CN117826845A - Aviation operation safety active obstacle avoidance and planning method - Google Patents
Aviation operation safety active obstacle avoidance and planning method Download PDFInfo
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Abstract
The invention relates to the technical field of aviation planning, and discloses an aviation operation safety active obstacle avoidance and planning method, which comprises the following steps: acquiring a front image in real time in the aviation operation process, constructing an aviation obstacle ranging model, and carrying out obstacle recognition and obstacle information calculation on the acquired image; carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on constraint conditions; and performing emergency flight control on the aircraft according to the current optimal aviation operation speed. According to the method, the obstacle in front of the aircraft is marked and the distance is calculated, the obstacle ranging processing is realized, the objective function which enables the aviation operation cost to be minimum and is far away from the obstacle is constructed, the aviation track continuity constraint and the instantaneous acceleration boundary constraint are obtained, the aviation operation speed solution is converted into the acceleration solution by combining the aviation track continuity constraint, the dimension reduction processing of the objective function is realized, and the optimal aviation operation speed is quickly obtained to carry out emergency flight control on the aircraft.
Description
Technical Field
The invention relates to the technical field of aviation planning, in particular to an aviation operation safety active obstacle avoidance and planning method.
Background
With the explosive development of the aviation industry and the increase of the crowding degree of an airspace, the conflict and dangerous situations of aviation operation are also on an ascending trend. Aviation operation involves the planning of routes and flight operations of numerous aircraft and unknown flying objects in a limited airspace, and requires the assurance of safe separation between the aircraft and the avoidance of collisions and collisions. However, conventional methods of aviation operation management have failed to meet the needs due to the limited nature of airspace resources and the increase in flight density, as well as the intervention of sudden bird flights. The invention provides an aviation operation safety active obstacle avoidance and planning method, which realizes active coordination among aircrafts and collision avoidance between the aircrafts and sudden obstacles by means of an artificial intelligence technology, realizes emergency of the sudden flying objects, and has important significance for improving the safety, efficiency and sustainable development of an aviation traffic system.
Disclosure of Invention
In view of the above, the invention provides an aviation operation safety active obstacle avoidance and planning method, which aims at: 1) Acquiring a front image in the navigation process of the aircraft by using an image acquisition device, marking the pixels in the image and calculating the distances between the pixels and the aircraft in different navigation directions, so as to realize the distance measurement processing of the obstacle in the aviation operation process, and according to the distances between the obstacle and the aircraft, combining the acceleration and speed control results of the aircraft in different time ranges, calculating the nearest distances between the aircraft and the obstacle under different aviation speeds, and constructing an objective function which is the smallest in aviation operation cost and the farther from the obstacle under different aviation operation speeds, thereby meeting the constraint conditions of aviation track continuity constraint and instantaneous acceleration boundary constraint; 2) And combining aviation track continuity constraint to convert aviation operation speed solution into acceleration solution, realizing dimension reduction processing of an objective function, rapidly obtaining a solution result, solving the acceleration by adopting self-adaptive inertia weight and learning factors to obtain a plurality of groups of aviation operation speed iteration results which cannot collide with obstacles, selecting the aviation operation speed iteration results with the minimum aviation operation cost and the acceleration meeting instantaneous boundary constraint as the optimal aviation operation speed, and carrying out emergency flight control on the aircraft according to the current optimal aviation operation speed.
The invention provides an aviation operation safety active obstacle avoidance and planning method, which comprises the following steps:
s1: acquiring a front image in real time in the aviation operation process, constructing an aviation obstacle ranging model, and carrying out obstacle recognition and obstacle information calculation on the acquired image;
s2: an emergency obstacle avoidance optimization objective function and constraint conditions are established, wherein the emergency obstacle avoidance optimization objective function takes the obstacle information obtained through identification as input, takes the aviation running speed as an independent variable, and takes the minimum aviation operation cost and the obstacle avoidance as an optimization target, and the constraint conditions comprise aviation track continuity constraint and instantaneous boundary constraint;
s3: carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on constraint conditions to obtain the current optimal aviation running speed;
s4: and performing emergency flight control on the aircraft according to the current optimal aviation operation speed.
As a further improvement of the present invention:
optionally, in the step S1, the capturing the front image in real time during the aviation operation includes:
the method comprises the steps of deploying an image acquisition device on an aircraft, shooting and acquiring a front image in the navigation process of the aircraft in real time, constructing an aviation obstacle ranging model, and carrying out obstacle recognition and obstacle information calculation on the acquired image, wherein the time interval for acquiring the image is as follows The pixel matrix form of the acquired image is:
；
wherein:
a matrix of pixels representing the acquired image;
gray values representing the x-th row and y-th column pixels in the acquired image +.>X represents the number of rows of pixels of the acquired image and Y represents the number of columns of pixels of the acquired image.
Optionally, constructing an aviation obstacle ranging model in the step S1 to perform obstacle recognition and obstacle information calculation on the acquired image includes:
constructing an aviation obstacle ranging model to perform obstacle recognition and obstacle information calculation on the acquired image, wherein the obstacle information is the distance from the obstacle to the aircraft, and the obstacle recognition and obstacle information calculation flow of the acquired image is as follows:
s11: matrix of pixelsThe gray value of which is larger than the preset gray value threshold is marked as 0, other gray values are marked as 255, and a pixel matrix after binarization processing is obtained>；
S12: matrix of pixelsThe pixels with the middle gray value of 1 are marked as obstacles, and the coordinates of the pixels corresponding to the obstacles are converted into image coordinates, wherein the pixel coordinates are +.>The conversion formula for converting into image coordinates is:
；
wherein:
the lengths of unit pixels in the horizontal direction and the vertical direction in the image shot by the image acquisition device are represented;
The pixel numbers in the horizontal direction and the vertical direction respectively represent the phase difference between the central pixel coordinate of the image shot by the image acquisition device and the original point coordinate in the image coordinate system;
representing pixel coordinates +.>The corresponding image coordinate conversion result;
s13: representing the image coordinates corresponding to the obstacle in a coordinate system taking the image acquisition device as an origin coordinate, wherein the image coordinatesThe coordinate system conversion result of (2) is:
；
wherein:
representing the focal length of the image acquisition device;
representing an actual navigation distance corresponding to a unit coordinate distance of a coordinate system taking the image acquisition device as an origin coordinate;
representing image coordinates +.>A coordinate conversion result in a coordinate system using the image acquisition device as an origin coordinate;
s14: the coordinate representation result of the obstacle in a coordinate system taking the image acquisition device as an origin coordinate is taken as obstacle information, wherein the coordinate representation result of the kth obstacle is that，/>Represents the lateral distance of the kth obstacle from the current aircraft, < >>Representing the longitudinal distance of the kth obstacle from the current aircraft, < >>Representing the vertical distance of the kth obstacle from the current aircraft, < >>K represents the total number of obstacles in the acquired image identified. In the embodiment of the invention, the longitudinal direction represents the current heading direction of the aircraft, the transverse direction represents the direction perpendicular to the longitudinal direction under a ground plane coordinate system, and the perpendicular direction represents the direction perpendicular to the longitudinal direction and the transverse direction in pairs.
Optionally, constructing an emergency obstacle avoidance optimization objective function and constraint conditions in the step S2 includes:
the method comprises the steps of constructing an emergency obstacle avoidance optimization objective function and constraint conditions of the emergency obstacle avoidance optimization objective function, wherein the emergency obstacle avoidance optimization objective function takes the identified obstacle information as input, takes the aviation operation speed as an independent variable, takes the minimum aviation operation cost and the obstacle avoidance as an optimization objective, and the constructed emergency obstacle avoidance optimization objective function is as follows:
；
；
；
；
；
；
；
；
；
wherein:
representing the constructed emergency obstacle avoidance optimization objective function, < ->Representing the aircraft's aeronautical operating speed in a time range of h, wherein the length of time in each time range is +.>，/>Representing the acquisition time interval of an acquired image, and H represents the number of time range segments for dividing the acquisition time interval; />Indicating pass->After time, the aircraft will successfully pass all obstacles;
indicating the initial speed of the aircraft in the transverse direction in the time frame of the h-th section +.>Acceleration->，Representing the initial speed of the aircraft in the longitudinal direction in the time frame of the h period +.>Acceleration->，/>Representing the initial speed of the aircraft in the vertical direction in the time frame of the h period +.>Acceleration->；/>Respectively represent the transverse direction of the aircraft in the s-th time range Initial velocity and acceleration, ++>Respectively representing the initial speed and acceleration of the aircraft in the longitudinal direction within the s-th time range, +.>Respectively representing the initial speed and the acceleration of the aircraft in the vertical direction in the s-th time range; />Respectively representing the initial speed and the acceleration of the aircraft in the transverse direction in the j-th time range; j represents the number of time range segments; />Representing the number of emergency obstacle avoidance optimal time range segments of the kth obstacle;
representation->Aircraft operating speed of an aircraft in a time frame, wherein the aircraft is passing +.>After a period of time, the barrier is in the same vertical plane with the kth barrier,/>Representing the distance between the aircraft and the kth obstacle at that time, i.e. the closest distance of the aircraft from the kth obstacle;
in turn, the aircraft is according to +.>Navigation->After a period of time, the distance between the barrier and the kth barrier in the transverse direction, the longitudinal direction and the vertical direction;
representing acceleration sequence +.>Standard deviation of>Representing acceleration sequencesStandard deviation of>Representing acceleration sequence +.>Standard deviation of (2);
for measuring the aircraft speed in the time frame of the h period +.>Is>Indicating the speed according to aviation operation>And performing aviation operation control, namely performing the closest distance between the aircraft and the obstacle.
Optionally, constraint conditions of the emergency obstacle avoidance optimization objective function constructed in the step S2 are as follows:
constraint conditions of the emergency obstacle avoidance optimization objective function include aviation track continuity constraint and instantaneous boundary constraint, wherein the aviation track continuity constraint is as follows:
；
；
；
wherein:the method comprises the steps of carrying out a first treatment on the surface of the In the embodiment of the invention, the initial speed and the acceleration in the 0 th time range are the speed and the acceleration at the moment when the aircraft acquires the front image;
the instantaneous boundary constraints are:
；
wherein:
representing the initial speed of the aircraft in the transverse direction in the time frame of the ith period, < >>Representing the initial speed of the aircraft in the longitudinal direction in the time frame of the ith period, < >>Representing the initial speed of the aircraft in the vertical direction within the time frame of the ith period;>indicating the acceleration of the aircraft in the transverse direction during the i-th period of time,/>Indicating the acceleration of the aircraft in the longitudinal direction in the time frame of the ith period,/>Representing the ith period of time rangeAcceleration of the in-enclosure aircraft in the vertical direction; />Indicating the acceleration of the aircraft in the transverse direction in the time frame of the i-1 th period,/th period>Indicating the acceleration of the aircraft in the longitudinal direction over the period i-1,representing acceleration of the aircraft in the vertical direction within the i-1 th time range;
h represents the number of time periods; Represents a direction constraint variable, and the value range is +.>;
The instantaneous change threshold of the acceleration in the direction u is indicated.
