CN106586026B - A kind of measurement method of aircraft with respect to runway lateral deviation rate - Google Patents
A kind of measurement method of aircraft with respect to runway lateral deviation rate Download PDFInfo
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Abstract
A kind of measurement method the present invention relates to aircraft with respect to runway lateral deviation rate, belongs to avionics display control technology field.This method acquire first the downslide deviation of aircraft relative standard's glide path, aircraft with respect to the pressure altitude of runway, ground velocity, landing airdrome length, setting glidepath angles, and according to collected above- mentioned information resolve aircraft virtual course beacon station distance；Further according to roll angle, pitch angle, yaw angle, selected navigation channel, body coordinate system X-axis, Y-axis, Z axis acceleration resolve the aircraft acceleration lateral in runway；Finally the aircraft deviation rate lateral with respect to runway is obtained using complementary filter algorithm.Aircraft of the invention is with respect to runway lateral deviation speed measurement method, while comprehensively utilizing localizer data and inertial data, inhibit the low-frequency noise in the high-frequency noise and inertial data in localizer data, output data precision is higher, can support the high-security applications such as head-up flight guidance function.
Description
Technical field
A kind of measurement method the present invention relates to aircraft with respect to runway lateral deviation rate, belongs to avionics display control technology
Field.
Background technique
Aircraft with respect to runway lateral deviation rate be in head-up flight guidance function into nearly guiding, sliding run guiding, take off and lead
Draw important lateral deviation state representation amount, the precision of the parameter directly influences the head-up horizontal side direction guide of flight guidance function
Performance.The prior art is usually only according to localizer data or inertial data survey aircraft with respect to runway lateral deviation rate, boat
Noise is full of in high frequency to bootstrap information, inertial data has drift and error is accumulated at any time, leads to the aircraft obtained
The precision of opposite runway lateral deviation rate can not support the high security applications such as head-up flight guidance function.
Summary of the invention
Measurement method the object of the present invention is to provide a kind of aircraft with respect to runway lateral deviation rate, to support head-up to fly
The high-security applications such as row guidance function.
The technical solution of the present invention is as follows:
A kind of measurement method of the aircraft with respect to runway lateral deviation rate, it is characterised in that: the following steps are included:
Step 1: the acquisition downslide deviation of aircraft relative standard glide path, aircraft with respect to runway pressure altitude, ground velocity, race
Road length, setting glidepath angles, and according to collected above- mentioned information resolve aircraft virtual course beacon station it is horizontal away from
From；
Step 2: acquisition roll angle, pitch angle, yaw angle, selected navigation channel, body coordinate system X-axis acceleration, body coordinate
It is Y-axis acceleration, body coordinate system Z axis acceleration, and it is with respect to runway lateral according to collected above- mentioned information to resolve aircraft
Acceleration；
Step 3: according to localizer deviation, the horizontal distance of aircraft virtual course beacon station, pitch angle, roll angle, partially
Angular speed, rate of pitch, localizer antenna installation site, inertial reference system installation site, aircraft navigate in runway coordinate
Side acceleration under system obtains aircraft with respect to runway lateral deviation rate using complementary filter method.
Further preferred embodiment, with respect to the measurement method of runway lateral deviation rate, feature exists a kind of aircraft
In: the horizontal distance process of step 1 resolving aircraft virtual course beacon station are as follows:
Step 1.1: according to aerodrome elevation hR, aircraft atmosphere height hA, obtain the relative altitude between aircraft and runway
Δ h, Δ h=hA-hR；
Step 1.2: as Δ h > 50ft, according between aircraft and runway relative altitude Δ h, under aircraft relative standard
The downslide deviation Γ of slidewayGS, glide path set angle Ω, landing airdrome length LRWY, resolve aircraft virtual course beacon station it is horizontal away from
From RLOC, as Δ h≤50ft, according to landing airdrome length LRWY, aircraft ground velocity VGS, resolve aircraft virtual course beacon station it is horizontal away from
From RLOC:
Wherein t0When corresponding Δ h=50ft, starts ground velocity and integrate the moment.
