CN116859965A - Six-degree-of-freedom flight trajectory prediction method and device - Google Patents
Six-degree-of-freedom flight trajectory prediction method and device Download PDFInfo
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Abstract
The application belongs to the technical field of flight control, and particularly relates to a six-degree-of-freedom flight trajectory prediction method and device. S1, acquiring an inertial link initial value, a high-pass link initial value and a second-order link initial value which are given by an automatic flight control system and a main flight control system of an airplane, acquiring a control surface position output by a steering engine, acquiring a motion parameter output by an airplane sensor, acquiring a throttle lever position output by an engine, and acquiring self oil quantity information output by the airplane; s2, taking the parameters as initial values, starting based on a preset virtual system automatic flight control system model, performing motion calculation by using a six-degree-of-freedom equation model, feeding back a calculation result to the automatic flight control system model, and repeating the process until the motion trail of the aircraft in a set time period is given; and S3, carrying out crashproof evaluation based on the predicted motion trail. The method can realize real-time prediction of the flight track and has higher prediction precision.
Description
Technical Field
The application belongs to the technical field of flight control, and particularly relates to a six-degree-of-freedom flight trajectory prediction method and device.
Background
Both for civil and military machines, it is an important national property, and serious consequences will be brought after loss. Therefore, the research on the automatic collision avoidance is actively conducted in all countries of the world, and the track prediction is the basis of the automatic collision avoidance.
The track prediction can predict the flight state of the airplane in future time, and has important significance for crashproof evaluation. The traditional three-degree-of-freedom prediction only considers the kinematic information of the aircraft, and is insufficient for supporting relatively accurate track prediction.
Disclosure of Invention
In order to solve the problems, the application provides a six-degree-of-freedom flight trajectory prediction method and a six-degree-of-freedom flight trajectory prediction device, which are applied to a flight control system with high accuracy requirements for trajectory prediction.
The first aspect of the application provides a six-degree-of-freedom flight trajectory prediction method, which mainly comprises the following steps:
step S1, acquiring an inertial link initial value, a high-pass link initial value and a second-order link initial value which are given by an automatic flight control system and a main flight control system of the aircraft, acquiring a control surface position output by a steering engine, acquiring a motion parameter output by an aircraft sensor, acquiring a throttle lever position output by an engine, and acquiring self oil quantity information output by the aircraft;
s2, predicting a motion trail of a subsequent set time period based on a preset virtual system, wherein the virtual system comprises an automatic flight control system model, a main flight control system model, a steering engine model, a blowing aerodynamic model, a six-degree-of-freedom equation model and an engine model, the automatic flight control system model and the main flight control system model adopt inertia link initial values, high-pass link initial values and second-order link initial values for initialization, the control surface position is used as the initial value of the steering engine model, motion parameters and oil mass information are used as the initial value of the six-degree-of-freedom equation model, the throttle lever position is used as the initial value of the engine model, after the initial value is input, the virtual system performs self-circulation calculation, the automatic flight control system model calculates longitudinal control quantity, transverse control quantity and throttle lever instructions based on the received normal overload instruction, the rolling angle instruction and the speed instruction, the main flight control system model calculates a control surface instruction based on the longitudinal control quantity and the transverse control quantity, the steering engine model outputs a control surface deviation degree according to the control surface instruction and outputs aerodynamic force based on the blowing aerodynamic model, the engine model outputs control parameters according to the throttle lever instruction, the six-degree-of-freedom equation model is automatically solved based on the control parameters and the aerodynamic force and the motion information is calculated to the motion trail of the aircraft segment and the predicted flight control system, and the motion trail is calculated until the motion trail is calculated to the main flight segment is predicted;
and S3, carrying out crashproof evaluation based on the predicted motion trail.
Preferably, in step S1, the motion parameters include a triaxial speed, a triaxial position, a triaxial angular speed, and three attitude angles.
Preferably, in step S2, the set period of time is 10S to 20S.
The second aspect of the present application provides a six-degree-of-freedom flight trajectory prediction apparatus, mainly comprising:
the real aircraft parameter acquisition module is used for acquiring an inertial link initial value, a high-pass link initial value and a second-order link initial value which are given by an aircraft automatic flight control system and a main flight control system, acquiring a control surface position output by a steering engine, acquiring a motion parameter output by an aircraft sensor, acquiring a throttle lever position output by an engine and acquiring self oil quantity information output by an aircraft;
the motion track prediction module is used for predicting the motion track of a subsequent set time period based on a preset virtual system, wherein the virtual system comprises an automatic flight control system model, a main flight control system model, a steering engine model, a blowing aerodynamic model, a six-degree-of-freedom equation model and an engine model, the automatic flight control system model and the main flight control system model adopt inertia link initial values, high-pass link initial values and second-order link initial values for initialization, the control surface position is used as the initial value of the steering engine model, the motion parameter and oil mass information are used as the initial value of the six-degree-of-freedom equation model, the throttle lever position is used as the initial value of the engine model, after the initial value is input, the virtual system carries out self-circulation calculation, the automatic flight control system model calculates longitudinal control quantity, transverse control quantity and throttle lever instructions based on the received normal overload instruction, the rolling angle instruction and the speed instruction, the main flight control system model calculates the control surface instruction based on the longitudinal control quantity and the transverse control quantity, the steering engine outputs the control surface deviation according to the control surface instruction, and outputs aerodynamic force based on the blowing aerodynamic model, the engine model outputs control parameters according to the throttle lever instruction, the six-degree-of-freedom equation is automatically solved based on the control parameters and the aerodynamic force and the motion parameter and the motion equation is automatically calculated until the motion equation is predicted to the motion track of the motion track is calculated to the control system;
and the anti-collision evaluation module is used for carrying out anti-collision evaluation based on the predicted motion trail.
Preferably, the motion parameters include three axis speed, three axis position, three axis angular speed, and three attitude angles.
Preferably, the set period of time is 10s to 20s.
The application can realize real-time prediction of the flight track, the prediction result shows the height change of the aircraft in the pulling-up process, and the application has higher prediction precision.
Drawings
FIG. 1 is a dataflow diagram of a preferred embodiment of a six degree-of-freedom flight trajectory prediction method of the present application.
Fig. 2 is a schematic diagram of a trajectory prediction simulation.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the application. The embodiments described below by referring to the drawings are exemplary and intended to illustrate the present application and should not be construed as limiting the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to fall within the scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The first aspect of the present application provides a six-degree-of-freedom flight trajectory prediction method, as shown in fig. 1, mainly including:
step S1, acquiring an inertial link initial value, a high-pass link initial value and a second-order link initial value which are given by an automatic flight control system and a main flight control system of the aircraft, acquiring a control surface position output by a steering engine, acquiring a motion parameter output by an aircraft sensor, acquiring a throttle lever position output by an engine, and acquiring self oil quantity information output by the aircraft;
s2, predicting a motion trail of a subsequent set time period based on a preset virtual system, wherein the virtual system comprises an automatic flight control system model, a main flight control system model, a steering engine model, a blowing aerodynamic model, a six-degree-of-freedom equation model and an engine model, the automatic flight control system model and the main flight control system model adopt inertia link initial values, high-pass link initial values and second-order link initial values for initialization, the control surface position is used as the initial value of the steering engine model, motion parameters and oil mass information are used as the initial value of the six-degree-of-freedom equation model, the throttle lever position is used as the initial value of the engine model, after the initial value is input, the virtual system performs self-circulation calculation, the automatic flight control system model calculates longitudinal control quantity, transverse control quantity and throttle lever instructions based on the received normal overload instruction, the rolling angle instruction and the speed instruction, the main flight control system model calculates a control surface instruction based on the longitudinal control quantity and the transverse control quantity, the steering engine model outputs a control surface deviation degree according to the control surface instruction and outputs aerodynamic force based on the blowing aerodynamic model, the engine model outputs control parameters according to the throttle lever instruction, the six-degree-of-freedom equation model is automatically solved based on the control parameters and the aerodynamic force and the motion information is calculated to the motion trail of the aircraft segment and the predicted flight control system, and the motion trail is calculated until the motion trail is calculated to the main flight segment is predicted;
and S3, carrying out crashproof evaluation based on the predicted motion trail.
