CN106020231B - Hypersonic aircraft reentry trajectory optimization method based on reentry point parameter - Google Patents
Hypersonic aircraft reentry trajectory optimization method based on reentry point parameter Download PDFInfo
- Publication number
- CN106020231B CN106020231B CN201610373623.2A CN201610373623A CN106020231B CN 106020231 B CN106020231 B CN 106020231B CN 201610373623 A CN201610373623 A CN 201610373623A CN 106020231 B CN106020231 B CN 106020231B
- Authority
- CN
- China
- Prior art keywords
- reentry
- optimization
- point
- point parameter
- earth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 70
- 238000005457 optimization Methods 0.000 title claims abstract description 69
- 230000008569 process Effects 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims abstract description 13
- 230000006835 compression Effects 0.000 claims abstract description 8
- 238000007906 compression Methods 0.000 claims abstract description 8
- 238000004611 spectroscopical analysis Methods 0.000 claims description 19
- 230000000739 chaotic effect Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 6
- 238000011160 research Methods 0.000 abstract description 6
- 238000013507 mapping Methods 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 241000287196 Asthenes Species 0.000 description 1
- 241000255925 Diptera Species 0.000 description 1
- 241000257226 Muscidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010668 complexation reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention provides a kind of hypersonic aircraft reentry trajectory optimization method based on reentry point parameter, solves a series of problems, such as optimization overlong time in reentry trajectory optimization process, longitudinal track and transverse path need separately design, can not ensure global optimum or must carry out model simplification ability rapid Optimum.The present invention establishes the precise kinetic model for considering the compression of the Earth, the aceleration of transportation and Coriolis acceleration item, analyze Various Complex constraints, being conceived to research influences principal element --- the reentry point parameter uncertainty of reentry trajectory optimum results, it is analyzed by the uncertain expansion problem to reentry point parameter, the mapping relations for obtaining reentering optimization track and reentry point parameter, so as to according to reentry point parameter one reentry trajectory of rapid Optimum.This method computational efficiency is high, has very strong engineering application value.The present invention is applied to aerial vehicle trajectory and optimizes field.
Description
Technical field
The present invention relates to track optimizing technical fields, are specifically related to a kind of hypersonic flight based on reentry point parameter
Device reentry trajectory optimization method.
Background technology
In recent years, hypersonic aircraft becomes the effective work implemented global rapid strike and keep air superiority gradually
Tool, is paid close attention to by countries in the world.The U.S. starts the high ultrasound dominated by advanced research project office of Ministry of National Defence in June, 2003
Fast aircraft project (CAV), the aircraft project obtain preliminary progress, have developed Lockheed Martin Corporation and open
(CAV-L rises for the lifting body shape (CAV-H, lift resistance ratio range are about 3.5~5.0) of hair and the improvement bipyramid appearance of Boeing
Resistance is about 2.0~2.5 than range).Russian lightning science production association takes the lead in starting to design iron hammer in 2012
(Hammer) hypersonic aircraft, European Space Agency, Japan, India and China also all step up to carry out to hypersonic aircraft later
Research work.However, hypersonic aircraft flying speed is very fast (flight Mach number is generally higher than 5), flight environment of vehicle exists
The flight time of larger uncertainty, another aspect re-entry flight track is long, and shared thru-flight time scale is high, flight item
Part is severe, has highly important influence to end strike effect.In order to ensure that aircraft efficient stable flies, optimization design one
The flight path of flight path, especially reentry stage is particularly important.
The purpose of track optimizing is to determine in flight course while meeting Dynamic Constraints, boundary condition, process about
The optimum control amount of the constraints such as beam is substantially a kind of Optimal Control Problem.Track optimizing problem can substantially be divided into two classes：Indirectly
Method and direct method.Indirect method is to be expressed as the function of state variable and association's state variable by that will control variable, then solves at 2 points
Boundary value problem.Direct method is the method solution by the way that the equation of motion along flight path discretization, directly to be used to parameter optimization,
To target function direct searching optimization.Indirect method solving precision is higher, but generally requires the accurate initial value for providing and assisting state variable, and is somebody's turn to do
The it is proposed of initial value is often difficult to ensure its accuracy again.Therefore direct method occupies the leading of track optimizing field gradually.Pseudo- spectrometry is made
For a kind of most widely used direct method, by some, with point, discrete state variable and control variable solve simultaneously, solving precision compared with
Height, application are more convenient.
However, above-mentioned optimization method is often time-consuming longer, it cannot achieve and complete to calculate on line, need to be completed offline with reference to rail
The optimization of mark need to often be bound into aircraft before transmission.The method optimized on some lines also tends to need to be to handled environment
Simplified, lacks the research to three-dimensional optimized track.
Such as a kind of finite time track of hypersonic aircraft is disclosed in CN201410216389.3 and is quickly generated
Method, this method is by converting track optimizing problem to convex optimization problem, to achieve the purpose that rapid solving.But the party
Method needs special CVXGEN softwares to be compiled optimization problem, and coding and conversion process are complex, and optimization process
In do not consider the compression of the Earth, the influence of the aceleration of transportation and Coriolis acceleration item and no-fly zone and way point constraint, only test
The movement for having demonstrate,proved fore-and-aft plane lacks necessary discussion to sidestep maneuver track optimizing.
It is online that a kind of hypersonic aircraft reentry trajectory based on goal programming is disclosed in CN201510051589.2
Optimization method, this method calculate reentry corridor using speed-elevation plane method, set the angle of attack to piecewise linear function, from
And realize reentry trajectory on-line optimization.But this method needs the change curve of the prefabricated angle of attack in advance, longitudinal track and transverse path
It needs to separate design, can not ensure global optimum's performance of result using sequential quadratic programming algorithm or interior point method.
Invention content
The purpose of the present invention is to provide a kind of hypersonic aircraft reentry trajectory optimization side based on reentry point parameter
Method, the invention solve optimization overlong time in reentry trajectory optimization process in the prior art, longitudinal track and transverse path and need
The technical issues of separating design, can not ensure global optimum or model simplification ability rapid Optimum must be carried out.
The basic ideas of the method provided by the present invention：Being conceived to research influences the principal element of reentry trajectory optimum results ---
Reentry point parameter uncertainty is analyzed by the uncertain expansion problem to reentry point parameter, obtains reentering optimization track
With the mapping relations of reentry point parameter, to according to reentry point parameter realize one reentry trajectory of rapid Optimum.This method is applicable in
In the Optimal design of trajectory of hypersonic aircraft reentry stage.
Referring to Fig. 1, the present invention provides a kind of hypersonic aircraft reentry trajectory optimization side based on reentry point parameter
Method includes the following steps：
Step S100：The influence for considering the compression of the Earth, the aceleration of transportation and Coriolis acceleration item, establishes hypersonic flight
The kinetic model of device re-entry；
Step S200：Various Complex constraint is analyzed, Non-linear Optimal Model is established；The Complex Constraints can be
Process constraints, end conswtraint, no-fly zone and way point constraint, are certainly not limited to this.
Step S300：The optimization problem under nominal re-entry mode parameter is solved using Gauss puppet spectrometry, obtains nominal optimization
Discrete time point is normalized in track and corresponding state variable, obtains the reference time benchmark for subsequently using；
Step S400：It is dotted to meet reentering for probability distribution according to the polynomial principle foundation of point collocation solution GENERALIZED CHAOTIC
State parameter matches point sampling space, calculates corresponding weight and orthogonal polynomial；
Step S500：It is a little optimization initial value with each assemble in sample space in step S400, uses Gauss puppet spectrometry
It is solved, obtains series of optimum trajectory parameters, then solve output corresponding with step S300 Plays discrete time point
Variable；
Step S600：Calculate the polynomial coefficient of GENERALIZED CHAOTIC；
Step S700：According to the polynomial coefficient of GENERALIZED CHAOTIC obtained in step S600, solves and fly for hypersonic
The optimization track of the true reentry point parameter of row device；
(1) influence for considering the compression of the Earth, the aceleration of transportation and Coriolis acceleration item, establishes hypersonic aircraft and reenters
The kinetic model of inflight phase is as follows：
Wherein, it is longitude that r, which is the earth's core away from, λ, φ is dimension, V is speed, θ is flight path angle, σ is flight path yaw angle, α
It is angle of heel for the angle of attack, μ, wherein r, λ, φ, V, θ and σ are state variable, and variable, D accelerate for aerodynamic drag in order to control by α and μ
Degree, L are lift acceleration, another grComponent, the g in direction are sweared along the earth's core for acceleration of gravityωThe component in direction is sweared for vertical the earth's core,
grAnd gωIt can be expressed as：
Wherein, μEIt is the Section 2 zonal harmonic coefficient for considering the compression of the Earth, a for Gravitational coefficient of the Earth, JeFor earth semi-major axis.
Aerodynamic drag and lift can be expressed as：
Wherein m is quality, SrefIt is atmospheric density for aircraft area of reference, ρ, can be expressed asWherein
ρ0=1.225kg/m3、h0=7100m, h are height.CDAnd CLRespectively resistance and lift coefficient.The earth in accurate model is certainly
Turn item (CV、Cθ、Cσ), Coriolis acceleration itemWith aceleration of transportation itemIt can be expressed as：
Wherein ωEIt is rotational-angular velocity of the earth.
In order to improve computational efficiency and computational accuracy, the present invention carries out nondimensionalization processing in kinetics equation model.
The earth's core with height etc. away from using earth radius R0=6378.14km carries out change of scale, and speed and time are respectively adopted It is converted；
(2) Various Complex constraint (including process constraints, end conswtraint, no-fly zone and way point constraint etc.) is divided
Analysis, establishes Non-linear Optimal Model
First, process constraints (stationary point hot-fluid, dynamic pressure, overload) are constrained：
Wherein,For stationary point heat flow modulus,qmaxAnd nmaxRespectively the maximum of stationary point hot-fluid, dynamic pressure and overload permits
Perhaps it is worth；
Secondly, control process variable is constrained, and meets the requirement of actual control system：
In addition, the SOT state of termination often also has certain constraint：
Wherein, subscript " f " represents the respective SOT state of termination；
Finally, no-fly zone is studied, is illustrated by taking cylinder no-fly zone and ellipsoid no-fly zone as an example in the present invention.Circle
The statement of column no-fly zone needs two parameter (major semiaxisAnd semi-minor axis).Ellipsoid no-fly zone is also needed to height parameter
It is stated.The distance of aircraft to no-fly district center can be defined as (φ in launching coordinate systemd,λd,hd), it is then no-fly
Area's constraint can be expressed as
The present invention can also be directed to the reentry trajectory that additional way point constrains (position that track has to pass through) and optimize,
The air route point coordinates of middle horizontal path point constraint can be expressed as
After Complex Constraints analysis, binding kinetics equation, Non-linear Optimal Model can be expressed as
Wherein, JmIt can be range or flight time for optimization object function.
(3) Gauss puppet spectrometry is used to solve the optimization problem under nominal re-entry mode parameter, obtain name optimization track and
Corresponding output variable Y=[r, λ, φ, V, θ, σ, μ, α, tf,Jm], the discrete time point in optimization process can be expressed asWherein NtIndicate the total number of discrete time point.Discrete time point can carry out change of scale to [0,1] area
Between：Discrete time point after normalized can be expressed as
(4) it solves the polynomial principle of GENERALIZED CHAOTIC according to point collocation and establishes reentry point parameter uncertainty δ=[δ1,δ2,
δ3,δ4,δ5,δ6] match point sampling space, the corresponding multi-dimensional orthogonal multinomial Ψ of j-th of output variablej(δ) can be by monotropic
Polynomial tensor product is measured to obtain：
WhereinRepresent liRank univariate polynomials, NYIndicate the dimension of output variable.It is more for each multi-dimensional orthogonal
Item formula ΨjThe combination of (δ), univariate polynomials exponent number have uniqueness.
(5) it is a little optimization initial value with each assemble in sample space, is solved, can be obtained using Gauss puppet spectrometry
Series of optimum track output variable Y(m), and interpolation solves(wherein) corresponding
Output variable.
(6) the polynomial coefficient of GENERALIZED CHAOTIC is calculated
Wherein Q is with a sum, δm=[δ1,m,δ2,m,δ3,m,δ4,m,δ5,m,δ6,m] indicate that m assembles a little corresponding reenter
Point parameter uncertainty, τmFor corresponding weight, Y (δm) it is to assemble a little initial value as an optimization using m, according to step S500 meters
The output variable Y of calculation(m)。
(7) accurate reentry point parameter is obtained by track forecast or sensor, to the output variable of reentry trajectory
It can be expressed as
Wherein YiI-th of output variable of (δ) expression optimization track,For corresponding GENERALIZED CHAOTIC multinomial coefficient, P tables
Show the polynomial item number of GENERALIZED CHAOTIC.
During use, step S100~S600 can be completed by off-line calculation, then that the GENERALIZED CHAOTIC of gained is more
Binomial coefficient loads in the computer of hypersonic aircraft, and step S700 is completed on line, and step S700 obtains true in aircraft
It cuts after reentering parameter according to the polynomial coefficient of GENERALIZED CHAOTIC, solves for the excellent of the true reentry point parameter of hypersonic aircraft
Change track, obtain optimum results.
The technique effect of the present invention：
1, the hypersonic aircraft reentry trajectory optimization method provided by the invention based on reentry point parameter, establishes and examines
Consider the precise kinetic model of the compression of the Earth, the aceleration of transportation and Coriolis acceleration item, computational accuracy higher flies closer to practical
Row situation.
2, the hypersonic aircraft reentry trajectory optimization method provided by the invention based on reentry point parameter, by more
Kind Complex Constraints (including process constraints, end conswtraint, no-fly zone and way point constraint etc.) are analyzed, preferably plan optimization
Path so that optimum results can meet Complex Battlefield Environments requirement.
3, the hypersonic aircraft reentry trajectory optimization method provided by the invention based on reentry point parameter, by using
Gauss puppet spectrometry, to realize quick obtaining globally optimal solution.
4, the hypersonic aircraft reentry trajectory optimization method provided by the invention based on reentry point parameter, passes through foundation
The mapping relations for optimizing track and reentry point parameter, to realize that the dotted state that reenters only in accordance with a certain determination can rapid Optimum
Go out a reentry trajectory.The process employs algorithms that is offline and being combined online, and the more optimization process of elapsed time is handed over
It is completed by off-line algorithm, has saved the cost in line computation, improved computational efficiency.
Specifically please refer to the hypersonic aircraft reentry trajectory optimization method according to the present invention based on reentry point parameter
The various embodiments proposed it is described below, will make apparent in terms of the above and other of the present invention.
Description of the drawings
Fig. 1 is that the hypersonic aircraft reentry trajectory optimization method flow provided by the invention based on reentry point parameter is shown
It is intended to；
Fig. 2 is the speed for reentering one gained of initial value Optimization Solution example according to 1 times of standard deviation using the method provided by the present invention
Degree-altitude curve and Gauss puppet spectrometry off-line calculation nominal speed --- altitude curve comparison diagram is (using maximum range as target
Function)；
Fig. 3 is the speed for reentering one gained of initial value Optimization Solution example according to 2 times of standard deviations using the method provided by the present invention
Degree-altitude curve and Gauss puppet spectrometry off-line calculation nominal speed --- altitude curve comparison diagram is (using maximum range as target
Function)；
Fig. 4 is the speed for reentering one gained of initial value Optimization Solution example according to 3 times of standard deviations using the method provided by the present invention
Degree-altitude curve and Gauss puppet spectrometry off-line calculation nominal speed --- altitude curve comparison diagram is (using maximum range as target
Function)；
Fig. 5 is to reenter the integral gained of initial value Optimization Solution example two according to 3 times of standard deviations using the method provided by the present invention
Highly-time graph and nominal altitude-time graph comparison diagram of Gauss puppet spectrometry off-line calculation are (using maximum range as target
Function)；
Fig. 6 is to reenter the integral gained of initial value Optimization Solution example two according to 3 times of standard deviations using the method provided by the present invention
Nominal longitude-latitude curve comparison figure of longitude-latitude curve and Gauss puppet spectrometry off-line calculation is (using maximum range as target
Function)；
Fig. 7 is to reenter the integral gained of initial value Optimization Solution example two according to 3 times of standard deviations using the method provided by the present invention
The nominal speed of speed-altitude curve and Gauss puppet spectrometry off-line calculation --- altitude curve comparison diagram is (with the most short flight time
For object function, increase way point constraint)；
Fig. 8 is to reenter the integral gained of initial value Optimization Solution example two according to 3 times of standard deviations using the method provided by the present invention
Longitude-latitude curve and nominal longitude-latitude curve comparison figure of Gauss puppet spectrometry off-line calculation (are with the most short flight time
Object function increases way point constraint).
Specific implementation mode
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.
Two kinds of application example verification beneficial effects of the present invention are given below.
Nominal initial value is both configured to h in each example0=80km, V0=6500m/s, θ0=0deg, λ0=0deg, φ0=
0deg、σ0=90deg, choosing influences maximum 3 initial values (height, speed, flight path angle) of reentry trajectory optimum results, false
Fixed its meets Gaussian Profile, and standard deviation is expressed asThen actually again
Entering dotted state can be expressed asWherein kiExpression standard deviation multiple (| ki|
≤ 1 probability is 68.3%, | ki|≤2 probability is 95.5%, | ki|≤3 probability is 99.7%), according to 3 times of standard deviation originals
Then, bigger, the probability actually occurred is smaller.Handled in each example is cylinder no-fly zone, the centre bit of the cylinder no-fly zone
It is set toMajor semiaxis and semi-minor axis are respectivelyThe no-fly district center of ellipsoid
Position isMajor semiaxis, semi-minor axis and height are respectively
Other constrained parameters are referring to table 1.
1 constrained parameters table of table
Example one is used according to the output variable of reentry point state parameter calculation optimization track for guidance system, i.e., in step
Output variable Y=[r, λ, φ, V, θ, σ, t in S700f,Jm]。
The uncertain horizontal track optimizing of 3 kinds of this case study as a result, | ki|=1,2,3." reference value " indicates in example
Using Gauss puppet spectrometry using practical reentry point state parameter as the optimum results of initial value, " optimal value " indicates the base using the present invention
In the optimization track that reentry point parameter uncertainty expansion method is obtained using practical reentry point state parameter as initial value, " nominal value "
Indicate using Gauss puppet spectrometry off-line calculation in the name of reentry point state parameter be initial value optimum results.
Fig. 2~4 compared optimizing track using method provided by the invention and traditional Gauss puppet spectrometry off-line calculation name
Speed-altitude curve of acquisition.As can be seen that with probabilistic increase, in the name of reentry point state parameter is initial value
Deviation between optimum results and reference locus is increasing, and optimal value using the present invention is substantially unaffected.It is right in table 2
Compare the optimum results using maximum range as object function, it can be seen that optimum results of the invention (| ki| when=2) and reference
Value is coincide substantially.It compared the elapsed time of different calculation methods in table 3, it can be seen that excellent needed for the method provided by the present invention
The change time (| ki| when=2) it is far smaller than Gauss puppet spectrometry, illustrate that the method provided by the present invention can meet aircraft computer
Calculating requirement.
Table 2 is using maximum range as the optimum results contrast table of object function
| Level of uncertainty | Reference value | Optimal value (error) | Nominal value (error) |
| |ki|=1 | 15073.86km | 15093.63km (0.13%) | 14630.36km (2.94%) |
| |ki|=2 | 15607.23km | 15609.94km (0.02%) | 14630.36km (6.26%) |
| |ki|=3 | 16126.66km | 16158.12km (0.20%) | 14630.36km (9.28%) |
Table 3 calculates elapsed time contrast table (condition：Laptop 2.0GB RAM, 3GHz CPU)
Example two is used according to the control variable of reentry point state parameter calculation optimization track for control system, i.e., in step
Output variable Y=[θ, σ, t in S700f,Jm]。
Studied in example two optimum results worst situations (uncertain level | ki|=3), use is provided by the invention
Method calculation optimization controls variable, and then optimal control variable is added in kinetics equation, and integral obtains motion state, and right
State parameter and control parameter are compared.
Acquired results compared height half interval contour and the horizontal movement at any time of Different Optimization method respectively as shown in Fig. 5~6
Trail change rule.It can be seen that the optimization method based on reentry point parameter that the present invention uses, optimum results are close to reference value
Effect is preferable, and name integral track has with reference value and largely detaches, and is not suitable for the control system of hypersonic aircraft
System uses.
Advantageous effect in order to further illustrate the present invention, the use most short flight time, boat was added simultaneously in index as an optimization
Waypoint constrains.Acquired results compared the speed-altitude curve and horizontal movement rail of integral gained respectively as shown in Fig. 7~8
The changing rule of mark.As can be seen that different optimizing index functions can be used in the method for the present invention, optimal value and reference value
Registration is higher, and optimum results are ideal.
In conclusion the present invention is expanded with reentry point parameter uncertainty for starting point, generalized polynomial chaos has been used
The hybrid algorithm that method and traditional optimization combine, it is proposed that the offline optimisation strategy for preparing and planning online can be solved effectively
Hypersonic aircraft reentry trajectory optimization problem certainly with Complex Constraints and reentry point parameter uncertainty.This method is not only
The calculating time is short, and implementation is simple, additionally it is possible to so that optimization track is met Various Complex constraints, ensure feasibility, simultaneously
For method proposed by the present invention without carrying out model simplification, optimum results meet global optimum, have very strong engineering application value.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention, and any this field is general
Logical technical staff, without departing from the spirit and scope of the present invention, when can make it is various change and retouch, therefore the protection of the present invention
Range is subject to the range defined depending on claims.
Those skilled in the art will be clear that the scope of the present invention is not limited to example discussed above, it is possible to be carried out to it
Several changes and modification, the scope of the present invention limited without departing from the appended claims.Although oneself is through in attached drawing and explanation
The present invention is illustrated and described in book in detail, but such illustrate and describe only is explanation or schematical, and not restrictive.
The present invention is not limited to the disclosed embodiments.
By to attached drawing, the research of specification and claims, those skilled in the art can be in carrying out the present invention
Understand and realize the deformation of the disclosed embodiments.In detail in the claims, term " comprising " is not excluded for other steps or element,
And indefinite article "one" or "an" be not excluded for it is multiple.The certain measures quoted in mutually different dependent claims
The fact does not mean that the combination of these measures cannot be advantageously used.Any reference marker in claims is not constituted pair
The limitation of the scope of the present invention.
Claims (3)
1. a kind of hypersonic aircraft reentry trajectory optimization method based on reentry point parameter, which is characterized in that including following
Step：
Step S100：The influence for considering the compression of the Earth, the aceleration of transportation and Coriolis acceleration item, establishes hypersonic aircraft again
The kinetic model for entering inflight phase is：
Wherein, it is longitude that r, which is the earth's core away from, λ, φ is latitude, V is speed, θ is flight path angle, σ is flight path yaw angle, α is to attack
Angle, μ are angle of heel, and wherein r, λ, φ, V, θ and σ is state variable, and α and μ variable in order to control, D is aerodynamic drag acceleration, L is
Lift acceleration,
Another grComponent, the g in direction are sweared along the earth's core for acceleration of gravityωThe component in direction, g are sweared for vertical the earth's corerAnd gωIt is expressed as：
Wherein, μEIt is the Section 2 zonal harmonic coefficient for considering the compression of the Earth, a for Gravitational coefficient of the Earth, JeFor earth semi-major axis；
Aerodynamic drag and lift are expressed as：
Wherein m is quality, SrefIt is atmospheric density for aircraft area of reference, ρ, is expressed asWherein ρ0=
1.225kg/m3、h0=7100m, h are height；
CDAnd CLRespectively resistance and lift coefficient, the earth rotation terms (C in accurate modelV、Cθ、Cσ), Coriolis acceleration itemWith aceleration of transportation itemIt is expressed as：
Wherein ωEIt is rotational-angular velocity of the earth；
Step S200：Various Complex constraint is analyzed, Non-linear Optimal Model is established；
Step S300：The optimization problem under nominal re-entry mode parameter is solved using Gauss puppet spectrometry, obtains name optimization track
With corresponding output variable Y=[r, λ, φ, V, θ, σ, μ, α, tf, Jm], discrete time point is normalized and is expressed asDiscrete time point, obtain reference time benchmark,
Wherein JmFor optimization object function；
The discrete time point is expressed asWherein NtIndicate the total number of discrete time point, tfWhen to fly total
Between；
The discrete time point is expressed as after change of scale to [0,1] section
Step S400：The polynomial principle foundation of GENERALIZED CHAOTIC, which is solved, according to point collocation meets the reentry point parameter of probability distribution not
Certainty δ=[δ1, δ2, δ3, δ4, δ5, δ6] match point sampling space, corresponding weight and orthogonal polynomial are calculated,
The corresponding multi-dimensional orthogonal multinomial Ψ of j-th of output variablei(δ) is obtained by the tensor product of univariate polynomials：
WhereinRepresent liRank univariate polynomials, NYIndicate the dimension of output variable；
Step S500：It is a little optimization initial value with each assemble in sample space in step S400, is carried out using Gauss puppet spectrometry
It solves, obtains the corresponding output variable Y in series of optimum track(m), and interpolation solution and step S300 Plays discrete times
Point is correspondingThe output variable at moment；
Step S600：The polynomial coefficient of GENERALIZED CHAOTIC is calculated by formula (11)
Wherein Q is with a sum, δm=[δ1, m, δ2, m, δ3, m, δ4, m, δ5, m, δ6, m] indicate that m assembles a little corresponding reentry point parameter
Uncertain, τmFor corresponding weight, Y (δm) it is to assemble a little initial value as an optimization using m；
Step S700：According to the polynomial coefficient of GENERALIZED CHAOTIC being calculated in step S600, solves and fly for hypersonic
The optimization track of the true reentry point parameter of row device.
2. the hypersonic aircraft reentry trajectory optimization method according to claim 1 based on reentry point parameter, special
Sign is, true reentry point parameter, the reentry point ginseng are obtained by track forecast or sensor in the step S700
Counting the corresponding output variable for optimizing track is：
Wherein, YiI-th of output variable of (δ) expression optimization track,Indicate wide for corresponding GENERALIZED CHAOTIC multinomial coefficient, P
The adopted polynomial item number of chaos.
3. the hypersonic aircraft reentry trajectory optimization method according to claim 1 based on reentry point parameter, special
Sign is that establishing Non-linear Optimal Model in the step S200 includes the following steps：
Step S210, constrains process constraints：
WhereinFor stationary point heat flow modulus,qmaxAnd nmaxThe respectively maximum permissible value of stationary point hot-fluid, dynamic pressure and overload；Q and n is respectively stationary point hot-fluid, dynamic pressure and overload；
Step S220 constrains control process variable：
Step S230, the SOT state of termination often also have certain constraint：
Wherein, subscript " f " represents the SOT state of termination of corresponding state variable；
After Complex Constraints analysis, binding kinetics equation, Non-linear Optimal Model is expressed as：
Wherein, JmFor optimization object function, it is set as range or flight time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610373623.2A CN106020231B (en) | 2016-05-30 | 2016-05-30 | Hypersonic aircraft reentry trajectory optimization method based on reentry point parameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610373623.2A CN106020231B (en) | 2016-05-30 | 2016-05-30 | Hypersonic aircraft reentry trajectory optimization method based on reentry point parameter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106020231A CN106020231A (en) | 2016-10-12 |
| CN106020231B true CN106020231B (en) | 2018-09-18 |
Family
ID=57091810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610373623.2A Active CN106020231B (en) | 2016-05-30 | 2016-05-30 | Hypersonic aircraft reentry trajectory optimization method based on reentry point parameter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106020231B (en) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371442B (en) * | 2016-11-02 | 2019-03-19 | 河海大学常州校区 | A kind of mobile robot control method based on the transformation of tensor product model |
| CN107491090A (en) * | 2017-08-25 | 2017-12-19 | 中国人民解放军火箭军工程大学 | Based on the quick planing method of aircraft reentry trajectory for detecting point self-adapted pseudo- spectrometry |
| US10571921B2 (en) * | 2017-09-18 | 2020-02-25 | Baidu Usa Llc | Path optimization based on constrained smoothing spline for autonomous driving vehicles |
| CN108050888B (en) * | 2017-11-27 | 2019-10-29 | 北京航空航天大学 | A kind of explicit guidance method with no-fly zone constraint |
| CN109117544B (en) * | 2018-08-07 | 2021-11-23 | 北京空间技术研制试验中心 | Optimization method for full track of shuttle vehicle |
| CN109254533B (en) * | 2018-10-24 | 2020-04-24 | 哈尔滨工业大学 | Hypersonic aircraft rapid trajectory optimization method based on state integral gradient-restoration algorithm |
| CN109508030B (en) * | 2018-11-27 | 2020-08-04 | 北京航空航天大学 | Collaborative analysis reentry guidance method considering multi-forbidden flight area constraint |
| CN109583111A (en) * | 2018-12-05 | 2019-04-05 | 中国航空工业集团公司西安飞行自动控制研究所 | One kind being based on the polynomial accelerometer Uncertainty Analysis Method of any type chaos |
| CN109858106A (en) * | 2019-01-11 | 2019-06-07 | 南京航空航天大学 | Aircraft winglet stroke optimization method based on Gauss puppet spectrometry |
| CN109976154A (en) * | 2019-03-04 | 2019-07-05 | 北京理工大学 | A kind of aerial vehicle trajectory optimization method based on chaos multinomial and the convex optimization of sequence |
| CN110689620B (en) * | 2019-09-19 | 2023-08-01 | 浙江理工大学 | Multi-level optimized grid surface discrete spline curve design method |
| CN111338364B (en) * | 2019-11-21 | 2021-09-21 | 浙江大学 | High-precision controller for optimizing trajectory of hypersonic aerocraft with quick response |
| CN111324035A (en) * | 2019-11-21 | 2020-06-23 | 浙江大学 | Adaptive optimal controller for trajectory optimization of hypersonic aircraft |
| CN110989644B (en) * | 2019-11-29 | 2021-04-23 | 上海宇航系统工程研究所 | Aircraft trajectory planning method considering target point multi-terminal constraint |
| CN111580535B (en) * | 2020-05-18 | 2023-06-06 | 中国人民解放军国防科技大学 | Reentry track three-dimensional profile planning method and system based on convex optimization |
| CN112093078B (en) * | 2020-08-21 | 2022-03-22 | 哈尔滨工业大学 | High-precision high-efficiency aircraft trajectory optimization and guidance switching method |
| CN111930145B (en) * | 2020-08-24 | 2022-09-23 | 中国人民解放军火箭军工程大学 | Hypersonic aircraft reentry trajectory optimization method based on sequence convex programming |
| CN112278336B (en) * | 2020-11-03 | 2022-03-22 | 北京空间飞行器总体设计部 | High-speed reentry heat flow flight test verification method |
| CN112379693B (en) * | 2020-11-24 | 2024-02-20 | 中国运载火箭技术研究院 | Intelligent parallel Gaussian pseudo-spectrum aircraft reentry track optimization method |
| CN114545976A (en) * | 2022-03-08 | 2022-05-27 | 中山大学 | Obstacle avoidance flight control method, device and system of aircraft |
| CN114690794A (en) * | 2022-03-31 | 2022-07-01 | 北京中科宇航技术有限公司 | Method and system for tabular real-time control of flight state |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103995540A (en) * | 2014-05-22 | 2014-08-20 | 哈尔滨工业大学 | Method for rapidly generating finite time track of hypersonic aircraft |
| CN104615144B (en) * | 2015-01-30 | 2017-06-13 | 天津大学 | Hypersonic aircraft reentry trajectory method for on-line optimization based on goal programming |
-
2016
- 2016-05-30 CN CN201610373623.2A patent/CN106020231B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106020231A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106020231B (en) | Hypersonic aircraft reentry trajectory optimization method based on reentry point parameter | |
| CN112347840B (en) | Vision sensor laser radar integrated unmanned aerial vehicle positioning and image building device and method | |
| Lu et al. | Rapid generation of accurate entry landing footprints | |
| Zhao et al. | Reentry trajectory optimization for hypersonic vehicle satisfying complex constraints | |
| CN104392047B (en) | Quick trajectory programming method based on smooth glide trajectory analytic solution | |
| CN103838914B (en) | Analytical algorithm method of gliding section trajectory of hypersonic aerocraft | |
| CN111783307B (en) | Hypersonic aircraft state estimation method | |
| CN105043388B (en) | Vector search Iterative matching method based on INS/Gravity matching integrated navigation | |
| CN103995540A (en) | Method for rapidly generating finite time track of hypersonic aircraft | |
| CN110532665B (en) | Method for predicting dynamic trajectory of moving object under fixed route task | |
| CN107121929B (en) | Robust reentry guidance method based on linear covariance model predictive control | |
| CN109240323B (en) | Aerospace vehicle reentry guidance method capable of analyzing structure in real time | |
| Arita et al. | Optimal feedback guidance for nonlinear missile model with impact time and angle constraints | |
| CN104061932A (en) | Method for navigation positioning by using gravitation vector and gradient tensor | |
| CN109254533A (en) | The quick track optimizing method of gradient based on State integral-reparation algorithm hypersonic aircraft | |
| CN108563897A (en) | A kind of quadrotor drone parameter identification method based on extremum seeking algorithm | |
| Li et al. | Multiple model tracking for hypersonic gliding vehicles with aerodynamic modeling and analysis | |
| CN107463871A (en) | A kind of point cloud matching method based on corner characteristics weighting | |
| CN113076634B (en) | Multi-machine cooperative passive positioning method, device and system | |
| Heidrich et al. | Generalized regularization of constrained optimal control problems | |
| Jiang et al. | Research on method of trajectory prediction in aircraft flight based on aircraft performance and historical track data | |
| CN106484957B (en) | A kind of Reusable Launch Vehicles ablated configuration Guidance and control performance evaluation system | |
| CN105843040A (en) | Method and device for identifying unmanned helicopter kinetic parameters | |
| CN115542746B (en) | Energy control reentry guidance method and device for hypersonic aircraft | |
| CN109977543A (en) | Three-dimensional profile coverage area calculation method, system and medium based on lateral priority |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |