The application discloses a wing parachute
system trajectory planning method, device and equipment based on interval
spline wavelet, and the method comprises the steps of establishing a wing parachute dynamics model, constructing an interval
spline wavelet base function, defining a wing parachute
system trajectory planning process as an
optimal control problem, that is, finding control variables and state variables, a fixed initial time and a free end time, minimizing a
performance index, and determining constraint conditions, discretizing a time interval into multiple
layers of
collocation points, expanding state variables and control variables on the
collocation points, and converting the constraint conditions into
wavelet coefficient form, converting the
optimal control problem into a nonlinear
programming problem, and solving the nonlinear
programming problem to obtain a wing parachute
system trajectory planning result. The application is applied to the field of aircraft
trajectory optimization, converts the wing parachute system trajectory
planning process from an original
optimal control problem into a nonlinear
programming problem, significantly reduces the calculation dimension, and can strictly meet the end point constraint and adaptively capture trajectory
mutation.