CN108153332B - Track simulation system based on large envelope game strategy - Google Patents
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Abstract
The invention relates to the field of automatic control of aircrafts, and provides a trajectory simulation system method based on a large envelope game strategy, aiming at solving the problem of quick prediction of a maneuver decision strategy and a trajectory of a flight device, wherein the system comprises the following components: the situation perception and decision module is configured to obtain attitude data of the flight device and select different tactical tasks according to the attitude data; the anomaly management module is configured to switch the flight tasks of the flight device according to the attitude data of the flight device and a plurality of preset maneuvering flight tasks; the real-time maneuvering flight module is configured to calculate control of each flight sub-action of the flight device in flight according to the attitude data and the flight track, form a target attitude and a target track resolving module is configured to use a multiple-degree-of-freedom equation to resolve the target attitude and the target track, and output of the target track of the flight device is achieved; and the quick prediction of the maneuver decision strategy and the trajectory of the flight device is realized.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to flight trajectory prediction of an aircraft, and particularly relates to a trajectory simulation system based on a large envelope game strategy.
Background
The flight envelope is a closed geometric figure bounded by flight speed, altitude, overload, etc. to represent the flight range and flight constraints of the aircraft or spacecraft. With the development of the unmanned aerial vehicle technology, the functions of the unmanned aerial vehicle are more and more powerful, the application range is continuously expanded, and the flight envelope is larger and larger. The aircraft flies in the atmosphere (within 2 kilometers) and near spaces at the edge of the atmosphere, the flying speed changes greatly, and meanwhile, active maneuvering strategies exist. In order to perform behavior prediction on such targets, rapid simulation of their game maneuver decision behavior within the large envelope is required to predict their future trajectory.
At present, the intelligent aircraft has a flexible maneuvering flight strategy, and the flight track of the intelligent aircraft changes differently due to different flight environments. In game play confrontation, a confrontation party needs to track and monitor a smart aircraft and expect to predict the track of the smart aircraft so as to provide a basis for subsequent behaviors. Therefore, a maneuver decision strategy oriented to the trajectory prediction of the large envelope game intelligent aircraft and a rapid simulation method of the trajectory of the maneuver decision strategy are needed so as to predict the behavior and the trajectory of the aircraft.
Disclosure of Invention
In order to solve the above problems in the prior art, that is, to solve the problem of quickly estimating the flight maneuver strategy and the trajectory thereof of the aircraft in the countermeasure game, the present application provides a trajectory simulation system based on a large envelope game strategy to solve the above problems:
in a first aspect, the invention provides a trajectory simulation system based on a large-envelope game strategy. The system comprises: the system comprises a situation perception and decision module, an exception management module, a real-time maneuvering flight module and a target track resolving module; the situation perception and decision module is configured to acquire attitude data of the flight device and select different tactical tasks according to the attitude data; the anomaly management module is configured to switch the flight mission of the flight device according to the attitude data of the flight device and preset triggering conditions of various tactical missions; the real-time flight module is configured to calculate control of each flight sub-action of the flight device in flight according to the attitude data and the flight track to form a target attitude and a target track; the target track calculating module is configured to calculate the target attitude and the target track by using a multi-degree-of-freedom mechanical model and a motion equation, so as to output the target track of the flight device.
In some examples, the situational awareness and decision module includes: the situation perception sub-module is configured to acquire attitude data of the flight device and determine the flight situation of the flight device according to the attitude data; the tactical decision sub-module is configured to determine a tactical mission of the flight device according to the flight situation by utilizing a preset trigger condition and priority calculation; and the route planning submodule is configured to calculate the maneuver switching condition of the maneuver task and plan the tactical task according to the maneuver task and the emergency flight route.
In some examples, the tactical sub-module calculates any of the following tactical flights from the tactical mission based on preset trigger conditions and priorities: escape flight tactics, emergency maneuver evasion tactics, and normal flight tactics.
In some examples, the route planning submodule is further configured to implement planning of the maneuver switching condition and the tactical mission through an a-x algorithm by using a planning constraint condition.
In some examples, the anomaly management module includes a management scheduling sub-module and a state estimation sub-module, where the management scheduling sub-module is configured to perform typical fault and flight anomaly management on a flight mission according to a maneuver flight mission and attitude data, or to implement starting, stopping, and switching of the flight mission; the state estimation submodule is configured to detect the operation condition and the motion abnormality of the target motion, and monitor and evaluate typical faults of the flight device according to the detection result.
In some examples, the real-time flight module includes a hierarchical mode management sub-module, an interface normalization sub-module, and an instruction generation sub-module, wherein the hierarchical mode management sub-module is configured to control switching conditions, state monitoring, and state transition management between flight sub-actions using a hierarchical maneuver flight task library; the interface normalization sub-module is configured to calculate the load of the flight device according to the attitude parameters and the parameters related to the flight of the flight device detected by the sensor, so as to form a uniform target motion control input interface; the command generation submodule is configured to calculate control parameters of the flight subactions in different phases and switching relations among the subactions according to different flight trajectories.
In some examples, the solving the target attitude and the target trajectory using the multiple degree of freedom equation to achieve the output of the target trajectory includes: according to a multi-degree-of-freedom target motion dynamics model with target speed, a track inclination angle, a track yaw angle and geographic position coordinates XYZ as state variables, resolving the target track:
wherein V, x, y, z, theta, psi, phi, nx,nzG is in turn the mass axis ground speed, ground coordinates (x longitudinal distance, y lateral distance, z height), trajectory tilt angle, trajectory yaw angle, yaw vector roll angle, tangential overload, normal overload, and gravitational acceleration.
The method comprises the steps of resolving the target attitude and the track by using a multi-degree-of-freedom equation to output the target track, and converting a geographic coordinate XYZ solved by a six-degree-of-freedom motion equation into longitude, latitude and height of an earth coordinate system by adopting a method of converting a plane coordinate into a spherical coordinate.
The resolving the target attitude and the track by using the multiple degree of freedom equation to realize the output of the target track comprises the following steps: and performing interpolation calculation on the target parameters by using an Eulerian method or a second-order interpolation calculation method and adopting different interpolation frame rates to realize variable-frame-rate target track output.
According to the track simulation system based on the large envelope game strategy, the situation perception and decision module of the system selects flight tactics through the attitude of the flight device; the abnormity management module is used for switching flight tasks; the real-time flight module is used for forming a target attitude and a target track of the flight device, the target track resolving module realizes data display of the target track, quick prediction of a maneuver decision strategy and the track of the flight device in a countermeasure game is realized, the influence on target motion is pre-judged in advance under a certain time and space scale, and the pertinence and the countermeasure performance of the flight countermeasure behavior are improved.
Drawings
FIG. 1 is an exemplary system architecture diagram in which the present application may be applied;
FIG. 2 is a schematic structural diagram of an embodiment of a trajectory simulation system based on a large-envelope gaming strategy according to the present application;
FIG. 3 is a schematic diagram of tactical mission flight mode decision making for a big envelope gaming strategy based trajectory simulation system according to the present application;
FIG. 4 is a schematic diagram of a flight management scheduling state of a big-envelope gaming strategy based trajectory simulation system according to the present application;
FIG. 5 is a schematic illustration of a motorized flight hierarchy control of a trajectory simulation system based on a large-envelope gaming strategy according to the present application.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 illustrates an exemplary system architecture to which an embodiment of the present application big-envelope betting strategy based trajectory simulation system may be applied.
As shown in fig. 1, the system architecture may include a data acquisition device 101, a network 102, an execution mechanism 103, and a server 104. Network 102 is the medium used to provide communication links between data collection device 101, actuator 103, and server 104. Network 102 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The data acquisition equipment 101 is used for acquiring data related to the aircraft and sending the acquired data related to the aircraft to the server 104 through the network 102 for processing; the data acquisition device 101 may also be in communication with the actuator 103, and may be configured to acquire status information of the actuator, and may also directly control an action of the actuator according to the acquired data related to the aircraft. The data acquisition device 101 may be any of various sensing devices, such as, for example, a sensor that acquires parameters of speed, rotation angle, pitch angle, wind speed, altitude, acceleration, etc. of the aircraft.
The server 104 may be a server that provides various services, such as a processing server that processes data collected by the data collection apparatus 101 and controls the operation of the execution mechanism 103. The processing server may be various controllers for performing structural control on the execution structure according to preset logic or instructions and the collected data information. For example, the electronic control device may be an electronic circuit formed by electronic components, or an electronic control device with a processor or a microprocessor as a core, such as a single chip system, a programmable logic controller, a microcomputer, or the like. And the device can also be a smart device with data processing and control functions, such as a smart phone, a tablet computer, a laptop portable computer, a desktop computer and the like.
The actuator 103 may be any of various actuators for controlling the movement of the aircraft, such as various pneumatic devices, electric devices, and the like. It should be noted that the trajectory simulation system based on the big-envelope gaming strategy provided in the embodiment of the present application is generally disposed in the server 104.
It should be understood that the number of data collection devices, networks, execution mechanisms, and servers in FIG. 1 are illustrative only. There may be any number of terminal devices, networks, execution mechanisms, and servers, as desired for an implementation.
With continued reference to fig. 2, a schematic block diagram of one embodiment of a big-envelope gaming strategy based trajectory simulation system according to the present application is shown. The track simulation system based on the large-envelope game strategy comprises: the system comprises a situation perception and decision module, an exception management module, a real-time maneuvering flight module and a target track resolving module; the situation perception and decision module is configured to acquire attitude data of the flight device and select different tactical tasks according to the attitude data; the anomaly management module is configured to switch the flight mission of the flight device according to the attitude data of the flight device and preset triggering conditions of various tactical missions; the real-time flight module is configured to calculate control of each flight sub-action of the flight device in flight according to the attitude data and the flight track to form a target attitude and a target track; the target track calculating module is configured to calculate the target attitude and the target track by using a multi-degree-of-freedom mechanical model and a motion equation, so as to output the target track of the flight device.
In this embodiment, the situation awareness and decision module includes: the situation perception sub-module is configured to acquire attitude data of the flight device and determine the flight situation of the flight device according to the attitude data; the tactical decision sub-module is configured to determine a tactical mission of the flight device according to the flight situation by utilizing a preset trigger condition and priority calculation; and the route planning submodule is configured to calculate the maneuver switching condition of the maneuver task and plan the tactical task according to the maneuver task and the emergency flight route.
The situation awareness submodule acquires attitude data of the flight device, and the attitude data can be data acquired by the sensing device and data related to flight of the flight device and stored in the storage unit of the acquisition server. The attitude data may be a parameter in flight of the flying device, such as an attitude angle obtained using a gyroscope. The attitude angle is an included angle between a machine body coordinate system and a ground inertia coordinate system, and is expressed by a roll angle (roll), a pitch angle (pitch) and a yaw angle (yaw), wherein the roll angle phi is an included angle between a plane of symmetry of the airplane and a vertical plane passing through a longitudinal axis of the airplane body; the pitch angle theta is an included angle between the body axis and the ground plane (horizontal plane), and the aircraft is raised positively; the yaw angle psi is an included angle between the projection of the machine body axis on the horizontal plane and the ground axis, and the right yaw of the machine head is taken as positive. The flight attitude of the flying device or the aircraft can be determined by utilizing the attitude angle.
The tactical decision sub-module determines a tactical task according to the flight attitude by using the triggering condition and the priority. The triggering condition is a preset condition, and when the flight parameters or the flight attitude meet the triggering condition, corresponding action or corresponding tactics are executed. The priority is a preset action level or a preset tactical level, and when two tactical tasks meeting the triggering condition simultaneously, the tactical tasks with high priority are preferentially executed. The tactical mission is a flight mission preset by a flight device, such as normal flight, escape flight, emergency maneuver evasion, airway re-planning and the like. By way of example, reference may be made to fig. 3, which illustrates a tactical mission flight, with automatic flight and commanded flight by command. Normal flight, fault abnormal flight and escape maneuver in automatic flight. During normal flight, target motion training tasks such as level flight, ascending and descending, acceleration and deceleration, turning and the like can be performed. The escape maneuver may be a target motion of a u-turn, snake maneuver, maximum turn escape, minimum radar exposure escape, dive terrain following, and the like. And in normal flight, if the detected attitude data and flight data start a dangerous triggering condition, entering an escape maneuver flight mode. By triggering a fault exception condition, a fault exception flight regime is entered, as shown in fig. 4.
And the route planning submodule calculates the routes of maneuvering flight and emergency flight for the flight device according to the flight parameters and the attitude parameters of the flight device. The air route calculation sub-module carries out air route planning on the flight device by using a planning constraint condition through a dynamic planning method, a heuristic optimization search, a genetic algorithm, an artificial neural network and a group intelligent algorithm. Specifically, the maneuver switching condition and the tactical mission are planned through an A-x algorithm. The A-star algorithm is an A-star algorithm, and the algorithm of the air route is obtained by searching in a partition mode and by constructing an evaluation function according to preset constraint conditions according to the detected environment parameters, flight parameters and attitude parameters. The constraint conditions can be geographic terrain, meteorological conditions, conditions for fighting game party radar and avoiding a flight area, and the like. The evaluation function may be constituted by a weighting of threats, distances, mobility, etc.
The exception management module comprises a management scheduling submodule and a state estimation submodule. The management scheduling submodule is configured to perform typical fault and flight abnormity management on the flight task according to the maneuvering flight task and the attitude data so as to realize starting, stopping and switching of the flight task; the state estimation submodule is configured to detect the operation condition and the motion abnormality of the target motion, and monitor and evaluate typical faults of the flight device according to the detection result.
And the management scheduling submodule manages the flight target task of the flight device according to the maneuvering flight task and the attitude data. The maneuvering flight task can be a task or action such as level flight, ascending and descending, acceleration and deceleration, turning, rotation and the like. The above-described maneuver flight mission may be utilized to form a training mission for the movement of the target. The management scheduling submodule carries out emergency management on typical faults and flight abnormity. Specifically, the flight mission may be started, stopped, switched, and the like.
The state track submodule evaluates the flight state and is used for emergency management of flight tasks such as typical faults and flight abnormity. The evaluation of the flight state may be to detect the flight device by using initial conditions, switching conditions, termination conditions, abnormal motion and the like of the target motion according to the acquired flight parameters and attitude parameters, and evaluate task switching, abnormal flight and typical faults. The task switching can be switching of flight modes, and the flight modes can be flight modes such as command maneuver, defense maneuver, ground planning and the like. The switching between the modes can be actively selected according to the flight mission or the current flight state, and can also be automatically entered according to the state of the system. The flight abnormality can be an abnormal condition that the game confrontation parties collide with each other, and the game confronts the mountain or the ground. Typical faults of the aircraft can be insufficient fuel, insufficient power, abnormal radar equipment, abnormal radar warning equipment and the like. The finite state machine can be used for management and scheduling for the flight task state switching and the fault emergency treatment.
The real-time flight module comprises a layered mode management submodule, an interface normalization submodule and an instruction generation submodule, wherein the layered mode management submodule is configured to adopt a layered maneuvering flight task library to control switching conditions, state monitoring and state transition management among flight sub actions; the interface normalization sub-module is configured to calculate the load of the flight device according to the attitude parameters and the parameters related to the flight of the flight device detected by the sensor, so as to form a uniform target motion control input interface; the command generation submodule is configured to calculate control parameters of the flight subactions in different phases and switching relations among the subactions according to different flight trajectories.
And the layering manages the maneuvering flight, the flight mode switching and the state management layering. Specifically, hierarchical management can be performed on any flight mode of the flight device, and the hierarchical management can be an instruction generation layer, a conversion layer and a trajectory calculation layer, wherein the instruction generation layer can be used for decomposing a maneuvering action instruction into a single motion mode instruction, and a coordinate system parameter of the aircraft body is generated through normalization management of the instruction; the conversion layer converts the body coordinate system parameters into ground inertial coordinate system parameters; and the track resolving layer displays the flight track by using the ground inertial coordinate system parameters.
As an example, as shown in fig. 5, the flight trajectory of a maneuver flight mode is controlled hierarchically, and the first is a mode management algorithm of sub-actions of the maneuver flight, and the switching condition, state monitoring, and state transition management between the sub-actions are performed. The second layer is an overload normalization generation algorithm, parameters are converted, and the third layer is used for calculating the track.
And the interface normalization submodule calculates the target overload according to the attitude parameters and the flight parameters to form a uniform target motion control input interface. Specifically, the interface normalization submodule may calculate the target overload by using parameters such as a target thrust, an angle of attack, acceleration and deceleration, a lift drag coefficient, a dynamic pressure, an air density, an airplane mass, and an airfoil surface.
And the command generation submodule calculates control parameters (such as a rolling angle, a pitch angle, a yaw angle and a speed during overload and winding speed) of the sub-actions in different stages and a switching relation between the sub-actions according to different tracks.
The target track resolving module resolves the target attitude and the target track by utilizing a multi-degree-of-freedom mechanical model and a motion equation, and outputs the target track. Specifically, the method can be a six-degree-of-freedom dynamic model and a motion equation algorithm for maneuvering flight, and the target trajectory is solved according to a multi-degree-of-freedom target motion dynamic model with target speed, trajectory inclination angle, trajectory yaw angle and geographic position coordinate XYZ as state variables. The rolling angles of tangential overload, normal overload and speed vector can be taken as input and introduced into the following calculation formula to calculate the derivative of the state variable;
wherein V, x, y, z, theta, psi, phi, nx,nzG is in turn the mass axis ground speed, ground coordinates (x longitudinal distance, y lateral distance, z height), trajectory tilt angle, trajectory yaw angle, yaw vector roll angle, tangential overload, normal overload, and gravitational acceleration.
The longitude, latitude and height of the earth coordinate system can be converted from the geographic coordinate XYZ solved by the six-degree-of-freedom motion equation by adopting a method of converting a plane coordinate into a spherical coordinate.
Output of the achieved target trajectory, comprising: and performing interpolation calculation on the target parameters by using an Eulerian method or a second-order interpolation calculation method and adopting different interpolation frame rates to realize variable-frame-rate target track output.
And solving the target track by utilizing a nonlinear ordinary differential equation numerical integration algorithm of a fourth-order Runge Kutta algorithm according to the derivative of the variable. The method specifically comprises the following steps:
solving a numerical integration algorithm of a differential equation on the premise of knowing the derivative and initial value information of the equation; let the initial values be expressed as follows:
y′＝f(t，y)，y(t0)＝y0
then RK4 for this problem is given by the following equation:
wherein the content of the first and second substances,
k1＝f(tn，yn)
k4＝f(tn+h,yn+hk3)
yn+1from the present value ynPlus the product of the time interval (h) and an estimated slope. This slope is a weighted average of the following slopes: k1 is the slope at the beginning of the time period; k2 is the slope of the midpoint of the time segment, and y is determined at point by the Euler method using slope k1
A value of (d); k3 is also the slope of the midpoint, but this time the slope k2 is used to determine the y value; k4 is the slope of the end of the time period, and its y value is determined by k 3. When the four slopes are averaged, the slope of the midpoint has a greater weight:
the RK4 method is a four-step method, the error of each step is h5 steps, and the total accumulated error is h4 steps.
In the system provided by the above embodiment of the present application, the situation awareness and decision module selects a flight tactic according to the attitude of the flight device; the abnormity management module is used for switching flight tasks; the real-time flight module is used for forming a target attitude and a target track of the flight device, and the target track resolving module realizes data display of the target track.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (9)
1. A trajectory simulation system based on a big envelope game strategy is characterized by comprising: the system comprises a situation perception and decision module, an exception management module, a real-time flight module and a target track resolving module;
the situation perception and decision module is configured to acquire attitude data of the flight device and select different tactical tasks according to the attitude data;
the anomaly management module is configured to switch the flight mission of the flight device according to the attitude data of the flight device and preset triggering conditions of various tactical missions;
the real-time flight module is configured to calculate control of each flight sub-action of the flight device in flight according to the attitude data and the flight track to form a target attitude and a target track;
the target track calculating module is configured to calculate the target attitude and the target track by using a multi-degree-of-freedom mechanical model and a motion equation, so as to output the target track of the flight device.
2. The big-envelope gaming strategy-based trajectory simulation system of claim 1, wherein the situational awareness and decision module comprises: a situation perception sub-module, a tactical decision sub-module and a route planning sub-module,
the situation perception sub-module is configured to acquire attitude data of the flight device and determine the flight situation of the flight device according to the attitude data;
the tactical decision sub-module is configured to determine a tactical task of the flight device according to the flight situation by utilizing a preset trigger condition and priority calculation;
and the route planning submodule is configured to calculate the maneuver switching condition of the maneuver task and plan the tactical task according to the maneuver task and the emergency flight route.
3. The big envelope gaming strategy based trajectory simulation system of claim 2, wherein the tactical decision sub-module calculates any of the following tactics of flight from the tactical mission according to preset trigger conditions and priorities: escape flight tactics, emergency maneuver evasion tactics, and normal flight tactics.
4. The trajectory simulation system based on the big envelope gaming strategy of claim 2, wherein the routing sub-module is further configured to implement the planning of the maneuver switching condition and the tactical mission by an a-algorithm using a planning constraint condition.
5. The big-envelope gaming strategy-based trajectory simulation system of claim 1, wherein the anomaly management module comprises a management scheduling sub-module and a state estimation sub-module,
the management scheduling submodule is configured to perform typical fault and flight abnormity management on the flight task according to the maneuvering flight task and the attitude data so as to realize starting, stopping and switching of the flight task;
the state estimation submodule is configured to detect the operation condition and the motion abnormality of the target motion, and monitor and evaluate typical faults of the flight device according to the detection result.
6. The big envelope gaming strategy based trajectory simulation system of claim 4, wherein the real-time flight module comprises a layered modality management sub-module, an interface normalization sub-module, and an instruction generation sub-module,
the layered mode management submodule is configured to adopt a layered maneuvering flight task library to control switching conditions, state monitoring and state transition management among the flight submotions;
the interface normalization sub-module is configured to calculate the load of the flight device according to the attitude parameters and the parameters related to the flight of the flight device detected by the sensor, so as to form a uniform target motion control input interface;
and the instruction generation submodule is configured to calculate control parameters of the flight subactions at different stages and switching relations among the subactions according to different flight trajectories.
7. The trajectory simulation system based on the large envelope game strategy of claim 1, wherein the target attitude and the target trajectory are solved by using a multi-degree-of-freedom mechanical model and a motion equation to realize the output of the target trajectory, and the method comprises the following steps: according to a multi-degree-of-freedom target motion dynamics model with target speed, a track inclination angle, a track yaw angle and geographic position coordinates XYZ as state variables, calculating the target track:
where V is the mass axis to ground velocity, θ is the track tilt angle, ψ is the track yaw angle,
is the rolling angle of the vector of velocity around, nxIs a tangential overload, nzIs normal overload, g is gravitational acceleration, x is the longitudinal distance of the ground coordinate, y is the lateral distance of the ground coordinate, and z is the height of the ground coordinate.
8. The trajectory simulation system based on the large envelope game strategy of claim 7, wherein the target attitude and the target trajectory are solved by using a multi-degree-of-freedom mechanical model and a motion equation to achieve output of the target trajectory, and further comprising:
and transforming the longitude, the latitude and the height of the earth coordinate system by adopting a method of transforming a plane coordinate into a spherical coordinate, and transforming the geographic coordinate XYZ solved by the six-degree-of-freedom motion equation into the longitude, the latitude and the height of the earth coordinate system.
9. The trajectory simulation system based on the large envelope game strategy of claim 8, wherein the resolving of the target attitude and the target trajectory using the multi-degree-of-freedom mechanical model and the motion equation to achieve the output of the target trajectory comprises: and performing interpolation calculation on the target parameters by using an Eulerian method or a second-order interpolation calculation method and adopting different interpolation frame rates to realize variable-frame-rate target track output.
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| CN111290426B (en) * | 2018-12-07 | 2023-09-15 | 上海航空电器有限公司 | Prediction control method for automatic escape route avoidance of aircraft |
| DE102019103173A1 (en) * | 2019-02-08 | 2020-08-13 | Volocopter Gmbh | Method and system for movement planning for aircraft, in particular for load-carrying and / or person-carrying VTOL aircraft |
| CN110032806A (en) * | 2019-04-16 | 2019-07-19 | 北京电子工程总体研究所 | Approximating method and system suitable for stealthy aircraft post stall maneuver |
| CN111221352B (en) * | 2020-03-03 | 2021-01-29 | 中国科学院自动化研究所 | Control system based on cooperative game countermeasure of multiple unmanned aerial vehicles |
| CN112549010B (en) * | 2020-12-22 | 2022-11-08 | 南昌大学 | Design method of multi-joint snake-shaped robot self-adaptive trajectory tracking controller based on improved Serpenoid curve |
| CN112529110B (en) * | 2020-12-29 | 2023-04-07 | 中国科学院自动化研究所 | Adversary strategy inversion method, system and device |
| CN115268496B (en) * | 2022-08-03 | 2023-08-18 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle air countermeasure maneuvering controller and design method thereof |
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