CN109491405A - The autonomous meeting and method and device of fuel charger and refueled aircraft - Google Patents
The autonomous meeting and method and device of fuel charger and refueled aircraft Download PDFInfo
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- CN109491405A CN109491405A CN201811413040.3A CN201811413040A CN109491405A CN 109491405 A CN109491405 A CN 109491405A CN 201811413040 A CN201811413040 A CN 201811413040A CN 109491405 A CN109491405 A CN 109491405A
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- fuel charger
- preset time
- refueled aircraft
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- 239000000446 fuel Substances 0.000 title claims abstract description 97
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
This application provides a kind of autonomous rendezvous methods of fuel charger and refueled aircraft, which comprises specifies meeting point for the fuel charger and the refueled aircraft, and plans default course line, wherein the meeting point includes the first meeting point and the second meeting point；The fuel charger and/or the refueled aircraft are obtained along the preset time of the default airline operation；If the fuel charger first reaches first meeting point, the first E.T.A that the refueled aircraft reaches second meeting point is obtained, the flight path of the fuel charger is selectively adjusted according to first E.T.A and the preset time；If the refueled aircraft first reaches second meeting point, the second E.T.A that the fuel charger reaches first meeting point is obtained, the flight path of the refueled aircraft is selectively adjusted according to second E.T.A and the preset time.
Description
Technical field
This application involves field of aviation flight control, specifically provide a kind of fuel charger and refueled aircraft autonomous rendezvous method and
Device.
Background technique
Air refuelling technology is to increase airborne combat radius, improve bullet-loading capacity, solve take-off weight and flying quality contradiction
Important means.The completion of air refueling mission is related to several stages, and wherein the meeting of fuel charger, refueled aircraft is combined into entire add
The initial phase of oily task.After air refueling mission starting, be rapidly completed plus, the congregation of refueled aircraft, to subsequent refueling operation
It is rapidly completed and is of great significance.The country only carried out artificial air refuelling at present, and the congregation of fuel charger, refueled aircraft is to fly
It is accomplished manually under the intervention of member.But flourishing with unmanned plane, the demand of autonomous air refuelling is increasingly enhanced, because
The realization of this autonomous rendezvous is very urgent and necessary.
Summary of the invention
In order to solve the above-mentioned technical problem at least one, this application provides a kind of fuel charger and refueled aircraft independently can be with
Method and device.
In a first aspect, this application provides a kind of autonomous rendezvous methods of fuel charger and refueled aircraft, which comprises be
The fuel charger and the refueled aircraft specify meeting point, and plan default course line, wherein the meeting point includes the first meeting point
With the second meeting point；The fuel charger and/or the refueled aircraft are obtained along the preset time of the default airline operation；If described
Fuel charger first reaches first meeting point, then obtains the refueled aircraft and reach the first of second meeting point it is expected that when reaching
Between, the flight path of the fuel charger is selectively adjusted according to first E.T.A and the preset time；
If the refueled aircraft first reaches second meeting point, obtains the fuel charger and reach the second estimated of first meeting point
Arrival time selectively adjusts the flight of the refueled aircraft according to second E.T.A and the preset time
Route.
According at least one embodiment of the application, the default course line be track type course line, the track type course line by
Two lines section and two circular arc compositions, the default course line include the first default course line, the second default course line, the default course line of third
And the 4th default course line.
According at least one embodiment of the application, the radius calculation formula of the circular arc are as follows:
In formula, R is arc radius, and V is the flying speed of aircraft, and g is acceleration of gravity, rolling when γ is aircraft turn
Angle.
According at least one embodiment of the application, the fuel charger and/or the refueled aircraft fly along the first default course line
The row required time is the first preset time；The fuel charger and/or the refueled aircraft are needed for the second default airline operation
Time is the second preset time；The fuel charger and/or the refueled aircraft along third preset airline operation needed for the time be the
Three preset times；When the fuel charger and/or the refueled aircraft time needed for the 4th default airline operation are the 4th default
Between；The error upper limit of the fuel charger and the refueled aircraft Rendezvous Time is the 5th preset time.
