CN112800578B - Quick high-precision simulation method for flight profile of unmanned aerial vehicle - Google Patents
Quick high-precision simulation method for flight profile of unmanned aerial vehicle Download PDFInfo
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Abstract
The application belongs to the technical field of flight mechanics, and particularly relates to a rapid high-precision simulation method for a flight profile of an unmanned aerial vehicle. Firstly, constructing a simulation calculation model, initializing parameters of the simulation calculation model, and defining a flight profile simulation calculation end position; step two, acquiring current flight state parameters of the unmanned aerial vehicle, wherein the flight state parameters comprise position parameters; judging whether the flight state parameters reach the flight profile simulation calculation end position, if so, ending, otherwise, continuing; step four, acquiring a current flight phase according to the position parameter in the flight state parameters; step five, determining a flight constraint mode according to the current flight phase, and calculating a time step based on the capability characteristics of the platform; step six, the simulation calculation model calculates to obtain the current flight state parameters according to the time step; and step seven, returning to the step two until the ending condition is met. The method and the device improve the calculation accuracy and the calculation efficiency.
Description
Technical Field
The application belongs to the technical field of flight mechanics, and particularly relates to a rapid high-precision simulation method for a flight profile of an unmanned aerial vehicle.
Background
The flight profile of the conventional unmanned plane mainly comprises three stages of climbing, cruising and sliding down, and the flight modes and platform capability characteristics of each stage have different requirements on simulation step sizes, so that the problems of low calculation speed under small step sizes and low calculation precision under large step sizes are caused, and even the system divergence is caused.
It is therefore desirable to have a solution that overcomes or at least alleviates at least one of the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The purpose of the application is to provide a fast high-precision simulation method for the flight profile of an unmanned aerial vehicle, so as to solve at least one problem existing in the prior art.
The technical scheme of the application is as follows:
a fast high-precision simulation method for a flight profile of an unmanned aerial vehicle comprises the following steps:
firstly, constructing a simulation calculation model, initializing parameters of the simulation calculation model, and defining a flight profile simulation calculation end position;
step two, acquiring current flight state parameters of the unmanned aerial vehicle, wherein the flight state parameters comprise position parameters;
judging whether the flight state parameters reach the flight profile simulation calculation end position, if so, ending, otherwise, continuing;
step four, acquiring a current flight phase according to the position parameter in the flight state parameters;
step five, determining a flight constraint mode according to the current flight phase, and calculating a time step based on the capability characteristics of the platform;
step six, the simulation calculation model calculates to obtain the current flight state parameters according to the time step;
and step seven, returning to the step two until the ending condition is met.
Optionally, in the first step, the initializing parameters of the simulation calculation model includes initializing a position parameter, a height parameter, a speed parameter, an oil quantity parameter, a track angle parameter, and an hour oil consumption parameter.
Optionally, in the fourth step, the flight phase includes a climb phase, a cruise phase, and a glide phase.
Optionally, in the fifth step, determining a flight constraint mode according to the current flight phase, and calculating the time step based on the capability features of the platform includes:
when the current flight phase is a climbing phase, the flight constraint mode is that the height change on the step length is not more than h1;
based on capability characteristics of the platform, calculating to obtain a time step of dt=h1/abs (Vy 1), wherein abs () is a function taking an absolute value, and Vy1 is an aircraft climbing rate of an altitude point reached by the last period simulation calculation.
Optionally, in the fifth step, determining a flight constraint mode according to the current flight phase, and calculating the time step based on the capability features of the platform includes:
when the current flight phase is a cruising phase, the flight constraint mode is that the oil quantity change on the step length does not exceed dm;
and calculating to obtain a time step length dt=dm/Qc based on the capability characteristics of the platform, wherein Qc is the aircraft cruising fuel consumption rate after the last period simulation calculation is finished.
Optionally, in the fifth step, determining a flight constraint mode according to the current flight phase, and calculating the time step based on the capability features of the platform includes:
when the current flight phase is a downslide phase, the flight constraint mode is that the height change on the step length is not more than h2;
based on capability characteristics of the platform, calculating to obtain a time step of dt=h2/abs (Vy 2), wherein abs () is a function taking an absolute value, and Vy2 is an aircraft descent rate of an altitude point reached by the last period simulation calculation.
The invention has at least the following beneficial technical effects:
according to the unmanned aerial vehicle flight profile quick high-precision simulation method, the unmanned aerial vehicle flight profile can be quickly and accurately subjected to simulation evaluation in a self-adaptive simulation step length adjustment mode.
Drawings
Fig. 1 is a flowchart of a fast high-precision simulation method for a flight profile of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
In order to make the purposes, technical solutions and advantages of the implementation of the present application more clear, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present application. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application. Embodiments of the present application are described in detail below with reference to the accompanying drawings.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present application.
The present application is described in further detail below in conjunction with fig. 1.
The application provides a rapid high-precision simulation method for a flight profile of an unmanned aerial vehicle, which comprises the following steps:
firstly, constructing a simulation calculation model, initializing parameters of the simulation calculation model, and defining a flight profile simulation calculation end position;
step two, acquiring current flight state parameters of the unmanned aerial vehicle, wherein the flight state parameters comprise position parameters;
judging whether the flight state parameters reach the flight profile simulation calculation end position, if so, ending, otherwise, continuing;
step four, acquiring a current flight phase according to the position parameters in the flight state parameters;
step five, determining a flight constraint mode according to the current flight phase, and calculating a time step based on the capability characteristics of the platform;
step six, calculating the current flight state parameters according to the time step by the simulation calculation model;
and step seven, returning to the step two until the ending condition is met.
According to the unmanned plane flight profile quick high-precision simulation method, firstly, a simulation calculation model is constructed, initial parameters of the simulation calculation model are set, and the flight profile simulation calculation end position is defined, wherein the initial parameter setting comprises initialization of state parameters of an airplane, such as position parameters, altitude parameters, speed parameters, oil mass parameters, track angle parameters, hour oil consumption parameters and the like. After the current flight state parameters of the unmanned aerial vehicle are obtained, comparing the position parameters in the current flight state parameters with defined flight profile simulation calculation end position parameters, and judging whether the end position of the profile is reached.
In an embodiment of the present application, in step four, according to the position parameter in the flight state parameters, it may be queried which stage of the flight profile the current position of the unmanned aerial vehicle is. In this embodiment, the main flight phase: climbing, cruising and sliding down.
In the fast high-precision simulation method of the unmanned plane flight profile, in the fifth step, a flight constraint mode is determined according to the current flight phase, and the calculating of the time step based on the capability characteristics of the platform comprises the following steps:
when the current flight phase is a climbing phase, the flight constraint mode is that the height change on the step length is not more than h1;
based on the capability characteristics of the platform, namely that the influence of the height change on the step length not exceeding h1 on the climbing performance is acceptable, calculating to obtain the time step length as dt=h1/abs (Vy 1), wherein abs () is a function taking an absolute value, and Vy1 is the aircraft climbing rate of the height point reached by the last period simulation calculation.
In one embodiment of the application, the capability characteristics of the platform define that simulation with the height change not exceeding 100m during climbing does not influence the analysis result, the climbing rate reaches 200m/s at low altitude, and the calculation step length is required to be set to 0.5s; the climbing rate only remains 5m/s at high altitude, and the calculation step length needs to be set to be 20s. In a general simulation method, in order to ensure accuracy, the calculation step length is set to be 0.5s, which greatly influences the calculation efficiency.
When the current flight phase is the cruising phase, the flight constraint mode is that the oil quantity change on the step length does not exceed dm;
based on the capability characteristics of the platform, namely that the influence of the oil mass change on the step length not exceeding dm on the cruising performance is acceptable, calculating to obtain the time step length as dt=dm/Qc, wherein Qc is the aircraft cruising oil consumption rate after the last period simulation calculation is finished.
In one embodiment of the present application, the capability feature of the platform defines that the oil amount change at cruising is not more than 100kg, which has little effect on simulation analysis results, whereas the oil amount per hour at cruising is about 1000kg/h, the simulation time step can be set to 360s, which is very different from the climb down resolution.
When the current flight phase is a downslide phase, the flight constraint mode is that the height change on the step length is not more than h2;
based on capability characteristics of the platform, each calculation step length has a height change not exceeding h2, the influence on the sliding performance is acceptable, the calculation result time step length is dt=h2/abs (Vy 2), abs () is a function taking an absolute value, and Vy2 is an aircraft descent rate of a height point reached by the last period simulation calculation.
In this embodiment, the time step may be expressed as follows:
where dt is a time step of one simulation, h1 is a height which cannot be exceeded by one simulation height change in a climbing stage, vy1 is an aircraft climbing rate of a height point reached by one simulation calculation in a previous period, dm is a weight which cannot be exceeded by one simulation oil quantity change in a cruising stage, qc is an aircraft cruising oil consumption rate at the end of one simulation calculation in the previous period, h2 is a height which cannot be exceeded by one simulation height change in a sliding stage, vy2 is an aircraft descent rate of the height point reached by one simulation calculation in the previous period, abs () is a function taking an absolute value.
And substituting the simulation time step into a simulation calculation model to perform simulation calculation after obtaining the simulation time step according to the steps, obtaining the flight state parameters after dt, and returning to the step two until the step two is finished.
According to the unmanned aerial vehicle flight profile quick high-precision simulation method, the contradiction problem between the speed and the precision encountered in unmanned aerial vehicle flight profile simulation can be solved or improved, the flight capability characteristics of a platform are identified by distinguishing the characteristics of the flight stage, the calculation step length is adaptively adjusted, the unmanned aerial vehicle flight profile can be quickly and accurately simulated and evaluated, and the calculation precision and the calculation efficiency are improved.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (2)
1. The fast high-precision simulation method for the flight profile of the unmanned aerial vehicle is characterized by comprising the following steps of:
firstly, constructing a simulation calculation model, initializing parameters of the simulation calculation model, and defining a flight profile simulation calculation end position;
step two, acquiring current flight state parameters of the unmanned aerial vehicle, wherein the flight state parameters comprise position parameters;
judging whether the flight state parameters reach the flight profile simulation calculation end position, if so, ending, otherwise, continuing;
step four, acquiring a current flight phase according to the position parameter in the flight state parameters;
step five, determining a flight constraint mode according to the current flight phase, and calculating a time step based on the capability characteristics of the platform;
step six, the simulation calculation model calculates to obtain the current flight state parameters according to the time step;
step seven, returning to the step two until the ending condition is met;
in the fourth step, the flight phase comprises a climbing phase, a cruising phase and a sliding-down phase;
in the fifth step, determining a flight constraint mode according to the current flight phase, and calculating a time step based on the capability characteristics of the platform includes:
when the current flight phase is a climbing phase, the flight constraint mode is that the height change on the step length is not more than h1;
calculating to obtain a time step length dt=h1/abs (Vy 1) based on capability characteristics of the platform, wherein abs () is a function taking an absolute value, h1 is a height which is not exceeded by a primary simulation height change in a climbing stage, and Vy1 is an aircraft climbing rate of a height point reached by the previous period simulation calculation;
in the fifth step, determining a flight constraint mode according to the current flight phase, and calculating a time step based on the capability characteristics of the platform includes:
when the current flight phase is a cruising phase, the flight constraint mode is that the oil quantity change on the step length does not exceed dm;
calculating to obtain a time step length of dt=dm/Qc based on the capability characteristics of the platform, wherein dm is the weight which is not exceeded by the primary simulation oil quantity change in the cruising stage, and Qc is the cruising oil consumption rate of the airplane after the last period simulation calculation;
in the fifth step, determining a flight constraint mode according to the current flight phase, and calculating a time step based on the capability characteristics of the platform includes:
when the current flight phase is a downslide phase, the flight constraint mode is that the height change on the step length is not more than h2;
based on capability characteristics of the platform, calculating to obtain a time step of dt=h2/abs (Vy 2), wherein abs () is a function taking an absolute value, h2 is a height which is not exceeded by one-time simulation height change in a sliding stage, and Vy2 is an aircraft descent rate of a height point reached by the previous period simulation calculation.
2. The method for fast and highly accurate simulation of a flight profile of an unmanned aerial vehicle according to claim 1, wherein in step one, the parameter initialization of the simulation calculation model includes initializing a position parameter, a height parameter, a speed parameter, an oil quantity parameter, a track angle parameter, and an hour oil consumption parameter.
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| CN114491958B (en) * | 2021-12-28 | 2024-09-06 | 中国航天空气动力技术研究院 | Method for determining flight profile of solar unmanned aerial vehicle in near space for long endurance |
| CN116306035B (en) * | 2023-05-18 | 2023-09-05 | 北京星河动力装备科技有限公司 | Carrier rocket trajectory optimization method and device, electronic equipment and storage medium |
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