CN113109849B - An auxiliary flight navigation method and system based on Beidou/GPS dual-channel differential prediction - Google Patents

Abstract

The invention discloses an auxiliary flight navigation method and system based on Beidou/GPS double-channel differential warning, wherein the system comprises a Beidou receiver, a GPS receiver and a flight management computing terminal; the Beidou and the GPS serve as dual-channel satellite positioning data sources, and meanwhile, the hot backup work is carried out, and navigation data are sent to the flight management computing terminal; the flight management computing terminal is provided with a display screen, a control panel and a large-capacity memory, runs a multitasking real-time operation system, can store a navigation database, runs a flight plan management task and a dual-channel horizontal/vertical navigation task, utilizes dual-channel satellite positioning data to perform dual-channel horizontal and vertical navigation computation, and gives error data and alarm data of flight navigation parameters. The method is based on the satellite data of the double channels and the established flight plan, calculates the real-time errors of the Beidou and GPS navigation sources and the flight navigation parameter errors, provides accurate flight reference for pilots, and improves flight safety.

Description

An auxiliary flight navigation method based on Beidou/GPS dual-channel differential prediction and system

technical field

The invention belongs to the field of satellite navigation, in particular to a satellite-based aircraft flight management and navigation method and system.

Background technique

At present, the existing technologies commonly used in the industry are as follows:

Modern aircraft navigation is based on radio navigation equipment and GPS equipment, and navigation calculations are completed by flight management computers. For areas lacking road-based navigation facilities, only GPS navigation can be relied on. And with the development of satellite navigation technology, aircraft gradually transition to PBN navigation based on satellite navigation. However, only the GPS navigation system cannot fully meet the requirements of PBN navigation technology in terms of accuracy, integrity, consistency and availability. Moreover, the GPS navigation system is controlled by foreign countries, and its stability and safety in other parts of the world cannot be guaranteed. With the continuous improvement of the positioning accuracy of the Beidou system, the application of Beidou in the aviation field has been developed. It can be used as a satellite navigation method to provide navigation services for aircraft, so that the aircraft can have both Beidou and GPS satellite navigation methods. However, since the airborne avionics equipment is a complete and airworthy certified system, there is no Beidou communication interface reserved, so it is impossible to directly add the Beidou navigation system to the aircraft.

In summary, the problems in the prior art are:

Existing aircraft only have GPS as a satellite navigation technology, which cannot fully meet the requirements of PBN navigation technology in terms of accuracy, integrity, consistency and availability.

For areas that lack road-based navigation facilities, they can only rely on GPS navigation, which has poor stability and safety performance. The stability and safety of the GPS navigation system in other parts of the world cannot be guaranteed.

Due to the limitation of foreign technology, it is impossible to add the Beidou navigation system to the airborne equipment of civil aircraft, resulting in the inability of Beidou to be applied in civil aviation navigation.

Contents of the invention

Aiming at the above-mentioned problems in the prior art, the present invention provides an auxiliary flight navigation method and system based on Beidou/GPS dual-channel differential prediction.

A method for auxiliary flight navigation based on Beidou/GPS dual-channel differential prediction, comprising the following steps:

1) Form the target route according to the flight plan, and establish the flight plan solution model;

2) Simultaneously collect Beidou positioning data and GPS positioning data;

3) The system works in Beidou navigation mode by default; according to the established flight plan calculation model, use Beidou positioning data and GPS positioning data to perform horizontal and vertical navigation calculations respectively, and calculate the current horizontal and vertical navigation parameters;

4) Comparing Beidou positioning data and GPS positioning data, determining and monitoring the system working mode; the system working mode is divided into Beidou navigation mode and GPS error correction mode;

When the positioning error of the two is within the set threshold range, the Beidou navigation mode is maintained, and the navigation calculation is mainly based on the Beidou positioning data, and the horizontal and vertical navigation parameters based on the flight plan are calculated as the backup of the aircraft navigation capability;

When the positioning error of the two exceeds the set threshold range, enter the GPS error correction mode, and calculate the error prediction, correction value and reliability of the GPS navigation parameters based on the Beidou navigation parameters;

5) According to different working modes, display the navigation parameters and error analysis data of the two navigation methods.

