CN113655807B - Method for calculating flight track of aerial uniform speed change moving target - Google Patents
Method for calculating flight track of aerial uniform speed change moving target Download PDFInfo
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- CN113655807B CN113655807B CN202110805000.9A CN202110805000A CN113655807B CN 113655807 B CN113655807 B CN 113655807B CN 202110805000 A CN202110805000 A CN 202110805000A CN 113655807 B CN113655807 B CN 113655807B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
One embodiment of the invention discloses a method for calculating the flight path of an air uniform speed change moving target, which comprises the following steps: and acquiring the leg data of the target, and calculating flight data at any moment in the target flight process according to the leg data. According to the method, the target path planning is decomposed into the sub-line segments of uniform variable speed motion, all the sub-line segments are connected into continuous tracks, and according to the track data of each section of track, the flight data at any moment in the target flight process are calculated, so that the target path planning can be realized. The method does not need multiple coordinate conversions, has simple calculation process and wide application prospect.
Description
Technical Field
The invention relates to the field of flight paths. And more particularly to a method for calculating the flight trajectory of an airborne uniformly variable speed moving object.
Background
In an application scene of air condition simulation, due to the influence of the curvature of the earth, the realization of uniform variable speed flight of an air target often involves multiple coordinate conversions, for example, conversion from a geographic coordinate system to a geocentric rectangular coordinate system or other rectangular coordinate systems, and the calculation process is complex.
Disclosure of Invention
In view of this, a first embodiment of the present invention provides a method for calculating a flight trajectory of an air uniform speed moving object, which is characterized by comprising:
the leg data of the target is acquired,
and calculating flight data at any moment in the target flight process according to the flight segment data.
In one particular embodiment, the flight trajectory is divided into N legs, the leg data for each leg including start point data and end point data,
in a specific embodiment, the start point data includes a start point longitude, a start point latitude, a start point altitude, and a start point speed;
the termination point data includes: end point longitude, end point latitude, end point height, and end point speed.
In a specific embodiment, the calculating the flight data of any time in the target flight process includes:
calculating a target average speed:
Spd＝(Spds+Spde)/2
wherein Spds is the starting point speed and Spde is the ending point speed;
calculating the included angles of the starting point, the ending point and the earth center:
wherein Lats is the latitude of the starting point, late is the latitude of the ending point, lngs is the longitude of the starting point, and Lnge is the longitude of the ending point;
calculating the target flight length of the leg according to the included angles of the starting point, the ending point and the earth center:
wherein Re is the earth radius;
calculating the flight time according to the flight length of the navigation segment target:
T＝S/Spd；
and calculating flight data at any moment in the target flight process according to the flight time.
In a specific embodiment, the flight data at any time includes: longitude, latitude, altitude and speed of the location of the target at any one time.
In a specific embodiment, the height of the position where the target is located at any time t is:
alts is the starting point height, and Alte is the ending point height.
In a specific embodiment, the latitude of the location where the target is located at any time t is:
if Lat >90, lat=180-Lat, the target passes through the north pole;
if Lat < -90, lat= -180-Lat, the target passes through the south pole.
In a specific embodiment, the longitude Lng of the location where the target is located at any time t is:
if it isThe target is at the north-south pole, and Lng=0 is set at the moment;
if it isThe absolute value is greater than 1, at which time lng=0 is set;
if Lnge > Lngs,
if Lnge < Lngs,
wherein, the included angle theta between the initial point and the geocentric point is the position point of the target at any moment t t The method comprises the following steps:
a second embodiment of the invention provides a computer device comprising a processor and a memory storing a computer program, characterized in that the processor implements the method according to any of the first embodiments when executing the program.
A third embodiment of the invention provides a computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of the first embodiments.
The beneficial effects of the invention are as follows:
according to the method, the target path planning is decomposed into the sub-line segments of uniform variable speed motion, all the sub-line segments are connected into continuous tracks, and according to the track data of each section of track, the flight data at any moment in the target flight process are calculated, so that the target path planning can be realized. The method does not need to be converted into a geocentric rectangular coordinate system or other rectangular coordinate systems, has simple calculation process and wide application prospect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow chart of a method for calculating the flight trajectory of an airborne uniformly variable moving object in accordance with one embodiment of the invention
FIG. 2 illustrates a schematic view of a segment composition according to one embodiment of the invention.
Fig. 3 shows a schematic structural diagram of a computer device according to another embodiment of the present invention.
Detailed Description
In order to make the technical scheme and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, a method for calculating a flight trajectory of an air uniform variable speed moving target includes:
the leg data of the target is acquired,
and calculating flight data at any moment in the target flight process according to the flight segment data.
The flight track is divided into N sections, and the longitude, latitude, altitude and speed of the ending point of the former section are the same as the longitude, latitude, altitude and speed of the starting point of the latter section, so that the continuity of the position and speed of the track is ensured.
In each leg, the target moves at a uniform speed from the starting point to the ending point, and the movement track of the target is in a plane formed by the starting point, the ending point and the geocenter. The position relation of the starting point, the ending point, the earth center and the flight track is constructed as shown in figure 2, and the target flies along the Ps-Pe curve in the figure.
The leg data for each leg includes start point data and end point data,
the starting point data comprises a starting point longitude, a starting point latitude, a starting point height and a starting point speed;
the termination point data includes: end point longitude, end point latitude, end point height, and end point speed.
In a specific embodiment, the calculating the flight data of any time in the target flight process includes:
calculating a target average speed:
Spd＝(Spds+Spde)/2
wherein Spds is the starting point speed and Spde is the ending point speed;
calculating the included angles of the starting point, the ending point and the earth center:
wherein Lats is the latitude of the starting point, late is the latitude of the ending point, lngs is the longitude of the starting point, and Lnge is the longitude of the ending point;
calculating the target flight length of the leg according to the included angles of the starting point, the ending point and the earth center:
wherein Re is the earth radius;
calculating the flight time according to the flight length of the navigation segment target:
T＝S/Spd；
and calculating flight data at any moment in the target flight process according to the flight time.
In a specific embodiment, the flight data at any time includes: longitude, latitude, altitude and speed of the location of the target at any one time.
The height of the position where the target is located at any moment t is as follows:
alts is the starting point height, and Alte is the ending point height.
The latitude of the position where the target is located at any moment t is as follows:
if Lat >90, lat=180-Lat, the target passes through the north pole;
if Lat < -90, lat= -180-Lat, the target passes through the south pole.
The longitude Lng of the position where the target is located at any moment t is as follows:
if it isThe target is at the north-south pole, and Lng=0 is set at the moment;
if it isThe absolute value is greater than 1, at which time lng=0 is set;
if Lnge > Lngs,
if Lnge < Lngs,
wherein, the included angle theta between the initial point and the geocentric point is the position point of the target at any moment t t The method comprises the following steps:
another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, is implemented as a practical application, and the computer-readable storage medium may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
As shown in fig. 3, another embodiment of the present invention provides a schematic structural diagram of a computer device. The computer device 12 shown in fig. 3 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in FIG. 3, computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, commonly referred to as a "hard disk drive"). Although not shown in fig. 3, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 20. As shown in FIG. 3, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in fig. 3, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processor unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, to implement a method of calculating an airborne uniform speed moving target flight trajectory provided by an embodiment of the present invention.
It should be understood that the foregoing examples of the present invention are provided merely for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention, and that various other changes and modifications may be made therein by one skilled in the art without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (8)
1. A method of calculating a flight trajectory of an airborne uniformly variable speed moving object, comprising:
the leg data of the target is acquired,
according to the flight segment data, calculating flight data at any moment in the target flight process;
dividing a flight track into N sections, wherein the section data of each section comprises starting point data and ending point data;
the calculating the flight data of any moment in the target flight process comprises the following steps:
calculating a target average speed:
Spd＝(Spds+Spde)/2
wherein Spds is the starting point speed and Spde is the ending point speed;
calculating the included angles of the starting point, the ending point and the earth center:
wherein Lats is the latitude of the starting point, late is the latitude of the ending point, lngs is the longitude of the starting point, and Lnge is the longitude of the ending point;
calculating the target flight length of the leg according to the included angles of the starting point, the ending point and the earth center:
wherein Re is the earth radius, alts is the starting point height, and Alte is the ending point height;
calculating the flight time according to the flight length of the navigation segment target:
T＝S/Spd；
and calculating flight data at any moment in the target flight process according to the flight time.
2. The method of claim 1, wherein the start point data comprises a start point longitude, a start point latitude, a start point altitude, and a start point speed;
the termination point data includes: end point longitude, end point latitude, end point height, and end point speed.
3. The method of claim 1, wherein the flight data at any time comprises: longitude, latitude, altitude and speed of the location of the target at any one time.
4. The method according to claim 1, wherein the height of the position of the target at any time t is:
alts is the starting point height, and Alte is the ending point height.
5. The method of claim 4, wherein the latitude of the location of the target at any time t is:
if Lat >90, lat=180-Lat, the target passes through the north pole;
if Lat < -90, lat= -180-Lat, the target passes through the south pole.
6. The method of claim 5, wherein the longitude Lng of the location of the target at any time t is:
if it isTarget objectSetting lng=0 at the north-south pole;
if it isThe absolute value is greater than 1, at which time lng=0 is set;
if Lnge > Lngs,
if Lnge < Lngs,
wherein, the included angle theta between the initial point and the geocentric point is the position point of the target at any moment t t The method comprises the following steps:
7. a computer device comprising a processor and a memory storing a computer program, wherein the processor implements the method of any of claims 1-6 when executing the program.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-6.
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