CN111290426A - Prediction control method for automatically avoiding escape path of aircraft - Google Patents
Prediction control method for automatically avoiding escape path of aircraft Download PDFInfo
- Publication number
- CN111290426A CN111290426A CN201811496916.5A CN201811496916A CN111290426A CN 111290426 A CN111290426 A CN 111290426A CN 201811496916 A CN201811496916 A CN 201811496916A CN 111290426 A CN111290426 A CN 111290426A
- Authority
- CN
- China
- Prior art keywords
- data
- aircraft
- state
- flight
- stage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004364 calculation method Methods 0.000 claims abstract description 15
- 238000007781 pre-processing Methods 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims description 10
- 238000013461 design Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000009194 climbing Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 3
- 238000000354 decomposition reaction Methods 0.000 claims 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 abstract description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000011156 evaluation Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a predictive control method for automatically avoiding escape routes of an aircraft, which comprises the following steps: step A: acquiring data such as flight state, position, speed, engine thrust and the like required by the algorithm from systems such as an inertial navigation system, a flight control system, an atmospheric data system and the like of the airplane, and taking the data as state input quantity of the step B; and B: b, preprocessing the information data acquired in the step A, and converting the information data into a data format suitable for the step C; and C: b, according to a nonlinear flight motion model established in stages and a flight controller designed according to different maneuvering instructions in different stages, combining the state data information provided in the step B, sequentially performing algorithm calculation of each stage, and taking a state calculation result of the current step as a next long state input quantity until a single prediction period is calculated; step D: and D, repeating the step A to the step C after the single-cycle algorithm in the step C is solved.
Description
Technical Field
The invention relates to the technical field of aviation control, in particular to a predictive control method for avoiding an escape path in an automatic near-ground collision avoidance system applied to aviation, wherein the system comprises specific products such as but not limited to an automatic near-ground collision avoidance system, an automatic air collision avoidance system, a near-ground warning system, a terrain perception and warning system and the like.
Background
An Auto Ground Collision Avoidance System (Auto-GCAS) improves the Flight safety of the airplane and reduces the avionics System of a Controlled Flight Inside Terrain (CFIT). The method is characterized in that based on the dynamic characteristics of the airplane, the flight track of the airplane is calculated and predicted in real time according to the current state information of the airplane; utilizing airborne digital terrain data and according to the flight track of the airplane, and solving a predicted land collision area in real time through a terrain scanning algorithm; calculating through a ground collision evaluation algorithm, and comparing the flight track with a predicted ground collision area; when the ground collision assessment threshold is met, immediately sending a ground collision prevention request to a flight control system; under the condition of no override of a driver, the maneuver of leveling and pulling up the airplane is triggered to ensure the flight safety; meanwhile, ground collision avoidance warning information is sent to the cockpit display and control system. The method can reduce the CFIT incidence under the extreme conditions of high overload consciousness loss or lost direction of pilots and the like, and is mainly applied to aircrafts for high-speed flight, large-maneuvering low-altitude combat missions.
Auto-GCAS belongs to a new technology at home, has been researched for many years abroad, is applied to aircrafts and plays an important role in flight safety. Lockheed Martin airlines, usa, are major research and development manufacturers of automated near-earth collision avoidance system equipment worldwide. The latest data show that the full assembly of the F-16 fighters of the American and air force is realized in 2014. Meanwhile, according to the report of "light/attach Automatic collisionavidity Systems Business Case" published in 2006 by the air force flight laboratory (AFRL), the Auto-GCAS system can effectively prevent the occurrence of CFIT of 98%, and only the F-16 type fighter can reduce the economic loss of $614,690,761 by combining the accident rate of the past aircraft/attackers. The development of the Auto-GCAS system has important strategic and economic significance.
The false alarm rate of Auto-GCAS and the effectiveness of the system depend on the accuracy and effectiveness of the escape path avoidance predictive control to a great extent, and the prediction of the aircraft track at home and abroad at present only aims at the design of a predictive control algorithm of an aircraft flight longitudinal channel or a simplified particle model, and the all-state characteristics of the aircraft cannot be comprehensively reflected. The longitudinal channel model ignores the influence of the transverse lateral channel on the flight trajectory of the airplane, and the simplified particle model does not consider the change of the flight attitude angle.
However, for high-speed and high-maneuverability aircraft such as an aircraft, the change of the attitude angle directly relates to maneuvering action, and a small transverse direction factor under the high-speed condition also brings great influence on the flight path. Therefore, a prediction control method which can comprehensively consider the characteristics of each state of the airplane and control the flight trajectory in stages is found, and the method has great significance for improving the accuracy and effectiveness of avoiding the escape path, reducing the false alarm rate of Auto-GCAS and improving the flight safety of the aircraft.
Disclosure of Invention
The invention discloses a predictive control method for automatically avoiding escape paths of an aircraft, an automatic near-ground collision avoidance system of the aircraft needs to be used in the flying process of the aircraft, in a set time period (such as 40 milliseconds), based on information data such as current state and position provided by flight management systems such as an inertial navigation system, an atmospheric data system and a flight control system of the aircraft, a nonlinear flight motion model established in stages and a flight controller designed according to different maneuvering instructions in different stages, the method carries out the predictive control of automatically avoiding the escape route in a short period of time (such as 5 seconds) in the future on the current state condition of the aircraft, adopts the design of a staged flight motion model to comprehensively consider the state characteristic of the flight, meanwhile, the staged maneuvering instruction control design can ensure the matching degree of the evasive escape path of the aircraft and the design requirement of the system.
The invention provides a predictive control method for automatically avoiding escape routes of an aircraft, which is characterized by comprising the following steps of:
step A: acquiring information data such as the current state and position of the airplane from flight management systems such as an inertial navigation system, an atmospheric data system and a flight control system of the airplane;
and B: b, preprocessing the information data acquired in the step A, and converting the information data into a data format suitable for the step C;
and C: b, according to a nonlinear flight motion model established in stages and a flight controller designed according to different maneuvering instructions in different stages, combining the state data information provided in the step B, sequentially performing algorithm calculation of each stage, and taking a state calculation result of the current step as a next long state input quantity until a single prediction period is calculated;
step D: and C, after the single-cycle algorithm in the step C is solved, repeating the step A to the step C, wherein the result output in each step C is the prediction control result of the automatic escape path avoidance of the aircraft in the current state.
Further, the flight state, position and other information data in step a include longitude, latitude, track inclination, ground speed and other data provided by a satellite positioning system or inertial navigation equipment; the atmospheric data computer provides data such as air pressure height, vacuum speed and temperature; and attitude angle rate data provided by the heading attitude calculation device; the current thrust data of the aircraft provided by the throttle lever of the engine.
Further, the data preprocessing in the step B means that the data information provided by the airborne system is not necessarily consistent with the information required by the airplane model, and conversion is required according to the correlation between them. The longitude, latitude and altitude information provided by the inertial navigation system is based on an aircraft position representation method in an earth spherical coordinate system, and the calculation of the position information in the established aircraft model is based on a ground coordinate system, so that the longitude, latitude and altitude information need to be converted into an earth rectangular coordinate system, and the conversion processing formula is as follows:
further, the nonlinear flight motion model built in stages in the step C is divided into four stages: the method comprises a full-state stage, a rolling leveling stage, a quick pulling stage and an equal-angle climbing stage. Different motion phases correspond to different flight motion models. In addition, different machines are carried out aiming at the rolling leveling stage and the quick pulling stageControl design in which the control objective in the roll leveling phase is to maintain the roll angle at the target angle phic(ii) a The control objective of the rapid pull-up phase is to maintain the pitch angle change of the aircraft at a target angle θc。
Further, the flight motion models of the four phases in the step C are obtained by simplifying equations of different phases based on the following full-state model of the twelve-state with six degrees of freedom, and the detailed content is further described in the detailed description, wherein the flight motion model of the full-state phase in the first phase is as follows:
the system of force equations for the full state is as follows:
wherein u, v and w are decomposition quantities of the aircraft speed on X, Y and Z axes of a body coordinate system, Fx,Fy,FzTo correspond to the resultant forces in the axial direction, p, q, r correspond to roll, pitch and yaw rates, respectively.
The system of all-state moment equations is as follows:
wherein p, q, r correspond to roll, pitch and yaw rates, M, respectivelyxFor roll moment, MyFor pitching moment, MzAs a yawing moment, Ix,Iy,Iz,IxzAnd setting the input values of the configuration parameters of the airplane as the rotational inertia and the inertia product.
The system of equations of motion for the full state is as follows:
where phi, theta, psi correspond to roll, pitch and yaw angles, respectively, and p, q, r correspond to roll, pitch and yaw angular rates, respectively.
The system of navigation equations for the full state is as follows:
wherein ,
the position change rate of each axis under the ground coordinate system is respectively.
Further, the control design of the roll leveling stage and the fast pull-up stage of step C is shown in fig. 3 and 4, wherein each control parameter is adjustable according to the characteristics of each aircraft.
Further, the repetition period of step D with respect to steps a to C is an adjustable parameter, which is related to the complexity of the algorithm and the dominant frequency characteristic of the calculation carrier, and the value set in the present invention is 50 milliseconds.
The prediction control method for the aircraft to automatically avoid the escape path can realize accurate prediction of the flight escape path, simultaneously considers the state change of each channel and the change of the flight attitude, provides accurate prediction path input for the alarm system of the aircraft, reduces the false alarm rate of the system, lightens the operation load of a pilot, improves the operation confidence of the pilot, fully exerts the operational efficiency of the aircraft, and is combined with airborne systems such as a flight management system, a flight control system and the like to comprehensively ensure the flight safety of the aircraft.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 illustrates a schematic diagram of prediction phases for automatically avoiding an escape path according to an embodiment of the invention.
Fig. 2 illustrates a flow chart of a single-cycle mode switching of a predictive control method for automatically avoiding an escape path according to an embodiment of the invention.
FIG. 3 illustrates a functional schematic block diagram of a roll leveling phase controller according to an embodiment of the present invention.
FIG. 4 illustrates a functional schematic block diagram of a fast pull-up phase controller according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is described below by using preferred embodiments, but the following embodiments do not limit the scope of the present invention.
The aircraft automatic escape path avoidance prediction control method provided by the invention is built in any device with data acquisition, processing, output and storage functions on the aircraft in a software form, such as avionics equipment such as a near-ground warning device, a flight control system, a flight management system, a comprehensive environment monitoring system and the like. In addition, the automatic escape path avoidance prediction control method provided by the invention can be applied to aircrafts, and can also be applied to aircrafts such as unmanned planes and the like with the requirement of near-ground collision avoidance protection.
FIG. 1 is a diagram illustrating stages of predicting an auto-evasive escape path formed in accordance with an embodiment of the present invention. According to the method, the evasive path prediction control of each stage is carried out in sequence according to the sequence shown in figure 1 by a single step length in each single period, the full-state stage is accessed to the roll leveling stage, the state of the tail end of the roll leveling stage, which is accessed to the quick pull-up stage, and the quick pull-up stage is maintained to be accessed to the equal-angle constant-speed climbing stage, and only the position state of the airplane is changed.
Fig. 2 is a flow chart of a single-cycle mode switching of a predictive control method for automatically avoiding an escape route of an aircraft according to an embodiment of the invention. The direct circulation relation and judgment conditions of each stage are specifically and specifically explained. Fig. 3 is a functional schematic block diagram of a roll leveling phase controller formed in accordance with one embodiment of the present invention. Fig. 4 is a functional schematic block diagram of a fast pull-up phase controller formed in accordance with one embodiment of the present invention. The method of the present invention is described below with reference to fig. 1, 2, 3 and 4.
Referring to fig. 1 and 2, the predictive control method for automatically avoiding the escape route includes four stages of a full-state mode, a roll leveling mode, a quick pull-up mode and a climbing mode in a single-cycle mode. The kinematic equations and the kinetic equations solved in different modes are also different, and specific path prediction equations are detailed on the basis of the above.
The full-state mode is used for solving the problem that the uncertain factors such as system delay and the like adopt the free flight trajectory calculation under the condition of no inorganic control based on the initial flight state data of the aircraft, and a specific motion state equation is as follows:
the roll leveling mode is to perform wing roll leveling to the aircraft to a horizontal position at the starting point of the evasive maneuver, and prepare for the longitudinal quick pull-up mode of the next stage. Considering the instantaneity of the roll-leveling maneuver, in this mode, only the changes in roll and yaw are considered, and the pitch rate is zero, regardless of the change in pitch. The specific equation of state of motion is as follows:
the fast pull-up mode is a longitudinal fast pull-up maneuver that begins to be performed when the aircraft wing rolls flat to a horizontal position. In this mode, the roll angle is kept to be zero and the yaw angle is kept to be unchanged, namely the roll angle rate and the yaw angle rate are kept to be zero, and the changes of the pitch angle and other state quantities are calculated. The specific equation of state of motion is as follows:
the 2-D climbing mode is to execute the equal-angle climbing maneuver after the maneuver pitch angle is quickly pulled up to the target value. In this mode, the control keeps the climb angle and climb speed unchanged, and only the change in position of the aircraft is considered. The specific equation of motion is as follows:
referring to fig. 2, an initial input signal of the predictive control module for automatically avoiding the escape path is current flight data of the aircraft required by an algorithm acquired from the flight management module, and the data includes longitude, latitude, track inclination, ground speed and other data provided by a satellite positioning system or inertial navigation equipment; the atmospheric data computer provides data such as air pressure height, vacuum speed and temperature; and attitude angle rate data provided by the heading attitude calculation device. Firstly, when receiving the collected data, the data needs to be converted, which includes the following steps:
the airspeed under the provided airflow coordinate system can be converted into the three-axis speed under the body coordinate system through coordinate system transformation, and the specific conversion formula is as follows:
the position information in the earth rectangular coordinate system is converted into position information expressed by longitude (λ _ rad), Latitude lattitude (L _ rad), and Altitude (H _ m, H ═ H + Re), and the specific conversion formula is as follows:
the flight position obtained by the solution of the navigation equation group is represented by a triaxial component under a ground coordinate system, and in order to facilitate the use of a subsequent module and the analysis of a flight trajectory, the position component under the ground coordinate system needs to be converted into an earth rectangular coordinate system through a coordinate conversion formula, and the specific calculation formula is as follows:
referring to fig. 2, maneuvering control items are introduced in the second stage and the third stage of automatic evasive escape path prediction, and the rudder deflection angle of the airplane is changed through control of a target instruction and a flight state, so that the flight state of the airplane is changed, and evasive maneuvering is realized. In the second stage, roll-to-level maneuvering control is performed according to a target roll angle instruction, in the third stage, quick pull-up maneuvering control is performed according to a target pitch angle instruction, and a specific control system block diagram 3 and fig. 4 are shown.
In fig. 3, the error value between the actual roll angle obtained by the rolling leveling maneuver control through the second-stage calculation and the set target roll angle is compared, PID feedback control is introduced, and meanwhile, the control quantity of the roll angle rate is added, and the control parameters are adjusted, so that the roll angle of the aircraft can reach a steady state within a specified time. While considering the effects of roll leveling and yaw rate on the flight path.
In fig. 4, the fast pull-up maneuver control is performed by comparing the difference between the actual yaw angle calculated in the third stage and the set target pitch angle, introducing PID feedback control, adding the controlled variable of the yaw rate, and adjusting the control parameters, so that the yaw angle of the aircraft can reach a steady state within a specified time.
According to the configuration characteristic parameters and the pneumatic parameters of the known aircraft and information data such as the current state and the position of the aircraft acquired from a flight management system such as an inertial navigation system, an atmospheric data system and a flight control system, the stress and the moment of the aircraft can be determined, the predicted track of an automatic escape path can be obtained by solving the numerical value of a multi-state differential equation in combination with the control law of the flight control system and a staged flight motion model, as shown in the attached drawing 1, the predicted automatic escape path is converted into a two-dimensional plane to be matched with a two-dimensional terrain envelope generated by a terrain scanning function module in real time, and meanwhile, an anti-collision evaluation link is added, so that the predictability of an anti-collision system is achieved, an alarm prompt is provided for a pilot at a dangerous moment, and the flight safety.
It should be noted that the above description is based on specific embodiments of the invention, and although the invention has been described in detail with reference to preferred embodiments, it will be understood by those skilled in the art that modifications and equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (5)
1. A predictive control method for automatically avoiding an escape path of an aircraft is characterized by comprising the following steps,
step A: acquiring information data such as the current state and position of the airplane from a flight management system;
and B: b, preprocessing the information data acquired in the step A, and converting the information data into a data format suitable for the step C;
and C: b, according to a nonlinear flight motion model established in stages and a flight controller designed according to different maneuvering instructions in different stages, combining the state data information provided in the step B, sequentially performing algorithm calculation of each stage, and taking a state calculation result of the current step as a next long state input quantity until a single prediction period is calculated;
step D: and C, after the single-cycle algorithm in the step C is solved, repeating the step A to the step C, wherein the result output in each step C is the prediction control result of the automatic escape path avoidance of the aircraft in the current state.
2. The predictive control method for automatically avoiding the escape route of the aircraft according to claim 1, wherein the information data of the flight state, the flight position and the like in the step a comprises longitude, latitude, track inclination and ground speed data provided by a satellite positioning system or an inertial navigation device; the air pressure height, the vacuum speed and the temperature data are provided by the air data computer; and attitude angle rate data provided by the heading attitude calculation device; the current thrust data of the aircraft provided by the throttle lever of the engine.
3. The predictive control method for automatically avoiding the escape path of the aircraft as claimed in claim 1, wherein the data preprocessing in step B is to convert the data information provided by the onboard system according to the relationship between the data information and the information required by the aircraft model if the data information is not necessarily consistent with the information required by the aircraft model. The longitude, latitude and altitude information provided by the inertial navigation system is based on an aircraft position representation method in an earth spherical coordinate system, and the calculation of the position information in the established aircraft model is based on a ground coordinate system, so that the longitude, latitude and altitude information need to be converted into an earth rectangular coordinate system, and the conversion processing formula is as follows:
4. the predictive control method for automatically avoiding escape routes of aircraft according to claim 1, wherein the step CThe nonlinear flight motion model established by stages is divided into four stages: the method comprises a full-state stage, a rolling leveling stage, a quick pull-up stage and an equal-angle climbing stage, wherein different motion stages correspond to different flight motion models, and in addition, different maneuvering control designs are carried out aiming at the rolling leveling stage and the quick pull-up stage, wherein the control target of the rolling leveling stage is to keep the rolling angle at a target angle phic；
The control objective of the rapid pull-up phase is to maintain the pitch angle change of the aircraft at a target angle θc，
The flight motion models in the four stages in the step C are obtained by simplifying equations in different stages based on the following full-state model in the twelve-degree-of-freedom twelve-state, and the detailed contents are further described in the specific embodiment, where the flight motion model in the full-state stage in the first stage is as follows:
the system of force equations for the full state is as follows:
wherein u, v and w are decomposition quantities of the aircraft speed on X, Y and Z axes of a body coordinate system, Fx,Fy,FzCorresponding to the resultant force in the axial direction, p, q, r correspond to roll, pitch and yaw angular rates, respectively;
the system of all-state moment equations is as follows:
wherein p, q, r correspond to roll, pitch and yaw rates, M, respectivelyxFor roll moment, MyFor pitching moment, MzAs a yawing moment, Ix,Iy,Iz,IxzSetting the rotational inertia and the inertia product as the input values of airplane configuration parameters;
the system of equations of motion for the full state is as follows:
wherein phi, theta and psi respectively correspond to roll, pitch and yaw angles, and p, q and r respectively correspond to roll, pitch and yaw angular rates;
the system of navigation equations for the full state is as follows:
wherein ,
the position change rate of each axis under the ground coordinate system is respectively.
5. The method as claimed in claim 1, wherein the repetition period of step C is an adjustable parameter related to the complexity of the algorithm and the dominant frequency characteristics of the carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811496916.5A CN111290426B (en) | 2018-12-07 | 2018-12-07 | Prediction control method for automatic escape route avoidance of aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811496916.5A CN111290426B (en) | 2018-12-07 | 2018-12-07 | Prediction control method for automatic escape route avoidance of aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111290426A true CN111290426A (en) | 2020-06-16 |
| CN111290426B CN111290426B (en) | 2023-09-15 |
Family
ID=71029185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811496916.5A Active CN111290426B (en) | 2018-12-07 | 2018-12-07 | Prediction control method for automatic escape route avoidance of aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111290426B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112685888A (en) * | 2020-12-25 | 2021-04-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Three-redundancy flight management system and information flow processing method thereof |
| CN113031008A (en) * | 2021-03-12 | 2021-06-25 | 中国电子科技集团公司第二十研究所 | Foresight prediction alarm method capable of actively detecting sea surface threat |
| CN114627687A (en) * | 2022-01-19 | 2022-06-14 | 南京航空航天大学 | Helicopter ground proximity warning method for predicting escape trajectory based on neural network |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101264797A (en) * | 2008-03-20 | 2008-09-17 | 北京航空航天大学 | Unmanned machine rolling leveling control method |
| US20100042273A1 (en) * | 2006-09-12 | 2010-02-18 | Thales | Method and device for aircraft, for avoiding collision with the terrain |
| CN103354041A (en) * | 2013-06-25 | 2013-10-16 | 上海交通大学 | Warning envelope generating method for civil aircraft terrain awareness and warning system |
| CN108089594A (en) * | 2017-12-13 | 2018-05-29 | 王俊梅 | A kind of unmanned plane visual dead angles turn to escape flight method |
| CN108153332A (en) * | 2018-01-09 | 2018-06-12 | 中国科学院自动化研究所 | Trace simulation system based on big envelope curve game strategies |
| US10019835B1 (en) * | 2010-03-05 | 2018-07-10 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Digital map rendering method |
| CN108549408A (en) * | 2018-05-29 | 2018-09-18 | 四川九洲空管科技有限责任公司 | A kind of automatic collision ground path planning method and system |
-
2018
- 2018-12-07 CN CN201811496916.5A patent/CN111290426B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100042273A1 (en) * | 2006-09-12 | 2010-02-18 | Thales | Method and device for aircraft, for avoiding collision with the terrain |
| CN101264797A (en) * | 2008-03-20 | 2008-09-17 | 北京航空航天大学 | Unmanned machine rolling leveling control method |
| US10019835B1 (en) * | 2010-03-05 | 2018-07-10 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Digital map rendering method |
| CN103354041A (en) * | 2013-06-25 | 2013-10-16 | 上海交通大学 | Warning envelope generating method for civil aircraft terrain awareness and warning system |
| CN108089594A (en) * | 2017-12-13 | 2018-05-29 | 王俊梅 | A kind of unmanned plane visual dead angles turn to escape flight method |
| CN108153332A (en) * | 2018-01-09 | 2018-06-12 | 中国科学院自动化研究所 | Trace simulation system based on big envelope curve game strategies |
| CN108549408A (en) * | 2018-05-29 | 2018-09-18 | 四川九洲空管科技有限责任公司 | A kind of automatic collision ground path planning method and system |
Non-Patent Citations (1)
| Title |
|---|
| 思帅 等: "近地告警仿真测试综合试验平台的设计与实现" * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112685888A (en) * | 2020-12-25 | 2021-04-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Three-redundancy flight management system and information flow processing method thereof |
| CN112685888B (en) * | 2020-12-25 | 2024-04-09 | 中国航空工业集团公司沈阳飞机设计研究所 | Three-redundancy fly-pipe system and information stream processing method thereof |
| CN113031008A (en) * | 2021-03-12 | 2021-06-25 | 中国电子科技集团公司第二十研究所 | Foresight prediction alarm method capable of actively detecting sea surface threat |
| CN114627687A (en) * | 2022-01-19 | 2022-06-14 | 南京航空航天大学 | Helicopter ground proximity warning method for predicting escape trajectory based on neural network |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111290426B (en) | 2023-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Thomas et al. | Advances in air to air refuelling | |
| Gu et al. | Development and experimental verification of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) | |
| Huh et al. | A vision-based landing system for small unmanned aerial vehicles using an airbag | |
| CN109901387B (en) | Self-adaptive flight trajectory prediction method for aircraft automatic near-ground collision avoidance system | |
| CN111290426B (en) | Prediction control method for automatic escape route avoidance of aircraft | |
| Devalla et al. | Developments in unmanned powered parachute aerial vehicle: A review | |
| Paiva et al. | Sliding mode control approaches for an autonomous unmanned airship | |
| Risch et al. | X-48B flight test progress overview | |
| Flores et al. | A nonlinear path-following strategy for a fixed-wing MAV | |
| Bueno et al. | Project AURORA: Towards an autonomous robotic airship | |
| Rangel et al. | Development of a multi-purpose portable electrical UAV system, fixed & rotative wing | |
| Yoon et al. | Pursuit guidance law and adaptive backstepping controller design for vision-based net-recovery UAV | |
| Suzuki et al. | Teleoperation of a tail-sitter VTOL UAV | |
| Kim et al. | Vision‐assisted deep stall landing for a fixed‐wing UAV | |
| Elfes et al. | Modelling, control and perception for an autonomous robotic airship | |
| Nowak et al. | The selected innovative solutions in UAV control systems technologies | |
| Ambroziak et al. | Hybrid VTOL UAV Autonomous Operations from Mobile Landing Pad | |
| US11175657B1 (en) | Safe system controller for autonomous aircraft | |
| Miyazawa et al. | Flight control system for the automatic landing flight experiment | |
| Torno et al. | Design and development of a semi-autonomous fixed-wing aircraft with real-time video feed | |
| Johansen et al. | Guidance, Navigation, and Control of Fixed-Wing Unmanned Aerial Vehicles | |
| Nshuti et al. | Modeling, Simulation and Flight Testing to Support Proof of a Stratospheric Dual Aircraft Platform Concept | |
| Moutinho¹ et al. | Project DIVA: Guidance and vision surveillance techniques for an autonomous airship | |
| Kaminer et al. | Rapid Flight Test Prototyping System and the Fleet of UAV's and MAVs at the Naval Postgraduate School | |
| Singh et al. | Automatic landing of unmanned aerial vehicles using dynamic inversion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |