TW454095B - Positioning and ground proximity warning method and system thereof for vehicle - Google Patents

Abstract

A positioning and ground proximity warning method for vehicle includes the steps of outputting global positioning system signals to an integrated positioning/ground proximity warning system processor; outputting an inertial navigation solution to an integrated positioning/ground proximity warning processor; measuring air pressure, and computing barometric measurements which is output to the integrated positioning/ground proximity warning processor; measuring time delay between transmission and reception a radio signal from a terrain surface, and computing radio altitude measurement which is output to the integrated positioning/ground proximity warning processor; accessing a terrain database for obtaining current vehicle position and surrounding terrain height data which is output to the integrated positioning/ground proximity warning processor; and receiving the position, velocity and time information or said pseudorange and delta range measurements of said global positioning system, the inertial navigation solution, the radio altitude measurement, the radio altitude measurement, and the current vehicle position and surrounding terrain height data, and computing optimal positioning solution data and optimal ground proximity warning solution data.

Description

454 09 5 V. Description of the invention (1) The present invention relates to the integrated positioning and ground proximity of the aircraft (Integrated Positioning and Ground Proximity)

(Warning) method and system related 'especially refers to a combination of information about sensors configured for positioning and ground and police systems, in order to obtain better system performance and lower costs even for aircraft without any positioning device Available users. Commercial use value and vehicles refer to various government technologies. In another technology, the network is based on traffic momentum, and the road vehicle system of intelligent road transportation is roughly a system. Market for low-cost sports platforms, commercial ambulance vehicles, business vehicle applications, to make vehicles easier to separate and increase the two-speed public efficiency in 1980s, and increase the number of vehicles in the system. And smart, it is used to combine the driving capacity of vehicles with highways. Since the late generation, road systems have increased safety and reduced intelligent positioning and tracking systems that have not yet been unveiled in the world. This is one of them. Commercial 'police vehicles, transport vehicles, and vehicle highway systems are used here. It is this technology that computer communication, positioning, control, etc. are closely related information and optimized in the entire highway system. Everywhere in the world is committed to development, it will reduce congestion, increase vehicle and public energy consumption, and protect the environment. Unified classification, but the following six major key sub-roads of the road vehicle system: the advanced traffic management system is extended to the entire city ’s transportation system, which requires the communication of traffic conditions in the network, and is used as a signal system to manage individual traffic intersection signals Real-time computer optimization, and the information is guided by a real-time database throughout the dynamic path of the vehicle

454095 V. Description of the invention (2) Information source Advanced travel information system, navigation information and other services of the place = the driver provides his location information, destinations, maintenance services, hospitals ^, life information, such as accommodation, restaurants, Refueling equipment and advanced travel information system. The travel information system requires data on the vehicle's path, traffic backup methods, etc. ς = change of traffic conditions,-turning roads developed for vehicle drivers, but Hongguan advanced travel information system was originally Handheld system and multi-mode system. The system concept also includes a system for pedestrian commercial vehicle operation, including it for improving commercial and emergency vehicles. Tracking and formation management systems, technologies such as vehicle classification, sports rating and safety, it includes many to reduce driving In different administrative jurisdictions [inside two stations :: communication, the advanced vehicle control system uses another number of vehicles. The vehicle, by assisting the driver, strengthen *, to detect roadblocks and neighboring ill -Hr -te- *-^ strong Control of the vehicle, advanced vehicle surface; ^ system technology to provide vehicles with speed and speed of vehicles without soap into the vehicle, the system will eventually deal with advanced technology: convenient: automatic operation of vehicles on the highway. ^ Management 糸In addition to the above-mentioned intelligent vehicle highway systems, the eight systems are more focused on the user interface, such as the car entering Λ, the parent link & Ν, ^. In the morning, Zhenbu (the next stop, traffic IS information ), Real-time display of public stations, intelligent advanced rural transportation system, focusing on M.. ,, '^ _ Zhe Dong Yu will be intelligent vehicle highway highway === inter-vehicle problem, mainly smart vehicle height - tight system of road, pass " fg and security technology applications .. wisdom of this vehicle back to the highway system is still in an early stage of development, although the positive

V. Description of the invention (3) There are no practical applications of the intelligent vehicle highway system technology in various tests. For aircraft, currently there are independent positioning systems and ground adjacent police systems. The positioning system is used to provide other avionics systems on the aircraft, such as flight control and management systems, to provide position, speed, attitude, and attitude information. The adjacent ground police system is used to provide pilots with a warning signal when the aircraft is approaching the ground, in order to prevent the aircraft from colliding with the ground or the water surface unintentionally. Traditional aircraft positioning equipment is generally inertial navigation system (Inertial Navigation System, INS) and some radio navigation systems, such as long-range navigation system (L ng R ange N avigati η System, LOR AN), VHF omnidirectional rangefinder (Very-High-Frequency Omnidirectional Ranging (VOR) 'Distance Measurement Equipment (ME), Tactical Air Navigation (TACAN)' and the latest Global Positioning System (GPS) ' In recent years, the combined GPS / inertial navigation system is gradually replacing the traditional navigation system and has become the main navigation equipment for military and civilian aircraft. In general, 'an inertial navigation system includes an inertial measurement component, a processor, and embedded software. The positioning information is obtained by using the inertial sensors to measure the specific force of the aircraft (specific f rces) and the rotational angle rate. η) According to the equation of motion, the inertial measurement component includes inertial sensors and corresponding hardware and electronic circuits, and inertial sensing

V. Description of the invention (4) ^ ~ 〇 ° Gyro and Accelerometer. The inertial navigation system can be arranged as a frame or strapdown. In the frame J continuous navigation system (Gimbaled Inertial Navigation system), the gyro and accelerometer are mounted on a frame platform with angular motion. Keep the sensor's measurement and navigation calculations within the n ® aeronautical coordinate system. 'Selectable navigation coordinate systems include the geocentric, inertial coordinate system, earth system fixed to the geocentric, local horizontal ^ coordinate system (North, East, Down ) (Of course, it can be the Northeast China Eastern Airlines two-day, local horizontal migration azimuth coordinate system). In strapdown inertial navigation (smartly), use% t = sexually fixed in the body coordinate system'- Coordinate transformation matrices (solved in the analysis of the acceleration in the body coordinate system converted to the navigation coordinate system), so as to advance in a stable navigation coordinate system !; Hang Hang = inertial navigation system to bear High dynamic flight environment, this requires the second speed to have considerable performance. However, with the new type of gyro and Canada, the flat row method, this is because strapdown inertial navigation system is highly characteristic 9 Yu, , With Low cost, reliable main land output position, speed, attitude number 赭 ^ 7 said, can be mastered, the inertial navigation system also has the advantages of output preparation: navigation = full self-frequency band, etc., but compensation navigation system navigation 2 = Time drift, its error characteristic is mainly due to its inertial transmission ^ = In principle, 'inertial navigation system is completely autonomous, after a given position and an initial alignment is performed, the total Luoshan Congsi, Free 1 4 Μ. ^ 员 protect # 航 糸 统 可以

C: \ ProgramFiles \ Patent \ k322p002.ptd page 9

454095 V. Description of the invention (5) Error caused by gyro fishing, etc. There are two ways to improve the accuracy of the inertial navigation system using the high-precision inertial navigation system.-Compensation. Sensor theft, the second is to use external sensor data to develop and manufacture inertial sensors. Too much, as the new inertial transmission cost increases with its accuracy requirements, the latest development of low-cost inertial technology has been released. With the help of the existing semiconductor 6η: 〇Γ), the #mechanical inertial sensing sensor and the execution section #have produced a tiny traditional inertial sensor H on the Shi Xi film, but the accuracy of the 14-passer may be required. Lower than Zengfang ft to be willing to perform oil—cost, size, weight, thermal stability, and width 4 are better than traditional inertial sensors. Therefore, ‘not counting one ’s like James’ μ * — ^ ^ m «The most inertia of the aircraft positioning system with low cost and accuracy.卩 Sensor state data compensation. Low cost strapdown Valuation guidance system, global positioning

