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CN117666611B - Online track planning method based on heuristic search and pretightening method - Google Patents

Online track planning method based on heuristic search and pretightening method Download PDF

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CN117666611B
CN117666611B CN202311692641.3A CN202311692641A CN117666611B CN 117666611 B CN117666611 B CN 117666611B CN 202311692641 A CN202311692641 A CN 202311692641A CN 117666611 B CN117666611 B CN 117666611B
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angle
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CN117666611A (en
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韦常柱
崔乃刚
张延坤
刘哲
程杰
赵永国
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Harbin Institute of Technology Shenzhen
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Abstract

An online track planning method based on heuristic search and pretightening method belongs to the technical field of aircraft control. The method comprises the steps of establishing a dimensionless dynamics model, generating a reference track based on heuristic search, tracking a track based on a pre-aiming method, generating an attack angle instruction, a roll angle instruction and a thrust instruction by an aircraft according to the current state and the reference track in the flight process, and then carrying the instructions into the dynamics model of the aircraft to calculate and obtain the online track of the aircraft. On the basis of a heuristic search and pre-aiming method, the method aims at high-constant-speed cruise constraint such as cruise flight and the like and avoids the requirements of a no-fly zone, firstly generates a reference track, then tracks the reference track to realize online track planning, effectively reduces the complexity of track planning calculation on the premise of ensuring track planning precision, has small algorithm calculation amount, solves the problems of complex calculation and large calculation amount of the traditional suction type combined power aircraft track planning method, and has good application prospect.

Description

Online track planning method based on heuristic search and pretightening method
Technical Field
The invention relates to an online track planning method based on heuristic search and pretightening method, and belongs to the technical field of aircraft control.
Background
The cruise state constraint of equal high constant speed is required to be met in the cruise process of the air suction type combined power aircraft, and meanwhile, a no-fly zone is required to be avoided. Moreover, the dynamic model of the aircraft is complex, the pneumatic interference is strong, the traditional track planning method is complex in calculation and long in time consumption.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides an online track planning method based on heuristic search and pretightening method.
The technical scheme is that the online track planning method based on heuristic search and pretightening method comprises the following steps:
S1, establishing a dimensionless dynamic model;
S2, generating a reference track based on heuristic search;
S3, tracking a track based on a pretightening method;
And S4, generating an attack angle instruction, a roll angle instruction and a thrust instruction by the aircraft according to the current state and the reference track in the flight process, then taking the instructions into a dynamics model of the aircraft, and calculating to obtain the online track of the aircraft.
Compared with the prior art, the invention has the beneficial effects that:
On the basis of a heuristic search and pre-aiming method, the method aims at high-constant-speed cruise constraint such as cruise flight and the like and avoids the requirements of a no-fly zone, firstly generates a reference track, then tracks the reference track to realize online track planning, effectively reduces the complexity of track planning calculation on the premise of ensuring track planning precision, has small algorithm calculation amount, solves the problems of complex calculation and large calculation amount of the traditional suction type combined power aircraft track planning method, and has good application prospect.
Drawings
Fig. 1 is a flow chart of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are all within the protection scope of the present invention.
An online track planning method based on heuristic search and pretightening method, the method comprises the following steps:
S1, establishing a dimensionless dynamic model;
The kinetic model is as follows:
in the formula (1):
V is the first derivative of V, and V is the flying speed of the aircraft; The first derivative of gamma, gamma is the ballistic dip;
the first derivative of psi is the heading angle of the aircraft; r is the first derivative of r, r is the earth's center distance;
A first derivative of θ, θ being longitude;
the first derivative of phi is phi, and phi is latitude;
P is thrust;
alpha is the angle of attack;
X is aerodynamic resistance;
Y is aerodynamic lift;
m is the aircraft mass;
g r' is the component of gravitational acceleration in the aircraft geocentric sagittal direction;
Gravitational components brought about by earth rotation;
Omega e is the earth rotation angular velocity;
sigma is the roll angle;
The aerodynamic lift Y and the aerodynamic drag X are respectively:
In the formula (2):
c L (α, ma) is the lift coefficient determined by the angle of attack α and mach number Ma;
C D (α, ma) is the drag coefficient determined by the angle of attack α and mach number Ma;
q is dynamic pressure;
s ref is the reference area of the aircraft.
S2, generating a reference track based on heuristic search;
Track planning refers to finding a flight path from a starting point to a target point in a given planning area, wherein the flight path meets constraint conditions, and the flight path is an ordered set of motion states of an aircraft. The constituent elements of the collection are a series of position points, and the adjacent position points are connected by straight lines to form the flight path of the aircraft.
S201, setting a track starting point as S, a track target point as G, and a track intermediate node as P 1,P2,...,Pn-1 to obtain a track node sequence { S, P 1,P2,...,Pn-1, G }, wherein the node sequence is n+1 nodes in total;
S202, setting a three-dimensional representation mode of a track starting point as S= (x 0,y0,z0), setting a three-dimensional representation mode of a track target point as G= (x n,yn,zn), setting a three-dimensional representation mode of a track intermediate node as P i＝(xi,yi,zi) (i=1, 2, n-1), and recording an abscissa and an ordinate of the node and an elevation value under the coordinate of each node;
S203, because each node contains coordinate information of a three-dimensional space, the track section can be represented by an adjacent node connecting line;
The equal-altitude flight of the track section adopts two-dimensional track planning to carry out reference track design, and partial expansion nodes are cut off when the nodes are expanded in consideration of the performance constraint of the aircraft with the maximum path deflection angle, the flight directivity and the like, so that the search space is effectively reduced, the planning speed is also improved, and the size of a local reachable area from the current node to the expansion nodes of the aircraft is generally related to the search step under the condition that the maneuverability constraint of the aircraft is met. The method is characterized in that the smaller the searching step length is, the more nodes are searched, the higher the accuracy of obtaining the route is, but the time and the memory consumption are larger due to the limitation of the minimum turning radius. When (when) When the method is used, the expanded nodes are the least, the effect of clipping the search space is the best, and the method is also the most beneficial to improving the algorithm search efficiency. The calculation mode of the minimum turning radius and the maximum lane deflection angle is as follows:
In the formula (3):
R min is the minimum turning radius;
Δψ is the maximum course angle;
g is gravitational acceleration;
n max is the maximum usable normal overload of the aircraft;
l is the search step;
Considering turning angle constraint, voyage constraint and no-fly zone constraint, in the process of expanding the nodes, setting a cost function as follows:
minf(i)=τ1c1(i)+τ2c2(i)+τ3c3(i) (4)
In the formula (4):
τ 1、τ2 and τ 3 are corresponding cost weights respectively;
c 1 (i) is the turn angle constraint cost;
c 2 (i) is the voyage constraint cost;
c 3 (i) is the forbidden zone constraint cost;
the specific calculation process of the turning angle constraint cost, the range constraint cost and the no-fly zone constraint cost is as follows:
In formula (5):
is the direction vector at the ith track point;
Is the direction vector at the i-1 th track point;
Transpose the direction vector at the i-1 th track point;
For the estimated range from the ith track point (x i,yi) to the target point (x n,yn),
L k is the distance between the kth track point and the kth-1 track point;
A＝yi-yi-1,B＝-(xi-xi-1),C＝(xi-xi-1)yi-(yi-yi-1)xi,(xi-1,yi-1) The coordinates of the ith track point are the (i-1) th track point coordinates;
(x c,yc) is the central point coordinate of the no-fly zone.
S204, connecting track segments to form a track for the aircraft to fly;
S205, whether the whole track meets the constraint condition is inspected, namely, whether the track segment or the track point meets the constraint condition is simplified.
S3, tracking a track based on a pretightening method;
S301, taking the current position P i of the aircraft as a circle center, and making a circle according to the pre-aiming distance R as a radius;
S302, two intersection points P i1 and P i2 exist between the circle and the reference track, and the intersection points are to be determined And (3) withThe sum of the included anglesAnd (3) withComparing the included angles, wherein P i-1 is the point of the previous position of the aircraft, and a small-angle point is selected as a pre-aiming point due to the performance limitation of the aircraft;
S303, respectively generating a longitudinal overload control instruction n yc2 and a transverse overload control instruction n zc2 under a trajectory system by taking the current position P i of the aircraft as a starting point and a pre-aiming point as an end point and adopting a proportional guidance mode as follows:
In the formula (7):
Is the high and low angular rate of the sight line;
is the azimuth rate of line of sight;
k y is the longitudinal overload scaling factor;
k g is a gravity compensation coefficient;
k z is the transverse overload scaling factor.
And further performing clipping processing on the overload instruction:
And:
nxc2=(Pcosα-X)/mg (10)
the ballistic down-load is transferred to the position system by coordinate transformation:
in the formula (11):
n xc1、nyc1 and n zc1 are components of the overload in the directions of three coordinate axes under the position system respectively;
n xc2 is the component of the overload in the x-axis direction under ballistic system;
is a transformation matrix of trajectory system to position system,
And S4, after the algorithm design is completed, generating an attack angle instruction, a roll angle instruction and a thrust instruction by the aircraft according to the current state and a reference track in the flight process, bringing the instructions into a dynamics model of the aircraft, and carrying out track calculation by a Longku tower numerical integration method to obtain an online track of the aircraft so as to carry out subsequent flight.
The calculation formulas of the attack angle, the roll angle and the thrust command are as follows:
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (5)

1.一种基于启发式搜索与预瞄法的在线轨迹规划方法，其特征在于：所述方法包括如下步骤：1. An online trajectory planning method based on heuristic search and preview method, characterized in that the method comprises the following steps: S1：建立无量纲化的动力学模型；S1: Establish a dimensionless kinetic model; S2：生成基于启发式搜索的参考航迹；S2: Generate reference track based on heuristic search; S3：基于预瞄法的轨迹跟踪；S3: trajectory tracking based on preview method; 所述S3包括如下步骤：The S3 comprises the following steps: S301：以飞行器当前位置Pi为圆心，根据预瞄距离R为半径做圆；S301: Draw a circle with the current position of the aircraft Pi as the center and the preview distance R as the radius; S302：所述圆与参考轨迹存在两个交点Pi1以及Pi2，将与之间的夹角以及与之间的夹角做大小比较，Pi-1为飞行器前一位置所在点，由于飞行器性能限制，选择小角度点作为预瞄点；S302: The circle and the reference trajectory have two intersection points P i1 and P i2 . and The angle between and Compare the angles between them. Pi -1 is the previous position of the aircraft. Due to the performance limitation of the aircraft, a small angle point is selected as the preview point. S303：以飞行器当前位置Pi为起点，预瞄点为终点，采取比例导引方式，分别生成弹道系下纵向过载控制指令nyc2以及横向过载控制指令nzc2如下：S303: With the current position of the aircraft P i as the starting point and the preview point as the end point, a proportional guidance method is adopted to generate the longitudinal overload control instruction n yc2 and the lateral overload control instruction n zc2 under the trajectory system as follows: 式(7)中：In formula (7): 为r的一阶导数，r为地心距； is the first derivative of r, r is the distance from the center of the earth; γ为弹道倾角；γ is the ballistic inclination angle; 为视线高低角速率； is the line of sight height angular rate; 为视线方位角速率； is the line of sight azimuth rate; ky为纵向过载比例系数；k y is the longitudinal overload proportional coefficient; kg为重力补偿系数；k g is the gravity compensation coefficient; kz为横向过载比例系数；k z is the lateral overload proportional coefficient; 进一步对过载指令进行限幅处理：Further limit the overload instruction: 且：and: nxc2＝(Pcosα-X)/mg (10)n xc2 =(Pcosα-X)/mg (10) 式(10)中：In formula (10): P为推力；P is thrust; α为攻角；α is the angle of attack; X为气动阻力；X is the aerodynamic drag; 通过坐标转换将弹道系下过载转到位置系：The overload in the ballistic system is transferred to the position system through coordinate transformation: 式(11)中：In formula (11): nxc1、nyc1及nzc1分别为过载在位置系下三个坐标轴方向的分量；n xc1 , n yc1 and n zc1 are the components of the overload in the three coordinate axis directions in the position system; nxc2为过载在弹道系下x轴方向的分量；n xc2 is the component of overload in the x-axis direction in the ballistic system; 为弹道系到位置系的转换矩阵，ψ为飞行器的航向角； is the transformation matrix from the ballistic system to the position system, ψ is the heading angle of the aircraft; S4：飞行过程中飞行器根据当前状态以及参考航迹生成攻角指令、倾侧角指令以及推力指令后，将所述指令带入飞行器的动力学模型，计算得到飞行器的在线轨迹。S4: During the flight, the aircraft generates an angle of attack instruction, a roll angle instruction, and a thrust instruction according to the current state and the reference track, and then brings the instructions into the dynamic model of the aircraft to calculate the online trajectory of the aircraft. 2.根据权利要求1所述的一种基于启发式搜索与预瞄法的在线轨迹规划方法，其特征在于：S1所述动力学模型如下：2. The online trajectory planning method based on heuristic search and preview method according to claim 1 is characterized in that: S1 said dynamic model is as follows: 式(1)中：In formula (1): 为V的一阶导数，V为飞行器的飞行速度； is the first-order derivative of V, V is the flight speed of the aircraft; 为γ的一阶导数，γ为弹道倾角； is the first-order derivative of γ, γ is the ballistic inclination angle; 为ψ的一阶导数，ψ为飞行器的航向角； is the first-order derivative of ψ, ψ is the heading angle of the aircraft; 为r的一阶导数，r为地心距； is the first derivative of r, r is the distance from the center of the earth; 为θ的一阶导数，θ为经度； is the first derivative of θ, θ is the longitude; 为φ的一阶导数，φ为纬度； is the first derivative of φ, φ is the latitude; P为推力；P is thrust; α为攻角；α is the angle of attack; X为气动阻力；X is the aerodynamic drag; Y为气动升力；Y is the aerodynamic lift; m为飞行器质量；m is the mass of the aircraft; gr′为引力加速度在飞行器地心矢径方向的分量；g r ′ is the component of gravitational acceleration in the direction of the vehicle's center of gravity vector; 为地球自转带来的引力分量； The gravitational component caused by the Earth's rotation; ωe为地球自转角速度；ω e is the angular velocity of the Earth's rotation; σ为倾侧角；σ is the tilt angle; 气动升力Y和气动阻力X分别为：The aerodynamic lift Y and aerodynamic drag X are: 式(2)中：In formula (2): CL(α,Ma)为由攻角α和马赫数Ma决定的升力系数；C L (α, Ma) is the lift coefficient determined by the angle of attack α and the Mach number Ma; CD(α,Ma)为由攻角α和马赫数Ma决定的阻力系数； CD (α, Ma) is the drag coefficient determined by the angle of attack α and the Mach number Ma; q为动压；q is the dynamic pressure; Sref为飞行器的参考面积。S ref is the reference area of the aircraft. 3.根据权利要求2所述的一种基于启发式搜索与预瞄法的在线轨迹规划方法，其特征在于：所述S2包括如下步骤：3. The online trajectory planning method based on heuristic search and preview method according to claim 2, characterized in that: S2 comprises the following steps: S201：设定航迹起始点为S，航迹目标点为G，航迹中间节点为P1,P2,...,Pn-1，得到航迹节点序列为{S,P1,P2,...,Pn-1,G}，所述节点序列共有n+1个节点；S201: Set the track starting point as S, the track target point as G, the track intermediate nodes as P 1 , P 2 , ..., P n-1 , and obtain a track node sequence of {S, P 1 , P 2 , ..., P n-1 , G}, where the node sequence has n+1 nodes in total; S202：设定航迹起始点的三维表示方式为S＝(x0,y0,z0)，航迹目标点的三维表示方式为G＝(xn,yn,zn)，航迹中间节点的三维表示方式为Pi＝(xi,yi,zi)(i＝1,2,...,n-1)；S202: Set the three-dimensional representation of the track start point to S = (x 0 , y 0 , z 0 ), the three-dimensional representation of the track target point to G = (x n , yn , z n ), and the three-dimensional representation of the track intermediate node to Pi = ( xi , yi , zi ) (i = 1, 2, ..., n-1); S203：通过相邻节点连线表征航迹段；S203: Representing the track segment by connecting adjacent nodes; S204：连接航迹段组成飞行器飞行的航迹；S204: Connecting the track segments to form a flight track of the aircraft; S205：考察整条航迹是否满足约束条件。S205: Check whether the entire track satisfies the constraint conditions. 4.根据权利要求3所述的一种基于启发式搜索与预瞄法的在线轨迹规划方法，其特征在于：S203所述航迹段的等高飞行采用二维航迹规划进行参考航迹设计，其中：最小转弯半径与最大航路偏角计算方式如下：4. The online trajectory planning method based on heuristic search and preview method according to claim 3 is characterized in that: the contour flight of the track segment in S203 adopts two-dimensional track planning to perform reference track design, wherein: the minimum turning radius and the maximum path deviation angle are calculated as follows: 式(3)中：In formula (3): Rmin为最小转弯半径；R min is the minimum turning radius; Δψ为最大航路偏角；Δψ is the maximum route deviation angle; g为引力加速度；g is the gravitational acceleration; nmax为飞行器最大可用法向过载；n max is the maximum available normal overload of the aircraft; l为搜索步长；l is the search step length; 考虑转弯角约束、航程约束以及禁飞区约束，在扩展节点过程中，设置代价函数为：Considering the turning angle constraint, range constraint and no-fly zone constraint, in the process of expanding nodes, the cost function is set as: minf(i)＝τ1c1(i)+τ2c2(i)+τ3c3(i) (4)minf(i)＝τ 1 c 1 (i)+τ 2 c 2 (i)+τ 3 c 3 (i) (4) 式(4)中：In formula (4): τ1、τ2及τ3分别为对应的代价权值；τ 1 , τ 2 and τ 3 are the corresponding cost weights respectively; c1(i)为转弯角约束代价；c 1 (i) is the turning angle constraint cost; c2(i)为航程约束代价；c 2 (i) is the range constraint cost; c3(i)为禁飞区约束代价；c 3 (i) is the no-fly zone constraint cost; 转弯角约束代价、航程约束代价以及禁飞区约束代价的具体计算过程如下：The specific calculation process of the turning angle constraint cost, the range constraint cost and the no-fly zone constraint cost is as follows: 式(5)中：In formula (5): 为第i航迹点处的方向向量； is the direction vector at the i-th track point; 为第i-1航迹点处的方向向量； is the direction vector at the i-1th track point; 为第i-1航迹点处的方向向量转置； is the transpose of the direction vector at the i-1th track point; 为第i个航迹点(xi,yi)到目标点(xn,yn)之间的预估航程， is the estimated distance from the ith track point ( xi , yi ) to the target point ( xn , yn ), Lk为第k航迹点和第k-1航迹点之间的距离；L k is the distance between the kth track point and the k-1th track point; A＝yi-yi-1，B＝-(xi-xi-1)，C＝(xi-xi-1)yi-(yi-yi-1)xi，(xi-1,yi-1)为第i-1个A＝y i -y i-1 , B＝-( xi -xi -1 ), C＝( xi -xi -1 )y i -(y i -y i-1 ) xi , (xi -1 ,y i-1 ) is the i-1th 航迹点坐标；Track point coordinates; (xc,yc)为禁飞区中心点坐标。(x c ,y c ) are the coordinates of the center point of the no-fly zone. 5.根据权利要求1或4所述的一种基于启发式搜索与预瞄法的在线轨迹规划方法，其特征在于：S4所述攻角、倾侧角以及推力指令的计算公式如下：5. The online trajectory planning method based on heuristic search and preview method according to claim 1 or 4, characterized in that: the calculation formula of the angle of attack, roll angle and thrust command in S4 is as follows:
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