CN111504341A - Helicopter flight state identification method - Google Patents
Helicopter flight state identification method Download PDFInfo
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- CN111504341A CN111504341A CN202010363879.1A CN202010363879A CN111504341A CN 111504341 A CN111504341 A CN 111504341A CN 202010363879 A CN202010363879 A CN 202010363879A CN 111504341 A CN111504341 A CN 111504341A
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- 230000005283 ground state Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 5
- 235000020095 red wine Nutrition 0.000 description 5
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- 238000011156 evaluation Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 238000003703 image analysis method Methods 0.000 description 1
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- 238000012706 support-vector machine Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
- G01C23/005—Flight directors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
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Abstract
The invention belongs to the technical field of helicopter flight state identification, and relates to a helicopter flight state identification method; the method for identifying the flight state of the helicopter judges the flight state of the helicopter by utilizing a flight state identification logic tree, and the flight state identification logic tree judges the flight state of the helicopter in real time by utilizing the following flight parameters: pressure altitude, atmospheric temperature, indicated airspeed, GPS northbound speed, GPS eastern speed, magnetic heading angle, ground clearance, ground zero, roll angle, engine torque, number of engines, vertical overload. The identification method based on the invention is used for displaying the state, different flight states are displayed through different ground colors, the flight state of the helicopter can be conveniently and rapidly identified by a user, and the method has the advantages of real-time performance, accuracy, convenience and the like.
Description
Technical Field
The invention belongs to the technical field of helicopter flight state identification, and particularly relates to a helicopter flight state identification method.
Background
The identification of the flight state of the helicopter is very important for analyzing the flight test data of the helicopter, diagnosing the faults of the helicopter and predicting the service life. The published documents at present have a flight state identification method based on a dynamics method, an image analysis method, a neural network method and a support vector machine, but the methods have the defects of high input dimension, complex calculation process, poor identification effect caused by difficult convergence of a network model and the like.
The invention designs a helicopter flight state identification device which identifies each flight state of a helicopter based on a flight state identification logic tree and displays the identification result through different ground colors.
Disclosure of Invention
The purpose of the invention is: a helicopter flight state identification method is designed to solve the technical problems of high input dimension and complex calculation process in the existing identification method.
In order to solve the technical problem, the technical scheme of the invention is as follows:
a helicopter flight state identification method utilizes a flight state identification logic tree to judge the flight state of a helicopter, and the flight state identification logic tree utilizes the following flight parameters to judge in real time: pressure altitude, atmospheric temperature, indicated airspeed, GPS northbound speed, GPS eastern speed, magnetic heading angle, ground clearance, ground zero, roll angle, engine torque, number of engines, vertical overload.
The helicopter flight state identification method specifically comprises the following judging steps:
step one, judging whether the ground state or the air flight state is achieved through the ground clearance;
step two, judging the AEO, OEI and autorotation states of the helicopter according to the engine torque and the number of the engines;
step three, judging whether the helicopter is in a hovering state or a flying state through the GPS horizontal speed;
if the helicopter is in a hovering state, judging the aircraft nose pointing change rate and the terrain clearance change rate to judge whether the helicopter is in hovering maneuver or hovering with/without ground effect;
if the aircraft is in the flying state, entering the step four;
judging whether the helicopter flies forward, left, right or backward according to the GPS horizontal speed and the magnetic heading angle;
if the helicopter is in a forward flying state, entering a fifth step;
judging whether the helicopter is in a stable flight state or a maneuvering flight state through vertical overload;
if the helicopter is in a stable flight state, entering a sixth step;
judging whether the helicopter is in a flat flight, climbing or descending state according to the pressure altitude change rate;
if the helicopter is in a level flight state, entering a seventh step;
judging whether the helicopter is in an accelerating, decelerating or constant-speed level flight state according to the level flight speed change rate;
if the aircraft is in the constant-speed level flight state, entering the step eight;
and step eight, judging whether the helicopter is in a flat flying turning state or a stable flat flying state through the roll angle.
The specific judgment process in the first step is as follows:
and deducting the ground clearance zero point through the measured ground clearance of the helicopter to obtain the actual ground clearance, and judging whether the helicopter is away from the ground or not through whether the actual ground clearance is greater than 0 or not.
And step three, the GPS horizontal speed is obtained by calculating the north speed and east speed of the GPS.
And step three, calculating the machine head pointing change rate and the ground clearance change rate through a magnetic heading angle and a pressure altitude.
And seventhly, calculating the flat flying speed change rate by using a vacuum speed.
The vacuum speed is obtained by calculating the indicated airspeed, the atmospheric static temperature and the pressure altitude.
In another implementation, the ground clearance height may be replaced with a pressure height, and a corresponding ground clearance zero initial value is set.
Preferably, the helicopter ground clearance in the step one is measured by a radio high-speed instrument or a laser height instrument.
The invention has the beneficial effects that:
the helicopter flight state identification method can be used for identifying helicopter flight parameter data, selecting trial flight data and the like, and a user can quickly position a required data segment according to a flight state identification result, so that the method is convenient and quick; the time ratio of each flight state of the helicopter is analyzed, the actual service condition of each helicopter is counted, and an accurate data source is provided for residual life evaluation and maintenance guarantee plan of each component of the helicopter.
The helicopter flight state identification method can develop an identification device, judges the flight state of the helicopter in real time through the flight state identification logic tree based on the pilot flight data recorded on the helicopter, displays the flight state through different ground colors, can facilitate a user to quickly identify the flight state of the helicopter, and has the advantages of real time, accuracy, convenience and the like.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the embodiment of the present invention will be briefly explained. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a logic diagram of the present invention.
Detailed Description
In order to make the objects, 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 with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Features of various aspects of embodiments of the invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without these specific details. The following description of the embodiments is merely intended to better understand the present invention by illustrating examples thereof. The present invention is not limited to any particular arrangement or method provided below, but rather covers all product structures, any modifications, alterations, etc. of the method covered without departing from the spirit of the invention.
In the drawings and the following description, well-known structures and techniques are not shown to avoid unnecessarily obscuring the present invention. Table 1 below is a table of flight conditions for a helicopter where different conditions show different condition undertones on the instrument panel.
TABLE 1
| Serial number | Flight state | Status ground color |
| 1 | Ground state | Black colour |
| 2 | Land-effect hovering | Blue (B) |
| 3 | Hovering maneuvers | Water green |
| 4 | Left and right fly | Red wine |
| 5 | Fly backward | Red wine |
| 6 | Climbing device | Yellow colour |
| 7 | Descend | Orange |
| 8 | Flat fly turn | Green |
| 9 | Acceleration and deceleration flat fly | Pink |
| 10 | Stable plane flying | Blue green |
| 11 | Flying vehicle maneuver | Red wine |
| 12 | OEI flight | Red wine |
| 13 | Self-rotation | Red wine |
As shown in fig. 1, which is a logic diagram of the helicopter flight state recognition method of the present invention, the flight state recognition logic tree performs real-time judgment by using the following flight parameters: pressure altitude, atmospheric temperature, indicated airspeed, GPS northbound speed, GPS eastern speed, magnetic heading angle, ground clearance, ground zero, roll angle, engine torque, number of engines, vertical overload. Table 2 below shows the state identification parameters of the helicopter flight records required by the identification method of the present invention,
TABLE 2
The invention utilizes the identification logic tree to judge in real time, and comprises the following specific steps:
step one, judging whether the ground state or the air flight state is achieved through the ground clearance;
the method comprises the steps that the actual ground clearance is obtained by deducting a ground clearance zero point from the ground clearance of the helicopter measured by a radio high-speed instrument or a laser altimeter, whether the helicopter is away from the ground is judged according to whether the actual ground clearance is larger than 0, and whether the helicopter climbs and descends when the helicopter flies and hovers on the ground or not is judged. In the absence of ground clearance data, pressure height alternatives may be used, but corresponding ground clearance zeros need to be set.
Step two, judging the AEO, OEI and autorotation states of the helicopter according to the engine torque and the number of the engines;
whether the engine works normally or fails is judged by judging whether the torque of each engine is larger than a certain threshold value. If the torque of each engine is larger than a certain threshold value, the helicopter is in an AEO flight state; if the torque value of one engine is smaller than or equal to a certain threshold value, the helicopter is in an OEI flight state; if the torque values of all the engines are less than or equal to a certain threshold value, the helicopter is in a self-rotation state;
step three, judging whether the helicopter is in a hovering state or a flying state through the GPS horizontal speed;
if the helicopter is in a hovering state, judging the aircraft nose pointing change rate and the terrain clearance change rate to judge whether the helicopter is in hovering maneuver or hovering with/without ground effect;
the GPS horizontal speed is obtained by calculating the north speed and east speed of the GPS; the machine head pointing change rate and the ground clearance change rate are obtained by calculating the magnetic heading angle and the ground clearance.
The machine head pointing change rate is obtained through magnetic heading angle differential calculation; the ground clearance change rate is obtained by ground clearance differential calculation. If the change rate of the head pointing direction is less than or equal to a certain threshold value and the change rate of the ground altitude is less than or equal to a certain threshold value, the hovering effect is achieved or not, and if not, the hovering maneuver is achieved.
If the aircraft is in the flying state, entering the step four;
judging whether the helicopter flies forward, left, right or backward according to the GPS horizontal speed and the magnetic heading angle;
if the helicopter is in a forward flying state, entering a fifth step;
judging whether the helicopter is in a stable flight state or a maneuvering flight state through vertical overload;
if the helicopter is in a stable flight state, entering a sixth step;
judging whether the helicopter is in a flat flight, climbing or descending state according to the pressure altitude change rate;
if the helicopter is in a level flight state, entering a seventh step;
judging whether the helicopter is in an accelerating, decelerating or constant-speed level flight state according to the level flight speed change rate;
saidThe flying speed change rate is obtained by calculating the vacuum speed. The vacuum speed is calculated by indicating airspeed, atmospheric static temperature and pressure altitude. The flying speed change rate is obtained by vacuum speed differential calculation,
where k and b are obtained by space velocity calibration test flights. Rate of change of speed if flying>If a certain threshold value is 1, the helicopter is in an acceleration state; rate of change of speed if flying<If a certain threshold value is 2, the helicopter is in a deceleration state; if the change rate of the horizontal flight speed is less than or equal to a certain threshold value 1 and is less than or equal to a certain threshold value 2, the helicopter is in a constant-speed horizontal flight state.
If the aircraft is in the constant-speed level flight state, entering the step eight;
and step eight, judging whether the helicopter is in a flat flying turning state or a stable flat flying state through the roll angle.
In the method, the pressure height can be used for replacing the ground clearance, and the initial value of the ground clearance zero point corresponding to the pressure height can be set.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (9)
1. A helicopter flight state identification method is characterized in that: the method for identifying the flight state of the helicopter judges the flight state of the helicopter by utilizing a flight state identification logic tree, and the flight state identification logic tree judges the flight state of the helicopter in real time by utilizing the following flight parameters: pressure altitude, atmospheric temperature, indicated airspeed, GPS northbound speed, GPS eastern speed, magnetic heading angle, ground clearance, ground zero, roll angle, engine torque, number of engines, vertical overload.
2. The helicopter flight state identification method specifically comprises the following judging steps:
step one, judging whether the ground state or the air flight state is achieved through the ground clearance;
step two, judging the AEO, OEI and autorotation states of the helicopter according to the engine torque and the number of the engines;
step three, judging whether the helicopter is in a hovering state or a flying state through the GPS horizontal speed;
if the helicopter is in a hovering state, judging the aircraft nose pointing change rate and the terrain clearance change rate to judge whether the helicopter is in hovering maneuver or hovering with/without ground effect;
if the aircraft is in the flying state, entering the step four;
judging whether the helicopter flies forward, left, right or backward according to the GPS horizontal speed and the magnetic heading angle;
if the helicopter is in a forward flying state, entering a fifth step;
judging whether the helicopter is in a stable flight state or a maneuvering flight state through vertical overload;
if the helicopter is in a stable flight state, entering a sixth step;
judging whether the helicopter is in a flat flight, climbing or descending state according to the pressure altitude change rate;
if the helicopter is in a level flight state, entering a seventh step;
judging whether the helicopter is in an accelerating, decelerating or constant-speed level flight state according to the level flight speed change rate;
if the aircraft is in the constant-speed level flight state, entering the step eight;
and step eight, judging whether the helicopter is in a flat flying turning state or a stable flat flying state through the roll angle.
3. A helicopter flight state recognition method according to claim 2, characterized in that: the specific judgment process in the first step is as follows:
and deducting the ground clearance zero point through the measured ground clearance of the helicopter to obtain the actual ground clearance, and judging whether the helicopter is away from the ground or not through whether the actual ground clearance is greater than 0 or not.
4. A helicopter flight state recognition method according to claim 2, characterized in that: and step three, the GPS horizontal speed is obtained by calculating the north speed and east speed of the GPS.
5. A helicopter flight state recognition method according to claim 2, characterized in that: and step three, calculating the change rate of the machine head pointing direction and the change rate of the ground clearance height through a magnetic heading angle and the ground clearance height.
6. A helicopter flight state recognition method according to claim 2, characterized in that: and seventhly, calculating the flat flying speed change rate by using a vacuum speed.
7. A helicopter flight state identification method according to claim 6, characterized in that: the vacuum speed is obtained by calculating the indicated airspeed, the atmospheric static temperature and the pressure altitude.
8. A helicopter flight state recognition method according to claim 3, characterized in that: the ground clearance of the helicopter is measured by a radio high-speed instrument or a laser height instrument.
9. A helicopter flight status recognition method according to any one of claims 2 to 8, characterized in that: the ground clearance height can be replaced by a pressure height, and a corresponding ground clearance zero initial value is set.
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Cited By (4)
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| CN112489074A (en) * | 2020-11-30 | 2021-03-12 | 北航（四川）西部国际创新港科技有限公司 | Unmanned aerial vehicle behavior pattern classification method based on motion characteristics |
| CN113076510A (en) * | 2021-04-12 | 2021-07-06 | 南昌航空大学 | Helicopter flight state identification method based on one-dimensional convolutional neural network |
| CN113450599A (en) * | 2021-05-31 | 2021-09-28 | 北京军懋国兴科技股份有限公司 | Flight action real-time identification method |
| CN115599138A (en) * | 2022-09-19 | 2023-01-13 | 成都飞机工业（集团）有限责任公司（Cn） | Indicated airspeed control method based on speed differential signal |
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