INVERSE SIMULATION PATH DESCRIPTION METHOD OF HANGING SUBJECTS

The invention comprises the following steps: comparing the current position information of the helicopter hanging object with the target position of the mission subject; determining the helicopter attitude parameters, angular velocity parameters, height parameters and vertical velocity parameters needed by the helicopter hanging subject from the current position to the target of mission subject by the scale factors according to the compared position deviation; constructing the path description equation; obtaining the manipulated variables needed by the helicopter to reach the target position according to the helicopter attitude parameters, angular velocity parameters, altitude parameters and vertical velocity parameters; and obtaining path of the helicopter reaching the target position by iterative calculation. The path that is consistent with the requirements of mission subjects by using this path description method is obtained and may verify the accuracy and effectiveness of this path description method.