CN118171490B - Track generation method and device of navigation simulation system, electronic equipment and medium - Google Patents
Track generation method and device of navigation simulation system, electronic equipment and medium Download PDFInfo
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Abstract
本申请公开了一种导航仿真系统的轨迹生成方法、装置、电子设备及介质，所述方法包括步骤：S1、根据场景的导航点轨迹预设参数，持续计算目标飞行装备的预定导航点轨迹；S2、实时获取部署在目标飞行装备上的组合导航接收机设备上报的定位解算结果并预测定位位置；S3、根据所述预测定位位置和所述预定导航点轨迹实时调整目标飞行装备自身的飞行方向和速度，实时生成目标飞行装备的真实轨迹点；S4、在仿真期间的每一个仿真更新时刻，重复前述步骤递推得到目标飞行装备的所有真实轨迹点，最终实时生成目标飞行装备的6自由度二阶平滑的真实动态轨迹。本申请可实时的生成飞行设备装备的真实动态轨迹，提高了整个仿真系统的使用价值与真实性。
The present application discloses a trajectory generation method, device, electronic device and medium of a navigation simulation system, the method comprising the steps of: S1, continuously calculating the predetermined navigation point trajectory of the target flight equipment according to the preset parameters of the navigation point trajectory of the scene; S2, obtaining the positioning solution results reported by the combined navigation receiver device deployed on the target flight equipment in real time and predicting the positioning position; S3, adjusting the flight direction and speed of the target flight equipment itself in real time according to the predicted positioning position and the predetermined navigation point trajectory, and generating the real trajectory points of the target flight equipment in real time; S4, at each simulation update moment during the simulation, repeating the above steps recursively to obtain all the real trajectory points of the target flight equipment, and finally generating the real dynamic trajectory of the target flight equipment with 6 degrees of freedom and second-order smoothness in real time. The present application can generate the real dynamic trajectory of flight equipment in real time, which improves the use value and authenticity of the entire simulation system.
Description
Technical Field
The present application relates to the field of navigation simulation technologies, and in particular, to a track generation method, apparatus, electronic device, and medium for a navigation simulation system.
Background
In the current navigation simulation system, a target flight device provided with a satellite navigation receiver and an inertial navigation receiver is deployed and simulated in a real three-dimensional battlefield environment with suppression interference, deception interference, multipath error and shielding effect, under the complex environment, the target flight device runs in space according to a set track, a combined navigation receiver receives satellite navigation signals with errors, inertial navigation signals and suppression and deception interference signals, a positioning output result is necessarily deviated from a real position of the combined navigation receiver, in the real world, the deviation of the navigation positioning output result can lead to inconsistency of the actual flight track of the device with an original planned track, the current navigation deduction simulation system does not utilize the output positioning of the receiver, so that the simulation mode is quite different from the actual situation, and the actual running effect of the unappropriately real simulation device under various interference conditions, such as when positioning errors occur, or when positioning is deception, the flight line can be affected, and a track dynamic generation technology is needed at the moment, and the real dynamic track of the target flight device is generated according to the positioning output of the receiver. Because of the need to simulate inertial navigation sensors, the generated target flight equipment track is required to be smooth in second derivative, namely smooth in acceleration.
Disclosure of Invention
The application provides a track generation method of a navigation simulation system, which aims to solve the technical problem that the existing navigation simulation system cannot truly simulate the actual operation effect of target flight equipment under various interference conditions.
The technical scheme adopted by the application is as follows:
a track generation method of a navigation simulation system comprises the following steps:
s1, continuously calculating a preset navigation point track of target flight equipment according to preset navigation point track parameters of a scene;
S2, acquiring a positioning solution result reported by integrated navigation receiver equipment deployed on target flight equipment in real time and predicting a positioning position;
S3, adjusting the flight direction and speed of the target flight equipment in real time according to the predicted positioning position and the track of the preset navigation point, and generating real track points of the target flight equipment in real time, wherein the real track points comprise positions, speeds, accelerations, attitude angles and attitude angular speeds;
s4, repeating the steps at each simulation updating moment in the simulation period to recursively obtain all real track points of the target flight equipment, and finally generating a 6-degree-of-freedom second-order smooth real dynamic track of the target flight equipment in real time.