Optionally, in the step S3, the optimizing and solving the emergency obstacle avoidance optimization objective function based on the constraint condition includes:
carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on constraint conditions to obtain the current optimal aviation running speed, wherein the optimization solution flow of the emergency obstacle avoidance optimization objective function is as follows:
s31: splitting the emergency obstacle avoidance optimization objective function to obtain an aviation operation cost objective function and an obstacle avoidance objective function:
；
；
wherein:
representing an aeronautical operation cost objective function,/->Representing an obstacle avoidance objective function;
s32: initializing and generating a group of acceleration sequences meeting instantaneous boundary constraint:
；
wherein:
representing the initialized acceleration sequence meeting the instantaneous boundary constraint, wherein the acceleration sequence comprises acceleration in different aviation directions within h time ranges;
s33: setting the current iteration number of the acceleration sequence as D, setting the maximum iteration number as D, and setting the acceleration sequence obtained by the D-th iteration asThe initial value of d is 0;
s34: acceleration sequence obtained based on aviation track continuity constraint and the d-th iterationConverting acceleration of different aviation directions in h time ranges into speeds of different aviation directions in h time ranges, and constructing a d iteration result of aviation operation speed +. >；
S35: the d iteration result of the aviation operation speedSubstituting the first iteration result into the aviation operation cost objective function and the obstacle avoidance objective function to obtain a d-th iteration result +.>Corresponding aviation operation cost->Obstacle avoidance distanceIf the obstacle avoidance distance->If the distance is smaller than the preset distance threshold value, the d-th iteration result is not recorded>Aeronautical operating costs->Otherwise record the d iteration result +.>Aeronautical operating costs->；
S36: iterating the acceleration sequence to obtain an acceleration sequence obtained by the (d+1) th iteration；
S37: order theReturning to the step S34 until the maximum iteration number is reached;
s38: and selecting the aviation operation speed iteration result with the acceleration meeting the instantaneous boundary constraint and the minimum aviation operation cost as the optimal aviation operation speed according to the recorded aviation operation speed iteration results and the corresponding aviation operation cost.
Optionally, the step S36 iterates the acceleration sequence, including:
s361: generating inertial weights of acceleration sequences at d+1 iterations：
；
Wherein:
representing the maximum inertial weight, +.>Representing the minimum inertial weight, +.>Representing the maximum iteration times, and taking the value as D;
s362: generating an adaptive change learning factor of the acceleration sequence at d+1 iterations:
；
Wherein:
an adaptive change learning factor representing the acceleration sequence at d+1 iterations;
representing a start value and a stop value of the adaptively changing learning factor;
s363: iterating the acceleration sequence:
；
wherein:
representing the aviation operation speed iteration with the minimum cost of the recorded aviation operation in the d iteration processesAcceleration sequence in the result,/->Acceleration sequence representing the d-th iteration, +.>Representing the acceleration sequence of the d-th iteration.
Optionally, in the step S4, emergency flight control is performed according to the current optimal aviation running speed, including:
according to the current optimal aviation operation speed obtained by solving, the accelerations of the aircraft in different aviation operation directions in different time ranges are extracted from the current optimal aviation operation speed, and the power of the aircraft is controlled in a corresponding time range according to the extracted accelerations, so that the accelerations of the aircraft in different time ranges are consistent with the current optimal aviation operation speed, and the emergency flight control of the aircraft is realized.
In order to solve the above-described problems, the present invention provides an electronic apparatus including:
a memory storing at least one instruction;
The communication interface is used for realizing the communication of the electronic equipment; and the processor executes the instructions stored in the memory to realize the aviation operation safety active obstacle avoidance and planning method.
In order to solve the above problems, the present invention further provides a computer readable storage medium, where at least one instruction is stored, where the at least one instruction is executed by a processor in an electronic device to implement the above-mentioned method for safe and active obstacle avoidance and planning for aviation operation.
Compared with the prior art, the invention provides an aviation operation safety active obstacle avoidance and planning method, which has the following advantages:
firstly, the scheme provides an emergency obstacle avoidance optimization objective function, wherein the emergency obstacle avoidance optimization objective function takes the obstacle information obtained by identification as input, takes the aviation operation speed as an independent variable, takes the minimum aviation operation cost and the obstacle avoidance as an optimization objective, and the constructed emergency obstacle avoidance optimization objective function is as follows:
；
；
；
；
；
；
；
；
；
wherein:representing the constructed emergency obstacle avoidance optimization objective function, < ->Representing the aircraft's aeronautical operating speed in a time range of h, wherein the length of time in each time range is +. >，/>Representing the acquisition time interval of an acquired image, and H represents the number of time range segments for dividing the acquisition time interval; />Indicating pass->After time, the aircraft will successfully pass all obstacles; />Indicating the initial speed of the aircraft in the transverse direction in the time frame of the h-th section +.>Acceleration->，/>Representing the initial speed of the aircraft in the longitudinal direction in the time frame of the h period +.>Acceleration and velocity，/>Representing the initial speed of the aircraft in the vertical direction in the time frame of the h period +.>Acceleration->；Respectively represent the initial time range of the aircraft in the transverse direction in the s-th periodInitial velocity and acceleration, ++>Respectively representing the initial speed and acceleration of the aircraft in the longitudinal direction within the s-th time range, +.>Respectively representing the initial speed and the acceleration of the aircraft in the vertical direction in the s-th time range; />Respectively representing the initial speed and the acceleration of the aircraft in the transverse direction in the j-th time range; j represents the number of time range segments; />Representing the number of emergency obstacle avoidance optimal time range segments of the kth obstacle; />Representation->Aircraft operating speed of an aircraft in a time frame, wherein the aircraft is passing +.>After a period of time, the barrier is in the same vertical plane with the kth barrier,/>Representing the distance between the aircraft and the kth obstacle at that time, i.e. the closest distance of the aircraft from the kth obstacle; / >Representing aircraft in turn in terms ofNavigation->After a period of time, the barrier is transversely and longitudinally connected with the kth barrierDistance in the vertical direction; />Representing acceleration sequence +.>Standard deviation of>Representing acceleration sequence +.>Standard deviation of>Representing acceleration sequence +.>Standard deviation of (2); />For measuring the aircraft speed in the time frame of the h period +.>Is>Indicating the speed according to aviation operation>And performing aviation operation control, namely performing the closest distance between the aircraft and the obstacle.
According to the scheme, an image acquisition device is used for acquiring a front image of an aircraft in a navigation process, obstacle marking is carried out on pixels in the image, distance calculation of the obstacle is carried out on the pixels in the image and the aircraft in different navigation directions, distance measurement processing of the obstacle in the aviation operation process is achieved, according to the distance from the obstacle to the aircraft, the nearest distances between the aircraft and the obstacle under different aviation speed conditions are calculated according to the acceleration and speed control results of the aircraft in different time ranges, and then an objective function which enables aviation operation cost to be minimum and the distance between the aircraft and the obstacle to be far is constructed under different aviation operation speed conditions, and constraint conditions of aviation track continuity constraint and instantaneous acceleration boundary constraint are met.
Meanwhile, the scheme provides an aviation operation safety active obstacle avoidance and planning method combining an emergency obstacle avoidance optimization objective function, which is used for carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on constraint conditions to obtain the current optimal aviation operation speed, wherein the optimization solution flow of the emergency obstacle avoidance optimization objective function is as follows: splitting the emergency obstacle avoidance optimization objective function to obtain an aviation operation cost objective function and an obstacle avoidance objective function:
；
；
wherein:representing an aeronautical operation cost objective function,/->Representing an obstacle avoidance objective function; initializing and generating a group of acceleration sequences meeting instantaneous boundary constraint:
；
wherein:representing the initialized acceleration sequence meeting the instantaneous boundary constraint, wherein the acceleration sequence comprises acceleration in different aviation directions within h time ranges; setting the current iteration number of the acceleration sequence as D and the maximum iteration number as D, wherein the acceleration sequence obtained by the D-th iteration is +.>The initial value of d is 0; based on aviation railTrace continuity constraint and acceleration sequence obtained by the d-th iteration +.>Converting acceleration of different aviation directions in h time ranges into speeds of different aviation directions in h time ranges, and constructing a d iteration result of aviation operation speed +. >The method comprises the steps of carrying out a first treatment on the surface of the The d-th iteration result of the aviation operation speed is +.>Substituting the first iteration result into the aviation operation cost objective function and the obstacle avoidance objective function to obtain a d-th iteration result +.>Corresponding aviation operation cost->Obstacle avoidance distance->If the obstacle avoidance distanceIf the distance is smaller than the preset distance threshold value, the d-th iteration result is not recorded>Cost of aeronautical operationOtherwise record the d iteration result +.>Aeronautical operating costs->The method comprises the steps of carrying out a first treatment on the surface of the Iterating the acceleration sequence to obtain an acceleration sequence (d+1 times of iteration) obtained by the (d+1) th iteration>The method comprises the steps of carrying out a first treatment on the surface of the Let->Performing iteration; and selecting the aviation operation speed iteration result with the acceleration meeting the instantaneous boundary constraint and the minimum aviation operation cost as the optimal aviation operation speed according to the recorded aviation operation speed iteration results and the corresponding aviation operation cost. According to the current optimal aviation operation speed obtained by solving, the accelerations of the aircraft in different aviation operation directions in different time ranges are extracted from the current optimal aviation operation speed, and the power of the aircraft is controlled in a corresponding time range according to the extracted accelerations, so that the accelerations of the aircraft in different time ranges are consistent with the current optimal aviation operation speed, and the emergency flight control of the aircraft is realized. According to the scheme, the aviation operation speed solving is converted into the acceleration solving by combining the aviation track continuity constraint, the dimension reduction processing of the objective function is realized, the solving result is obtained quickly, the self-adaptive inertia weight and the learning factor are adopted to solve the acceleration, a plurality of groups of aviation operation speed iteration results which cannot collide with the obstacle are obtained, the aviation operation speed iteration results with the acceleration meeting the instantaneous boundary constraint and the minimum aviation operation cost are selected as the optimal aviation operation speed, and the aircraft is subjected to emergency flight control according to the current optimal aviation operation speed.
Drawings
FIG. 1 is a schematic flow chart of an active obstacle avoidance and planning method for aviation operation safety according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an electronic device for implementing an active obstacle avoidance and planning method for aviation operation safety according to an embodiment of the present invention.
In the figure: 1 an electronic device, 10 a processor, 11 a memory, 12 a program, 13 a communication interface.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment of the application provides an aviation operation safety active obstacle avoidance and planning method. The execution main body of the aviation operation safety active obstacle avoidance and planning method comprises at least one of electronic equipment, such as a server side, a terminal and the like, which can be configured to execute the method provided by the embodiment of the application. In other words, the method for actively avoiding and planning the safety of the aviation operation can be executed by software or hardware installed in a terminal device or a server device, wherein the software can be a blockchain platform. The service end includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like.
Example 1
S1: and acquiring a front image in real time in the aviation operation process, constructing an aviation obstacle ranging model, and carrying out obstacle recognition and obstacle information calculation on the acquired image.
And in the step S1, front images are acquired in real time in the aviation operation process, and the method comprises the following steps:
the method comprises the steps of deploying an image acquisition device on an aircraft, shooting and acquiring a front image in the navigation process of the aircraft in real time, constructing an aviation obstacle ranging model, and carrying out obstacle recognition and obstacle information calculation on the acquired image, wherein the time interval for acquiring the image is as followsThe pixel matrix form of the acquired image is:
；
wherein:
a matrix of pixels representing the acquired image;
representing collectedGray value of pixel of x-th row and y-th column in image,>x represents the number of rows of pixels of the acquired image and Y represents the number of columns of pixels of the acquired image.
In the step S1, constructing an aviation obstacle ranging model to identify the acquired image and calculate the obstacle information, wherein the method comprises the following steps:
constructing an aviation obstacle ranging model to perform obstacle recognition and obstacle information calculation on the acquired image, wherein the obstacle information is the distance from the obstacle to the aircraft, and the obstacle recognition and obstacle information calculation flow of the acquired image is as follows:
S11: matrix of pixelsThe gray value of which is larger than the preset gray value threshold is marked as 0, other gray values are marked as 255, and a pixel matrix after binarization processing is obtained>；
S12: matrix of pixelsThe pixels with the middle gray value of 1 are marked as obstacles, and the coordinates of the pixels corresponding to the obstacles are converted into image coordinates, wherein the pixel coordinates are +.>The conversion formula for converting into image coordinates is:
；
wherein:
the lengths of unit pixels in the horizontal direction and the vertical direction in the image shot by the image acquisition device are represented;
the pixel numbers in the horizontal direction and the vertical direction respectively represent the phase difference between the central pixel coordinate of the image shot by the image acquisition device and the original point coordinate in the image coordinate system;
representing pixel coordinates +.>The corresponding image coordinate conversion result;
s13: representing the image coordinates corresponding to the obstacle in a coordinate system taking the image acquisition device as an origin coordinate, wherein the image coordinatesThe coordinate system conversion result of (2) is: />
；
Wherein:
representing the focal length of the image acquisition device;
representing an actual navigation distance corresponding to a unit coordinate distance of a coordinate system taking the image acquisition device as an origin coordinate;
representing image coordinates +.>A coordinate conversion result in a coordinate system using the image acquisition device as an origin coordinate;
S14: sitting of obstacle on origin coordinate of image acquisition deviceThe coordinates in the standard system represent the result as obstacle information, wherein the coordinates of the kth obstacle represent the result as，/>Represents the lateral distance of the kth obstacle from the current aircraft, < >>Representing the longitudinal distance of the kth obstacle from the current aircraft, < >>Representing the vertical distance of the kth obstacle from the current aircraft, < >>K represents the total number of obstacles in the acquired image identified.
S2: and constructing an emergency obstacle avoidance optimization objective function and constraint conditions, wherein the emergency obstacle avoidance optimization objective function takes the obstacle information obtained by identification as input, takes the aviation running speed as an independent variable, and takes the minimum aviation operation cost and the obstacle avoidance as an optimization target, and the constraint conditions comprise aviation track continuity constraint and instantaneous boundary constraint.
And S2, constructing an emergency obstacle avoidance optimization objective function and constraint conditions, wherein the method comprises the following steps:
the method comprises the steps of constructing an emergency obstacle avoidance optimization objective function and constraint conditions of the emergency obstacle avoidance optimization objective function, wherein the emergency obstacle avoidance optimization objective function takes the identified obstacle information as input, takes the aviation operation speed as an independent variable, takes the minimum aviation operation cost and the obstacle avoidance as an optimization objective, and the constructed emergency obstacle avoidance optimization objective function is as follows:
；
；
；
；
；
；/>
；
；
；
Wherein:
representing the constructed emergency obstacle avoidance optimization objective function, < ->Representing the aircraft's aeronautical operating speed in a time range of h, wherein the length of time in each time range is +.>，/>Representing the acquisition time interval of an acquired image, and H represents the number of time range segments for dividing the acquisition time interval; />Indicating pass->After time, the aircraft will successfully pass all obstacles;
indicating the initial speed of the aircraft in the transverse direction in the time frame of the h-th section +.>Acceleration->，Representing the initial speed of the aircraft in the longitudinal direction in the time frame of the h period +.>Acceleration->，/>Representing the initial speed of the aircraft in the vertical direction in the time frame of the h period +.>Acceleration->；/>Respectively representing the initial speed and acceleration of the aircraft in the transverse direction within the s-th time range, +.>Respectively representing the initial speed and acceleration of the aircraft in the longitudinal direction within the s-th time range, +.>Respectively representing the initial speed and the acceleration of the aircraft in the vertical direction in the s-th time range; />Respectively representing the initial speed and the acceleration of the aircraft in the transverse direction in the j-th time range; j represents the number of time range segments; />Representing the number of emergency obstacle avoidance optimal time range segments of the kth obstacle;
Representation->Aircraft operating speed of an aircraft in a time frame, wherein the aircraft is passing +.>After a period of time, the barrier is in the same vertical plane with the kth barrier,/>Representing the distance between the aircraft and the kth obstacle at that time, i.e. the closest distance of the aircraft from the kth obstacle;
in turn, the aircraft is according to +.>Navigation->After a period of time, the distance between the barrier and the kth barrier in the transverse direction, the longitudinal direction and the vertical direction;
representing acceleration sequence +.>Standard deviation of>Representing acceleration sequencesStandard deviation of>Representing acceleration sequence +.>Standard deviation of (2);
for measuring the aircraft speed in the time frame of the h period +.>Is>Indicating the speed according to aviation operation>And performing aviation operation control, namely performing the closest distance between the aircraft and the obstacle.
The constraint conditions of the emergency obstacle avoidance optimization objective function constructed in the step S2 are as follows:
constraint conditions of the emergency obstacle avoidance optimization objective function include aviation track continuity constraint and instantaneous boundary constraint, wherein the aviation track continuity constraint is as follows:
；
；
；
wherein:the method comprises the steps of carrying out a first treatment on the surface of the In the embodiment of the invention, the initial speed and the acceleration in the 0 th time range are the speed and the acceleration at the moment when the aircraft acquires the front image;
The instantaneous boundary constraints are:
；
wherein:
representing the initial speed of the aircraft in the transverse direction in the time frame of the ith period, < >>Representing the initial speed of the aircraft in the longitudinal direction in the time frame of the ith period, < >>Representing the initial speed of the aircraft in the vertical direction within the time frame of the ith period;>indicating the acceleration of the aircraft in the transverse direction during the i-th period of time,/>Indicating the acceleration of the aircraft in the longitudinal direction in the time frame of the ith period,/>Representing acceleration of the aircraft in a vertical direction over a time frame of the ith period; />Indicating the acceleration of the aircraft in the transverse direction in the time frame of the i-1 th period,/th period>Indicating the acceleration of the aircraft in the longitudinal direction over the period i-1,representing acceleration of the aircraft in the vertical direction within the i-1 th time range;
h represents the number of time periods;represents a direction constraint variable, and the value range is +.>;
The instantaneous change threshold of the acceleration in the direction u is indicated.
S3: and carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on the constraint condition to obtain the current optimal aviation operation speed.
