An air modeling method, device, equipment and medium for a gliding platform

Abstract

The present application relates to a kind of glide type platform air modeling method, device, equipment and medium, belong to glide analysis technical field, wherein, the method includes: determining the starting point and end point of trajectory section from the glide trajectory of glide type platform;The first slope of straight line connected with starting point and end point is calculated;Second slope corresponding to the trajectory point between starting point and end point is compared with first slope, to determine the target trajectory point of slope closest;When the distance of target trajectory point from straight line does not satisfy preset distance requirement, adjust end point according to preset step length, until the distance of target trajectory point from straight line satisfies preset distance requirement;End point is regarded as new starting point, and after determining a new end point, return to the step of calculating first slope, until end point reaches the boundary of glide trajectory;Each starting point and end point polyline is connected, and envelope is carried out to polyline based on trajectory offset model, to generate glide type platform air model.The present application is more power saving.

Description

Technical Field

[0001] This invention relates to the field of gliding analysis technology, and in particular to a method, apparatus, equipment and medium for air modeling of gliding platforms. Background Technology

[0002] A crucial component of gliding platform flight estimation technology is gliding platform flight modeling. Flight modeling refers to the quantitative description of the spatial range in which the platform's actual flight trajectory may deviate from the ideal trajectory, taking into account external disturbances such as parameter errors at takeoff and weather errors. This model is represented by an envelope extending along the trajectory, characterizing the set of all possible spatial positions the platform may occupy throughout its flight.

[0003] When performing empty modeling, the ideal trajectory is usually approximated by a polyline first, and then the envelope is constructed based on this. The traditional polyline approximation method, the Douglas Peuker algorithm, sets a tolerance. The curve is approximated using a bisection method, and the specific process is as follows:

[0004] like Figure 1 As shown, assume the existence of a smooth curve , Initial approximate set of points .

[0005] ①In Finding points Make the curve The distance to the point is determined by The straight line formed by them has the longest distance, and will join in Determine if the distance is less than the tolerance. If it is less than , the iteration ends.

[0006] ②If the distance is not less than the tolerance Then respectively in , Repeat operation ① in the interval to find... .

[0007] ③ respectively in Repeat operation ① within the interval until all deviations are less than the set tolerance, at which point the iteration ends.

[0008] This method requires continuous distance calculation and comparison across curve segments, resulting in high complexity. When the sampling points of the trajectory are dense, the computational burden increases significantly. Summary of the Invention

[0009] In view of this, it is necessary to provide a method, apparatus, equipment and medium for modeling the airspace of gliding platforms, in order to solve the problem that the airspace model constructed based on the existing polyline approximation method is too complex.

[0010] To address the aforementioned problems, in a first aspect, the present invention provides a method for modeling the airspace of gliding platforms, comprising:

[0011] Determine the start and end points of trajectory segments from the gliding trajectories of gliding platforms;

[0012] Calculate the first slope of the straight line connecting the starting point and the ending point;

[0013] The second slope corresponding to the trajectory point between the starting point and the ending point is compared with the first slope to determine the target trajectory point with the closest slope;

[0014] When the distance between the target trajectory point and the straight line does not meet the preset distance requirement, the endpoint is adjusted according to the preset step size until the distance between the target trajectory point and the straight line meets the preset distance requirement;

[0015] Using the endpoint as a new starting point, and after determining a new endpoint, return to the step of calculating the first slope of the straight line connecting the starting point and the endpoint, until the endpoint reaches the boundary of the gliding trajectory;

[0016] Connect the starting and ending points with polylines, and enclose the polylines based on the trajectory offset model to generate an empty model for gliding platforms.

[0017] In one possible implementation, the preset distance requirement is that the distance between the target trajectory point and the straight line is greater than or equal to a preset distance threshold. The step of adjusting the endpoint according to a preset step size when the distance between the target trajectory point and the straight line does not meet the preset distance requirement includes:

[0018] When the distance between the target trajectory point and the straight line does not meet the preset distance requirement, the endpoint is adjusted according to the preset step size so that the distance between the endpoint and the starting point increases.

[0019] In one possible implementation, comparing the second slope corresponding to the trajectory point between the starting point and the ending point with the first slope to determine the target trajectory point with the closest slope includes:

[0020] In chronological order, the second slope corresponding to the trajectory point between the trajectory point pairs is compared with the first slope. When the second slope corresponding to the previous trajectory point is less than or equal to the first slope, and the second slope corresponding to the next trajectory point is greater than the first slope, the next trajectory point is taken as the target trajectory point.

[0021] In one possible implementation, the preset distance threshold is determined based on the accuracy requirements of the empty model for gliding platforms.

[0022] In one possible implementation, the envelopment of the polyline based on the trajectory offset model to generate an empty model for gliding platforms includes:

[0023] The envelope geometry polyhedron of each polyline segment is generated using the trajectory offset model described below.

[0024]

[0025] In the formula, Indicates the edge length of the top face of the envelope geometric polyhedron; Indicates the side length of the base of the envelope geometric polyhedron; Represents the height of the envelope geometric polyhedron; Represents the number of sides of a polyhedron; These represent one end and the other end of the broken line segment, respectively. Indicates the length of the broken line segment AB; These represent the maximum airspace required by the gliding platform at point A in the AB direction and the maximum airspace required in the direction perpendicular to AB, respectively. These represent the maximum airspace required by the gliding platform at point B in the AB direction and the maximum airspace required in the direction perpendicular to AB, respectively.

[0026] Connect the various envelope geometric polyhedra end to end to obtain an empty model for gliding platforms.

[0027] In one possible implementation, the number of sides of the polyhedron is determined based on the accuracy requirements of the empty model for the gliding platform.

[0028] In one possible implementation, the method further includes:

[0029] Construct a kinematic model of the gliding platform;

[0030] The gliding trajectory is determined based on the kinematic model.

[0031] Secondly, the present invention also provides an air modeling device for gliding platforms, comprising:

[0032] The start and end point determination module is used to determine the start and end points of trajectory segments from the gliding trajectory of gliding platforms;

[0033] A straight line slope determination module is used to calculate the first slope of the straight line connecting the starting point and the ending point;

[0034] The target trajectory point determination module is used to compare the second slope corresponding to the trajectory point between the starting point and the ending point with the first slope to determine the target trajectory point with the closest slope.

[0035] The endpoint adjustment module is used to adjust the endpoint by a preset step size when the distance between the target trajectory point and the straight line does not meet the preset distance requirement, until the distance between the target trajectory point and the straight line meets the preset distance requirement.

[0036] The traversal termination judgment module is used to take the endpoint as a new starting point, and after determining a new endpoint, return to the step of calculating the first slope of the straight line connecting the starting point and the endpoint, until the endpoint reaches the boundary of the gliding trajectory.

[0037] The empty model generation module is used to connect the starting and ending points of each polyline and envelop the polylines based on the trajectory offset model to generate an empty model for gliding platforms.

[0038] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the gliding platform air modeling method described above.

[0039] Fourthly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the gliding platform modeling method described in any of the preceding claims.

[0040] The beneficial effects of this invention are:

[0041] First, the traditional Douglas Peuker algorithm uses a traversal method based on binary search. In contrast, this invention, after determining the starting and ending points of a set of trajectory segments that meet the conditions, takes the ending point as the new starting point and continues to search for new ending points, and so on, until the gliding trajectory is segmented. That is, this invention uses a sequential one-time traversal method, which can complete the segmentation of the gliding trajectory in one traversal.

[0042] In determining each trajectory segment, the traditional Douglas Peuker algorithm segments the trajectory by finding the target trajectory point farthest from the straight line. However, this invention determines the target trajectory point by using a slope comparison method, and the slope can be more easily calculated using the velocity state variable.

[0043] Furthermore, in the traditional Douglas Peuker algorithm, the distance between the trajectory point and the line needs to be recalculated every time the line changes, meaning that a trajectory point involves multiple distance calculations. However, in this invention, the slope at the trajectory point remains constant, and the slope at the trajectory point does not need to be recalculated every time the line changes.

[0044] Therefore, in summary, this invention can greatly reduce the amount of computation in the polyline approximation process, thereby accelerating the construction of empty models for gliding platforms. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the iterative process of the Douglas Peuker algorithm;

[0047] Figure 2 A flowchart illustrating an embodiment of the method for modeling gliding platforms using airspace provided by the present invention;

[0048] Figure 3 A schematic diagram of a slope-based sequential traversal process provided by the present invention;

[0049] Figure 4 This is a schematic diagram of an envelope geometry polyhedron provided by the present invention;

[0050] Figure 5 This invention provides a flowchart for dynamic air usage estimation of gliding platforms;

[0051] Figure 6 A schematic diagram of a dynamic empty model provided by the present invention;

[0052] Figure 7 A schematic diagram of a structure of an embodiment of the air modeling device for gliding platforms provided by the present invention;

[0053] Figure 8 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0054] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0055] 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 a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0056] In the description of the embodiments of this invention, unless otherwise stated, "a plurality of" means two or more. The terms "first," "second," etc., used in the embodiments of this invention are used to distinguish similar objects, and are not used to describe a specific order or sequence, nor to indicate or imply their relative importance or implicitly specify the number of indicated technical features. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, and the number of objects is not limited; for example, a first object can be one or more.

[0057] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0058] Reference Figure 2 The diagram illustrates a flowchart of an embodiment of the air modeling method for gliding platforms provided by the present invention. The method includes:

[0059] S201, determine the start and end points of trajectory segments from the gliding trajectory of gliding platforms.

[0060] Gliding platforms mainly refer to platforms that rely on aerodynamic lift for unpowered or limited-powered flight, including gliders, hypersonic gliding vehicles, and gliding airdrop systems.

[0061] The starting point can be the endpoint of the gliding trajectory, and then a preset step size can be added to the starting point to determine the ending point. For example, the gliding trajectory is a discrete trajectory point obtained by sampling at a certain sampling time, and the first and second trajectory sampling points can be used as the starting point and the ending point, respectively.

[0062] S202, calculates the first slope of the straight line connecting the starting point and the ending point.

[0063] S203, compare the second slope corresponding to the trajectory point between the start and end points with the first slope to determine the target trajectory point with the closest slope.

[0064] The slope of any point on the gliding trajectory can be calculated from its corresponding velocity state variable.

[0065] Since the slope of the trajectory curve of gliding platforms decreases monotonically, in any trajectory segment, the slope of the point farthest from the straight line is equal to the slope of the straight line. Therefore, the second slope corresponding to the trajectory point between the start and end points can be compared with the first slope to determine the target trajectory point with the closest slope, which is also the trajectory point farthest from the straight line.

[0066] S204, when the distance between the target trajectory point and the straight line does not meet the preset distance requirement, adjust the endpoint according to the preset step size until the distance between the target trajectory point and the straight line meets the preset distance requirement.

[0067] In one example, the preset distance requirement is that the distance between the target trajectory point and the straight line is less than a preset distance threshold. When the distance between the target trajectory point and the straight line does not meet the preset distance requirement, the endpoint is adjusted according to a preset step size to reduce the distance between the endpoint and the starting point until the distance between the target trajectory point and the straight line is determined to meet the preset distance requirement.

[0068] In another example, the preset distance requirement can also be that the distance between the target trajectory point and the line is greater than or equal to a preset distance threshold; when the distance between the target trajectory point and the line does not meet the preset distance requirement, the endpoint is adjusted according to the preset step size to increase the distance between the endpoint and the starting point until it is determined that the distance between the obtained target trajectory point and the line meets the preset distance requirement.

[0069] The preset distance threshold can be determined based on the accuracy requirements of the empty model used for gliding platforms. The higher the accuracy requirement, the smaller the preset distance threshold.

[0070] S205, taking the endpoint as the new starting point, and after determining a new endpoint, return to the step of calculating the first slope of the straight line connecting the starting point and the endpoint, until the endpoint reaches the boundary of the gliding trajectory.

[0071] In S204, the start and end points of a trajectory segment are determined. At this point, the end point determined in step S204 is taken as the new start point (i.e., the start point of the next trajectory segment), and a new end point (i.e., the end point of the next trajectory segment) is determined. Then, return to S202 to determine whether the new end point is appropriate.

[0072] Reference Figure 3 This diagram illustrates a slope-based sequential traversal process provided by the present invention. First, the initial point... As the starting point of the first approximate polyline (i.e., trajectory segmentation), the points of the subsequent trajectories are selected respectively. As the endpoint of the broken line, Between, it is assumed that the velocity vector is... Points parallel to the line connected and The longest distance is found along the connecting straight line. When this distance is less than a set distance threshold... Adjustment keep away until and The distance between the lines is greater than or equal to When the distance is greater than or equal to At that time, The trajectory curve of the interval is used The connected straight line is approximate. Then, with... Repeat the above process as a new starting point until the trajectory curve has been traversed.

