CN115859575B - A Calculation Method of SEP Symbol - Google Patents
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Abstract
本发明提供了一种SEP符的计算方法，包括：步骤一：计算相对于平视显示器上轴向参考线FRL的第一单位剩余功率计算值SEP1；步骤二：将计算得到的第一单位剩余功率计算值SEP1转换成以平视显示器上速度矢量符中心为基准的第二单位剩余功率计算值SEP2。本发明通过计算相对于平视显示器上轴向参考线FRL的第一单位剩余功率计算值SEP1；再将第一单位剩余功率计算值SEP1转换成以平视显示器上速度矢量符中心为基准的第二单位剩余功率计算值SEP2，将第二单位剩余功率计算值SEP2转换为数字信号通过总线方式传递给平视显示器，即可在平视显示器上显示出SEP符位置，解决了SEP符显示不稳，导致飞行员发生误判的问题。
The present invention provides a method for calculating a SEP symbol, comprising: step one: calculating a first unit residual power calculation value SEP1 relative to an axial reference line FRL on a head-up display; step two: converting the calculated first unit residual power calculation value SEP1 into a second unit residual power calculation value SEP2 based on the center of a velocity vector symbol on the head-up display. The present invention calculates the first unit residual power calculation value SEP1 relative to an axial reference line FRL on a head-up display; then converts the first unit residual power calculation value SEP1 into a second unit residual power calculation value SEP2 based on the center of a velocity vector symbol on the head-up display, converts the second unit residual power calculation value SEP2 into a digital signal and transmits it to the head-up display via a bus, so that the position of the SEP symbol can be displayed on the head-up display, thereby solving the problem of unstable display of the SEP symbol, which causes misjudgment by the pilot.
Description
Technical Field
The invention belongs to the aircraft avionics system design technology, and particularly relates to a calculation method of SEP symbols.
Background
The aircraft unit residual energy is also called as aircraft unit residual power, english is called SEP for short, namely specificexcesspower, and is proposed by Bode of the United states pilot, the formula is SEP= (reasoning-resistance) speed/weight, but in practical engineering application, the thrust, the resistance and the weight cannot be directly measured, the pilot does not need to know accurate SEP values when operating the aircraft, and the aircraft energy change condition caused by the aircraft unit residual energy needs to be known, so that even if the real SEP data is calculated, the real SEP data cannot be directly applied to engineering.
Currently, no commonly applied SEP symbol display positioning algorithm is obtained in practical engineering in China, SEP symbols on a head-up display jump severely, so that the judgment of a pilot and the interpretation of other display data are seriously influenced, and therefore, a set of SEP symbol positioning algorithm is necessary to be developed independently.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method for calculating SEP symbols, which addresses the problems in the prior art.
A method of calculating SEP symbols, comprising:
Calculating a first unit residual power calculated value SEP1 relative to an axial reference line FRL on a head-up display;
and step two, converting the calculated first unit residual power calculated value SEP1 into a second unit residual power calculated value SEP2 taking the center of the speed vector symbol on the head-up display as a reference.
Further, the calculating the first unit remaining power calculated value SEP1 with respect to the axial reference line FRL on the head-up display includes the steps of:
S1, acquiring an inertial attack angle AOA, a Pitch angle Pitch and an indicated airspeed V IAS in real time;
s2, averaging M continuous data of Pitch angle Pitch data acquired before the current moment to obtain a first Pitch angle
S3 based on the calculated first pitch angleAnd calculate a first pitch angleInertial attack angle AOA calculation obtained by time synchronizationRepeating the above steps for N times
S4, counting and calculating N times continuouslyAnd average to obtain
S5, setting a first threshold value a pairFiltering the calculated value of (2) to obtain filtered valueIf it isThenOtherwise
S6, averaging M pieces of continuous data of the indicated airspeed VIAS data acquired before the current moment to obtain a first indicated airspeed V1, and repeating the steps to continuously calculate the first indicated airspeed V1;
S7, carrying out data reprocessing on the first indicated airspeed V1 to obtain a reprocessed indicated airspeed V4;
S8, calculating a first indicated airspeed change rate delta V according to the reprocessed indicated airspeed V4, and repeating the steps S6 to S8 to calculate delta V for N times;
S9, counting the first indicated airspeed change rate DeltaV obtained by continuous N times of calculation, and averaging to obtain the second indicated airspeed change rate
S10, setting a second threshold value b for the pairFiltering the calculated value of (2) to obtain filtered valueIf it isThenOtherwise
S11, utilizingAndCalculating a unit residual power calculated value SEPX relative to an axial reference line FRL on the head-up display, and repeating the steps for calculating N times SEPX;
And S12, carrying out statistics on SEPX calculated continuously N times, and averaging to obtain a first unit residual power calculated value SEP1.