Further, the horizontal and vertical navigation parameters include track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical speed and vertical deviation.

Further, in step 4), the monitoring system working mode specifically includes the following steps:

4.1) Based on the Beidou positioning data, calculate the real-time errors of latitude and longitude, speed, altitude, and track direction in GPS data;

4.2) When the GPS data error exceeds the first threshold level1, start to count the error distribution curve and predict the error distribution trend;

4.3) Count the error data in the recent period T, give the error value D with 95% probability, and calculate the reliability;

4.4) When the GPS data error value D exceeds the second threshold level2, the system enters the GPS error correction mode and issues an alarm;

4.5) Continuously monitor the GPS data error, and when it is less than the second threshold level2, the system returns to Beidou navigation mode;

4.6) Continuously monitor the GPS data error, and when it is less than the first threshold level1, the system stops the error statistics and analysis function.

Further, in step 4.2), the error continuation path is also displayed on the electronic map pushed to the flight management computing terminal.

Further, in step 4.4), the GPS correction mode navigation calculation steps are specifically as follows:

4.4.1) According to the established flight plan, according to the Beidou and GPS data, perform horizontal navigation and vertical navigation calculation;

4.4.2) Based on the Beidou navigation parameters, calculate the current GPS track direction, track direction deviation, azimuth angle, distance, horizontal deviation, vertical speed, vertical deviation and other parameter errors, and give the correction value;

4.4.3) Take the horizontal deviation as the x-axis and the vertical deviation as the y-axis to establish a two-dimensional graphic interface, and take the target route position as the center point to mark the GPS horizontal deviation, vertical deviation and Beidou horizontal deviation, vertical Deviation value, and mark the correction value.

Further, in step 3), the horizontal navigation calculation is performed, and the specific steps for calculating the current horizontal navigation parameters are as follows:

a1) Establish a flight plan consisting of several waypoints connected one after the other to form a route;

a2) A flight segment is formed by connecting waypoints before and after, and the required track angle, distance, estimated time of arrival, and estimated flight time from the last waypoint to the previous waypoint are calculated as flight references;

a3) Select the first segment as the current flight segment at the initial moment;

a4) Extract the current position information of the aircraft from the satellite receiver, including latitude and longitude, altitude, ground speed, and track direction information;

a5) Extract the longitude and latitude information of two waypoints before and after from the flight plan, calculate and display the required track angle, real-time azimuth and distance between the current waypoint and the previous waypoint one by one;

a6) Real-time calculation and display of the distance, azimuth, and track angle error, horizontal track deviation, estimated arrival time, and estimated flight time from the current position of the aircraft to the destination;

a7) Periodically execute steps a4) to a6) to guide the aircraft to fly in real time.

Further, in step 3), the vertical navigation calculation is performed, and the specific steps for calculating the current vertical navigation parameters are as follows:

b1) extract the altitude target value from the current execution flight segment, and extract the aircraft altitude from the satellite receiver;

b2) According to the vertical performance of the aircraft, determine the vertical vertical speed, climb/descent start point and climb/descent time;

b3) According to the real-time lift speed and climb/descent path of the aircraft, adjust the target horizontal speed and target vertical lift speed in real time to guide the aircraft to fly.

b4) Periodically execute b1) to b3) to guide the vertical climb or descent of the aircraft in real time.

