A Time-Optimal Trajectory Planning Method for Flapping-Wing Aircraft Based on Time-Varying Wind Field Information

By using a trajectory planning method based on time-varying wind field information, the problem of flapping-wing aircraft being unable to actively respond to wind fields in complex wind fields was solved, and optimal trajectory planning under time-varying wind fields was achieved, improving the mission efficiency and reliability of the aircraft.

CN122306074APending Publication Date: 2026-06-30UNIV OF SCI & TECH BEIJING
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
UNIV OF SCI & TECH BEIJING
Filing Date
2026-03-31
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

The existing flight control system for flapping-wing aircraft fails to effectively cope with time-varying wind fields during mission planning, causing the aircraft to be unable to actively adapt to the wind field and prolonging the mission time.

Method used

A time-optimal trajectory planning method for flapping-wing aircraft based on time-varying wind field information is adopted. By establishing a time-varying wind field model, a mass kinematic model and the Pontryagin minimum principle, the optimal trajectory form is derived, and the trajectory parameters are solved using Newton's method to achieve trajectory planning.

Benefits of technology

It reduces speed loss due to wind field disturbances, shortens mission execution time, meets the kinematic constraints of flapping-wing aircraft, and improves the reliability and efficiency of trajectory planning.

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Abstract

This invention discloses a time-optimal trajectory planning method for flapping-wing aircraft based on time-varying wind field information, relating to the field of flapping-wing aircraft technology. The method includes: establishing a time-varying wind field model, outputting continuous wind speed and direction that vary with time; establishing a particle kinematic model of the flapping-wing aircraft in both inertial and air coordinate systems based on the time-varying wind field model, and achieving the transformation between the two coordinate systems by designing a virtual target point; deriving the optimal trajectory form of the flapping-wing aircraft in the time-varying wind field model based on the Pontryagin minimum principle; establishing the trajectory equation of the flapping-wing aircraft in the air coordinate system based on the particle kinematic model; establishing equality conditions for solving the trajectory parameters based on the geometric characteristics of the flapping-wing aircraft trajectory; and solving the trajectory parameters using Newton's method based on the equality conditions to obtain the flight trajectory in the inertial coordinate system. This invention can improve the trajectory planning capability of flapping-wing aircraft in complex wind field environments.
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