CN117289722A - Directional hitting route planning method considering initial heading - Google Patents
Directional hitting route planning method considering initial heading Download PDFInfo
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- CN117289722A CN117289722A CN202311580985.5A CN202311580985A CN117289722A CN 117289722 A CN117289722 A CN 117289722A CN 202311580985 A CN202311580985 A CN 202311580985A CN 117289722 A CN117289722 A CN 117289722A
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Abstract
The invention discloses a directional hitting route planning method considering an initial heading. In an aircraft cruising operation, if it is desired that the aircraft perform a directional attack mission, it is necessary to provide the aircraft with a flight path so that the aircraft can fly from a desired heading towards a target and conduct an attack. The conventional route planning method only considers the initial position, the target position and the expected hitting heading of the aircraft, but does not consider the current heading of the aircraft, and if the included angle between the direction of the first flight segment and the current heading of the aircraft is too large, the aircraft may have a certain risk in the fast continuous turning process. The method can be used for collaborative route planning of a cluster system, and has wide application prospect.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a directional hitting route planning method.
Background
The purpose of aircraft route planning is to find an optimal or satisfactory route that can ensure that an aircraft completes its mission smoothly. Battlefield information is changing instantaneously, and when the target position is obtained, an attack route needs to be planned for the aircraft to approach and attack the target. For special targets, strict requirements are placed on the attack direction of the aircraft, the directional hitting route generated by the traditional route planning method does not consider the flight heading of the current aircraft, a certain risk exists when the aircraft makes a guided flight, and the total distance of the route can be overlong. In order to ensure the safety of the aircraft guidance process and the rapidity of approaching the target, a directional hitting route planning method considering the initial heading for the fixed-wing aircraft is urgently needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a directional hitting route planning method considering an initial heading. In an aircraft cruising operation, if it is desired that the aircraft perform a directional attack mission, it is necessary to provide the aircraft with a flight path so that the aircraft can fly from a desired heading towards a target and conduct an attack. The conventional route planning method only considers the initial position, the target position and the expected hitting heading of the aircraft, but does not consider the current heading of the aircraft, and if the included angle between the direction of the first flight segment and the current heading of the aircraft is too large, the aircraft may have a certain risk in the fast continuous turning process. The method can be used for collaborative route planning of a cluster system, and has wide application prospect.
The technical scheme adopted by the invention for solving the technical problems comprises the following steps:
step 1: setting a turning radius r, an attack distance L and a buffer distance L';
step 2: coordinates of the target in the longitude and latitude high coordinate system (lambda T ,ψ T ,H T ) And the current longitude and latitude high coordinate system coordinates (lambda p ,ψ p ,H p ) Respectively converted into rectangular coordinate system coordinates (X) TE ,Y TE ,Z TE ) And (X) pE ,Y pE ,Z pE ）；
Step 3: calculating an attack leg and a starting point and an ending point of the attack leg according to the position and the striking direction of the target;
step 4: calculating a dubin route consisting of an arc section, a straight line section and an arc section to obtain the shortest route from the current position to the attack route of the aircraft;
step 5: reversely calculating the navigation points under the geocentric rectangular coordinate system by the dubin route;
step 6: converting the navigation points under the rectangular coordinate system of the earth center into the longitude and latitude high coordinate system;
step 7: outputting the longitude and latitude high coordinate system coordinates of the waypoints to the aircraft, and ending.
Further, the definition of the geocentric rectangular coordinate system and the longitude and latitude high coordinate system is as follows:
rectangular coordinate system of earth's center O E x E y E z E ECEF system: origin O E Is positioned at the earth center, O E x E The axis pointing in the equatorial plane to the meridian, O E z E The axis pointing north perpendicular to the equatorial plane, O E y E The axis being perpendicular to O E x E z E The plane and the right hand coordinate system are formed;
high coordinate system of longitude and latitudeLBH system: />The axis is the direction of the earth center pointing to the target, +.>The axis pointing at the north pole perpendicular to the equatorial plane, the projection of the line of the earth's center with the target on the equatorial plane and +.>The included angle of the axes is positive in east meridian; />The axis is perpendicular to +.>The plane forms a right-hand coordinate system, the size of which is the included angle between the line between the earth center and the target and the projection of the earth center in the equatorial plane, and the north latitude is positive.
