CN111176333B - Flight control method and device, autopilot and aircraft - Google Patents
Flight control method and device, autopilot and aircraft Download PDFInfo
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Abstract
The application provides a flight control method, a device, an autopilot and an aircraft, which relate to the technical field of flight control, and are characterized in that after receiving flight parameters of a long plane sent by the long plane, a wing plane guide coordinate when the wing plane flies according to L1 guidance is calculated and obtained according to real-time coordinates of the long plane, guide coordinates of the long plane and the course of the long plane contained in the flight parameters of the long plane, so that the control output of the wing plane is adjusted to enable the wing plane to fly towards the wing plane guide coordinate; compared with the prior art, the wing plane does not need to calculate the control quantity by utilizing the actual position of the wing plane relative to the farm plane to follow the farm plane for flying, but flies by utilizing the L1 guidance method to follow the wing plane guidance coordinate calculated in real time, so that the situation that the wing plane is difficult to follow the farm plane when the relative position error between the wing plane and the farm plane is changed greatly can be avoided, and the control precision of the wing plane in flying is improved.
Description
Technical Field
The application relates to the technical field of flight control, in particular to a flight control method and device, an autopilot and an aircraft.
Background
Formation flying means that two or more airplanes are grouped or arranged to fly according to a certain formation. The present formation flying mode generally adopts the wing plane mode with its flying control scheme that the long plane flies according to the conventional route, the wing plane always remains at the ideal position relative to the long plane in the space, and the lateral deviation of both the actual position relative to the long plane and the position relative to the long plane under the ideal condition and the course angle deviation between the long plane and the wing plane are utilized to control the flight of the wing plane.
However, in the current solutions with wing machines following the flight, there are situations where it is difficult for a wing machine to follow a long machine; for example, when a wing plane is at a change of waypoint or when the heading is adjusted, the relative position error between the wing plane and the wing plane can be changed greatly, so that the wing plane can hardly follow the flight of the wing plane.
Disclosure of Invention
The present application aims to provide a flight control method, a flight control device, an autopilot and an aircraft, which can avoid the situation that a wing plane is difficult to follow a farm plane when a relative position error between the wing plane and the farm plane is greatly changed, thereby improving the control precision of the wing plane in flight.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
in a first aspect, the present application provides a flight control method applied to wing aircraft in a flight formation, said flight formation also comprising a longplane; the method comprises the following steps:
receiving flight parameters of the long aircraft sent by the long aircraft; the long-distance airplane flight parameters comprise real-time coordinates of a long-distance airplane, guide coordinates of the long-distance airplane and the heading of the long-distance airplane, and the guide coordinates of the long-distance airplane represent guide coordinate points of the long-distance airplane when flying according to an L1 guide method;
obtaining wing plane guide coordinates according to the real-time coordinates of the long plane, the guide coordinates of the long plane and the course of the long plane; wherein said wing plane pilot coordinate characterizes a pilot coordinate point when said wing plane is piloted according to L1;
the control output of said wing plane is adjusted so as to cause said wing plane to fly towards said wing plane pilot coordinate.
In a second aspect, the present application provides a flight control device applied to wing aircraft in a flight formation, said flight formation also comprising a longplane; the device comprises:
the receiving module is used for receiving the flight parameters of the long aircraft sent by the long aircraft; the long-distance airplane flight parameters comprise real-time coordinates of a long-distance airplane, guide coordinates of the long-distance airplane and the heading of the long-distance airplane, and the guide coordinates of the long-distance airplane represent guide coordinate points of the long-distance airplane when flying according to an L1 guide method;
the processing module is used for obtaining a wing plane guide coordinate according to the real-time coordinate of the long plane, the guide coordinate of the long plane and the course of the long plane; wherein said wing plane pilot coordinate characterizes a pilot coordinate point when said wing plane is piloted according to L1;
a control module for adjusting the control output of said wing plane to have it fly towards said wing plane piloting coordinates.
In a third aspect, the present application provides an autopilot that includes a memory for storing one or more programs; a processor. The one or more programs, when executed by the processor, implement the flight control method described above.
In a fourth aspect, the present application provides an aircraft carrying an autopilot as provided in the third aspect of the present application.
After receiving the flight parameters of the lead aircraft sent by the lead aircraft, calculating and obtaining wing aircraft guide coordinates when the wing aircraft flies according to the real-time coordinates of the lead aircraft, the guide coordinates of the lead aircraft and the course of the lead aircraft contained in the flight parameters of the lead aircraft, thereby adjusting the control output of the wing aircraft and enabling the wing aircraft to fly towards the wing aircraft guide coordinates; compared with the prior art, the wing plane does not need to calculate the control quantity by utilizing the actual position of the wing plane relative to the farm plane to follow the farm plane for flying, but flies by utilizing the L1 guidance method to follow the wing plane guidance coordinate calculated in real time, so that the situation that the wing plane is difficult to follow the farm plane when the relative position error between the wing plane and the farm plane is changed greatly can be avoided, and the control precision of the wing plane in flying is improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly explain the technical solutions of the present application, the drawings needed for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also derive other related drawings from these drawings without inventive effort.
FIG. 1 shows a schematic application scenario diagram of a flying formation;
FIG. 2 is a block schematic diagram of an autopilot provided herein;
FIG. 3 illustrates a schematic flow chart of a flight control method provided herein;
FIG. 4 shows a schematic flow diagram of the substeps of step 203 in FIG. 3;
FIG. 5 shows a schematic flow diagram of the substeps of step 205 in FIG. 3;
fig. 6 shows a schematic block diagram of a flight control device provided in the present application.
In the figure: 100-autopilot; 101-a memory; 102-a processor; 103-a communication interface; 300-a flight control device; 301-a receiving module; 302-a processing module; 303-control module.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in some embodiments of the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. The components of the present application, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on a part of the embodiments in the present application without any creative effort belong to the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the solutions such as the above mentioned wing plane following the long plane flight, the control solutions at the wing plane side at present are generally: the actual position of the wing plane relative to the long plane and the position of the wing plane relative to the long plane under ideal conditions are input to a PID (proportional-integral-derivative) controller, so that the control quantity of the wing plane is output by the PID controller, and the power output is adjusted according to the control quantity to follow the flight of the long plane.
However, when the pilot plane is at the change waypoint or the adjustment of the heading, since the relative position error between the wing plane and the pilot plane changes greatly in a short time, the deviation of the control amount calculated by the PID controller is large, so that when the pilot plane is at the change waypoint or the adjustment of the heading, for example, as described above, the wing plane is difficult to fly along with the pilot plane, and the situation of flying off the formation easily occurs.
Therefore, based on the above drawbacks, the present application provides a possible implementation manner as follows: after receiving the flight parameters of the lead aircraft sent by the lead aircraft, calculating and obtaining the wing aircraft guide coordinates when the wing aircraft is guided to fly according to L1 according to the real-time coordinates of the lead aircraft, the guide coordinates of the lead aircraft and the course of the lead aircraft contained in the flight parameters of the lead aircraft, thereby adjusting the control output of the wing aircraft to cause the wing aircraft to fly towards the wing aircraft guide coordinates; therefore, the wing plane does not need to calculate the control quantity by utilizing the actual position of the wing plane relative to the long plane to follow the long plane for flying, and the situation that the wing plane is difficult to follow the long plane when the relative position error between the wing plane and the long plane is changed greatly is avoided.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 shows an exemplary application scenario diagram of a flying formation, which may include a Leader (such as Leader in fig. 1) and a bureaucratic (such as Follower in fig. 1); the long plane can fly according to a set flight path track, such as an AB flight path in FIG. 1; a wing plane can realize the following of the long plane by executing the flight control method provided by the application.
It should be noted that fig. 1 is only a schematic representation, in which a farm and a wing plane are represented in the flight formation, but that in other possible embodiments of the present application the flight formation may also comprise more farm or wing planes, without the present application limiting the number of farm or wing planes comprised in the flight formation.
Referring to fig. 2, fig. 2 shows a schematic block diagram of an autopilot 100 provided herein, and in one embodiment, the autopilot 100 may include a memory 101, a processor 102, and a communication interface 103, and the memory 101, the processor 102, and the communication interface 103 are electrically connected to each other directly or indirectly to enable data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 101 may be used to store software programs and modules, such as program instructions/modules corresponding to the flight control apparatus provided in the present application, and the processor 102 executes the software programs and modules stored in the memory 101 to execute various functional applications and data processing, thereby executing the steps of the flight control method provided in the present application. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Programmable Read-Only Memory (EEPROM), and the like.
The processor 102 may be an integrated circuit chip having signal processing capabilities. The processor 102 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It will be appreciated that the configuration shown in fig. 2 is merely illustrative and that the autopilot 100 may include more or fewer components than shown in fig. 2 or may have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
The present application also provides an aircraft (not shown) equipped with an autopilot as shown in fig. 2, which can act as a wing plane in the scenario shown in fig. 1.
A flight control method according to the present application will now be described in an exemplary manner, with a wing plane (for example, the wing plane in fig. 1) having an autopilot as shown in fig. 2 installed as a schematic executive agent.
Referring to fig. 3, fig. 3 shows a schematic flow chart of a flight control method provided by the present application, which may include the following steps:
In an embodiment, as shown in fig. 1, a lead plane can establish communication with a bureaucratic plane through a local area network, wireless communication, etc., so that data interaction can be performed between the lead plane and the bureaucratic plane; for example, the long plane can send the real-time coordinates of the long plane, the guidance coordinates of the long plane, the heading of the long plane and the like as flight parameters of the long plane to the wing planes.
The long aircraft guide coordinate represents a guide coordinate point when the long aircraft flies according to an L1 guide method; taking the scenario shown in fig. 1 as an example, when the long machine calculates the long machine guide coordinate, the long machine may first calculate the length of the long machine guide line according to the measured real-time speed of the long machine, and the calculation formula may satisfy the following:
in the formula (I), the compound is shown in the specification,
indicating the length of a long guidewire of the machine,
indicating a set L1 steering factor, for example set to 10,
representing the real-time speed of the long machine.
The long-machine guide line is characterized by a connection line of real-time coordinates of a long machine and guide coordinates of the long machine, and can be used as shown in figure 1
And (4) performing representation.
Thus, taking the example of the scene long machine shown in fig. 1 flying from point a to point B, when the long machine calculates the long machine guide coordinate, the long machine real-time coordinate of the long machine can be taken as the center of a circle, and the obtained length of the long machine guide line can be taken as the center of the circle
Making a circle for the radius; and two intersection points of the circle and the route AB are obtained, and the intersection point close to the point B is taken as a long aircraft guide coordinate, such as the point in figure 1
(ii) a And simultaneously making the expression of the circle and the expression of the flight path AB to find the point
Coordinate values of (2), as
。
Subsequently, the wing plane can obtain the wing plane guidance coordinate by calculation according to the real-time coordinate of the long plane, the guidance coordinate of the long plane and the heading of the long plane in the received flight parameters of the long plane, such as the wing plane guidance coordinate can be recorded as the one in fig. 1
(ii) a The wing plane guidance coordinate is the guidance coordinate point when the wing plane is flying according to the L1 guidance law.
Thus, in an embodiment, a wing plane can have a calculation of the wing plane guide coordinates obtained
As a function of following the target point and of adjusting the control output of the wing plane to have it fly towards the wing plane guidance coordinates, namely: the wing plane can follow the guide coordinate of the wing plane calculated in real time to fly by using the L1 guidance law, thus indirectly following the long plane without directly following the long plane to fly.
Therefore, based on the above design, the flight control method provided by the present application calculates, after receiving the flight parameters of the lead aircraft sent by the lead aircraft, and according to the real-time coordinates of the lead aircraft, the pilot coordinates of the lead aircraft, and the heading of the lead aircraft included in the flight parameters of the lead aircraft, the wing aircraft pilot coordinates at the time of pilot flying according to L1, thereby adjusting the control output of the wing aircraft to cause the wing aircraft to fly towards the wing aircraft pilot coordinates; compared with the prior art, the wing plane does not need to calculate the control quantity by utilizing the actual position of the wing plane relative to the farm plane to follow the farm plane for flying, but flies by utilizing the L1 guidance method to follow the wing plane guidance coordinate calculated in real time, so that the situation that the wing plane is difficult to follow the farm plane when the relative position error between the wing plane and the farm plane is changed greatly can be avoided, and the control precision of the wing plane in flying is improved.
Optionally, to implement step 203, please refer to fig. 4, fig. 4 shows a schematic flowchart of the sub-steps of step 203 in fig. 3, and as a possible implementation, step 203 may include the following sub-steps:
step 203-1, obtaining an ideal formation coordinate of a wing plane according to a real-time coordinate of a long plane and a set following distance deviation;
and step 203-2, obtaining the wing plane guidance coordinate according to the long plane guidance coordinate, the long plane course and the ideal formation coordinate.
In an embodiment, as shown in fig. 1, when a wing plane calculates a wing plane guide coordinate, an ideal object coordinate of the wing plane, that is, a coordinate point at which the wing plane should be located at the current time, can be obtained by a method of matrix conversion based on the real-time coordinate of the long plane and the set following distance deviation.
Then, the wing plane can calculate the wing plane guidance coordinate by means of trigonometric transformation according to the long plane guidance coordinate, the long plane course and the obtained ideal formation coordinate.
Exemplarily, the formula of calculation of the wing plane guidance coordinate can be satisfied as follows:
in the formula (I), the compound is shown in the specification,
the co-ordinates of the leading of the wing machines,
the long machine guide coordinates are shown,
the coordinates of the ideal formation are shown,
indicating a long aircraft heading.
It is understood, of course, that the above description is only an example, and that the wing-plane guidance coordinates are calculated by means of a trigonometric transformation; in some other possible implementations of the present application, the wing-plane guidance coordinate may also be calculated in some other manners, for example, the wing-plane guidance coordinate may also be converted in a manner of matrix transformation based on the long-plane guidance coordinate of the long plane and the set following distance deviation; as long as the bureaucratic lead coordinates are available.
Further, optionally, to implement step 205, please refer to fig. 5, fig. 5 shows a schematic flow chart of sub-steps of step 205 in fig. 3, as a possible implementation, step 205 may include the following sub-steps:
step 205-1, obtaining the guidance parameters of a wing plane guidance line according to the wing plane guidance coordinates, the real-time coordinates of a wing plane, and the course of the wing plane;
a step 205-2, to obtain the lateral acceleration control of a wing plane, with respect to the guidance length, the guidance angle and the wing plane real-time speed of the wing plane, to have the wing plane fly towards the wing plane guidance coordinate according to the lateral acceleration control.
In an embodiment, as shown in fig. 1, after a wing plane has obtained a wing plane guidance coordinate, a connection between the wing plane guidance coordinate and a real-time wing plane coordinate may be taken as a wing plane guidance line, for example, the wing plane guidance line may be represented as the wing plane guidance line in fig. 1
(ii) a Thus, the wing plane can combine the guide coordinate of the wing plane, the real-time coordinate of the wing plane and the course of the wing plane to calculate various guide parameters of the guide line of the wing plane, such as the guide length of the guide line of the wing plane and the guide included angle of the guide line of the wing plane and the course of the wing plane.
For example, the calculation formula of the guidance parameter may satisfy the following:
in the formula (I), the compound is shown in the specification,
the co-ordinates of the leading of the wing machines,
the real-time coordinates of a wing-plane are represented,
it is shown that the length of the guide,
the guiding yaw angle of a wing-plane guide line is shown,
the course of a wing-like plane is shown,
indicating the lead angle.
Thus, the wing plane can obtain the lateral acceleration control quantity of the wing plane according to the guidance length, the guidance included angle and the real-time speed of the wing plane, and take the lateral acceleration control quantity as the input of the wing plane inner loop control, so that the wing plane flies towards the wing plane guidance coordinate according to the lateral acceleration control quantity.
For example, the calculation formula of the lateral acceleration control amount may satisfy the following:
in the formula (I), the compound is shown in the specification,
to representThe amount of lateral acceleration control is,
the real-time speed of the wing-like machines is shown,
it is shown that the length of the guide,
indicating the lead angle.
Based on the same inventive concept as the above-mentioned flight control method provided in the present application, please refer to fig. 6, fig. 6 shows a schematic structural block diagram of a flight control device 300 provided in the present application, where the flight control device 300 includes a receiving module 301, a processing module 302, and a control module 303; wherein:
the receiving module 301 is used for receiving flight parameters of the long airplane sent by the long airplane; the long-range aircraft flight parameters comprise real-time coordinates of the long-range aircraft, guide coordinates of the long-range aircraft and the heading of the long-range aircraft, and the guide coordinates of the long-range aircraft represent guide coordinate points of the long-range aircraft during flight according to an L1 guide method;
the processing module 302 is configured to obtain a wing plane guide coordinate according to the real-time coordinate of the lead plane, the lead plane guide coordinate, and the course of the lead plane; wherein the wing plane guidance coordinates characterize the guidance coordinate point when the wing plane flies according to the L1 guidance law;
a control module 303, for regulating the control output of the wing plane so as to have the wing plane fly towards the wing plane guidance coordinates.
Optionally, as a possible implementation, the processing module 302, when obtaining the valentine guide coordinate according to the real-time coordinate of the slot machine, the guide coordinate of the slot machine, and the heading of the slot machine, is specifically configured to:
obtaining an ideal formation coordinate of a wing plane according to the real-time coordinate of the long plane and the set following distance deviation;
obtaining the guide coordinate of the wing plane according to the guide coordinate of the long plane, the course of the long plane and the ideal formation coordinate.
Alternatively, as a possible implementation, the control module 303, when adjusting the control output of a wing plane to have the wing plane fly towards a wing plane guidance coordinate, is specifically configured to:
obtaining the guide parameters of a wing plane guide line according to the guide coordinates of the wing plane, the real-time coordinates of the wing plane and the course of the wing plane; wherein, the wing-plane guidance line is a connection line of a wing-plane guidance coordinate and a wing-plane real-time coordinate, and the guidance parameters include a guidance length of the wing-plane guidance line and a guidance included angle between the wing-plane guidance line and a wing-plane course;
the lateral acceleration control of a wing plane is obtained according to the guidance length, the guidance angle and the real-time speed of the wing plane, so that the wing plane flies towards the guidance coordinate of the wing plane according to the lateral acceleration control.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to some embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in some embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to some embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
The above description is only a few examples of the present application and is not intended to limit the present application, and those skilled in the art will appreciate that various modifications and variations can be made in the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. A flight control method, characterized by the application to wing aircraft in a flight formation, said flight formation also comprising a longplane; the method comprises the following steps:
receiving flight parameters of the long aircraft sent by the long aircraft; the long-distance airplane flight parameters comprise real-time coordinates of a long-distance airplane, guide coordinates of the long-distance airplane and the heading of the long-distance airplane, and the guide coordinates of the long-distance airplane represent guide coordinate points of the long-distance airplane when flying according to an L1 guide method;
obtaining wing plane guide coordinates according to the real-time coordinates of the long plane, the guide coordinates of the long plane and the course of the long plane; wherein said wing plane pilot coordinate characterizes a pilot coordinate point when said wing plane is piloted according to L1;
regulating the control output of said wing plane so as to cause said wing plane to fly towards said wing plane pilot coordinate;
the step of adjustment of the control output of a wing plane to cause the same to fly towards a wing plane piloted coordinate comprises:
obtaining a guide parameter of a wing plane guide line according to the wing plane guide coordinate, the wing plane real-time coordinate of the wing plane and a wing plane course; wherein the wing plane guidance line is a connection of the wing plane guidance coordinate with the wing plane real-time coordinate, the guidance parameters include a guidance length of the wing plane guidance line and a guidance angle of the wing plane guidance line with the wing plane course;
obtaining a lateral acceleration control of a wing plane, in function of said guidance length, of said guidance angle and of a real-time speed of said wing plane, so as to have said wing plane fly towards said wing plane guidance coordinate according to said lateral acceleration control;
the calculation formula of the guidance parameters satisfies the following conditions:
ηF＝ψF-χF
in the formula (I), the compound is shown in the specification,
representing said bureaucratic coordinates, (x)eF,yeF) Representing said real-time co-ordinates of a bureaucratic machine, rFRepresenting the guide length χFGuiding yaw angle, psi, representing said wing aircraft guide lineFRepresenting the heading of said wing plane, ηFRepresenting the guide angle;
the calculation formula of the lateral acceleration control quantity satisfies the following condition:
in the formula, αFcRepresenting said lateral acceleration control quantity, VFRepresenting the real-time speed of the bureaucratic plane.
2. The method as claimed in claim 1, characterized in that the step of obtaining bureaucratic lead coordinates from said real-time coordinates of the longue, said lead coordinates of the longue and said heading of the longue comprises:
obtaining an ideal formation coordinate of the wing plane according to the real-time coordinate of the farm plane and the set following distance deviation;
and obtaining the wing plane guide coordinate according to the leader plane guide coordinate, the leader plane course and the ideal formation coordinate.
3. A method as in claim 2, characterized in that said formula of calculation of bureaucratic lead coordinates is satisfied as follows:
in the formula (I), the compound is shown in the specification,
the co-ordinates of the lead-wing aircraft,
representing the long machine guide coordinates, (x)LF,yLF) Representing said ideal formation coordinate, ψLRepresenting the long aircraft heading.
4. A flight control, characterized by the fact that it is applied to wing aircrafts in a flight formation, which also comprises a long aircraft; the device comprises:
the receiving module is used for receiving the flight parameters of the long aircraft sent by the long aircraft; the long-distance airplane flight parameters comprise real-time coordinates of a long-distance airplane, guide coordinates of the long-distance airplane and the heading of the long-distance airplane, and the guide coordinates of the long-distance airplane represent guide coordinate points of the long-distance airplane when flying according to an L1 guide method;
the processing module is used for obtaining a wing plane guide coordinate according to the real-time coordinate of the long plane, the guide coordinate of the long plane and the course of the long plane; wherein said wing plane pilot coordinate characterizes a pilot coordinate point when said wing plane is piloted according to L1;
a control module for adjusting the control output of said wing plane to have it fly towards said wing plane piloting coordinates;
when adjusting the control output of a wing plane in order to have it fly towards a wing plane guidance coordinate, said control module is specifically configured to:
obtaining a guide parameter of a wing plane guide line according to the wing plane guide coordinate, the wing plane real-time coordinate of the wing plane and a wing plane course; wherein the wing plane guidance line is a connection of the wing plane guidance coordinate with the wing plane real-time coordinate, the guidance parameters include a guidance length of the wing plane guidance line and a guidance angle of the wing plane guidance line with the wing plane course;
obtaining a lateral acceleration control of a wing plane, in function of said guidance length, of said guidance angle and of a real-time speed of said wing plane, so as to cause said wing plane to fly towards said wing plane guidance coordinate in accordance with said lateral acceleration control output;
the calculation formula of the guidance parameters satisfies the following conditions:
ηF＝ψF-χF
in the formula (I), the compound is shown in the specification,
representing said bureaucratic coordinates, (x)eF,yeF) Representing said real-time co-ordinates of a bureaucratic machine, rFRepresenting the guide length χFGuiding yaw angle, psi, representing said wing aircraft guide lineFRepresenting the heading of said wing plane, ηFRepresenting the guide angle;
the calculation formula of the lateral acceleration control quantity satisfies the following condition:
in the formula, αFcRepresenting said lateral acceleration control quantity, VFRepresenting the real-time speed of the bureaucratic plane.
5. The apparatus as claimed in claim 4, wherein said processing module, when obtaining a bureaucratic guide coordinate from said real-time coordinates of a elongator, said elongator guide coordinates and said elongator heading, is particularly adapted to:
obtaining an ideal formation coordinate of the wing plane according to the real-time coordinate of the farm plane and the set following distance deviation;
and obtaining the wing plane guide coordinate according to the leader plane guide coordinate, the leader plane course and the ideal formation coordinate.
6. An autopilot, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 1-3.
7. An aircraft carrying an autopilot according to claim 6.
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