CN112817334B - Trajectory design method and device of gliding aircraft and storage medium - Google Patents

Trajectory design method and device of gliding aircraft and storage medium Download PDF

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CN112817334B
CN112817334B CN202110061684.6A CN202110061684A CN112817334B CN 112817334 B CN112817334 B CN 112817334B CN 202110061684 A CN202110061684 A CN 202110061684A CN 112817334 B CN112817334 B CN 112817334B
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CN112817334A (en
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张敏刚
巩英辉
刘建辉
刘明
杨明
陈志刚
姜智超
闫颖鑫
张宁宁
李欣
秦小丽
葛亚杰
胡东飞
王兰松
高兴
曹晶莹
刘辉
杨丁
余亚晖
徐春铃
曹轶
林萌
韩天宇
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Beijing Institute of Near Space Vehicles System Engineering
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Abstract

The application discloses a method, a device and a storage medium for designing a trajectory of a gliding aircraft, which are used for solving the problem that the inclination angle of the trajectory is uncontrollable in the traditional trajectory design method. The method for designing the trajectory of the gliding aircraft disclosed by the application comprises the following steps: determining a flight dynamics model; determining a terminal constraint condition; determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint condition; determining an optimization solving parameter model according to the optimization variable parameter model; and obtaining the optimal attack angle parameter profile and the roll angle parameter profile of the trajectory according to the optimized solution parameter model. The application also provides a trajectory design device of the gliding aircraft and a storage medium.

Description

Trajectory design method and device of gliding aircraft and storage medium
Technical Field
The present application relates to the technical field of ballistic design, and in particular, to a method, an apparatus, and a storage medium for designing a trajectory of a gliding aircraft.
Background
The gliding aircraft generally flies in an airspace 20-100 km away from the ground, and the traditional gliding trajectory design method mainly comprises two categories: firstly, by establishing a flight trajectory parameterized model, according to a specific flight task, an aircraft program attitude angle is iteratively solved by utilizing an optimizing algorithm, but because the glide aircraft trajectory parameterized model is highly nonlinear, iteration convergence is slow, optimizing efficiency is low, and the method is generally only suitable for offline trajectory design; secondly, the original motion model is simplified by utilizing the balanced gliding condition, and the direct analytic relation between the gliding trajectory and the aircraft stress is established to realize the rapid design of the trajectory, but the method is difficult to meet the constraint of the inclination angle of the trajectory. In the prior art, the problems of uncontrollable ballistic inclination angle, large calculated amount and low optimizing efficiency are needed to be solved.
Disclosure of Invention
Aiming at the technical problems, the embodiment of the application provides a trajectory design method, device and storage medium of a gliding aircraft, which are used for solving the problem that the trajectory inclination angle is uncontrollable in the traditional trajectory design method, reducing the calculated amount and improving the efficiency.
In a first aspect, an embodiment of the present application provides a method for designing a trajectory of a gliding aircraft, including:
determining a flight dynamics model;
determining a terminal constraint condition;
determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint condition;
determining an optimization solving parameter model according to the optimization variable parameter model;
and obtaining the optimal attack angle parameter profile and the roll angle parameter profile of the trajectory according to the optimized solution parameter model.
Further, the flight dynamics model is a generation model of the reference parameters. Preferably, the method comprises the steps of,
the flight dynamics model is represented by the following formula 1:
Figure GDA0004116177340000021
/>
wherein R is the ground center distance, λ is the longitude, Φ is the latitude, V is the aircraft speed, θ is the ballistic dip angle, ψ is the heading angle, and lift l= qSC L (α ref Ma), resistance d= qSC D (α ref ,Ma)，α ref Is the angle of attack, v ref And (3) the roll angle, m is the aircraft mass, and g is the gravitational acceleration.
Preferably, the terminal constraint condition includes:
the terminal constraint condition is that the height H of the flight end point of the sinking ballistic section is a specified value H end The speed V of the flying end point is a specified value V end The ballistic inclination angle theta of the flight end point is a specified value theta end The method comprises the steps of carrying out a first treatment on the surface of the The specified value H end Designated value V end And a specified value of theta end The following equation 2 is satisfied:
Figure GDA0004116177340000022
where tf is the end time of the sinking ballistic segment, H end The end point height of the ballistic ending segment; v (V) end The end speed of the flight segment; θ end Is the ending ballistic dip of the flight segment.
Further, the attack angle alpha re f and roll angle v ref Determined by the following equation 3:
Figure GDA0004116177340000031
wherein alpha is ref And v ref To optimize design variables, X g For the X-displacement component of the aircraft position in the emission coordinate system c 0 、c 1 、c 2 、k 0 、k 1 Is the parameter to be solved.
At the glide flight end point, the angle of attack and roll angle satisfy the following equation 4:
Figure GDA0004116177340000032
wherein X is end Is X-direction displacement under the launching system at the end of sinking ballistic flight, wherein c 2 And k 1 The following equation 5 is satisfied:
Figure GDA0004116177340000033
preferably, the method comprises the steps of,
according to the flight dynamics model and the terminal constraint conditions, determining a parameter solving model comprises: for a specific set of parameters c 0 、c 1 And k 0 Performing numerical integration calculation on the flight dynamics model to obtain a glide trajectory endpoint height H k (c 0 ,c 1 ,k 0 ) End point velocity V k (c 0 ,c 1 ,k 0 ) End point ballistic inclination angle theta k (c 0 ,c 1 ,k 0 )；
The end point altitude, the end point velocity and the end point ballistic tilt angle calculated numerically satisfy the following equation 6:
Figure GDA0004116177340000034
according to the optimized variable parameter model, determining an optimized solution parameter model comprises:
solving the formula 1 by adopting a fourth-order Long Geku tower numerical integration method, and iteratively solving the formula 6 by adopting a quasi-Newton method;
by using the trajectory design method of the glider, which is provided by the invention, firstly, a flight dynamics model is established, then, constraint conditions of a terminal are designed, a model for solving variable parameters is established, then, the optimal solution of control variables is completed, and finally, the optimal trajectory program angle profile parameters of the glider are obtained.
In a second aspect, embodiments of the present application further provide a trajectory planning device for a gliding aircraft, comprising:
the model determining module is used for determining a flight dynamics model, determining terminal constraint conditions and determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint conditions;
the parameter solving module is used for determining an optimized solving parameter model according to the optimized variable parameter model;
and the trajectory determining module is used for determining an optimal attack angle parameter profile and an optimal roll angle parameter profile of the trajectory according to the constraint parameters.
In a third aspect, embodiments of the present application further provide a trajectory planning device for a gliding aircraft, comprising: a memory, a processor, and a user interface;
the memory is used for storing a computer program;
the user interface is used for realizing interaction with a user;
the processor is used for reading the computer program in the memory, and when the processor executes the computer program, the trajectory design method of the gliding aircraft provided by the invention is realized.
In a fourth aspect, an embodiment of the present application further provides a processor readable storage medium, where a computer program is stored, and when the processor executes the computer program, the method for designing a trajectory of a gliding aircraft provided by the present invention is implemented.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a trajectory design flow of a gliding aircraft according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a trajectory design flow of another gliding aircraft provided in an embodiment of the present application;
fig. 3 is a schematic diagram of the composition of a trajectory design device of a gliding aircraft according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of another trajectory design device of a gliding aircraft according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Some words appearing hereinafter are explained:
1. in the embodiment of the invention, the term "and/or" describes the association relation of the association objects, which means that three relations can exist, for example, a and/or B can be expressed as follows: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
2. The term "plurality" in the embodiments of the present application means two or more, and other adjectives are similar thereto.
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be noted that, the display sequence of the embodiments of the present application only represents the sequence of the embodiments, and does not represent the advantages or disadvantages of the technical solutions provided by the embodiments.
Example 1
Referring to fig. 1, a schematic diagram of a trajectory design method of a gliding aircraft according to an embodiment of the present application is shown in fig. 1, and the method includes steps S101 to S105:
s101, determining a flight dynamics model;
s102, determining terminal constraint conditions;
s103, determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint condition;
s104, determining an optimization solving parameter model according to the optimization variable parameter model;
and S105, obtaining the optimal attack angle parameter profile and the roll angle parameter profile of the trajectory according to the optimization solving parameter model.
As a preferred example, in the above step S101, the trajectory design of the gliding aircraft may be regarded as the generation process of the reference profile, the rotation of the earth has less influence on the stress of the gliding aircraft, and the actual flight process may be guided and corrected, so the trajectory planning assumes that the earth is a homogeneous non-rotating sphere, and the three-degree-of-freedom motion equation may be simplified as the following equation 1:
Figure GDA0004116177340000061
in the above formula 1, R is the earth center distance, λ is longitude, Φ is latitude, V is the aircraft speed, θ is the ballistic inclination angle, ψ is the heading angle, and lift l= qSC L (α ref Ma), resistance d= qSC D (α ref ,Ma)，α ref Is the angle of attack, v ref And (3) the roll angle, m is the aircraft mass, and g is the gravitational acceleration.
In the embodiment of the application, when the gliding aircraft is in the range capacity range and the terminal constraint task is realized, the terminal range S is satisfied end Terminal height H end Terminal speed V end Inclination angle theta of terminal trajectory end During the mission, the flying height profile and the speed profile need to be considered. In the case of range and speed constraint, consider the deceleration problem in the initial stage of gliding, namely, decelerating with a large attack angle, and controlling the altitude with a tilting angle, and carrying out the gliding speed-controlling flight in a manner of maneuvering left and right. In the later stage of gliding flight, under the condition that the ballistic inclination constraint is considered to be positive, a larger positive attack angle is adopted, and the ballistic inclination is pulled up by matching with a small inclination angle, so that the terminal ballistic inclination constraint is ensured. The entire ballistic angle of attack profile can be described as a parabolic dip-like ballistic pattern, the angle of attack profile can be described as a conic form, and the roll angle profile can be described as a conic form.
As a preferable example, in the step S102, the terminal constraint condition is that the height H of the end of the sinking ballistic flight is a specified value H end The speed V of the flying end point is a specified value V end The ballistic inclination angle theta of the flight end point is a specified value theta end . I.e., as the following equation 2.
Figure GDA0004116177340000071
Where tf is the end time of the sinking ballistic segment, H end For the ballistic ending sectionHeight of emphasis, preferably, H end A constant 29km value can be selected; v (V) end For the end speed of the flight segment, preferably, V end A constant 970m/s may be selected; θ end For the ending trajectory tilt of the flight segment, it is preferred that θ end A constant 2 may be chosen.
As a preferred example, in the above step S103, through the parameterized design of attack angle and roll angle, in the embodiment of the present invention, the attack angle and roll angle profile of the dip trajectory can be described as the following formula 3:
Figure GDA0004116177340000072
there are 5 unknowns c in equation 3 0 、c 1 、c 2 、k 0 、k 1 At the glide flight end point, a fixed angle of attack, zero roll angle pull-up trajectory dip, is employed, i.e., satisfying the constraint of the following equation 4:
Figure GDA0004116177340000073
wherein X is end For X-displacement under the launching train at the end of the sinking ballistic flight c 2 And k 1 The following equation 5 is satisfied:
Figure GDA0004116177340000074
therefore, in the above formula 3, the solution of the attack angle and roll angle profile is: design control parameter c 0 、c 1 、k 0 So that the height H of the flight end point of the sinking ballistic section is a specified value H end The speed V of the flying end point is a specified value V end The ballistic inclination angle theta of the flight end point is a specified value theta end 。
As a preferred example, in the above step S104, for a specific set of parameters c 0 、c 1 And k 0 -performing said model of flight dynamics (1)Numerical integration calculation is carried out to obtain the glide trajectory endpoint height H k (c 0 ,c 1 ,k 0 ) End point velocity V k (c 0 ,c 1 ,k 0 ) End point ballistic inclination angle theta k (c 0 ,c 1 ,k 0 )；
The end point height, the end point speed and the end point trajectory inclination angle of the numerical calculation are required to meet constraint equation 2, namely the following equation 6 of a ternary nonlinear equation set:
Figure GDA0004116177340000081
where k is the number of iterative computations.
Since the formulas 1 and 6 have strong nonlinear characteristics, and the changes of parameters such as height, speed and dynamic pressure are not obvious, and the parameters are difficult to solve by a theoretical or analytic method, the formula 1 is calculated by adopting a fourth-order Long Geku tower numerical integration method, and the nonlinear formula 6 is solved by adopting a quasi-Newton method iteration, namely the method is solved by adopting the following formula 7:
Figure GDA0004116177340000082
wherein,,
Figure GDA0004116177340000083
k is the number of iterative computations.
Given a set of parameters c 0 、c 1 、k 0 The initial value of (1), the iterative calculation precision and the calculation step length, and the iterative solution formula (1) so as to satisfy the ballistic terminal constraint formula 6
Figure GDA0004116177340000084
Calculated according to formula (5)>
Figure GDA0004116177340000085
And
Figure GDA0004116177340000086
as a preferred example, in the above step S105, the angle of attack and roll angle profile of the trajectory are determined based on the constraint parameters, i.e. based on the determined parameters
Figure GDA0004116177340000091
And +.>
Figure GDA0004116177340000092
And->
Figure GDA0004116177340000093
Determining the ballistic angle of attack α by equation (3) ref Model and roll angle v ref Angle of attack.
The method of designing the trajectory of the gliding aircraft of the present embodiment is further described below with reference to fig. 2, as shown in fig. 2:
s201, start.
S202, determining a flight dynamics model. The step is the same as S101, and will not be described in detail here;
s203, determining terminal constraint conditions. The step is the same as S102, and will not be described in detail here;
s204, establishing an optimized variable parameter model. In the step, an optimized variable parameter model is established according to the flight dynamics model and the terminal constraint condition. The specific step S103 is not described herein;
s205, designing an optimization solving parameter model and an optimization iteration solving method. That is, according to the method of the above formula 7, the solution of the formula 6 is performed to obtain the condition that the ballistic endpoint constraint is satisfied.
S206, obtaining an optimal program angle. I.e. the parameter c obtained from the final optimum design 0 、c 1 、k 0 C 2 、k 1 And obtaining the optimal attack angle and the tilting angle section of the sinking type trajectory finally meeting the trajectory constraint.
S207, ending.
By the method of the present embodiment, first, a flight dynamics model is established. Then, terminal constraints are designed. And then, establishing a variable parameter optimization model and a solving model to finish the optimization solving of the control variable. And finally, obtaining the trajectory of the aircraft according to the solving result. The sinking type ballistic design method solves the problem that the traditional gliding type ballistic design method has uncontrollable ballistic dip angle, can realize accurate control of the ballistic dip angle, reduces the calculated amount and improves the efficiency.
Example two
Based on the same inventive concept, the embodiment of the present invention further provides a trajectory design device of a gliding aircraft, as shown in fig. 3, where the device includes:
the model determining module 301 is configured to determine a flight dynamics model, determine a terminal constraint condition, and determine an optimized variable parameter model according to the flight dynamics model and the terminal constraint condition;
a parameter solving module 302, configured to determine an optimization solving parameter model according to the optimization variable parameter model;
the trajectory determination module 303 is configured to determine an optimal attack angle parameter profile and an optimal tilt parameter profile of the trajectory according to the constraint parameters.
Preferably, the model determination module 301 generates a model of the flight dynamics model as a model of the reference profile. Specifically, the flight dynamics model is represented by the following formula 1:
Figure GDA0004116177340000101
wherein R is the ground center distance, λ is the longitude, Φ is the latitude, V is the aircraft speed, θ is the ballistic dip angle, ψ is the heading angle, and lift l= qSC L (α ref Ma), resistance d= qSC D (α ref ,Ma)，α ref Is the angle of attack, v ref And m is the aircraft mass, and is the roll angle.
Preferably, the model determining module 301 is configured to determine a terminal constraint condition, specifically:
the terminal constraint is the altitude H of the end of the flight of the sinking ballistic sectionFor a specified value H end The speed V of the flying end point is a specified value V end The ballistic inclination angle theta of the flight end point is a specified value theta end . I.e., as the following equation 2.
Figure GDA0004116177340000111
Where tf is the end time of the sinking ballistic segment, H end For the key height of the ballistic ending section, a constant value of 29km is generally selected; v (V) end For the ending speed of the flight segment, a constant value 970m/s is generally selected; θ end For the end trajectory tilt of the segment, a constant value of 2 ° is typically chosen.
Preferably, through parameterized design of attack angle and roll angle, in the embodiment of the present invention, the attack angle and roll angle profile of the sinking trajectory is described as the following formula 3:
Figure GDA0004116177340000112
wherein there are 5 unknowns c in equation 3 0 、c 1 、c 2 、k 0 、k 1 At the glide flight end point, a fixed angle of attack, zero roll angle pull-up trajectory dip, is employed, i.e., satisfying the constraint of the following equation 4:
Figure GDA0004116177340000113
wherein X is end For X-displacement under the launching train at the end of the sinking ballistic flight c 2 And k 1 The following equation 5 is satisfied:
Figure GDA0004116177340000114
preferably, the parameter solving module 302 is configured to determine constraint parameters according to the parameter solving model, and the determining constraint parameters includes:
for a specific group of parametersNumber c 0 、c 1 And k 0 Performing numerical integration calculation on the flight dynamics model (1) to obtain a glide trajectory endpoint height H k (c 0 ,c 1 ,k 0 ) End point velocity V k (c 0 ,c 1 ,k 0 ) End point ballistic inclination angle theta k (c 0 ,c 1 ,k 0 )；
The end point height, the end point speed and the end point trajectory inclination angle of the numerical calculation are required to meet constraint equation 2, namely the following equation 6 of a ternary nonlinear equation set:
Figure GDA0004116177340000121
where k is the number of iterative computations.
Since the formulas 1 and 6 have strong nonlinear characteristics, and the changes of parameters such as height, speed and dynamic pressure are not obvious, and the parameters are difficult to solve by a theoretical or analytic method, the formula 1 is calculated by adopting a fourth-order Long Geku tower numerical integration method, and the nonlinear formula 6 is solved by adopting a quasi-Newton method iteration, namely the method is solved by adopting the following formula 7:
Figure GDA0004116177340000122
wherein,,
Figure GDA0004116177340000124
k is the number of iterative computations.
Given a set of parameters c 0 、c 1 、k 0 The initial value of (1), the iterative calculation precision and the calculation step length, and the iterative solution formula (1) so as to satisfy the ballistic terminal constraint formula 6
Figure GDA0004116177340000126
Calculated according to formula (5)>
Figure GDA0004116177340000127
And->
Figure GDA0004116177340000128
Preferably, the trajectory determination module 303 is configured to determine the optimal attack angle profile and roll angle profile of the trajectory according to the constraint parameter, including:
determining the angle of attack and roll angle profile of the trajectory based on the constraint parameters, i.e. based on the determined parameters
Figure GDA0004116177340000129
And +.>
Figure GDA00041161773400001210
And->
Figure GDA00041161773400001211
Determining the optimal angle of attack α of the trajectory by equation (3) ref Parameter profile and roll angle v ref Parameter profile.
It should be noted that, the model determining module 301 provided in the present embodiment can implement all the functions included in steps S101 to S103 in the first embodiment, solve the same technical problem, achieve the same technical effect, and are not described herein again;
the model determining module 302 provided in the present embodiment can implement all the functions included in step S104 in the first embodiment, solve the same technical problems, achieve the same technical effects, and are not described herein again;
the model determining module 303 provided in the present embodiment can implement all the functions included in step S105 in the first embodiment, solve the same technical problem, achieve the same technical effect, and are not described herein again;
it should be noted that, the device provided in the second embodiment and the method provided in the first embodiment belong to the same inventive concept, solve the same technical problem, achieve the same technical effect, and the device provided in the second embodiment can implement all the methods in the first embodiment, and the same points are not repeated.
Example III
Based on the same inventive concept, the embodiment of the present invention further provides a trajectory design device of a gliding aircraft, as shown in fig. 4, the device includes:
including a memory 402, a processor 401 and a user interface 403;
the memory 402 is used for storing a computer program;
the user interface 403 is configured to interact with a user;
the processor 401 is configured to read a computer program in the memory 402, where the processor 401 implements:
determining a flight dynamics model;
determining a terminal constraint condition;
determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint condition;
according to the parameter solving model, determining an optimized solving parameter model according to the optimized variable parameter model;
and according to the constraint parameters and the optimization solving parameter model, obtaining the optimal attack angle parameter profile and the roll angle parameter profile of the trajectory.
Where in FIG. 4, a bus architecture may comprise any number of interconnected buses and bridges, with one or more processors, represented in particular by processor 401, and various circuits of memory, represented by memory 402, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The processor 401 is responsible for managing the bus architecture and general processing, and the memory 402 may store data used by the processor 401 in performing operations.
The processor 401 may be CPU, ASIC, FPGA or CPLD, and the processor 401 may also employ a multi-core architecture.
When the processor 401 executes the computer program stored in the memory 402, the trajectory design method of any one of the gliding aircraft in the first embodiment is realized.
It should be noted that, the device provided in the third embodiment and the method provided in the first embodiment belong to the same inventive concept, solve the same technical problem, achieve the same technical effect, and the device provided in the third embodiment can implement all the methods in the first embodiment, and the same points are not repeated.
The present application also proposes a processor readable storage medium. The processor-readable storage medium stores a computer program, and the processor executes the computer program to implement the trajectory design method of any one of the gliding aircraft according to the first embodiment.
It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice. In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims (5)

1. A method of ballistic design of a gliding aircraft, comprising:
determining a flight dynamics model;
determining a terminal constraint condition;
determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint condition;
determining an optimization solving parameter model according to the optimization variable parameter model;
obtaining an optimal attack angle parameter section and an optimal roll angle parameter section of the trajectory according to the optimized solution parameter model;
the flight dynamics model is a generation model of reference parameters;
the flight dynamics model is represented by the following formula 1:
Figure FDA0004116177330000011
wherein R is the earth center distance, lambda is longitude and phi is latitudeV is the aircraft speed, θ is the ballistic dip, ψ is the heading angle, lift l= qSC L (α ref Ma), resistance d= qSC D (α ref ,Ma)，α ref Is the angle of attack, v ref The roll angle is the roll angle, m is the aircraft mass, g is the gravitational acceleration;
the angle of attack alpha ref And the tilting angle v ref Determined by the following equation 3:
Figure FDA0004116177330000012
wherein alpha is ref And v ref To optimize design variables, X g For the X-displacement component of the aircraft position in the emission coordinate system c 0 、c 1 、c 2 、k 0 、k 1 The parameters to be solved are;
the determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint condition comprises the following steps: for a specific set of parameters c 0 、c 1 And k 0 Performing numerical integration calculation on the flight dynamics model to obtain a glide trajectory endpoint height H k (c 0 ,c 1 ,k 0 ) End point velocity V k (c 0 ,c 1 ,k 0 ) End point ballistic inclination angle theta k (c 0 ,c 1 ,k 0 )；
The end point velocity and the end point ballistic tilt angle satisfy the following equation 6:
Figure FDA0004116177330000021
wherein k is the iterative calculation times;
the determining the optimization solving parameter model according to the optimization variable parameter model comprises the following steps:
solving the formula 1 by adopting a fourth-order Long Geku tower numerical integration method, and iteratively solving the formula 6 by adopting a quasi-Newton method;
the terminal constraint condition includes:
the terminal constraint condition is that the height of the flight end point of the sinking ballistic section is a specified value H end The speed of the flying end point is a specified value V end The ballistic inclination angle of the flight end point is a specified value theta end ；
Wherein H is end The end point height of the ballistic ending segment; v (V) end The end speed of the flight segment; θ end Is the ending ballistic dip of the flight segment.
2. The method of claim 1, wherein at the end of the gliding flight, the angle of attack and roll angle satisfy the following equation 4:
Figure FDA0004116177330000022
wherein X is end An X-displacement component in a firing coordinate system at the end of a sinking ballistic flight, where c 2 And k 1 The following equation 5 is satisfied:
Figure FDA0004116177330000023
3. a ballistic design device for a gliding aircraft, comprising:
the model determining module is used for determining a flight dynamics model, determining terminal constraint conditions and determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint conditions;
the parameter solving module is used for determining an optimized solving parameter model according to the optimized variable parameter model;
the trajectory determining module is used for determining an optimal attack angle parameter section and an optimal roll angle parameter section of the trajectory according to the optimization solving parameter model;
the flight dynamics model is a generation model of reference parameters;
the flight dynamics model is represented by the following formula 1:
Figure FDA0004116177330000031
wherein R is the ground center distance, λ is the longitude, Φ is the latitude, V is the aircraft speed, θ is the ballistic dip angle, ψ is the heading angle, and lift l= qSC L (α ref Ma), resistance d= qSC D (α ref ,Ma)，α ref Is the angle of attack, v ref The roll angle is the roll angle, m is the aircraft mass, g is the gravitational acceleration;
the angle of attack alpha ref And the tilting angle v ref Determined by the following equation 3:
Figure FDA0004116177330000032
wherein alpha is ref And v ref To optimize design variables, X g For the X-displacement component of the aircraft position in the emission coordinate system c 0 、c 1 、c 2 、k 0 、k 1 The parameters to be solved are;
the determining an optimized variable parameter model according to the flight dynamics model and the terminal constraint condition comprises the following steps: for a specific set of parameters c 0 、c 1 And k 0 Performing numerical integration calculation on the flight dynamics model to obtain a glide trajectory endpoint height H k (c 0 ,c 1 ,k 0 ) End point velocity V k (c 0 ,c 1 ,k 0 ) End point ballistic inclination angle theta k (c 0 ,c 1 ,k 0 )；
The end point velocity and the end point ballistic tilt angle satisfy the following equation 6:
Figure FDA0004116177330000041
wherein k is the iterative calculation times;
the determining the optimization solving parameter model according to the optimization variable parameter model comprises the following steps:
solving the formula 1 by adopting a fourth-order Long Geku tower numerical integration method, and iteratively solving the formula 6 by adopting a quasi-Newton method;
the terminal constraint condition includes:
the terminal constraint condition is that the height of the flight end point of the sinking ballistic section is a specified value H end The speed of the flying end point is a specified value V end The ballistic inclination angle of the flight end point is a specified value theta end ；
Wherein H is end The end point height of the ballistic ending segment; v (V) end The end speed of the flight segment; θ end Is the ending ballistic dip of the flight segment.
4. A ballistic design device for a gliding aircraft, comprising a memory, a processor and a user interface;
the memory is used for storing a computer program;
the user interface is used for realizing interaction with a user;
the processor for reading the computer program in the memory, which processor, when executing the computer program, implements the trajectory design method of a gliding aircraft according to one of claims 1 to 2.
5. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program, which when executed by the processor implements the method of ballistic design of a gliding aircraft according to one of claims 1 to 2.
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