RU2692079C1 - Method and device for controlling glide path position and coordinates of aircraft in far zone - Google Patents

Abstract

FIELD: radio engineering and communications.

SUBSTANCE: invention relates to radio engineering and can be used in aircraft approach landing support systems. At the long-range control point located on the earth surface on the runway axis extension from the approach aircraft landing side, the heading and glide-path radio beacons signals reflected by the descending aircraft are received, measuring receiver of glide-line (heading) radio beacon signals is used to measure difference of modulation depths, range-finding is measuring distance from control point to aircraft flying over it, calculating lateral displacement of flying aircraft relative to course plane by means of computer, as well as aircraft height above control point and glide path point above control point. Measured and calculated said values are transmitted via communication line to command and control tower of aerodrome. Aerodrome controller receives information not only on the position of the aircraft above the control point, but also controls the position of the glide path in the zone of its operation.

EFFECT: technical result is higher safety of aircraft landing.

2 cl, 5 dwg

Description

The technical field to which the invention relates.

The invention relates to radio engineering and can be used in the systems of instrumental support for the approach of aircraft for landing ILS format and PRMG format. The course-glide-beacon beacons (CRM and GRM) of the meter wavelength range included in the above-mentioned ILS system, and the KRM and GRM of the decimeter wavelength range included in the landing beacon group (PRMG) form a glide path in the landing zone of the aircraft for landing by plane in horizontal and vertical planes. The method and device in accordance with the present invention allows to control the position of the glide path and the coordinates of the aircraft at the time of flight over the control point located on the extension of the axis of the runway, away from its threshold.

The level of technology

The main means of ensuring the instrumental approach of civil aviation aircraft for landing and landing are radio beacon landing systems (SP) of the meter wavelength range (MB) of ILS format (Instrument Landing System). To ensure the instrumental approach of the state aircraft for landing and landing, the radio beacon systems of the UHF UHF format are used. MB beacon landing systems have a nearly century-long history of development. The history of the development of a joint venture in the United States is described in [Watts, C.V., Jr. Instrument Landing Scrapbook / C.V., Jr. Watts. - Trafford Publishing, 2005. 392 p. P.]. The main milestones of the development of a joint venture MB for civil aviation and a joint venture for state aviation in our country are covered in [NII-33 / VNIIRA. The history of the formation and development of the All-Union Scientific Research Institute of Radio Equipment - SPb .: 2007. - 291 p.].

The principle of the course and glide beacons are described in the book [G.A. Pakholkov, V.V. Kashinov and others. "Glide radio landing systems". - M .: Transport. - 1982]. The radio beacon group PRMG-76UM is manufactured by JSC Chelyabinsk Radio Plant Polet. The PRMG-76UM is operated at the aerodromes of state aviation and at the aerodromes of joint basing of civil and state aviation.

The radio beacon of the joint venture includes a course VHF radio beacon (CRM), glide path VHF radio beacon (GRM), VHF marker radio beacons or distance measuring equipment (DME).

The course beacon (CRM) MB and KRM DTSV are installed on the extension of the runway axis, on the side opposite to the landing side of the aircraft (at a distance of 400 to 1150 m from the runway end). The CRM antenna emits electromagnetic waves in the ambient space in the frequency range from 108 to 111.975 MHz, modulated in amplitude by tonal frequency signals ƒ ₁ = 90 Hz and ₂ = 150 Hz. In the ideal case, the surface on which the difference in depth of modulation (RGM) signals ƒ ₁ and ƒ ₂ is equal to zero, is a vertical plane passing through the axis of the runway. To the right of the course surface (in the direction of approach of the aircraft) a signal with a modulation depth of the carrier tone frequency of 150 Hz prevails, and on the left, a signal with a modulation depth of the carrier tone frequency of 90 Hz dominates.

Timing MB and DTS set at a point located at a distance of 200 to 400 m from the threshold of the runway (runway) and at a distance of 120-180 m from the axis of the runway. The antenna MB emits electromagnetic waves into the surrounding space in the frequency range of 328-335 MHz, modulated in amplitude by tonal frequency signals ƒ ₁ = 90 Hz, ₂ = 150 Hz. The surface on which the difference in depth of modulation (RGM) signals ƒ ₁ and ₂ is equal to zero, called the surface of the glide path.