Further preferred embodiment, with respect to the measurement method of runway lateral deviation rate, feature exists a kind of aircraft
In: downslide deviation Γ in step 1GSIt is to be obtained by multimode rake receiver, the aircraft atmosphere height is obtained by air data computer
It arriving, glidepath angles, aerodrome elevation, the landing airdrome length of the setting are obtained by flight management system, the aircraft
Speed is obtained by inertial reference system.
Further preferred embodiment, with respect to the measurement method of runway lateral deviation rate, feature exists a kind of aircraft
In: step 2 resolves aircraft with respect to the lateral acceleration process of runway are as follows:
Step 2.1: according to roll angle φ, pitching angle theta, yaw angle ψ, selected navigation channel λsel, obtain body coordinate system acceleration
Mapping relations M of the component to the runway coordinate system Y-axis centered on body coordinate system originb→r:
Step 2.2: according to body coordinate system X-axis acceleration ax, body coordinate system Y-axis acceleration ay, body coordinate system Z axis
Acceleration az, obtain the aircraft acceleration lateral in runway
Further preferred embodiment, with respect to the measurement method of runway lateral deviation rate, feature exists a kind of aircraft
In: yaw angle, pitch angle, roll angle, body coordinate system X-axis acceleration, body coordinate system Y-axis acceleration, body are sat in step 2
Mark system Z axis acceleration is obtained using inertial reference system, and selected navigation channel is obtained by flight management system.
Further preferred embodiment, with respect to the measurement method of runway lateral deviation rate, feature exists a kind of aircraft
In: step 3 calculates aircraft with respect to runway lateral deviation rate process are as follows:
Step 3.1: according to localizer deviation εLOC, aircraft virtual course beacon station horizontal distance RLOC, obtain aircraft
The lateral deviation Y of opposite runwayEST_runway: YEST_runway=εLOCRLOC；
Step 3.2: being installed according to pitching angle theta, roll angle φ, rate of pitch p, yaw rate r, localizer antenna
Projection X of the position in body coordinate system X-axisLOC, inertial reference system installation site body coordinate system X-axis projection XIRS, obtain
Obtain the lateral deviation rate correction amount from localizer antenna to inertial reference system
Step 3.3: the lateral deviation Y according to aircraft with respect to runwayEST_runway, the aircraft acceleration lateral in runwayLateral deviation rate correction amount from localizer antenna to inertial reference systemUtilize complementary filter
Method obtains aircraft with respect to runway lateral deviation rate
Further preferred embodiment, with respect to the measurement method of runway lateral deviation rate, feature exists a kind of aircraft
In: course beacon offset is obtained by multimode rake receiver in step 3, the pitch angle, roll angle, rate of pitch, yaw angle
Speed is obtained by inertial reference system, projection X of the localizer antenna installation site in body coordinate system X-axisLOC, inertia base
Projection X of the Barebone installation site in body coordinate system X-axisIRSFor aircraft configuration data.
Beneficial effect
The present invention acquire first the downslide deviation of aircraft relative standard's glide path, aircraft with respect to runway pressure altitude,
Speed, landing airdrome length, setting glidepath angles, and according to collected above- mentioned information resolve aircraft virtual course beacon station away from
From；Further according to roll angle, pitch angle, yaw angle, selected navigation channel, body coordinate system X-axis, Y-axis, Z axis acceleration resolve aircraft and exist
The lateral acceleration of runway；Finally the aircraft deviation rate lateral with respect to runway is obtained using complementary filter algorithm.Of the invention
Aircraft is with respect to runway lateral deviation speed measurement method, while comprehensively utilizing localizer data and inertial data, it is suppressed that
The low-frequency noise in high-frequency noise and inertial data in and, output data precision is higher, can support head-up flight guiding function
The high-security applications such as energy.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is schematic illustration of the aircraft of the present invention with respect to runway lateral deviation speed measurement method；
Fig. 2 be in the embodiment of the present invention aircraft with respect to the flow chart of runway lateral deviation speed measurement method.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
Aircraft of the present invention with respect to runway lateral deviation speed measurement method principle as shown in Figure 1, utilizing atmosphere data meter
The aircraft atmosphere height of calculation machine output, the downslide deviation of multimode rake receiver output, the ground velocity of inertial reference system output, tof tube
The setting glidepath angles of reason system output, aerodrome elevation, landing airdrome length data calculation aircraft virtual course beacon station
Horizontal distance；Recycle yaw angle, the pitch angle, roll angle, body coordinate system X-axis acceleration, machine of inertial reference system output
Body coordinate system Y-axis acceleration, body coordinate system Z axis acceleration, the selected navigation channel data calculation aircraft of flight management system output
In the lateral acceleration of runway；Acceleration finally lateral in runway according to aircraft, aircraft virtual course beacon station it is horizontal away from
Localizer deviation from the output of, multimode rake receiver, the pitch angle of inertial reference system output, roll angle, rate of pitch, partially
Navigate angular speed, and aircraft configuration data obtain high-precision aircraft with respect to runway lateral deviation rate using complementary filter method.
The specific implementation process of this method as shown in Fig. 2, specific embodiment steps are as follows:
1. resolving the horizontal distance information of aircraft virtual course beacon station:
This step need to acquire the downslide deviation of aircraft relative standard's glide path, aircraft with respect to runway pressure altitude,
Speed, landing airdrome length, setting glidepath angles information.
The present embodiment is to obtain aircraft atmosphere height h from air data computerA, downslide deviation is obtained from multimode rake receiver
ΓGS, ground velocity V is obtained from inertial reference systemGS, setting glidepath angles Ω, aerodrome elevation are obtained from flight management system
hR, landing airdrome length LRWY。
The aircraft atmosphere height h exported first with air data computerA, the airport height above sea level of flight management system output
Height hR, obtain the relative altitude Δ h between aircraft and runway；As Δ h > 50ft, according to opposite between aircraft and runway
The downslide deviation Γ of height Δ h, aircraft relative standard's glide pathGS, glide path set angle Ω, landing airdrome length LRWY, resolve aircraft
The horizontal distance R of virtual course beacon stationLOC, as Δ h≤50ft, according to landing airdrome length LRWY, aircraft ground velocity VGS, resolve aircraft
The horizontal distance R of virtual course beacon stationLOC:
Δ h=hA-hR
Wherein, as Δ h=50ft, start ground velocity integral.
2. resolving the aircraft acceleration information lateral with respect to runway:
This step needs to acquire roll angle, pitch angle, yaw angle, body coordinate system X-axis acceleration, body coordinate system Y-axis
Acceleration, body coordinate system Z axis acceleration, selected navigation channel information.
The present embodiment is to obtain aircraft crab angle ψ, pitching angle theta, roll angle φ, body coordinate system X from inertial reference system
Axle acceleration ax, body coordinate system Y-axis acceleration ay, body coordinate system Z axis acceleration az, institute is obtained from flight management system
Select navigation channel λsel。
It is exported using the aircraft crab angle ψ of inertial reference system output, pitching angle theta, roll angle φ, flight management system
Selected navigation channel λsel, body coordinate system component of acceleration is obtained to the runway coordinate system Y-axis centered on body coordinate system origin
Mapping relations Mb→r。
Body coordinate system component of acceleration is thrown to the runway coordinate system Y-axis centered on body coordinate system origin
Shadow obtains the aircraft acceleration lateral with respect to runway
3. resolving aircraft with respect to runway lateral deviation rate information:
This step needs to acquire pitch angle, roll angle, rate of pitch, yaw rate, localizer antenna installation position
It sets inclined in the projection of body coordinate system X-axis, localizer in the projection of body coordinate system X-axis, inertial reference system installation site
Difference, the horizontal distance of aircraft virtual course beacon station, the aircraft acceleration lateral with respect to runway.
The present embodiment is that aircraft pitch angle θ, roll angle φ, rate of pitch p, yaw angle speed are obtained from inertial reference system
R is spent, obtains localizer deviation ε from multimode rake receiverLOC, projection of the localizer antenna installation site in body coordinate system X-axis
XLOC, inertial reference system installation site body coordinate system X-axis projection XIRSFor aircraft configuration data, aircraft virtual course letter
Mark the horizontal distance R of platformLOC, the aircraft acceleration lateral with respect to runwayFor intermediate calculations.
Firstly, the localizer deviation ε exported using multimode rake receiverLOCAnd aircraft virtual course beacon station it is horizontal away from
From RLOC, obtain lateral deviation Y of the aircraft with respect to runwayEST_runway:
YEST_runway=εLOCRLOC
Utilize the aircraft pitch angle θ of inertial reference system output, roll angle φ, rate of pitch p, yaw rate r, meter
Calculate aircraft yaw angular speed
Utilize aircraft yaw angular speedProjection X of the localizer antenna installation site in body coordinate system X-axisLOC, it is used
Projection X of the property baseline system installation site in body coordinate system X-axisIRS, obtain from localizer antenna to inertial reference system
Lateral deviation rate correction amount
Lateral deviation Y according to aircraft with respect to runwayEST_runway, the aircraft acceleration lateral in runwayFrom
Lateral deviation rate correction amount of the localizer antenna to inertial reference systemFlown using complementary filter method
The machine deviation rate lateral with respect to runway
WhereinWithFor corresponding transmission function.
Measurement of the aircraft with respect to runway lateral deviation rate fully utilizes localizer data and inertia in the present embodiment
Data, it is suppressed that the low-frequency noise in high-frequency noise and inertial data in localizer data, output data precision is higher, can
To support the high-security applications such as head-up flight guidance function.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (7)
1. a kind of aircraft is with respect to the measurement method of runway lateral deviation rate, it is characterised in that: the following steps are included:
Step 1: the downslide deviation of acquisition aircraft relative standard glide path, aircraft are long with respect to the pressure altitude of runway, ground velocity, runway
Degree, the glidepath angles set, and according to the downslide deviation of collected aircraft relative standard glide path, aircraft with respect to runway
Pressure altitude, ground velocity, landing airdrome length, setting glidepath angles resolve aircraft virtual course beacon station horizontal distance；
Step 2: acquisition roll angle, pitch angle, yaw angle, selected navigation channel, body coordinate system X-axis acceleration, body coordinate system Y-axis
Acceleration, body coordinate system Z axis acceleration, and sat according to collected roll angle, pitch angle, yaw angle, selected navigation channel, body
Mark system X-axis acceleration, body coordinate system Y-axis acceleration, body coordinate system Z axis acceleration resolving aircraft are lateral with respect to runway to be added
Speed；
Step 3: according to localizer deviation, horizontal distance, pitch angle, roll angle, the yaw angle of aircraft virtual course beacon station
Speed, rate of pitch, localizer antenna installation site, inertial reference system installation site, aircraft are under runway coordinate system
Side acceleration, utilize complementary filter method to obtain aircraft with respect to runway lateral deviation rate.
2. measurement method of a kind of aircraft with respect to runway lateral deviation rate according to claim 1, it is characterised in that:
The horizontal distance process of step 1 resolving aircraft virtual course beacon station are as follows:
Step 1.1: according to aerodrome elevation hR, aircraft atmosphere height hA, the relative altitude Δ h between aircraft and runway is obtained,
Δ h=hA-hR；
Step 1.2: as Δ h > 50ft, according to relative altitude Δ h, the aircraft relative standard's glide path between aircraft and runway
Downslide deviation ΓGS, glide path set angle Ω, landing airdrome length LRWY, resolve the horizontal distance of aircraft virtual course beacon station
RLOC, as Δ h≤50ft, according to landing airdrome length LRWY, aircraft ground velocity VGS, resolve the horizontal distance of aircraft virtual course beacon station
RLOC:
Wherein t0When corresponding Δ h=50ft, starts ground velocity and integrate the moment.
3. measurement method of a kind of aircraft with respect to runway lateral deviation rate according to claim 2, it is characterised in that: step
Downslide deviation Γ in 1GSIt is to be obtained by multimode rake receiver, the aircraft atmosphere height is obtained by air data computer, described
Glidepath angles, aerodrome elevation, the landing airdrome length of setting are obtained by flight management system, and the aircraft ground velocity is by being used to
Property baseline system obtains.
4. measurement method of a kind of aircraft with respect to runway lateral deviation rate according to claim 1, it is characterised in that:
Step 2 resolves the aircraft acceleration process lateral with respect to runway are as follows:
Step 2.1: according to roll angle φ, pitching angle theta, yaw angle ψ, selected navigation channel λsel, obtain body coordinate system component of acceleration
To the mapping relations M of the runway coordinate system Y-axis centered on body coordinate system originb→r:
Step 2.2: according to body coordinate system X-axis acceleration ax, body coordinate system Y-axis acceleration ay, body coordinate system Z axis accelerate
Spend az, obtain the aircraft acceleration lateral in runway
5. measurement method of a kind of aircraft with respect to runway lateral deviation rate according to claim 4, it is characterised in that: step
Yaw angle, pitch angle, roll angle, body coordinate system X-axis acceleration, body coordinate system Y-axis acceleration, body coordinate system Z axis in 2
Acceleration is obtained using inertial reference system, and selected navigation channel is obtained by flight management system.
6. measurement method of a kind of aircraft with respect to runway lateral deviation rate according to claim 1, it is characterised in that:
Step 3 calculates aircraft with respect to runway lateral deviation rate process are as follows:
Step 3.1: according to localizer deviation εLOC, aircraft virtual course beacon station horizontal distance RLOC, it is opposite to obtain aircraft
The lateral deviation Y of runwayEST_runway: YEST_runway=εLOCRLOC；
Step 3.2: according to pitching angle theta, roll angle φ, rate of pitch p, yaw rate r, localizer antenna installation site
In the projection X of body coordinate system X-axisLOC, inertial reference system installation site body coordinate system X-axis projection XIRS, obtain from
Lateral deviation rate correction amount of the localizer antenna to inertial reference system
Step 3.3: the lateral deviation Y according to aircraft with respect to runwayEST_runway, the aircraft acceleration lateral in runway
Lateral deviation rate correction amount from localizer antenna to inertial reference systemIt is obtained using complementary filter method
Aircraft is with respect to runway lateral deviation rate
7. measurement method of a kind of aircraft with respect to runway lateral deviation rate according to claim 6, it is characterised in that: step
Course beacon offset is obtained by multimode rake receiver in 3, the pitch angle, roll angle, rate of pitch, yaw rate be by
Inertial reference system obtains, projection X of the localizer antenna installation site in body coordinate system X-axisLOC, inertial reference system peace
Projection X of the holding position in body coordinate system X-axisIRSFor aircraft configuration data.
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| CN107727877A (en) * | 2017-09-04 | 2018-02-23 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of ground velocity measuring method based on instrument-landing-system |
| CN107885195A (en) * | 2017-12-29 | 2018-04-06 | 杜特（珠海）飞行服务有限公司 | A kind of robot automatic navigation method based on undercarriage |
| CN110488864B (en) * | 2019-08-15 | 2021-12-03 | 中国商用飞机有限责任公司 | Method and system for modifying a LOC signal in a flight control system of an aircraft |
| CN111103890B (en) * | 2019-12-17 | 2022-11-11 | 西北工业大学 | High-precision strong-robustness approach landing guiding control method |
| CN111746816B (en) * | 2020-05-18 | 2022-03-08 | 陈穗 | Airplane landing auxiliary device and landing method |
| CN113380075B (en) * | 2021-06-08 | 2022-02-08 | 东航技术应用研发中心有限公司 | Method and system for measuring landing air distance |
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