CN107238389A - Course line planing method - Google Patents
Course line planing method Download PDFInfo
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- CN107238389A CN107238389A CN201710499367.6A CN201710499367A CN107238389A CN 107238389 A CN107238389 A CN 107238389A CN 201710499367 A CN201710499367 A CN 201710499367A CN 107238389 A CN107238389 A CN 107238389A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The present invention relates to aerial mapping technical field, specifically provide a kind of course line planing method, the initial position of aircraft is obtained first, current course and turn circle radius R, first circle of contact and second circle of contact are obtained according to current course and turn circle radius R, then obtain Aircraft Targets positions respectively with two tangent lines of two circle of contacts and point of contact, judge tangent line L0 corresponding with Minimal Flight Path and its corresponding point of contact Q0, further according to arc segment length corresponding with tangent line L0 in tangent line L0 length and the circle of contact, obtain planning course line and its length of aircraft, aircraft operational height is judged according to it, flight time, flying distance, whether design requirement is met in the course of target location and Fuel Oil Remaining, target location is reset if being unsatisfactory for, using Aircraft Targets position as current initial position if meeting, aircraft is the current course of aircraft in the course of target location, above-mentioned steps are repeated until completing the planning of whole piece course line.
Description
Technical field
The present invention relates to aerial mapping technical field, more particularly to course line planing method.
Background technology
With advancing by leaps and bounds for aeronautical technology, the application of airborne vehicle, having joined the army, it is civilian to use, someone to nobody, Quan Fang
Face, eruptive growth, result in that spatial domain resource is more and more nervous, how quickly, accurately, the course line for cooking up flight of intelligence,
Huge challenge is proposed to mission planning person.
At present, mission planning such as also depends on calculated in advance, drawn on paper at the Main Means, or computer is given birth to automatically
Into simple course line, it is impossible to meet Shi Jishiyong demand.
The content of the invention
To overcome at least one defect that above-mentioned prior art is present, the invention provides a kind of course line planning side
Method, comprises the following steps：
Step one, initial position, current course and the turn circle radius R of aircraft are obtained, the initial position includes aircraft institute
In longitude, latitude and present level, first circle of contact and second circle of contact, first are obtained according to the current course and turn circle radius R
The circle of contact and second circle of contact are located at aircraft initial position both sides and tangent with the current course of aircraft respectively；
Step 2, sets Aircraft Targets position, obtains two tangent lines of target location and first circle of contact described in aircraft,
The point of contact of two tangent lines and first circle of contact is set to Q1 and Q3, obtains two of Aircraft Targets position and second circle of contact
Tangent line, the point of contact of two tangent lines and second circle of contact is set to Q2 and Q4, judges tangent line corresponding with Minimal Flight Path
Point of contact Q0, specific judgment mode is as follows：
Filter out aircraft with the current course along circular arc reach point of contact when, aircraft point of contact course and the point of contact to institute
The direction identical tangent line of target location is stated, if the collection for meeting the tangent line of the condition is combined into tangent line group, judges to cut in the tangent line group
Point of contact corresponding to line length most short tangent line, if the point of contact is Q0, tangent line corresponding with point of contact Q0 is L0；
Step 3, obtains arc segment length corresponding with tangent line L0 in tangent line L0 length and the circle of contact, obtain aircraft from
Initial position is to the planning course line of target location and its length, and the length is arc segment length and tangent line L0 length sums, is led to
Cross planning course line trend and its length calculate flight time from initial position to target location of aircraft operational height, aircraft and
Flying distance, and aircraft is in the course of target location, and judge aircraft operational height, the flight time, flying distance, in target
Whether the course of position and Fuel Oil Remaining meet design requirement, if being unsatisfactory for return to step two and reset target position
Put, using Aircraft Targets position as current initial position if meeting, aircraft is the current course of aircraft, weight in the course of target location
Step one is performed again to step 3, until completing the planning of whole piece course line.
It is preferred that, turn circle radius R is calculated according to aircraft present level, present speed and current hill grade and obtained.
The course line planing method that the present invention is provided, based on platform constraints, geometric graphics and planning demand it is efficient/
The generation course line of intelligence, by backstage performance real-time resolving, with reference to the calculating of geometric graphics, assesses state of flight and ginseng in real time
Number, points out planning officer to carry out flight course planning, and this technology is not only simple to operate quick, and course line combines practical flight course line spy
Point so that aircraft is easy to the airline operation according to planning, hidden danger or mission failure caused by reduction aircraft drifts off the course
Probability.
Brief description of the drawings
Fig. 1 is the schematic diagram of step one in course line planing method；
Fig. 2 is the schematic diagram of step 2 in course line planing method；
Fig. 3 is the schematic diagram of step 3 in course line planing method.
Embodiment
To make the purpose, technical scheme and advantage of the invention implemented clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is further described in more detail.
It should be noted that：The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to for explaining this hair
It is bright, and be not considered as limiting the invention.In the accompanying drawings, same or similar label represents same or like from beginning to end
Element or element with same or like function.Described embodiment is a part of embodiment of the invention, rather than entirely
The embodiment in portion, in the case where not conflicting, the feature in embodiment and embodiment in the application can be mutually combined.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than indicate or imply meaning
Device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to present invention guarantor
Protect the limitation of scope.
The invention provides a kind of course line planing method, comprise the following steps：
Step one, as shown in figure 1, obtaining initial position P0, current course D0 and the turn circle radius R of aircraft, the present embodiment
In preferably, turn circle radius R according to aircraft present level, present speed and current hill grade calculate obtain, initial position P0 bags
Longitude, latitude and present level where including aircraft, obtain the first circle of contact A and second according to current course D0 and turn circle radius R and cut
Circle B, the first circle of contact A and the second circle of contact B are located at initial position P0 both sides and tangent with current course D0 respectively；
Step 2, as shown in Fig. 2 setting Aircraft Targets position Pm, obtain target location Pm and the first circle of contact A two cut
Line L1 and L3, two tangent lines and the first circle of contact A point of contact are set to Q1 and Q3, obtain Aircraft Targets position Pm and second and cut
Circle B two tangent lines L2 and L4, two tangent lines and the second circle of contact B point of contact are set to Q2 and Q4, judge and most short boat
The point of contact Q0 of the corresponding tangent line of line, specific judgment mode is as follows：
When filtering out aircraft and reaching point of contact with circular arcs of the current course D0 along the circle of contact, course and the point of contact of the aircraft at point of contact
To the direction identical tangent line of the target location, if the collection for meeting the tangent line of the condition is combined into tangent line group, the tangent line group is judged
Point of contact corresponding to middle tangential length most short tangent line, if the point of contact is Q0, tangent line corresponding with point of contact Q0 is L0, the present embodiment
In as shown in Fig. 2 Q0=Q3, L0=L3；
Because aircraft is different in initial position D0 course, the mode that it reaches point of contact is also different, but aircraft is in initial bit
The course put when initial it has been determined that therefore aircraft reaches the mode at any point of contact and there was only one kind, i.e., along current course along circle
Arc motion is until reaching point of contact, by taking Fig. 2 as an example, direction and Q4 points to the in opposite direction of Pm points during aircraft arrival Q4 points, therefore
The course line is invalid, and similarly, and aircraft reaches Q2 points to be moved along the major arc of the circle of contact to Q1, rather than minor arc, therefore apart from longer,
Corresponding tangent line L2 distance is also long, therefore Ship's Optimum Route is P0-Q3-Pm；
Step 3, obtains arc segment length (i.e. P0 points to Q0 corresponding with tangent line L0 in tangent line L0 length and the circle of contact
Minor segment of the point on the circle of contact), planning course line and its length of the aircraft from initial position to target location are obtained, the length is
Arc segment length and tangent line L0 length sums, by plan the trend and its length in course line calculate aircraft operational height, aircraft from
Flight time and flying distance of the initial position to target location, and aircraft is in the course of target location, and judge that aircraft can
Up to height, flight time, flying distance, in the course of target location and Fuel Oil Remaining whether design requirement is met, if discontented
Sufficient then return to step two simultaneously resets target location, as shown in figure 3, using Aircraft Targets position as current initial bit if meeting
Put, aircraft is the current course of aircraft in the course of target location, repeats step one to step 3, until completing whole piece aircraft
The planning in course line.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, the change or replacement that can be readily occurred in, all should
It is included within the scope of the present invention.Therefore, protection scope of the present invention should using the scope of the claims as
It is accurate.
Claims (2)
1. a kind of course line planing method, it is characterised in that comprise the following steps：
Step one, initial position, current course and the turn circle radius R of aircraft are obtained, the initial position includes passing through where aircraft
Degree, latitude and present level, first circle of contact and second circle of contact, first circle of contact are obtained according to the current course and turn circle radius R
It is located at aircraft initial position both sides respectively with second circle of contact and tangent with the current course of aircraft；
Step 2, sets Aircraft Targets position, obtains two tangent lines of target location and first circle of contact described in aircraft, this two
The point of contact of bar tangent line and first circle of contact is set to Q1 and Q3, and obtain Aircraft Targets position and second circle of contact two cut
Line, the point of contact of two tangent lines and second circle of contact is set to Q2 and Q4, judges tangent line corresponding with Minimal Flight Path
Point of contact Q0, specific judgment mode is as follows：
Filter out aircraft with the current course along circular arc reach point of contact when, aircraft point of contact course and the point of contact to the mesh
The direction identical tangent line of cursor position, if the collection for meeting the tangent line of the condition is combined into tangent line group, judges length of tangent line in the tangent line group
The point of contact corresponding to most short tangent line is spent, if the point of contact is Q0, tangent line corresponding with point of contact Q0 is L0；
Step 3, obtains arc segment length corresponding with tangent line L0 in tangent line L0 length and the circle of contact, obtains aircraft from initial
Position is to the planning course line of target location and its length, and the length is arc segment length and tangent line L0 length sums, passes through rule
The trend and its length of plot a course calculate the flight time and flight of aircraft operational height, aircraft from initial position to target location
Distance, and aircraft is in the course of target location, and judge aircraft operational height, the flight time, flying distance, in target location
Course and Fuel Oil Remaining whether meet design requirement, return to step two and reset target location if being unsatisfactory for, if
Meet then using Aircraft Targets position as current initial position, aircraft is the current course of aircraft in the course of target location, repetition is held
Row step one is to step 3, until completing the planning of whole piece course line.
2. course line planing method according to claim 1, it is characterised in that turn circle radius R is currently high according to aircraft
Degree, present speed and current hill grade, which are calculated, to be obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710499367.6A CN107238389A (en) | 2017-06-27 | 2017-06-27 | Course line planing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710499367.6A CN107238389A (en) | 2017-06-27 | 2017-06-27 | Course line planing method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109002056A (en) * | 2018-07-19 | 2018-12-14 | 四川腾盾科技有限公司 | A kind of large size fixed-wing unmanned plane formation method |
| CN110307851A (en) * | 2019-08-20 | 2019-10-08 | 中航材导航技术（北京）有限公司 | One kind is based on A* algorithm and the navigation limitation efficient flight course planning method of data iteration |
| CN110307847A (en) * | 2019-06-25 | 2019-10-08 | 江苏理工学院 | A kind of fixed-wing unmanned plane takes home flight course planning and horizontal lateral guidance method |
| CN110806210A (en) * | 2019-11-18 | 2020-02-18 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle calibration direction-finding equipment air route planning method and flight control method thereof |
| CN112346482A (en) * | 2020-11-25 | 2021-02-09 | 中国工程物理研究院总体工程研究所 | Flight route management method |
| CN112578817A (en) * | 2021-02-26 | 2021-03-30 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, storage medium and electronic equipment |
| CN113091746A (en) * | 2021-04-08 | 2021-07-09 | 中琪华安(北京)科技有限公司 | Course turning analysis method and great circle course generation method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109002056A (en) * | 2018-07-19 | 2018-12-14 | 四川腾盾科技有限公司 | A kind of large size fixed-wing unmanned plane formation method |
| CN109002056B (en) * | 2018-07-19 | 2021-06-18 | 四川腾盾科技有限公司 | Large-scale fixed-wing unmanned aerial vehicle formation method |
| CN110307847A (en) * | 2019-06-25 | 2019-10-08 | 江苏理工学院 | A kind of fixed-wing unmanned plane takes home flight course planning and horizontal lateral guidance method |
| CN110307851A (en) * | 2019-08-20 | 2019-10-08 | 中航材导航技术（北京）有限公司 | One kind is based on A* algorithm and the navigation limitation efficient flight course planning method of data iteration |
| CN110806210A (en) * | 2019-11-18 | 2020-02-18 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle calibration direction-finding equipment air route planning method and flight control method thereof |
| CN112346482A (en) * | 2020-11-25 | 2021-02-09 | 中国工程物理研究院总体工程研究所 | Flight route management method |
| CN112346482B (en) * | 2020-11-25 | 2023-03-03 | 中国工程物理研究院总体工程研究所 | Flight route management method |
| CN112578817A (en) * | 2021-02-26 | 2021-03-30 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, storage medium and electronic equipment |
| CN113091746A (en) * | 2021-04-08 | 2021-07-09 | 中琪华安(北京)科技有限公司 | Course turning analysis method and great circle course generation method |
| CN113091746B (en) * | 2021-04-08 | 2023-10-27 | 中琪华安(北京)科技有限公司 | Course turning analysis method and great circle course generation method |
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Application publication date: 20171010 |