Correspondingly, the present invention also provides an auxiliary flight navigation system based on Beidou/GPS dual-channel differential prediction, including a Beidou receiver, a GPS receiver, and a flight management computing terminal; Satellite positioning data source, hot backup work at the same time, sending navigation data to flight management computing terminal; flight management computing terminal has display screen, control panel and memory, runs multi-task real-time operating system, can store navigation database, and runs flight plan management Mission and Dual Channel Horizontal/Vertical Navigation Mission; specifically includes the following program modules:

A solution model building module, used to form a target route according to the flight plan, and establish a flight plan solution model;

The positioning data acquisition module is used to simultaneously collect Beidou positioning data and GPS positioning data;

The navigation calculation module is used to perform horizontal and vertical navigation calculations by using the Beidou positioning data and GPS positioning data respectively according to the established flight plan calculation model, and calculate the current horizontal and vertical navigation parameters;

The working mode determination and monitoring module is used to compare Beidou positioning data and GPS positioning data, determine and monitor the system working mode; the system working mode is divided into Beidou navigation mode and GPS error correction mode;

When the positioning error of the two is within the set threshold range, the Beidou navigation mode is maintained, and the navigation calculation is mainly based on the Beidou positioning data, and the horizontal and vertical navigation parameters based on the flight plan are calculated as the backup of the aircraft navigation capability;

When the positioning error of the two exceeds the set threshold range, enter the GPS error correction mode, and calculate the error prediction, correction value and reliability of the GPS navigation parameters based on the Beidou navigation parameters;

The navigation display module is used to display the navigation parameters and error analysis data of the two navigation modes according to different working modes.

The present invention also provides a computer device, including a memory and a processor, the memory is used to store computer instructions; the special feature is that the processor is used to run the computer instructions stored in the memory to implement the above-mentioned one based on Beidou/GPS dual-channel differential prediction assisted flight navigation method.

The present invention also provides a computer-readable storage medium, which stores computer instructions. The special feature is that the computer instructions are used to implement the above-mentioned auxiliary flight navigation method based on Beidou/GPS dual-channel differential prediction.

The advantages of the present invention are as follows:

The invention provides an auxiliary flight navigation method based on Beidou/GPS dual-channel differential prediction, which can enable the aircraft to have two satellite navigation methods of Beidou and GPS without affecting the original airborne system. Under normal circumstances, the original GPS navigation equipment onboard is mainly used, supplemented by the installed Beidou navigation; in special cases, the positioning accuracy and navigation parameter error of the airborne GPS can be monitored in real time according to my country's Beidou navigation capabilities, and the two are compared. Increase reliability, correct onboard GPS navigation parameters, and improve flight safety.

An auxiliary flight navigation system device based on Beidou/GPS dual-channel differential prediction provided by the present invention can enable the aircraft to have Beidou navigation capability without affecting the original on-board system. The device has high integration, small size, and The structure is simple, the installation and maintenance are convenient, and it is convenient to add and modify the existing aircraft.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application 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 application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a block diagram of the flight navigation working principle provided by the embodiment of the present invention;

Fig. 2 is a composition block diagram of the Beidou navigation system provided by the embodiment of the present invention.

Detailed ways

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

This embodiment provides a method and system for adding the Beidou/GPS navigation system without changing the original aircraft system, so that the aircraft has two satellite navigation means of GPS and Beidou. At the same time, by comparing Beidou satellite positioning data and GPS satellites Positioning data, calculate the real-time error of GPS satellite positioning data and route navigation parameters, predict the error distribution trend, and give the correction amount of navigation parameters, which greatly improves the safety of the aircraft. It enables Chinese aircraft to use Beidou navigation, gets rid of the shackles of foreign GPS, and improves navigation performance at the same time.

The system consists of Beidou data receiving unit, GPS data receiving unit, dual-channel satellite data processing unit, flight plan management unit, electronic map processing unit, Beidou navigation computing unit, GPS navigation computing unit, error monitoring and parameter correction unit, human-computer interaction management unit. The principle block diagram is shown in Figure 1.

The Beidou data receiving unit and the GPS data receiving unit are used to receive Beidou positioning data and GPS positioning data respectively. The Beidou positioning data comes from the Beidou receiver, and the GPS positioning data comes from the GPS receiver. This system does not choose Beidou and GPS fusion positioning methods, because the errors of the two cannot be distinguished.

