CN115985143B - Flight type judging method suitable for enhanced ground proximity warning system - Google Patents
Flight type judging method suitable for enhanced ground proximity warning system Download PDFInfo
- Publication number
- CN115985143B CN115985143B CN202211652409.2A CN202211652409A CN115985143B CN 115985143 B CN115985143 B CN 115985143B CN 202211652409 A CN202211652409 A CN 202211652409A CN 115985143 B CN115985143 B CN 115985143B
- Authority
- CN
- China
- Prior art keywords
- flight type
- yaw rate
- warning system
- yaw angle
- flight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000008569 process Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 13
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Landscapes
- Traffic Control Systems (AREA)
Abstract
The method for judging the flight type of the enhanced ground proximity warning system is suitable for detecting the flight type of the aircraft by taking the yaw angle rate as a reference, the problem that the error of a detection result is increased due to unstable yaw angle when flying in turbulence when taking the yaw angle as the flight type detection reference is avoided, an unstable and incorrect detection result can be effectively avoided by introducing a filter and a hysteresis function, the method can be widely applied to the enhanced ground proximity warning system additionally arranged on the aircraft, the flight type of a helicopter can be effectively judged in real time by the enhanced ground proximity warning system, the display function and the robustness of the forward-looking terrain avoidance warning function of the enhanced ground proximity warning system are improved, the accuracy of judging the flight type by the enhanced ground proximity warning system is improved, and the flight safety is improved.
Description
Technical Field
The invention belongs to the technical field of aircraft avionics, and particularly relates to a flight type judging method suitable for an enhanced near-earth warning system.
Background
The enhanced near-earth warning system is characterized in that the flight type is judged after signal processing by collecting airborne information such as altitude, speed, position, heading and gesture on an aircraft, the next track of the aircraft is predicted according to different flight types, and the terrain data of a corresponding area is loaded according to the predicted flight track to perform the forward-looking terrain avoidance algorithm judgment and terrain display functions of the enhanced near-earth warning system. The forward-looking terrain avoidance warning function is used for sensing whether the terrain in front of the aircraft is threatened or not, so that the following flight path of the aircraft needs to be predicted; the method for predicting the horizontal direction of the aircraft is divided into a linear flight prediction algorithm and a turning flight prediction algorithm, so that whether the aircraft is in linear flight or turning flight next is judged, and in order to improve the accuracy of judging the flight type by the existing ground proximity warning system, the safety of the aircraft flight is improved, and the method for judging the flight type by the existing enhanced ground proximity warning system is necessary to be improved.
Disclosure of Invention
The invention solves the technical problems that: the method for judging the flight type of the enhanced ground proximity warning system is suitable for detecting the flight type of an aircraft by taking the yaw angle rate as a reference, the problem that the error of a detection result is increased due to unstable yaw angle when flying in turbulence when taking the yaw angle as the flight type detection reference is avoided, an unstable and erroneous detection result can be effectively avoided by introducing a filter and a hysteresis function, the method can be widely applied to the enhanced ground proximity warning system additionally arranged on the aircraft, the enhanced ground proximity warning system can effectively judge the flight type of a helicopter in real time, the robustness of the display function and the forward-looking terrain avoidance warning function of the enhanced ground proximity warning system is improved, the accuracy of the enhanced ground proximity warning system in judging the flight type is improved, and the flight safety is improved.
The invention adopts the technical scheme that: the flight type judging method suitable for the enhanced ground proximity warning system comprises the following steps:
1) Filtering the yaw rate ψ using an α - β filter, first initializing the parameters of the α - β filter to make Wherein/>For the estimated yaw angle in the initial state, it is obtained directly from avionic data, while/>An estimated yaw rate in an initial state, i.e., the yaw rate in the initial state is zero;
2) Acquiring a yaw angle phi i of the helicopter at the current moment through avionic data on a receiver, wherein i= (1, 2, 3 … … n);
3) Estimated yaw angle from instant (i-1) Calculating the predicted yaw angle/>, at the i-th moment
Wherein DeltaT is a unit time, namely, the time from the (i-1) th time to the i-th time,An estimated yaw rate for time (i-1);
Residual error of yaw angle:
By residual error Correction estimation yaw angle/>And estimating yaw rate/>The specific calculation process is as follows:
In the above formula, alpha and beta are gain factors of an alpha-beta filter, wherein the value range of alpha is more than 0 and less than 1, and the value range of beta is more than 0 and less than 1;
4) The corrected estimated yaw rate Substituting the corrected yaw rate value into a hysteresis function, and determining the current flight type of the helicopter according to the position of the corrected yaw rate value in the hysteresis function;
5) Repeating the steps 2) -4), and determining the flight type of the helicopter in each unit time.
In the step 4), the hysteresis function is specifically as follows:
In the above-mentioned formula, the first step, Representative/>Increase/>Representative/>And (3) reducing.
Compared with the prior art, the invention has the advantages that:
1. according to the technical scheme, the yaw rate is taken as a reference to detect the flight type of the aircraft, so that the problem that the error of a detection result is increased due to unstable yaw angle when flying in turbulence when taking the yaw angle as the flight type detection reference is avoided;
2. According to the technical scheme, the filter and the hysteresis function are introduced, so that unstable and wrong detection results can be effectively avoided, and the condition for improving the accuracy of flight type judgment is improved;
3. The technical scheme can be widely applied to the enhanced near-earth warning system additionally arranged on the aircraft, and can effectively judge the flight type of the helicopter in real time, so that the robustness of the display function of the enhanced near-earth warning system and the forward-looking terrain avoidance warning function is improved, the accuracy of the enhanced near-earth warning system in judging the flight type is improved, and the flight safety is improved.
Drawings
FIG. 1 is a schematic diagram of the hysteresis function of the present invention;
FIG. 2 is a straight flight horizontal envelope of the present invention;
Fig. 3 is a cornering flight level envelope according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to fig. 1 to 3 in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The inclusion of an element as defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The flight type judging method suitable for the enhanced ground proximity warning system comprises the following steps:
1) Filtering the yaw rate ψ using an α - β filter, first initializing the parameters of the α - β filter to make Wherein/>For the estimated yaw angle in the initial state, it is obtained directly from avionic data, while/>An estimated yaw rate in an initial state, i.e., the yaw rate in the initial state is zero;
2) Acquiring a yaw angle phi i of the helicopter at the current moment through avionic data on a receiver, wherein i= (1, 2, 3 … … n);
3) Estimated yaw angle from instant (i-1) Calculating the predicted yaw angle/>, at the i-th moment
Wherein DeltaT is a unit time, namely, the time from the (i-1) th time to the i-th time,An estimated yaw rate for time (i-1);
Residual error of yaw angle:
By residual error Correction estimation yaw angle/>And estimating yaw rate/>The specific calculation process is as follows:
In the above formula, alpha and beta are gain factors of an alpha-beta filter, wherein the value range of alpha is more than 0 and less than 1, and the value range of beta is more than 0 and less than 1;
selecting proper gain factors, wherein the gain factors alpha and beta are used for controlling the performance of the alpha-beta filter; in order to converge the α - β filter, the values of α and β are in the range of 0 to 1, the closer α is to 1, the output of the α - β filter is to the original data, β represents the influence weight of the position residual on the prediction speed, and when β=0, the estimated speed is constant, and since the prediction speed is set to be uniform, the position residual will be far away.
4) The corrected estimated yaw rateSubstituting the corrected yaw rate value into a hysteresis function, and determining the current flight type of the helicopter according to the position of the corrected yaw rate value in the hysteresis function; specifically, the hysteresis function is specifically as follows:
In the above-mentioned formula, the first step, Representative/>Increase/>Representative/>And (3) reducing.
5) Repeating steps 2) -4), determining the flight type of the helicopter per unit time, i.e. calculated in step 3)And/>Used at the next repeated prediction.
Judging whether the flight type of the helicopter is straight flight or cornering flight by using a designed hysteresis function; by filtering the yaw rateSubstituting the hysteresis function to obtain the flight type of the aircraft, when the yaw angle change rate/>Above 0.5 °/s/>In the range of (0.3, 0.5) during the reduction, then the flight type is cornering flight, as shown in fig. 3; when yaw rate/>When the ratio falls below 0.3 °/s, or at/>The increase is in the range of (0.3, 0.5), then the flight type is straight flight, as shown in fig. 2.
It is generally considered that: when the yaw angle phi of the helicopter is not equal to 0, the aircraft is in a rolling state and is in cornering flight; because the airplane is in a roll state, the yaw angle of the airplane changes at a certain change rate psi, so that the roll angle or yaw rate of the airplane can be selectively detected to judge whether the airplane is in a turning state; the yaw rate is selected to detect whether the aircraft is in a turning state, mainly because the yaw angle is unstable when flying in turbulence, and the yaw rate psi is more stable, and the detection result is straight-line flight or turning flight; the input signal ψ is input to a detection filter, the filter result is substituted into a hysteresis function, and finally the flight type detection result is output, and the filter and the hysteresis function are used in order to avoid unstable and erroneous detection results, and since turbulence may cause abrupt change in ψ, a filter is added to smooth the yaw rate change ψ. The high-frequency component of the yaw rate change rate psi is filtered by using the alpha-beta filter, so that the judging structure is more accurate, and the judging error is greatly reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (2)
1. The flight type judging method suitable for the enhanced ground proximity warning system is characterized by comprising the following steps of:
1) Filtering the yaw rate ψ using an α - β filter, first initializing the parameters of the α - β filter to make Wherein/>For the estimated yaw angle in the initial state, it is obtained directly from avionic data, while/>An estimated yaw rate in an initial state, i.e., the yaw rate in the initial state is zero;
2) Acquiring a yaw angle phi i of the helicopter at the current moment through avionic data on a receiver, wherein i=1, 2 and 3 … … n;
3) Estimated yaw angle from instant (i-1) Calculating the predicted yaw angle/>, at the i-th moment
Wherein DeltaT is a unit time, namely, the time from the (i-1) th time to the i-th time,An estimated yaw rate for time (i-1);
Residual error of yaw angle:
By residual error Correction estimation yaw angle/>And estimating yaw rate/>The specific calculation process is as follows:
In the above formula, alpha and beta are gain factors of an alpha-beta filter, wherein the value range of alpha is more than 0 and less than 1, and the value range of beta is more than 0 and less than 1;
4) The corrected estimated yaw rate Substituting the corrected yaw rate value into a hysteresis function, and determining the current flight type of the helicopter according to the position of the corrected yaw rate value in the hysteresis function;
5) Repeating the steps 2) -4), and determining the flight type of the helicopter in each unit time.
2. The flight type judgment method applicable to the enhanced near-earth warning system according to claim 1, characterized in that: in the step 4), the hysteresis function is specifically as follows:
In the above-mentioned formula, the first step, Representative/>Increase/>Representative/>And (3) reducing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211652409.2A CN115985143B (en) | 2022-12-21 | 2022-12-21 | Flight type judging method suitable for enhanced ground proximity warning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211652409.2A CN115985143B (en) | 2022-12-21 | 2022-12-21 | Flight type judging method suitable for enhanced ground proximity warning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115985143A CN115985143A (en) | 2023-04-18 |
| CN115985143B true CN115985143B (en) | 2024-04-19 |
Family
ID=85967516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211652409.2A Active CN115985143B (en) | 2022-12-21 | 2022-12-21 | Flight type judging method suitable for enhanced ground proximity warning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115985143B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6157891A (en) * | 1998-11-16 | 2000-12-05 | Lin; Ching-Fang | Positioning and ground proximity warning method and system thereof for vehicle |
| WO2002039138A1 (en) * | 2000-11-06 | 2002-05-16 | Lin Ching Fang | Positioning and ground proximity warning method and system thereof for vehicle |
| CN103903482A (en) * | 2012-12-26 | 2014-07-02 | 上海航空电器有限公司 | Forward-looking forecast warning system in ground proximity warning system and method |
| WO2015128610A1 (en) * | 2014-02-27 | 2015-09-03 | Atlantic Inertial Systems Limited | Inertial navigation system |
| CN109896046A (en) * | 2017-12-11 | 2019-06-18 | 上海航空电器有限公司 | A kind of forward sight prediction alarm function test method of enhanced ground proximity warning system (EGPWS) |
| CN111123966A (en) * | 2019-12-26 | 2020-05-08 | 陕西宝成航空仪表有限责任公司 | Method for judging flight phase based on airborne ground proximity warning system |
| CN112660399A (en) * | 2020-12-11 | 2021-04-16 | 陕西千山航空电子有限责任公司 | Automatic throwing control device and method for flight recorder |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070010921A1 (en) * | 2005-07-05 | 2007-01-11 | Honeywell International Inc. | Method, apparatus, and database products for automated runway selection |
-
2022
- 2022-12-21 CN CN202211652409.2A patent/CN115985143B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6157891A (en) * | 1998-11-16 | 2000-12-05 | Lin; Ching-Fang | Positioning and ground proximity warning method and system thereof for vehicle |
| WO2002039138A1 (en) * | 2000-11-06 | 2002-05-16 | Lin Ching Fang | Positioning and ground proximity warning method and system thereof for vehicle |
| CN103903482A (en) * | 2012-12-26 | 2014-07-02 | 上海航空电器有限公司 | Forward-looking forecast warning system in ground proximity warning system and method |
| WO2015128610A1 (en) * | 2014-02-27 | 2015-09-03 | Atlantic Inertial Systems Limited | Inertial navigation system |
| CN109896046A (en) * | 2017-12-11 | 2019-06-18 | 上海航空电器有限公司 | A kind of forward sight prediction alarm function test method of enhanced ground proximity warning system (EGPWS) |
| CN111123966A (en) * | 2019-12-26 | 2020-05-08 | 陕西宝成航空仪表有限责任公司 | Method for judging flight phase based on airborne ground proximity warning system |
| CN112660399A (en) * | 2020-12-11 | 2021-04-16 | 陕西千山航空电子有限责任公司 | Automatic throwing control device and method for flight recorder |
Non-Patent Citations (2)
| Title |
|---|
| 一种增强型近地告警系统的实现及应用研究;李平;惠文婧;;通讯世界;20181125(第11期);全文 * |
| 增强型近地警告系统前视预警算法设计与仿真;宋东;李文娟;裴林;周宇晗;;系统仿真学报;20091020(第20期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115985143A (en) | 2023-04-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9128109B1 (en) | Method and system for detecting errors in indicated air speed | |
| US11415690B2 (en) | Method and system comparing odometer velocity to radar based velocity | |
| CN112432644B (en) | Unmanned ship integrated navigation method based on robust adaptive unscented Kalman filtering | |
| US9638529B2 (en) | Vehicle orientation detection method and vehicle orientation detection apparatus | |
| US10479368B2 (en) | Method and device for operating a driver assistance system, and driver assistance system | |
| CN109975839B (en) | Joint filtering optimization method for vehicle satellite positioning data | |
| CN106560725A (en) | Automated Vehicle Radar System To Determine Yaw-rate Of Target Vehicle | |
| US11577780B2 (en) | Lane separation line detection correcting device, lane separation line detection correcting method, and automatic driving system | |
| CN112762944B (en) | Zero-speed interval detection and zero-speed updating method | |
| US20150309181A1 (en) | Method for providing a gnss signal | |
| CN108688668B (en) | Method and system for vehicle lateral force control | |
| US11619517B2 (en) | Method and system for determining an estimation of an anemometric parameter in an aircraft | |
| FR3079942A1 (en) | METHOD AND DEVICE FOR DETERMINING A TRACK TO AN OPTIMAL POSITION OF A FOLLOWING AIRCRAFT IN RELATION TO VORTEX GENERATED BY AN AIRCRAFT AIRCRAFT | |
| CN115985143B (en) | Flight type judging method suitable for enhanced ground proximity warning system | |
| EP3022565B1 (en) | System and process for measuring and evaluating air and inertial data | |
| CN114265068A (en) | Reactive wind shear false alarm suppression method based on weather radar information | |
| CN113436190B (en) | Lane line quality calculation method and device based on lane line curve coefficient and automobile | |
| CN113625234B (en) | Mounting angle correction method of vehicle radar and vehicle radar | |
| CN107422311B (en) | Anti-distance dragging method based on alpha-beta filtering | |
| CN113552546A (en) | Method and device for calibrating installation angle of vehicle-mounted radar | |
| CN113753024B (en) | Method, device, equipment and storage medium for eliminating steady-state deviation of vehicle | |
| JPH1062450A (en) | Yaw rate sensor neutral point estimator | |
| US20220113740A1 (en) | Vehicle location information correction based on another vehicle | |
| CN114139651A (en) | Confidence acquisition method, storage medium and electronic device for multi-sensor fusion target tracking system | |
| CN113867395A (en) | Monitoring method and system for take-off wheel of unmanned aerial vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |