CN108153332A - Trace simulation system based on big envelope curve game strategies - Google Patents
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Abstract
The present invention relates to aircraft automation fields, propose the trace simulation systems approach based on big envelope curve game strategies, it is intended to solve the problems, such as that flight instruments maneuvering decision strategy and its track carry out rapid Estimation, system includes：Situation Awareness is configured to obtain the attitude data of flight instruments with decision-making module, and different tactical missions is chosen according to above-mentioned attitude data；Exception management module is configured to carry out aerial mission switching to above-mentioned flight instruments according to above-mentioned flight instruments attitude data and preset a variety of maneuvering flight tasks；Real-time maneuvering flight module is configured to calculate the respectively control of flight action awing of above-mentioned flight instruments according to above-mentioned attitude data and flight path, it forms targeted attitude and target trajectory and target trajectory is resolved module and is configured to resolve above-mentioned targeted attitude and above-mentioned target trajectory using multiple degrees of freedom equation, realize the output of the target trajectory of above-mentioned flight instruments；Realize that flight instruments maneuvering decision strategy and its track carry out rapid Estimation.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular to aircraft flight trajectory predictions, more particularly to a kind of base
In the trace simulation system of big envelope curve game strategies.
Background technology
Flight envelope is the closed geometry figure using flying speed, height and overload etc. as boundary, to represent aircraft
Or the flight range of aircraft and flight restriction condition.With the development of unmanned vehicle technology, function is stronger and stronger, makes
It is constantly extended with range so that flight envelope is increasing.Usually face in endoatmosphere (within 2 myriametres) and atmosphere edge
Near space flies, and flying speed changes greatly, while also there is actively motor-driven strategy.In order to carry out behavior for this kind of target
Prediction needs to carry out Fast simulation to the motor-driven decision behavior of its game in big envelope curve, to predict its Future Trajectory.
Currently, Intelligent flight device with flexible maneuvering flight strategy, because of flight environment of vehicle difference, flight path because sending out
Raw different variations.In game confrontation, confrontation side needs to trace and monitor Intelligent flight device, and it is expected to predict its track,
To provide foundation for follow-up behavior.Therefore a kind of maneuvering decision towards big envelope curve game Intelligent flight device trajectory predictions is needed
Strategy and its rapid simulation method of track, to estimate the behavior of this aircraft and its track.
Invention content
In order to solve the above problem of the prior art, in order to solve the flight in aircraft confrontation game to aircraft
The problem of maneuver strategy and its track carry out rapid Estimation, the application proposes a kind of trace simulation based on big envelope curve game strategies
System is to solve the above problems：
In a first aspect, the present invention provides a kind of trace simulation system based on big envelope curve game strategies.The system includes：State
Gesture is perceived resolves module with decision-making module, exception management module, real-time maneuvering flight module and target trajectory；Above-mentioned Situation Awareness
It with decision-making module, is configured to obtain the attitude data of flight instruments, and different tactical missions is chosen according to above-mentioned attitude data；
Above-mentioned exception management module is configured to the trigger condition according to above-mentioned flight instruments attitude data and preset a variety of tactical missions
Aerial mission switching is carried out to above-mentioned flight instruments；Above-mentioned real-time flight module, is configured to according to above-mentioned attitude data and flight
The respectively control of flight action awing of the above-mentioned flight instruments of trajectory calculation, forms targeted attitude and target trajectory；Above-mentioned mesh
It marks track and resolves module, be configured to using multiple degrees of freedom mechanical model and the equation of motion to above-mentioned targeted attitude and above-mentioned target track
Mark is resolved, and realizes the output of the target trajectory of above-mentioned flight instruments.
