CN116149342A - Real-time optimization method and system for landing track of vertical take-off and landing aircraft - Google Patents
Real-time optimization method and system for landing track of vertical take-off and landing aircraft Download PDFInfo
- Publication number
- CN116149342A CN116149342A CN202211544568.0A CN202211544568A CN116149342A CN 116149342 A CN116149342 A CN 116149342A CN 202211544568 A CN202211544568 A CN 202211544568A CN 116149342 A CN116149342 A CN 116149342A
- Authority
- CN
- China
- Prior art keywords
- landing
- aircraft
- track
- vertical take
- optimizing
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 78
- 238000005457 optimization Methods 0.000 title claims abstract description 44
- 230000008569 process Effects 0.000 claims abstract description 28
- 239000013598 vector Substances 0.000 claims abstract description 28
- 239000011159 matrix material Substances 0.000 claims description 26
- 238000003860 storage Methods 0.000 claims description 20
- 230000006870 function Effects 0.000 claims description 15
- 238000010276 construction Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims 1
- 238000004590 computer program Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003920 environmental process Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000010979 ruby Substances 0.000 description 1
- 229910001750 ruby Inorganic materials 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 230000003068 static 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
A real-time optimization method for landing track of a vertical take-off and landing aircraft comprises the following steps: acquiring an initial state of an aircraft; acquiring the position constraint of an aircraft landing target; calculating an aircraft landing target speed constraint based on the shortest time hypothesis; by RRT * The algorithm obtains the position constraint of the landing process of the aircraft; establishing a multipoint boundary condition vector of the landing track; setting a path point time; establishing a multipoint boundary value problem for different landing target positions, and solving an optimization polynomial track parameter; and comparing the track performances corresponding to different landing target positions, and selecting an optimal track. The invention further comprises a real-time optimization system for the landing track of the vertical take-off and landing aircraft. According to the method, the problem of optimizing the landing track of the vertical take-off and landing aircraft is converted into the problem of the polygonal boundary value, so that real-time optimization of the smooth track is realized, and the method can be used for improving the smoothness of the landing track of the vertical take-off and landing aircraft, optimizing the duration of the landing stage and saving the flight energy.
Description
Technical Field
The invention relates to a track optimization technology, in particular to a real-time optimization method and system for a landing track of a vertical take-off and landing aircraft.
Background
Under the promotion of the wave of the automatic driving technology, the track optimization technology is widely applied to various unmanned platforms. The track optimization technology designs a space track which accords with the motion characteristics of the mobile platform based on the state of the automatic mobile platform, the working environment of the platform and the working tasks. The track optimization method can be divided into three categories, namely the track optimization method is converted into an initial value problem, a two-point boundary value problem and a multi-point boundary value problem respectively, and the initial value problem, the two-point boundary value problem and the multi-point boundary value problem are solved.
However, no known method for optimizing the landing track of the vertical takeoff and landing aircraft exists at present. The existing automatic landing process of the vertical take-off and landing aircraft is realized through the flight of a preset waypoint. The problem of optimizing the landing track of the vertical take-off and landing aircraft is a typical three-dimensional space motion track optimization problem which needs to consider the initial state of a platform, the environmental process constraint and the task target constraint. Converting the trajectory optimization problem into an initial value problem for solving cannot explicitly consider the process constraint and the target constraint. The method is converted into a two-point boundary value problem for optimization solution, and although the initial state and target constraint of a platform can be explicitly considered and process constraint is introduced through matrix inequality, the requirement of real-time solution cannot be met. There is no known method for designing landing trajectories of vertical takeoff and landing aircraft based on the problem of multipoint boundary values.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a real-time track optimization method and a real-time track optimization system aiming at a landing stage of a vertical take-off and landing aircraft.
The aim of the invention is realized by the following technical scheme: a real-time optimization method for landing track of a vertical take-off and landing aircraft comprises the following steps:
step one: and acquiring the initial state of the vertical take-off and landing aircraft. Taking the falling point as the origin of the NED coordinate system, and acquiring the three-dimensional space position r of the aircraft in the NED coordinate system at the current time t 0 ＝[x 0 ,y 0 ,z 0 ]And velocity vector
Step two: and obtaining the position constraint of the landing target of the aircraft. Selecting a search grid number of n is more than or equal to 5, and correspondingly selecting n discrete grid points r on a negative half axis of a Z axis of an NED coordinate system f,k ＝[0,0,kz 0 /n]Where k=1, …, n.
Step three: and obtaining the landing target speed constraint of the vertical take-off and landing aircraft. Calculating the maximum aircraft vertical tail velocity for each discrete grid point as
wherein ,FT The maximum thrust of the aircraft along the vertical axis direction of the body coordinates is represented by m, the aircraft mass and g, the local gravitational acceleration. Calculating the shortest landing time of the aircraft for each discrete grid point as +.>
Step four: and obtaining the position constraint of the landing process of the vertical take-off and landing aircraft. For each k in the second step, RRT is used for * Algorithm generation r t To r t,k Three-dimensional path point r between 1,k ,r 2,k ,…,r N,k 。
Step five: a multi-point boundary condition vector is established during landing of the vertical takeoff and landing aircraft. For each k in step two, based on
Generating vectors under three NED coordinate systems: b x ,b y ,b z. wherein ,/>
Step six: setting upTime t of route point 0 ,t 1 ,…,t N ,t f 。
Step seven: for each k, converting the vertical take-off and landing aircraft landing track optimization problem into a multipoint boundary value problem optimization solution. And optimizing the three-dimensional process speed according to the boundary condition vector and the optimizing cost function, and further optimizing polynomial track parameters.
Step eight: the optimum performance drop trajectory is selected from the total n drop trajectories corresponding to k=1, …, n.
Further, the seventh step is implemented by:
(7.1) construction of vector τ 0 ＝[t 3 ,t 2 ,t,1] T ,τ 1 ＝[3t 2 ,2t,1,0] T And matrix A i ＝[τ 0 ,τ 1 ] T Where i=1, …, N. Construction of matrix
Where subscripts 0 and f are used to distinguish between time, i.e.,
(7.2) construction of a symmetric matrix
Where i=1, …, N. Building a blocking matrix
(7.3) construction of a permutation matrix C will b x Splitting into b x,free and bx,fixed, wherein 
Building a blocking matrix
wherein ,R1 Is an N-dimensional square matrix, R 4 Is an n+4 dimensional square matrix.
(7.4) for the NED coordinate system x-axis movement, the velocity of the intermediate path point is
The complete boundary value vector is +.>
The polynomial trajectory parameter of the NED coordinate system x-axis motion is +.>
(7.5) repeating (7.4) for the motions of the NED coordinate system in the y and z axis directions to obtain a corresponding polynomial track parameter p y and pz 。
The invention also comprises a real-time optimization system for the landing track of the vertical take-off and landing aircraft, which comprises the following steps:
the initial state acquisition module is used for acquiring the initial state of the vertical take-off and landing aircraft.
And the aircraft landing target position constraint acquisition module is used for acquiring the vertical aircraft landing target position constraint.
And the vertical take-off and landing aircraft landing target speed constraint acquisition module is used for acquiring the vertical take-off and landing aircraft landing target speed constraint.
And the vertical take-off and landing aircraft landing process position constraint acquisition module is used for acquiring the vertical take-off and landing aircraft landing process position constraint.
The multi-point boundary condition vector establishing module is used for establishing multi-point boundary condition vectors in the landing process of the vertical take-off and landing aircraft.
A path point time setting module for setting a path point time t 0 ,t 1 ,…,t N ,t f 。
And the optimization solving module is used for converting the vertical take-off and landing aircraft landing track optimization problem into a multipoint boundary value problem optimization solution for each k. And optimizing the three-dimensional process speed according to the boundary condition vector and the optimizing cost function, and further optimizing polynomial track parameters.
And the optimal performance drop track module is used for selecting the optimal performance drop track from the total n drop tracks corresponding to k=1, … and n.
The invention also includes a computer readable storage device comprising a memory and one or more processors, the memory having executable code stored therein, the one or more processors, when executing the executable code, for implementing a computer readable storage method of the invention.
A computer readable storage medium having stored thereon a program which, when executed by a processor, implements a method for optimizing the landing trajectory of a vertical takeoff and landing aircraft according to the present invention.
The invention has the advantages that: the method has the advantages that the problem of optimizing the landing track of the vertical take-off and landing aircraft is converted into the problem of polygonal boundary values, so that real-time optimization of the smooth track is realized, the method can be used for improving the smoothness of the flight track of the vertical take-off and landing aircraft in the landing stage, optimizing the duration of the landing stage and saving the flight energy.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a flow chart of step seven of the method of the present invention.
Fig. 3 is a flow chart of matrix T partitioning in step seven (7.3) of the method of the present invention.
Fig. 4 is a flow chart of a parameterized trajectory representation of the method of the present invention.
Fig. 5 is a system configuration diagram of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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.
The features of the following examples and embodiments may be combined with each other without any conflict.
Fig. 1 is a real-time optimization method for landing track of a vertical take-off and landing aircraft according to an embodiment of the present invention, which includes the following steps:
step one: and acquiring the initial state of the vertical take-off and landing aircraft. Taking the falling point as the origin of the NED coordinate system, and acquiring the three-dimensional space position r of the aircraft in the NED coordinate system at the current time t 0 ＝[x 0 ,y 0 ,z 0 ]And velocity vector
Step two: and obtaining the position constraint of the landing target of the aircraft. Selecting a search grid number of n is more than or equal to 5, and correspondingly selecting n discrete grid points on a negative half axis of a Z axis of an NED coordinate system
r f,k ＝[0,0,kz 0 /n]Where k=1, …, n.
Step three: and obtaining the landing target speed constraint of the vertical take-off and landing aircraft. Calculating the maximum aircraft vertical tail velocity for each discrete grid point as
wherein ,FT The maximum thrust of the aircraft along the vertical axis direction of the body coordinates is represented by m, the aircraft mass and g, the local gravitational acceleration. Calculating the shortest landing time of the aircraft for each discrete grid point as +.>
Step four: and obtaining the position constraint of the landing process of the vertical take-off and landing aircraft. For each k in the second step, RRT is used for * Algorithm generation r t To r t,k Three-dimensional path point r between 1,k ,r 2,k ,…,r N,k 。
Step five: building vertical take-off and landing aircraftMulti-point boundary condition vectors during descent. For each k in step two, based on
Generating vectors under three NED coordinate systems: b x ,b y ,b z. wherein ,
step six: setting a route point time t 0 ,t 1 ,…,t N ,t f 。
Step seven: for each k, converting the vertical take-off and landing aircraft landing track optimization problem into a multipoint boundary value problem optimization solution. And optimizing the three-dimensional process speed according to the boundary condition vector and the optimizing cost function, and further optimizing polynomial track parameters.
Step eight: the optimum performance drop trajectory is selected from the total n drop trajectories corresponding to k=1, …, n.
Further, the seventh step is implemented by:
(7.1) construction of vector τ 0 ＝[t 3 ,t 2 ,t,1] T ,τ 1 ＝[3t 2 ,2t,1,0] T And matrix A i ＝[τ 0 ,τ 1 ] T Where i=1, …, N. Construction of matrix
Where subscripts 0 and f are used to distinguish between time, i.e.,
(7.2) construction of a symmetric matrix
Where i=1, …, N. Building a blocking matrix
(7.3) construction of a permutation matrix C will b x Splitting into b x,free and bx,fixed, wherein 
Building a blocking matrix
wherein ,R1 Is an N-dimensional square matrix, R 4 Is an n+4 dimensional square matrix.
(7.4) for the NED coordinate system x-axis movement, the velocity of the intermediate path point is
The complete boundary value vector is +.>
The polynomial track parameter of the NED coordinate system x-axis direction motion is as follows
(7.5) repeating (7.4) for the motions of the NED coordinate system in the y and z axis directions to obtain a corresponding polynomial track parameter p y and pz 。
The invention also provides a computer readable storage medium, wherein the storage medium stores a computer program, and the computer program can be used for executing the real-time optimization method for the landing track of the vertical take-off and landing aircraft provided by the figure 1.
The invention also provides a schematic structural diagram of a real-time optimization system of the landing track of the vertical takeoff and landing aircraft, which corresponds to the system shown in fig. 1.
The invention also comprises a real-time optimization system for the landing track of the vertical take-off and landing aircraft, which comprises the following steps:
the initial state acquisition module is used for acquiring the initial state of the vertical take-off and landing aircraft.
And the aircraft landing target position constraint acquisition module is used for acquiring the vertical aircraft landing target position constraint.
And the vertical take-off and landing aircraft landing target speed constraint acquisition module is used for acquiring the vertical take-off and landing aircraft landing target speed constraint.
And the vertical take-off and landing aircraft landing process position constraint acquisition module is used for acquiring the vertical take-off and landing aircraft landing process position constraint.
The multi-point boundary condition vector establishing module is used for establishing multi-point boundary condition vectors in the landing process of the vertical take-off and landing aircraft.
A path point time setting module for setting a path point time t 0 ,t 1 ,…,t N ,t f 。
And the optimization solving module is used for converting the vertical take-off and landing aircraft landing track optimization problem into a multipoint boundary value problem optimization solution for each k. And optimizing the three-dimensional process speed according to the boundary condition vector and the optimizing cost function, and further optimizing polynomial track parameters.
And the optimal performance drop track module is used for selecting the optimal performance drop track from the total n drop tracks corresponding to k=1, … and n.
As shown in fig. 5, the real-time optimization system for landing track of the vertical take-off and landing aircraft comprises a processor, an internal bus, a network interface, a memory and a nonvolatile memory, and can also comprise hardware required by other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs to implement the method of data acquisition described above with respect to fig. 1. Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present invention, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.
Improvements to one technology can clearly distinguish between improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) and software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in the same piece or pieces of software and/or hardware when implementing the present invention.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. 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.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments of the present invention are described in a progressive manner, and the same and similar parts of the embodiments are all referred to each other, and each embodiment is mainly described in the differences from the other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.
Claims (10)
1. The real-time optimization method for the landing track of the vertical take-off and landing aircraft is characterized by comprising the following steps of:
step one: acquiring an initial state of the vertical take-off and landing aircraft;
step two: obtaining the position constraint of a landing target of the vertical aircraft;
step three: acquiring a landing target speed constraint of the vertical take-off and landing aircraft;
step four: acquiring position constraint of a vertical take-off and landing aircraft in a landing process;
step five: establishing a multipoint boundary condition vector in the landing process of the vertical take-off and landing aircraft;
step six: setting a route point time t 0 ,t 1 ,…,t N ,t f ；
Step seven: for each k, converting the optimization problem of the landing track of the vertical take-off and landing aircraft into the optimization solution of the multipoint boundary value problem; optimizing the three-dimensional process speed according to the boundary condition vector and the optimizing cost function, and further optimizing polynomial track parameters;
step eight: the optimum performance drop trajectory is selected from the total n drop trajectories corresponding to k=1, …, n.
2. The method for optimizing landing trajectory of a vertical takeoff and landing aircraft in real time according to claim 1, wherein the step one specifically comprises: taking the falling point as the origin of the NED coordinate system, and acquiring the three-dimensional space position r of the aircraft in the NED coordinate system at the current time t 0 ＝[x 0 ,y 0 ,z 0 ]And velocity vector
3. The method for optimizing the landing track of a vertical take-off and landing aircraft in real time according to claim 1, wherein the step two specifically comprises: selecting a search grid number of n is more than or equal to 5, and correspondingly selecting n discrete grid points r on a negative half axis of a Z axis of an NED coordinate system f,k ＝[0,0,kz 0 /n]Where k=1, …, n.
4. Real-time optimization method for landing track of vertical take-off and landing aircraft according to claim 1The method is characterized by comprising the following steps: calculating the maximum aircraft vertical tail velocity for each discrete grid point as
wherein ,FT The maximum thrust of the aircraft along the vertical axis direction of the body coordinates is represented by m, the mass of the aircraft is represented by g, and the local gravity acceleration is represented by g; calculating the shortest landing time of each discrete grid point of the aircraft as
5. The method for optimizing the landing track of a vertical take-off and landing aircraft in real time according to claim 1, wherein the step four specifically comprises: for each k in the second step, RRT is used for * Algorithm generation r t To r t,k Three-dimensional path point r between 1,k ,r 2,k ,…,r N,k 。
6. The method for optimizing the landing track of a vertical take-off and landing aircraft in real time according to claim 1, wherein the fifth step specifically comprises: for each k in step two, r is based on 0 ,
r 1,k ,r 2,k ,…,r N,k ,r f,k ,/>
Generating vectors under three NED coordinate systems: b x ,b y ,b z； wherein ,
7. the method for optimizing the landing trajectory of a vertical takeoff and landing aircraft according to claim 1, wherein said step seven is implemented by the steps of:
(7.1) construction of vector τ 0 ＝[t 3 ,t 2 ,t,1] T ,τ 1 ＝[3t 2 ,2t,1,0] T And matrix A i ＝[τ 0 ,τ 1 ] T Wherein i=1, …, N; construction of matrix
Where subscripts 0 and f are used to distinguish between time, i.e.,
(7.2) construction of a symmetric matrix
Wherein i=1, …, N; building a blocking matrix
(7.3) construction of a permutation matrix C will b x Splitting into b x,free and bx,fixed, wherein 
Building a blocking matrix
wherein ,R1 Is an N-dimensional square matrix, R 4 Is an N+4-dimensional square matrix;
(7.4) for the NED coordinate system x-axis movement, the velocity of the intermediate path point is
The complete boundary value vector is +.>
The polynomial track parameter of the NED coordinate system x-axis direction motion is as follows
(7.5) repeating (7.4) for the motions of the NED coordinate system in the y and z axis directions to obtain a corresponding polynomial track parameter p y and pz 。
8. A real-time optimization system for landing trajectories of vertical takeoff and landing aircraft, comprising:
the initial state acquisition module is used for acquiring the initial state of the vertical take-off and landing aircraft;
the aircraft landing target position constraint acquisition module is used for acquiring vertical aircraft landing target position constraint;
the vertical take-off and landing aircraft landing target speed constraint acquisition module is used for acquiring the vertical take-off and landing aircraft landing target speed constraint;
the vertical take-off and landing aircraft landing process position constraint acquisition module is used for acquiring the vertical take-off and landing aircraft landing process position constraint;
the multi-point boundary condition vector establishing module is used for establishing multi-point boundary condition vectors in the landing process of the vertical take-off and landing aircraft;
a path point time setting module for setting a path point time t 0 ,t 1 ,…,t N ,t f ；
The optimization solving module is used for converting the vertical take-off and landing aircraft landing track optimization problem into a multipoint boundary value problem optimization solution for each k; optimizing the three-dimensional process speed according to the boundary condition vector and the optimizing cost function, and further optimizing polynomial track parameters;
and the optimal performance drop track module is used for selecting the optimal performance drop track from the total n drop tracks corresponding to k=1, … and n.
9. A computer readable storage device comprising a memory and one or more processors, the memory having executable code stored therein, the one or more processors, when executing the executable code, for implementing a computer readable storage method as claimed in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that it has stored thereon a program which, when executed by a processor, implements a method for real-time optimization of landing trajectories of a vertical takeoff and landing aircraft according to any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211544568.0A CN116149342A (en) | 2022-12-01 | 2022-12-01 | Real-time optimization method and system for landing track of vertical take-off and landing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211544568.0A CN116149342A (en) | 2022-12-01 | 2022-12-01 | Real-time optimization method and system for landing track of vertical take-off and landing aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116149342A true CN116149342A (en) | 2023-05-23 |
Family
ID=86353384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211544568.0A Pending CN116149342A (en) | 2022-12-01 | 2022-12-01 | Real-time optimization method and system for landing track of vertical take-off and landing aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116149342A (en) |
-
2022
- 2022-12-01 CN CN202211544568.0A patent/CN116149342A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110989636A (en) | Method and device for predicting track of obstacle | |
| CN111665844B (en) | Path planning method and device | |
| CN112990375B (en) | Model training method and device, storage medium and electronic equipment | |
| CN116740361B (en) | Point cloud segmentation method and device, storage medium and electronic equipment | |
| CN113419547A (en) | Multi-vehicle cooperative control method and device | |
| CN116822657A (en) | Method and device for accelerating model training, storage medium and electronic equipment | |
| CN116149362A (en) | Method and system for optimizing obstacle avoidance track of aircraft at any time | |
| CN112731957B (en) | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle | |
| CN116776135B (en) | Physical field data prediction method and device based on neural network model | |
| CN116842715B (en) | Simulation data structuring processing system | |
| CN116149342A (en) | Real-time optimization method and system for landing track of vertical take-off and landing aircraft | |
| CN116151363B (en) | Distributed Reinforcement Learning System | |
| CN114153207B (en) | Control method and control device of unmanned equipment | |
| CN116295415A (en) | Map-free maze navigation method and system based on pulse neural network reinforcement learning | |
| CN114019971B (en) | Unmanned equipment control method and device, storage medium and electronic equipment | |
| CN112987762B (en) | Trajectory planning method and device, storage medium and electronic equipment | |
| CN111753990B (en) | Quantum computer environment simulation method, device and medium | |
| CN113298445A (en) | Method and device for model training and unmanned equipment scheduling | |
| CN116430841A (en) | Ground robot speed continuous obstacle avoidance track optimization method and system | |
| CN114153204B (en) | Repairing method and repairing device for driving track | |
| CN113985889B (en) | Track planning method and device, storage medium and electronic equipment | |
| CN115861560B (en) | Method and device for constructing map, storage medium and electronic equipment | |
| CN117909746A (en) | Online data selection method of agent model for space exploration | |
| CN117075918B (en) | Model deployment method and device, storage medium and electronic equipment | |
| CN116415103B (en) | Data processing method, device, storage medium and electronic equipment |
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 |