In the step S3, the emergency obstacle avoidance optimization objective function is optimized and solved based on constraint conditions, and the method comprises the following steps:
carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on constraint conditions to obtain the current optimal aviation running speed, wherein the optimization solution flow of the emergency obstacle avoidance optimization objective function is as follows:
S31: splitting the emergency obstacle avoidance optimization objective function to obtain an aviation operation cost objective function and an obstacle avoidance objective function:
；
；
wherein:
representing an aeronautical operation cost objective function,/->Representing an obstacle avoidance objective function;
s32: initializing and generating a group of acceleration sequences meeting instantaneous boundary constraint:
；/>
wherein:
representing the initialized acceleration sequence meeting the instantaneous boundary constraint, wherein the acceleration sequence comprises acceleration in different aviation directions within h time ranges;
s33: setting the current iteration number of the acceleration sequence as D, setting the maximum iteration number as D, and setting the acceleration sequence obtained by the D-th iteration asThe initial value of d is 0;
s34: acceleration sequence obtained based on aviation track continuity constraint and the d-th iterationConverting acceleration of different aviation directions in h time ranges into speeds of different aviation directions in h time ranges, and constructing a d iteration result of aviation operation speed +.>；
S35: the d iteration result of the aviation operation speedSubstituting the first iteration result into the aviation operation cost objective function and the obstacle avoidance objective function to obtain a d-th iteration result +.>Corresponding aviation operation generationValence->Obstacle avoidance distanceIf the obstacle avoidance distance- >If the distance is smaller than the preset distance threshold value, the d-th iteration result is not recorded>Aeronautical operating costs->Otherwise record the d iteration result +.>Aeronautical operating costs->；
S36: iterating the acceleration sequence to obtain an acceleration sequence obtained by the (d+1) th iteration；
S37: order theReturning to the step S34 until the maximum iteration number is reached;
s38: and selecting the aviation operation speed iteration result with the acceleration meeting the instantaneous boundary constraint and the minimum aviation operation cost as the optimal aviation operation speed according to the recorded aviation operation speed iteration results and the corresponding aviation operation cost.
The step S36 of iterating the acceleration sequence includes:
s361: generating inertial weights of acceleration sequences at d+1 iterations：
；
Wherein:
representing the maximum inertial weight, +.>Representing a minimum inertial weight; />Representing the maximum iteration times, and taking the value as D;
s362: generating an adaptive change learning factor of the acceleration sequence at d+1 iterations:
；
wherein:
an adaptive change learning factor representing the acceleration sequence at d+1 iterations;
representing a start value and a stop value of the adaptively changing learning factor;
s363: iterating the acceleration sequence:
；
Wherein:
representing acceleration sequences in the aviation operation speed iteration result with the minimum recorded aviation operation cost in the d iteration processes,acceleration sequence representing the d-th iteration, +.>Representing the acceleration sequence of the d-th iteration.
S4: and performing emergency flight control on the aircraft according to the current optimal aviation operation speed.
And in the step S4, emergency flight control is performed according to the current optimal aviation operation speed, and the method comprises the following steps:
according to the current optimal aviation operation speed obtained by solving, the accelerations of the aircraft in different aviation operation directions in different time ranges are extracted from the current optimal aviation operation speed, and the power of the aircraft is controlled in a corresponding time range according to the extracted accelerations, so that the accelerations of the aircraft in different time ranges are consistent with the current optimal aviation operation speed, and the emergency flight control of the aircraft is realized.
Example 2
Fig. 2 is a schematic structural diagram of an electronic device for implementing an active obstacle avoidance and planning method for safe aviation operation according to an embodiment of the present invention.
The electronic device 1 may comprise a processor 10, a memory 11, a communication interface 13 and a bus, and may further comprise a computer program, such as program 12, stored in the memory 11 and executable on the processor 10.
The memory 11 includes at least one type of readable storage medium, including flash memory, a mobile hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, such as a removable hard disk of the electronic device 1. The memory 11 may in other embodiments also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 1. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only for storing application software installed in the electronic device 1 and various types of data, such as codes of the program 12, but also for temporarily storing data that has been output or is to be output.
The processor 10 may be comprised of integrated circuits in some embodiments, for example, a single packaged integrated circuit, or may be comprised of multiple integrated circuits packaged with the same or different functions, including one or more central processing units (Central Processing unit, CPU), microprocessors, digital processing chips, graphics processors, combinations of various control chips, and the like. The processor 10 is a Control Unit (Control Unit) of the electronic device, and connects various components of the whole electronic device using various interfaces and lines, and executes various functions of the electronic device 1 and processes data by running or executing programs or modules stored in the memory 11 (a program 12 for realizing safe active obstacle avoidance and planning for aviation operation, etc.), and calling data stored in the memory 11.
The communication interface 13 may comprise a wired interface and/or a wireless interface (e.g. WI-FI interface, bluetooth interface, etc.), typically used to establish a communication connection between the electronic device 1 and other electronic devices and to enable connection communication between internal components of the electronic device.
The bus may be a peripheral component interconnect standard (peripheral component interconnect, PCI) bus or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The bus may be classified as an address bus, a data bus, a control bus, etc. The bus is arranged to enable a connection communication between the memory 11 and at least one processor 10 etc.
Fig. 2 shows only an electronic device with components, it being understood by a person skilled in the art that the structure shown in fig. 2 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or may combine certain components, or may be arranged in different components.
For example, although not shown, the electronic device 1 may further include a power source (such as a battery) for supplying power to each component, and preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that functions of charge management, discharge management, power consumption management, and the like are implemented through the power management device. The power supply may also include one or more of any of a direct current or alternating current power supply, recharging device, power failure detection circuit, power converter or inverter, power status indicator, etc. The electronic device 1 may further include various sensors, bluetooth modules, wi-Fi modules, etc., which will not be described herein.
The electronic device 1 may optionally further comprise a user interface, which may be a Display, an input unit, such as a Keyboard (Keyboard), or a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like. The display may also be referred to as a display screen or display unit, as appropriate, for displaying information processed in the electronic device 1 and for displaying a visual user interface.
It should be understood that the embodiments described are for illustrative purposes only and are not limited to this configuration in the scope of the patent application.
The program 12 stored in the memory 11 of the electronic device 1 is a combination of instructions that, when executed in the processor 10, may implement:
acquiring a front image in real time in the aviation operation process, constructing an aviation obstacle ranging model, and carrying out obstacle recognition and obstacle information calculation on the acquired image;
constructing an emergency obstacle avoidance optimization objective function and constraint conditions;
Carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on constraint conditions to obtain the current optimal aviation running speed;
and performing emergency flight control on the aircraft according to the current optimal aviation operation speed.
Specifically, the specific implementation method of the above instruction by the processor 10 may refer to descriptions of related steps in the corresponding embodiments of fig. 1 to 2, which are not repeated herein.
It should be noted that, the foregoing reference numerals of the embodiments of the present invention are merely for describing the embodiments, and do not represent the advantages and disadvantages of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method 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, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. An aviation operation safety active obstacle avoidance and planning method is characterized by comprising the following steps:
s1: acquiring a front image in real time in the aviation operation process, constructing an aviation obstacle ranging model, and carrying out obstacle recognition and obstacle information calculation on the acquired image;
s2: an emergency obstacle avoidance optimization objective function and constraint conditions are established, wherein the emergency obstacle avoidance optimization objective function takes the obstacle information obtained through identification as input, takes the aviation running speed as an independent variable, and takes the minimum aviation operation cost and the obstacle avoidance as an optimization target, and the constraint conditions comprise aviation track continuity constraint and instantaneous boundary constraint;
s3: carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on constraint conditions to obtain the current optimal aviation running speed;
s4: and performing emergency flight control on the aircraft according to the current optimal aviation operation speed.
2. The method for actively avoiding and planning an aeronautical operation safety as claimed in claim 1, wherein the step S1 of acquiring the front image in real time during the aeronautical operation comprises:
the method comprises the steps of deploying an image acquisition device on an aircraft, shooting and acquiring a front image in the navigation process of the aircraft in real time, constructing an aviation obstacle ranging model, and carrying out obstacle recognition and obstacle information calculation on the acquired image, wherein the time interval for acquiring the image is as followsThe pixel matrix form of the acquired image is:
；
wherein:
a matrix of pixels representing the acquired image;
gray values representing the x-th row and y-th column pixels in the acquired image +.>X represents the number of rows of pixels of the acquired image and Y represents the number of columns of pixels of the acquired image.
3. The method for actively avoiding and planning an aviation operation safety as claimed in claim 2, wherein constructing an aviation obstacle ranging model in step S1 performs obstacle recognition and obstacle information calculation on the acquired image, and comprises:
constructing an aviation obstacle ranging model to perform obstacle recognition and obstacle information calculation on the acquired image, wherein the obstacle information is the distance from the obstacle to the aircraft, and the obstacle recognition and obstacle information calculation flow of the acquired image is as follows:
S11: matrix of pixelsThe gray value of which is larger than the preset gray value threshold is marked as 0, other gray values are marked as 255, and a pixel matrix after binarization processing is obtained>；
S12: matrix of pixelsThe pixels with the middle gray value of 1 are marked as obstacles, and the coordinates of the pixels corresponding to the obstacles are converted into image coordinates, wherein the pixel coordinates are +.>The conversion formula for converting into image coordinates is:
；
wherein:
the lengths of unit pixels in the horizontal direction and the vertical direction in the image shot by the image acquisition device are represented;
the pixel numbers in the horizontal direction and the vertical direction respectively represent the phase difference between the central pixel coordinate of the image shot by the image acquisition device and the original point coordinate in the image coordinate system;
representing pixel coordinates +.>The corresponding image coordinate conversion result;
s13: representing the image coordinates corresponding to the obstacle in a coordinate system taking the image acquisition device as an origin coordinate, wherein the image coordinatesThe coordinate system conversion result of (2) is:
；
wherein:
representing the focal length of the image acquisition device;
representing an actual navigation distance corresponding to a unit coordinate distance of a coordinate system taking the image acquisition device as an origin coordinate;
representing image coordinates +.>A coordinate conversion result in a coordinate system using the image acquisition device as an origin coordinate;
S14: the coordinate representation result of the obstacle in a coordinate system taking the image acquisition device as an origin coordinate is taken as obstacle information, wherein the coordinate representation result of the kth obstacle is that，/>Represents the lateral distance of the kth obstacle from the current aircraft, < >>Representing the longitudinal distance of the kth obstacle from the current aircraft, < >>Representing the vertical distance of the kth obstacle from the current aircraft, < >>K represents the total number of obstacles in the acquired image identified.
4. The method for actively avoiding and planning an aeronautical operation safety as claimed in claim 1, wherein the constructing the emergency obstacle avoidance optimization objective function and the constraint condition in the step S2 includes:
the method comprises the steps of constructing an emergency obstacle avoidance optimization objective function and constraint conditions of the emergency obstacle avoidance optimization objective function, wherein the emergency obstacle avoidance optimization objective function takes the identified obstacle information as input, takes the aviation operation speed as an independent variable, takes the minimum aviation operation cost and the obstacle avoidance as an optimization objective, and the constructed emergency obstacle avoidance optimization objective function is as follows:
；
；
；
；
；
；
；
；
；
wherein:
representing the constructed emergency obstacle avoidance optimization objective function, < ->Representing the aircraft's aeronautical operating speed in a time range of h, wherein the length of time in each time range is +. >，/>Representing the acquisition time interval of an acquired image, and H represents the number of time range segments for dividing the acquisition time interval; />Indicating pass->After time, the aircraft will successfully pass all obstacles;
indicating the initial speed of the aircraft in the transverse direction in the time frame of the h-th section +.>Acceleration->，/>Representing the initial speed of the aircraft in the longitudinal direction in the time frame of the h period +.>Acceleration->，/>Representing the initial speed of the aircraft in the vertical direction in the time frame of the h period +.>Acceleration->；/>Respectively representing the initial speed and acceleration of the aircraft in the transverse direction within the s-th time range, +.>Respectively representing the initial speed and acceleration of the aircraft in the longitudinal direction within the s-th time range, +.>Respectively representing the initial speed and the acceleration of the aircraft in the vertical direction in the s-th time range; />Respectively representing the initial speed and the acceleration of the aircraft in the transverse direction in the j-th time range; j represents the number of time range segments; />Representing the number of emergency obstacle avoidance optimal time range segments of the kth obstacle;
representation->Aircraft operating speed of an aircraft in a time frame, wherein the aircraft is passing +.>After a period of time, the barrier is in the same vertical plane with the kth barrier,/>Representing the distance between the aircraft and the kth obstacle at that time, i.e. the closest distance of the aircraft from the kth obstacle;
In turn, the aircraft is according to +.>Navigation->After a period of time, the distance between the barrier and the kth barrier in the transverse direction, the longitudinal direction and the vertical direction;
representing acceleration sequence +.>Standard deviation of>Representing acceleration sequence +.>Standard deviation of>Representing acceleration sequence +.>Standard deviation of (2);
for measuring the aircraft speed in the time frame of the h period +.>At the cost of the aeronautical operation of (a),indicating the speed according to aviation operation>And performing aviation operation control, namely performing the closest distance between the aircraft and the obstacle.
5. The method for active obstacle avoidance and planning for safe operation of aviation as defined in claim 4, wherein the constraint condition of the optimized objective function for emergency obstacle avoidance constructed in step S2 is:
constraint conditions of the emergency obstacle avoidance optimization objective function include aviation track continuity constraint and instantaneous boundary constraint, wherein the aviation track continuity constraint is as follows:
；
；
；
wherein:；
the instantaneous boundary constraints are:
；
wherein:
representing the ith time rangeInitial velocity of the inner aircraft in transverse direction, +.>Representing the initial speed of the aircraft in the longitudinal direction in the time frame of the ith period, < >>Representing the initial speed of the aircraft in the vertical direction within the time frame of the ith period;>indicating the acceleration of the aircraft in the transverse direction during the i-th period of time,/ >Indicating the acceleration of the aircraft in the longitudinal direction in the time frame of the ith period,/>Representing acceleration of the aircraft in a vertical direction over a time frame of the ith period; />Indicating the acceleration of the aircraft in the transverse direction in the time frame of the i-1 th period,/th period>Indicating the acceleration of the aircraft in longitudinal direction in the time frame of section i-1,/for the aircraft>Representing acceleration of the aircraft in the vertical direction within the i-1 th time range;
h represents the number of time periods;represents a direction constraint variable, and the value range is +.>;
The instantaneous change threshold of the acceleration in the direction u is indicated.
6. The method for active obstacle avoidance and planning for safe operation of aviation according to claim 1, wherein in step S3, the optimization solution of the emergency obstacle avoidance optimization objective function based on the constraint condition comprises:
carrying out optimization solution on the emergency obstacle avoidance optimization objective function based on constraint conditions to obtain the current optimal aviation running speed, wherein the optimization solution flow of the emergency obstacle avoidance optimization objective function is as follows:
s31: splitting the emergency obstacle avoidance optimization objective function to obtain an aviation operation cost objective function and an obstacle avoidance objective function:
；
；
wherein:
representing an aeronautical operation cost objective function,/->Representing an obstacle avoidance objective function;
s32: initializing and generating a group of acceleration sequences meeting instantaneous boundary constraint:
；
Wherein:
representing the initialized acceleration sequence meeting the instantaneous boundary constraint, wherein the acceleration sequence comprises acceleration in different aviation directions within h time ranges;
s33: setting the current iteration number of the acceleration sequence as D, setting the maximum iteration number as D, and setting the acceleration sequence obtained by the D-th iteration asThe initial value of d is 0;
s34: acceleration sequence obtained based on aviation track continuity constraint and the d-th iterationConverting acceleration of different aviation directions in h time ranges into speeds of different aviation directions in h time ranges, and constructing a d iteration result of aviation operation speed +.>；
S35: the d iteration result of the aviation operation speedSubstituting the first iteration result into the aviation operation cost objective function and the obstacle avoidance objective function to obtain a d-th iteration result +.>Corresponding aviation operation cost->Obstacle avoidance distanceIf the obstacle avoidance distance->If the distance is smaller than the preset distance threshold value, the d-th iteration result is not recorded>Aeronautical operating costs->Otherwise record the d iteration result +.>Aeronautical operating costs->；
S36: iterating the acceleration sequence to obtain an acceleration sequence obtained by the (d+1) th iteration；
S37: order theReturning to the step S34 until the maximum iteration number is reached;
S38: and selecting the aviation operation speed iteration result with the acceleration meeting the instantaneous boundary constraint and the minimum aviation operation cost as the optimal aviation operation speed according to the recorded aviation operation speed iteration results and the corresponding aviation operation cost.
7. The method for active obstacle avoidance and planning for safe operation of aircraft according to claim 6, wherein the iterating the acceleration sequence in step S36 comprises:
s361: generating inertial weights of acceleration sequences at d+1 iterations：
；
Wherein:
representing the maximum inertial weight, +.>Representing a minimum inertial weight; />Representing the maximum iteration times, and taking the value as D;
s362: generating an adaptive change learning factor of the acceleration sequence at d+1 iterations:
；
wherein:
an adaptive change learning factor representing the acceleration sequence at d+1 iterations;
representing a start value and a stop value of the adaptively changing learning factor;
s363: iterating the acceleration sequence:
；
wherein:
representing acceleration sequence in aviation operation speed iteration result with minimum recorded aviation operation cost in d times of iteration process, and performing +.>Acceleration sequence representing the d-th iteration, +.>Representing the acceleration sequence of the d-th iteration.
8. The method for active obstacle avoidance and planning for safe aviation operation according to claim 1, wherein in step S4, emergency flight control is performed according to the current optimal aviation operation speed, comprising:
according to the current optimal aviation operation speed obtained by solving, the accelerations of the aircraft in different aviation operation directions in different time ranges are extracted from the current optimal aviation operation speed, and the power of the aircraft is controlled in a corresponding time range according to the extracted accelerations, so that the accelerations of the aircraft in different time ranges are consistent with the current optimal aviation operation speed, and the emergency flight control of the aircraft is realized.
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