CN108280043B - Method and system for quickly predicting flight trajectory - Google Patents

Method and system for quickly predicting flight trajectory Download PDF

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CN108280043B
CN108280043B CN201810082821.2A CN201810082821A CN108280043B CN 108280043 B CN108280043 B CN 108280043B CN 201810082821 A CN201810082821 A CN 201810082821A CN 108280043 B CN108280043 B CN 108280043B
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宋亮
于丽丽
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Beijing Runke General Technology Co Ltd
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Abstract

The invention provides a method and a system for quickly predicting flight trajectories, which are used for acquiring pose parameters of an aircraft and a target, determining an initial value of an adjustable parameter and an adjustable parameter correction function, and recursively calculating a relative motion equation set of the aircraft and the target by adopting a Longge Kutta method; judging whether the flight path meets the task execution ending condition or not according to the obtained recursion data value; if yes, ending the prediction calculation process; if not, returning to the operation step; if the prediction resolving time under the virtual clock is an integral multiple of the prediction ending time of a single flight track and the flight track does not meet the task execution ending condition, adjusting the adjustable parameters, and executing the operation step based on the adjusted adjustable parameters until the flight track meets the task execution ending condition or the prediction resolving process meets the resolving stopping condition; and if the prediction calculation process is finished, acquiring an adjustable parameter value when the flight trajectory meets the task execution finishing condition. The invention greatly improves the prediction efficiency and accuracy.

Description

Method and system for quickly predicting flight trajectory
Technical Field
The invention relates to the technical field of data prediction, in particular to a method and a system for rapidly predicting a flight trajectory.
Background
The existing aircraft flight trajectory prediction method is to establish a flight trajectory differential equation set solution model according to flight trajectory planning, solve a flight trajectory differential equation set by using a given initial value and a solution step length through a numerical solution method such as an Eulerian method, a Runge-Kutta method and the like, and complete the solution of the flight trajectory differential equation set when a solution ending condition is met, so that a state of a flight trajectory corresponding to a solution ending time can be obtained, namely the state of the ending time is predicted from the current given initial state.
Solving end conditions of the flight trajectory motion equation set, wherein flight time is taken as the end conditions in some cases, for example, if the flight starting time is recorded as 0 second, and the flight time is recorded as t seconds, the end conditions are t seconds; the end condition is that the state of the flight trajectory satisfies a set condition, for example, the end condition is that the aircraft flies to the vicinity of a certain moving target and the distance between the aircraft and the target is less than 0.5 m.
The predicted content of the flight trajectory is determined according to the needs of the actual project, and the state of the aircraft after a certain time of flight, including altitude, speed and the like, needs to be predicted in some cases, and the time required for the aircraft to fly to the vicinity of a certain moving target and the distance between the aircraft and the target to be less than a specified value needs to be predicted in some cases.
The function of flight path prediction is to predict the future state according to the current state and constraint conditions, so as to provide a basis for taking appropriate measures in the future, and therefore, the application range of flight path prediction is wide, for example, in a fire control aiming system of a weapon system, the fire control aiming system needs to lock a target first and then launch a weapon to hit the target, while the target is moving, although the target is currently aligned with the target, when the weapon is launched, the target is not in place after a few seconds, so the launched weapon cannot necessarily hit the target, and therefore, it needs to predict in advance where the flight path drop point of the weapon will eventually fall and how far away from the target after the weapon is launched, and the advance is set according to the prediction result.
In the conventional prediction method, a flight trajectory differential equation set solution model is established in advance according to flight trajectory planning, and a flight trajectory differential equation set is solved by using a given initial value and a given solving step length through a numerical solution method such as an eulerian method and a longge stoke method, so that the flight trajectory is predicted.
The traditional flight trajectory prediction method has two implementation modes, one mode is online real-time prediction, a numerical calculation algorithm is realized by writing a computer program, and a relative motion equation set of an aircraft and a target is calculated in real time on line under a real-time system clock to realize prediction. The real-time online prediction method has the advantages that the current state of the system can be extracted to serve as the initial state of prediction, the initial value of prediction and the end condition of prediction are dynamically adjusted, the prediction result is more accurate, but the prediction time consumed by the prediction mode is consistent with the flight time of the flight trajectory to be predicted, the prediction time is longer, the use requirement cannot be met under the condition that the system has super real-time requirements, for example, the single-step working period of a certain system is 20 milliseconds, the system requires that the prediction of the flight trajectory with the flight time of 30 minutes must be completed in one working period, and then the online real-time prediction method cannot meet the requirements.
The other mode is off-line prediction, a numerical calculation algorithm is realized by writing a computer program, a relative motion equation set of the aircraft and the target is calculated under a non-real-time system clock, the flight trajectory prediction is carried out in advance, the prediction result is used as the input of the system, and then the subsequent work flow of the system is started. The off-line prediction has the advantages that the prediction can be realized in super real time, the prediction speed is high, but the prediction result is poor in accuracy, and the prediction result has errors due to slight disturbance of a system.
Therefore, how to effectively improve the prediction efficiency and improve the prediction accuracy rate in the prediction process of the flight trajectory is an urgent problem to be solved.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide a method for quickly predicting flight trajectories, which uses a virtual clock to quickly predict multiple flight trajectories within a prediction working period, thereby avoiding the time consumption of real-time calculation of flight trajectories and the problem of single flight trajectory in actual engineering, and greatly improving the prediction efficiency and accuracy.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
the embodiment of the invention provides a method for quickly predicting a flight trajectory, which comprises the following steps:
when the aircraft enters a first prediction working period, acquiring pose parameters of the aircraft and pose parameters of a target in real time;
determining an adjustable parameter initial value and an adjustable parameter correction function, wherein the adjustable parameter correction function is related to the adjustable parameter initial value, the predicted ending time length of the single flight track and the predicted resolving time length;
under a virtual clock, based on the pose parameter of the aircraft, the pose parameter of the target and the initial value of the adjustable parameter, adopting a Runge Kutta method with a preset order to recursively calculate a relative motion equation set of the aircraft and the target according to a resolving step length;
after the recursion operation of each resolving step is completed, judging whether the flight trajectory meets the task execution ending condition or not according to the recursion data value obtained by the recursion operation;
if yes, ending the prediction calculation process; if not, returning to the step of calculating the relative motion equation set of the aircraft and the target in a recursion manner according to the resolving step length by adopting a Runge Kutta method with a preset order;
if the predicted resolving time under the virtual clock reaches integral multiple of the predicted terminating time of the single flight track and the flight track does not meet the task execution terminating condition, adjusting the adjustable parameter according to the adjustable parameter correction function and the predicted resolving time under the virtual clock, and performing a step of recursively calculating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge-Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameter until the flight track meets the task execution terminating condition, and terminating the predicted resolving process, or terminating the resolving until the predicted resolving process meets the resolving terminating condition;
and if the prediction calculation process is finished, acquiring an adjustable parameter value when the flight trajectory meets the task execution finishing condition.
Optionally, in a specific implementation manner provided by the embodiment of the present invention, acquiring an adjustable parameter value when a flight trajectory meets a task execution end condition includes:
exiting the current prediction working cycle, and acquiring the prediction resolving duration under the virtual clock at the moment of finishing the prediction resolving;
substituting the obtained prediction resolving duration into the adjustable parameter correction function to calculate to obtain an adjustable parameter value when the flight trajectory meets the task execution ending condition;
the method further comprises the following steps:
and controlling the aircraft to intercept the target based on the adjustable parameter value when the flight trajectory meets the task execution ending condition.
Optionally, in a specific implementation manner provided by the embodiment of the present invention, stopping the calculation until the prediction calculation process satisfies the calculation stop condition includes:
in the process of multiple iterative operations, if the flight trajectory does not meet the task execution ending condition when the current prediction work cycle ends, stopping resolving;
or in the process of multiple iterative operations, if the adjusted adjustable parameter value exceeds the preset threshold value of the adjustable parameter, stopping resolving;
the method further comprises the following steps:
and when the next prediction working period is entered, the step of acquiring the pose parameters of the aircraft and the pose parameters of the target in real time is executed again.
Optionally, in a specific implementation manner provided in the embodiment of the present invention, the method further includes:
calculating to obtain the actual launching time of the aircraft according to the predicted resolving duration under the virtual clock at the predicted resolving ending time;
acquiring a pose parameter of the aircraft and a pose parameter of the target at the actual launching moment of the aircraft according to the relative motion equation set of the aircraft and the target;
and calculating to obtain the actual flight time of the aircraft according to the predicted resolving time at the predicted resolving ending time under the virtual clock and the predicted ending time of the single flight track.
Optionally, in a specific implementation manner provided in the embodiment of the present invention, the dragon lattice masta method with the preset order is a four-order dragon lattice masta method.
The embodiment of the invention also provides a system for quickly predicting flight trajectory, which comprises:
the first acquisition module is used for acquiring the pose parameters of the aircraft and the pose parameters of the target in real time when the aircraft enters a first prediction working period;
the determining module is used for determining an adjustable parameter initial value and an adjustable parameter correction function, wherein the adjustable parameter correction function is related to the adjustable parameter initial value, the predicted ending time length of the single flight track and the predicted resolving time length;
the operation module is used for recursively operating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the initial value of the adjustable parameter under a virtual clock;
the judging module is used for judging whether the flight trajectory meets the task execution ending condition or not according to the recursion data value obtained by the recursion operation after the recursion operation of each resolving step length is completed;
the ending module is used for ending the prediction resolving process if the judging module judges that the flight track meets the task execution ending condition;
the return module is used for returning to the operation module to enable the operation module to execute the step of adopting a preset order Longge Kutta method to carry out recursion operation on the relative motion equation set of the aircraft and the target according to a resolving step length if the judgment module judges that the flight trajectory does not meet the task execution end condition;
the adjusting module is used for adjusting the adjustable parameters according to the adjustable parameter correction function and the prediction resolving duration under the virtual clock if the prediction resolving duration under the virtual clock reaches the integral multiple of the prediction ending duration of the single flight track and the flight track does not meet the task execution ending condition;
the operation module is further used for performing a step of recursively operating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge-Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameter;
the stopping module is used for stopping the calculation until the prediction calculation process meets the calculation stopping condition;
and the second acquisition module is used for acquiring the adjustable parameter value when the flight trajectory meets the task execution ending condition when the prediction calculation process is ended.
Optionally, in a specific implementation manner provided in the embodiment of the present invention, the second obtaining module is specifically configured to:
when the current prediction working cycle exits, obtaining the prediction resolving duration under the virtual clock at the moment of finishing the prediction resolving; substituting the obtained prediction resolving duration into the adjustable parameter correction function to calculate to obtain an adjustable parameter value when the flight trajectory meets the task execution ending condition;
the system further comprises:
and the control module is used for controlling the aircraft to intercept the target based on the adjustable parameter value when the flight trajectory meets the task execution ending condition.
Optionally, in a specific implementation manner provided by the embodiment of the present invention, the suspension module is specifically configured to, in a process of multiple iterative computations, suspend resolving if a flight trajectory does not meet a task execution termination condition when a current predicted work cycle is terminated; or in the process of multiple iterative operations, if the adjusted adjustable parameter value reaches the preset adjustable parameter threshold value, stopping resolving;
the first obtaining module is further configured to: and when the next prediction working period is entered, the step of acquiring the pose parameters of the aircraft and the pose parameters of the target in real time is executed again.
Optionally, in a specific implementation manner provided in the embodiment of the present invention, the system further includes:
the first calculation module is used for calculating the actual launching time of the aircraft according to the predicted resolving duration under the virtual clock at the predicted resolving ending time;
the third acquisition module is used for acquiring the pose parameters of the aircraft and the pose parameters of the target at the actual launching moment of the aircraft according to the relative motion equation set of the aircraft and the target;
and the second calculation module is used for calculating the actual flight time of the aircraft according to the predicted solution time at the predicted solution ending moment under the virtual clock and the predicted ending time of the single flight track.
Optionally, in a specific implementation manner provided in the embodiment of the present invention, the dragon lattice masta method with the preset order is a four-order dragon lattice masta method.
According to the technical scheme, when the flight trajectory of the aircraft needs to be predicted, firstly, when the flight trajectory of the aircraft enters a first prediction working cycle, the pose parameters of the aircraft and the pose parameters of the target are acquired in real time; then determining an adjustable parameter initial value and an adjustable parameter correction function, wherein the adjustable parameter correction function is related to the adjustable parameter initial value, the predicted ending time length of the single flight track and the predicted resolving time length; under a virtual clock, based on the pose parameter of the aircraft, the pose parameter of the target and an initial value of an adjustable parameter, adopting a Runge Kutta method with a preset order to recursively calculate a relative motion equation set of the aircraft and the target according to a resolving step length; after the recursion operation of each resolving step is completed, judging whether the flight trajectory meets the task execution ending condition or not according to the recursion data value obtained by the recursion operation; if yes, ending the prediction calculation process; if not, returning to the step of calculating the relative motion equation set of the aircraft and the target in a recursion manner according to the resolving step length by adopting a Runge Kutta method with a preset order; if the prediction resolving time length under the virtual clock reaches integral multiple of the prediction ending time length of the single flight track and the flight track does not meet the task execution ending condition, adjusting the adjustable parameter according to the adjustable parameter correction function and the prediction resolving time length under the virtual clock, and performing a step of recursively calculating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge-Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameter until the flight track meets the task execution ending condition, ending the prediction resolving process, or stopping resolving until the prediction resolving process meets the resolving ending condition; and if the prediction calculation process is finished, acquiring an adjustable parameter value when the flight trajectory meets the task execution finishing condition. In the prediction process, the virtual clock is adopted, so that the rapid prediction of a plurality of flight tracks can be realized in the prediction working period, the problems of time consumption of real-time calculation of the flight tracks and single flight track in actual engineering are solved, the prediction efficiency is greatly improved, meanwhile, the adjustable parameter value can be automatically adjusted according to the pre-designed rule, the prediction of the plurality of flight tracks is further realized through iteration, the dynamic adjustment of the prediction result is realized, and the prediction accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of a method of embodiment 1 of a method for fast predicting a flight trajectory according to the present disclosure;
FIG. 2 is a flowchart of a method of embodiment 2 of the method for fast predicting flight trajectory according to the present disclosure;
FIG. 3 is a flowchart of a method of embodiment 3 of the method for fast predicting flight trajectory according to the present disclosure;
FIG. 4 is a schematic diagram illustrating a relative movement process between a security monitoring system and an object according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating the predicted effect of flight trajectory according to the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an embodiment 1 of a system for rapidly predicting a flight trajectory according to the present disclosure;
FIG. 7 is a schematic structural diagram of embodiment 2 of a system for rapidly predicting a flight trajectory according to the present disclosure;
fig. 8 is a schematic structural diagram of a system embodiment 3 for rapidly predicting a flight trajectory according to the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment of the invention, a method and a system for quickly predicting flight trajectories are provided. Specifically, in the process of predicting the flight trajectories, the virtual clock is adopted, so that the rapid prediction of a plurality of flight trajectories can be realized in the same prediction working period, the problems of time consumption and single flight trajectory in real-time calculation of the flight trajectories in actual engineering are solved, the prediction efficiency is greatly improved, and the super real-time prediction of the flight trajectories is realized. In addition, the adjustable parameter values can be automatically adjusted according to a pre-designed rule, so that the prediction of a plurality of flight trajectories is realized through iteration, the dynamic adjustment of a prediction result is realized, and the prediction accuracy is improved.
For convenience of understanding, the method and the system for fast predicting flight trajectory according to the embodiments of the present invention are described in detail below with reference to several embodiments. It should be noted that, in the embodiment of the present invention, the execution main body when performing fast prediction on the flight trajectory may be an electronic device with a software running function, such as a mobile phone, a tablet computer, a notebook computer, a desktop computer, and the like, and may be specifically implemented by means of computer software products on the electronic device.
As shown in fig. 1, which is a flowchart of an embodiment 1 of a method for quickly predicting a flight trajectory disclosed in the present invention, the embodiment includes the following steps:
s101, acquiring pose parameters of the aircraft and pose parameters of the target in real time when the aircraft enters a first prediction working period.
When the flight path of the aircraft needs to be rapidly predicted, firstly, after the real-time online prediction is started, a first prediction working period is started according to the system working period setting, and a rapid iterative prediction algorithm of the flight path is started in the first prediction working period.
And when the aircraft enters the first prediction working period, acquiring the current pose parameters of the aircraft and the current pose parameters of the target at the beginning of time. It should be noted that the pose parameters of the aircraft are obtained in real time, and the pose parameters of the aircraft can be sent from other devices through an interface, or preset given values through a simulation program, for example,the pose parameters of the aircraft can comprise the position X of the aircraft, the speed V of the aircraft and the like; similarly, the pose parameters of the target are also obtained in real time, and the pose parameters of the target can be sent by other equipment through an interface or can be solved and given through a simulation program, for example, the pose parameters of the target can comprise a target position XTAnd a target speed VTAnd the like.
It should be noted that, in the implementation process of the embodiment of the present invention, if the online prediction is performed and a suitable flight trajectory is not predicted yet at the end of the first prediction working cycle, the time advance may be performed according to the working cycle of the system, and the next prediction working cycle is automatically entered.
S102, determining an adjustable parameter initial value and an adjustable parameter correction function, wherein the adjustable parameter correction function is related to the adjustable parameter initial value, the predicted ending time length of the single flight track and the predicted resolving time length.
Then, the initial value of the adjustable parameter in the rapid iterative prediction process and the correction function of the adjustable parameter are determined. Wherein, the adjustable parameter is the ratio of the angle change rate of the speed inclination angle of the aircraft to the angle change rate of the angle between the aircraft and the target connecting line, and is represented by a proportionality coefficient K, and the initial value of the adjustable parameter is the initial value K of the proportionality coefficient K0Initial value K0Compared with the solution duration t (namely the predicted solution duration) under the virtual clock in the single step work cycle (namely one predicted work cycle), the predicted termination duration t of the single flight trackfThe adjustable parameter correction function xi (K) is formed according to a certain rule0,t,tf). Wherein, aiming at the deviation condition of the connection line between the aircraft and the target, the predicted termination time length t of the single flight trackfAnd calculating according to the relative movement speed and distance information of the aircraft and the target.
And S103, under a virtual clock, based on the pose parameter of the aircraft, the pose parameter of the target and the initial value of the adjustable parameter, recursively calculating a relative motion equation set of the aircraft and the target according to the resolving step length by adopting a Runge-Kutta method with a preset order.
Under a virtual clock, the obtained pose parameters of the aircraft and the pose parameters of the target are used as initial position conditions for calculation by a Runge-Kutta method with a preset order, the initial values of the adjustable parameters determined by design are used as initial values for iterative correction of the parameters, and a relative motion equation set of the aircraft and the target is calculated by recursion according to a calculation step length by the Runge-Kutta method with the preset order. The resolving step length delta t of the Runge Kutta method with the preset order can be set according to the flight trajectory resolving precision in design input.
S104, after the recursion operation of each resolving step is completed, judging whether the flight trajectory meets the task execution ending condition or not according to the recursion data value obtained by the recursion operation; if so, the operation enters S105, otherwise, the operation returns to S103, namely, when the flight trajectory is judged to not meet the task execution ending condition according to the recursion data value obtained through the recursion operation, the relative motion equation set of the aircraft and the target is recurrently operated according to the resolving step length by adopting a Runge-Kutta method with a preset order under the virtual clock based on the pose parameter of the aircraft, the pose parameter of the target and the initial value of the adjustable parameter.
And carrying out recursive calculation on a certain flight track according to the calculation step length delta t, outputting the calculated flight track, and judging whether the flight track meets the task execution ending condition or not according to a recursive data value obtained by the recursive calculation after the recursive calculation of each calculation step length is completed. For example, if the recursive data value obtained by the recursive operation is the relative distance between the aircraft and the target, and the task execution end condition is that the relative distance between the aircraft and the target is smaller than the standard attack range L of the aircraft, after a certain calculation step length recursive operation is completed, if the relative distance between the aircraft and the target is judged to be smaller than the standard attack range L of the aircraft, it indicates that the flight trajectory meets the task execution end condition; and if the relative distance between the aircraft and the target is not less than the standard attack range L of the aircraft, indicating that the flight trajectory does not meet the task execution ending condition.
And S105, ending the prediction calculation process.
And when the flight trajectory is judged to meet the task execution ending condition according to the recursion data value obtained by the recursion operation, ending the prediction calculation process.
S106, if the prediction resolving time under the virtual clock reaches integral multiple of the prediction ending time of a single flight track and the flight track does not meet the task execution ending condition, adjusting the adjustable parameters according to the adjustable parameter correction function and the prediction resolving time under the virtual clock, and performing a step of recursively calculating a relative motion equation set of the aircraft and the target according to the resolving step length by adopting a Runge-Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameter until the flight track meets the task execution ending condition, ending the prediction resolving process, or stopping resolving until the prediction resolving process meets the resolving ending condition.
In the process of prediction and calculation, when the prediction calculation time under the virtual clock reaches integral multiple of the prediction termination time of a single flight track and the flight track does not meet the task execution termination condition, the adjustable parameters can be adjusted according to the adjustable parameter correction function and the prediction calculation time under the virtual clock, and meanwhile, according to the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameters, the step of calculating a relative motion equation set of the aircraft and the target in a recursive manner according to the calculation step length by adopting a Runge Kutta method with a preset order is executed, and the calculated flight track is output. And when the flight track output after calculation meets the task execution ending condition, ending the prediction calculation process. Alternatively, when the prediction calculation process satisfies the calculation suspension condition, the calculation is suspended.
For example, when the predicted solution time t under the virtual clock reaches the predicted termination time t of a single flight pathfWhen the distance between the aircraft and the target is not less than the standard attack range L of the aircraft, the function xi (K) can be corrected according to the adjustable parameter0,t,tf) And the predicted resolving time length t under the virtual clock, adjusting the adjustable parameter from K0Adjusted to K0', simultaneously according to the pose parameters of the aircraft, the pose parameters of the target and the adjusted adjustable parameters K0' carrying out the step of recursion operation of the relative motion equation set of the aircraft and the target according to the resolving step length by adopting the Runge-Kutta method with a preset order, and outputting the recursion operation of each resolving step lengthAnd (4) calculating the resolved flight trajectory, judging whether the flight trajectory meets a task ending condition according to a recursion data value obtained by recursion operation, and iterating for multiple times until the flight trajectory meets the task execution ending condition, and ending the prediction resolving process. Or stopping the calculation until the prediction calculation process meets the stopping condition.
And S107, if the prediction calculation process is finished, obtaining the adjustable parameter value when the flight trajectory meets the task execution finishing condition.
And when the prediction resolving process is finished, acquiring an adjustable parameter value when the flight trajectory meets a task execution finishing condition, and subsequently launching the aircraft according to the acquired adjustable parameter value through the acquired adjustable parameter value.
In summary, in the above embodiment, when the flight trajectory of the aircraft needs to be predicted, the pose parameters of the aircraft and the pose parameters of the target are obtained in real time when the aircraft enters the first prediction working cycle; then determining an adjustable parameter initial value and an adjustable parameter correction function, wherein the adjustable parameter correction function is related to the adjustable parameter initial value, the predicted ending time length of the single flight track and the predicted resolving time length; under a virtual clock, based on the pose parameter of the aircraft, the pose parameter of the target and an initial value of an adjustable parameter, adopting a Runge Kutta method with a preset order to recursively calculate a relative motion equation set of the aircraft and the target according to a resolving step length; after the recursion operation of each resolving step is completed, judging whether the flight trajectory meets the task execution ending condition or not according to the recursion data value obtained by the recursion operation; if yes, ending the prediction calculation process; if not, returning to the step of calculating the relative motion equation set of the aircraft and the target in a recursion manner according to the resolving step length by adopting a Runge Kutta method with a preset order; if the prediction resolving time length under the virtual clock reaches integral multiple of the prediction ending time length of the single flight track and the flight track does not meet the task execution ending condition, adjusting the adjustable parameter according to the adjustable parameter correction function and the prediction resolving time length under the virtual clock, and performing a step of recursively calculating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge-Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameter until the flight track meets the task execution ending condition, ending the prediction resolving process, or stopping resolving until the prediction resolving process meets the resolving ending condition; and if the prediction calculation process is finished, acquiring an adjustable parameter value when the flight trajectory meets the task execution finishing condition. In the prediction process, the virtual clock is adopted, so that the rapid prediction of a plurality of flight tracks can be realized in the prediction working period, the problems of time consumption of real-time calculation of the flight tracks and single flight track in the actual engineering are solved, the prediction efficiency is greatly improved, meanwhile, the adjustable parameter value can be automatically adjusted according to the pre-designed rule, the prediction of the plurality of flight tracks is further realized through iteration, the dynamic adjustment of the prediction result is realized, and the prediction accuracy is improved.
Specifically, in the above method embodiment 1, stopping the calculation until the prediction calculation process satisfies the calculation stop condition may include: in the process of multiple iterative operations, when the flight trajectory does not meet the task execution ending condition when the current prediction work period ends, the calculation is stopped. May also include: and in the process of multiple iterative operations, when the adjusted adjustable parameter value exceeds the preset threshold value of the adjustable parameter, stopping resolving. In addition, in the specific implementation process of the embodiment of the present invention, the method for quickly predicting a flight trajectory may further include: and when the next prediction working period is entered, the step of acquiring the pose parameters of the aircraft and the pose parameters of the target in real time needs to be executed again.
As shown in fig. 2, which is a flowchart of embodiment 2 of the method for quickly predicting a flight trajectory according to the present invention, on the basis of the above embodiment 1, a specific implementation manner of step S107 is disclosed, in which step S107 may include the following steps:
s201, exiting the current prediction working cycle, and obtaining the prediction resolving duration under the virtual clock at the moment of finishing the prediction resolving.
And when judging that the flight trajectory meets the task execution ending condition and ends the prediction calculation process according to the recursion data value obtained by the recursion operation, exiting the current prediction working cycle and obtaining the prediction calculation duration t under the virtual clock at the time of ending the prediction calculation.
S202, substituting the obtained prediction resolving duration into an adjustable parameter correction function to calculate to obtain an adjustable parameter value when the flight trajectory meets the task execution ending condition.
Substituting the obtained prediction resolving time t into an adjustable parameter correction function xi (K)0,t,tf) And calculating to obtain an adjustable parameter value K when the flight trajectory meets the task execution ending condition.
In addition, in the embodiment shown in fig. 2, on the basis of the above embodiment 1, a step of intercepting the target is added, specifically refer to step S203.
S203, controlling the aircraft to intercept the target based on the adjustable parameter value when the flight trajectory meets the task execution end condition.
And the aircraft can be launched according to the obtained adjustable parameter values subsequently through the obtained adjustable parameter values required by launching the aircraft.
In summary, in the above embodiment, on the basis of the method embodiment 1, when exiting from the current prediction work cycle, the prediction calculation time length under the virtual clock at the prediction calculation end time is obtained, the obtained prediction calculation time length is substituted into the adjustable parameter correction function to calculate the adjustable parameter value when the flight trajectory meets the task execution end condition, and the aircraft can be controlled to intercept the target based on the adjustable parameter value when the flight trajectory meets the task execution end condition.
It should be noted that the embodiment shown in fig. 2 describes a specific implementation manner of step S107 in detail, but in practical application, step S107 is not limited to the implementation manner of the embodiment shown in fig. 2. For example, in practical application, an adjustable parameter obtained according to an adjustable parameter correction function and the predicted resolving time length under the virtual clock may be recorded, and when the flight trajectory satisfies the task execution end condition, the adjustable parameter obtained by final calculation may be directly extracted from the recorded result. After the adjustable parameter value is extracted, the aircraft can be controlled to intercept the target based on the extracted adjustable parameter value.
As shown in fig. 3, which is a flowchart of embodiment 3 of the method for quickly predicting a flight trajectory disclosed in the present invention, on the basis of embodiment 2 of the method, after the prediction calculation process is ended, the method may further include:
s301, calculating to obtain the actual launching time of the aircraft according to the predicted resolving duration under the virtual clock at the predicted resolving ending time.
In practical application, data in the process of rapidly predicting flight trajectories can be recorded by setting a data recording unit for recording data, for example, the prediction calculation duration under a virtual clock, an adjustable parameter value corresponding to each predicted trajectory, each predicted flight trajectory and the like can be recorded. When the flight path meets the task execution ending condition, the predicted calculation duration under the virtual clock recorded in the data recording unit is obtained, and the predicted actual duration t of the flight path can be obtained according to the corresponding relation between the predicted calculation duration under the virtual clock and the actual durationreal. In the process of online real-time prediction of flight path, at the elapsed time trealThen, the aircraft and the target have a proper proportionality coefficient K under the current initial pose, so that the predicted flight trajectory meets the task execution ending condition, the aircraft can be launched within the predicted work cycle time, and at the moment, the actual launching moment of the aircraft, namely treal. In practical application, the data recording unit can also directly record the predicted actual duration t of the flight pathreal。
S302, acquiring the pose parameters of the aircraft and the pose parameters of the target at the actual launching moment of the aircraft according to the relative motion equation set of the aircraft and the target.
Meanwhile, after the actual launching time of the aircraft is obtained, the pose parameters of the aircraft and the pose parameters of the target at the actual launching time of the aircraft can be obtained according to the relative motion equation set of the aircraft and the target.
S303, calculating to obtain the actual flight time of the aircraft according to the predicted solution time at the predicted solution ending time under the virtual clock and the predicted ending time of the single flight track.
In practical application, the predicted calculation time t under the virtual clock recorded by the data recording unit can be obtained, which is the predicted calculation time of the flight trajectory. Predicting the termination time length t by using the predicted resolving time length t and the single flight trackfThe actual flight time of the aircraft can be calculated by the multiple relation. Specifically, the predicted solution time t is divided by the predicted termination time t of a single flight pathfAnd rounding the obtained numerical value upwards to obtain the number of flight tracks resolved under the virtual clock in the prediction working period, further obtaining the predicted start-stop time of the flight tracks meeting the task execution end condition, and obtaining the actual flight time length of the aircraft from the launching to the interception target according to the predicted start-stop time.
Specifically, in the above embodiment, in a general case, the loggerstota method with different orders may be used to obtain the approximate values with different accuracies, when the order is selected to be too large, the calculation amount of the device will be greatly increased, and when the order is too small, the error may be large, which affects the simulation accuracy. When the order is more than 4, although the times of calculating the function are increased, the method precision is not necessarily improved, and the calculated amount is obviously increased, so that the engineering commonly uses a four-order Runge Kutta method, and the precision can reach O (h)5) Meanwhile, the calculation amount is moderate. Taking the fourth-order Rungestota method as an example, the calculation expression is as follows:
Figure BDA0001561517900000151
wherein:
tiis the starting time value of the ith time interval under the virtual clock;
Δ t is a resolving step length;
yithe predicted relative motion equation set recursion data value of the aircraft and the target in the ith time interval;
yi+1the predicted relative motion equation set recurrence data value of the aircraft and the target in the (i + 1) th time interval;
k1is at the beginning of the time intervalThe slope of (a);
k2is the midpoint of the time interval
Figure BDA0001561517900000152
Slope of (c) using k1Determining
Figure BDA0001561517900000153
A value;
k3is the midpoint of the time interval
Figure BDA0001561517900000154
Slope of (c) using k2Determining
Figure BDA0001561517900000155
A value;
k4is the slope at the end of the time interval.
Solving step length delta t and slope k through relative motion equation set of aircraft and target1、k2、k3And k4Average slope value k of, prediction ti+1The specific method for dealing with the relative motion relationship between the aircraft and the target is as follows:
yi+1＝yi+Δt*k*
by utilizing the recursion method, the time interval [0, t ] under the current proportionality coefficient can be solved through solving the step length delta tf]The whole flight path in the inner part.
In order to describe the technical solution of the embodiment of the present invention more clearly, the interception of an unknown flying object by a certain safety monitoring system is taken as an example for explanation.
The safety monitoring system is arranged on a motion patrol carrier, searches and monitors an unknown flying object (target) in an airspace, and when the target is found, the safety monitoring system needs to quickly solve the interception scheme according to which the aircraft should be launched under the pose parameters (including position, speed, motion direction and the like) of the aircraft and the pose parameters (including position, speed, motion direction and the like) of the target, so that the target can be successfully intercepted.
The relative movement process of the safety monitoring system and the target can be seen in fig. 4.
The single-step duty cycle (i.e., the predicted duty cycle) of the security monitoring system is 50 milliseconds (i.e., 0.05s), and every 50 milliseconds, the security monitoring system needs to perform the following tasks: (1) acquiring pose parameters of an aircraft and pose parameters of a target; (2) and determining a certain interception scheme and transmitting the aircraft. Specifically, fast prediction calculation of the flight path of the aircraft is carried out, the aircraft can successfully intercept the target after the judgment of how long, if the target cannot be intercepted according to the current interception scheme, the interception scheme is adjusted, fast prediction calculation of the flight path of the aircraft is carried out again, the judgment is carried out again, if a proper interception scheme is not found until the single step working period is finished, the aircraft is not launched in the single step working period, the next single step working period is started, the current pose parameter of the aircraft and the current pose parameter of the target are collected again, and cyclic fast calculation and judgment are carried out again; (3) if a proper interception scheme is found, the interception scheme parameters are extracted and output to the transmitting system, so that the transmitting system transmits the aircraft, and the safety monitoring working process is ended.