Further, the step S1 specifically includes the steps of:
S11, setting navigation point track parameters in scenes, wherein the navigation point track consists of a plurality of navigation points, and each navigation point comprises the following information: position, speed, turning radius;
S12, when the track of the preset navigation point of the target flight equipment is calculated, the current track position advances along the large ground line from the first navigation point position to the second navigation point position according to the set speed, when the second navigation point is reached, the vehicle turns according to the set turning radius, after the advancing direction points to the third navigation point, the vehicle stops turning, and advances to the third navigation point position in the same way, and so on, so that the position, the speed and the acceleration of the track of the preset navigation point are continuously generated at each simulation updating moment.
Further, the step S1 specifically further includes the steps of:
And S13, in the simulation process, the navigation point track parameters allow the real-time control modification of the human in the loop, including the position and the speed of one navigation point, the turning radius, deleting the navigation point, and adding a new navigation point, wherein the navigation point track parameters of the navigation point through which the navigation point position passes are forbidden to be modified.
Further, the step S2 specifically includes:
S21, at each simulation updating moment, after noise elimination and track smoothing are carried out on the position and speed reported by the integrated navigation receiver device through a Kalman track prediction algorithm, the predicted position tp and the predicted speed tv of the integrated navigation receiver device are calculated, and the predicted positioning position p r at the current moment of the integrated navigation receiver device is obtained.
Further, the step S2 specifically further includes the steps of:
S22, correcting a predicted positioning position p r of the combined navigation receiver device at the current moment: wherein d is the control delay between the simulation time of the whole simulation system and the time of the hardware signal generation system, and the smaller d is, the higher the prediction accuracy is.
Further, the step S3 specifically includes the steps of:
S31, in order to simulate the target flight equipment to adjust the flight direction and speed of the target flight equipment in real time according to the self-positioning state and the track of the preset navigation point, setting the next following position of the track as follows: the time to reach the next following position is estimated as: establishing a track polynomial:
Wherein: For 7 unknown three-dimensional vectors, Respectively representing the position, the speed and the acceleration, which are three-dimensional vectors, and initial simulation time, wherein the real track point coincides with the corresponding track of the preset navigation point, and at subsequent simulation time, recursion is carried out according to the state of the real track point at the last simulation time, t1 is set as the time of the last simulation time, dt is a simulation interval, and the position of the real running track of the target flight equipment at the last time t1 is calculated asAt a speed ofAcceleration isCalculating the position of a preset navigation point track at the current moment t1+dt asAt a speed ofAcceleration is; The predicted positioning position reported by the corresponding combined navigation receiver equipment is p r;
s32, ensuring the position, the speed and the acceleration of the track polynomial to be in Time of dayOverlap inTime of dayCoincidence, set up equation:
Available matrix
Solving the equation:
solving the equation:
solving the equation:
wherein the subscript Representing vectorsComponent of WComponent merging, the solution of the equation can be obtained:；
S33, substituting the solution of the equation into a polynomial: the position of the real dynamic track of the target flight equipment at the current moment is At a speed ofAcceleration is；
S34, carrying out attitude calculation on the real dynamic track of the target flight equipment at the current moment, wherein the method comprises the following steps: forward direction of the flight equipment according to the targetAnd upward directionCalculating the attitude angle of the target flight equipment in a northeast day coordinate system, and calculating the attitude angular speed by a second-order center difference method through the attitude angle, wherein the forward direction of the target flight equipment is set in a body coordinate system of the target flight equipmentAlways pointing in the speed direction; upward of target flight equipmentCalculated by the following way: calculating the direction of the current real dynamic track position in ECEF coordinates as，At the same timeThe projection on the normal plane is the upward direction of the target flight equipment.
Further, the method further comprises the steps of:
And S5, in the simulation process, respectively performing visual drawing on the track of the preset navigation point, the real dynamic track and the predicted positioning position of the target flight equipment so as to conveniently observe the influence of each interference element on the track of the target flight equipment.
The application also provides a track generating device of the navigation simulation system, which comprises:
the preset navigation point track calculation module is used for continuously calculating the preset navigation point track of the target flight equipment according to the preset navigation point track parameters of the scene;
The predicted positioning position calculation module is used for acquiring a positioning calculation result reported by the integrated navigation receiver equipment deployed on the target flight equipment in real time and predicting a positioning position;
the real track point generation module is used for adjusting the flight direction and speed of the target flight equipment in real time according to the predicted positioning position and the preset navigation point track, and generating real track points of the target flight equipment in real time, wherein the real track points comprise positions, speeds, accelerations, attitude angles and attitude angular speeds;
And the real dynamic track generation module is used for repeating the steps at each simulation updating moment in the simulation period to recursively obtain all real track points of the target flight equipment, and finally generating the 6-degree-of-freedom second-order smooth real dynamic track of the target flight equipment in real time.