According at least one embodiment of the application, the 5th the first preset time of preset time <≤third preset time≤
Second preset time；Also, when the 5th the first preset time of preset time < is default less than or equal to the 4th preset time≤the second
Between.
Institute is obtained if the fuel charger first reaches first meeting point according at least one embodiment of the application
The first E.T.A that refueled aircraft reaches second meeting point is stated, according to first E.T.A and described
Preset time selectively adjusts the flight path of the fuel charger, comprising: if first E.T.A be greater than etc.
In second preset time, then the fuel charger is along the described second default airline operation；If when the described first estimated arrival
Between be more than or equal to the first preset time and less than the second preset time, then the fuel charger is preset course line along the third and is flown
Row；If first E.T.A is more than or equal to the 5th preset time and is less than first preset time, institute
It states after refueled aircraft reaches second meeting point and is waited along the first default airline operation, the fuel charger is preset course line along third and flown
Row；If first E.T.A is less than the 5th preset time, then it is assumed that the fuel charger and the refueled aircraft merge
Task is completed, i.e., the described fuel charger reaches first meeting point, meanwhile, the refueled aircraft reaches the second meeting point.
Institute is obtained if the refueled aircraft first reaches second meeting point according at least one embodiment of the application
The second E.T.A that fuel charger reaches first meeting point is stated, according to second E.T.A and described
Preset time selectively adjusts the flight path of the refueled aircraft, comprising: if second E.T.A be greater than etc.
In second preset time, then the refueled aircraft is along the described second default airline operation；If when the described second estimated arrival
Between be more than or equal to the first preset time and less than the second preset time, then the refueled aircraft flies along the 4th default course line
Row；If second E.T.A is more than or equal to the 5th preset time and is less than first preset time, institute
It states after fuel charger reaches first meeting point and is waited along the first default airline operation, the refueled aircraft flies along the 4th default course line
Row；If second E.T.A is less than the 5th preset time, then it is assumed that the fuel charger and the refueled aircraft merge
Task is completed, i.e., the described refueled aircraft reaches second meeting point, meanwhile, the fuel charger reaches the first meeting point.
According at least one embodiment of the application, the ground velocity of the fuel charger and the refueled aircraft is constant.
According at least one embodiment of the application,
Second aspect, this application provides the autonomous meeting of a kind of fuel charger and refueled aircraft and devices, comprising: memory is used
In storage executable program code；One or more processors, for reading the executable program generation stored in the memory
Code with execute above-mentioned fuel charger and refueled aircraft independently can and method.
The autonomous rendezvous method of fuel charger and refueled aircraft provided by the embodiments of the present application, can make fuel charger, refueled aircraft exist
Preassigned meeting point is reached simultaneously in time short as far as possible, to mitigate the work load and psychological pressure of pilot, is improved
There is the success rate of man-machine air refuelling.
Detailed description of the invention
Fig. 1 be fuel charger and refueled aircraft provided by the embodiments of the present application independently can be with the flow diagram of method；
Fig. 2 is the schematic diagram in the track type course line at fuel charger provided by the embodiments of the present application, refueled aircraft meeting and point.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related application, rather than the restriction to this application.It also should be noted that in order to
Convenient for description, part relevant to the application is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 be fuel charger and refueled aircraft provided by the embodiments of the present application independently can be with the flow diagram of method.
As shown in Figure 1, fuel charger and refueled aircraft independently can with method the following steps are included:
Step 101, meeting point is specified for fuel charger and refueled aircraft, and plans default course line.
Wherein, meeting point includes the first meeting point and the second meeting point；Default course line is track type course line, track type course line
Be made of two lines section and two circular arcs, preset course line include the first default course line, the second default course line, third preset course line with
And the 4th default course line.
In one example, referring to Figure 2 together, the meeting of fuel charger and refueled aircraft and point include A meeting and point and B meeting and point.
Default course line is in track type, is made of two lines section and two circular arcs, for example, course line w0, course line w2, course line a1 and
Course line b1.
The radius of circular arc can be calculated by following formula:
In formula, R is arc radius, and V is the flying speed of aircraft, and g is acceleration of gravity, rolling when γ is aircraft turn
Angle.
Step 102, fuel charger and/or refueled aircraft are obtained along the preset time for presetting airline operation.
Fuel charger and/or the refueled aircraft time needed for the first default airline operation are the first preset time；Fuel charger and/
Or refueled aircraft time needed for the second default airline operation is the second preset time；Fuel charger and/or refueled aircraft are pre- along third
If the time needed for airline operation is third preset time；Fuel charger and/or refueled aircraft are needed for the 4th default airline operation
Time is the 4th preset time；The error upper limit of fuel charger and refueled aircraft Rendezvous Time is the 5th preset time.
In some embodiments, so that
5th the first preset time of preset time <≤third preset time≤second preset time；Also, the 5th is default
The first preset time of time < is less than or equal to the 4th preset time≤second preset time.
Optionally,
Step 103, if fuel charger first reaches the first meeting point, obtain the second meeting point of refueled aircraft arrival first is estimated
Arrival time selectively adjusts the flight path of fuel charger according to the first E.T.A and preset time.
In some embodiments, if the first E.T.A was more than or equal to the second preset time, fuel charger is along the
Two default airline operations.
If the first E.T.A was more than or equal to the first preset time and less than the second preset time, fuel charger
Airline operation is preset along third.
If the first E.T.A was more than or equal to the 5th preset time and less than the first preset time, refueled aircraft
It is waited after reaching the second meeting point along the first default airline operation, fuel charger presets airline operation along third.
If the first E.T.A is less than the 5th preset time, then it is assumed that fuel charger and refueled aircraft congregation task are complete
At, i.e., fuel charger reaches the first meeting point, meanwhile, refueled aircraft reaches the second meeting point.
Step 104, if refueled aircraft first reaches the second meeting point, obtain the first meeting point of fuel charger arrival second is estimated
Arrival time selectively adjusts the flight path of refueled aircraft according to the second E.T.A and preset time.
In some embodiments, if the second E.T.A was more than or equal to the second preset time, refueled aircraft is along the
Two default airline operations.
If the second E.T.A was more than or equal to the first preset time and less than the second preset time, refueled aircraft
Along the 4th default airline operation.
If the second E.T.A was more than or equal to the 5th preset time and less than the first preset time, fuel charger
It is waited after reaching the first meeting point along the first default airline operation, refueled aircraft is along the 4th default airline operation.
If the second E.T.A is less than the 5th preset time, then it is assumed that fuel charger and refueled aircraft congregation task are complete
At, i.e., refueled aircraft reaches the second meeting point, meanwhile, fuel charger reaches the first meeting point.
In the present embodiment, the ground velocity of fuel charger and refueled aircraft is constant.
Second aspect, this application provides the autonomous meeting of a kind of fuel charger and refueled aircraft and device, which includes: storage
Device, for storing executable program code；One or more processors, for reading the executable journey stored in the memory
Sequence code with execute above-mentioned fuel charger and refueled aircraft independently can and method.
So far, it has been combined preferred embodiment shown in the drawings and describes the technical solution of the application, still, this field
Technical staff is it is easily understood that the protection scope of the application is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of application, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement is fallen within the protection scope of the application.
Claims (10)
1. a kind of autonomous rendezvous method of fuel charger and refueled aircraft, which is characterized in that the described method includes:
Meeting point is specified for the fuel charger and the refueled aircraft, and plans default course line, wherein the meeting point includes first
Meeting point and the second meeting point；
The fuel charger and/or the refueled aircraft are obtained along the preset time of the default airline operation；
If the fuel charger first reaches first meeting point, the refueled aircraft reaches second meeting point first is obtained
E.T.A selectively adjusts the fuel charger according to first E.T.A and the preset time
Flight path；
If the refueled aircraft first reaches second meeting point, the fuel charger reaches first meeting point second is obtained
E.T.A selectively adjusts the refueled aircraft according to second E.T.A and the preset time
Flight path.
2. the autonomous rendezvous method of fuel charger according to claim 1 and refueled aircraft, which is characterized in that the default course line
For track type course line, the track type course line is made of two lines section and two circular arcs, and the default course line includes first default
Course line, the second default course line, third preset course line and the 4th default course line.
3. the autonomous rendezvous method of fuel charger according to claim 2 and refueled aircraft, which is characterized in that the half of the circular arc
Diameter calculation formula are as follows:
In formula, R is arc radius, and V is the flying speed of aircraft, and g is acceleration of gravity, roll angle when γ is aircraft turn.
4. the autonomous rendezvous method of fuel charger according to claim 2 and refueled aircraft, which is characterized in that
The fuel charger and/or the refueled aircraft time needed for the first default airline operation are the first preset time；
The fuel charger and/or the refueled aircraft time needed for the second default airline operation are the second preset time；
The fuel charger and/or the refueled aircraft along third preset airline operation needed for the time be third preset time；
The fuel charger and/or the refueled aircraft time needed for the 4th default airline operation are the 4th preset time；
The error upper limit of the fuel charger and the refueled aircraft Rendezvous Time is the 5th preset time.
5. the autonomous rendezvous method of fuel charger according to claim 4 and refueled aircraft, which is characterized in that
5th the first preset time of preset time <≤third preset time≤second preset time；Also,
5th the first preset time of preset time < is less than or equal to the 4th preset time≤second preset time.
6. the autonomous rendezvous method of fuel charger according to claim 5 and refueled aircraft, which is characterized in that if the fuel charger
First meeting point is first reached, then obtains the first E.T.A that the refueled aircraft reaches second meeting point, root
The flight path of the fuel charger is selectively adjusted according to first E.T.A and the preset time, including
If first E.T.A is more than or equal to second preset time, the fuel charger is pre- along described second
If airline operation；
If first E.T.A is more than or equal to the first preset time and less than the second preset time, described to add
Oil machine presets airline operation along the third；
If first E.T.A is more than or equal to the 5th preset time and is less than first preset time, institute
It states after refueled aircraft reaches second meeting point and is waited along the first default airline operation, the fuel charger is preset course line along third and flown
Row；
If first E.T.A is less than the 5th preset time, then it is assumed that the fuel charger and the refueled aircraft merge
Task is completed, i.e., the described fuel charger reaches first meeting point, meanwhile, the refueled aircraft reaches the second meeting point.
7. the autonomous rendezvous method of fuel charger according to claim 5 and refueled aircraft, which is characterized in that if the refueled aircraft
Second meeting point is first reached, then obtains the second E.T.A that the fuel charger reaches first meeting point, root
The flight path of the refueled aircraft is selectively adjusted according to second E.T.A and the preset time, including
If second E.T.A is more than or equal to second preset time, the refueled aircraft is pre- along described second
If airline operation；
If second E.T.A is more than or equal to the first preset time and less than the second preset time, it is described by
Oil machine is along the 4th default airline operation；
If second E.T.A is more than or equal to the 5th preset time and is less than first preset time, institute
It states after fuel charger reaches first meeting point and is waited along the first default airline operation, the refueled aircraft flies along the 4th default course line
Row；
If second E.T.A is less than the 5th preset time, then it is assumed that the fuel charger and the refueled aircraft merge
Task is completed, i.e., the described refueled aircraft reaches second meeting point, meanwhile, the fuel charger reaches the first meeting point.
8. the autonomous rendezvous method of fuel charger according to any one of claim 1 to 7 and refueled aircraft, which is characterized in that
The ground velocity of the fuel charger and the refueled aircraft is constant.
9. the autonomous rendezvous method of fuel charger according to claim 5 and refueled aircraft, which is characterized in that
10. autonomous meeting and the device of a kind of fuel charger and refueled aircraft characterized by comprising
Memory, for storing executable program code；
One or more processors require 1 for reading the executable program code stored in the memory with perform claim
To fuel charger and refueled aircraft described in any one of 9 independently can and method.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811413040.3A CN109491405A (en) | 2018-11-23 | 2018-11-23 | The autonomous meeting and method and device of fuel charger and refueled aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811413040.3A CN109491405A (en) | 2018-11-23 | 2018-11-23 | The autonomous meeting and method and device of fuel charger and refueled aircraft |
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Application publication date: 20190319 |