According to the relative motion process of the safety monitoring system and the target, a relative motion equation system of the aircraft and the target can be established as follows:
Figure BDA0001561517900000171
wherein the content of the first and second substances,
r is the relative distance of the aircraft to the target;
VTthe target movement speed is taken as the target movement speed;
v is the flight speed of the aircraft;
ηTis a target lead angle;
eta is the leading angle of the aircraft;
q is the angle of a connecting line between the aircraft and the target, and is called the target line angle for short;
sigma is the speed inclination angle of the aircraft;
σTis a target course angle;
k is a proportionality coefficient.
In the formula, r can be obtained by vector calculation of the aircraft and the target position; if V is givenT、V、σTLaw of change and initial conditions (r)0、q0、σ0、η0) Wherein η0For initial conditions of the aircraft nose angle, q0For the initial condition of the target line angle, σ0For initial conditions of the aircraft speed inclination, r0An initial condition of the relative distance of the aircraft to the target; the system of equations can be solved using numerical integration.
The proportionality coefficient K is an adjustable parameter of the interception scheme. The proportionality coefficient K is large, which means that the angle change rate of the speed inclination angle of the aircraft is required to follow the angle change rate change of the connecting line angle between the aircraft and the target in a K-fold relationship, when the distance between the aircraft and the target is short, the change of the connecting line angle between the aircraft and the target is quick, the requirement on the angle change rate of the aircraft is high, and when the distance exceeds the bearing range of the aircraft, the target can be missed and cannot be intercepted. Therefore, the reasonable value of the proportionality coefficient K is the key to the successful interception.
How to accurately determine the proportionality coefficient K requires numerical solution of the system of equations (1) of relative motion between the aircraft and the target, and requires rapid multiple solution within 50 milliseconds of a single step duty cycle. The method for rapidly predicting the flight trajectory proposed in the present example can solve this problem.
The method of rapidly predicting a flight trajectory of the present example includes the following steps.
And step S1, entering the current prediction working cycle, acquiring the pose parameters of the aircraft and the pose parameters of the target, and taking the pose parameters as the predicted input values of the flight trajectory.
After the real-time online prediction is started, according to the system working period setting, firstly starting a first prediction working period, and starting a flight trajectory fast iterative prediction algorithm in the prediction working period; and if the on-line prediction is carried out and a proper flight track is not predicted at the end of the first prediction working cycle, carrying out time advancing according to the working cycle of the system and automatically entering the next prediction working cycle.
And after entering a prediction working period, carrying out online acquisition on the pose parameters of the current target and the aircraft at the beginning of the time. And the pose parameters of the target are obtained in real time and are transmitted to the flight track rapid prediction unit as target input signals. In the process of predicting the flight trajectory of the aircraft, the target input signal may be derived from other devices, sent through an interface, or solved through a simulation program, for example, the target input signal may include a target position (X)T) And target speed (V)T) And the like. The pose parameters of the aircraft are obtained in real time and transmitted to the flight trajectory rapid prediction unit as aircraft input signals, in the process of predicting the flight trajectory of the aircraft, the aircraft input signals can be sent from other equipment through an interface, set values can also be preset through a simulation program, and for example, the aircraft input signals can include the position (X) of the aircraft, the speed (V) of the aircraft and the like.
And step S2, determining the flight path of the aircraft, the initial value of the adjustable parameter and the correction function of the adjustable parameter.
In this example, the initial value of the adjustable parameter is the initial value of the proportionality coefficient K (K)0) Derived from system design input requirements. By presetting an initial value K of a proportionality coefficient0The predicted ending time t of the single flight track and the calculated time t of the virtual clock in the single-step working cyclefThe adjustable parameter correction function xi (K) is formed according to a certain rule0,t,tf). When the flight trajectory is rapidly predicted, if the calculation capacity of the processor system in the current prediction working period is enough and the current predicted flight trajectory does not reach the interception target or other task purposes, the proportional coefficient can be automatically corrected according to the adjustable parameter correction function, and the calculation of a plurality of flight trajectories is started again.
And step S3, adopting a high-order Runge-Kutta method to perform rapid flight trajectory prediction based on the virtual clock under the current target and aircraft position.
In this example, the current target and aircraft are acquiredThe pose parameters are used as initial position conditions for Runge-Kutta solution, and an initial value K of a scale coefficient K input by design is utilized0As an initial value for the parameter iterative correction. Under the virtual clock, the calculating step length delta t of the Runge-Kutta method is set according to the flight path calculating precision in the design input. The predicted termination time t of a single flight path aiming at the deviation condition of the connecting line between the aircraft and the targetfCalculating according to the relative movement speed and distance information of the aircraft and the target, in a certain prediction working period, carrying out recursive calculation on a certain flight track according to a calculation step length delta t under a virtual clock, and if the calculation time reaches the corresponding prediction termination time tfIf the target is not intercepted by the aircraft, the aircraft and the target are considered to be deviated, and the prediction of the flight trajectory can be stopped.
By utilizing the Runge-Kutta method, in a relative motion equation set of an aircraft and a target, a resolving time interval [ t ] is formed by a resolving step length delta ti,ti+Δt]And taking n sets of slope values (k) in each time interval1,k2,…,kn) The weighted average is used as an approximation of the average slope k.
In general, approximation values with different accuracies can be obtained by using Runge-Kutta algorithms with different orders, when the order is selected to be too large, the calculation amount of equipment is greatly increased, and the too small order may cause the error order to be large, thereby affecting the simulation accuracy. When the order is more than 4, although the times of calculating the function are increased, the method precision is not necessarily improved, and the calculated amount is obviously increased, so that the engineering commonly uses a fourth-order Runge-Kutta algorithm, and the precision can reach O (h)5) Meanwhile, the calculation amount is moderate. Taking the fourth-order Runge-Kutta algorithm as an example, the calculation expression is as follows:
Figure BDA0001561517900000191
wherein:
tiis the starting time value of the ith time interval under the virtual clock;
Δ t is a resolving step length;
yithe predicted recursive data value of the relative motion equation set of the aircraft and the target in the ith time interval;
yi+1the recursive data value of the system of the relative motion equations of the aircraft and the target predicted in the (i + 1) th time interval;
k1is the slope at the beginning of the time interval;
k2is the midpoint of the time interval
Figure BDA0001561517900000201
Slope of (c) using k1Determining
Figure BDA0001561517900000202
A value;
k3is the midpoint of the time interval
Figure BDA0001561517900000203
Slope of (c) using k2Determining
Figure BDA0001561517900000204
A value;
k4is the slope at the end of the time interval.
Solving step length delta t and slope k through a relative motion equation set of the aircraft and the target1、k2、k3And k4Average slope value k of, prediction ti+1The specific method for dealing with the relative motion relationship between the aircraft and the target is as follows:
yi+1＝yi+Δt*k* (3)
by utilizing the recursion method, the time interval [0, t ] under the current proportionality coefficient can be solved through solving the step length delta tf]The whole flight path in the inner part.
In the process of predicting and calculating the rapid flight trajectory, the data recording unit is used for recording the whole-process data in the prediction process, so that offline checking, statistical analysis and auxiliary design of adjustable parameter values are facilitated.
And step S4, judging the task execution ending condition of the aircraft and automatically adjusting the adjustable parameters to realize the iterative prediction of the flight path.
In this example, it is assumed that the criterion of the condition for ending task execution of the aircraft is that the relative distance between the aircraft and the target is smaller than the standard attack range L of the aircraft, that is, when the aircraft enters the range, the target can be intercepted, and the method specifically includes:
L≥r (4)
wherein L is the aircraft standard attack range and r is the relative distance of the aircraft to the target.
If under the virtual clock, the time interval [0, tf]If the flight path in the flight path meets the task execution ending condition, resolving at the moment of meeting the task execution ending condition, and stopping; if the whole flight trajectory cannot meet the condition for intercepting the target (namely the task execution ending condition), the proportional coefficient can be automatically adjusted according to the adjustable parameter correction function to obtain a new proportional coefficient, and the new flight trajectory is predicted by reusing the pose parameter input values of the aircraft and the target in the current prediction working cycle, the relative motion equation set of the aircraft and the target and the Runge-Kutta recursion method, so that the automatic adjustment of the proportional coefficient and multiple iteration processes of the flight trajectory prediction process are realized.
And step S5, exiting the current prediction work cycle, judging whether the system work cycle is finished or not, and acquiring the parameter value of the task finishing time.
In this example, the flight trajectory prediction process of steps S3-S4 continues to iterate until the iteration is terminated when one or more of the following conditions are met: the condition that the execution of the task is finished (such as the aircraft intercepts a target) is met, and the proportional coefficient traverses the threshold range K0,Kf]Or to predict the exhaustion of time within a duty cycle.
After iteration is stopped, the system judges the next system behavior when the current predicted working period moment is finished, if the current stopping result is that the flight path resolving meets the task execution finishing condition, the system resolving work is finished, and at the moment, the adjustable parameter value of the task finishing moment can be obtained; if the task execution ending condition is not met, the solution stopping source is used up, the working time of the system is needed to be promoted at the moment, the next prediction working cycle is started, and the flight track automatic prediction process under the virtual clock in the steps S1-S4 is started again.
When the flight path meets the task execution ending condition, the predicted actual duration t of the flight path can be obtained through the recording and displaying of the system work cyclereal. In the process of online real-time prediction of flight path, the actual duration t is predicted after the flight pathrealAnd then, the aircraft and the target have a proper proportionality coefficient K under the current pose, so that the predicted flight trajectory meets the task execution ending condition, and the aircraft can be launched within the predicted work cycle time. At this point, the actual moment of launch of the aircraft, i.e. t, can be obtainedrealAnd the information such as the pose of the aircraft and the target at the moment can be acquired through the relative motion equation set of the aircraft and the target.
The total duration of the flight path solution under the virtual clock (i.e., the predicted solution time under the virtual clock) can be obtained as t by setting the data recording unit for recording data. Calculating total duration t by using flight path and predicting termination duration t by using single flight pathfThe multiple relation can obtain the number of flight tracks resolved under the virtual clock in the prediction working period, further obtain the predicted starting and stopping time of the flight tracks meeting the task execution ending condition, correct the actual flight time of the aircraft from emission to the interception target according to the predicted starting and stopping time, and correct the function xi (K) by means of the adjustable parameter0,t,tf) And acquiring a proportionality coefficient value corresponding to the flight trajectory.
Assuming that the position of the aircraft carrier is fixed, the target makes opposite linear motion in the x direction relative to the aircraft carrier, the relative speed is 30m/s, and the judgment condition of the target hit by the aircraft is that the distance between the aircraft and the target is less than 0.5 m. In Runge-Kutta iterative prediction, the resolving step length is 0.005s, and the prediction termination time length of each flight trajectory is 30 s; the system duty cycle was 0.05 s. Under such a condition, the flight trajectory prediction effect of the present invention is shown in fig. 5.
As shown in fig. 6, which is a schematic structural diagram of an embodiment 1 of a system for rapidly predicting a flight trajectory disclosed in the present invention, the embodiment includes:
the first obtaining module 601 is configured to obtain the pose parameters of the aircraft and the pose parameters of the target in real time when the aircraft enters the first prediction work period.
When the flight path of the aircraft needs to be rapidly predicted, firstly, after the real-time online prediction is started, a first prediction working period is started according to the system working period setting, and a rapid iterative prediction algorithm of the flight path is started in the first prediction working period.
And when the aircraft enters the first prediction working period, acquiring the current pose parameters of the aircraft and the current pose parameters of the target at the beginning of time. It should be noted that the pose parameters of the aircraft are obtained in real time, and the pose parameters of the aircraft can be sent from other devices through an interface, or set values can be preset through a simulation program, for example, the pose parameters of the aircraft can include an aircraft position X, an aircraft speed V, and the like; similarly, the pose parameters of the target are also obtained in real time, and the pose parameters of the target can be sent by other equipment through an interface or can be solved and given through a simulation program, for example, the pose parameters of the target can comprise a target position XTAnd a target speed VTAnd the like.
It should be noted that, in the implementation process of the embodiment of the present invention, if the online prediction is performed and a suitable flight trajectory is not predicted yet at the end of the first prediction working cycle, the time advance may be performed according to the working cycle of the system, and the next prediction working cycle is automatically entered.
The determining module 602 is configured to determine an initial value of an adjustable parameter and an adjustable parameter correction function, where the adjustable parameter correction function is related to the initial value of the adjustable parameter, the predicted ending duration of a single flight trajectory, and the predicted resolving duration.
Then, the initial value of the adjustable parameter in the rapid iterative prediction process and the correction function of the adjustable parameter are determined. Wherein the adjustable parameter is the ratio between the angular rate of change of the aircraft speed inclination and the angular rate of change of the aircraft and target link angleThe ratio, here expressed as the proportionality coefficient K, is the initial value K of the proportionality coefficient K0Initial value K0Compared with the solution duration t (namely the predicted solution duration) under the virtual clock in the single step work cycle (namely one predicted work cycle), the predicted termination duration t of the single flight trackfThe adjustable parameter correction function xi (K) is formed according to a certain rule0,t,tf). Wherein, aiming at the deviation condition of the connection line between the aircraft and the target, the predicted termination time length t of the single flight trackfAnd calculating according to the relative movement speed and distance information of the aircraft and the target.
And the operation module 603 is configured to recursively operate a relative motion equation set between the aircraft and the target according to the resolving step length by using a longge stoke method of a preset order based on the pose parameter of the aircraft, the pose parameter of the target, and the initial value of the adjustable parameter under the virtual clock.
Under a virtual clock, the obtained pose parameters of the aircraft and the pose parameters of the target are used as initial position conditions for calculation by a Runge-Kutta method with a preset order, the initial values of the adjustable parameters determined by design are used as initial values for iterative correction of the parameters, and a relative motion equation set of the aircraft and the target is calculated by recursion according to a calculation step length by the Runge-Kutta method with the preset order. The resolving step length delta t of the Runge Kutta method with the preset order can be set according to the flight trajectory resolving precision in design input.
And the judging module 604 is configured to judge whether the flight trajectory meets a task execution end condition according to a recursive data value obtained by the recursive operation after the recursive operation of each computation step is completed.
And carrying out recursive calculation on a certain flight track according to the calculation step length delta t, outputting the calculated flight track, and judging whether the flight track meets the task execution ending condition or not according to a recursive data value obtained by the recursive calculation after the recursive calculation of each calculation step length is completed. For example, if the recursive data value obtained by the recursive operation is the relative distance between the aircraft and the target, and the task execution end condition is that the relative distance between the aircraft and the target is smaller than the standard attack range L of the aircraft, after a certain calculation step length recursive operation is completed, if the relative distance between the aircraft and the target is judged to be smaller than the standard attack range L of the aircraft, it indicates that the flight trajectory meets the task execution end condition; and if the relative distance between the aircraft and the target is not less than the standard attack range L of the aircraft, indicating that the flight trajectory does not meet the task execution ending condition.
And an ending module 605, configured to end the prediction calculation process if the determining module determines that the flight trajectory meets the task execution ending condition.
And when the flight trajectory is judged to meet the task execution ending condition according to the recursion data value obtained by the recursion operation, ending the prediction calculation process.
And a returning module 606, configured to, if the determining module determines that the flight trajectory does not satisfy the task execution end condition, return to the operation module to enable the operation module to perform a step of recursively calculating a relative motion equation set between the aircraft and the target according to a resolving step length by using a lunger stoke method with a preset order.
And the adjusting module 607 is configured to adjust the adjustable parameter according to the adjustable parameter correction function and the predicted resolving duration under the virtual clock if the predicted resolving duration under the virtual clock reaches an integral multiple of the predicted terminating duration of the single flight trajectory and the flight trajectory does not satisfy the task execution terminating condition.
The operation module 603 is further configured to perform a step of recursively operating a relative motion equation set of the aircraft and the target according to a resolving step length by using a longge stoke method of a preset order based on the pose parameter of the aircraft, the pose parameter of the target, and the adjusted adjustable parameter.
And an abort module 608 configured to abort the solution until the prediction solution process satisfies a solution abort condition.
In the process of prediction and calculation, when the prediction calculation time under the virtual clock reaches integral multiple of the prediction termination time of a single flight track and the flight track does not meet the task execution termination condition, the adjustable parameters can be adjusted according to the adjustable parameter correction function and the prediction calculation time under the virtual clock, meanwhile, according to the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameters, the step of calculating the relative motion equation set of the aircraft and the target in a recursive manner according to the calculation step length by adopting a Runge-Kutta method with a preset order is returned again, and the calculated flight track is output. And when the flight track output after calculation meets the task execution ending condition, ending the prediction calculation process. Alternatively, when the prediction calculation process satisfies the calculation suspension condition, the calculation is suspended.
For example, when the predicted solution time t under the virtual clock reaches the predicted termination time t of a single flight pathfWhen the distance between the aircraft and the target is not less than the standard attack range L of the aircraft, the function xi (K) can be corrected according to the adjustable parameter0,t,tf) And the predicted resolving time length t under the virtual clock, adjusting the adjustable parameter from K0Adjusted to K0', simultaneously according to the pose parameters of the aircraft, the pose parameters of the target and the adjusted adjustable parameters K0And', performing a step of recursively calculating a relative motion equation set of the aircraft and the target according to the calculation step length by adopting a Runge-Kutta method with a preset order, outputting a calculated flight trajectory after the recursive calculation of each calculation step length is completed, judging whether the flight trajectory meets a task ending condition according to a recursive data value obtained by the recursive calculation, iterating for multiple times, and ending the prediction calculation process until the flight trajectory meets the task execution ending condition. Or stopping the calculation until the prediction calculation process meets the stopping condition.
And a second obtaining module 609, configured to obtain, if the prediction calculation process is finished, an adjustable parameter value when the flight trajectory meets a task execution finishing condition.
And when the prediction resolving process is finished, acquiring an adjustable parameter value when the flight trajectory meets a task execution finishing condition, and subsequently launching the aircraft according to the acquired adjustable parameter value through the acquired adjustable parameter value.
In summary, in the above embodiment, when the flight trajectory of the aircraft needs to be predicted, the pose parameters of the aircraft and the pose parameters of the target are obtained in real time when the aircraft enters the first prediction working cycle; then determining an adjustable parameter initial value and an adjustable parameter correction function, wherein the adjustable parameter correction function is related to the adjustable parameter initial value, the predicted ending time length of the single flight track and the predicted resolving time length; under a virtual clock, based on the pose parameter of the aircraft, the pose parameter of the target and an initial value of an adjustable parameter, adopting a Runge Kutta method with a preset order to recursively calculate a relative motion equation set of the aircraft and the target according to a resolving step length; after the recursion operation of each resolving step is completed, judging whether the flight trajectory meets the task execution ending condition or not according to the recursion data value obtained by the recursion operation; if yes, ending the prediction calculation process; if not, returning to the step of calculating the relative motion equation set of the aircraft and the target in a recursion manner according to the resolving step length by adopting a Runge Kutta method with a preset order; if the prediction resolving time length under the virtual clock reaches integral multiple of the prediction ending time length of the single flight track and the flight track does not meet the task execution ending condition, adjusting the adjustable parameter according to the adjustable parameter correction function and the prediction resolving time length under the virtual clock, and performing a step of recursively calculating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge-Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameter until the flight track meets the task execution ending condition, ending the prediction resolving process, or stopping resolving until the prediction resolving process meets the resolving ending condition; and if the prediction calculation process is finished, acquiring an adjustable parameter value when the flight trajectory meets the task execution finishing condition. In the prediction process, the virtual clock is adopted, so that the rapid prediction of a plurality of flight tracks can be realized in the prediction working period, the problems of time consumption of real-time calculation of the flight tracks and single flight track in the actual engineering are solved, the prediction efficiency is greatly improved, meanwhile, the adjustable parameter value can be automatically adjusted according to the pre-designed rule, the prediction of the plurality of flight tracks is further realized through iteration, the dynamic adjustment of the prediction result is realized, and the prediction accuracy is improved.
Specifically, in the above system embodiment 1, stopping the calculation until the prediction calculation process satisfies the calculation stop condition may include: in the process of multiple iterative operations, when the flight trajectory does not meet the task execution ending condition when the current prediction work period ends, the calculation is stopped. May also include: and in the process of multiple iterative operations, when the adjusted adjustable parameter value exceeds the preset threshold value of the adjustable parameter, stopping resolving. In addition, in the implementation process of the embodiment of the present invention, the first obtaining module 601 is further configured to perform the step of obtaining the pose parameters of the aircraft and the pose parameters of the target in real time again when entering the next predicted work cycle.
As shown in fig. 7, which is a schematic structural diagram of a system embodiment 2 for rapidly predicting a flight trajectory disclosed in the present invention, based on the system embodiment 1, the second obtaining module 609 may be specifically configured to:
and exiting the current prediction working cycle, acquiring the prediction resolving duration under the virtual clock at the moment of ending the prediction resolving, and substituting the acquired prediction resolving duration into the adjustable parameter correction function to calculate to obtain the adjustable parameter value when the flight trajectory meets the task execution ending condition.
And when judging that the flight trajectory meets the task execution ending condition and ends the prediction calculation process according to the recursion data value obtained by the recursion operation, exiting the current prediction working cycle and obtaining the prediction calculation duration t under the virtual clock at the time of ending the prediction calculation.
Substituting the obtained prediction resolving time t into an adjustable parameter correction function xi (K)0,t,tf) And calculating to obtain an adjustable parameter value K when the flight trajectory meets the task execution ending condition.
In addition, in the embodiment shown in fig. 7, on the basis of the embodiment 1 of the system, the system further includes:
and the control module 700 is configured to control the aircraft to intercept the target based on the adjustable parameter value when the flight trajectory meets the task execution end condition.
And the aircraft can be launched according to the obtained adjustable parameter values subsequently through the obtained adjustable parameter values required by launching the aircraft.
In summary, in the above embodiment, on the basis of the system embodiment 1, when exiting from the current prediction work cycle, the prediction calculation time length under the virtual clock at the prediction calculation end time is obtained, the obtained prediction calculation time length is substituted into the adjustable parameter correction function to calculate the adjustable parameter value when the flight trajectory meets the task execution end condition, and the aircraft can be controlled to intercept the target based on the adjustable parameter value when the flight trajectory meets the task execution end condition.
It should be noted that the embodiment shown in fig. 7 describes a specific implementation of the second obtaining module 609 in detail, but in practical applications, the second obtaining module 609 is not limited to the implementation of the embodiment shown in fig. 7. For example, in practical application, an adjustable parameter obtained according to an adjustable parameter correction function and the predicted resolving time length under the virtual clock may be recorded, and when the flight trajectory satisfies the task execution end condition, the adjustable parameter obtained by final calculation may be directly extracted from the recorded result. After the adjustable parameter value is extracted, the aircraft can be controlled to intercept the target based on the extracted adjustable parameter value.
As shown in fig. 8, which is a schematic structural diagram of an embodiment 3 of the system for rapidly predicting a flight trajectory disclosed in the present invention, on the basis of the embodiment 2 of the system, the embodiment further includes:
the first calculation module 801 is configured to calculate an actual launching time of the aircraft according to the predicted resolving duration under the virtual clock at the predicted resolving ending time.
In practical application, data in the process of rapidly predicting flight trajectories can be recorded by setting a data recording unit for recording data, for example, the prediction calculation duration under a virtual clock, an adjustable parameter value corresponding to each predicted trajectory, each predicted flight trajectory and the like can be recorded.
When the flight path meets the task execution ending condition, the predicted calculation duration under the virtual clock recorded in the data recording unit is obtained, and the predicted actual duration t of the flight path can be obtained according to the corresponding relation between the predicted calculation duration under the virtual clock and the actual durationreal. In the process of online real-time prediction of flight path, at the elapsed time trealThen, the aircraft and the target exist in the current initial poseThe appropriate proportionality coefficient K can enable the predicted flight trajectory to meet the task execution ending condition, the aircraft can be launched within the predicted work cycle time, and at the moment, the actual launching moment of the aircraft, namely treal. In practical application, the data recording unit can also directly record the predicted actual duration t of the flight pathreal。
And a third obtaining module 802, configured to obtain a pose parameter of the aircraft and a pose parameter of the target at the actual launching time of the aircraft according to the relative motion equation set of the aircraft and the target.
Meanwhile, after the actual launching time of the aircraft is obtained, the pose parameters of the aircraft and the pose parameters of the target at the actual launching time of the aircraft can be obtained according to the relative motion equation set of the aircraft and the target.
And the second calculating module 803 is configured to calculate the actual flight time of the flying aircraft according to the predicted solution time at the predicted solution ending time under the virtual clock and the predicted termination time of the single flight trajectory.
In the same way, in practical application, the predicted calculation time t under the virtual clock recorded by the data recording unit is obtained, which is the predicted calculation time of the flight trajectory. Predicting the termination time length t by using the predicted resolving time length t and the single flight trackfThe actual flight time of the aircraft can be calculated by the multiple relation. Specifically, the predicted solution time t is divided by the predicted termination time t of a single flight pathfAnd rounding the obtained numerical value upwards to obtain the number of flight tracks resolved under the virtual clock in the prediction working period, further obtaining the predicted start-stop time of the flight tracks meeting the task execution end condition, and obtaining the actual flight time length of the aircraft from the launching to the interception target according to the predicted start-stop time.
Specifically, in the above embodiment, in a general case, the loggerstota method with different orders may be used to obtain the approximate values with different accuracies, when the order is selected to be too large, the calculation amount of the device will be greatly increased, and when the order is too small, the error may be large, which affects the simulation accuracy. When the order is greater than 4, although the number of times of calculating the function is increased, the method has different precisionThe calculation amount is obviously increased, so that the engineering commonly uses a four-step Runge Kutta method, and the precision can reach O (h)5) Meanwhile, the calculation amount is moderate. Taking the fourth-order Rungestota method as an example, the calculation expression is as follows:
Figure BDA0001561517900000281
wherein:
tiis the starting time value of the ith time interval under the virtual clock;
Δ t is a resolving step length;
yithe predicted relative motion equation set recursion data value of the aircraft and the target in the ith time interval;
yi+1the predicted relative motion equation set recurrence data value of the aircraft and the target in the (i + 1) th time interval;
k1is the slope at the beginning of the time interval;
k2is the midpoint of the time interval
Figure BDA0001561517900000291
Slope of (c) using k1Determining
Figure BDA0001561517900000292
A value;
k3is the midpoint of the time interval
Figure BDA0001561517900000293
Slope of (c) using k2Determining
Figure BDA0001561517900000294
A value;
k4is the slope at the end of the time interval.
Solving step length delta t and slope k through relative motion equation set of aircraft and target1、k2、k3And k4Average slope value k of, prediction ti+1Fly away fromThe specific method of the relative motion relationship between the line moving device and the target is as follows:
yi+1＝yi+Δt*k*
by utilizing the recursion method, the time interval [0, t ] under the current proportionality coefficient can be solved through solving the step length delta tf]The whole flight path in the inner part.
The embodiments in the present description are all described in a related manner, and the same and similar parts among the embodiments may be referred to each other, each embodiment focuses on the differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
In addition, the above-described system embodiments are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A method for fast prediction of flight trajectory, the method comprising:
when the aircraft enters a first prediction working period, acquiring pose parameters of the aircraft and pose parameters of a target in real time;
determining an adjustable parameter initial value and an adjustable parameter correction function, wherein the adjustable parameter correction function is related to the adjustable parameter initial value, the single flight track prediction termination time length and the prediction resolving time length, and the adjustable parameter is a ratio of an angle change rate of an aircraft speed inclination angle to an angle change rate of an aircraft and a target connecting line angle;
under a virtual clock, based on the pose parameter of the aircraft, the pose parameter of the target and the initial value of the adjustable parameter, adopting a Runge Kutta method with a preset order to recursively calculate a relative motion equation set of the aircraft and the target according to a resolving step length;
after the recursion operation of each resolving step is completed, judging whether the flight trajectory meets the task execution ending condition or not according to the recursion data value obtained by the recursion operation;
if yes, ending the prediction calculation process; if not, returning to the step of calculating the relative motion equation set of the aircraft and the target in a recursion manner according to the resolving step length by adopting a Runge Kutta method with a preset order;
if the predicted resolving time under the virtual clock reaches integral multiple of the predicted terminating time of the single flight track and the flight track does not meet the task execution terminating condition, adjusting the adjustable parameter according to the adjustable parameter correction function and the predicted resolving time under the virtual clock, and performing a step of recursively calculating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge-Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameter until the flight track meets the task execution terminating condition, and terminating the predicted resolving process, or terminating the resolving until the predicted resolving process meets the resolving terminating condition;
if the prediction calculation process is finished, obtaining an adjustable parameter value when the flight trajectory meets a task execution finishing condition, wherein the adjustable parameter value comprises the following steps: exiting the current prediction working cycle, and acquiring the prediction resolving duration under the virtual clock at the moment of finishing the prediction resolving; substituting the obtained prediction resolving duration into the adjustable parameter correction function to calculate to obtain an adjustable parameter value when the flight trajectory meets the task execution ending condition;
the method further comprises the following steps:
and controlling the aircraft to intercept the target based on the adjustable parameter value when the flight trajectory meets the task execution ending condition.
2. The method according to claim 1, wherein suspending a solution until a prediction solution process satisfies a solution suspension condition includes:
in the process of multiple iterative operations, if the flight trajectory does not meet the task execution ending condition when the current prediction work cycle ends, stopping resolving;
or in the process of multiple iterative operations, if the adjusted adjustable parameter value exceeds the preset threshold value of the adjustable parameter, stopping resolving;
the method further comprises the following steps:
and when the next prediction working period is entered, the step of acquiring the pose parameters of the aircraft and the pose parameters of the target in real time is executed again.
3. The method of claim 1, further comprising:
calculating to obtain the actual launching time of the aircraft according to the predicted resolving duration under the virtual clock at the predicted resolving ending time;
acquiring a pose parameter of the aircraft and a pose parameter of the target at the actual launching moment of the aircraft according to the relative motion equation set of the aircraft and the target;
and calculating to obtain the actual flight time of the aircraft according to the predicted resolving time at the predicted resolving ending time under the virtual clock and the predicted ending time of the single flight track.
4. The method of claim 3, wherein the predetermined order of the Runge Kutta method is a fourth order Runge Kutta method.
5. A system for rapidly predicting flight trajectory, comprising:
the first acquisition module is used for acquiring the pose parameters of the aircraft and the pose parameters of the target in real time when the aircraft enters a first prediction working period;
the determining module is used for determining an adjustable parameter initial value and an adjustable parameter correcting function, wherein the adjustable parameter correcting function is related to the adjustable parameter initial value, the single flight track prediction termination time length and the prediction resolving time length, and the adjustable parameter is a ratio of an angle change rate of an aircraft speed inclination angle to an angle change rate of an aircraft and a target connecting line angle;
the operation module is used for recursively operating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the initial value of the adjustable parameter under a virtual clock;
the judging module is used for judging whether the flight trajectory meets the task execution ending condition or not according to the recursion data value obtained by the recursion operation after the recursion operation of each resolving step length is completed;
the ending module is used for ending the prediction resolving process if the judging module judges that the flight track meets the task execution ending condition;
the return module is used for returning to the operation module to enable the operation module to execute the step of adopting a preset order Longge Kutta method to carry out recursion operation on the relative motion equation set of the aircraft and the target according to a resolving step length if the judgment module judges that the flight trajectory does not meet the task execution end condition;
the adjusting module is used for adjusting the adjustable parameters according to the adjustable parameter correction function and the prediction resolving duration under the virtual clock if the prediction resolving duration under the virtual clock reaches the integral multiple of the prediction ending duration of the single flight track and the flight track does not meet the task execution ending condition;
the operation module is further used for performing a step of recursively operating a relative motion equation set of the aircraft and the target according to a resolving step length by adopting a Runge-Kutta method with a preset order based on the pose parameter of the aircraft, the pose parameter of the target and the adjusted adjustable parameter;
the stopping module is used for stopping the calculation until the prediction calculation process meets the calculation stopping condition;
a second obtaining module, configured to obtain, when the prediction calculation process is finished, an adjustable parameter value when the flight trajectory meets a task execution end condition, where the second obtaining module is specifically configured to: when the current prediction working cycle exits, obtaining the prediction resolving duration under the virtual clock at the moment of finishing the prediction resolving; substituting the obtained prediction resolving duration into the adjustable parameter correction function to calculate to obtain an adjustable parameter value when the flight trajectory meets the task execution ending condition;
the system further comprises:
and the control module is used for controlling the aircraft to intercept the target based on the adjustable parameter value when the flight trajectory meets the task execution ending condition.
6. The system according to claim 5, wherein the stopping module is specifically configured to, in a process of multiple iterative operations, stop resolving if a flight trajectory does not satisfy a task execution ending condition at the end of a current predicted work cycle; or in the process of multiple iterative operations, if the adjusted adjustable parameter value reaches the preset adjustable parameter threshold value, stopping resolving;
the first obtaining module is further configured to: and when the next prediction working period is entered, the step of acquiring the pose parameters of the aircraft and the pose parameters of the target in real time is executed again.
7. The system of claim 5, further comprising:
the first calculation module is used for calculating the actual launching time of the aircraft according to the predicted resolving duration under the virtual clock at the predicted resolving ending time;
the third acquisition module is used for acquiring the pose parameters of the aircraft and the pose parameters of the target at the actual launching moment of the aircraft according to the relative motion equation set of the aircraft and the target;
and the second calculation module is used for calculating the actual flight time of the aircraft according to the predicted solution time at the predicted solution ending moment under the virtual clock and the predicted ending time of the single flight track.
8. The system of claim 7, wherein the predetermined order of the Runge Kutta method is a fourth order Runge Kutta method.
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