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为克服用运动方程生成航迹曲线时无法控制曲线形状的缺陷,根据民航飞机遵循计划航路点飞行的特点,提出了利用BéZier曲线和B样条曲线生成飞机航迹的方法.用直线段距离和逼近BéZier曲线和开放均匀B样条曲线的长度近似计算航迹曲线长度,根据飞行计划中航路点位置的相互关系和飞机实时飞行的速度、位置等,生成BéZier曲线飞行航迹控制点后得到航迹曲线,此外,B样条曲线则不需要生成新控制点就能产生合理的航迹曲线;利用相应的BéZier曲线或开放均匀B样条曲线插值公式计算出下一个航迹点位置.仿真结果表明:用本文两种方法计算出的航迹与真实航迹相符;与运动方程方法相比,具有能生成多种形状航迹曲线的优势;在18个航路点条件下,用BéZier曲线模拟航迹的计算时间为0.13 s,满足实时性要求.
In order to overcome the defect that the shape of the curve can not be controlled when using the equation of motion, the method of using the Bézier curve and the B-spline curve to generate the aircraft flight path is proposed according to the characteristics that the civil aircraft follows the planned waypoint flight. Approximation of the length of the BéZier curve and the open B-spline curve approximates the length of the trajectory curve. According to the correlation of the waypoint locations in the flight plan and the real-time flight speed and position of the aircraft, a BéZier flight path flight control point In addition, the B spline curve can generate a reasonable track curve without generating a new control point, and the next track point position can be calculated by using the corresponding Bézier curve or an open B-spline curve interpolation formula. It is shown that the trajectories calculated by the two methods in this paper are in accordance with the real ones. Compared with the equations of motion, the trajectories obtained by the two methods have the advantage of generating curves of many kinds of shapes. Under the conditions of 18 wayspoints, Trace calculation time is 0.13 s, to meet the real-time requirements.