In some examples, above-mentioned Situation Awareness includes with decision-making module：Situation Awareness submodule, tactical decision submodule and
Routeing submodule, wherein, above-mentioned Situation Awareness submodule is configured to obtain the attitude datas of flight instruments, and according to upper
State the flight posture that attitude data determines flight instruments；Above-mentioned tactical decision submodule is configured to utilize preset trigger condition
It is calculated with priority, the tactical mission of above-mentioned flight instruments is determined according to above-mentioned flight posture；Above-mentioned routeing submodule, matches
It is set to maneuver switching condition and the war that above-mentioned maneuvering flight task is calculated according to maneuvering flight task and emergent flight route
The planning of art task.
In some instances, above-mentioned tactics submodule is calculated from above-mentioned tactics according to preset trigger condition and priority and is appointed
Following any flight tactics are chosen in business：Escape flight tactics, emergency vehicle evasion tactics and normal flight tactics.
In some instances, above-mentioned routeing submodule is further configured to, using plan constraint condition, calculate by A*
Method realizes the planning to above-mentioned maneuver switching condition and tactical mission.
In some instances, above-mentioned exception management module includes management and dispatching submodule and state estimation submodule, wherein,
Above-mentioned management and dispatching submodule is configured to carry out typical fault to aerial mission according to maneuvering flight task and attitude data, fly
Row exception management, with or realize aerial mission startup, stopping, switching；Above-mentioned state estimation submodule is configured to transport target
Dynamic service condition and dyskinesia is detected, and is monitored assessment to the typical fault of flight instruments according to testing result.
In some instances, above-mentioned real-time flight module includes layering mode management submodule, interface normalization submodule
Submodule is generated with instruction, wherein, above-mentioned layering mode manages submodule, is configured to the maneuvering flight task library control using layering
Switching condition, Stateful Inspection and transition between states management between system flight son action；Above-mentioned interface normalizes submodule, is configured to
It is being detected according to attitude parameter and by sensor with the above-mentioned flight instruments relevant parameters of flight, calculate flight instruments
Load, forms unified target motion control input interface；Above-metioned instruction generates submodule, is configured to according to different flight rails
Mark calculates the handoff relation between the control parameter of different phase flight son action and son action.
In some instances, it is above-mentioned that above-mentioned targeted attitude and above-mentioned target trajectory are solved using multiple degrees of freedom equation
It calculates, realizes the output of target trajectory, including：According to target velocity, track inclination angle, track yaw angle, geographical position coordinates
XYZ is the multiple degrees of freedom target kinematics model of state variable, and above-mentioned target trajectory is resolved：
Wherein, V, x, y, z, θ, ψ, φ, nx,nz, g is followed successively by mass axis ground speed, ground coordinate (x fore-and-aft distances, y sides
To distance, z-height), track inclination angle, trajectory deflection angle, accelerate around speed arrow roll angle, tangential overload, normal g-load and gravity
Degree.
It is above-mentioned that above-mentioned targeted attitude and above-mentioned track are resolved using multiple degrees of freedom equation, realize the defeated of target trajectory
Go out, further include the method converted using plane coordinates to spherical coordinate, by the geographical coordinate of six-freedom motion equation solution
XYZ, conversion terrestrial coordinate system longitude, latitude, height.
It is above-mentioned that above-mentioned targeted attitude and above-mentioned track are resolved using multiple degrees of freedom equation, realize the defeated of target trajectory
Go out, including：Using Euler method or second order interpolation calculating method, interpolation calculation is carried out to target component using different interpolation frame per second, it is real
Now become the output of frame per second target trajectory.
Trace simulation system provided by the embodiments of the present application based on big envelope curve game strategies, the Situation Awareness of system is with determining
Plan module chooses flight tactics by the posture of flight instruments；Exception management module is used to switch aerial mission；Real-time flight mould
Block is used to form flight instruments targeted attitude and target trajectory, and target trajectory resolves module realization and the data of target trajectory are shown
Show, realize in confrontation game and rapid Estimation is carried out to flight instruments maneuvering decision strategy and its track, in certain time and sky
Between realize under scale target is moved caused by influences to be prejudged in advance, the specific aim of raising flight agonistic behavior and right
Anti- efficiency.