Referring to fig. 1, the upper half dashed line frame is a virtual system, and includes a plurality of virtual models, the virtual models are designed according to an onboard system, and perform data flow between each other, the lower half of fig. 1 is a real software and hardware structure of an aircraft, an automatic flight control system of the real aircraft sends a longitudinal control quantity and a transverse control quantity to a main flight control system according to a normal overload instruction and a roll angle instruction, the main flight control system outputs various control surface instructions required by flight control, and the aircraft performs displacement movement and rotation movement under the action of real pneumatic force.
In the real software and hardware structure of the aircraft, in each operation period, the automatic flight control system and the main flight control system output initial values of inertia links, high-pass links and second-order links contained in the automatic flight control system and the main flight control system; the steering engine outputs the feedback of the position of the control surface; the real sensor output of the aircraft is related to the motion parameters corresponding to the aircraft motion, in some alternative embodiments, the motion parameters include three-axis speed, three-axis position, three-axis angular speed, and three attitude angles; the position of the engine output throttle lever; and the aircraft outputs own oil mass information. The virtual system then assigns the parameters described above as initial values to each virtual model during each prediction period, and performs a multi-beat non-real time calculation based on the normal overload command (assumed to be 4 g-5 g) and the grade command (generally zero) used to pull the aircraft, and in some alternative embodiments, the set time period is 10 s-20 s, assuming that the prediction is performed for 10 seconds, so that the motion trajectory of the aircraft in the future 10 seconds can be obtained, where the motion trajectory is typically represented by longitude, latitude, and altitude. In the next prediction period, the process is repeated, so that the flight track can be predicted continuously. Finally, in step S3, according to the predicted longitude, latitude and altitude, the collision avoidance assessment can be performed by combining with the digital terrain.
Fig. 2 gives a simulation example assuming that the aircraft is nose down at a nose down angle of-20 degrees, the roll angle is zero, and the overload is pulled up by 5g. Assume 800 points are predicted, each with an interval of 12.5 milliseconds. From the results, it can be seen that the aircraft altitude is reduced by about 150 meters after the aircraft begins to be lifted, and the predicted results give the aircraft altitude change during the lifting process.
In some alternative embodiments, in step S1, the motion parameters include a triaxial speed, a triaxial position, a triaxial angular speed, and three attitude angles.
The second aspect of the present application provides a six-degree-of-freedom flight trajectory prediction apparatus corresponding to the above method, mainly comprising:
the real aircraft parameter acquisition module is used for acquiring an inertial link initial value, a high-pass link initial value and a second-order link initial value which are given by an aircraft automatic flight control system and a main flight control system, acquiring a control surface position output by a steering engine, acquiring a motion parameter output by an aircraft sensor, acquiring a throttle lever position output by an engine and acquiring self oil quantity information output by an aircraft;
the motion track prediction module is used for predicting the motion track of a subsequent set time period based on a preset virtual system, wherein the virtual system comprises an automatic flight control system model, a main flight control system model, a steering engine model, a blowing aerodynamic model, a six-degree-of-freedom equation model and an engine model, the automatic flight control system model and the main flight control system model adopt inertia link initial values, high-pass link initial values and second-order link initial values for initialization, the control surface position is used as the initial value of the steering engine model, the motion parameter and oil mass information are used as the initial value of the six-degree-of-freedom equation model, the throttle lever position is used as the initial value of the engine model, after the initial value is input, the virtual system carries out self-circulation calculation, the automatic flight control system model calculates longitudinal control quantity, transverse control quantity and throttle lever instructions based on the received normal overload instruction, the rolling angle instruction and the speed instruction, the main flight control system model calculates the control surface instruction based on the longitudinal control quantity and the transverse control quantity, the steering engine outputs the control surface deviation according to the control surface instruction, and outputs aerodynamic force based on the blowing aerodynamic model, the engine model outputs control parameters according to the throttle lever instruction, the six-degree-of-freedom equation is automatically solved based on the control parameters and the aerodynamic force and the motion parameter and the motion equation is automatically calculated until the motion equation is predicted to the motion track of the motion track is calculated to the control system;
and the anti-collision evaluation module is used for carrying out anti-collision evaluation based on the predicted motion trail.
In some alternative embodiments, the motion parameters include a triaxial speed, a triaxial position, a triaxial angular speed, and three attitude angles.