The line of intersection of the surface of the glide path with the vertical plane formed by the CRM and passing through the axis of the runway is called the glide path.

In accordance with the recommendation of ICAO [clause 3.1.5.1.2 in Annex 10 to the Convention on International Civil Aviation. Aviation telecommunication. Volume 1. Radio navigation aids. ICAO, Montreal (Canada), 2006. - 606 p.], The slope of the glide slope θ _hl must be equal to 3 °. The angle of the glide path θ _hl relative to the horizontal plane is set and maintained within the following limits (paragraph 3.1.5.1.2.1 in the said Annex 10):

a) 0.075 θ _hl for ILS glide categories I and II;

b) 0.04 θ _hl for ILS category III glide path.

CRM of the PRMG system emits signals in the range of 905.1-932.4 MHz, timing is in the range of 939.6-966.9 MHz. High-frequency signal, modulated by a signal in the form of a "meander" with a frequency of 2100 Hz for one half-period of oscillation with a frequency of 12.5 Hz; antiphase signal with it, modulated by a "meander" with a frequency of 1300 Hz for another half-period of oscillations with a frequency of 12.5 Hz. The work of PRMG radio beacons is described in detail in RU 2 619 071. The Glide gad radio beacon for approach along a steep trajectory (versions) according to the application 2016115278 of 04/04/2016 by the authors Voitovich N.I., Zhdanov B.V.

The onboard receivers of a declining aircraft receive signals of course and glide beacons (CRM and RM), allocate information parameters in these signals:

- Differences of modulation depths by tones of 90 and 150 Hz (РГМк and РГМг in signals KRM MB and ГРМ MB, respectively)

- the coefficient of difference in signals of 1300 and 2100 Hz (cattle _K and cattle _G in the signals of the CRM DCV and GRM DCV, respectively),

the values of which are displayed on flight instruments, showing the deviation of the aircraft from the course plane and the glide path surface.

In this case, there are two interrelated problems.

The first problem: the lack of information about the true position of the glide path in the area of the radio beacons in the period between flight checks of the State Russian Museum. The glide path is measured by flight when the timing is put into operation, the glide path angle is adjusted during scheduled flight checks of landing systems performed 1-2 times a year. In the period between flight checks, the control of the position of the course and glide planes is carried out by control devices located in the near zone of the beacons. In addition, in ILS systems of the 3rd category for CRM, it is possible to use the long-range control system, located at a distance of 4-6 km from the CRM, and providing the landing controller with information on the position of the heading plane. In addition, the total modulation value (SGM) is measured and monitored with the values of the GMM. The presence of the CMB within the specified limits is an indicator of the "correctness" of the work of the beacons. The need for such control for systems of the 3rd category is specified by the ICAO standards. For the timing system, a long-range control system does not exist, since high masts with control antennas at the height of the glide path in the timing area would be a flight obstacle and therefore unacceptable for installation on the airfield. The problem in terms of timing control is aggravated by the accepted method of forming the glide path. As is known, the glide path is formed with the participation of radio waves reflected from the underlying surface. The angle of the glide path is given by the height of the suspension of the radiating elements of the glide antenna array relative to the underlying surface. Changing the height of snow cover on the earth's surface when snow falls or melts leads to uncontrolled changes in the glide slope angle, which reduces the safety of the approach to landing on ILS or PRMG signals. In this situation, information on the true position of the glide path in the range of the landing system during the period between flight checks of the timing belt would be very useful for the landing controller.

The State Russian Museum has its own remote control system for the glide path. However, the timing control antenna is located at a distance of 60-114 meters from the beacon transmitting antennas, while the longitudinal size of the reflected field formation zone on the underlying surface (the size of the first Fresnel zone) ranges from 300 (for PRMG) to 700 m (for ILS ). Therefore, the testimony of the existing remote control system timing does not provide information about the true position of the glide path in the area of the timing.

By the far zone of the timing, we understand the region of space in which the condition is fulfilled: the difference in the path of the rays from the upper radiating element of the antenna array and its mirror image relative to the underlying surface must be at an angle of at least 0.495 wavelength. The area located on the BPRM, at any angle of the glide path can be considered as a far zone.

The second problem: the lack of control information (landing controller) information about the coordinates of the landing aircraft. Previously, such information could be obtained from radar landing systems. However, at present, landing radar systems have been abandoned (they do not provide the required accuracy of coordinate measurements). The lack of information about the deviations of the aircraft from the glide path virtually eliminates the ability of the landing controller to adjust (if necessary) the approach of the aircraft for landing.

The present invention allows to solve these two problems and thereby increase the safety of the approach and landing of the aircraft by signals ILS or PRMG.

The present invention has no analogues, has no prototype.

DISCLOSURE OF INVENTION

The technical result of the invention is aimed at improving the security of the approach of the aircraft to the landing signals ILS or PRMG. Consider the achievement of the technical result on the example of working with the landing system of the ILS format.

Work with the landing system format PRMG is similar. The technical result is achieved by the fact that at the long-range control point located on the earth's surface during the runway continuation from the approach of the aircraft to the landing, the values of the linear course and glide slope set on the heading and glide slope radio beacons are entered into the computer’s memory, respectively, the course and glide signals radio beacons (CRM and RM), reflected by a declining aircraft, measure the information parameters of the course and the glide slope of the difference in depth of modulation (РГМк, РГМг, СГМк and СГМг, respectively), I measure t the distance from the control point to the aircraft flying over it, calculate the lateral displacement of the flying plane relative to the course plane, calculate its height above the control point and the height of the glide point above the control point. The measured and calculated values are transmitted via the communication line to the command and control center of the aerodrome, where they are displayed on the dispatcher's display.

At the same time, the aerodrome dispatcher receives information not only about the position of the aircraft, but also controls the position of the ILS glide path in its area of operation (long-range glide path control). The position on the runway axis is selected as the control point. In the plane passing through the control point perpendicular to the axis of the runway, known course and slope slopes Sk and Sg, respectively, having the dimension [WGM / m]. These values are set when configuring beacons and, as a rule, change little during operation. In addition to measuring the reflected landing signals, measurement of the distance R between the point of control and the aircraft flying over it is required. The transverse displacement of the flying plane relative to the heading plane at the control point is calculated as the quotient of the difference in the modulation depths of the heading beacon signal measured in the received signal by the value of the linear course steepness set in the heading beacon; the height of the aircraft flying over the control point is calculated as the square root of the difference of the square of the distance and the square of the said lateral displacement; the height of the point on the glide path is calculated as the sum of the said height of the aircraft above the control point, and the partial difference from the modulation of the glide path beacon signal measured in the received signal by the glide path in the glide path.

Thus, the technical result is due to the fact that the dispatcher receives additional information about the coordinates of the descending aircraft and information about the position of the glide path, and in case of a deviation from the glide path above the tolerance, the controller gives an indication either of the adjustment of the airplane’s flight or the departure of the airplane to the second lap. These actions of the dispatcher prevent an emergency situation when the aircraft approaches the landing and landing of the aircraft. Information about the height of the point on the glide path is used to take measures to maintain the glide path within the specified limits. The implementation of the proposed technical solutions increases the safety of aircraft during the landing and landing stages of the aircraft.

To implement the proposed method, a device for monitoring the position of the glide path and the coordinates of the aircraft in the far zone is used, containing the receiving antenna of the CRM signals, the receiving antenna of the timing signals, the receiver-meter of the information parameter of the CRM signals with the first and second outputs, the receiver-meter of the information parameter of the timing signals with the first and a second output, a calculator with three inputs and one output, a ranging device, a communication line with the first, second and third input and output, and a display, while receiving the antenna signal of the glide slope beacon is serially connected to the receiver input — the meter of the information parameter of the glide path beacon signals and through its first output to the first input of the transmitter, the receiving antenna of the course beacon signals is sequentially connected to the input of the receiver — the meter of the information parameter of the course beacon signals and through its first output on the second the input of the transmitter, the second output of the receiver-meter signals glide path of the beacon is connected to the first input of the communication line, W the output of the receiver of the course beacon signal is connected to the second input of the communication line, the transmitting / receiving antenna of the rangefinder is connected in series with the rangefinder and to the third input of the transmitter, the output of which is connected in series with the third input of the communication line and through the output of the communication line to the display located at the command and control center of the airfield, and as the control point, choose a position on the extension of the runway axis.

