CN108280043A

CN108280043A - A kind of method and system of fast prediction flight path

Info

Publication number: CN108280043A
Application number: CN201810082821.2A
Authority: CN
Inventors: 宋亮; 于丽丽
Original assignee: Beijing Runke General Technology Co Ltd
Current assignee: Beijing Runke General Technology Co Ltd
Priority date: 2018-01-29
Filing date: 2018-01-29
Publication date: 2018-07-13
Anticipated expiration: 2038-01-29
Also published as: CN108280043B

Abstract

The present invention provides a kind of method and system of fast prediction flight path, obtain the pose parameter of aircraft and target, adjustable parameter initial value and adjustable parameter correction function are determined, using the Equation of Relative Motion with Small group of runge kutta method recursive operation aircraft and target；Judge whether flight path meets task execution termination condition according to obtained recursion data value；If so, terminating prediction solution process；If it is not, then returning to calculation step；If the prediction under dummy clock terminates the integral multiple of duration up to single Flight Trajectory Prediction when resolving, and flight path is unsatisfactory for task execution termination condition, then adjust adjustable parameter, and based on the adjustable parameter after adjustment, execute calculation step, until flight path meets task execution termination condition, or until prediction solution process, which meets, resolves suspension condition；If terminating prediction solution process, adjustable parameter value when flight path meets task execution termination condition is obtained.The present invention greatly improves forecasting efficiency and accuracy rate.

Description

A kind of method and system of fast prediction flight path

Technical field

The present invention relates to technical field of data prediction, more specifically to a kind of method of fast prediction flight path And system.

Background technology

Existing aircraft flight trajectory predictions method, is planned according to flight path, and the flight path differential equation is established Group resolves model, by numerical value calculation method such as Euler method, runge kutta method etc., using given initial value and resolves step-length, Flight path differential equation group is resolved, when meeting resolving termination condition, is completed to flight path differential equation group It resolves, it is hereby achieved that in the state for resolving finish time corresponding flight path, that is, from currently given initial shape State predicts the state of finish time.

Flight trajectory solution of equations calculates termination condition, in some cases using the flight time as termination condition, such as Remember that flight start time is 0 second, the flight time is t seconds, then termination condition is t seconds；In some cases with the state of flight path Meet the condition set as termination condition, for example, being flown near some moving target and between target with aircraft It is termination condition etc. that distance, which is less than 0.5 meter,.

The predictive content of flight path needs to predict that aircraft flies in the case of having depending on the needs of Practical Project The state, including height, speed etc. that row is reached after a certain period of time need to predict that aircraft flies to some fortune in the case of having Required time etc. when near moving-target and with the distance between target for less than designated value.

The effect of Flight Trajectory Prediction is to predict following state according to current state and constraints, to be pair Future takes suitable counter-measure to provide foundation, therefore there are many application range of Flight Trajectory Prediction, such as in weapon system In Fire-control Aiming System, Fire-control Aiming System needs first lock onto target, then arm discharge goes out to hit target, and due to mesh Mark is movement, although being currently targeted by target, works as and arm discharge is gone out, and target is not in situ after several seconds, because This weapon launched may not necessarily hit the mark, it is therefore desirable to after look-ahead weapon flies away, flight path drop point Eventually fall where, it is also how far from target, according to prediction result be arranged lead.

Whether which kind of forecast demand, traditional prediction technique are planned according to flight path, establish flight rail in advance Mark differential equation group resolves model, by numerical value calculation method such as Euler method, runge kutta method etc., using given initial value and Step-length is resolved, flight path differential equation group is resolved, to realize the prediction to flight path.

Traditional Flight Trajectory Prediction method, there are two types of realization method, a kind of mode is online prediction in real time, by writing Computer program realizes numerical value computation, and under real time system clock, real-time online resolves the opposite fortune of aircraft and target Dynamic equation group is predicted to realize.Real-time online prediction benefit be, can using the current state of extraction system as predict it is initial State, dynamic adjustment prediction initial value and termination condition so that prediction result is more accurate, but such prediction mode is consumed Predicted time it is consistent with the flight path flight time to be predicted, predicted time is longer, system exist super requirement of real time feelings Requirement cannot be met under condition, for example, the single step work period of certain system is 20 milliseconds, system requirements is in a work period Interior to complete the prediction that the flight time is 30 minutes flight paths, then online real-time predicting method just cannot be satisfied and want at this time It asks.

Another way is to predict offline, numerical value computation is realized by writing computer program, in non real-time system The Equation of Relative Motion with Small group that aircraft and target are resolved under clock, carries out Flight Trajectory Prediction in advance, using prediction result as system The follow-up work flow of system is restarted in the input of system.The benefit predicted offline is can to surpass real-time implementation prediction, predetermined speed Soon, but unfortunately prediction result accuracy is poor, and system slightly disturbs, then prediction result there is error.

Therefore, during the prediction of flight path, how effectively improving forecasting efficiency and improving predictablity rate is One urgent problem to be solved.

Invention content

In view of this, the embodiment of the present invention is designed to provide a kind of method of fast prediction flight path, using void Quasi- clock, the fast prediction of a plurality of flight path can be realized within the prediction work period, avoids flight path on Practical Project The time-consuming and flight path Single-issue of real-time resolving, greatly improves forecasting efficiency and accuracy rate.

To achieve the above object, the embodiment of the present invention provides the following technical solutions：

The embodiment of the present invention provides a kind of method of fast prediction flight path, the method includes：

When entering in first prediction work period, the pose parameter of aircraft and the pose ginseng of target are obtained in real time Number；

Determine adjustable parameter initial value and adjustable parameter correction function, wherein the adjustable parameter correction function and institute It is related to prediction resolving duration to state adjustable parameter initial value, single Flight Trajectory Prediction termination duration；

Under dummy clock, the pose parameter and the adjustable ginseng of pose parameter, the target based on the aircraft Number initial value, using the runge kutta method of default exponent number according to the phase for resolving aircraft and the target described in step-length recursive operation To movement difference equations；

After the completion of each recursive operation for resolving step-length, the recursion data value obtained according to recursive operation judges flight rail Whether mark meets task execution termination condition；

If so, terminating prediction solution process；It is walked according to resolving using the runge kutta method for presetting exponent number if it is not, then returning The step of aircraft described in long recursive operation and the Equation of Relative Motion with Small group of the target；

If the prediction under dummy clock, which resolves duration, reaches the integral multiple that the single Flight Trajectory Prediction terminates duration, and Flight path is unsatisfactory for task execution termination condition, then according to the prediction solution under the adjustable parameter correction function and dummy clock Calculate duration adjust adjustable parameter, and the pose parameter based on the aircraft, the pose parameter of the target and after adjustment can Parameter is adjusted, executes the runge kutta method using default exponent number according to aircraft described in resolving step-length recursive operation and the target The step of Equation of Relative Motion with Small group, terminates prediction solution process, Huo Zhezhi until flight path meets task execution termination condition Meet to prediction solution process and resolve suspension condition, stops to resolve；

If terminating prediction solution process, adjustable parameter value when flight path meets task execution termination condition is obtained.

Optionally, it in a kind of specific implementation mode provided in an embodiment of the present invention, obtains flight path and meets task and hold Adjustable parameter value when row termination condition, including：

It exits the current predictive work period, obtains the prediction that prediction resolves under finish time dummy clock and resolve duration；

Acquired prediction is resolved into the duration substitution adjustable parameter correction function, flight path satisfaction times is calculated Business executes adjustable parameter value when termination condition；

The method further includes：

Adjustable parameter value when meeting task execution termination condition based on the flight path controls the aircraft to institute Target is stated to be intercepted.