In some alternative embodiments, the set period of time is 10s to 20s.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. A six degree of freedom flight trajectory prediction method, comprising:
step S1, acquiring an inertial link initial value, a high-pass link initial value and a second-order link initial value which are given by an automatic flight control system and a main flight control system of the aircraft, acquiring a control surface position output by a steering engine, acquiring a motion parameter output by an aircraft sensor, acquiring a throttle lever position output by an engine, and acquiring self oil quantity information output by the aircraft;
s2, predicting a motion trail of a subsequent set time period based on a preset virtual system, wherein the virtual system comprises an automatic flight control system model, a main flight control system model, a steering engine model, a blowing aerodynamic model, a six-degree-of-freedom equation model and an engine model, the automatic flight control system model and the main flight control system model adopt inertia link initial values, high-pass link initial values and second-order link initial values for initialization, the control surface position is used as the initial value of the steering engine model, motion parameters and oil mass information are used as the initial value of the six-degree-of-freedom equation model, the throttle lever position is used as the initial value of the engine model, after the initial value is input, the virtual system performs self-circulation calculation, the automatic flight control system model calculates longitudinal control quantity, transverse control quantity and throttle lever instructions based on the received normal overload instruction, the rolling angle instruction and the speed instruction, the main flight control system model calculates a control surface instruction based on the longitudinal control quantity and the transverse control quantity, the steering engine model outputs a control surface deviation degree according to the control surface instruction and outputs aerodynamic force based on the blowing aerodynamic model, the engine model outputs control parameters according to the throttle lever instruction, the six-degree-of-freedom equation model is automatically solved based on the control parameters and the aerodynamic force and the motion information is calculated to the motion trail of the aircraft segment and the predicted flight control system, and the motion trail is calculated until the motion trail is calculated to the main flight segment is predicted;
and S3, carrying out crashproof evaluation based on the predicted motion trail.
2. The six degree-of-freedom flight trajectory prediction method according to claim 1, wherein in step S1, the motion parameters include a triaxial speed, a triaxial position, a triaxial angular speed, and three attitude angles.
3. The six degree-of-freedom flight trajectory prediction method according to claim 1, wherein in the step S2, the set period of time is 10S to 20S.
4. A six degree of freedom flight trajectory prediction apparatus, comprising:
the real aircraft parameter acquisition module is used for acquiring an inertial link initial value, a high-pass link initial value and a second-order link initial value which are given by an aircraft automatic flight control system and a main flight control system, acquiring a control surface position output by a steering engine, acquiring a motion parameter output by an aircraft sensor, acquiring a throttle lever position output by an engine and acquiring self oil quantity information output by an aircraft;
the motion track prediction module is used for predicting the motion track of a subsequent set time period based on a preset virtual system, wherein the virtual system comprises an automatic flight control system model, a main flight control system model, a steering engine model, a blowing aerodynamic model, a six-degree-of-freedom equation model and an engine model, the automatic flight control system model and the main flight control system model adopt inertia link initial values, high-pass link initial values and second-order link initial values for initialization, the control surface position is used as the initial value of the steering engine model, the motion parameter and oil mass information are used as the initial value of the six-degree-of-freedom equation model, the throttle lever position is used as the initial value of the engine model, after the initial value is input, the virtual system carries out self-circulation calculation, the automatic flight control system model calculates longitudinal control quantity, transverse control quantity and throttle lever instructions based on the received normal overload instruction, the rolling angle instruction and the speed instruction, the main flight control system model calculates the control surface instruction based on the longitudinal control quantity and the transverse control quantity, the steering engine outputs the control surface deviation according to the control surface instruction, and outputs aerodynamic force based on the blowing aerodynamic model, the engine model outputs control parameters according to the throttle lever instruction, the six-degree-of-freedom equation is automatically solved based on the control parameters and the aerodynamic force and the motion parameter and the motion equation is automatically calculated until the motion equation is predicted to the motion track of the motion track is calculated to the control system;
and the anti-collision evaluation module is used for carrying out anti-collision evaluation based on the predicted motion trail.
5. The six degree-of-freedom flight trajectory prediction device of claim 4, wherein the motion parameters include three axis speeds, three axis positions, three axis angular speeds, and three attitude angles.
6. The six degree-of-freedom flight path prediction apparatus according to claim 4, wherein the set period of time is 10s to 20s.
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