The solution to the task of monitoring the position of the glide path and the coordinates of the aircraft in the far zone is further explained by the text and drawings on the figures.

Brief Description of the Drawings

FIG. 1 is a diagram of the relative position of the runway, the course beacon, the glide path of the beacon and the device for monitoring the coordinates of the descending aircraft and the position of the glide path (hereinafter the control device).

FIG. 1 accepted designations:

1- runway,

2-course radio beacon,

3- glide path beacon,

4- device for monitoring the position of the glide path and the coordinates of the aircraft in the far zone (control device),

5- aircraft approaching the landing; the arrows indicate the direction of propagation of radio waves reflected (scattered) by the plane.

FIG. 2 is a diagram of the device for monitoring the position of the glide path and the coordinates of the aircraft in the far zone according to the present invention.

FIG. 2 accepted designations:

6 - receiving antenna of reflected timing signals;

7 - receiving antenna of the reflected signals KRM;

8 - receiving and transmitting antenna of the rangefinder device;

9 - receiver - signal meter ILS timing;

10 - receiver - signal meter ILS KRM;

11 - distance measuring device;

12 - calculator;

13 - communication channel;

14 - dispatcher display.

FIG. 3 shows the display screen of the dispatcher 14.

FIG. 3 taken additionally designations:

15 - the position of the aircraft,

16 - line showing the nominal position of the heading plane,

17 - the tolerance position of the aircraft during its flight over the control device,

(the margin of the tolerance field is indicated by a dotted line);

18 - the coordinate line corresponding to the height of a point on the glide path,

19 - coordinate tolerance lines for the height of a point on the glide path above the control device.

FIG. 4 shows examples of the experimental recording of the parameters of the ILS GRM signals obtained during the flight of the aircraft at a control point located in the area of the far-range driving beacon (DPRM).

FIG. 4 accepted designations:

20 is a signal of the difference of the modulation depth (WGM),

21-signal sum of the modulation depth (SGM),

22 - received signal power signal (P in dB relative to one milliwatt).

FIG. 5 shows examples of the experimental recording of the parameters of the ILS GRM signals obtained during the flight of the aircraft at a control point located in the vicinity of the near-ground radio beacon (BPRM).

FIG. 5 accepted designations:

23 - the signal difference of the modulation depth (RGM),

24 is the signal of the sum of the modulation depth (SGM),

25 - received signal power signal (P in dB relative to one milliwatt).

The implementation of the invention

The device for monitoring the position of the glide path and the coordinates of the aircraft in the far-field zone (hereinafter, the control device) of the present invention is located relative to the runway in accordance with the diagram shown in FIG. one.

The control device (Fig. 2) contains a receiving antenna 6 timing signals, a receiving antenna 7 signals CRM, a receiving and transmitting antenna 8 of a rangefinder device, the receiver - meter 9 timing signals with the first 91 and the second 92 output, the receiver - meter 10 signals CRM with the first 101 and second 102 outputs, the rangefinder device 11, the transmitter 12 with the first 121, the second 122 and the third 123 inputs and one output 124, the communication channel 13 with the KDP containing the first 131, second 132 and third 133 inputs and output 134 connected to display 14 landing control aircraft.

For the implementation of this invention, as the receiving antennas of the signals ILS KRM and timing (position 6 and 7 in Fig. 2), reflected by the plane, you can use the radiating elements of the transmitting antenna arrays KRM and timing. As receivers - measuring parameters of landing signals (position 9 and 10 in Fig. 2), you can use receivers-meters (analyzers) of ILS signals produced in Russia or abroad: KSP-80, ASPN-1, EVS-300, etc. As a rangefinder device 11, you can use serial radio altimeters, for example, the radio altimeter A-065A, manufactured by JSC "UPKB Detail". As the link 13, either a physical link or a radio channel can be used. As the display 14 of the landing controller can be used to display the PC. The calculator 12 can be built on the basis of domestic digital devices.

These devices are interconnected as follows. The receiving antenna 6 of the timing signals is serially connected to the input of the receiver-meter 9 information parameter of the timing signals and through its first 91 output to the first 121 input of the transmitter 12, the receiving antenna 7 of the course beacon signals is connected in series with the input of the receiver-meter of the information parameter of the course beacon signals and through its first 101 output with the second input 122 of the transmitter, the second output 92 of the receiver-meter 9 of the glide path of the beacon is connected to the first input 131 of the communication line 13, the second output 102 p The receiver of the meter 10 of the CRM signals is connected to the second 132 input of the communication line 13, the transmitting / receiving antenna 8 of the distance measuring device is serially connected to the distance measuring device 11 and to the third 123 input of the transmitter 12, the output of which 124 is connected in series with the third 133 input of the communication line 13 and through the output 134 of the communication line 13 with the display 14 located at the control tower of the airfield.

At the same time as the control point choose the position on the continuation of the axis of the runway, for example, in the near or far driving beacon (BPRM or DPRM). BPRM removed from the end of the runway at a distance of 1 km. DPRM, as a rule, removed from the end of the runway at a distance of 4 km. BPRM and DPRM have protected areas with power supply and communication lines with the KDP.

Receiving antennas 6, 7 of the timing and CRA signals, respectively, and the antenna 8 of the receiving and transmitting rangefinder device 11 are oriented with the maxima of the radiation pattern (DN) upwards for receiving signals reflected by the aircraft. In order to prevent reception of landing signals propagating along the earth's surface, the NF of the receiving antennas of the CRM and timing signals have a small level in the direction to the beacons.

The control device operates as follows. Signals received by the antennas 6 and 7, reflected by the aircraft, are amplified by receivers - meters of the information parameter of the 9 GRM and 10 CRM signals, respectively. The received and amplified signals measure the values of the information parameters - the difference in the modulation depth of the timing signal with tones of 90 and 150 Hz (WGMg) and the difference of the modulation depth of the boost warning signal with the tones of 90 and 150 Hz (WGCM), also measure the total modulation depth in the timing signal - SGMg and the value of the total modulation depth in the CRM-SGMk signal. Values RGMg and RGMk arrive at the first 121 and second 122 inputs of the transmitter 12. The distance measuring device 11 radiates and receives reflected signals from the aircraft when it passes over the control point using the receiving and transmitting antenna 8. Further, in the distance measuring device 11, the distance between the control point and the aircraft flying over it is calculated. The value of this distance R is fed to the third input 123 of the calculator 12. In the calculator 12, the values of the linear course slope and the glide path, Sk and Sg, are entered in advance, according to the data of putting beacons into operation. These values are fairly stable during the operation of beacons. SK and SG are refined and corrected when performing the next flight checks of radio beacons. During flight checks, the angular values of the course steepness and the glide path — Sug (course) and Sog (glide path), having the dimension [WGM / degree], are established. Recalculation of the angular values of the slope of the course and the glide path into linear deviations from the plane of the course Sk and from the surface of the glide path Sg are performed according to the formula:

where: Dк is the distance between CRM and the control point;

Dg - the distance between the timing and control point.

Values of linear S and S are entered into the calculator 12. The values of linear S and S are adjusted during flight checks. Next, the transmitter 12 calculates the Cartesian-coordinates L and Ng of the aircraft during its flight over the control point using the following formulas:

The coordinates of the aircraft L, Нс, Нс, the height of the glide path and the measured values РГМк, РГМг, СГМк and СГМг are transmitted via communication channel 13 to the dispatcher on КДП and displayed on the display 14.

If you place a control point in the DPRM area, then the dispatcher may, according to the obtained indications: displace the plane relative to the plane of the course and the height of the plane if necessary, give commands to the pilot to correct the descent path or send it to the “second circle”. In addition, the dispatcher can carry out additional control of the position of the glide path (an analogue of the long-range control of the RPC) and, if unacceptable deviations of the glide path from a given height are detected, turn off the timing, which is reported to the commanders of all aircraft heading to this aerodrome.

In addition to controlling the coordinates of the descending aircraft, the proposed method can be used to organize a “long-range glide path control”, similar to the long-distance course control. These objective data on the position of the glide path in the timing area will allow the controllers and pilots who are performing an ILS approach to increase the degree of confidence in the information provided by this system about the position of the aircraft relative to the specified landing trajectory.

An experiment was conducted on the reception of radio waves reflected by the descending TU-134 aircraft, to measure the GMH, SGM and received signal power. A resonator antenna was used as a receiving antenna for timing signals [RF patent №2564953], used as a radiating element of the antenna array of a prototype glide path beacon [Bukharin VA, Voitovich N.I. Phase characteristics of a flat resonator antenna. The 27th Crimean International Conference "Microwave Appliances and Telecommunication Technologies" (KryMiKo'2017). Sevastopol, November 5-11. 2017: materials conf. In 8 tons - Moscow; Minsk; Sevastopol, 2017. P. 710-716]; [Voitovich N.I., Zhdanov B.V. Glissad Radio Beacon for Airfields with a High Level of Snow Cover 27th International Crimean Conference "Microwave Technology and Telecommunication Technologies" (KryMiKo'2017). Sevastopol, November 5-11. 2017: materials conf. In 8 tons - Moscow; Minsk; Sevastopol, 2017, p. 433-439]. The ILS Normarc 7710 signal analyzer was used as the ILS signal meter receiver. FIG. 4 shows an example of recording the parameters of the timing signals: the RMM, SGM, and the received signal power at the monitoring point located in the DPRM area, 4,300 m away from the runway face.

FIG. Figure 5 shows an example of recording the mentioned parameters of the timing signals at a control point located in the area of the BRM, 1000 meters away from the runway face. The vertical lines in FIG. 4 and FIG. 5, the zones of measurement of the GMM within the limits of which the value of the SGM was close to the target value of 80% were highlighted. The RGM values show that the aircraft above the control point decreased below the glide path. If we add to this data the height (not measured) of the flying aircraft, then it would be possible to determine the height of the glide path at the control points.

The experiment showed the feasibility of the method and device of the present invention.

Claims (2)

1. The method of monitoring the position of the glide path and the coordinates of the aircraft in the far zone, characterized in that the values of the linear course steepness and the glide path set on the heading and glide slope beacons are entered into the computer memory, respectively, the course and glide beacons reflected from the descending plane are received at the control point the aircraft landing systems measure the difference in the modulation depth of the course beacon signal and the difference in the modulation depth of the glide path beacon in the received signals, and measure the distance from the control point to the aircraft flying over the control point, calculate the lateral displacement of the flying plane relative to the heading plane, as well as the height of the aircraft above the control point and the height of the glide path over the control point, said measured and calculated values are transmitted to the aerodrome control tower , while the control point is located on the continuation of the axis of the runway from the approach of the aircraft for landing; the lateral displacement of the flying plane relative to the heading plane at the control point is calculated as the quotient of the difference in the modulation depths of the heading beacon signal measured in the received signal by the value of the linear course steepness set in the heading beacon; the height of the aircraft flying over the control point is calculated as the square root of the difference of the square of the distance and the square of the said lateral displacement; the height of the point on the glide path is calculated as the sum of the said height of the aircraft above the control point and the partial difference from the modulation of the glide path of the beacon from the difference in the modulation of the glide path of the beacon measured by the received signal by the glide slope of the glide path. 2. The device for monitoring the position of the glide path and the coordinates of the aircraft in the far zone, containing the receiving antenna of the glide path beacon, the receiving antenna of the course beacon signals, the receiving and transmitting antenna of the rangefinder, the receiver-meter of the glide path beacons with the first and second outputs, the receiver-meter signals a course beacon with the first and second outputs, a distance measuring device, a computer with the first, second and third inputs and one output, a communication channel with the control and dispatching point the volume with the first, second and third inputs and one output, the display of the aircraft landing controller, the receiving antenna of the glide path beacon signals are sequentially connected to the input of the receiver-meter of the information parameter of the gliding beacon signals and, through its first output, with the first input of the transmitter, the receiving antenna of the signals the course beacon is connected in series with the input of the receiver-meter of the information parameter of the signals of the course beacon and through its first output with the second input of the calculator, the second output of the receiver measuring signals of the glide path of the beacon is connected to the first input of the communication line, the second output of the receiver measuring signals of the course beacon is connected to the second input of the communication line, the transmitting-receiving antenna of the rangefinder device is sequentially connected to the rangefinder device and the third input of the calculator, the output of which is sequentially connected to the third input of the communication line and through the output of the communication line to the display located at the command and control center of the airfield, and as a point trol selected position on the extension of the axis of the runway.

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