Target rendezvous time planning method and device, equipment and readable storage medium
By acquiring motion data of aircraft and moving targets, and using trajectory prediction algorithms and velocity calculations to plan rendezvous times, the problem of complex and inaccurate rendezvous time planning in existing technologies is solved, and efficient and accurate rendezvous time planning is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- THE GENERAL DESIGNING INST OF HUBEI SPACE TECH ACAD
- Filing Date
- 2026-03-26
- Publication Date
- 2026-07-03
Smart Images
Figure CN122329342A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of aerospace technology, specifically to a method, apparatus, device, and computer-readable storage medium for planning target rendezvous times. Background Technology
[0002] Currently, in the aerospace field, the planning of rendezvous times between moving targets and aircraft is a key technology to ensure the success of tasks such as equipment docking. In practical applications, extremely high demands are placed on the planning efficiency and accuracy of target rendezvous times.
[0003] In related technologies, existing rendezvous time planning schemes either mechanically repeat iterations and are computationally complex, resulting in wasted computing power and low planning efficiency, or sacrifice prediction accuracy to reduce computing costs. Ultimately, rendezvous time planning cannot meet the requirements of efficiency and accuracy, making it difficult to meet the needs of fast and accurate rendezvous in real-world scenarios. Summary of the Invention
[0004] This application provides a method, apparatus, device, and computer-readable storage medium for planning target meeting times, which can solve the technical problems of computational complexity and low accuracy in the prior art.
[0005] In a first aspect, embodiments of this application provide a method for planning a target meeting time, the method comprising: The first coordinates of the aircraft at time t1 and N motion data of the moving target within a first time period are obtained. Based on the N motion data and the trajectory prediction algorithm, the second coordinates of the moving target after a second time period are determined. The aircraft and the moving target are moving towards each other. The N motion data include the motion data of the moving target at time t1. The first time period ends at time t1, the second time period starts at time t1, and includes M time steps. Based on the first coordinate, the preset speed of the aircraft, and the second coordinate, the third time required for the aircraft to reach the second coordinate is obtained; Based on the relationship between the third duration and the second duration, the rendezvous time between the aircraft and the moving target is planned.
[0006] In conjunction with the first aspect, in one implementation, planning the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration includes: If the third duration is equal to the second duration, then the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the second duration.
[0007] In conjunction with the first aspect, in one implementation, the step of planning the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration further includes: If the third duration is less than the second duration, then check whether the time step meets the preset accuracy range; If satisfied, the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the fourth duration, wherein the fourth duration includes M-1 time steps.
[0008] In conjunction with the first aspect, in one implementation method, the method for planning the target meeting time further includes: If the third duration is longer than the second duration, then M+1 time steps are taken as the new second duration, and the process returns to execute the algorithm based on the N motion data and trajectory prediction to determine the second coordinates of the moving target after the second duration.
[0009] In conjunction with the first aspect, in one embodiment, before determining the third time required for the aircraft to reach the second coordinate based on the first coordinate, the aircraft's preset speed, and the second coordinate, the method further includes: Calculate the distance between the first coordinate and the second coordinate; Determine whether the distance is less than or equal to the preset maximum flight distance of the aircraft; If it is less than or equal to the distance and the preset speed of the aircraft, the third duration is calculated.
[0010] Secondly, embodiments of this application provide a target meeting time planning device, the target meeting time planning device comprising: The acquisition module is used to acquire the first coordinates of the aircraft at time t1 and N motion data of the moving target within a first time period. Based on the N motion data and the trajectory prediction algorithm, the second coordinates of the moving target after a second time period are determined. The aircraft and the moving target are moving towards each other. The N motion data include the motion data of the moving target at time t1. The first time period ends at time t1, the second time period starts at time t1, and includes M time steps. The module is used to obtain a third time required for the aircraft to reach the second coordinate based on the first coordinate, the preset speed of the aircraft, and the second coordinate; The planning module is used to plan the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration.
[0011] In conjunction with the second aspect, in one implementation, the planning module is used for: If the third duration is equal to the second duration, then the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the second duration.
[0012] In conjunction with the second aspect, in one implementation, the planning module is further configured to: If the third duration is less than the second duration, then check whether the time step meets the preset accuracy range; If satisfied, the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the fourth duration, wherein the fourth duration includes M-1 time steps.
[0013] Thirdly, embodiments of this application provide a target meeting time planning device, the target meeting time planning device including a processor, a memory, and a target meeting time planning program stored in the memory and executable by the processor, wherein when the target meeting time planning program is executed by the processor, the steps of the target meeting time planning method as described in the first aspect are implemented.