In another aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the trajectory generation method of the navigation simulation system when the computer program is executed.
The application also provides a storage medium, which comprises a stored program, and the program controls the equipment where the storage medium is located to execute the steps of the track generation method of the navigation simulation system when running.
The application has the following beneficial effects:
The application provides a track generation method, a device, electronic equipment and a medium of a navigation simulation system, wherein the method obtains the real dynamic track of target flight equipment by pre-estimating the positioning of integrated navigation receiver equipment of the target flight equipment and dynamically correcting the actual flight track according to the track of a preset navigation point, and the generated track and gesture are smooth and can be used for controlling and generating real-time signals; by using the method, in a navigation simulation system, under the condition that the target flying equipment has the errors of inertial navigation sensors, the accumulated errors of inertial navigation, pressing interference, deception interference and positioning deviation caused by the positioning performance of the combined navigation receiver equipment, the deviation of the real dynamic track of the target flying equipment and the track of a preset navigation point is simulated, and the influence on the deviation of the flying track of the target flying equipment under the conditions of different factors and different factors can be conveniently analyzed by setting the interference of different forms, the inertial navigation errors and the positioning performance of the combined navigation receiver equipment, so that the analysis of how to cause the deviation of the track of the opposite target flying equipment and the decoy of the opposite target flying equipment to the designated track in a complex navigation environment is facilitated, how to avoid the influence on the track by the opposite party is facilitated, and the use value and the authenticity of the whole simulation system are improved.
In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The present application will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic diagram of the principle of the navigation deduction simulation system.
FIG. 2 is a flow chart of a track generation method of a navigation simulation system according to a preferred embodiment of the present application.
Fig. 3 is a schematic view of the substep path of step S1 according to another preferred embodiment of the present application.
Fig. 4 is a schematic diagram of the substep path of step S1 according to another preferred embodiment of the present application.
Fig. 5 is a schematic view of the substep path of step S2 according to another preferred embodiment of the present application.
Fig. 6 is a schematic view of the substep path of step S2 according to another preferred embodiment of the present application.
FIG. 7 is a flow chart of a track generation method of a navigation simulation system according to another preferred embodiment of the present application.
FIG. 8 is a schematic diagram of a track generating device of a navigation simulation system in accordance with a preferred embodiment of the present application.
Fig. 9 is a schematic block diagram of an electronic device entity of a preferred embodiment of the present application.
Fig. 10 is an internal structural view of the computer device of the preferred embodiment of the present application.
Detailed Description
Embodiments of the application are described in detail below with reference to the attached drawing figures, but the application can be practiced in a number of different ways, as defined and covered below.
In the navigation deduction simulation system, as shown in fig. 1, the navigation deduction simulation system is composed of a plurality of signal processing units and a navigation deduction simulation software, each signal processing unit comprises an interference signal generating device, a navigation signal generating device and an inertial navigation receiver device, the signal generating devices can be hardware devices or software modules for simulating the devices, communication connection between each signal generating device and the combined navigation receiver device and the simulation software is established, the simulation software can perform real-time signal generation control on the simulation software by sending a control instruction, the signal output of each signal generating device in the same signal processing unit is connected to the corresponding combined navigation receiver device, so that satellite navigation and inertial navigation calculation can be performed on an input signal, the positioning result of the combined navigation receiver device is reported to the simulation software in real time, and one signal processing unit can simulate one target flight equipment.
The method comprises the steps of deploying and setting a plurality of target flight equipment and interference equipment in a virtual scene of simulation software, deploying a combined navigation receiver on the target flight equipment, deploying an interference transmitter on the interference equipment, setting a navigation point track of the target flight equipment, setting errors of inertial navigation sensors, setting a track of the interference equipment, setting interference parameters and transmitting power of the interference transmitter (comprising suppression interference and deception interference) of the interference equipment, and setting deception track and transmitting power of deception interference.
After simulation starts, the simulation program carries out simulation update at a fixed simulation time interval, simulation data of target flight equipment and equipment on the equipment in a virtual scene are calculated at each simulation update time, the target flight equipment runs in a space according to a set track under the complex environment, an integrated navigation receiver on the integrated navigation receiver receives satellite navigation signals with errors, inertial navigation signals and suppression and deception interference signals, and a positioning output result is inevitably deviated from a real position of the integrated navigation receiver.
In view of the above technical problems, as shown in fig. 2, a preferred embodiment of the present application provides a track generating method of a navigation simulation system, including the steps of:
s1, continuously calculating a preset navigation point track of target flight equipment according to preset navigation point track parameters of a scene;
S2, acquiring a positioning solution result reported by integrated navigation receiver equipment deployed on target flight equipment in real time and predicting a positioning position;
S3, adjusting the flight direction and speed of the target flight equipment in real time according to the predicted positioning position and the track of the preset navigation point, and generating real track points of the target flight equipment in real time, wherein the real track points comprise positions, speeds, accelerations, attitude angles and attitude angular speeds;
s4, repeating the steps at each simulation updating moment in the simulation period to recursively obtain all real track points of the target flight equipment, and finally generating a 6-degree-of-freedom second-order smooth real dynamic track of the target flight equipment in real time.
According to the method provided by the embodiment, through the prediction of the positioning of the integrated navigation receiver equipment of the target flight equipment, the actual flight track is dynamically corrected according to the track of the preset navigation point to obtain the actual dynamic track of the target flight equipment, and the generated track and gesture are smooth and can be used for the control generation of real-time signals; by using the method, in a navigation simulation system, under the condition that the target flying equipment has the errors of inertial navigation sensors, the accumulated errors of inertial navigation, pressing interference, deception interference and positioning deviation caused by the positioning performance of the combined navigation receiver equipment, the deviation of the real dynamic track of the target flying equipment and the track of a preset navigation point is simulated, and the influence on the deviation of the flying track of the target flying equipment under the conditions of different factors and different factors can be conveniently analyzed by setting the interference of different forms, the inertial navigation errors and the positioning performance of the combined navigation receiver equipment, so that the analysis of how to cause the deviation of the track of the opposite target flying equipment and the decoy of the opposite target flying equipment to the designated track in a complex navigation environment is facilitated, how to avoid the influence on the track by the opposite party is facilitated, and the use value and the authenticity of the whole simulation system are improved.
In another preferred embodiment of the present application, as shown in fig. 3, the step S1 is specifically the following steps:
S11, setting navigation point track parameters in scenes, wherein the navigation point track consists of a plurality of navigation points, and each navigation point comprises the following information: position, speed, turning radius;
S12, when the track of the preset navigation point of the target flight equipment is calculated, the current track position advances along the large ground line from the first navigation point position to the second navigation point position according to the set speed, when the second navigation point is reached, the vehicle turns according to the set turning radius, after the advancing direction points to the third navigation point, the vehicle stops turning, and advances to the third navigation point position in the same way, and so on, so that the position, the speed and the acceleration of the track of the preset navigation point are continuously generated at each simulation updating moment.
The present embodiment continuously calculates the predetermined navigation point track of the target flight equipment through step S11 and step S12, and continuously generates the position, speed and acceleration of one predetermined navigation point track, which has the advantage that the track turning point can be smoothed by using the turning radius for calculation.
In another preferred embodiment of the present application, as shown in fig. 4, the step S1 specifically further includes the steps of:
And S13, in the simulation process, the navigation point track parameters allow the real-time control modification of the human in the loop, including the position and the speed of one navigation point, the turning radius, deleting the navigation point, and adding a new navigation point, wherein the navigation point track parameters of the navigation point through which the navigation point position passes are forbidden to be modified.
In this embodiment, the navigation point track parameters allow for real-time control modification of the loop, where the loop refers to that after the operator inputs the first instruction, the operator still has the opportunity to perform the second or uninterrupted instruction correction, so that the embodiment can still adjust the relevant parameters according to the needs during the simulation process, so as to improve the flexibility and adaptability of the simulation, and certainly, the navigation point track parameters that have already passed the navigation point position cannot be modified, because the navigation point that has already passed cannot affect the calculation of the subsequent track any more.
As shown in fig. 5, in another preferred embodiment of the present application, the step S2 specifically includes:
S21, at each simulation updating moment, after noise elimination and track smoothing are carried out on the position and speed reported by the integrated navigation receiver device through a Kalman track prediction algorithm, the predicted position tp and the predicted speed tv of the integrated navigation receiver device are calculated, and the predicted positioning position p r at the current moment of the integrated navigation receiver device is obtained.
According to the embodiment, after noise elimination and track smoothing are carried out on the position and the speed reported by the integrated navigation receiver device through a Kalman track prediction algorithm, the predicted position tp and the predicted speed tv of the integrated navigation receiver device are calculated to obtain the predicted positioning position p r of the integrated navigation receiver device at the current moment.
In another preferred embodiment of the present application, as shown in fig. 6, the step S2 specifically further includes the steps of:
S22, correcting a predicted positioning position p r of the combined navigation receiver device at the current moment:
wherein d is the control delay between the simulation time of the whole simulation system and the time of the hardware signal generation system, and the smaller d is, the higher the prediction accuracy is.
Because the simulation time of the whole simulation software system and the time of the hardware signal generation system have a fixed control delay, the embodiment corrects the predicted positioning position p r at the current moment of the integrated navigation receiver equipment according to the delay, thereby effectively improving the calculation accuracy of the predicted positioning position and providing reliable data support for the accurate calculation of the follow-up real dynamic track.
In a preferred embodiment of the present application, the step S3 specifically includes the steps of:
S31, in order to simulate the target flight equipment to adjust the flight direction and speed of the target flight equipment in real time according to the self-positioning state and the track of the preset navigation point, setting the next following position of the track as follows: The following position represents a virtual position followed by the flight equipment, which is affected by a deviation of the predicted positioning position from the predetermined trajectory position; the time to reach the next following position is estimated as: Wherein Expressed in terms of speedStarting from the current position, at a speedAn estimate of the time interval required to reach the following position; establishing a track polynomial:
Wherein: For 7 unknown three-dimensional vectors, Respectively representing the position, the speed and the acceleration, which are three-dimensional vectors, and initial simulation time, wherein the real track point coincides with the corresponding track of the preset navigation point, and at subsequent simulation time, recursion is carried out according to the state of the real track point at the last simulation time, t1 is set as the time of the last simulation time, dt is a simulation interval, and the position of the real running track of the target flight equipment at the last time t1 is calculated asAt a speed ofAcceleration isCalculating the position of a preset navigation point track at the current moment t1+dt asAt a speed ofAcceleration is; The predicted positioning position reported by the corresponding combined navigation receiver equipment is p r;
s32, ensuring the position, the speed and the acceleration of the track polynomial to be in Time of dayOverlap inTime of dayThe two parts are overlapped together,
Establishing an equation set:
A matrix can be obtained:
solving the equation: Can be solved ；
Solving the equation: can obtain equation solution ；
Solving the equation: can obtain equation solution ；
Wherein the subscriptRepresenting vectorsComponent of WComponent merging, the solution of the equation can be obtained:；
S33, substituting the solution of the equation into a polynomial: the position of the real dynamic track of the target flight equipment at the current moment is At a speed ofAcceleration is；
S34, carrying out attitude calculation on the real dynamic track of the target flight equipment at the current moment, wherein the method comprises the following steps: forward direction of the flight equipment according to the targetAnd upward directionCalculating the attitude angle of the target flight equipment in a northeast day coordinate system, and calculating the attitude angular speed by a second-order center difference method through the attitude angle, wherein the forward direction of the target flight equipment is set in a body coordinate system of the target flight equipmentAlways pointing in the speed direction; upward of target flight equipmentCalculated by the following way: calculating the direction of the current real dynamic track position in ECEF coordinates as，At the same timeThe projection on the normal plane is the upward direction of the target flight equipment.
According to the embodiment, the calculation of the real track points of the target flight equipment is realized through the steps S31-S34, so that the effect of carrying out track adjustment in real time according to the equipment positioning state and supporting the real-time change of the preset track by a person in a loop is achieved; the algorithm simulates a flight control principle of real flight equipment, and the current track state is used for continuous iterative computation of the subsequent track state through the positioning state of the comprehensive equipment and a preset track and through a position equation of a six-time polynomial.
Meanwhile, the real track points calculated by the method of the embodiment are smooth in second order, and the reason is that the track position equation is a polynomial about time and is second order-derivable, so that the method meets the kinematic requirement of inertial navigation simulation on the track and ensures the high precision of the inertial navigation simulation.
In another preferred embodiment of the present application, as shown in fig. 7, the track generating method of the navigation simulation system further comprises the steps of:
And S5, in the simulation process, respectively performing visual drawing on the track of the preset navigation point, the real dynamic track and the predicted positioning position of the target flight equipment so as to conveniently observe the influence of each interference element on the track of the target flight equipment.
According to the embodiment, the preset navigation point track, the real dynamic track and the predicted positioning position of the target flight equipment are respectively visualized and drawn in the simulation process, so that the influence of each interference element on the track of the target flight equipment can be conveniently and intuitively observed and analyzed, the actual operation effect of the real simulation equipment under various interference conditions can be accurately, quickly and intuitively known, and a reliable basis is provided for the actual navigation working condition.
As shown in fig. 8, another preferred embodiment of the present application further provides a trajectory generation device of a navigation simulation system, including:
the preset navigation point track calculation module is used for continuously calculating the preset navigation point track of the target flight equipment according to the preset navigation point track parameters of the scene;
The predicted positioning position calculation module is used for acquiring a positioning calculation result reported by the integrated navigation receiver equipment deployed on the target flight equipment in real time and predicting a positioning position;
the real track point generation module is used for adjusting the flight direction and speed of the target flight equipment in real time according to the predicted positioning position and the preset navigation point track, and generating real track points of the target flight equipment in real time, wherein the real track points comprise positions, speeds, accelerations, attitude angles and attitude angular speeds;
And the real dynamic track generation module is used for repeating the steps at each simulation updating moment in the simulation period to recursively obtain all real track points of the target flight equipment, and finally generating the 6-degree-of-freedom second-order smooth real dynamic track of the target flight equipment in real time.
In another preferred embodiment of the present application, the trajectory generation device of the navigation simulation system further includes:
And the visual drawing module is used for respectively carrying out visual drawing on the track of the preset navigation point, the real dynamic track and the predicted positioning position of the target flight equipment in the simulation process so as to conveniently observe the influence of each interference element on the track of the target flight equipment.
As shown in fig. 9, the preferred embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the steps of the track generation method of the navigation simulation system in the above embodiment.
As shown in fig. 10, the preferred embodiment of the present application also provides a computer device, which may be a terminal or a living body detection server, the internal structure of which may be as shown in fig. 10. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with other external computer devices through network connection. The computer program, when executed by a processor, implements the steps of the trajectory generation method of the navigation simulation system described above.
It will be appreciated by those skilled in the art that the structure shown in FIG. 10 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
A preferred embodiment of the present application also provides a storage medium including a stored program that, when executed, controls a device in which the storage medium is located to execute the steps of the trajectory generation method of the navigation simulation system in the above embodiment.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The functions described in the method of this embodiment, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in one or more computing device readable storage media. Based on such understanding, a part of the present application that contributes to the prior art or a part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or other various media capable of storing program codes.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The scheme in the embodiment of the application can be realized by adopting various computer languages, such as object-oriented programming language Java, an transliteration script language JavaScript and the like.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
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| ITRM20110651A1 (en) * | 2010-12-20 | 2012-06-21 | Selex Sistemi Integrati Spa | METHOD OF QUICK PREDICTION OF THE VERTICAL PROFILE OF THE TRAJECTORY FOR THE MANAGEMENT OF AIR TRAFFIC, AND ITS RELATED ATM SYSTEM. |
| CN113808455B (en) * | 2020-06-16 | 2023-07-18 | 乐动天下（北京）体育科技有限公司 | Boat simulation training method and system |
| CN112100866B (en) * | 2020-11-05 | 2021-02-09 | 湖南卫导信息科技有限公司 | Navigation equipment efficiency evaluation method and simulation platform |
| CN112070894B (en) * | 2020-11-11 | 2021-01-22 | 湖南卫导信息科技有限公司 | Real environment navigation multipath real-time simulation method, device, medium and electronic equipment |
| US12431026B2 (en) * | 2021-06-01 | 2025-09-30 | The Mitre Corporation | Systems and methods for bulk aircraft data simulator and comparison tool |
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| CN105069237A (en) * | 2015-08-13 | 2015-11-18 | 南京航空航天大学 | Hardware interface incentive based dynamic information simulation method for inertia/satellite deep integrated navigation system |
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