CN105607102A - Multi-source-positioning-data-fusion-processing-based flight reappearance system and flight reappearance method thereof - Google Patents

Abstract

The present invention relates to a flight reproduction system and method based on multi-source positioning data fusion processing, including airborne equipment and ground receiving and display equipment, the airborne equipment is installed on the aircraft, and is used to collect and send the position information and attitude of the aircraft in real time Information; the ground receiving and displaying equipment is used to receive the aircraft position information and attitude information sent by the on-board equipment, and process the above information in real time to reproduce the flight with the aircraft track and three-dimensional attitude. The present invention simultaneously collects the navigation satellite signals on the aircraft and the aircraft position and attitude data on the 1553B bus of the aircraft avionics system, and through the fusion processing of the airborne multi-source positioning data, the flight data display terminal can receive the position of the aircraft in real time and continuously and attitude information, which ensures the continuity of flight reproduction when satellite signals cannot be continuously positioned under large maneuvering conditions.

Description

A flight reproduction system and method based on fusion processing of multi-source positioning data

technical field

The invention relates to flight data collection technology and flight reproduction technology, in particular to a system and method for real-time collection, fusion processing and reproduction of multi-source aircraft positioning data.

Background technique

In order to realize the real-time reproduction of the aircraft flight trajectory, it is necessary to use the flight trajectory data describing the position of the aircraft changing over time, and the aircraft attitude data changing over time. Usually, the position data of the aircraft are obtained through satellite receiving antennas and receivers installed on the aircraft. After obtaining the position information of the aircraft, you can use the position information of the aircraft plus the heading and attitude information of the aircraft to drive the aircraft model to reproduce the flight process of the aircraft in real time on the computer screen.

However, under the condition of large maneuvering of the aircraft, relying solely on navigation satellites will not be able to continuously provide the aircraft position information, resulting in the inability to determine the position of the aircraft during the reproduction process of the aircraft, and the track of the flight reproduction is discontinuous, so that the ground personnel cannot grasp the position of the aircraft in real time. location.

Contents of the invention

The technical problem to be solved by the present invention is to provide a flight reappearance system and method based on multi-source positioning data fusion processing to ensure the continuity of real-time reappearance of the flight trajectory of the aircraft under large maneuvering conditions. The multi-source positioning data comes from satellite positioning data and the inertial navigation system in the on-board avionics system.

The technical solution adopted by the present invention to solve its technical problems is:

A flight reproduction system based on multi-source positioning data fusion processing, including airborne equipment, ground ultrashort wave antenna, and ground receiving and display equipment. The airborne equipment is installed on the aircraft for real-time collection and transmission of aircraft position information and attitude information; the ground ultrashort wave antenna and ground receiving and display equipment are used to receive the aircraft positioning information and attitude information sent by the onboard equipment, and perform real-time processing on the above information in the form of aircraft track and three-dimensional attitude Flight reproduction.

Preferably, the airborne equipment includes a satellite receiving antenna, a host and an airborne ultrashort wave antenna; the satellite receiving antenna is used to receive navigation satellite signals; the host is used to receive satellite signals sent by the satellite receiving antenna; And selectively filter and receive the 1553B bus data of the aircraft avionics system; encode, modulate and amplify the multi-source positioning data together with the aircraft attitude data after fusion processing, and send it to the airborne ultrashort wave antenna in the form of radio frequency signals; the airborne ultrashort wave antenna, It is used to transmit the radio frequency signal sent by the host.

Preferably, the host includes a satellite signal receiving and processing module, a 1553B bus data receiving and processing module, a baseband processing module, a power amplifier module, and a power supply module; the satellite signal receiving and processing module is used to process the satellite signal sent by the satellite receiving antenna, And send aircraft position information, available satellite number information to baseband processing module; Described 1553B bus data receiving processing module is crosslinked with 1553B bus system on the aircraft by 1553B bus connector, works in bus monitor mode, according to aircraft avionics system The bus number, remote terminal address, sub-address and logic blocks defined by the 1553B bus interface control file can selectively collect the aircraft position information and attitude information sent by the aircraft inertial navigation system in real time from the 1553B bus; the baseband processing module is used for real-time Receive the data information sent by the satellite signal receiving and processing module and the 1553B bus data receiving and processing module, and perform fusion processing on the multi-source positioning data according to the number of currently used satellites, and combine the processed aircraft position information and aircraft attitude information into one frame The flight data is sent to the power amplifier module after encoding and modulation; the power amplifier module completes the power amplification of the radio frequency signal and sends it to the airborne ultrashort wave antenna; the power module is used to convert the 28V DC power supply on the machine The direct current required for the module to work.