Further, the method of converting the waypoints in the rectangular coordinate system of the earth center to the high longitude and latitude coordinate system in the step 6 is as follows:
（1）
（2）
（3）
（4）
（5）
（6）
（7）
where a is the long half axis of the earth under the WGS-84 standard, e is the eccentricity of the earth,、/>、/>、/>、/>、、/>、/>、/>、/>and->All are intermediate variables>、/>、/>Warp and weft heights of reference points respectively, +.>、/>And->Representing the relative position of a point in the geocentric rectangular coordinate system from a reference point, +.>、/>、/>The longitude and latitude heights of points in the rectangular coordinate system of the earth center are respectively.
The beneficial effects of the invention are as follows:
compared with the prior art, the directional hitting route planning method considering the initial heading provided by the invention can plan a safe route for the fixed wing aircraft according to the initial heading, and can quickly realize directional hitting. The method generates the directional striking waypoint coordinates on line according to the initial longitude and latitude height, the flying heading, the longitude and latitude height of the target point and the striking direction of the aircraft. And the aircraft flies according to the provided coordinate point information and completes the directional striking task. The method fully considers the constraint of the minimum turning radius of the aircraft, and the planned flight path ensures that the aircraft does not need to continuously rotate a large curve exceeding 90 degrees, so that the flight safety can be greatly improved, meanwhile, the aircraft can be ensured to not need to fly a redundant route, the directional striking task can be rapidly completed, and the method has wide application prospect in a patrol flight system.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a schematic diagram of a dubin route calculation process according to an embodiment of the invention.
FIG. 3 is a schematic diagram of an embodiment of the invention according to dubins course back calculation waypoint procedure.
FIG. 4 (a) is a graph of the result of a route for a 40 initial heading plan in accordance with an embodiment of the invention.
FIG. 4 (b) is a graph of the results of a route for an initial heading plan of 0 according to an embodiment of the invention.
FIG. 4 (c) is a graph of the result of an embodiment of the present invention-a course of 40 initial heading plan.
Detailed Description
The invention will be further described with reference to the drawings and examples.
The invention aims to solve the technical problem of directional hitting route planning of a fixed-wing aircraft. In order to solve the above technical problems, the present invention provides a directional hitting route planning method considering an initial heading, as shown in fig. 1, which specifically includes the following steps:
(1) Defining a coordinate system;
rectangular coordinate system of earth's center O E x E y E z E (ECEF series): origin O E Is positioned at the earth center, O E x E The axis pointing in the equatorial plane to the meridian, O E z E The axis pointing north perpendicular to the equatorial plane, O E y E The axis being perpendicular to O E x E z E Plane and constitutes the right hand coordinate system.
High coordinate system of longitude and latitude(abbreviated as LBH system): />The axis is the direction of the earth center pointing to the target, +.>The axis pointing at the north pole perpendicular to the equatorial plane, the projection of the line of the earth's center with the target on the equatorial plane and +.>The angle of the axes (east longitude is positive),/>the axis is perpendicular to +.>The plane forms the right hand coordinate system and is sized as the angle between the line of the earth's center and the target and its projection in the equatorial plane (positive north latitude).
(2) Conversion between coordinate systems;
ECEF to LBH:
（1）
（2）
（3）
（4）
（5）
（6）
（7）
(3) A mathematical model;
i. the aircraft obtains directional striking instructions and target longitude and latitude heights (lambda) T ,ψ T ,H T ) Striking and strikingAzimuth ofAnd starting directional hitting route planning. Aircraft currently have a longitude and latitude height (lambda) p ,ψ p ,H p ) And flight heading->. Turning radius +.>Constraint of->Setting a distance L and a buffer distance L' of an attack leg, and expecting a flying height H; />Representing a minimum turning radius;
calculating the current ECEF system coordinates (X) of the aircraft through formulas (1) and (2) respectively pE ,Y pE ,Z pE ) (subscript E stands for under ECEF coordinate system);
and calculating the attack leg and the starting point and the end point of the attack leg according to the target position and the striking direction.
And iv, calculating a dubin route formed by circular arcs, straight lines and circular arcs, wherein the aircraft flies towards the attack route section according to the route as shown in figure 3. According to the current heading, the striking direction and the turning radius r, 1 is calculated # And 3 # Circle center position o1 (X) o1 ,Y o1 ) And o2 (X) o2 ,Y o2 ) The straight-line navigation section 2 can be calculated according to the vector o1o2 and the turning radius r # Direction and length L of (2) 2 Further, 1 is obtained # And 3 # The radians a1 and a2 of the arc section are obtained so far, namely, the aircraft flies through the arc with the circle center of o1 and the radian of a1 from the current position with the turning radius r; thereafter, fly through length L 2 Is a straight line segment of (2); finally, the arc with the circle center o2 and the radian a2 flies through with the turning radius r. At this point the attack route has been entered. As shown in fig. 2.
And v, reversely calculating the waypoints by the dubins route, firstly designing the waypoints for a first arc leg, dividing the arc leg into n sections of arcs of 90 degrees and one section of arc of less than 90 degrees, wherein in fig. 3, the area 1 and the area 2 are arcs of 90 degrees, and the area 3 is an arc of less than 90 degrees. The navigation points (1) and (2) are navigation points corresponding to 90-degree circular arcs, and the front and back of each navigation point have turning radius r, namely, the distance from the navigation point (1) to the aircraft is r, and the direction is the current course of the aircraftThe distance between the waypoint (2) and the waypoint (1) is 2r, and the direction is +.>+90°. The waypoint (3) is radian +.>The corresponding circular arc can be used for obtaining the distance r between the navigation point (3) and the navigation point (2) according to the geometric relationship (1+tan (>/2))。
Next, designing a waypoint for the second arc navigation section, and obtaining a waypoint (4) and a waypoint (5) in the same way as the design method of the first arc navigation section, and extending the distance of L+L' +r (1+tan #And/2)), planning out (6), wherein the voyages (5) (6) are attack voyages, and designing the waypoints (7), (8) and (9) and forming a detour circle (L+L') (r+r) with the voyages (6) in order to enter the attack voyages for multiple times. The directional hitting waypoints (1) - (9) considering the initial direction end up.
Calculating the longitude and latitude height (lambda) of the navigation points (1) - (9) in the ECEF coordinate system according to the formula (1) (2) ① ,ψ ①, H ① ）-（λ ⑨, ψ ⑨, H ⑨ ）。
Examples:
the implementation of the directional hitting route planning method considering the initial heading is realized according to the following steps in the specific implementation:
1): initially, setting a turning radius r, an attack distance L and a buffer distance L';
2): the longitude and latitude high coordinates (lambda) of the target T ,ψ T ,H T ) And aircraft currently have a longitude and latitude height (lambda) p ,ψ p ,H p ) Conversion to ECEF System coordinates (X TE ,Y TE ,Z TE ) And (X) pE ,Y pE ,Z pE ）；
3): and calculating a dubin route consisting of arc sections, straight line sections and circular arc sections.
4): and reversely calculating the navigation points under ECEF system coordinates by the dubin route.
5): converting the navigation points under ECEF system coordinates to LHB system coordinates;
6): outputting the longitude and latitude high coordinates of the route point to the aircraft, and ending.
In a certain flight mission, the target is approximately 5000 meters away from the current position of the aircraft, the longitude and latitude height of the aircraft is (124.485860 degrees 47.518176 degrees 317 m), the coordinates of the target point are (124.544018 degrees 47.513211 degrees 167 m), the minimum turning radius is 450m, the attack distance is 2000 meters, the buffer distance is 350 meters, the hit heading is 40 degrees, and if the current heading is 40 degrees, 0 degrees, -40 degrees, the directional hit route is planned. FIG. 4 (a) is a graph of the result of a route for a 40 initial heading plan in accordance with an embodiment of the invention. FIG. 4 (b) is a graph of the results of a route for an initial heading plan of 0 according to an embodiment of the invention. FIG. 4 (c) is a graph of the result of an embodiment of the present invention-a course of 40 initial heading plan. In the figure, the Mi character symbol is the current position of the aircraft, the triangle symbol is the target position, the small circle is the planned waypoint, and the cross symbol and the circle symbol are the circle centers of the circles where the first arc leg and the second arc leg of the dubins route are respectively. As can be seen from the figure, for different initial headings, a proper transition leg can be planned to guide the unmanned aerial vehicle into the hitting leg, and the initial heading adaptability of the disclosed route planning method is embodied.
Claims (3)
1. The directional hitting route planning method considering the initial heading is characterized by comprising the following steps:
step 1: setting a turning radius r, an attack distance L and a buffer distance L';
step 2: coordinates of the target in the longitude and latitude high coordinate system (lambda T ,ψ T ,H T ) And the current longitude and latitude high coordinate system coordinates (lambda p ,ψ p ,H p ) Respectively converted into rectangular coordinate system coordinates (X) TE ,Y TE ,Z TE ) And (X) pE ,Y pE ,Z pE ）；
Step 3: calculating an attack leg and a starting point and an ending point of the attack leg according to the position and the striking direction of the target;
step 4: calculating a dubin route consisting of an arc section, a straight line section and an arc section to obtain the shortest route from the current position to the attack route of the aircraft;
step 5: reversely calculating the navigation points under the geocentric rectangular coordinate system by the dubin route;
step 6: converting the navigation points under the rectangular coordinate system of the earth center into the longitude and latitude high coordinate system;
step 7: outputting the longitude and latitude high coordinate system coordinates of the waypoints to the aircraft, and ending.
2. A directional hitting route planning method considering initial heading according to claim 1, wherein the definition of said geocentric rectangular coordinate system and longitude and latitude height coordinate system is:
rectangular coordinate system of earth's center O E x E y E z E ECEF system: origin O E Is positioned at the earth center, O E x E The axis pointing in the equatorial plane to the meridian, O E z E The axis pointing north perpendicular to the equatorial plane, O E y E The axis being perpendicular to O E x E z E The plane and the right hand coordinate system are formed;
high coordinate system of longitude and latitudeLBH system: />The axis is the direction of the earth center pointing to the target, +.>The axis pointing at the north pole perpendicular to the equatorial plane, the projection of the line of the earth's center with the target on the equatorial plane and +.>The included angle of the axes is positive in east meridian;the axis is perpendicular to +.>The plane forms a right-hand coordinate system, the size of which is the included angle between the line between the earth center and the target and the projection of the earth center in the equatorial plane, and the north latitude is positive.
3. The method for planning a directional hitting route considering initial heading according to claim 2, wherein the method for converting the waypoints in the rectangular coordinate system of the earth center to the high coordinate system of the longitude and latitude in step 6 is as follows:
（1）
（2）
（3）
（4）
（5）
（6）
（7）
where a is the long half axis of the earth under the WGS-84 standard, e is the eccentricity of the earth,、/>、/>、/>、/>、/>、、/>、/>、/>and->All are intermediate variables>、/>、/>Warp and weft heights of reference points respectively, +.>、/>And->Representing the relative position of a point in the geocentric rectangular coordinate system from a reference point, +.>、/>、/>The longitude and latitude heights of points in the rectangular coordinate system of the earth center are respectively.
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| CN202311580985.5A CN117289722B (en) | 2023-11-24 | Directional hitting route planning method considering initial heading |
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| CN202311580985.5A CN117289722B (en) | 2023-11-24 | Directional hitting route planning method considering initial heading |
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| CN117289722A true CN117289722A (en) | 2023-12-26 |
| CN117289722B CN117289722B (en) | 2024-05-14 |
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