基于K均值的PSO聚类算法,快速扩展随机生成树算法，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角。- K-means clustering algorithm based on the PSO, Rapid expansion of random spanning tree algorithm, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle.