CN116933209A - System and method for performing anomaly monitoring and virtual synthesis on course deviation signals - Google Patents
System and method for performing anomaly monitoring and virtual synthesis on course deviation signals Download PDFInfo
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Abstract
The present invention relates to a system and method for anomaly monitoring and virtual synthesis of course bias signals. In the invention, the instrument course deviation signal is monitored in real time in the landing stage, and under the condition that the original course deviation signal is monitored to be abnormal, the fault signal is timely isolated and is switched to the virtual course deviation signal to be provided for an automatic landing control system to be used as information input.
Description
Technical Field
The invention relates to the field of automatic landing of civil aircraft, in particular to a system and a method for virtual synthesis and anomaly monitoring of a course deviation signal of an instrument landing system.
Background
The main stream models of modern civil aircraft all have automatic landing functions, and an Instrument Landing System (ILS) is generally used for sending a course deviation signal and a glide slope deviation signal.
The instrument landing system runs in low altitude in the approach landing stage, airborne equipment is easily interfered by obstacles, terrains, other aircrafts and the like to cause abnormal course deviation signals and glidepath deviation signals, and the aircraft deviates from an ideal glidepath under the guidance of the error deviation signals so as to influence landing safety. The automatic landing of fault-working under CAT III meteorological conditions requires that the instrument landing system still works normally after single fault occurs, but the instrument landing system is limited in that only one airborne receiving antenna for calculating the course deviation signal is available, and the safety requirement of fault-working cannot be supported. Therefore, a method for calculating the virtual course deviation signal is necessary to be considered, so that the safety and reliability of the automatic landing system are improved.
The prior art generally relates to the technology of virtual synthesis of deviation signals of an instrument landing system, but has some disadvantages. For example, the complementary filter signal sources used are the meter landing signal and inertial navigation signal at the time of the anomaly, and the meter landing signal after the anomaly is not effectively isolated. In addition, if the disturbance error of the instrument landing signal is large, the filtering result is inaccurate; the signal source of the filter is single, and various airborne sensor information can not be fully and effectively utilized; the comparison monitoring logic is used for comparing the original instrument landing guide signal with the weighted average value of the inertia synthesized signal and the GPS signal in a threshold value, and the situation that the weighted average value is abnormal due to the abnormality of the inertia synthesized signal or the GPS signal is not considered, so that the accuracy of the virtual synthesized signal is greatly affected.
Accordingly, there is a need for an improved system and method of the prior art.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The present invention has been made to solve the above-described problems. Aiming at the situation of error or loss of the instrument landing heading guiding signal, the invention provides an instrument landing heading guiding signal (LOC signal) anomaly monitoring and virtual synthesis scheme. Based on the scheme, the course deviation signal of the instrument in the landing stage is monitored in real time, and fault signals are timely isolated. The method is characterized in that an effective fusion calculation method is adopted to complete data fusion of different airborne sensors, and virtual synthesized course deviation signals are provided for an automatic landing control system to serve as information input under the condition that original LOC signals are abnormal, so that landing safety is improved.
In one embodiment of the invention, a method for anomaly monitoring and virtual synthesis of a course bias signal is disclosed, the method comprising:
receiving sensor data from a plurality of on-board sensors, the sensor data including GNSS-resolved heading bias and raw heading channel bias signals;
fusing the sensor data to determine an initial heading bias;
determining a runway magnetic heading angle based on the initial heading bias and determining a speed of traversing the runway based on the runway magnetic heading angle;
calculating a virtually synthesized course bias from the runway magnetic course angle and the traverse runway speed and generating a virtually synthesized course bias signal by geometric transformation based on the virtually synthesized course bias;
comparing the virtually synthesized course bias signal to the GNSS calculated course bias to determine if the difference is within a first threshold;
comparing the raw course bias signal with the virtually synthesized course bias signal if it is determined to be within the first threshold to determine if the difference is within a second threshold; and
determining that the original course deviation signal is abnormal and switching the landing guidance signal to the virtually synthesized course deviation signal if it is determined that it is not within the second threshold.