Further, the step S7 of reprocessing the data of the first indicated airspeed V1 to obtain a reprocessed indicated airspeed V4 includes:
S71, taking two discontinuously calculated indicated airspeeds V1 from the continuously calculated first indicated airspeeds V1, carrying out cross-averaging to obtain a second indicated airspeeds V2, and repeating the steps to calculate the second indicated airspeeds V2;
S72, taking two discontinuously calculated second indicated airspeeds V2 from the continuously calculated second indicated airspeeds V2, carrying out cross-averaging to obtain a third indicated airspeeds V3, and repeating the steps to continuously calculate the third indicated airspeeds V3;
And S73, averaging the N third indicated airspeeds V3 calculated continuously to obtain a reprocessed indicated airspeeds V4.
Further, the step S8 calculates the first indicated airspeed change rate Δv according to the reprocessed indicated airspeed V4 as follows:
Wherein t is a data transmission period, g is a gravitational acceleration, V4 Ntime+1 is an indicated airspeed after the previous reprocessing, and V4 Ntime is an indicated airspeed after the current time reprocessing.
Further, the step S11 utilizesAndThe calculation formula for calculating the unit remaining power SEPX with respect to the axial reference line FRL on the head-up display is as follows:
Further, the step of converting the calculated first unit remaining power calculated value SEP1 into a second unit remaining power calculated value SEP2 based on the center of the velocity vector on the head-up display includes the steps of:
s13, calculating a determination value d, wherein d=SEP1-Pitch 0﹣AOA0, wherein Pitch 0 is a Pitch angle at the current moment, and AOA 0 is an inertial attack angle at the current moment;
S14, setting a third threshold value c, calculating the unit residual power SEP2 taking the center of the speed vector symbol on the head-up display as a reference at the current moment according to the judgment value d and the criterion,
The invention calculates a first unit residual power calculated value SEP1 relative to an axial reference line FRL on a head-up display, converts the first unit residual power calculated value SEP1 into a second unit residual power calculated value SEP2 taking the center of a speed vector symbol on the head-up display as a reference, converts the second unit residual power calculated value SEP2 into a digital signal and transmits the digital signal to the head-up display in a bus mode, and can display the SEP symbol position on the head-up display.
Drawings
FIG. 1 is a main flow chart of the present invention;
FIG. 2 is an overall flow chart of the present invention;
FIG. 3 is a flowchart of step S7 of the present invention;
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
These and other aspects of embodiments of the invention will be apparent from and elucidated with reference to the description and drawings described hereinafter. In the description and drawings, particular implementations of embodiments of the invention are disclosed in detail as being indicative of some of the ways in which the principles of embodiments of the invention may be employed, but it is understood that the scope of the embodiments of the invention is not limited correspondingly. On the contrary, the embodiments of the invention include all alternatives, modifications and equivalents as may be included within the spirit and scope of the appended claims.
The relevant terms and units in the examples are given in the following table:
An embodiment of the invention is shown in fig. 1 to 3, which is a method for calculating an SEP symbol, comprising the steps of firstly calculating a first unit residual power calculated value SEP1 relative to an axial reference line FRL on a head-up display, secondly converting the calculated first unit residual power calculated value SEP1 into a second unit residual power calculated value SEP2 based on a speed vector center on the head-up display, converting the second unit residual power calculated value SEP2 into a digital signal and transmitting the digital signal to the head-up display in a bus manner, and displaying the SEP symbol position on the head-up display, wherein calculating the first unit residual power calculated value SEP1 relative to the axial reference line FRL on the head-up display comprises the following steps:
and S1, acquiring an inertial attack angle AOA, a Pitch angle Pitch and an indicated airspeed V IAS in real time.
Step S2, averaging M continuous data of Pitch angle Pitch data acquired before the current moment to obtain a first Pitch angle
Specifically, this embodiment takes the averaging process of the Pitch angle Pitch of the previous 5 cycles as an example, and is calculated as follows:
Wherein, pitch1, pitch2, pitch3, pitch 4 and Pitch 5 respectively represent the data of Pitch angle Pitch of 5 periods received before.
Step S3, based on the calculated first pitch angleAnd calculate a first pitch angleInertial attack angle AOA calculation obtained by time synchronizationRepeating the above steps for 5 times
Step S4, counting the obtained continuous 5 times of calculationAnd average to obtain
Step S5, setting a first threshold a pairFiltering the calculated value of (2) to obtain filtered valueIf it isThenOtherwise
Wherein the first threshold a indicates that the airspeed should remain stable in the hold speed flight mode, i.e., that the rate of change of speed is 0, and therefore the final SEP symbol display position is primarily determined byDecision, ifThe small value causes the SEP character to be not obviously changed on the display, which leads to the pilot thinking that the display equipment is out of order and causes the display picture symbol to fluctuate, therefore, the SEP character must be displayed on the displayThe result is eliminated with tiny value, and the pilot is invited toThe changes were evaluated for SEP symbols and the results are shown in table 1 below.
TABLE 1
And step S6, averaging 5 pieces of continuous data of the indicated airspeed VIAS data acquired before the current moment to obtain a first indicated airspeed V1, and repeating the step to calculate the first indicated airspeed V1 5 times.
S7, carrying out data reprocessing on the first indicated airspeed V1 to obtain a reprocessed indicated airspeed V4;
Specifically, the method comprises the following steps:
S71, taking two discontinuously calculated indicated airspeeds V1 from the continuously calculated first indicated airspeeds V1, carrying out cross-averaging to obtain a second indicated airspeeds V2, and repeating the steps to calculate the second indicated airspeeds V2;
Specifically, the calculation is as follows:
V2=(V1Ntime+4+ V1Ntime+0) /2 (2)
Where V1 Ntime+4 is the 4 th fourth first indicated airspeed prior to the current time and V1 Ntime+0 is the first indicated airspeed at the current time.
S72, taking two discontinuously calculated second indicated airspeeds V2 from the continuously calculated second indicated airspeeds V2, carrying out cross-averaging to obtain a third indicated airspeeds V3, and repeating the steps to continuously calculate the third indicated airspeeds V3.
Specifically, the calculation is as follows:
V3=(V2 Ntime+7+ V2 Ntime+0) /2 (3)
Where V2 Ntime+7 is the 7 th second indicated airspeed before the current time and V2 Ntime+0 is the second indicated airspeed at the current time.
And S73, averaging the continuously calculated 5 third indicated airspeeds V3 to obtain a reprocessed indicated airspeeds V4.
Specifically, the present example averages the continuous 5 third indicated airspeeds V3 and calculates as follows:
V4=(V3 Ntime+1+V3 Ntime+2+V3 Ntime+3+V3 Ntime+4+V3 Ntime+5)/5
(4)
Wherein V3 Ntime+1 is the 1 st third indicated airspeed before the current time, V Ntime+2 + is the 2 nd third indicated airspeed before the current time, and so on.
Step S8, calculating a first indicated airspeed change rate delta V according to the reprocessed indicated airspeed V4, and repeating the steps S6 to S8 to calculate delta V5 times;
Specifically, the calculation is as follows:
Wherein t is a data transmission period, g is a gravitational acceleration, V4 Ntime+1 is an indicated airspeed after the previous reprocessing, and V4 Ntime is an indicated airspeed after the current time reprocessing.
Step S9, counting the first indicated airspeed change rate DeltaV obtained by continuous 5 times of calculation, and averaging to obtain a second indicated airspeed change rate
Specifically, this embodiment takes the average processing of continuous 5 indicated airspeed change rates Δv as an example, and is calculated as follows:
Where DeltaV Ntime+1 is the 1 st indicated airspeed change rate before the current time, deltaV Ntime+2 is the 2 nd indicated airspeed change rate before the current time, and so on.