Description of the drawings
Fig. 1 is that this application can be applied to exemplary system architecture figures therein；
Fig. 2 is the structure diagram according to the trace simulation system embodiment based on big envelope curve game strategies of the application；
Fig. 3 is determined according to the tactical mission flying method of the trace simulation system based on big envelope curve game strategies of the application
Plan schematic diagram；
Fig. 4 is shown according to the flight management dispatch state of the trace simulation system based on big envelope curve game strategies of the application
It is intended to；
Fig. 5 is shown according to the maneuvering flight hierarchical control of the trace simulation system based on big envelope curve game strategies of the application
It is intended to.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows showing for the embodiment that can apply the trace simulation system based on big envelope curve game strategies of the application
Example sexual system framework.
As shown in Figure 1, system architecture can include data acquisition equipment 101, network 102, executing agency 103 and server
Device 104.Network 102 between data acquisition equipment 101, executing agency 103 and server 104 provide communication link Jie
Matter.Network 102 can include various connection types, such as wired, wireless communication link or fiber optic cables etc..
Data acquisition equipment 101 will be acquired relevant with aircraft for acquisition and the relevant data of aircraft
Data are sent to server 104 by network 102 and handle；Above-mentioned data acquisition equipment 101 can also communicate with executing agency 103
Connection can be used for acquiring the status information of executing agency, can also be directly according to being acquired and the relevant data of aircraft
Control the action of executing agency.Above-mentioned data acquisition equipment 101 can be all kinds of sensing equipments, e.g., acquire aircraft flight
Speed, corner, pitch angle, the parameters such as wind speed, height, acceleration.
Server 104 can be to provide the server of various services, for example, to the data that data acquisition equipment 101 acquires into
Row processing, and control the processing server of the operation of executing agency 103.Above-mentioned processing server can be according to preset logic
Or instruction, according to collected data information to the various controllers of execution structure control.For example, it may be by electronic component
The electronic circuit of composition or by the electronic control unit that processor or microprocessor are core, such as SCM system programmable are patrolled
Collect controller, microcomputer etc..Can also be the smart machine with data processing and control function, as smart mobile phone,
Tablet computer, pocket computer on knee and desktop computer etc..
Above-mentioned executing agency 103 can be that various driving devices are used to controlling the movement of aircraft, such as various pneumatic devices,
Electric device etc..It should be noted that the trace simulation system based on big envelope curve game strategies that the embodiment of the present application is provided
It is generally positioned in server 104.
It should be understood that the number of the data acquisition equipment, network, executing agency and server in Fig. 1 is only schematic
's.According to needs are realized, can have any number of terminal device, network, executing agency and server.
With continued reference to Fig. 2, one of the trace simulation system based on big envelope curve game strategies according to the application is shown
The schematic diagram of embodiment.The trace simulation system based on big envelope curve game strategies includes：Situation Awareness and decision model
Block, exception management module, real-time maneuvering flight module and target trajectory resolve module；Wherein, above-mentioned Situation Awareness and decision model
Block, is configured to obtain the attitude data of flight instruments, and different tactical missions is chosen according to above-mentioned attitude data；Above-mentioned exception
Management module is configured to above-mentioned be flown according to the trigger condition of above-mentioned flight instruments attitude data and preset a variety of tactical missions
Luggage, which is put, carries out aerial mission switching；Above-mentioned real-time flight module is configured to according to above-mentioned attitude data and flight path calculating
The respectively control of flight action awing of above-mentioned flight instruments, forms targeted attitude and target trajectory；Above-mentioned target trajectory solution
Module is calculated, is configured to solve above-mentioned targeted attitude and above-mentioned target trajectory using multiple degrees of freedom mechanical model and the equation of motion
It calculates, realizes the output of the target trajectory of above-mentioned flight instruments.
In the present embodiment, above-mentioned Situation Awareness includes with decision-making module：Situation Awareness submodule, tactical decision submodule
With routeing submodule, wherein, above-mentioned Situation Awareness submodule, be configured to obtain flight instruments attitude data, and according to
Above-mentioned attitude data determines the flight posture of flight instruments；Above-mentioned tactical decision submodule is configured to utilize default triggering item
Part and priority calculate, and the tactical mission of above-mentioned flight instruments is determined according to above-mentioned flight posture；Above-mentioned routeing submodule,
Be configured to according to maneuvering flight task and emergent flight route calculate above-mentioned maneuvering flight task maneuver switching condition and
The planning of tactical mission.
Above-mentioned Situation Awareness submodule obtains the attitude data of flight instruments, the number that can be acquired to obtain sensing device
According to can also be to obtain store in server storage unit and flight instruments to fly relevant data.Above-mentioned attitude data can
Think the parameter of flight instruments in-flight, the attitude angle such as obtained using gyroscope.Above-mentioned attitude angle is body coordinate system and ground
Angle between the inertial coodinate system of face uses roll angle (roll), pitch angle (pitch), yaw angle (yaw) expression, above-mentioned horizontal stroke
Roll angle φ is the angle of aircraft symmetrical plane and the vertical interplanar by the airframe longitudinal axis；Above-mentioned pitching angle theta is axis
With the angle between ground level (horizontal plane), aircraft comes back as just；Above-mentioned yaw angle ψ for the projection of axis in the horizontal plane with
Angle between the earth's axis, using head right avertence as just.The flight of flight instruments or aircraft can be determined using above-mentioned attitude angle
Posture.
Using trigger condition and priority in above-mentioned tactical decision submodule, tactical mission is determined according to flight attitude.On
Trigger condition is stated as pre-set condition, when flight parameter or flight attitude meet above-mentioned trigger condition, is performed corresponding
Action or corresponding tactics.Above-mentioned priority is the action rank or tactics rank of default setting, meets trigger condition when simultaneously
Two tactical missions, the high tactical mission of preferential execution priority.Above-mentioned tactical mission is pre-set winged for flight instruments
Row task, such as normal flight, escape flight, emergency vehicle are evaded, path re-planning.As an example, it can be shown with reference chart 3
Go out the flying method of tactical mission, there is automatic flight and the flight by being commanded.Automatic in-flight normal flight,
Failure exception flies and escape maneuver.The mesh of such as flat winged, rise and fall, acceleration and deceleration, turning can be carried out in normal flight
Mark training task.Escape maneuver can be to turn around, snakelike motor-driven, maximum turning escape, minimum radar exposure escape, dive
The target movement of terrain following etc..In normal flight, dangerous the touch if attitude data and flying quality that detect have set out
Clockwork spring part enters escape maneuver flying method.By triggering failure exception condition, into failure exception flying method, such as Fig. 4
It is shown.
Above-mentioned routeing submodule carries out flight instruments motor-driven according to the flight parameter and attitude parameter of flight instruments
The air route of flight and emergent flight calculates.Above-mentioned air route computational submodule utilize plan constraint condition, by dynamic programming with
And heuristic search search, genetic algorithm, artificial neural network, Swarm Intelligence Algorithm are to flight instruments progress routeing.Tool
Body, the planning to the maneuver switching condition and tactical mission is realized by A* algorithms.Here, A* algorithms are A-star
Algorithm, by sector search and according to environmental parameter, flight parameter and the attitude parameter detected utilize according to it is preset about
Beam condition structure evaluation function scans for, and obtains the algorithm in air route.Above-mentioned constraints can be geographical terrain, meteorological item
Part, confrontation game Fanglei reaches and Jin Bifei areas etc. condition.Above-mentioned evaluation function can by threat, distance, maneuverability plus
The compositions such as power.
Above-mentioned exception management module includes management and dispatching submodule and state estimation submodule.Wherein, above-mentioned management and dispatching
Submodule is configured to carry out typical fault, flight exception management to aerial mission according to maneuvering flight task and attitude data, with
Realize startup, stopping, the switching of aerial mission；Above-mentioned state estimation submodule, be configured to the service condition moved to target and
Dyskinesia is detected, and is monitored assessment to the typical fault of flight instruments according to testing result.
Above-mentioned management and dispatching submodule is according to maneuvering flight task and attitude data to the airbound target task of flight instruments
It is managed.Above-mentioned maneuvering flight task can be tasks or the actions such as flat winged, rise and fall, acceleration and deceleration, turning, rotation.It can
To form the training mission of target movement using above-mentioned maneuvering flight task.Above-mentioned management and dispatching submodule to typical fault, fly
Row is abnormal to carry out contingency management.It is specifically as follows startup, stopping, switching to aerial mission etc..
Above-mentioned state trajectory submodule assesses state of flight, for flights such as above-mentioned typical fault, flight exceptions
The urgent management of task.The above-mentioned assessment to state of flight can according to collected flight parameter and attitude parameter, profit
Primary condition, switching condition, end condition and dyskinesia moved with target etc. is detected flight instruments, and to task
Switching, flight exception and typical fault are assessed.The switching of above-mentioned task can be the switching of model of flight, and model of flight can be with
To instruct the model of flight such as motor-driven, defensive maneuver, floor planning.Switching between each mode can be according to aerial mission or root
Actively selected according to current state of flight, can also according to system state automatically into.Above-mentioned flight can be rich extremely
Play chess confrontation both sides mutually collide and hit mountain, hit etc. unusual conditions.Aircraft typical fault can be Low oil Fuel, electric power
Insufficient, radar equipment exception, radar warning equipment exception etc..Above-mentioned switch for aerial mission state can with failure emergency processing
To be managed scheduling using finite state machine.
Above-mentioned real-time flight module includes layering mode management submodule, interface normalization submodule and instruction generation submodule
Block, wherein, above-mentioned layering mode manages submodule, is configured to the maneuvering flight task library using layering, control flight son action
Between switching condition, Stateful Inspection and transition between states management；Above-mentioned interface normalizes submodule, is configured to according to attitude parameter
With the relevant parameter of flight with above-mentioned flight instruments detected by sensor, the load of flight instruments is calculated, forms system
One target motion control input interface；Above-metioned instruction generates submodule, is configured to, according to different flight paths, calculate not same order
Handoff relation between the control parameter of Duan Feihang action and son action.
Management of the above-mentioned layering to above-mentioned maneuvering flight, model of flight switching and condition managing layering.It specifically, can be right
Any model of flight of flight instruments carries out multi-zone supervision, can be instruction generation layer, conversion layer, track resolving layer, instruct generation
Layer can be by the instruction that maneuver Command Resolution is single mode of motion, and body is generated by the normalization management of instruction
Coordinate system parameters；Body coordinate system Parameter Switch is ground inertial coodinate system parameter by conversion layer；Track resolves layer and utilizes ground
Inertial coodinate system parameter shows flight path.
As an example, the flight path of maneuvering flight mode is carried out hierarchical control as shown in Figure 5, first is is motor-driven fly
The mode management algorithm of capable son action, carries out switching condition, Stateful Inspection and the transition between states management between sub- action.Second
Layer is overload normalization generating algorithm, parameter is converted, third layer resolves track.
Above-mentioned interface normalizes submodule, calculates target overload according to attitude parameter and flight parameter, forms unified mesh
Mark motion control input interface.Specifically, target propulsive force, the angle of attack, acceleration and deceleration, liter may be used in above-mentioned interface normalization submodule
The parameters such as mechanical resistance force coefficient, dynamic pressure, atmospheric density, Aircraft Quality and airfoil calculate target overload.
Above-metioned instruction generates submodule, according to different tracks, calculate the action of different phase control parameter (overload, around
Roll angle, pitch angle, yaw angle and speed when fast etc.) and son action between handoff relation.
Above-mentioned target trajectory resolves module using multiple degrees of freedom mechanical model and the equation of motion to the targeted attitude and institute
It states target trajectory to be resolved, realizes the output of target trajectory.It can be specifically maneuvering flight six-degree-of-freedom dynamic model
With equation of motion algorithm, target velocity, track inclination angle, track yaw angle, geographical position coordinates XYZ are state variable according to this
Multiple degrees of freedom target kinematics model, resolves the target trajectory.It will can tangentially overload, normal g-load, speed
The roll angle of arrow is brought into as input in following calculation formula, carries out the derivative calculations of state variable；
Wherein, V, x, y, z, θ, ψ, φ, nx,nz, g is followed successively by mass axis ground speed, ground coordinate (x fore-and-aft distances, y sides
To distance, z-height), track inclination angle, trajectory deflection angle, accelerate around speed arrow roll angle, tangential overload, normal g-load and gravity
Degree.
The method that plane coordinates is converted to spherical coordinate may be used, by the geographical coordinate of six-freedom motion equation solution
XYZ, conversion terrestrial coordinate system longitude, latitude, height.
Realize the output of target trajectory, including：Using Euler method or second order interpolation calculating method, using different interpolation frame per second pair
Target component carries out interpolation calculation, realizes and becomes the output of frame per second target trajectory.
According to the derivative of above-mentioned variable, calculated using the nonlinear ordinary differential equation numerical integration of fourth order Runge-Kutta algorithm
Method solves above-mentioned target trajectory.Can be specifically：
Under the premise of known equation derivative and Initial Information, the numerical integration algorithm of the differential equation is solved；Enable initial value
It is expressed as follows：
Y '=f (t, y), y (t0)=y0
Then, the RK4 of the problem is provided by equation below：
Wherein,
k1=f (tn, yn)
k4=f (tn+h,yn+hk3)
yn+1By present value ynIn addition time interval (h) and the product of the slope of an estimation determine.The slope is following
The weighted average of slope：K1 is slope when starting the period；K2 is the slope at period midpoint, and slope is used by Euler method
K1 determines the y in pointValue；K3 is also the slope at midpoint, but specifically determines y values using slope k 2；K4 is the period
The slope of terminal, y values are determined with k3.When four slopes take average, the slope at midpoint has the weights of bigger：
RK4 methods are Fourth order rules, and the error often walked is h5 ranks, and gross accumulation error is h4 ranks.
In the system that above-described embodiment of the application provides, Situation Awareness is selected with decision-making module by the posture of flight instruments
Take flight tactics；Exception management module is used to switch aerial mission；Real-time flight module is used to form flight instruments targeted attitude
And target trajectory, target trajectory resolve module realization and the data of target trajectory are shown, the present invention realizes right in confrontation game
Flight instruments maneuvering decision strategy and its track carry out rapid Estimation.
So far, it has been combined preferred embodiment shown in the drawings and describes technical scheme of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make the relevant technologies feature equivalent change or replacement, these
Technical solution after changing or replacing it is fallen within protection scope of the present invention.
Claims (9)
1. a kind of trace simulation system based on big envelope curve game strategies, which is characterized in that the system comprises：Situation Awareness with
Decision-making module, exception management module, real-time maneuvering flight module and target trajectory resolve module；
The Situation Awareness and decision-making module are configured to obtain the attitude data of flight instruments, and are selected according to the attitude data
Take different tactical missions；
The exception management module is configured to the triggering according to the flight instruments attitude data and preset a variety of tactical missions
Condition carries out aerial mission switching to the flight instruments；
The real-time flight module is configured to calculate the flight instruments awing according to the attitude data and flight path
The control of each flight action, forms targeted attitude and target trajectory；
The target trajectory resolves module, be configured to using multiple degrees of freedom mechanical model and the equation of motion to the targeted attitude and
The target trajectory is resolved, and realizes the output of the target trajectory of the flight instruments.