In one embodiment of the invention, the onboard sensors include an inertial measurement unit, a radar altimeter, a global navigation satellite system, and an instrumented landing system, the GNSS solution heading bias is from the inertial measurement unit, the radar altimeter, the global navigation satellite system, and the instrumented landing system, and the raw heading bias signal is from the instrumented landing system, and fusing the sensor data further includes fusing the sensor data using a kalman filter to obtain position, velocity, and attitude information of the aircraft for determining the raw heading bias.
In one embodiment of the invention, the runway traversing speed is further determined by:
obtaining the differential of the initial course deviation to determine the course deviation change rate;
calculating an included angle of the projection relative to the runway parallel line direction by utilizing the course deviation change rate and the projection of the fused aircraft ground speed on the runway plane;
determining a runway magnetic heading angle based on the included angle and a true track magnetic heading angle of a projection of the aircraft ground speed on a runway plane relative to a geographic north pole;
the traverse runway speed is determined based on the projection, the true track magnetic heading angle, and the runway magnetic heading angle.
In one embodiment of the invention, the virtually synthesized course bias is further calculated by: integrating the traverse runway speed with the initial heading bias as an integrated initial value to obtain the virtually synthesized heading channel bias of the aircraft at the inertial navigation position relative to the runway centerline, and the virtually synthesized heading channel bias signal is further calculated by: based on the virtually synthesized course bias, the virtually synthesized course bias is converted into the virtually synthesized course bias signal using the aircraft-to-course distance and the triangular geometry and further into a final course bias angle.
In one embodiment of the invention, the method further comprises:
determining that the virtually synthesized course bias signal is inaccurate and alerting if it is determined that it is not within the first threshold;
determining that the original course bias signal is normal if it is determined to be within the second threshold;
continuing to compare the original course bias signal with the virtually synthesized course bias signal after determining that the original course bias signal is abnormal to determine if the difference falls within a third threshold; and
if it falls within the third threshold, switching the landing pilot signal to the original course bias signal.
In another embodiment of the present invention, a system for anomaly monitoring and virtual synthesis of a course bias signal is disclosed, the system comprising:
a data receiving and fusing module configured to:
receiving sensor data from a plurality of on-board sensors, the sensor data including GNSS-resolved heading bias and raw heading channel bias signals; and
fusing the sensor data;
a course bias signal virtual synthesis module configured to:
determining an initial heading bias based on the fused sensor data;
determining a runway magnetic heading angle based on the initial heading bias and determining a speed of traversing the runway based on the runway magnetic heading angle; and
calculating a virtually synthesized course bias from the runway magnetic course angle and the traverse runway speed and generating a virtually synthesized course bias signal by geometric transformation based on the virtually synthesized course bias; and
the course deviation signal virtual anomaly monitoring module is configured to:
comparing the virtually synthesized course bias signal to the GNSS calculated course bias to determine if the difference is within a first threshold;
comparing the raw course bias signal with the virtually synthesized course bias signal if it is determined to be within the first threshold to determine if the difference is within a second threshold; and
determining that the original course deviation signal is abnormal and switching the landing guidance signal to the virtually synthesized course deviation signal if it is determined that it is not within the second threshold.
In one embodiment of the invention, the onboard sensors include an inertial measurement unit, a radar altimeter, a global navigation satellite system, and an instrumented landing system, the GNSS solution heading bias is from the inertial measurement unit, the radar altimeter, the global navigation satellite system, and the instrumented landing system, and the raw heading bias signal is from the instrumented landing system, and the data receiving and fusion module is further configured to fuse the sensor data by: a kalman filter is employed to fuse the sensor data to obtain position, velocity and attitude information of the aircraft for use in determining the initial heading bias.
In one embodiment of the invention, the course bias signal virtual composition module is further configured to determine the traverse runway speed by:
obtaining the differential of the initial course deviation to determine the course deviation change rate;
calculating an included angle of the projection relative to the runway parallel line direction by utilizing the course deviation change rate and the projection of the fused aircraft ground speed on the runway plane;
determining a runway magnetic heading angle based on the included angle and a true track magnetic heading angle of a projection of the aircraft ground speed on a runway plane relative to a geographic north pole;
the traverse runway speed is determined based on the projection, the true track magnetic heading angle, and the runway magnetic heading angle.
In one embodiment of the invention, the course bias signal virtual composition module is further configured to determine the virtual composite course bias by: integrating the traverse runway speed with the initial heading bias as an integrated initial value to obtain the virtually synthesized heading-path bias of the aircraft at the inertial navigation position relative to the runway centerline, and the virtually synthesized heading-path bias signal virtual synthesis module is further configured to determine the virtually synthesized heading-path bias signal by: based on the virtually synthesized course bias, the virtually synthesized course bias is converted into the virtually synthesized course bias signal using the aircraft-to-course distance and the triangular geometry and further into a final course bias angle.
In one embodiment of the invention, the course bias signal anomaly monitoring module is further configured to:
determining that the virtually synthesized course bias signal is inaccurate and alerting if it is determined that it is not within the first threshold;
determining that the original course bias signal is normal if it is determined to be within the second threshold;
continuing to compare the original course bias signal with the virtually synthesized course bias signal after determining that the original course bias signal is abnormal to determine if the difference falls within a third threshold; and
if it falls within the third threshold, switching the landing pilot signal to the original course bias signal.
Other aspects, features and embodiments of the present invention will become apparent to those ordinarily skilled in the art upon review of the following description of specific exemplary embodiments of the invention in conjunction with the accompanying figures. Although features of the invention may be discussed below with respect to certain embodiments and figures, all embodiments of the invention may include one or more of the advantageous features discussed herein. In other words, while one or more embodiments may be discussed as having certain advantageous features, one or more of such features may also be used in accordance with the various embodiments of the invention discussed herein. In a similar manner, although exemplary embodiments may be discussed below as device, system, or method embodiments, it should be appreciated that such exemplary embodiments may be implemented in a variety of devices, systems, and methods.
Drawings
So that the manner in which the above recited features of the present disclosure can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to aspects, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only certain typical aspects of this disclosure and are therefore not to be considered limiting of its scope, for the description may admit to other equally effective aspects.
FIG. 1 illustrates a schematic block diagram of a system for anomaly monitoring and virtual synthesis of a course bias signal in accordance with one embodiment of the present invention.
FIG. 2 is a geometric schematic of the virtual synthesis of the course bias signal performed by the course bias signal virtual synthesis module in a system for anomaly monitoring and virtual synthesis of course bias signals in accordance with one embodiment of the invention.
FIG. 3 is a logic flow diagram of a heading channel deviation signal anomaly monitoring module in a system for anomaly monitoring and virtual synthesis of a heading channel deviation signal in accordance with one embodiment of the present invention.
FIG. 4 is a flow chart of a method for anomaly monitoring and virtual synthesis of a course bias signal in accordance with one embodiment of the present invention.
Detailed Description
Various embodiments will be described in greater detail below with reference to the accompanying drawings, which form a part hereof, and which illustrate specific exemplary embodiments. Embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of these embodiments to those skilled in the art. Embodiments may be implemented in a method, system, or apparatus. Accordingly, the embodiments may take the form of a hardware implementation, an entirely software implementation, or an implementation combining software and hardware aspects. The following detailed description is, therefore, not to be taken in a limiting sense.
The steps in the flowcharts may be performed by hardware (e.g., processors, engines, memories, circuits), software (e.g., operating systems, applications, drivers, machine/processor executable instructions), or a combination thereof. As will be appreciated by one of ordinary skill in the art, the methods involved in the various embodiments may include more or fewer steps than shown.
In the present invention, a method for virtually synthesizing a course bias signal is presented to produce a virtually synthesized course bias signal and compare the signal to an original course bias signal from an ILS to detect if the original course bias signal is anomalous. If the original course deviation signal is abnormal, the landing guiding signal is switched into the virtually synthesized course deviation signal, so that landing safety is improved.
Aspects of the invention are described in detail below.
FIG. 1 illustrates a schematic block diagram of a system 100 for anomaly monitoring and virtual synthesis of a course bias signal, in accordance with one embodiment of the present invention.
As shown in fig. 100, the system 100 includes a data receiving and fusing module 102, a course deviation signal virtual synthesizing module 104, and a course deviation signal virtual anomaly monitoring module 106.
In one embodiment of the invention, the data receiving and fusion module 102 may be configured to receive sensor data from a plurality of onboard sensors and fuse the sensor data. These sensor data may include angular velocity and acceleration of the inertial measurement unit IRU, altitude information from the radar altimeter RA, longitude and latitude and altitude from the global navigation satellite system GNSS and the resolved heading bias, and raw heading channel bias signals from the instrumentation landing system ILS. As will be appreciated by those skilled in the art, the on-board sensors and sensor data are not limited to the foregoing, and other on-board sensors and other sensor data may be included in other embodiments of the invention.
In another embodiment of the invention, the data receiving and fusing module 102 may be further configured to fuse the sensor data by: a kalman filter is employed to fuse the sensor data to obtain position, velocity and attitude information of the aircraft for use in determining the initial heading bias. The fused data may include post-fusion longitude and latitude height, post-fusion speed, post-fusion northeast speed, and the like. Therefore, in the embodiment of the invention, the Kalman filter multi-source information fusion based on the error state is realized, and the strapdown inertial navigation algorithm is integrated after the optimal estimation of the combined navigation system error so as to compensate or correct the sensor information error, thereby obtaining the information such as the high-precision airplane position, speed, gesture and the like.
In one embodiment of the invention, the course deviation signal virtual composition module 104 may first calculate the centerline deviation of the aircraft relative to the runway, noted as the initial deviation D 0 Then the speed component of the plane perpendicular to the runway is calculated to determine the speed V across the runway cr . And then integrating the speed of the crossing runway by taking the initial deviation as an integral initial value to obtain a course virtual composite deviation D. Finally, the virtual composite signal of the course deviation, namely the course deflection angle, is obtained by utilizing the distance from the airplane to the course table and the triangle geometric relationship
The course deviation signal virtual composition module 104 will be described below in conjunction with FIG. 2. FIG. 2 is a geometric diagram 200 of the virtual synthesis of the course bias signal performed by the course bias signal virtual synthesis module 104 in a system for anomaly monitoring and virtual synthesis of course bias signals in accordance with one embodiment of the present invention. Auxiliary information required by the virtual synthetic course deviation signal is described as follows: north is the magnetic North direction, V cr For the runway crossing speed perpendicular to the runway centerline direction, T is the true track magnetic heading angle of the projection of the aircraft ground speed on the runway plane relative to the geographic north pole, V is the projection of the ground speed on the runway plane, and phi isThe projection of the plane of the runway and the included angle of the center line of the runway are carried out by the plane speed vector of the plane of the runway, D 0 For initial heading bias, Λ run,adj And (5) correcting the calculated runway magnetic heading angle.
Specifically, in one embodiment of the invention, the course deviation signal virtual synthesis module 104 may first determine the initial course deviation D based on the fused sensor data 0 . In this embodiment, the initial heading bias D 0 May refer to the heading distance D of the aircraft relative to the centerline of the runway 0 As shown in fig. 2.
Subsequently, the course deviation signal virtual composition module 104 may be based on the initial course deviation D 0 To determine runway magnetic heading angle lambda run,adj And based on the runway magnetic heading angle lambda run,adj To determine the speed V of crossing a runway cr . Specifically, in one embodiment of the present invention, by way of example and not limitation, the course bias signal virtual composition module 104 may be further configured to determine the traverse runway speed by: the differential tracker processes the initial heading deviation to determine the heading deviation change rate V 0 In a direction perpendicular to the runway, i.e. with V cr In the same direction; by using the course deviation change rate V 0 And calculating an included angle phi of the projection V relative to the runway parallel line direction by the projection V of the fused aircraft ground speed on the runway plane, as shown in figure 2; determining the runway magnetic heading angle lambda based on the included angle phi and the true track magnetic heading angle T of the projection of the aircraft ground speed on the runway plane relative to the geographic north pole run,adj The method comprises the steps of carrying out a first treatment on the surface of the And based on the projection V, the true track magnetic heading angle T, and the runway magnetic heading angle Λ run,adj To determine the speed V of crossing the runway cr As shown in fig. 2.
Finally, the course bias signal virtual synthesis module 104 may determine the course magnetic course angle Λ based on the course magnetic course angle Λ run,adj The speed V of crossing runway cr To calculate a virtually synthesized course deviation D and to generate a virtually synthesized course deviation signal by means of a geometric transformation on the basis of the virtually synthesized course deviation D. Specifically, in one embodiment of the present invention, as an exampleWithout limitation, the course bias signal virtual composition module 104 may be further configured to determine the virtual composite course bias D by: bias the initial heading D 0 As an integral initial value for the runway speed V cr Integration is performed to obtain a virtually synthesized course deviation D of the aircraft at the inertial navigation position relative to the runway centerline, as shown in the following equation:
D＝D 0 +∫V cr dt。
in this embodiment, the course bias signal virtual composition module 104 may be further configured to determine the virtually composed course bias signal by: based on the virtually synthesized course bias D, the virtually synthesized course bias D is converted into the virtually synthesized course bias signal using the aircraft-to-course distance and the triangular geometry, and further into a final course bias angle, as shown in the following equation:
in another embodiment of the invention, the aircraft yaw angle ψ, the runway magnetic heading angle Λ are utilized run,adj Distance L of inertial navigation and ground control points (Ground Control Point, GCP) along the fuselage direction GCP The information is subjected to geometric conversion, the course deviation D at the position of the inertial navigation installation is converted into the course deviation at the position of the guide control point GCP, and the signal is the finally generated virtual synthesized course deviation signal.
The course deviation signal virtual anomaly monitoring module 106 will be described below in connection with FIG. 3. FIG. 3 is a logic flow diagram 300 of a heading channel deviation signal anomaly monitoring module in a system for anomaly monitoring and virtual synthesis of a heading channel deviation signal in accordance with one embodiment of the present invention.
The virtual anomaly monitoring module 106 is configured to detect anomalies or loss of LOC signals, and rapidly switch virtual synthesized course deviation signals as landing guidance signals, so as to ensure landing safety. Starting the module at the beginning of the aircraft downslide section, and judging whether the course deviation signal is abnormal or lost by comparing and monitoring the original course deviation signal, the virtual synthesized course deviation signal and the GPS resolved course deviation signal.
In one embodiment of the invention, the course deviation signal virtual anomaly monitoring module 106 may be configured to compare the virtually synthesized course deviation signal generated by the course deviation signal virtual synthesis module 104 of FIG. 1 to GNSS solution course deviations received from the GNSS (as shown by comparison block 302) to determine whether the difference is within a first threshold (as shown by decision block 304). If the difference value is stabilized within the first threshold value (i.e., less than the first threshold value), the virtually synthesized course deviation signal is considered accurate; if the difference exceeds a threshold (such as three consecutive times) and continues for a period of time, the virtually synthesized course deviation signal is considered abnormal (i.e., inaccurate) and an alarm is raised.
Next, the course deviation signal virtual anomaly monitoring module 106 may be configured to compare (as shown by comparison block 306) the raw course deviation signal received from the ILS to the virtually synthesized course deviation signal if it is determined that the difference between the virtually synthesized course deviation signal and the GNSS solution course deviation is within the first threshold to determine if the difference is within a second threshold (as shown by decision block 308). In one embodiment of the invention, the raw course bias signal is low pass filtered.
Finally, the course deviation signal virtual anomaly monitoring module 106 may be configured to determine that the original course deviation signal is anomalous and switch the landing guidance signal to a virtually synthesized course deviation signal if it is determined that the difference between the original course deviation signal and the virtually synthesized course deviation signal is not within the second threshold. In one embodiment of the invention, if the difference is within the second threshold, determining that the raw course bias signal is normal; if the difference exceeds the second threshold three times in succession (by way of example and not limitation) for a period of time and the GNSS solution heading bias signal and the virtual heading bias signal are within the first threshold, then it is determined that the original heading bias signal is abnormal, the landing guidance signal is switched to the virtually synthesized heading bias signal, and a visual or audible warning indication is sent to the pilot. In another embodiment of the present invention, if the difference exceeds the second threshold three times in succession (by way of example and not limitation) for a period of time and the GNSS solution heading bias signal and the virtually synthesized heading bias signal also exceed the first threshold and alarm, more than one set of system faults are determined, and the detection is considered to be failed, and isolation is not performed, but is recorded and alarmed.
In yet another embodiment of the present invention, the present invention introduces a course bias signal healing mechanism (as shown by the dashed box in FIG. 3) because the ILS signal (i.e., the raw course bias signal from the ILS) anomaly may generally be a brief, low frequency disturbance, which may later be recovered. That is, if the difference between the original course bias signal and the virtually synthesized course bias signal falls below the third threshold (healing threshold), the original course bias signal is considered to be restored to normal and switched back to the original course bias signal for subsequent landing guidance. If the original course deviation signal does not fall below the third threshold, the original course deviation signal is considered to be still abnormal.
In addition, in this embodiment, considering that two sets of ILS systems are generally provided in the civil aircraft navigation system, the average value of the original course deviation signals of the two sets of ILS is taken and compared with the virtually synthesized course deviation signal. If the signal interference causes the abnormality of the original course deviation signal, it is considered that both sets of ILS systems are affected, and at this time, if the GNSS solution course deviation signal and the virtual synthesized course deviation signal are within a first threshold, the virtual synthesized course deviation signal is switched.
As will be appreciated by those skilled in the art, the above-described respective thresholds may be set by themselves according to actual needs, and thus the thresholds in the present invention are not limited to any specific threshold, and references to "first threshold", "second threshold" and "third threshold" are different thresholds.
FIG. 4 is a flow chart of a method 400 for anomaly monitoring and virtual synthesis of a course bias signal in accordance with one embodiment of the present invention.
The method 400 begins at step 402 with receiving sensor data from a plurality of onboard sensors, the sensor data including a GNSS-resolved heading bias and a raw heading channel bias signal. In one embodiment of the invention, the on-board sensors may include an inertial measurement unit, a radar altimeter, a global navigation satellite system, and an instrumented landing system, and the GNSS solution heading bias may be from the inertial measurement unit, the radar altimeter, the global navigation satellite system, and the instrumented landing system, and the raw heading bias signal may be from the instrumented landing system.
The method 400 then continues to step 404 where the sensor data is fused to determine an initial heading bias. In one embodiment of the invention, fusing the sensor data may further include fusing the sensor data using a Kalman filter to obtain position, velocity, and attitude information of the aircraft for determining the initial heading bias.
Next, the method 400 continues to step 406 where a runway magnetic heading angle is determined based on the initial heading bias and a speed of traversing the runway is determined based on the runway magnetic heading angle. In one embodiment of the invention, the runway traversing speed may be further determined by: obtaining the differential of the initial course deviation to determine the course deviation change rate; calculating an included angle of the projection relative to the runway parallel line direction by utilizing the course deviation change rate and the projection of the fused aircraft ground speed on the runway plane; determining a runway magnetic heading angle based on the included angle and a true track magnetic heading angle of a projection of the aircraft ground speed on a runway plane relative to a geographic north pole; the traverse runway speed is determined based on the projection, the true track magnetic heading angle, and the runway magnetic heading angle.
The method 400 then continues to step 408 by calculating a virtual composite course bias from the runway magnetic heading angle and the traverse runway speed and generating a virtual composite course bias signal by geometric transformation based on the virtual composite course bias. In one embodiment of the invention, the virtually synthesized course bias may be further calculated by: integrating the traverse runway speed with the initial heading bias as an integrated initial value to obtain the virtually synthesized heading channel bias of the aircraft at the inertial navigation position relative to the runway centerline, and the virtually synthesized heading channel bias signal may be further calculated by: based on the virtually synthesized course bias, the virtually synthesized course bias is converted into the virtually synthesized course bias signal using the aircraft-to-course distance and the triangular geometry and further into a final course bias angle.
The method 400 then continues to step 410 where the virtually synthesized course bias signal is compared to the GNSS solution course bias to determine if the difference is within a first threshold.
The method 400 then continues to step 412 where the raw course bias signal is compared to the virtually synthesized course bias signal to determine if the difference is within a second threshold if the determination is within the first threshold. In one embodiment of the invention, the method may further comprise determining that the virtually synthesized course deviation signal is inaccurate and alerting if it is determined that it is not within the first threshold.
Finally, the method 400 continues to step 414 where it is determined that the original course deviation signal is abnormal and the landing guidance signal is switched to the virtually synthesized course deviation signal if it is determined that it is not within the second threshold. In one embodiment of the invention, the raw course bias signal is determined to be normal if it is determined to be within the second threshold. In another embodiment of the present invention, the method may further comprise continuing to compare the original course deviation signal with the virtually synthesized course deviation signal after determining that the original course deviation signal is abnormal to determine if the difference falls within a third threshold; and if it falls within the third threshold, switching the landing guide signal to the original course bias signal.
After step 414, the method 400 ends.
In summary, the invention provides multi-source information fusion based on a Kalman filter, which is used for optimally estimating the error of the integrated navigation system and then integrating the error into a strapdown inertial navigation algorithm to compensate or correct the sensor information error, thereby obtaining high-precision information such as the position, the speed, the gesture and the like of the airplane, and being used for determining initial course deviation. In addition, the invention provides a virtual synthesis method of the course deviation signal, which synthesizes the virtual course deviation signal for landing guidance based on the combined navigation information aiming at the high precision and reliability requirements under the landing scene. In addition, the invention also provides a method for monitoring the abnormality of the course deviation signal, and introduces a course signal healing mechanism to realize the dynamic monitoring and automatic restoration of the course guide signal.
Embodiments of the present invention have been described above with reference to block diagrams and/or operational illustrations of methods, systems, and computer program products according to embodiments of the invention. The various functions/acts noted in the blocks may occur out of the order noted in the flowcharts. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (10)
1. A method for anomaly monitoring and virtual synthesis of a course bias signal, the method comprising:
receiving sensor data from a plurality of on-board sensors, the sensor data including GNSS-resolved heading bias and raw heading channel bias signals;
fusing the sensor data to determine an initial heading bias;
determining a runway magnetic heading angle based on the initial heading bias and determining a speed of traversing the runway based on the runway magnetic heading angle;
calculating a virtual synthesized course bias from the runway magnetic course angle and the traverse runway speed and generating a virtual synthesized course bias signal by geometric transformation based on the virtual synthesized course bias;
comparing the virtually synthesized course bias signal to the GNSS calculated course bias to determine if the difference is within a first threshold;
comparing the raw course bias signal with the virtually synthesized course bias signal if it is determined to be within the first threshold to determine if the difference is within a second threshold; and
determining that the original course deviation signal is abnormal and switching a landing guidance signal to the virtually synthesized course deviation signal if it is determined that the original course deviation signal is not within the second threshold.
2. The method of claim 1, wherein:
the on-board sensor comprises an inertial measurement unit, a radar altimeter, a global navigation satellite system and an instrument landing system;
the GNSS solution heading bias is from the inertial measurement unit, the radar altimeter, the global navigation satellite system, and the instrument landing system, and the raw heading bias signal is from the instrument landing system; and is also provided with
Fusing the sensor data further includes fusing the sensor data using a Kalman filter to obtain position, velocity, and attitude information of the aircraft for determining the initial heading bias.
3. The method of claim 1, wherein the runway traversing speed is further determined by:
obtaining the differential of the initial course deviation to determine the course deviation change rate;
calculating an included angle of the projection relative to the runway parallel line direction by utilizing the course deviation change rate and the projection of the fused aircraft ground speed on the runway plane;
determining a runway magnetic heading angle based on the included angle and a true track magnetic heading angle of a projection of an aircraft ground speed on a runway plane relative to a geographic north pole; and
the traverse runway speed is determined based on the projection, the true track magnetic heading angle, and the runway magnetic heading angle.
4. The method of claim 1, wherein:
the virtually synthesized course bias is further calculated by:
integrating the initial heading bias as an integrated initial value for the runway speed to obtain the virtually synthesized heading bias of the aircraft at the inertial navigation position relative to the runway centerline, and
the virtually synthesized course bias signal is further calculated by:
based on the virtually synthesized course bias, the virtually synthesized course bias is converted into the virtually synthesized course bias signal using the aircraft-to-course distance and the triangular geometry and further converted into a final course bias angle.
5. The method of claim 1, wherein the method further comprises:
determining that the virtually synthesized course bias signal is inaccurate and alerting if it is determined that the virtually synthesized course bias signal is not within the first threshold;
determining that the original course bias signal is normal if it is determined to be within the second threshold;
continuing to compare the original course bias signal with the virtually synthesized course bias signal after determining that the original course bias signal is abnormal to determine if the difference falls within a third threshold; and
if the landing guidance signal falls within the third threshold, switching the landing guidance signal to the original course deviation signal.
6. A system for anomaly monitoring and virtual synthesis of course bias signals, the system comprising:
a data receiving and fusing module configured to:
receiving sensor data from a plurality of on-board sensors, the sensor data including GNSS-resolved heading bias and raw heading channel bias signals; and
fusing the sensor data;
a course bias signal virtual synthesis module configured to:
determining an initial heading bias based on the fused sensor data;
determining a runway magnetic heading angle based on the initial heading bias and determining a speed of traversing the runway based on the runway magnetic heading angle; and
calculating a virtual synthesized course bias from the runway magnetic course angle and the traverse runway speed and generating a virtual synthesized course bias signal by geometric transformation based on the virtual synthesized course bias; and
the course deviation signal virtual anomaly monitoring module is configured to:
comparing the virtually synthesized course bias signal to the GNSS calculated course bias to determine if the difference is within a first threshold;
comparing the raw course bias signal with the virtually synthesized course bias signal if it is determined to be within the first threshold to determine if the difference is within a second threshold; and
determining that the original course deviation signal is abnormal and switching a landing guidance signal to the virtually synthesized course deviation signal if it is determined that the original course deviation signal is not within the second threshold.
7. The system of claim 6, wherein:
the on-board sensor comprises an inertial measurement unit, a radar altimeter, a global navigation satellite system and an instrument landing system;
the GNSS solution heading bias is from the inertial measurement unit, the radar altimeter, the global navigation satellite system, and the instrument landing system, and the raw heading bias signal is from the instrument landing system; and is also provided with
The data receiving and fusing module is further configured to fuse the sensor data by: a kalman filter is employed to fuse the sensor data to obtain position, velocity and attitude information of the aircraft for use in determining the initial heading bias.
8. The system of claim 6, wherein the course bias signal virtual composition module is further configured to determine the traverse runway speed by:
obtaining the differential of the initial course deviation to determine the course deviation change rate;
calculating an included angle of the projection relative to the runway parallel line direction by utilizing the course deviation change rate and the projection of the fused aircraft ground speed on the runway plane;
determining a runway magnetic heading angle based on the included angle and a true track magnetic heading angle of a projection of an aircraft ground speed on a runway plane relative to a geographic north pole; and
the traverse runway speed is determined based on the projection, the true track magnetic heading angle, and the runway magnetic heading angle.
9. The system of claim 6, wherein:
the course bias signal virtual composition module is further configured to determine the virtual composite course bias by:
integrating the speed of traversing the runway with the initial heading bias as an initial integration value to obtain the virtually synthesized heading track bias of the aircraft at the inertial navigation position relative to the runway centerline; and is also provided with
The course bias signal virtual composition module is further configured to determine the virtual composite course bias signal by:
based on the virtually synthesized course bias, the virtually synthesized course bias is converted into the virtually synthesized course bias signal using the aircraft-to-course distance and the triangular geometry and further converted into a final course bias angle.
10. The system of claim 6, wherein the course bias signal anomaly monitoring module is further configured to:
determining that the virtually synthesized course bias signal is inaccurate and alerting if it is determined that the virtually synthesized course bias signal is not within the first threshold;
determining that the original course bias signal is normal if it is determined to be within the second threshold;
continuing to compare the original course bias signal with the virtually synthesized course bias signal after determining that the original course bias signal is abnormal to determine if the difference falls within a third threshold; and
if the landing guidance signal falls within the third threshold, switching the landing guidance signal to the original course deviation signal.
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