Preferably, the information given by the satellite signal receiving and processing module includes: UTC time, the number of satellites used, longitude, latitude, and altitude; the information given by the aircraft inertial navigation system includes: aircraft latitude, longitude, roll angle, Pitch angle, true heading, altitude.

A flight reproduction method of a flight reproduction system based on multi-source positioning data fusion processing, comprising the following steps:

Step 1: Use the airborne equipment installed on the aircraft to collect the position information and attitude information of the aircraft in real time. After the collection and processing are completed, send them to the ground receiving and display equipment in the form of data packets;

Step 2: The ground ultrashort wave antenna and the ground receiving and displaying equipment receive the position information and attitude information sent by the aircraft in the air, and after processing the information, display it in the form of the aircraft track and three-dimensional attitude.

Preferably, said step 1 includes the following steps:

Step 1.1: Use the satellite signal receiving and processing module to receive and process the navigation satellite signal, get the UTC time, the number of satellites used, longitude, latitude, and height information, and send it to the baseband processing module;

Step 1.2: Use the 1553B bus data receiving and processing module to selectively collect and receive the 1553B bus data of the aircraft avionics system, obtain the aircraft position information and attitude information sent by the aircraft inertial navigation system according to the 1553B bus interface control file of the aircraft avionics system, and send to the baseband processing module;

Step 1.3: The baseband processing module fuses the two-way aircraft position information from the satellite signal receiving and processing module and the 1553B bus data receiving and processing module according to the number of currently used satellites, and forms a frame of flight data with the aircraft attitude information;

Step 1.4: The baseband processing module encodes and modulates the formed flight data frame, and sends it to the power amplifier module;

Step 1.5: The power amplifier module amplifies the power of the signal sent by the baseband processing module, and sends it to the airborne ultrashort wave antenna for external radiation;

Preferably, the step 1.3 further includes: when the altitude of the aircraft is less than a predetermined altitude, the baseband processing module does not perform fusion processing on the two-way aircraft position information from the satellite signal receiving and processing module and the 1553B bus data receiving and processing module, but directly Combining the position information from the satellite signal receiving and processing module and the aircraft attitude information from the 1553B bus data receiving and processing module to form a frame of flight data.

Preferably, said step 2 further includes the following steps:

Step 2.1: The ground ultrashort wave antenna sends the received signal to the ground receiving and display equipment, and the ground receiving and display equipment decodes the received flight data;

Step 2.2: Smooth and interpolate the flight data;

Step 2.3: The real-time updated flight data drives the 3D model of the aircraft, which is superimposed with the digital map in the scene for display.

Compared with the prior art, the technical effect of the present invention lies in: the present invention solves the problem of discontinuous flight reproduction trajectory caused by the inability to perform continuous positioning of satellite signals under the condition of large maneuvering of the aircraft through the fusion processing of the airborne multi-source positioning data. The problem of using recursive calculation to solve the problem of poor real-time and low precision of aircraft position information; the continuity, real-time and accuracy of flight reproduction are realized.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a structural representation of the present invention;

In the figure: 1-satellite receiving antenna, 2-satellite signal receiving and processing module, 3-1553B bus data receiving and processing module, 4-baseband processing module, 5-power amplifier module, 6-power supply module, 7-airborne ultrashort wave antenna, 8 - Ground ultrashort wave antenna, 9 - Ground receiving and display equipment.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

As shown in Figure 1, a flight reproduction system based on multi-source positioning data fusion processing includes airborne equipment, ground ultrashort wave antenna 8 and ground receiving and display equipment 9. The airborne equipment is installed on the aircraft for real-time acquisition, Send the position information and attitude information of the aircraft; the ground ultrashort wave antenna 8 is used to receive the radio frequency signal sent by the onboard equipment and send it to the ground receiving and display device 9; the ground receiving and display device 9 receives the radio frequency signal sent by the ground ultrashort wave antenna 8 , and after processing the radio frequency signal to obtain the positioning information and attitude information of the aircraft, the flight reproduction is performed in the form of the aircraft track and three-dimensional attitude. Preferably, the airborne equipment includes a satellite receiving antenna 1, a host and an airborne ultrashort wave antenna 7; the satellite receiving antenna 1 is used to receive navigation satellite signals; the host is used to receive satellite signals sent by the satellite receiving antenna 1, collect and select Filter and receive the 1553B bus data of the aircraft avionics system, encode, modulate, and amplify the multi-source positioning data together with the aircraft attitude data after fusion processing, and send it to the airborne ultrashort wave antenna 7 in the form of radio frequency signals; the airborne ultrashort wave antenna 7 is used for Transmit the radio frequency signal sent by the host.

Preferably, the host includes a satellite signal receiving and processing module 2, a 1553B bus data receiving and processing module 3, a baseband processing module 4, a power amplifier module 5, and a power supply module 6. The satellite signal receiving and processing module 2 is used to process the satellite signal sent by the satellite receiving antenna 1, and sends aircraft position information and available satellite number information to the baseband processing module 4; the 1553B bus data receiving and processing module 3 communicates with the 1553B bus connector The 1553B bus system on the aircraft is cross-linked, works in the bus monitor mode, and selectively collects the aircraft inertia from the 1553B bus in real time according to the bus number, remote terminal address, sub-address and logic block defined in the 1553B bus interface control file of the aircraft avionics system The aircraft position information and attitude information sent by the navigation system; the baseband processing module 4 is used to receive the data information sent by the satellite signal receiving and processing module 2 and the 1553B bus data receiving and processing module 3 in real time, and perform multi-source positioning according to the number of currently used satellites The data is fused, and the processed aircraft position information and aircraft attitude information are combined into a frame of flight data, which is encoded and modulated and sent to the power amplifier module 5; the power amplifier module 5 completes the power amplification of the radio frequency signal and sends it to the ultrashort wave antenna ; The power supply module 6 is used to convert the 28V DC power supply on the machine into the DC power required for the work of each module inside the host.

Preferably, the information provided by the satellite signal receiving processing module 2 includes: UTC time, the number of satellites used, longitude, latitude, and height; the information provided by the aircraft inertial navigation system includes: aircraft latitude, longitude, roll angle, pitch angle, True heading, altitude.

Compared with the prior art, the technical effect of the present invention lies in: the present invention solves the problem of discontinuous flight reproduction trajectory caused by the inability to perform continuous positioning of satellite signals under the condition of large maneuvering of the aircraft through the fusion processing of the airborne multi-source positioning data. The problem of using recursive calculation to solve the problem of poor real-time and low precision of aircraft position information; the continuity, real-time and accuracy of flight reproduction are realized.

A flight reproduction method based on the fusion processing of airborne multi-source positioning data, comprising the following steps: Step 1: Utilize the airborne equipment installed on the aircraft to collect the position information and attitude information of the aircraft in real time, and after the collection and processing are completed, use the data The form of the packet is sent to the ground ultrashort wave antenna 8; Step 2: the ground receiving and display device 9 processes the radio frequency signal sent by the ground ultrashort wave antenna 8 to obtain the position information and attitude information of the aircraft. After the information is processed, the The aircraft track and three-dimensional attitude are displayed.

Preferably, step 1 comprises the following steps: Step 1.1: Utilize satellite signal receiving processing module 2 to receive, process navigation satellite signal, obtain UTC time, use satellite number, longitude, latitude, height information, and send to baseband processing module 4; Step 1.2: Use the 1553B bus data receiving and processing module 3 to selectively collect and receive the 1553B bus data of the aircraft avionics system, and obtain the aircraft position information and attitude information sent by the aircraft inertial navigation system according to the 1553B bus interface control file of the aircraft avionics system, and send To the baseband processing module 4; step 1.3: the baseband processing module 4 performs fusion processing on the two-way aircraft position information from the satellite signal receiving processing module 2 and the 1553B bus data receiving processing module 3 according to the number of currently used satellites, and integrates them with the aircraft attitude information Form a frame of flight data; step 1.4: the baseband processing module 4 encodes and modulates the formed flight data frame, and sends it to the power amplifier module 5; step 1.5: the power amplifier module 5 amplifies the power of the signal sent by the baseband processing module 4, and sends it to Give the airborne ultrashort wave antenna 7 external radiation;

Preferably, step 1.3 further includes: when the altitude of the aircraft is less than a certain predetermined altitude, the baseband processing module 4 does not perform fusion processing on the two-way aircraft position information from the satellite signal receiving and processing module 2 and the 1553B bus data receiving and processing module 3, but Directly combine the position information from the satellite signal receiving and processing module 2 and the aircraft attitude information from the 1553B bus data receiving and processing module 3 to form a frame of flight data.

Preferably, step 2 further includes the following steps: step 2.1: the ground receiving and presenting device 9 decodes the received flight data; step 2.2: smoothes and interpolates the flight data; step 2.3: the real-time updated flight data drives the aircraft The 3D model is superimposed with the digital map in the scene for display.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (8)

1. A flight reproduction system based on multi-source positioning data fusion processing, comprising airborne equipment, ground ultrashort wave antenna and ground receiving and display equipment, characterized in that: The airborne equipment is installed on the aircraft and is used to collect and send the position information and attitude information of the aircraft in real time; The ground ultrashort wave antenna and the ground receiving and displaying equipment are used to receive the aircraft positioning information and attitude information sent by the on-board equipment, and perform real-time processing on the above information to perform flight reproduction in the form of aircraft track and three-dimensional attitude. 2. A flight reproduction system based on multi-source positioning data fusion processing according to claim 1, wherein the airborne equipment includes a satellite receiving antenna, a host computer and an airborne ultrashort wave antenna; The satellite receiving antenna is used to receive navigation satellite signals; The host computer is used to receive the satellite signal sent by the satellite receiving antenna; collect and selectively filter and receive the 1553B bus data of the aircraft avionics system; encode, modulate and amplify the multi-source positioning data together with the aircraft attitude data after fusion processing, so as to The radio frequency signal is sent to the airborne ultrashort wave antenna; The airborne ultrashort wave antenna is used to transmit the radio frequency signal sent by the host. 3. A flight reproduction system based on fusion processing of multi-source positioning data according to claim 2, characterized in that: Wherein the host includes a satellite signal receiving and processing module, a 1553B bus data receiving and processing module, a baseband processing module, a power amplifier module, and a power supply module; The satellite signal receiving module is used to process satellite signals sent by the satellite receiving antenna, and send aircraft position information and available satellite number information to the baseband processing module; The 1553B bus data receiving and processing module is cross-linked with the 1553B bus system on the aircraft through the 1553B bus connector, and works in the bus monitor mode. According to the bus number, remote terminal address, sub The address and logic blocks selectively collect the aircraft position information and attitude information sent by the aircraft inertial navigation system from the 1553B bus in real time; The baseband processing module is used to receive the data information sent by the satellite signal receiving and processing module and the 1553B bus data receiving and processing module in real time, and locate the satellite signal receiving and processing module and the 1553B bus data receiving and processing module according to the number of currently used satellites The data is fused, and the aircraft position information and attitude information obtained after the fusion processing are combined into a frame of flight data, which is encoded and modulated and sent to the power amplifier module; The power amplifier module completes the power amplification of the radio frequency signal and sends it to the airborne ultrashort wave antenna; The power supply module is used to convert the 28V DC power supply on the machine into the DC power required by each module inside the host. 4. A flight reproduction system based on multi-source positioning data fusion processing according to claim 3, characterized in that: Wherein the information provided by the satellite signal receiving and processing module includes: UTC time, number of satellites used, longitude, latitude, height; the information provided by the aircraft inertial navigation system includes: aircraft latitude, longitude, roll angle, pitch angle , true heading, altitude. 5. A flight reproduction method of a flight reproduction system based on multi-source positioning data fusion processing according to claim 1, comprising the following steps: Step 1: Use the airborne equipment installed on the aircraft to collect the position information and attitude information of the aircraft in real time. After the collection and processing are completed, send them to the ground receiving and display equipment in the form of data packets; Step 2: The ground ultrashort wave antenna and the ground receiving and displaying equipment receive the position information and attitude information sent by the aircraft in the air, and after processing the information, display it in the form of the aircraft track and three-dimensional attitude. 6. A flight reproduction method according to claim 5, wherein said step 1 comprises the following steps: Step 1.1: Use the satellite signal receiving and processing module to receive and process the navigation satellite signal, get the UTC time, the number of satellites used, longitude, latitude, and height information, and send it to the baseband processing module; Step 1.2: Use the 1553B bus data receiving and processing module to selectively collect and receive the 1553B bus data of the aircraft avionics system, obtain the aircraft position information and attitude information sent by the aircraft inertial navigation system according to the 1553B bus interface control file of the aircraft avionics system, and send to the baseband processing module; Step 1.3: The baseband processing module fuses the two-way aircraft position information from the satellite signal receiving and processing module and the 1553B bus data receiving and processing module according to the number of currently used satellites, and forms a frame of flight data with the aircraft attitude information; Step 1.4: The baseband processing module encodes and modulates the formed flight data frame, and sends it to the power amplifier module; Step 1.5: The power amplifier module amplifies the power of the signal sent by the baseband processing module, and sends it to the airborne ultrashort wave antenna for external radiation. 7. A flight reproduction method according to claim 6, wherein said step 1.3 further comprises: when the altitude of the aircraft is less than a certain predetermined altitude, the baseband processing module does not receive the signal from the satellite signal processing module and the 1553B bus The two-way aircraft position information of the data receiving and processing module is fused and processed, but the position information from the satellite signal receiving and processing module and the aircraft attitude information from the 1553B bus data receiving and processing module are directly composed into a frame of flight data. 8. A flight reproduction method according to any one of claims 5, 6 or 7, wherein said step 2 further includes the following steps: Step 2.1: The ground receiving and displaying equipment decodes the received flight data; Step 2.2: Smooth and interpolate the flight data; Step 2.3: The real-time updated flight data drives the 3D model of the aircraft, which is superimposed with the digital map in the scene for display.