The dual-channel satellite data processing unit is used to solve Beidou and GPS positioning data at the same time. The Beidou and GPS satellite positioning are realized by different satellites, and can give the latitude and longitude, speed, and course information of the aircraft. This embodiment can receive and solve two kinds of satellite navigation data at the same time.

Based on the built-in navigation database, the flight plan management unit realizes the editing of the aircraft plan and establishes the navigation solution model through the human-computer interaction interface.

The electronic map processing unit generates an electronic map interface based on the built-in navigation database and geographic model, and displays the aircraft position, route and various warning signals.

The Beidou navigation computing unit and the GPS navigation computing unit are dual-channel navigation computing modules. According to the established flight plan model and satellite positioning data, horizontal and vertical navigation calculations are performed respectively, and the navigation parameters of the two navigation sources are calculated.

The error monitoring and parameter correction unit includes two aspects of work, one is to monitor the errors of Beidou and GPS positioning data, perform error analysis and prediction, and control the working mode of the system; the other is to calculate the GPS navigation parameters based on Beidou navigation parameters errors and corrections.

The human-computer interaction management unit is used to manage the human-computer interaction interface and realize the display and operation of the graphical interface.

This embodiment provides a human-computer interaction interface capable of establishing flight plans, performing navigation calculations according to flight routes, determining working modes, and performing error prediction and warning functions. The working steps of the system are as follows:

The first step is to establish a flight plan, form a target route, and establish a calculation model;

The second step is to collect Beidou positioning data and GPS positioning data;

The third step is to use the Beidou positioning data and GPS positioning data to perform horizontal navigation and vertical navigation calculations according to the established flight plan calculation model, and calculate the current track direction, track direction error, azimuth, distance, and horizontal deviation. , vertical speed, vertical deviation;

The fourth step is to determine and continuously monitor the working mode of the system according to the error range of Beidou positioning data and GPS positioning data;

The fifth step is to display the navigation parameters and error analysis data of the two navigation methods according to different working modes.

Among them, the system working mode monitoring steps are as follows:

Step 1: The system first works in Beidou navigation mode;

The second step is to collect Beidou and GPS satellite data, and use the Beidou positioning data as a benchmark to calculate the real-time errors of longitude, latitude, speed, altitude, and track direction in GPS data;

In the third step, when the GPS data error exceeds the threshold level1, the statistical error distribution curve is started to predict the error distribution trend; the error continuous path is displayed on the electronic map;

The fourth step is to count the error data in the recent period T, give the error value D with 95% probability, and calculate the reliability.

In the fifth step, when the GPS data error D exceeds the threshold level2, the system enters the GPS error correction mode and sends out an alarm.

The sixth step is to continuously monitor the GPS data error, and when it is less than the threshold level2, the system returns to Beidou navigation mode;

The seventh step is to continuously monitor the GPS data error, and when it is less than the threshold level1, the system stops the error statistics and analysis function.

The navigation calculation steps in Beidou navigation mode are as follows:

The first step is to judge that the positioning error of Beidou and GPS is within the threshold range;

The second step is to execute horizontal navigation and vertical navigation parameters according to the established flight plan, and calculate the current track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical speed, and vertical deviation; navigation calculations include horizontal navigation and vertical Navigate in two parts:

The horizontal navigation steps are as follows:

1) Establish a flight plan consisting of several waypoints connected one after the other to form a route;

2) A flight segment is formed by connecting waypoints before and after, and the required track angle, distance, estimated time of arrival, and estimated flight time from the last waypoint to the previous waypoint are calculated as flight references;

3) Select the first segment as the current flight segment at the initial moment;

4) Extract the current position information of the aircraft from the satellite receiver, including latitude and longitude, altitude, ground speed, and track direction information;

5) Extract the longitude and latitude information of two waypoints before and after from the flight plan, calculate and display the required track angle, real-time azimuth and distance between the current waypoint and the previous waypoint one by one;

6) Real-time calculation and display of the distance, azimuth, track angle error, horizontal track deviation, estimated arrival time, and estimated flight time from the current position of the aircraft to the destination;

7) Periodically execute the process of 4-6 to guide the flight of the aircraft in real time.

Each waypoint in the flight plan has altitude information. According to the vertical profile of the route, perform vertical navigation. The steps are as follows:

Extract the altitude target value from the current flight segment, and extract the aircraft altitude from the satellite receiver;

According to the vertical performance of the aircraft, determine the vertical vertical speed, climb/descent start point and climb/descent time;

According to the real-time lift speed and climb/descent path of the aircraft, adjust the target horizontal speed and target vertical lift speed in real time to guide the aircraft to fly.

The process of 1-3 is executed periodically to guide the vertical climb or descent of the aircraft in real time.

GPS correction mode navigation calculation steps are as follows:

The first step is to judge that the positioning error of Beidou and GPS exceeds the threshold range

The second step is to execute the horizontal navigation and vertical navigation parameters according to the established flight plan and the Beidou and GPS data, and calculate the current track direction, track direction error, azimuth, distance, horizontal deviation, vertical speed, and vertical deviation;

The third step is to calculate the error and correction value of the GPS-based navigation parameters according to the Beidou-based navigation parameters;

The fourth step is to calculate the reliability based on the error, and divide the reliability into three levels. The first level indicates safety, the second level indicates that it needs to be corrected, and the third level is serious, unable to be corrected, and very dangerous within the controllable range. And give a warning.

This embodiment also designs an auxiliary flight navigation system based on Beidou/GPS dual-channel differential prediction. The system adopts integrated, miniaturized and large-scale software technology to design a highly integrated integrated navigation system. Beidou receiver, a GPS receiver and a flight management computing terminal;

The Beidou receiver and GPS receiver are dual-channel satellite positioning data sources that operate independently, and work in hot backup at the same time, sending navigation data to the flight management computing terminal;

The flight management computing terminal has a display screen, a control panel and a large-capacity memory, runs a multi-task real-time operating system, can store a navigation database, and runs dual-channel satellite positioning data processing tasks, flight plan management tasks, and dual-channel horizontal/vertical navigation tasks.

The system composition diagram is shown in Figure 2.

The flight management computing terminal adopts an embedded processor, runs a multi-task real-time processing system, and can run dual-channel satellite positioning data calculation software modules, flight plan management software modules, human-computer interaction software modules, and dual-channel horizontal/vertical guidance software modules And error analysis and correction software module.

The flight management computing terminal has a display, which can provide a flight plan input window and a navigation parameter display window.

The flight plan management process is as follows:

1) The flight management computing terminal has a flight plan management window. A navigation computer builds a flight plan based on the navigation database. The flight plan window provides flight plan editing functions, including adding, deleting, activating, inverting, etc. In the flight plan, two waypoints connected one after the other form a flight segment, and multiple waypoints form a flight plan.

2) The flight plan is input and controlled through the control panel. The waypoints in the flight plan can be entered through the control panel. The waypoints can be entered using IDs or codes composed of characters. The input window can automatically retrieve according to the characters entered. Latitude and longitude adopt WGS-84 coordinate system.

Navigation parameters, error analysis data and correction data are displayed on the monitor through a graphical interface, and provided for pilots to view and use.

In this way, this embodiment has described a method and system for auxiliary flight navigation based on Beidou/GPS dual-channel differential prediction. Compared with the existing aircraft navigation system, the advantage of this system is that it is easy to add the Beidou system. The navigation computer realizes the flight planning function and navigation calculation function, executes satellite-based navigation, and realizes airborne GPS error monitoring and navigation parameter correction through the comparison of Beidou and GPS dual-channel satellite data. Aircraft equipped with this system will have dual sets of GPS and BDS satellite navigation equipment. When errors occur in GPS, especially errors added by humans, an alarm and correction data will be given in time, which improves the safety of flight.

In this embodiment, the Beidou/GPS navigation system is added without changing the original aircraft system. For aircraft without GPS navigation capabilities, the aircraft can be equipped with two satellite navigation methods, GPS and Beidou. For aircraft that already have GPS navigation capabilities, not only can they have additional GPS navigation capabilities and Beidou navigation capabilities, but also can calculate and predict the real-time errors of GPS satellite positioning data and route navigation parameters by comparing Beidou satellite positioning data and GPS satellite positioning data. The error distribution trend gives the navigation parameter correction amount, which greatly improves the safety of the aircraft. It enables Chinese aircraft to use Beidou navigation, gets rid of the shackles of foreign GPS, and improves navigation performance at the same time.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present application. scope.

Claims (9)

1. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction is characterized by comprising the following steps of:

1) Forming a target route according to the flight plan, and establishing a flight plan calculation model;

2) Simultaneously acquiring Beidou positioning data and GPS positioning data;

3) The system works in the Beidou navigation mode by default; according to the established flight plan resolving model, respectively utilizing Beidou positioning data and GPS positioning data to execute horizontal and vertical navigation resolving, and calculating current horizontal and vertical navigation parameters;

4) Comparing the Beidou positioning data with the GPS positioning data, and determining the working mode of the monitoring system; the system working mode is divided into a Beidou navigation mode and a GPS error correction mode;

when the positioning errors of the two are within the set threshold range, the Beidou navigation mode is maintained, the Beidou positioning data is used as the main basis for navigation calculation, and the horizontal and vertical navigation parameters based on the flight plan are calculated and used as the backup of the navigation capability of the airplane;

when the positioning errors of the two are beyond the set threshold range, entering a GPS error correction mode, and calculating GPS navigation parameter error prediction, correction value and credibility based on Beidou navigation parameters;

5) According to different working modes, displaying navigation parameters and error analysis data of two navigation modes;

the monitoring system working mode specifically comprises the following steps:

4.1 Calculating real-time errors of longitude and latitude, speed, altitude and track direction in GPS data by taking Beidou positioning data as a reference;

4.2 When the GPS data error exceeds a first threshold level1, starting to count an error distribution curve and predicting an error distribution trend;

4.3 Counting error data in a period of time T, giving an error value D with a probability of 95%, and calculating the reliability;

4.4 When the GPS data error value D exceeds a second threshold value level2, the system enters a GPS error correction mode and gives an alarm;

4.5 Continuously monitoring GPS data errors, and returning the system to the Beidou navigation mode when the GPS data errors are smaller than a second threshold level 2;

4.6 The system stops the error statistics and analysis function when the GPS data error is continuously monitored and is smaller than a first threshold level 1.

2. The assisted flight navigation method based on Beidou/GPS dual channel differential prediction according to claim 1, wherein the horizontal and vertical navigation parameters include track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical velocity and vertical deviation.

3. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction according to claim 1, wherein in the step 4.2), an error continuous path is further displayed on an electronic map pushed to a flight management computing terminal.

4. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction according to claim 1, wherein in the step 4.4), the GPS error correction mode navigation calculation step is specifically as follows:

4.4.1 According to the established flight plan, respectively according to Beidou and GPS data, performing horizontal navigation and vertical navigation calculation;

4.4.2 Calculating parameter errors such as the current track direction, track direction deviation, azimuth angle, distance, horizontal deviation, vertical speed, vertical deviation and the like of the GPS by taking the Beidou navigation parameter as a reference, and giving a correction value;

4.4.3 With the horizontal deviation value as the x axis and the vertical deviation value as the y axis, a two-dimensional graphical interface is established, the target route position as the center point is marked with the GPS horizontal deviation value, the vertical deviation value, the Beidou horizontal deviation value and the vertical deviation value, and the correction value is marked.

5. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction according to claim 1, wherein in the step 3), horizontal navigation calculation is performed, and the specific steps of calculating the current horizontal navigation parameters are as follows:

a1 A flight plan formed by connecting a plurality of route points in front and behind is established to form a route;

a2 A flight section is formed by the front and back connected route points, and the needed track angle, the distance, the expected arrival time and the expected flight time of the next route point from the last route point are calculated and used as flight references;

a3 Selecting a first section as a current flight section at the initial moment;

a4 Extracting current position information of the aircraft from a satellite receiver, wherein the current position information comprises longitude and latitude, altitude, ground speed and track direction information;

a5 Extracting longitude and latitude information of a front route point and a rear route point from a flight plan, and calculating and displaying a required track angle, a real-time azimuth angle and a distance of the current route point from the last route point one by one;

a6 Calculating and displaying the distance and azimuth angle of the current position of the airplane from the destination in real time, and the error of the track angle, the deviation of the horizontal track, the expected arrival time and the expected flight time;

a7 Steps a 4) to a 6) are periodically performed to guide the aircraft to fly in real time.

6. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction according to claim 1, wherein in the step 3), vertical navigation calculation is executed, and the specific steps of calculating current vertical navigation parameters are as follows:

b1 Extracting an altitude target value from the currently executed flight segment and extracting the aircraft altitude from the satellite receiver;

b2 Determining a vertical lifting speed, a climbing/descending starting point and a climbing/descending time according to the vertical performance of the aircraft;

b3 According to the real-time lifting speed and the climbing/descending path of the airplane, the target horizontal speed and the target vertical lifting speed are adjusted in real time, and the airplane is guided to fly;

b4 Periodically performing b 1) to b 3), and guiding the ascent or descent of the aircraft in the vertical direction in real time.

7. An auxiliary flight navigation system based on Beidou/GPS double-channel differential prediction, which uses the auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction as set forth in claim 1, and is characterized by comprising a Beidou receiver, a GPS receiver and a flight management computing terminal; the Beidou receiver and the GPS receiver are used as dual-channel satellite positioning data sources, and meanwhile, the hot backup work is carried out to send navigation data to the flight management computing terminal; the flight management computing terminal is provided with a display screen, a control panel and a memory, runs a multitasking real-time operating system, can store a navigation database, and runs a flight plan management task and a dual-channel horizontal/vertical navigation task; the method specifically comprises the following program modules:

the calculation model building module is used for forming a target route according to the flight plan and building a flight plan calculation model;

the positioning data acquisition module is used for simultaneously acquiring Beidou positioning data and GPS positioning data;

the navigation calculation module is used for respectively executing horizontal and vertical navigation calculation by using the Beidou positioning data and the GPS positioning data according to the established flight plan calculation model and calculating current horizontal and vertical navigation parameters;

the working mode determining and monitoring module is used for comparing the Beidou positioning data with the GPS positioning data and determining and monitoring the working mode of the system; the system working mode is divided into a Beidou navigation mode and a GPS error correction mode;

when the positioning errors of the two are within the set threshold range, the Beidou navigation mode is maintained, the Beidou positioning data is used as the main basis for navigation calculation, and the horizontal and vertical navigation parameters based on the flight plan are calculated and used as the backup of the navigation capability of the airplane;

when the positioning errors of the two are beyond the set threshold range, entering a GPS error correction mode, and calculating GPS navigation parameter error prediction, correction value and credibility based on Beidou navigation parameters;

and the navigation display module is used for displaying navigation parameters and error analysis data of the two navigation modes according to different working modes.

8. A computer device comprising a memory and a processor, the memory for storing computer instructions; the auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction is characterized in that the processor is used for running computer instructions stored in the memory to realize the auxiliary flight navigation method based on any one of claims 1 to 6.

9. A computer readable storage medium storing computer instructions for implementing a Beidou/GPS dual channel differential prediction based assisted flight navigation method according to any one of claims 1 to 6.