step 4: Set the first total length S1 and the second total length S2 of the racecourse route, and calculate the maximum flight speed V of the auxiliary aircraft. max Minimum flight speed V of auxiliary aircraft min and the iteration step size δ of the flight speed; Step 5: Extract the relational expression established in Step 3, and take the wind speed V in the same direction as the flight direction of the search and rescue helicopter. W The value is the actual value, taken as V. uav = V1= V min Where V1 refers to the flight speed of the auxiliary aircraft participating in the calculation for the first time, V min The minimum flight speed V of the auxiliary aircraft obtained after the fourth step. min The corresponding racetrack length S is obtained. V The value; Step 6: Determine the length S of the racetrack obtained in Step 5. V The relationship between S and the first total length S1 of the racecourse route, if S V If S ≤ S1, then proceed to step seven. V If >S1, proceed to step eight; Step 7: Iterate to assist the flight speed V of the aircraft uav Take the flight speed V of the auxiliary aircraft. uav = V n+1 = V n +δ, where V n+1 V represents the flight speed of the auxiliary aircraft participating in the calculation for the (N+1)th time. n Returning to step 5, the flight speed of the auxiliary aircraft participating in the Nth calculation is calculated as V (from the N+1th calculation). n+1 The value of V in the Nth iteration of the calculation n After obtaining the value, it continues to participate in the calculation; Step 8: Output the calculation results and end the operation.
2. The escort and search and rescue calculation method based on racecourse route coordination according to claim 1, characterized in that: In the second step, the flight altitude H of the auxiliary aircraft uav greater than the flight altitude H of the search and rescue helicopter hel .
3. The escort and search and rescue calculation method based on racecourse route coordination according to claim 2, characterized in that: 300 feet ≤ H uav - H hel ≤500 feet.
4. The escort and search and rescue calculation method based on racecourse route coordination according to claim 1, characterized in that: In the second step, the initial heading of the auxiliary aircraft is the same as the search heading of the search and rescue helicopter.
5. The escort and search and rescue calculation method based on racecourse route coordination according to claim 1, characterized in that: The third step includes the following sub-steps: (A) Calculate the flight time t1 of the search and rescue helicopter within one flight cycle: t1 = (2L + R) / V hel Where R is the radius of the semicircle in the racecourse route, and L is the distance between the center of the semicircle in the racecourse route and the center of the racecourse route. (B) Calculate the flight time t2 of the auxiliary aircraft within one flight cycle: t2 = (4L + R) / (V uav +V W ) + 2L / (V uav -V W )+t c ; (C) Constructing t1 = t2, we obtain the following formula: (2L + R) / V hel = (4L + R) / (V) uav + V W ) + 2L / (V uav -V W )+t c ; (D) Combine the formula obtained in step C with 2R = (V uav Solving the system of equations (+10) / 100, the resulting relation is denoted as: f(V) uav S uav =0.
6. The escort and search and rescue calculation method based on racecourse route coordination according to claim 1, characterized in that: The second total length of the racecourse route mentioned in step four is S2 = R + 2πR, that is, L = 0.
7. The escort and search and rescue calculation method based on racecourse route coordination according to claim 1, characterized in that: In the fourth step, the first total length S1 of the racecourse route is set by setting an upper limit for the L value.
8. The escort and search and rescue calculation method based on racecourse route coordination according to claim 1, characterized in that: Step four includes the following sub-steps: (a) Set the number of iterations N; (b) Take the wind speed V in the same direction as the flight direction of the search and rescue helicopter. W The value is 0, and the second total length S2 of the racecourse route is substituted into the relationship constructed in the third step to obtain the maximum flight speed V of the auxiliary aircraft. max ; (c) Take the wind speed V in the same direction as the flight direction of the search and rescue helicopter. W The value of is 0, and the first total length S1 of the racecourse route is substituted into the relational formula constructed in the third step to obtain the minimum flight speed Vmin of the auxiliary aircraft. (d) The iteration step size of the flight speed is calculated according to the following formula: ,in This is for rounding down.
9. A search and rescue calculation system for escort missions based on racecourse route coordination, characterized in that: It includes a display module, a calculation module, and a database. The calculation module has a built-in escort and search and rescue calculation method based on racecourse route coordination as described in any one of claims 1-8. The calculation module is bidirectionally connected to the database and bidirectionally connected to the display module. The display module is used to visualize the results of the calculation module.