[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing a target rendezvous time planning program, wherein when the target rendezvous time planning program is executed by a processor, it implements the steps of the target rendezvous time planning method as described in the first aspect.
[0015] The beneficial effects of the technical solutions provided in this application include: By acquiring the first coordinates of the aircraft at time t1 and N motion data of the moving target within a first time period, and based on the N motion data and a trajectory prediction algorithm, the second coordinates of the moving target after a second time period are determined. The aircraft and the moving target move towards each other. The N motion data include the moving target's motion data at time t1. The first time period ends at time t1, and the second time period starts at time t1 and includes M time steps. Based on the first coordinates, the aircraft's preset speed, and the second coordinates, the third time period required for the aircraft to reach the second coordinates is obtained. Based on the relationship between the third time period and the second time period, the rendezvous time of the aircraft and the moving target is planned, thereby accurately and reasonably planning their rendezvous time, ensuring the feasibility of the rendezvous plan, and improving the rendezvous probability. Attached Figure Description
[0016] Figure 1 A flowchart illustrating an embodiment of the method for planning the target meeting time in this application; Figure 2 For this application Figure 1 A detailed flowchart of step S30; Figure 3 A flowchart illustrating another embodiment of the method for planning the target meeting time in this application; Figure 4A schematic diagram of functional modules of an embodiment of the planning device for the target meeting time of this application; Figure 5 This is a schematic diagram of the hardware structure of the device for planning the target meeting time involved in the embodiments of this application. Detailed Implementation
[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.
[0018] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0019] Firstly, embodiments of this application provide a method for planning the meeting time of targets.
[0020] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the method for planning the target meeting time in this application. Figure 1 As shown, the planning methods for target meeting times include: Step S10: Obtain the first coordinates of the aircraft at time t1 and N motion data of the moving target within the first time period. Based on the N motion data and the trajectory prediction algorithm, determine the second coordinates of the moving target after the second time period. The aircraft and the moving target are moving towards each other. The N motion data include the motion data of the moving target at time t1. The first time period ends at time t1, the second time period starts at time t1, and includes M time steps. In one embodiment, in a scenario where an aircraft and a moving target are moving toward each other, assuming the current time is t1, the first coordinates of the aircraft are obtained, and multiple sets of motion data of the moving target within a historical time period ending at time t1 are collected. Based on this motion data, a trajectory prediction algorithm is used to predict the second coordinates of the moving target after a second time period starting at time t1 and including M time steps.
[0021] In addition, the first and second coordinates are coordinates in the China Geodetic Coordinate System. Before calculating the second coordinate, the first coordinate must be converted to the geocentric rectangular coordinate system using the coordinate transformation formula. The trajectory prediction algorithm specifically uses a cubic curve to fit the coordinates of the motion trajectory. For example, it fits the coordinates of 30 motion data points of the moving target before time t1 to obtain the coordinates of the predicted position of the moving target. Step S20: Based on the first coordinate, the preset speed of the aircraft, and the second coordinate, obtain the third time required for the aircraft to reach the second coordinate; In one embodiment, the third time required for the aircraft to fly from the first coordinate to the second coordinate is calculated based on the first coordinate of the aircraft at time t1, the second coordinate of the moving target predicted in step S10, and the preset speed of the aircraft itself.
[0022] Step S30: Based on the relationship between the third duration and the second duration, plan the rendezvous time between the aircraft and the moving target.
[0023] In one embodiment, the rendezvous time between the aircraft and the moving target is planned by comparing the third time required for the aircraft to fly with the second time used for target prediction.
[0024] In this embodiment, by acquiring the first coordinates of the aircraft at time t1 and N motion data of the moving target within a first time period, and based on the N motion data and a trajectory prediction algorithm, the second coordinates of the moving target after a second time period are determined. The aircraft and the moving target move towards each other. The N motion data include the motion data of the moving target at time t1. The first time period ends at time t1, and the second time period starts at time t1 and includes M time steps. Based on the first coordinates, the aircraft's preset speed, and the second coordinates, the third time period required for the aircraft to reach the second coordinates is obtained. Based on the relationship between the third time period and the second time period, the rendezvous time of the aircraft and the moving target is planned, thereby accurately and reasonably planning their rendezvous time, ensuring the feasibility of the rendezvous plan, and improving the rendezvous probability.
[0025] Furthermore, in one embodiment, planning the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration includes: If the third duration is equal to the second duration, then the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the second duration.
[0026] In one embodiment, such as Figure 2 As shown, Figure 2 For this application Figure 1 The detailed flowchart of step S30 shows that when the comparison shows that the third time required for the aircraft to fly is equal to the second time predicted by the target, the time after superimposing the second time on time t1 is directly used as the rendezvous time between the aircraft and the moving target.
[0027] Furthermore, in one embodiment, the step of planning the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration further includes: If the third duration is less than the second duration, then check whether the time step meets the preset accuracy range; If satisfied, the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the fourth duration, wherein the fourth duration includes M-1 time steps.
[0028] In one embodiment, such as Figure 2 As shown, under the premise that the aircraft and the moving target are moving in the same direction, when the third time required for the aircraft to fly to the second coordinate is less than the second time required for the target to fly to the second coordinate, it indicates that the aircraft can arrive at the second coordinate ahead of time to wait for the moving target. At this time, we first check whether the value of a single time step is within the preset accuracy range. If the time step meets the preset accuracy requirements, the fourth time consisting of M-1 time steps is added to time t1, and the time obtained by the addition is determined as the rendezvous time of the aircraft and the moving target.
[0029] Furthermore, in one embodiment, the method for planning the target meeting time further includes: If the third duration is longer than the second duration, then M+1 time steps are taken as the new second duration, and the process returns to execute the algorithm based on the N motion data and trajectory prediction to determine the second coordinates of the moving target after the second duration.
[0030] In one embodiment, such as Figure 2 As shown, when the third duration required for the aircraft to fly is longer than the second duration predicted by the target, the number of time steps is updated to M+1 to form a new second duration, and the second coordinates of the moving target after the new second duration are re-determined based on motion data and trajectory prediction algorithm.
[0031] Furthermore, in one embodiment, before determining the third time required for the aircraft to reach the second coordinate based on the first coordinate, the aircraft's preset speed, and the second coordinate, the method further includes: Calculate the distance between the first coordinate and the second coordinate; Determine whether the distance is less than or equal to the preset maximum flight distance of the aircraft; If it is less than or equal to the distance and the preset speed of the aircraft, the third duration is calculated.
[0032] In one embodiment, such as Figure 3 As shown, Figure 3This is a flowchart illustrating another embodiment of the planning method for the target rendezvous time of this application. Before calculating the third duration required for the aircraft to fly, the distance between the first coordinate and the second coordinate is calculated using the inverse Weissen formula. Provided that the distance does not exceed the aircraft's preset maximum flight distance, the third duration is then calculated based on the distance and the preset speed.
[0033] Secondly, embodiments of this application also provide a planning device for target meeting times.
[0034] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the planning device for the target meeting time of this application. Figure 4 As shown, the device for planning the target meeting time includes: The acquisition module 10 is used to acquire the first coordinates of the aircraft at time t1 and N motion data of the moving target within a first time period. Based on the N motion data and the trajectory prediction algorithm, the second coordinates of the moving target after a second time period are determined. The aircraft and the moving target are moving towards each other. The N motion data include the motion data of the moving target at time t1. The first time period ends at time t1, the second time period starts at time t1, and includes M time steps. The module 20 is used to obtain a third time required for the aircraft to reach the second coordinate based on the first coordinate, the preset speed of the aircraft, and the second coordinate; The planning module 30 is used to plan the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration.
[0035] Furthermore, in one embodiment, the planning module 30 is used for: If the third duration is equal to the second duration, then the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the second duration.
[0036] Furthermore, in one embodiment, the planning module 30 is used for: If the third duration is less than the second duration, then check whether the time step meets the preset accuracy range; If satisfied, the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the fourth duration, wherein the fourth duration includes M-1 time steps.
[0037] Furthermore, in one embodiment, the planning module 30 is used for: If the third duration is longer than the second duration, then M+1 time steps are taken as the new second duration, and the process returns to execute the algorithm based on the N motion data and trajectory prediction to determine the second coordinates of the moving target after the second duration.
[0038] Furthermore, in one embodiment, the target meeting time planning device further includes a calculation module, used for: Calculate the distance between the first coordinate and the second coordinate; Determine whether the distance is less than or equal to the preset maximum flight distance of the aircraft; If it is less than or equal to the distance and the preset speed of the aircraft, the third duration is calculated.
[0039] The functions of each module in the above-mentioned target intersection time planning device correspond to the steps in the above-mentioned target intersection time planning method embodiment, and their functions and implementation processes will not be described in detail here.
[0040] Thirdly, embodiments of this application provide a target rendezvous time planning device, which may be an airborne controller or other similar device.