Step S10, setting a second threshold b for the pair ofFiltering the calculated value of (2) to obtain filtered valueIf it isThenOtherwise
Wherein the second threshold value b is the pitch angle and the inertial angle of attack are equal in the hold angle of attack flight mode, so that the final SEP symbol display position is mainly composed ofDecision, ifThe SEP symbol change on the display is not obvious due to small numerical value, which leads to the pilot thinking that the display equipment is out of order and causes the display picture symbol to fluctuate, therefore, the SEP symbol change on the display is neededThe result is that the tiny value is removed, the pitch angle and the inertia attack angle are equal to each other on the simulator, the pilot is invited to evaluate the SEP symbol, and the result is shown in the table 2.
TABLE 2
S11, utilizingAndThe unit remaining power calculation value SEPX with respect to the axial reference line (FRL) on the head-up display is calculated, and the above steps are repeated for N times SEPX, and the specific calculation formula of SEPX is as follows:
And S12, carrying out statistics on SEPX calculated continuously N times, and averaging to obtain a first unit residual power calculated value SEP1.
Converting the calculated first unit residual power calculated value SEP1 into a second unit residual power calculated value SEP2 based on the center of the velocity vector symbol on the head-up display includes the steps of:
s13, calculating a determination value d, wherein d=SEP1-Pitch 0﹣AOA0, wherein Pitch 0 is a Pitch angle at the current moment, and AOA 0 is an inertial attack angle at the current moment;
S14, setting a third threshold value c to determine the display range, calculating the unit residual power SEP2 with the center of the speed vector symbol on the head-up display as the reference at the current moment according to the determination value d and the criterion, Namely, d >34.91mrad (third threshold), SEP2 is AOA 0 +34.91mrad, d < -34.91mrad, SEP2 is AOA 0 -34.91mrad, -34.91mrad < d <34.91mrad, SEP2 is AOA 0.
The third threshold value c is that, because the display positioning of the SEP symbol on the display moves up and down around the speed vector symbol, the pilot needs to observe the SEP symbol in real time when observing the speed vector symbol, and therefore, the pilot is invited to evaluate the maximum positive limit of the SEP symbol to determine the display range, and the result is shown in table 3.
TABLE 3 Table 3
The invention eliminates the theory of maximum error brought by individual points through the arithmetic mean, namely, the arithmetic mean is taken through a plurality of data, so that the final result is more approximate to a true value, and the output error of the sensor brought by the sensor can be eliminated for each average, for example, the average value of 5 times of indicated airspeed V IAS is calculated, thus ensuring that the result is more approximate to the true indicated airspeed.
It should be noted that, when the simulator performs algorithm simulation, the designer finds that, in the process of determining the second threshold, if the indicated airspeed change rate is calculated directly by using the first indicated airspeed V1, the resulting SEP symbol jitter is still larger, so that a reprocessing link, i.e., step S71-step S73, is added when the indicated airspeed calculation index is obtained, and the error generated in the calculation process by the computer can be further eliminated by using cross-averaging.
The foregoing examples merely illustrate embodiments of the invention and are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
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| CN103983801A (en) * | 2014-04-27 | 2014-08-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for positioning virtual velocity vector symbol of head up display of airplane |
| CN104584578A (en) * | 2012-03-02 | 2015-04-29 | 莫戈公司 | Real-time aircraft status detection system and method |
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| US10315778B2 (en) * | 2015-09-25 | 2019-06-11 | The Beoing Company | Airplane status system |
| CN111204469B (en) * | 2019-12-04 | 2023-06-23 | 中国航空工业集团公司成都飞机设计研究所 | Flight energy change display system and display position determining method |
| CN111506113B (en) * | 2020-05-15 | 2023-06-06 | 中国人民解放军国防科技大学 | Aircraft Guidance Command Calculation Method, Sideslip Angle Calculation Method and Guidance Method |
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| CN104584578A (en) * | 2012-03-02 | 2015-04-29 | 莫戈公司 | Real-time aircraft status detection system and method |
| CN103983801A (en) * | 2014-04-27 | 2014-08-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for positioning virtual velocity vector symbol of head up display of airplane |
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