2. the trace simulation system according to claim 1 based on big envelope curve game strategies, which is characterized in that the situation
Perception includes with decision-making module：Situation Awareness submodule, tactical decision submodule and routeing submodule,
The Situation Awareness submodule, is configured to obtain the attitude data of flight instruments, and is determined according to the attitude data
The flight posture of flight instruments；
The tactical decision submodule is configured to calculate using preset trigger condition and priority, true according to the flight posture
The tactical mission of the fixed flight instruments；
The routeing submodule is configured to calculate the maneuvering flight times according to maneuvering flight task and emergent flight route
The maneuver switching condition of business and the planning of tactical mission.
3. the trace simulation system according to claim 2 based on big envelope curve game strategies, which is characterized in that the tactics
Submodule chooses following any flight tactics according to preset trigger condition and priority calculating from the tactical mission：Escape
Flight tactics, emergency vehicle evasion tactics and normal flight tactics.
4. the trace simulation system according to claim 2 based on big envelope curve game strategies, which is characterized in that the air route
It plans submodule, is further configured to, using plan constraint condition, realize to the maneuver switching condition by A* algorithms
And the planning of tactical mission.
5. the trace simulation system according to claim 1 based on big envelope curve game strategies, which is characterized in that the exception
Management module includes management and dispatching submodule and state estimation submodule,
The management and dispatching submodule is configured to carry out aerial mission typical event according to maneuvering flight task and attitude data
Barrier, flight exception management, with or realize aerial mission startup, stopping, switching；
The state estimation submodule, is configured to the service condition moved to target and dyskinesia is detected, according to detection
As a result assessment is monitored to the typical fault of flight instruments.
6. the trace simulation system according to claim 4 based on big envelope curve game strategies, which is characterized in that described real-time
Flight module includes layering mode management submodule, interface normalization submodule and instruction generation submodule,
The layering mode management submodule is configured between the maneuvering flight task library control flight son action using layering
Switching condition, Stateful Inspection and transition between states management；
The interface normalizes submodule, is configured to detecting with the flight instruments according to attitude parameter and by sensor
The relevant parameter of flight, calculate the load of flight instruments, form unified target motion control input interface；
Described instruction generates submodule, is configured to according to different flight paths, calculates the control ginseng of different phase flight son action
Handoff relation between number and son action.
7. the trace simulation system according to claim 1 based on big envelope curve game strategies, which is characterized in that the utilization
Multiple degrees of freedom equation resolves the targeted attitude and the target trajectory, realizes the output of target trajectory, including：According to
Multiple degrees of freedom target using target velocity, track inclination angle, track yaw angle, geographical position coordinates XYZ as state variable moves
Kinetic model resolves the target trajectory：
Wherein, V, x, y, z, θ, ψ, φ, nx,nz, g be followed successively by mass axis ground speed, ground coordinate (x fore-and-aft distances, y laterally away from
From, z-height), track inclination angle, trajectory deflection angle, around speed arrow roll angle, tangential overload, normal g-load and acceleration of gravity.
8. the trace simulation system according to claim 7 based on big envelope curve game strategies, which is characterized in that the utilization
Multiple degrees of freedom equation resolves the targeted attitude and the track, realizes the output of target trajectory, further includes：
The method converted using plane coordinates to spherical coordinate, by the geographical coordinate XYZ of six-freedom motion equation solution, conversion
Terrestrial coordinate system longitude, latitude, height.
9. the trace simulation system according to claim 8 based on big envelope curve game strategies, which is characterized in that the utilization
Multiple degrees of freedom equation resolves the targeted attitude and the track, realizes the output of target trajectory, including：Utilize Euler
Method or second order interpolation calculating method carry out interpolation calculation to target component using different interpolation frame per second, realize and become frame per second target trajectory
Output.
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