Optionally, in a kind of specific implementation mode provided in an embodiment of the present invention, until prediction solution process meets solution Suspension condition is calculated, stops to resolve, including：

In successive ignition calculating process, if flight path is unsatisfactory for task execution knot at the end of the current predictive work period Beam condition stops to resolve；

Alternatively, in successive ignition calculating process, if the adjustable parameter value after adjustment is more than adjustable parameter predetermined threshold value, in Only resolve；

The method further includes：

When entering in next prediction work period, the pose parameter and target for obtaining aircraft in real time are executed again The step of pose parameter.

Optionally, in a kind of specific implementation mode provided in an embodiment of the present invention, the method further includes：

The prediction under finish time dummy clock is resolved according to prediction and resolves duration, when aerocraft real transmitting is calculated It carves；

When obtaining the aerocraft real emission time according to the Equation of Relative Motion with Small group of the aircraft and the target The pose parameter of the pose parameter of the aircraft and the target；

The prediction under finish time dummy clock, which is resolved, according to prediction resolves duration and single Flight Trajectory Prediction end Aerocraft real flight duration is calculated in only duration.

Optionally, in a kind of specific implementation mode provided in an embodiment of the present invention, the Runge Kutta of the default exponent number Method is Fourth order Runge-Kutta.

The embodiment of the present invention also provides a kind of system of fast prediction flight path, including：

First acquisition module, the pose ginseng for when entering in first prediction work period, obtaining aircraft in real time The pose parameter of number and target；

Determining module, for determining adjustable parameter initial value and adjustable parameter correction function, wherein the adjustable parameter Correction function terminates duration to the adjustable parameter initial value, single Flight Trajectory Prediction and prediction resolving duration is related；

Computing module is used under dummy clock, the pose parameter of pose parameter, the target based on the aircraft With the adjustable parameter initial value, using default exponent number runge kutta method according to resolve step-length recursive operation described in aircraft with The Equation of Relative Motion with Small group of the target；

Judgment module, the recursion number for after the completion of each recursive operation for resolving step-length, being obtained according to recursive operation Judge whether flight path meets task execution termination condition according to value；

Terminate module terminates if judge that flight path meets task execution termination condition for the judgment module Predict solution process；

Module is returned to return if judge that flight path is unsatisfactory for task execution termination condition for the judgment module Returning the computing module makes the computing module execute the runge kutta method using default exponent number according to resolving step-length recursive operation The step of aircraft and the Equation of Relative Motion with Small group of the target；

Module is adjusted, if the prediction resolving duration under dummy clock reaches the single Flight Trajectory Prediction termination Long integral multiple, and flight path is unsatisfactory for task execution termination condition, then according to the adjustable parameter correction function and virtually Prediction under clock resolves duration and adjusts adjustable parameter；

The computing module is additionally operable to pose parameter, the pose parameter of the target and adjustment based on the aircraft Adjustable parameter afterwards, execute using preset exponent number runge kutta method according to resolve step-length recursive operation described in aircraft with it is described The step of Equation of Relative Motion with Small group of target；

Stop module, for resolving suspension condition up to prediction solution process meets, stops resolving；

Second acquisition module, for when terminating to predict solution process, acquisition flight path to meet task execution and terminates item Adjustable parameter value when part.

Optionally, in a kind of specific implementation mode provided in an embodiment of the present invention, second acquisition module is specifically used In：

When exiting the current predictive work period, when obtaining the prediction resolving under prediction resolving finish time dummy clock It is long；Flight path is calculated in the acquired prediction resolving duration substitution adjustable parameter correction function and meets task execution Adjustable parameter value when termination condition；

The system also includes：

Control module controls institute for adjustable parameter value when meeting task execution termination condition based on the flight path Aircraft is stated to intercept the target.

Optionally, in a kind of specific implementation mode provided in an embodiment of the present invention, the suspension module is specifically used for: In successive ignition calculating process, if flight path is unsatisfactory for task execution termination condition at the end of the current predictive work period, in Only resolve；Alternatively, in successive ignition calculating process, if the adjustable parameter value after adjustment reaches adjustable parameter predetermined threshold value, in Only resolve；

First acquisition module is additionally operable to：When entering in next prediction work period, executes obtain in real time again The step of pose parameter of the pose parameter of aircraft and target.

Optionally, in a kind of specific implementation mode provided in an embodiment of the present invention, the system also includes：

First computing module, the prediction for being resolved according to prediction under finish time dummy clock resolve duration, calculate To aerocraft real emission time；

Third acquisition module, for obtaining the flight according to the Equation of Relative Motion with Small group of the aircraft and the target The pose parameter of the pose parameter and the target of the aircraft when device actual transmission moment；

Second computing module, the prediction for being resolved according to prediction under finish time dummy clock resolve duration and the list Flight Trajectory Prediction terminates duration, and aerocraft real flight duration is calculated.

As shown from the above technical solution, a kind of method of fast prediction flight path is present embodiments provided, when needs pair When the flight path of aircraft is predicted, first when entering in first prediction work period, aircraft is obtained in real time The pose parameter of pose parameter and target；Then adjustable parameter initial value and adjustable parameter correction function are determined, wherein adjustable Parameter correction function terminates duration to adjustable parameter initial value, single Flight Trajectory Prediction and prediction resolving duration is related；In void Under quasi- clock, the pose parameter and adjustable parameter initial value of pose parameter, target based on aircraft, using the dragon of default exponent number Ge Kutafa is according to the Equation of Relative Motion with Small group for resolving aircraft and target described in step-length recursive operation；In each resolving step-length After the completion of recursive operation, the recursion data value obtained according to recursive operation judges whether flight path meets task execution and terminate item Part；If so, terminating prediction solution process；It is passed using the runge kutta method for presetting exponent number according to step-length is resolved if it is not, then returning The step of Equation of Relative Motion with Small group of the aircraft with the target, is calculated in push；If the prediction under dummy clock is up to when resolving The integral multiple of duration is terminated to the single Flight Trajectory Prediction, and flight path is unsatisfactory for task execution termination condition, then root Duration, which is resolved, according to the prediction under adjustable parameter correction function and dummy clock adjusts adjustable parameter, and the ginseng of the pose based on aircraft Number, the pose parameter of target and the adjustable parameter after adjustment execute the runge kutta method using default exponent number according to resolving step-length The step of aircraft described in recursive operation and the Equation of Relative Motion with Small group of the target, until flight path meets task execution knot Beam condition terminates prediction solution process, or resolves suspension condition up to prediction solution process meets, and stops resolving；If terminating It predicts solution process, then obtains adjustable parameter value when flight path meets task execution termination condition.The present invention is in prediction In the process, using dummy clock, the fast prediction of a plurality of flight path can be realized within the prediction work period, avoids practical work The time-consuming and flight path Single-issue of flight path real-time resolving, greatly improves forecasting efficiency, while adjustable parameter in journey Value can be according to being pre-designed rule adjust automatically, and then the prediction of a plurality of flight path is realized by iteration, realizes prediction knot The dynamic of fruit adjusts, and improves forecasting accuracy.

Description of the drawings

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 is a kind of method flow diagram of the embodiment of the method 1 of fast prediction flight path disclosed by the invention；

Fig. 2 is a kind of method flow diagram of the embodiment of the method 2 of fast prediction flight path disclosed by the invention；

Fig. 3 is a kind of method flow diagram of the embodiment of the method 3 of fast prediction flight path disclosed by the invention；

Fig. 4 is the schematic diagram of safety monitoring system disclosed by the embodiments of the present invention and the relative movement of target；

Fig. 5 is Flight Trajectory Prediction design sketch disclosed by the embodiments of the present invention；

Fig. 6 is a kind of structural schematic diagram of the system embodiment 1 of fast prediction flight path disclosed by the invention；

Fig. 7 is a kind of structural schematic diagram of the system embodiment 2 of fast prediction flight path disclosed by the invention；

Fig. 8 is a kind of structural schematic diagram of the system embodiment 3 of fast prediction flight path disclosed by the invention.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other Embodiment shall fall within the protection scope of the present invention.

In embodiments of the present invention, a kind of method and system of fast prediction flight path are proposed.Specifically, in flight rail During mark is predicted, using dummy clock, the fast prediction of a plurality of flight path can be realized within the same prediction work period, The time-consuming and flight path Single-issue for avoiding flight path real-time resolving on Practical Project, greatly improves forecasting efficiency, Realize the super real-time prediction of flight path.In addition, adjustable parameter value can be according to being pre-designed rule adjust automatically, and then by repeatedly In generation, realizes the prediction of a plurality of flight path, realizes the dynamic adjustment of prediction result, improves forecasting accuracy.

For convenience of understanding, the fast prediction flight path that the embodiment of the present invention is proposed below by several specific embodiments Method and system be described in detail.It should be noted that the embodiment of the present invention to flight path when carrying out fast prediction Executive agent can be mobile phone, tablet computer, laptop, desktop computer etc. have runs software function electronics set It is standby, it can specifically be realized by the computer software product on these electronic equipments.

As shown in Figure 1, be a kind of flow chart of the embodiment of the method 1 of fast prediction flight path disclosed by the invention, this Embodiment includes the following steps：

S101, when entering in first prediction work period, obtain the position of the pose parameter and target of aircraft in real time Appearance parameter.

When needing to carry out fast prediction to the flight path of aircraft, first, after real-time online prediction starts, according to being The setting of system work period is first begin to first prediction work period, and starts the iteratively faster of flight path within this period Prediction algorithm.

When entering in first prediction work period, to the current pose parameter and target of aircraft at the beginning of the time Current pose parameter obtained.It should be noted that the pose parameter of aircraft is obtained derived from real time, the pose of aircraft Parameter can be sent from other equipment by interface, can also preset given value by simulated program, for example, the position of aircraft Appearance parameter may include position of aircraft X and aircraft speed V etc.；Similarly, the pose parameter of target is also derived from real-time acquisition, The pose parameter of target can be sent from other equipment by interface, can also be resolved and be provided by simulated program, for example, target Pose parameter may include target location X_TWith target velocity V_TDeng.

It should be noted that during the embodiment of the present invention is embodied, if on-line prediction has carried out and first It does not predict suitable flight path when a prediction work end cycle also, then can be pushed away according to the system duty cycle progress time Into automatically into next prediction work period.

S102, adjustable parameter initial value and adjustable parameter correction function are determined, wherein adjustable parameter correction function with can Initial parameter value, single Flight Trajectory Prediction is adjusted to terminate duration related to resolving duration is predicted.

Then adjustable parameter initial value during iteratively faster is predicted and adjustable parameter correction function are determined. Wherein, adjustable parameter be aircraft speed inclination angle angle variable rate and aircraft and target link angle angle variable rate it Between ratio, indicated here with Proportional coefficient K, then adjustable parameter initial value is the initial value K of Proportional coefficient K₀, initial value K₀ It is single with the resolving duration t (i.e. prediction resolves duration) under single step work period (i.e. a prediction work period) interior dummy clock Flight Trajectory Prediction terminates duration t_fComposition adjustable parameter correction function ξ (K according to certain rules₀,t,t_f).Wherein, for flight Device and target link deviate situation, and the prediction of single flight path terminates duration t_fAccording to aircraft and target relative movement speed And range information is calculated.

S103, under dummy clock, the pose parameter and adjustable parameter of pose parameter, target based on aircraft are initial Value, using the runge kutta method of default exponent number according to the Equation of Relative Motion with Small group for resolving step-length recursive operation aircraft and target.

Under dummy clock, using the pose parameter of the pose parameter of the aircraft got and target as default exponent number The initial position condition that resolves of runge kutta method, corrected as parameter iteration using the determining adjustable parameter initial value of design Initial value, using the runge kutta method of default exponent number according to the Equation of Relative Motion with Small for resolving step-length recursive operation aircraft and target Group.Wherein, preset exponent number runge kutta method resolvings step delta t can according to design input in flight path calculation accuracy into Row setting.

S104, after the completion of each recursive operation for resolving step-length, the recursion data value obtained according to recursive operation judges Whether flight path meets task execution termination condition；If so, into S105, if it is not, then return to step S103, that is, work as basis When the recursion data value that recursive operation obtains judges that flight path is unsatisfactory for task execution termination condition, continue in dummy clock Under, the pose parameter and adjustable parameter initial value of pose parameter, target based on aircraft, using the Runge Kutta of default exponent number Method is according to the Equation of Relative Motion with Small group for resolving step-length recursive operation aircraft and target.

The recursion that certain flight path is carried out by resolving step delta t resolves, and the flight path calculated is exported, in each solution After the completion of the recursive operation for calculating step-length, the recursion data value obtained according to recursive operation judges whether flight path meets task and hold Row termination condition.For example, the recursion data value that recursive operation obtains, which is aircraft and target relative distance, task execution, terminates item Part is that aircraft and target relative distance are less than aircraft standard attacks range L, then is completed in some resolving step-length recursive operation Afterwards, if judging, aircraft and target relative distance are less than aircraft standard attacks range L, show that flight path meets task and holds Row termination condition；If when aircraft and target relative distance are not less than aircraft standard attacks range L, show flight path not Meet task execution termination condition.

S105, terminate prediction solution process.

When the recursion data value obtained according to recursive operation judges that flight path meets task execution termination condition, this When can terminate predict solution process.

If the prediction under S106, dummy clock, which resolves duration, reaches the integral multiple that single Flight Trajectory Prediction terminates duration, And flight path is unsatisfactory for task execution termination condition, then is resolved according to the prediction under adjustable parameter correction function and dummy clock Duration adjusts adjustable parameter, and the adjustable parameter after the pose parameter based on aircraft, the pose parameter of target and adjustment, executes Using the runge kutta method of default exponent number according to the relative motion side for resolving aircraft and the target described in step-length recursive operation The step of journey group, terminates prediction solution process, or until prediction resolves until flight path meets task execution termination condition Process, which meets, resolves suspension condition, stops to resolve.

During predicting to resolve, reach the termination of single Flight Trajectory Prediction when the prediction under dummy clock resolves duration The integral multiple of duration, and when flight path is unsatisfactory for task execution termination condition, can be according to adjustable parameter correction function and virtual Prediction under clock resolves duration and is adjusted to adjustable parameter, while being joined according to the pose of the pose parameter of aircraft, target Number and adjustment after adjustable parameter, execute using preset exponent number runge kutta method according to resolve step-length recursive operation aircraft with The step of Equation of Relative Motion with Small group of target, the flight path after output resolving.The flight path exported after resolving, which meets, appoints When business executes termination condition, then terminate to predict solution process.Alternatively, when predicting that solution process meets resolving suspension condition, in Only resolve.