[0073] S205 connects the starting and ending points of each polyline and envelops the polylines based on the trajectory offset model to generate an empty model for gliding platforms.

[0074] The starting and ending points of each determined trajectory segment are connected by a broken line in chronological order, thereby achieving a broken line approximation of the trajectory of gliding platforms.

[0075] The trajectory deviation model is a mathematical model used to quantitatively describe the random deviation of the actual flight trajectory of a gliding platform from its ideal trajectory during flight due to various uncertainties (such as initial parameter errors, weather disturbances, changes in aerodynamic characteristics, etc.).

[0076] By enveloping the polyline using the trajectory offset model, a space usage model for gliding platforms can be generated. This space usage model can provide model input for fields such as space usage conflict detection and conflict coordination management between aircraft.

[0077] The gliding platform airspace modeling method provided in this embodiment can be applied to gliding platform airspace modeling systems, which can be software systems running on terminal devices. Terminal devices can be tablets, in-vehicle devices, devices mounted on gliding platforms, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), mobile phones, etc. This embodiment does not impose any restrictions on the specific type of terminal device.

[0078] In summary, the traditional Douglas Peuker algorithm uses a traversal method based on binary search. In contrast, this invention, after determining the starting and ending points of a set of trajectory segments that meet the conditions, uses the ending point as the new starting point and continues to search for new ending points, and so on, until the gliding trajectory is segmented. That is, this invention uses a sequential one-pass traversal method, which can complete the segmentation of the gliding trajectory in one pass.

[0079] In determining each trajectory segment, the traditional Douglas Peuker algorithm segments the trajectory by finding the target trajectory point farthest from the straight line. However, this invention determines the target trajectory point by using a slope comparison method, and the slope can be more easily calculated using the velocity state variable.

[0080] Furthermore, in the traditional Douglas Peuker algorithm, the distance between the trajectory point and the line needs to be recalculated every time the line changes, meaning that a trajectory point involves multiple distance calculations. However, in this invention, the slope at the trajectory point remains constant, and the slope at the trajectory point does not need to be recalculated every time the line changes.

[0081] Therefore, in summary, this invention can greatly reduce the amount of computation in the polyline approximation process, thereby accelerating the construction of empty models for gliding platforms.

[0082] In some embodiments of the present invention, S203 includes:

[0083] In chronological order, the second slope corresponding to the trajectory point between the trajectory point pairs is compared with the first slope. If the second slope corresponding to the previous trajectory point is less than or equal to the first slope, and the second slope corresponding to the next trajectory point is greater than the first slope, the next trajectory point is taken as the target trajectory point.

[0084] This embodiment can be applied when traversing in forward time order. When the second slope corresponding to the previous trajectory point is less than or equal to the first slope, and the second slope corresponding to the next trajectory point is greater than the first slope, the next trajectory point is taken as the target trajectory point.

[0085] In another example, when traversing in reverse chronological order, the next trajectory point can be taken as the target trajectory point if the second slope corresponding to the previous trajectory point is greater than or equal to the first slope, and the second slope corresponding to the next trajectory point is less than the first slope.

[0086] Referring to Table 1, the pseudocode of an improved piecewise linear approximation algorithm provided by this invention is shown. The specific implementation process is as follows: If the gliding trajectory is a continuous curve, define the step size. This is the time step; if it's a discretely sampled curve, then... Set the sampling period. Set the initial point to... Set the slope traversal pointer End point traversal pointer Define the slope function and Define the distance function ,Right now arrive The distance between the lines formed is defined as the tolerance (i.e., the distance threshold). Initialize the collection ;set up Trajectory points The corresponding time.

[0087] Table 1. Pseudocode of the improved piecewise linear approximation algorithm

[0088]

[0089] In some embodiments of the present invention, the step of enveloping the polyline based on the trajectory offset model to generate an empty model for gliding platforms includes:

[0090] The envelope geometry polyhedron of each polyline segment is generated using the trajectory offset model described below.

[0091]

[0092] In the formula, Indicates the edge length of the top face of the envelope geometric polyhedron; Indicates the side length of the base of the envelope geometric polyhedron; Represents the height of the envelope geometric polyhedron; Represents the number of sides of a polyhedron; These represent one end and the other end of the broken line segment, respectively. Indicates the length of the broken line segment AB; These represent the maximum airspace required by the gliding platform at point A in the AB direction and the maximum airspace required in the direction perpendicular to AB, respectively. These represent the maximum airspace required by the gliding platform at point B in the AB direction and the maximum airspace required in the direction perpendicular to AB, respectively.

[0093] Connect the various envelope geometric polyhedra end to end to obtain the empty model for gliding platforms.

[0094] Reference Figure 4 This diagram illustrates an envelope geometry polyhedron provided by the present invention. Figure 4 In this model, n takes the value 8, and the envelope geometric polyhedron is a regular octagonal frustum with the line containing AB as its central axis. In actual working conditions, n is determined based on the accuracy requirements of the empty model for gliding platforms. The larger the value of n, the higher the accuracy of the empty model in describing the airspace; conversely, the lower the value, the lower the accuracy.

[0095] In some embodiments of the present invention, the method for modeling gliding platforms using empty space further includes:

[0096] Constructing a kinematic model for gliding platforms;

[0097] The gliding trajectory is determined based on the kinematic model.

[0098] In this embodiment, the gliding trajectory, the three-dimensional coordinates of each trajectory point, time, and other information can be determined based on the kinematic model of the gliding platform for calculation in the above-mentioned polyline approximation process and envelope generation process.

[0099] In some embodiments of the present invention, under standard meteorological conditions, the gliding state equations of the gliding platform are constructed based on a geographic rectangular coordinate system. Compared to the 6-DOF dynamic equations, the kinematic equations have fewer parameters and lower solution complexity, which can significantly improve the real-time performance of the calculation while sacrificing some calculation accuracy. The process of constructing the kinematic equations is as follows:

[0100] The main considerations are gravity and air resistance experienced by the platform during its motion. The acceleration due to gravity is along a Cartesian coordinate system. Axial direction downwards, size is constant The acceleration caused by resistance satisfies:

[0101]

[0102] in, For equivalent area, For the diameter of the bullet, For platform quality, air density, For velocity scalar, This is a function of the platform's drag coefficient. It is the Mach number. Based on drag law and shape coefficient Request:

[0103]

[0104] in, This is the law governing the drag variation of a gliding platform under polynomial fitting. It is... An approximation on an interval can be approximately expressed as:

[0105]

[0106] As altitude changes, air density and the speed of sound also change accordingly. First, we construct an equation for air density with respect to altitude. Functions:

[0107]

[0108] in, , , These are, respectively, the surface air temperature, air pressure, and air density under standard meteorological conditions. satisfy:

[0109]

[0110] exist Within the height range, The variation with altitude is as follows:

[0111]

[0112] Correspondingly, the variation of sound speed with altitude can be expressed as:

[0113]

[0114] In summary, the acceleration generated by resistance satisfies:

[0115]

[0116]

[0117]

[0118] Let the position and velocity of the platform in a Cartesian coordinate system be... Then the kinematic equations of the platform can be expressed as:

[0119]

[0120] Reference Figure 5 This paper illustrates a flowchart of a dynamic airspace calculation method for a gliding platform provided by the present invention. Input parameters include aerodynamic parameters, initial takeoff parameters, and dispersion error parameters. Then, a kinematic model of the platform is constructed based on the aerodynamic and initial takeoff parameters. The gliding trajectory of the platform is predicted based on the kinematic model, and then approximated by a polygonal line. Simultaneously, a dispersion model, i.e., a trajectory offset model, is constructed based on the dispersion error parameters. Finally, a dynamic airspace calculation model of the platform is constructed based on the polygonal line approximation result and the dispersion model.

[0121] In a specific example, a high-speed gliding platform has an initial position of (0, 0), a gliding heading of 45°, a gliding elevation angle of 30°, and an initial speed of 800 m / s. The aerodynamic coefficient i = 0.73, and the distribution error is linearly related to the gliding distance. First, trajectory modeling is performed (trajectory modeling refers to modeling the trajectory of a point mass after takeoff for a gliding platform, used to describe the trajectory change process of the vehicle under ideal, undisturbed conditions; it can be considered the platform's "desired trajectory"). Then, the improved polyline approximation method of this invention is used to "straighten the curve," and finally, the polyline segments are enveloped. The constructed dynamic empty model is as follows: Figure 6 As shown in Table 2, this invention extends the determined linear trajectory into a corridor-shaped space with an envelope, which can more accurately describe the positional distribution of the platform.

[0122] Table 2 Comparison of the present invention with the traditional Douglas Peuker algorithm

[0123]

[0124] The comparison shows that the present invention has fewer iterations and faster computation compared to the traditional Douglas Peuker algorithm.

[0125] Reference Figure 7 The diagram shows a structural schematic of an embodiment of the air modeling device for gliding platforms provided by the present invention. The air modeling device 700 for gliding platforms includes:

[0126] The starting point and ending point determination module 701 is used to determine the starting point and ending point of the trajectory segment from the gliding trajectory of the gliding platform;

[0127] The straight line slope determination module 702 is used to calculate the first slope of the straight line connecting the starting point and the ending point;

[0128] The target trajectory point determination module 703 is used to compare the second slope corresponding to the trajectory point between the start point and the end point with the first slope to determine the target trajectory point with the closest slope.

[0129] The endpoint adjustment module 704 is used to adjust the endpoint by a preset step size when the distance between the target trajectory point and the straight line does not meet the preset distance requirement, until the distance between the target trajectory point and the straight line meets the preset distance requirement.

[0130] The traversal termination judgment module 705 is used to take the endpoint as the new starting point, and after determining a new endpoint, return to the step of calculating the first slope of the straight line connecting the starting point and the endpoint, until the endpoint reaches the boundary of the gliding trajectory.

[0131] The empty model generation module 707 is used to connect the starting and ending points of each polyline and envelop the polylines based on the trajectory offset model to generate an empty model for gliding platforms.

[0132] It should be noted that the implementation principles or processes of the above modules can be referred to the aforementioned implementation examples of the gliding platform modeling method, and will not be elaborated here.

[0133] Reference Figure 8 The present invention illustrates an electronic device 800. The electronic device 800 includes a processor 801, a memory 802, and a display 803. Figure 8 Only some components of the electronic device 800 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0134] In some embodiments, processor 801 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 802 or process data, such as the gliding platform modeling method of the present invention.

[0135] In some embodiments, processor 801 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 801 may be local or remote. In some embodiments, processor 801 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, etc., or any combination thereof.

[0136] In some embodiments, memory 802 may be an internal storage unit of electronic device 800, such as a hard disk or memory of electronic device 800. In other embodiments, memory 802 may also be an external storage device of electronic device 800, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 800.

[0137] Furthermore, the memory 802 may include both internal storage units of the electronic device 800 and external storage devices. The memory 802 is used to store application software and various types of data installed on the electronic device 800.

[0138] In some embodiments, display 803 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 803 is used to display information from electronic device 800 and to display a visual user interface. Components 801-803 of electronic device 800 communicate with each other via a system bus.

[0139] In one embodiment, when processor 801 executes an empty modeling program for gliding platforms in memory 802, the following steps can be performed:

[0140] Determine the start and end points of trajectory segments from the gliding trajectories of gliding platforms;

[0141] Calculate the first slope of the straight line connecting the starting point and the ending point;

[0142] The second slope corresponding to the trajectory point between the start and end points is compared with the first slope to determine the target trajectory point with the closest slope.

[0143] When the distance between the target trajectory point and the straight line does not meet the preset distance requirement, adjust the endpoint according to the preset step size until the distance between the target trajectory point and the straight line meets the preset distance requirement;

[0144] Using the endpoint as a new starting point, and after determining a new endpoint, return to the step of calculating the first slope of the straight line connecting the starting point and the endpoint, until the endpoint reaches the boundary of the gliding trajectory;

[0145] Connect the starting and ending points with polylines, and enclose the polylines based on the trajectory offset model to generate an empty model for gliding platforms.

[0146] It should be understood that when the processor 801 executes the empty modeling program for gliding platforms in the memory 802, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0147] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 800 mentioned. Electronic device 800 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 800 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0148] In one embodiment, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by the processor, implements the steps of any of the above-described methods for modeling gliding platforms using air.

[0149] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0150] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for modeling gliding platforms using airspace, characterized in that, include: Determine the start and end points of trajectory segments from the gliding trajectories of gliding platforms; Calculate the first slope of the straight line connecting the starting point and the ending point; The second slope corresponding to the trajectory point between the starting point and the ending point is compared with the first slope to determine the target trajectory point with the closest slope; When the distance between the target trajectory point and the straight line does not meet the preset distance requirement, the endpoint is adjusted according to the preset step size until the distance between the target trajectory point and the straight line meets the preset distance requirement; Using the endpoint as a new starting point, and after determining a new endpoint, return to the step of calculating the first slope of the straight line connecting the starting point and the endpoint, until the endpoint reaches the boundary of the gliding trajectory; Connect the starting and ending points with polylines, and enclose the polylines based on the trajectory offset model to generate an empty model for gliding platforms.

2. The aerial modeling of gliding platforms according to claim 1, characterized in that, The preset distance requirement is that the distance between the target trajectory point and the straight line is greater than or equal to a preset distance threshold. When the distance between the target trajectory point and the straight line does not meet the preset distance requirement, adjusting the endpoint according to a preset step size includes: When the distance between the target trajectory point and the straight line does not meet the preset distance requirement, the endpoint is adjusted according to the preset step size so that the distance between the endpoint and the starting point increases.

3. The aerial modeling of gliding platforms according to claim 1, characterized in that, The step of comparing the second slope corresponding to the trajectory point between the starting point and the ending point with the first slope to determine the target trajectory point with the closest slope includes: In chronological order, the second slope corresponding to the trajectory point between the trajectory point pairs is compared with the first slope. When the second slope corresponding to the previous trajectory point is less than or equal to the first slope, and the second slope corresponding to the next trajectory point is greater than the first slope, the next trajectory point is taken as the target trajectory point.

4. The aerial modeling of gliding platforms according to claim 1, characterized in that, The preset distance threshold is determined based on the accuracy requirements of the empty model used for gliding platforms.

5. The aerial modeling of gliding platforms according to claim 1, characterized in that, The process of enveloping the polyline based on the trajectory offset model to generate an empty model for gliding platforms includes: The envelope geometry polyhedron of each polyline segment is generated using the trajectory offset model described below. ； In the formula, Indicates the edge length of the top face of the envelope geometric polyhedron; Indicates the side length of the base of the envelope geometric polyhedron; Represents the height of the envelope geometric polyhedron; Indicates the number of sides of a polyhedron; These represent one end and the other end of the broken line segment, respectively. Indicates the length of the broken line segment AB; These represent the maximum airspace required by the gliding platform at point A in the AB direction and the maximum airspace required in the direction perpendicular to AB, respectively. These represent the maximum airspace required by the gliding platform at point B in the AB direction and the maximum airspace required in the direction perpendicular to AB, respectively. Connect the various envelope geometric polyhedra end to end to obtain an empty model for gliding platforms.

6. The aerial modeling of gliding platforms according to claim 5, characterized in that, The number of sides of the polyhedron is determined based on the accuracy requirements of the empty model used for gliding platforms.

7. The aerial modeling of gliding platforms according to claim 1, characterized in that, The method further includes: Construct a kinematic model of the gliding platform; The gliding trajectory is determined based on the kinematic model.

8. A modeling device for gliding platforms, characterized in that, include: The start and end point determination module is used to determine the start and end points of trajectory segments from the gliding trajectory of gliding platforms; A straight line slope determination module is used to calculate the first slope of the straight line connecting the starting point and the ending point; The target trajectory point determination module is used to compare the second slope corresponding to the trajectory point between the starting point and the ending point with the first slope to determine the target trajectory point with the closest slope. The endpoint adjustment module is used to adjust the endpoint by a preset step size when the distance between the target trajectory point and the straight line does not meet the preset distance requirement, until the distance between the target trajectory point and the straight line meets the preset distance requirement. The traversal termination judgment module is used to take the endpoint as a new starting point, and after determining a new endpoint, return to the step of calculating the first slope of the straight line connecting the starting point and the endpoint, until the endpoint reaches the boundary of the gliding trajectory. The empty model generation module is used to connect the starting and ending points of each polyline and envelop the polylines based on the trajectory offset model to generate an empty model for gliding platforms.

9. An electronic device, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the gliding platform modeling method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the gliding platform modeling method as described in any one of claims 1 to 7.

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