CN-116339376-B - Flight program design method and device, electronic equipment and storage medium

CN116339376BCN 116339376 BCN116339376 BCN 116339376BCN-116339376-B

Abstract

The invention provides a flight program design method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps of firstly, obtaining a current node corresponding to an aircraft and a plurality of expansion nodes corresponding to the current node; the method comprises the steps of obtaining weight information of a current node, determining a target path node corresponding to the current node in a plurality of expansion nodes according to the weight information of the current node and the corresponding expansion nodes, determining the target path node as a new current node corresponding to an aircraft, repeatedly executing the first step and the second step until the finally obtained target path node is the target node, and designing a flight program according to the current node and the target path node. According to the method, the weight information of the current node and the corresponding weight information of each expansion node of the aircraft are utilized to automatically design the flight program reaching the target node, the flight program can meet the requirements of related specifications of international civil aviation organizations and domestic air traffic control bureaus, manual participation is reduced, and meanwhile, the rationality of the flight program is effectively improved.

Inventors

ZHOU XINGLING
CHANG HONGSHENG
LIU XICHUN
LV PIN
YUAN HAN
WEN TIANYANG

Assignees

中国科学院自动化研究所

Dates

Publication Date: 20260505
Application Date: 20230217

Claims (9)

1. A method of programming a flight, comprising: step one, acquiring a current node corresponding to an aircraft and a plurality of expansion nodes corresponding to the current node; Step two, determining a target path node corresponding to the current node in the plurality of expansion nodes according to the weight information corresponding to the current node and each expansion node; determining the target path node as a new current node corresponding to the aircraft, and repeatedly executing the first step and the second step until the finally obtained target path node is the target node, wherein the target path node is determined based on the expansion node with the minimum weight information in a plurality of expansion nodes; step four, designing a flight program according to the current node and the target path node; Determining an expansion node with the minimum weight information in the expansion nodes as a target path node corresponding to the current node, wherein the method comprises the following steps: Determining a first expansion node with minimum weight information from the plurality of expansion nodes; determining a second expansion node with minimum weight information except the first expansion node from the plurality of expansion nodes under the condition that the first expansion node does not meet the obstacle exceeding requirement; and under the condition that the second expansion node meets the obstacle crossing requirement, determining the second expansion node as a target path node corresponding to the current node.
2. The method of claim 1, wherein the determining, among the plurality of extension nodes, the target path node corresponding to the current node according to the weight information corresponding to the current node and each of the extension nodes, comprises: acquiring the flight cost between the current node and each expansion node and the estimated cost between the current node and the target node; According to the flight cost and the estimated cost, weight information corresponding to the current node and the expansion nodes is determined; and determining the expansion node with the minimum weight information in the expansion nodes as the target path node corresponding to the current node.
3. The method of claim 2, wherein determining weight information for the current node and each of the extended nodes based on each of the flight costs and the estimated costs comprises: Determining weight information corresponding to the current node and each expansion node according to a weight formula; Wherein the weight formula is w=c+e; w represents the weight information, c=ω +S, C represents the flight cost, ω represents the weight coefficient of the turning angle, Representing the turning angle, s= R+d, s represents the fly-through distance between the current node and the expansion node, R represents the turning radius, d represents the straight line flat fly-through distance in the fly-through distance s, e=l+δ, E represents the estimated cost, L represents the distance between the current node and the target node, (x, y, z) represents the three-dimensional coordinate of the aircraft at the current node, (x e ,y e ,z e ) represents the three-dimensional coordinate of the aircraft at the target node, delta Delta represents the angle through which the aircraft needs to turn when the current heading angle reaches the target node, and theta represents the current heading angle.
4. A method according to any one of claims 1-3, wherein the obtaining a current node corresponding to an aircraft and a plurality of expansion nodes corresponding to the current node comprises: determining a current node corresponding to the aircraft according to the current three-dimensional space coordinate, the current course angle and the current pitch angle corresponding to the aircraft; And expanding the current node according to a plurality of preset angles and a plurality of preset target positions to obtain a plurality of expansion nodes corresponding to the current node.
5. A method according to any one of claims 1-3, wherein said designing a flight procedure from said current node and said target path node comprises: And connecting the current node and the target path node in sequence to obtain the flight program.
6. A flight programming device, comprising: The acquisition module is used for acquiring a current node corresponding to the aircraft and a plurality of expansion nodes corresponding to the current node; A processing module, configured to determine, according to weight information corresponding to the current node and each of the extension nodes, a target path node corresponding to the current node from among the plurality of extension nodes; the method comprises the steps of determining a target path node as a new current node corresponding to an aircraft, and repeatedly executing the first step and the second step until the finally obtained target path node is the target node; Determining an expansion node with the minimum weight information in the expansion nodes as a target path node corresponding to the current node, wherein the method comprises the following steps: Determining a first expansion node with minimum weight information from the plurality of expansion nodes; determining a second expansion node with minimum weight information except the first expansion node from the plurality of expansion nodes under the condition that the first expansion node does not meet the obstacle exceeding requirement; and under the condition that the second expansion node meets the obstacle crossing requirement, determining the second expansion node as a target path node corresponding to the current node.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the flight programming method of any one of claims 1 to 5 when the program is executed by the processor.
8. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the flight programming method according to any one of claims 1 to 5.
9. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the flight programming method according to any one of claims 1 to 5.

Description

Flight program design method and device, electronic equipment and storage medium Technical Field The present invention relates to the field of automatic control technologies, and in particular, to a method and apparatus for designing a flight program, an electronic device, and a storage medium. Background In other flight activities of the aircraft in departure, approach and terminal areas, certain flight route, altitude, maneuvering area and other relevant constraints are required to be followed for ensuring flight safety and operation efficiency, and the constraint is a flight procedure. The flight procedure is one of the basic conditions for airport construction and operation, and is the basic basis for organizing and implementing flight, providing air traffic service and constructing navigation facilities. Meanwhile, the design and management of the flight program are the basis of airspace planning and management, and are important works for guaranteeing the flight safety of the aviation aircraft and improving the operation efficiency. The existing flight program is often designed manually or aided by flight program design software. The former needs to have abundant experience, and the designer needs to select proper flight parameters, so that the aircraft can safely and stably descend and ascend based on the flight parameters, however, the problems of large workload, complex calculation, long training period and the like exist in the process of manually designing the flight program, and the labor and time cost is high. In the latter, by utilizing the auxiliary design function in the flight program design software, a designer can intuitively see the designed flight program, but in the process of generating the flight program by utilizing the flight program design software, the designer is also required to continuously adjust flight parameters according to the obstacle evaluation result, and repeat the adjustment process, so that the flight program meeting the safety specification and the design requirement is finally obtained, the time is longer, and the requirements on the expertise of a user and the operation proficiency of software are higher. In summary, either existing flight programming method has certain limitations, resulting in excessive flight programming time and labor costs. Disclosure of Invention The invention provides a flight program design method, a device, electronic equipment and a storage medium, which are used for solving the defects that the existing flight program design method has certain limitation, so that the working time and labor cost of the flight program design are too high, and the weight information corresponding to the current node and each expansion node of an aircraft is utilized to determine a target path node, so that the flight program can be automatically designed. The invention provides a flight program design method, which comprises the following steps: step one, acquiring a current node corresponding to an aircraft and a plurality of expansion nodes corresponding to the current node; Step two, determining a target path node corresponding to the current node in the plurality of expansion nodes according to the weight information corresponding to the current node and each expansion node; step three, determining the target path node as a new current node corresponding to the aircraft, and repeatedly executing the step one and the step two until the finally obtained target path node is the target node; and fourthly, designing a flight program according to the current node and the target path node. The flight program design method comprises the steps of determining a target path node corresponding to a current node in a plurality of expansion nodes according to weight information corresponding to the current node and each expansion node, obtaining flight cost between the current node and each expansion node and estimated cost between the current node and the target node, determining weight information corresponding to the current node and each expansion node according to each flight cost and the estimated cost, and determining the expansion node with the smallest weight information in the plurality of expansion nodes as the target path node corresponding to the current node. The flight program design method comprises the steps of determining an expansion node with the minimum weight information in a plurality of expansion nodes as a target path node corresponding to the current node, determining a first expansion node with the minimum weight information in the plurality of expansion nodes, determining a second expansion node with the minimum weight information except the first expansion node in the plurality of expansion nodes under the condition that the first expansion node does not meet the obstacle exceeding requirement, and determining the second expansion node as the target path node corresponding to the current node under the condition that the second expansio