For example, reaching single Flight Trajectory Prediction termination duration t when the prediction under dummy clock resolves duration t_fInteger Times when, and aircraft and target relative distance are not less than aircraft standard attacks range L, can correct letter according to adjustable parameter at this time Number ξ (K₀,t,t_f) and dummy clock under prediction resolve duration t, adjustable parameter is adjusted, by adjustable parameter by K₀Adjustment For K₀', while according to the adjustable parameter K after the pose parameter of aircraft, the pose parameter of target and adjustment₀', it executes using pre- If the step of runge kutta method of exponent number is according to the Equation of Relative Motion with Small group for resolving step-length recursive operation aircraft and target, and After the completion of each recursive operation for resolving step-length, the flight path after output resolving, the recursion data obtained according to recursive operation Value judges whether flight path meets task termination condition, successive ignition, until flight path meets task execution termination condition When, terminate prediction solution process.Alternatively, until prediction solution process meets suspension condition, suspension resolves.

If S107, terminating prediction solution process, adjustable ginseng when flight path meets task execution termination condition is obtained Numerical value.

At the end of predicting solution process, adjustable parameter when flight path meets task execution termination condition is obtained at this time Value subsequently then can carry out vehicle launch by the adjustable parameter value got according to the adjustable parameter value got.

In conclusion in the above-described embodiments, when needing the flight path to aircraft to predict, entering first When in first prediction work period, the pose parameter of the pose parameter and target of aircraft is obtained in real time；Then it determines adjustable Initial parameter value and adjustable parameter correction function, wherein adjustable parameter correction function flies with adjustable parameter initial value, single It is related to prediction resolving duration that trajectory predictions terminate duration；Under dummy clock, the position of pose parameter, target based on aircraft Appearance parameter and adjustable parameter initial value, using the runge kutta method of default exponent number according to aircraft described in resolving step-length recursive operation With the Equation of Relative Motion with Small group of target；After the completion of each recursive operation for resolving step-length, the recursion that is obtained according to recursive operation Data value judges whether flight path meets task execution termination condition；If so, terminating prediction solution process；If it is not, then returning Back production is with the runge kutta method of default exponent number according to the relative motion for resolving aircraft and the target described in step-length recursive operation The step of equation group；If the prediction under dummy clock, which resolves duration, reaches the integer that the single Flight Trajectory Prediction terminates duration Times, and flight path is unsatisfactory for task execution termination condition, then according to the prediction under adjustable parameter correction function and dummy clock It resolves duration and adjusts adjustable parameter, and the adjustable parameter after the pose parameter based on aircraft, the pose parameter of target and adjustment, The runge kutta method using default exponent number is executed according to the opposite fortune for resolving aircraft and the target described in step-length recursive operation The step of dynamic equation group, terminates prediction solution process, or until prediction until flight path meets task execution termination condition Solution process, which meets, resolves suspension condition, stops to resolve；If terminating prediction solution process, obtains flight path and meet task and hold Adjustable parameter value when row termination condition.The embodiment of the present invention, can be in prediction work using dummy clock during prediction The fast prediction that a plurality of flight path is realized in period avoids the time-consuming and flight of flight path real-time resolving on Practical Project Track Single-issue greatly improves forecasting efficiency, while adjustable parameter value can be according to rule adjust automatically be pre-designed, in turn The prediction that a plurality of flight path is realized by iteration realizes the dynamic adjustment of prediction result, improves forecasting accuracy.

Specifically, in above method embodiment 1, until prediction solution process, which meets, resolves suspension condition, stop to resolve, May include：In successive ignition calculating process, flight path is unsatisfactory for task execution knot at the end of the current predictive work period When beam condition, then stop to resolve.Can also include：In successive ignition calculating process, adjustable parameter value after adjustment is more than When adjustable parameter predetermined threshold value, stop to resolve.In addition, during the embodiment of the present invention is embodied, fast prediction flight The method of track can also include：When entering in next prediction work period, need to execute acquisition aircraft in real time again Pose parameter and target pose parameter the step of.

As shown in Fig. 2, be a kind of flow chart of the embodiment of the method 2 of fast prediction flight path disclosed by the invention, it should Embodiment discloses a kind of specific implementation mode of step S107 on the basis of above-described embodiment 1, in this embodiment, step Rapid S107 may comprise steps of：

S201, it exits the current predictive work period, when obtaining the prediction resolving under prediction resolving finish time dummy clock It is long.

When the recursion data value obtained according to recursive operation judge flight path meet task execution termination condition terminate it is pre- When surveying solution process, the current predictive work period is exited at this time, and obtains the prediction under prediction resolving finish time dummy clock Resolve duration t.

S202, flight path satisfaction times is calculated in acquired prediction resolving duration substitution adjustable parameter correction function Business executes adjustable parameter value when termination condition.

The prediction got is resolved into duration t and substitutes into adjustable parameter correction function ξ (K₀,t,t_f), flight path is calculated Meet adjustable parameter value K when task execution termination condition.

In addition, embodiment illustrated in fig. 2 also adds the step of being intercepted to target on the basis of above-described embodiment 1, Specifically refer to step S203.

S203, adjustable parameter value when meeting task execution termination condition based on flight path control the aircraft to institute Target is stated to be intercepted.

It, subsequently then can be according to the adjustable parameter value got by the adjustable parameter value needed for the launch craft that gets Carry out vehicle launch.

In conclusion in the above-described embodiments, on the basis of embodiment of the method 1, exiting the current predictive work period When, it obtains the prediction that prediction resolves under finish time dummy clock and resolves duration, acquired prediction is resolved duration substitution can It adjusts parameter correction function that adjustable parameter value when flight path meets task execution termination condition is calculated, flight can be based on Adjustable parameter value control aircraft when track meets task execution termination condition intercepts target.

It should be noted that a kind of specific implementation mode of step S107 is described in detail in embodiment illustrated in fig. 2, but in reality In the application of border, step S107 is not limited to the embodiment of embodiment illustrated in fig. 2.For example, in practical applications, root can be recorded The adjustable parameter that duration obtains is resolved according to the prediction under adjustable parameter correction function and dummy clock, meets task in flight path When executing termination condition, directly the adjustable parameter being finally calculated is extracted from record result.Extract adjustable parameter After value, you can intercepted to target based on the adjustable parameter value control aircraft extracted.

As shown in figure 3, be a kind of flow chart of the embodiment of the method 3 of fast prediction flight path disclosed by the invention, it should Embodiment on the basis of above method embodiment 2, terminate predict solution process after, can also include：

S301, the prediction resolving duration under finish time dummy clock is resolved according to prediction, aerocraft real is calculated Emission time.

It in practical applications, can be by the way that the data record unit for recording data be arranged, to fast prediction flight path Data in the process are recorded, can such as record prediction under dummy clock resolve duration, every prediction locus is corresponding can The every flight path etc. adjusted parameter value, predicted.When flight path meets task execution termination condition, data note is obtained Prediction under the dummy clock recorded in record unit resolves duration, and resolve duration according to the prediction under dummy clock continues with practical Correspondence between duration can obtain the practical duration t of Flight Trajectory Prediction_real.Flight path was predicted in real time online Cheng Zhong is passing through time t_realAfterwards, there are suitable Proportional coefficient Ks to make under current initial pose for aircraft and target Prediction flight path meets task execution termination condition, and aircraft can be emitted within this prediction work cycle time, this When, it can get aerocraft real emission time, i.e. t_real.In practical applications, data record unit can also be recorded directly winged The practical duration t of row trajectory predictions_real。

S302, aircraft when obtaining aerocraft real emission time according to the Equation of Relative Motion with Small group of aircraft and target The pose parameter of pose parameter and target.

Meanwhile after obtaining aerocraft real emission time, it can be obtained according to the Equation of Relative Motion with Small group of aircraft and target The pose parameter of the pose parameter and target of aircraft when taking aerocraft real emission time.

S303, duration and single Flight Trajectory Prediction end are resolved according to the prediction under prediction resolving finish time dummy clock Aerocraft real flight duration is calculated in only duration.

Ibid, in practical applications, the prediction that can be obtained under the dummy clock that data record unit is recorded resolves duration T, this is that Flight Trajectory Prediction resolves duration.Duration t is resolved using prediction and single Flight Trajectory Prediction terminates duration t_f's Aerocraft real flight duration can be calculated in multiple proportion.Specifically, duration t divided by single flight rail are resolved using prediction Mark prediction terminates duration t_f, institute's value is rounded up can get resolved under dummy clock in this prediction work period fly Row tracking quantity, and the prediction start/stop time for the flight path for meeting task execution termination condition is further obtained, it is pre- according to this It surveys start/stop time and obtains aircraft from the practical flight duration for being emitted to interception target.

Specifically, in the above-described embodiment, it is generally the case that available not by using different rank runge kutta method With the approximation of precision, when exponent number is chosen it is excessive when, equipment calculation amount will be significantly increased, exponent number is too small may cause error compared with Greatly, simulation accuracy is influenced.After exponent number is more than 4, although the number for calculating function increases, method precision not necessarily carries Height, and calculation amount can obviously increase, therefore engineering often uses Fourth order Runge-Kutta, precision to can reach O (h⁵), while calculation amount It is more moderate.By taking Fourth order Runge-Kutta as an example, calculation expression is as follows：

Wherein：

t_iIt is quarter value at the beginning of i-th of time interval under dummy clock；

Δ t is to resolve step-length；

y_iIt is the Equation of Relative Motion with Small group recursion data value of the aircraft and target of i-th of time interval interior prediction；

y_i+1It is the aircraft of i+1 time interval interior prediction and the Equation of Relative Motion with Small group recursion data value of target；

k₁It is slope when time interval starts；

k₂It is time interval midpointThe slope at place, utilizes k₁It determinesValue；

k₃It is time interval midpointThe slope at place, utilizes k₂It determinesValue；

k₄It is the slope of time interval terminal point.

By the Equation of Relative Motion with Small group of aircraft and target, resolve step delta t and slope k₁、k₂、k₃And k₄It is average oblique Rate value k* predicts t_i+1The specific method is as follows for place's aircraft and target relative movement relationship：

y_i+1=y_i+Δt*k*

Using above-mentioned recurrence method, time interval [0, t under current proportionality coefficient can be calculated by resolving step delta t_f] Interior whole flight path.

In order to which the technical solution to the embodiment of the present invention being more clear is described, below with certain safety monitoring system pair It is illustrated for the interception of UFO.

Safety monitoring system is mounted on movement patrol carrier, scans for supervising to the UFO (target) in spatial domain Depending on when finding target, safety monitoring system needs quickly to resolve (may include position, speed, fortune in the pose parameter of aircraft Dynamic direction etc.) and the pose parameter (may include position, speed, direction of motion etc.) of target under, it should intercepted with which type of Scheme goes out vehicle launch, so as to success interception target.

Safety monitoring system and the relative movement of target can be found in shown in Fig. 4.

The single step work period (i.e. prediction work period) of safety monitoring system is 50 milliseconds (i.e. 0.05s), in every 50 milli In time second, the work that safety monitoring system needs are carried out is：(1) the pose ginseng of the pose parameter and target of acquisition aircraft Number；(2) it determines certain interception scheme, vehicle launch is gone out.Specifically, the fast prediction meter of aircraft flight track is carried out Calculate, judge how long after aircraft can succeed interception target, if being unable to interception target according to current interception scheme, Interception scheme is adjusted, the fast prediction for re-starting aircraft flight track calculates, and judges again, if until this single step work Make end cycle, there are no suitable interception scheme is found, then this single step work period, launch craft, entrance be not next The single step work period resurveys the current pose parameter of aircraft and the current pose parameter of target, re-starts cycle It quickly calculates and judges；(3) if finding suitable interception scheme, extract interception strategy parameter, output to emission system, with Make emission system that vehicle launch to be gone out, and terminates this security monitoring course of work.

According to the relative movement of safety monitoring system and target, the relative motion side of aircraft and target can be established Journey group is as follows：

Wherein,

R is relative distance of the aircraft to target；

V_TFor target speed；

V is vehicle flight speeds；

η_TFor target angle of lead；

η is aircraft angle of lead；

Q is aircraft and target link angle, abbreviation target line angle；

σ is aircraft speed inclination angle；

σ_TFor target course；

K is proportionality coefficient.

In formula, r is that can be calculated to obtain by aircraft and target location vector；If providing V_T、V、σ_TChanging rule and initial Condition (r₀、q₀、σ₀、η₀), wherein η₀For aircraft angle of lead primary condition, q₀For target line angle primary condition, σ₀For aircraft Speed inclination angle primary condition, r₀For the relative distance primary condition of aircraft to target；Then equation group can use numerical integrating into Row resolves.

Proportional coefficient K is exactly to intercept scheme adjustable parameter.Proportional coefficient K takes large values, it is meant that it is required that aircraft speed is inclined The angle variable rate at angle will follow aircraft and the angle variable rate of target link angle to change with K times of relationship, in aircraft When closer with target range, the variation of the line angle of aircraft and target is quickly, at this time to the angle change of aircraft Rate requirement is very high, and when the tolerance range beyond aircraft itself, target will miss the target, and can not intercept.Therefore Proportional coefficient K Reasonable value is to intercept successfully key.

How Proportional coefficient K is accurately determined, it is necessary to which numerical value is carried out to the Equation of Relative Motion with Small group (1) of aircraft and target It resolves, and needs to carry out within 50 milliseconds of a single step work period quickly repeatedly to resolve.The fast prediction that this example proposes The method of flight path can solve the problems, such as this.

The method of the fast prediction flight path of this example includes the following steps.

Step S1 obtains the pose parameter of aircraft and the pose parameter of target into the current predictive work period, and As Flight Trajectory Prediction input value.

After real-time online prediction starts, is set according to system duty cycle, be first begin to first prediction work period, and Start flight path iteratively faster prediction algorithm within this prediction work period；If on-line prediction has been carried out and has been predicted at first Do not predict suitable flight path at the end of work period also, then according to system duty cycle carry out time stepping method, automatically into Enter next prediction work period.

Into after a prediction work period, current goal is carried out at the beginning of the time and the online of aircraft pose parameter is obtained It takes.The pose parameter of target is obtained from real time, and is transmitted to flight path fast prediction unit as desired input signals. During aircraft flight trajectory predictions, desired input signals can derive from other equipment, sent by interface, can also be passed through Simulated program resolving provides, such as may include target location (X in desired input signals_T) and target velocity (V_T) etc..Aircraft Pose parameter is obtained from real time, and is transmitted to flight path fast prediction unit as aircraft input signal, is being flown During device Flight Trajectory Prediction, aircraft input signal can derive from other equipment, sent by interface, can also pass through emulation Program presets given value, for example, may include position of aircraft (X) and aircraft speed (V) etc. in aircraft input signal.

Step S2 determines aircraft flight track and adjustable parameter initial value and its adjustable parameter correction function.

In this example, adjustable parameter initial value is the initial value (K of Proportional coefficient K₀), it is wanted from system design input It asks.Pass through preset ratio coefficient initial value K₀, fly with resolving duration t, the single under dummy clock in following single step work periods Row trajectory predictions terminate duration t_fComposition adjustable parameter correction function ξ (K according to certain rules₀,t,t_f).Carrying out, flight path is fast When speed prediction, if current predictive work period inner treater system computing capacity is enough, and the flight path of current predictive does not reach To interception target or other task objectives, then it can carry out proportionality coefficient according to adjustable parameter correction function and automatically correct, and again Start to resolve a plurality of flight path successively.

Step S3 is carried out using high-order Runge-Kutta (Runge-Kutta) method under current goal and position of aircraft, Flight path fast prediction based on dummy clock.

In this example, resolved using the current goal of acquisition and aircraft pose parameter as Runge-Kutta initial Locality condition utilizes the initial value K of the Proportional coefficient K of design input₀Initial value as parameter iteration correction.Dummy clock Under, the resolving step delta t of Runge-Kutta methods is set according to the flight path calculation accuracy in design input.For Aircraft and target link deviate situation, and the prediction of single flight path terminates duration t_fAccording to aircraft and target relative movement Speed and range information are calculated, and in certain prediction work period, under dummy clock, are carried out certain by resolving step delta t and are flown The recursion of row track resolves, if the resolving time reaches corresponding prediction and terminates duration t_fWhen aircraft interception target not yet, then recognize Deviate for aircraft and target, the prediction of this flight path can have been stopped.

Using Runge-Kutta methods, in the Equation of Relative Motion with Small group of aircraft and target, to resolve step delta t structures At resolving time section [t_i,t_i+ Δ t], and n group slope values (k is taken in each time interval₁,k₂,…,k_n), utilize its weighting Approximation of the average as G-bar k*.

Under normal conditions, the approximation that different accuracy can be obtained by using different rank Runge-Kutta algorithms, works as rank When number chooses excessive, equipment calculation amount will be significantly increased, and exponent number is too small may to cause error exponent number larger, influence simulation accuracy. After exponent number is more than 4, although the number for calculating function increases, method precision not necessarily improves, and calculation amount can be apparent Increase, therefore engineering often uses Runge-Kutta algorithm, precision to can reach O (h⁵), while calculation amount is more moderate.With For Runge-Kutta algorithm, calculation expression is as follows：

Wherein：

Δ t is to resolve step-length；

y_iIt is the aircraft and target relative movement equation group recursion data value of i-th of time interval interior prediction；

y_i+1It is the aircraft and target relative movement equation group recursion data value of i+1 time interval interior prediction；

k₁It is slope when time interval starts；

k₄It is the slope of time interval terminal point.

By aircraft and target relative movement equation group, resolve step delta t and and slope k₁、k₂、k₃And k₄It is average oblique Rate value k* predicts t_i+1The specific method is as follows for place's aircraft and target relative movement relationship：

y_i+1=y_i+Δt*k* (3)

In rapid flight trajectory predictions calculating process, while carrying out using data record unit the whole number of prediction process According to record, it is convenient check offline, the Computer Aided Design of statistical analysis and adjustable parameter value.

Step S4, the adjust automatically for carrying out the judgement of aircraft task execution termination condition and adjustable parameter realize flight path Iteration is predicted.

In this example, it is assumed that the criterion of aircraft task execution termination condition is that aircraft and target relative distance are small In aircraft standard attacks range L, i.e., when aircraft enters the range, target can be intercepted, this judgment method is specific It indicates as follows：

L≥r (4)

Wherein L is aircraft standard attacks range, and r is relative distance of the aircraft to target.

If under dummy clock, time interval [0, t_f] in flight path meet task execution termination condition, then full The sufficient task execution termination condition moment, which resolves, to be stopped；If whole flight path cannot meet the condition of interception target (i.e. Task execution termination condition), then it can be automatically adjusted according to adjustable parameter correction function comparative example coefficient, obtain new ratio Coefficient, and re-use pose parameter input value, aircraft and the target of the aircraft and target in the current predictive work period Equation of Relative Motion with Small group and Runge-Kutta recurrence methods carry out the prediction of new flight path, to realize proportionality coefficient Adjust automatically and Flight Trajectory Prediction process successive ignition process.

Step S5 exits the current predictive work period, judges whether system duty cycle terminates, and at the end of acquisition task Carve parameter value.

In this example, the Flight Trajectory Prediction process of step S3-S4 continues iteration progress, until meeting in following conditions Stop iteration when one or more：Meet task execution termination condition (such as aircraft intercepts target), proportionality coefficient has traversed Threshold range [K₀,K_f] or the prediction work period in the time exhaust.

After stopping iteration, system carries out the judgement of system action next time at the end of moment current predictive work period, If current stop to have met task execution termination condition derived from flight path resolving, system resolves work and terminates, can obtain at this time Take the adjustable parameter value of task finish time；If not meeting task execution termination condition at this time, resolves suspension and consumed derived from resource To the greatest extent, the propulsion system working time is needed at this time, into next prediction work period, and proceeds by the virtual of step S1-S4 again Flight path automatic forecasting procedure under clock.

When flight path meets task execution termination condition, flight can be obtained by being shown by the record of system duty cycle The practical duration t of trajectory predictions_real.During flight path is predicted in real time online, held by Flight Trajectory Prediction is practical Continuous time t_realAfterwards, there are suitable Proportional coefficient Ks can make prediction flight path under current pose for aircraft and target Meet task execution termination condition, aircraft can be emitted within this prediction work cycle time.At this point, can get aircraft Actual transmission moment, i.e. t_real, and aircraft and mesh at this time can be obtained by the Equation of Relative Motion with Small group of aircraft and target The information such as mark appearance.

By be arranged for record the data record unit of data can obtain under dummy clock flight path resolving always hold The continuous time is t (prediction i.e. under dummy clock resolves duration).Total duration t and single flight rail are resolved using flight path Mark prediction terminates duration t_fMultiple proportion, can get the flight path number that is resolved under dummy clock in this prediction work period Amount, and the prediction start/stop time for the flight path for meeting task execution termination condition is further obtained, when according to the prediction start-stop Aircraft is carved from the practical flight duration for being emitted to interception target, and can be by adjustable parameter correction function ξ (K₀,t,t_f) obtain The corresponding scalefactor value of this flight path.

Assuming that aircraft carrier positions are fixed, target relative flight device carrier does the directions x and moves along a straight line in opposite directions, relative velocity For 30m/s, the Rule of judgment that aircraft hits home is that aircraft and target range are less than 0.5m.In Runge-Kutta iteration In prediction, resolving step-length is 0.005s, every Flight Trajectory Prediction a length of 30s when terminating；System duty cycle is 0.05s.This Under the conditions of kind, Flight Trajectory Prediction effect of the invention is shown in Figure 5.

As shown in fig. 6, being a kind of structural representation of the system embodiment 1 of fast prediction flight path disclosed by the invention Figure, the present embodiment include：

First acquisition module 601, for when entering in first prediction work period, obtaining the pose of aircraft in real time The pose parameter of parameter and target.

Determining module 602, for determining adjustable parameter initial value and adjustable parameter correction function, wherein adjustable parameter Correction function terminates duration to adjustable parameter initial value, single Flight Trajectory Prediction and prediction resolving duration is related.

Computing module 603, under dummy clock, the pose parameter of pose parameter, target based on aircraft and can Initial parameter value is adjusted, using the runge kutta method of default exponent number according to the opposite fortune for resolving step-length recursive operation aircraft and target Dynamic equation group.

Judgment module 604, the recursion for after the completion of each recursive operation for resolving step-length, being obtained according to recursive operation Data value judges whether flight path meets task execution termination condition.

If terminate module 605 terminates pre- judge that flight path meets task execution termination condition for judgment module Survey solution process.

Module 606 is returned, if judge that flight path is unsatisfactory for task execution termination condition for judgment module, is returned Computing module makes computing module execute the runge kutta method using default exponent number according to resolving step-length recursive operation aircraft and institute The step of stating the Equation of Relative Motion with Small group of target.

Module 607 is adjusted, if the prediction resolving duration under dummy clock reaches the termination of single Flight Trajectory Prediction Long integral multiple, and flight path is unsatisfactory for task execution termination condition, then according to adjustable parameter correction function and dummy clock Under prediction resolve duration adjust adjustable parameter.

Computing module 603, the adjustable ginseng being additionally operable to after the pose parameter based on aircraft, the pose parameter of target and adjustment Number executes opposite with the target according to aircraft described in step-length recursive operation is resolved using the runge kutta method for presetting exponent number The step of movement difference equations.

Stop module 608, for resolving suspension condition up to prediction solution process meets, stops resolving.

During predicting to resolve, reach the termination of single Flight Trajectory Prediction when the prediction under dummy clock resolves duration The integral multiple of duration, and when flight path is unsatisfactory for task execution termination condition, can be according to adjustable parameter correction function and virtual Prediction under clock resolves duration and is adjusted to adjustable parameter, while being joined according to the pose of the pose parameter of aircraft, target Adjustable parameter after number and adjustment again returns to the runge kutta method using default exponent number according to resolving step-length recursive operation flight The step of Equation of Relative Motion with Small group of device and target, the flight path after output resolving.The flight path exported after resolving is full When sufficient task execution termination condition, then terminate to predict solution process.Alternatively, resolving suspension condition when prediction solution process meets When, stop to resolve.

Second acquisition module 609 obtains flight path and meets task execution and terminate if for terminating prediction solution process Adjustable parameter value when condition.

Specifically, in above system embodiment 1, until prediction solution process, which meets, resolves suspension condition, stop to resolve, May include：In successive ignition calculating process, flight path is unsatisfactory for task execution knot at the end of the current predictive work period When beam condition, then stop to resolve.Can also include：In successive ignition calculating process, adjustable parameter value after adjustment is more than When adjustable parameter predetermined threshold value, stop to resolve.In addition, during the embodiment of the present invention is embodied, the first acquisition module 601 be additionally operable to need to execute again when entering in next prediction work period to obtain in real time the pose parameter of aircraft and The step of pose parameter of target.

As shown in fig. 7, being a kind of structural representation of the system embodiment 2 of fast prediction flight path disclosed by the invention Figure, on the basis of above system embodiment 1, the second acquisition module 609 is particularly used in the embodiment：

It exits the current predictive work period, obtains the prediction that prediction resolves under finish time dummy clock and resolve duration, it will Acquired prediction resolving duration substitution adjustable parameter correction function is calculated flight path and meets task execution termination condition When adjustable parameter value.

In addition, embodiment described in Fig. 7 is on the basis of above system embodiment 1, system further includes：

Control module 700 controls institute for adjustable parameter value when meeting task execution termination condition based on flight path Aircraft is stated to intercept the target.

In conclusion in the above-described embodiments, on the basis of system embodiment 1, exiting the current predictive work period When, it obtains the prediction that prediction resolves under finish time dummy clock and resolves duration, acquired prediction is resolved duration substitution can It adjusts parameter correction function that adjustable parameter value when flight path meets task execution termination condition is calculated, flight can be based on Adjustable parameter value control aircraft when track meets task execution termination condition intercepts target.

It should be noted that a kind of specific embodiment party of the second acquisition module 609 is described in detail in embodiment described in Fig. 7 Formula, but in practical applications, the second acquisition module 609 is not limited to the embodiment of embodiment described in Fig. 7.For example, in reality In, it can record and the adjustable parameter that duration obtains is resolved according to the prediction under adjustable parameter correction function and dummy clock, When flight path meets task execution termination condition, the adjustable parameter being finally calculated directly is extracted from record result i.e. It can.After extracting adjustable parameter value, you can intercepted to target based on the adjustable parameter value control aircraft extracted.

As shown in figure 8, being a kind of structural representation of the system embodiment 3 of fast prediction flight path disclosed by the invention Figure, the embodiment further include on the basis of above system embodiment 2：

First computing module 801, the prediction for being resolved according to prediction under finish time dummy clock resolve duration, calculate Obtain aerocraft real emission time.

It in practical applications, can be by the way that the data record unit for recording data be arranged, to fast prediction flight path Data in the process are recorded, can such as record prediction under dummy clock resolve duration, every prediction locus is corresponding can The every flight path etc. adjusted parameter value, predicted.

When flight path meets task execution termination condition, obtain under the dummy clock recorded in data record unit Prediction resolves duration, resolves the correspondence between duration and practical duration according to the prediction under dummy clock, can obtain The practical duration t of Flight Trajectory Prediction_real.During flight path is predicted in real time online, passing through time t_realAfterwards, it flies There are suitable Proportional coefficient Ks, and prediction flight path can be made to meet task execution knot under current initial pose for device and target Beam condition, aircraft can be emitted within this prediction work cycle time, at this point, when can get aerocraft real transmitting It carves, i.e. t_real.In practical applications, data record unit can also the directly practical duration t of record-setting flight trajectory predictions_real。

Third acquisition module 802, for obtaining aerocraft real hair according to the Equation of Relative Motion with Small group of aircraft and target The pose parameter of the pose parameter and target of aircraft when penetrating the moment.

Second computing module 803, the prediction for being resolved according to prediction under finish time dummy clock resolve duration and list Flight Trajectory Prediction terminates duration, and winged aerocraft real flight duration is calculated.

Ibid, in practical applications, the prediction obtained under the dummy clock of data record unit record resolves duration t, this As Flight Trajectory Prediction resolves duration.Duration t is resolved using prediction and single Flight Trajectory Prediction terminates duration t_fMultiple Aerocraft real flight duration can be calculated in relationship.Specifically, it resolves duration t using prediction divided by single flight path is pre- It surveys and terminates duration t_f, institute's value is rounded up the flight rail that can get and resolved under dummy clock in this prediction work period Mark quantity, and the prediction start/stop time for the flight path for meeting task execution termination condition is further obtained, it is risen according to the prediction Only the moment obtains aircraft from the practical flight duration for being emitted to interception target.

Wherein：

Δ t is to resolve step-length；

k₁It is slope when time interval starts；

k₄It is the slope of time interval terminal point.

y_i+1=y_i+Δt*k*

Each embodiment in this specification is all made of relevant mode and describes, identical similar portion between each embodiment Point just to refer each other, and each embodiment focuses on the differences from other embodiments, between each embodiment Just to refer each other for identical similar portion.

In addition, system embodiment described above is only schematical, illustrate as separating component wherein described Module may or may not be physically separated, and the component shown as module may or may not be object Manage module, you can be located at a place, or may be distributed over multiple network units.It can select according to the actual needs Some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying wound In the case of the labour for the property made, you can to understand and implement.

Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation Method described in certain parts of example or embodiment.

The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest range caused.

Claims

1. a kind of method of fast prediction flight path, which is characterized in that the method includes：

When entering in first prediction work period, the pose parameter of the pose parameter and target of aircraft is obtained in real time；

Determine adjustable parameter initial value and adjustable parameter correction function, wherein the adjustable parameter correction function with it is described can Initial parameter value, single Flight Trajectory Prediction is adjusted to terminate duration related to resolving duration is predicted；

Under dummy clock, at the beginning of the pose parameter of pose parameter, the target based on the aircraft and the adjustable parameter Initial value, using the runge kutta method of default exponent number according to the opposite fortune for resolving aircraft and the target described in step-length recursive operation Dynamic equation group；

After the completion of each recursive operation for resolving step-length, the recursion data value obtained according to recursive operation judges that flight path is It is no to meet task execution termination condition；

If so, terminating prediction solution process；It is passed using the runge kutta method for presetting exponent number according to step-length is resolved if it is not, then returning The step of Equation of Relative Motion with Small group of the aircraft with the target, is calculated in push；

If the prediction under dummy clock, which resolves duration, reaches the integral multiple that the single Flight Trajectory Prediction terminates duration, and flies Track is unsatisfactory for task execution termination condition, then when being resolved according to the prediction under the adjustable parameter correction function and dummy clock Long adjustment adjustable parameter, and the pose parameter based on the aircraft, the pose parameter of the target and the adjustable ginseng after adjustment Number executes opposite with the target according to aircraft described in step-length recursive operation is resolved using the runge kutta method for presetting exponent number The step of movement difference equations, terminates prediction solution process, or until pre- until flight path meets task execution termination condition It surveys solution process and meets the suspension condition that resolves, suspension resolves；

2. according to the method described in claim 1, it is characterized in that, obtaining when flight path meets task execution termination condition Adjustable parameter value, including：

It acquired prediction is resolved into duration substitutes into the adjustable parameter correction function and flight path is calculated meets task and hold Adjustable parameter value when row termination condition；

The method further includes：

Adjustable parameter value when meeting task execution termination condition based on the flight path controls the aircraft to the mesh Mark is intercepted.

3. according to the method described in claim 1, it is characterized in that, until prediction solution process meet resolve suspension condition, in Only resolve, including：

In successive ignition calculating process, if flight path is unsatisfactory for task execution and terminates item at the end of the current predictive work period Part stops to resolve；

Alternatively, in successive ignition calculating process, if the adjustable parameter value after adjustment is more than adjustable parameter predetermined threshold value, stop solution It calculates；

The method further includes：

When entering in next prediction work period, the pose of the pose parameter and target that obtain aircraft in real time is executed again The step of parameter.

4. according to the method described in claim 2, it is characterized in that, the method further includes：

The prediction under finish time dummy clock is resolved according to prediction and resolves duration, and aerocraft real emission time is calculated；

According to when the Equation of Relative Motion with Small group of the aircraft and the target acquisition aerocraft real emission time The pose parameter of the pose parameter of aircraft and the target；

When resolving prediction resolving duration and the single Flight Trajectory Prediction termination under finish time dummy clock according to prediction It is long, aerocraft real flight duration is calculated.

5. according to the method described in claim 4, it is characterized in that, the runge kutta method of the default exponent number is quadravalence Long Geku Tower method.

6. a kind of system of fast prediction flight path, which is characterized in that including：

First acquisition module, pose parameter for when entering in first prediction work period, obtaining aircraft in real time and The pose parameter of target；

Computing module is used under dummy clock, the pose parameter of pose parameter, the target based on the aircraft and institute State adjustable parameter initial value, using default exponent number runge kutta method according to resolve step-length recursive operation described in aircraft with it is described The Equation of Relative Motion with Small group of target；

Judgment module, the recursion data value for after the completion of each recursive operation for resolving step-length, being obtained according to recursive operation Judge whether flight path meets task execution termination condition；

Terminate module terminates prediction if judge that flight path meets task execution termination condition for the judgment module Solution process；

Module is returned, if judge that flight path is unsatisfactory for task execution termination condition for the judgment module, returns to institute Stating computing module makes the computing module execute the runge kutta method using default exponent number according to described in resolving step-length recursive operation The step of aircraft and the Equation of Relative Motion with Small group of the target；

Module is adjusted, duration is terminated if resolving duration for the prediction under dummy clock and reaching the single Flight Trajectory Prediction Integral multiple, and flight path is unsatisfactory for task execution termination condition, then according to the adjustable parameter correction function and dummy clock Under prediction resolve duration adjust adjustable parameter；

The computing module, after being additionally operable to the pose parameter based on the aircraft, the pose parameter of the target and adjustment Adjustable parameter executes the runge kutta method using default exponent number according to aircraft and the target described in resolving step-length recursive operation Equation of Relative Motion with Small group the step of；

Second acquisition module, when meeting task execution termination condition for when terminating to predict solution process, obtaining flight path Adjustable parameter value.

7. system according to claim 6, which is characterized in that second acquisition module is specifically used for：

When exiting the current predictive work period, obtains the prediction that prediction resolves under finish time dummy clock and resolve duration；It will Acquired prediction, which resolves duration and substitutes into the adjustable parameter correction function and flight path is calculated meets task execution, to be terminated Adjustable parameter value when condition；

The system also includes：

Control module, it is described winged for adjustable parameter value control when meeting task execution termination condition based on the flight path Row device intercepts the target.

8. system according to claim 6, which is characterized in that the suspension module is specifically used for:In successive ignition operation In the process, if flight path is unsatisfactory for task execution termination condition at the end of the current predictive work period, stop to resolve；Alternatively, In successive ignition calculating process, if the adjustable parameter value after adjustment reaches adjustable parameter predetermined threshold value, stop to resolve；

First acquisition module is additionally operable to：When entering in next prediction work period, executes obtain flight in real time again The step of pose parameter of the pose parameter of device and target.

9. system according to claim 7, which is characterized in that the system also includes：

First computing module, the prediction for being resolved according to prediction under finish time dummy clock resolve duration, are calculated winged The row device actual transmission moment；

Third acquisition module, it is real for obtaining the aircraft according to the Equation of Relative Motion with Small group of the aircraft and the target The pose parameter of the pose parameter of the aircraft and the target when emission time of border；

Second computing module, the prediction for being resolved according to prediction under finish time dummy clock resolves duration and the single flies Row trajectory predictions terminate duration, and aerocraft real flight duration is calculated.

10. system according to claim 9, which is characterized in that the runge kutta method of the default exponent number is quadravalence dragon lattice Ku Tafa.