[0041] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the target rendezvous time planning device involved in the embodiments of this application. In the embodiments of this application, the target rendezvous time planning device may include a processor, a memory, a communication interface, and a communication bus.
[0042] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.
[0043] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the planning equipment to achieve the target rendezvous time, as well as interfaces used for interconnecting the planning equipment to achieve the target rendezvous time with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.
[0044] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.
[0045] The processor can be a general-purpose processor, which can call the target rendezvous time planning program stored in memory and execute the target rendezvous time planning method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the target rendezvous time planning program is called can be referred to the various embodiments of the target rendezvous time planning method of this application, and will not be repeated here.
[0046] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0047] Fourthly, embodiments of this application also provide a computer-readable storage medium.
[0048] The present application stores a target rendezvous time planning program on a computer-readable storage medium, wherein when the target rendezvous time planning program is executed by a processor, the steps of the target rendezvous time planning method described above are implemented.
[0049] The method implemented when the target meeting time planning procedure is executed can be referred to in the various embodiments of the target meeting time planning method of this application, and will not be repeated here.
[0050] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0051] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.
[0052] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.
[0053] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.
[0054] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.
[0055] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.
[0056] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A method for planning the time of intersection of targets, characterized in that, The planning method for the target meeting time includes: The first coordinates of the aircraft at time t1 and N motion data of the moving target within a first time period are obtained. Based on the N motion data and the trajectory prediction algorithm, the second coordinates of the moving target after a second time period are determined. The aircraft and the moving target are moving towards each other. The N motion data include the motion data of the moving target at time t1. The first time period ends at time t1, the second time period starts at time t1, and includes M time steps. Based on the first coordinate, the preset speed of the aircraft, and the second coordinate, the third time required for the aircraft to reach the second coordinate is obtained; Based on the relationship between the third duration and the second duration, the rendezvous time between the aircraft and the moving target is planned.
2. The target meeting time planning method as described in claim 1, characterized in that, The method for planning the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration includes: If the third duration is equal to the second duration, then the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the second duration.
3. The target meeting time planning method as described in claim 1, characterized in that, The method for planning the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration also includes: If the third duration is less than the second duration, then check whether the time step meets the preset accuracy range; If satisfied, the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the fourth duration, wherein the fourth duration includes M-1 time steps.
4. The target meeting time planning method as described in claim 1, characterized in that, The method for planning the target meeting time also includes: If the third duration is longer than the second duration, then M+1 time steps are taken as the new second duration, and the process returns to execute the algorithm based on the N motion data and trajectory prediction to determine the second coordinates of the moving target after the second duration.
5. The target meeting time planning method as described in claim 1, characterized in that, Before determining the third time required for the aircraft to reach the second coordinate based on the first coordinate, the aircraft's preset speed, and the second coordinate, the method further includes: Calculate the distance between the first coordinate and the second coordinate; Determine whether the distance is less than or equal to the preset maximum flight distance of the aircraft; If it is less than or equal to the distance and the preset speed of the aircraft, the third duration is calculated.
6. A device for planning the time of target intersection, characterized in that, The device for planning the target meeting time includes: The acquisition module is used to acquire the first coordinates of the aircraft at time t1 and N motion data of the moving target within a first time period. Based on the N motion data and the trajectory prediction algorithm, the second coordinates of the moving target after a second time period are determined. The aircraft and the moving target are moving towards each other. The N motion data include the motion data of the moving target at time t1. The first time period ends at time t1, the second time period starts at time t1, and includes M time steps. The module is used to obtain a third time required for the aircraft to reach the second coordinate based on the first coordinate, the preset speed of the aircraft, and the second coordinate; The planning module is used to plan the rendezvous time between the aircraft and the moving target based on the relationship between the third duration and the second duration.
7. The target meeting time planning device as described in claim 6, characterized in that, The planning module is used for: If the third duration is equal to the second duration, then the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the second duration.
8. The target meeting time planning device as described in claim 6, characterized in that, The planning module is also used for: If the third duration is less than the second duration, then check whether the time step meets the preset accuracy range; If satisfied, the rendezvous time between the aircraft and the moving target is determined to be the sum of time t1 and the fourth duration, wherein the fourth duration includes M-1 time steps.
9. A device for planning the time of intersection of targets, characterized in that, The target meeting time planning device includes a processor, a memory, and a target meeting time planning program stored in the memory and executable by the processor, wherein when the target meeting time planning program is executed by the processor, it implements the steps of the target meeting time planning method as described in any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a target rendezvous time planning program, wherein when the target rendezvous time planning program is executed by a processor, it implements the steps of the target rendezvous time planning method as described in any one of claims 1 to 5.