System (GPS) receiver is the external sensor of HUbal P0sitioning. It is the ideal for auxiliary inertial navigation system. After more than 20 years of development, Table I + .ten Space ... L, A waiting-for-moving positioning and timing system, this system = initial design purpose, the target is for an unlimited number of airborne, receiving equipment, authorized users and unauthorized civilian users Provide accurate position, speed 'and time information. The global niches have three main components:

C: \ Program Files \ Patent \ k322p002.ptd Page 10 4 54 09 5 V. Description of the invention (6) Space part: Including 21 navigation satellites and 3 spare satellites that orbit the earth semi-synchronously. Ground control section: Includes a master control station and several globally distributed monitoring stations with precisely known locations. User section: Includes various GPS receiver settings. Display, GPS receivers include: antennas, receivers, receivers, etc. It receives signals from GPS navigation satellites and solves position and time information. GPS can provide precise positioning services to authorized users (Precise

Positioning Service (PPS), accuracy is within 15 meters (Spherical Error Probability, SEP), and can also provide standard positioning service (SPS) for civilian users, accuracy is about 1 0 0 (95% probability ), Which includes a variety of error sources, such as the atmospheric ionosphere and stratospheric effect, GPS

The artificial 5 Wu difference. Selective availability (Selective Availaaability, SA GPS work is based on the principle of ranging triangulation, if the user can obtain the precise position of the GPS satellite from the satellite ephemeris, can receive signals from GPS satellites, and Determine the propagation time of the signal. Because the signal propagates at the speed of light, the user can calculate the distance between the user and the satellite. Because the user's clock is deviated from the reference time of the GPS system, the actual distance includes errors. Pseud0Range, because GPS satellites use precise atomic clocks, its error is much smaller than the user clock's error i. In order to get = _ and user clock, at least 4

C: \ Program Files \ Patent \ k322p002. Ptd Page 11 454095 V. Description of the invention (7) Pseudo-range measurement of satellites These methods can mainly use different methods to obtain the user's speed and measurement.疋 Based on the difference between the two pseudo-range measurements, the pseudo-range changes are like any—To,. ,,, &#; propagation error, satellite mouth system, GPS contains some errors, such as signal distance error includes In order to include 'availability selection'), users can measure all GPS errors with long-term stability of C satellites. GPS errors are disturbed or deceived. When the flying signal can be obscured intentionally or unintentionally. In addition, when D is moving 'The GPS antenna may be lower than (Signal 仃 high maneuvering or GPS signal noise loss phenomenon. Γ ati 0) is lower' GPS signals will lose GPS and inertial track "< GPS or inertial navigation system ^ Yes The error characteristics indicate that independent use requires low-cost, long-term and ancient requirements for high-use conditions, such as disturbance and high dynamic capabilities; Second, full navigation output, high resistance to GPS and inertial navigation In the system group / °, the short-term high-precision production of the inertial navigation system (yrnp \ egratl0n) is directly complementary, and GPS is in place. 彳 θV " and GPS's long-term high accuracy can have low noise and high Y Data input-output rate is low The complementary error characteristics of the inertial navigation system indicate that data = sentiment = difference increases with time. This combination of systems uses the advantages of the two and the inertial navigation system. This is the continuous navigation information that the two systems use separately. The combination of GPS and inertial navigation system is: α, some potential advantages can be summarized

C: \ ProgramFiles \ Patent \ k322p002.ptd Page 12 4 5 4 09 5 --- ^ V. Description of the invention (8) ~~ ---: ---- rhr (: i Ξ ϊ:: GPS Part of the random error, when the GPS signal can be received to compensate for the misleading segment of the navigation system parameter == for more accurate position, speed, and attitude information.) F, the navigation system can respond to the GPS signal Tracking: This: Reduces the effective bandwidth of the loop and improves its effectiveness in noise: environment, and GPS tracking capability in dynamic environments. In the tracking loop design of the GPS receiver, there is a state-following capability. The trade-off problem is that the input noise increases as the bandwidth increases, while the dynamic tracking error decreases as the bandwidth increases. The navigation system can alleviate this conflicting signal tracking due to the number of available inertial navigation systems. The inertial navigation system does not :: Road. The search time required to capture again after a loss. It is now oblique 2 to provide aerial flight for the inertial navigation system by carrying, body maneuvering; ί ==: cancel the initial inertial navigation system before work: alignment, thereby improving the inertial navigation system. However, the traditional combination The GPS / inertial guidance is especially important: (2) the shortcomings of the second, (1) the lower vertical positioning, (6) τ close approach, landing, and in the crowded and crescent moon: meet the precision of the aircraft begging. Squeezed airspace flight towel, the accuracy of collision avoidance should be (2) reliability issues ’When low holding, • 3 and. Inertial guidance system and GPS 衾

C: \ Prograra Files \ Patent \ k322p002. Ptd p.13 45 45 09 5 5. Description of the invention (9) At the same time, the long-term positioning accuracy mainly depends on GPS. If the GPS signal is lost for too long, or the satellite signal itself Failure, navigation accuracy quickly becomes unavailable. Therefore, it is very necessary to overcome these difficulties in order to enhance flight safety. With the continuous expansion of the aviation market, the safety of aviation has become a very important issue. Major aircraft accidents can generally be classified into the following categories. (1) Controlled Flight into Terrain (GFIT) (2) The aircraft is out of control (due to aircraft equipment failure) (3) The aircraft is out of control (Due to crew error) (4) Aircraft structure or system failure (5) Air collision (6) Ice or snow (7) Fuel exhaustion (8) Aircraft failure (due to other reasons) (9) Runway_ Occupied, since the human powered flight and the collision of a handcrafted aircraft with the ground, it has become an important class of accidents worldwide. In these flight accidents, the function of fully qualified crew members is normal Of aircraft are often in the presence of clouds or dark weather. Any notification 'collised with ground, water or other obstacles. In such accidents, there was no ice and no wind shear (Wind did not The plane was in proper control.

C: \ Program Files \ Patent \ k322p002.ptd Page 14 454095 V. Description of the invention (ίο) Since the 1970s, controlled aircraft collisions with the ground have received widespread attention and extensive research, since 1 9 In 1974, the Federal Aviation Administration (FAA) required that a commercial turbojet or turboprop aircraft with more than 10 people flying in U.S. airspace install an independent ground adjacent police system (Ground

Since the Proximity Warning System (GPWS), GPWS has significantly reduced the number of CFIT flight accidents. GPWS uses radio altimeters to monitor the altitude of aircraft and the ground. Since 985, there have been only one or two aircraft CFIT accidents per year ’, and before the FAA promulgated the GPWS, there were about 7 to 18 CF IT accidents per year on average. The GPWS computer tracks the radio altimeter indications. When the aircraft's flight conditions are in the following states, the GPWS can provide the crew with audible 'visual' clear warning information: '(1) Excessive descent rate when the aircraft is flying at low altitude; (2) Excessive approaching ground speed (airplane descending too fast or flying to higher terrain) (3) Excessive descent rate after takeoff; (4) Inadvertent descent after takeoff; (5) Insufficient clearance (Terrain Clearance); (6) When the aircraft is not in the approach phase of landing and landing, the aircraft flies too low. Although the traditional GPWS has saved thousands of lives, it is impossible for the GPWS To avoid all CFIT | accidents, the traditional ⑶ "No ^; can really tell the crew the terrain situation in front of the aircraft, Gpws can only download

C: \ Program Files \ Patent \ k322p002. Ptd Page 15 1 454 09 5 V. Description of the invention (11) Vision 'Measure the height of the terrain by using a radio altimeter and project it into the future terrain height in all directions , Thereby predicting the existence of a potential CF IT situation 'gpm can run out of pilots when the aircraft is flying along sloped terrain', but for some special cases, such as cliff cliffs or very steep terrain ahead, GPWS cannot be timely Warning, in addition, in some special cases, Gpws must appropriately reduce the sensitivity11 in order to reduce the nuisance warning, for example, when the pilot releases the flaps: the landing gear 'when the aircraft is intentionally flying to the ground' GPWS must "reduce sensitivity" to avoid unnecessary alerts. The existing improved GPWS, called the Enhanced Ground Proximity Warning System (EGPWS), is the product of further efforts to avoid CFIT flight accidents. EGpw uses a global terrain database. In addition, EGPWS provides a map-like display of the area around the aircraft in the following two general GPWS: (1) It can be used to estimate the minute / time before the aircraft approaches the ground. GPWS can only approach the ground for a few seconds to 30 and slave 33 L reward 0 s, warning in 15 seconds, EGPWS uses information from the airborne jealousy / between, an average of 10 ~ 'also used the aircraft's performance And layout: and ▲ ground, the flight envelope of the database in the forward direction, and calculated with the terrain data $ 'along the aircraft EGPWS can display the terrain around the aircraft, pilot # head comparison. Due to the continuous flight to the ground, the crew cannot easily connect the aircraft with the existing positioning system and ground-entry anti-failure system and GPWS are two separate and independent systems, which must be required. An external

454095 Five 'invention description (12) of the positioning system in order to provide it with its positioning data. As mentioned above, traditional integrated GPS / inertial navigation systems combine information from inertial measurement components and GPS receivers to provide their performance. Existing GPWSs use either integrated GPS / inertial navigation systems or separate GPS receivers or The positioning data of separate inertial navigation systems, the altitude information of radio altimeters and barometric altimeters, and the terrain data of the terrain database are used to solve the problem of adjacent ground police. Both the integrated GPS / inertial navigation system and the GPWS are implemented in software in the microprocessor. With the continuous increase in the speed and capacity of the microprocessor, it is possible to implement a combined positioning and ground proximity police system, and The combined positioning and ground adjacent police system has better performance than the single positioning system and separate ground adjacent police system. This is because the radio altimeter, barometric altitude information, and terrain database used by the existing GPWS have the potential to improve the existing positioning. The performance and reliability of the system, and the improved positioning information will further improve the ability of near-Earth alerting. Compared with the existing positioning system and ground neighboring police system characterized by separate data processing, the main purpose of the present invention is to provide a combined positioning and ground neighboring police method and system in order to obtain further improved performance, such as higher accuracy Navigation data, high level of tolerance for GPS signal loss, soundness monitoring of GPS, more accurate and reliable ground neighbor information, etc., in order to make the aircraft fly in increasingly busy airspace and become more secure. The invention has The following features: (1) The performance of the combined positioning and ground adjacent police system is better than two separate systems. (2) The positioning accuracy of the present invention is better than the existing combined GPS / inertial guidance

C: \ ProgramFiles \ Patent \ k322p002.ptd Page 17 454 09 5 V. Description of the invention (13) Navigation system. Faults (ϋί 明明 capable of detecting GPS satellite failures or inventions issued by them) Second, accurate ground neighboring police information, which is due to the same positioning accuracy paid by Ben Ming. Near = = ίHigh-precision positioning information ', which reduces * Yes (Compared with the present invention, it is not necessary to say that it can meet the low cost, = can =: commercial aircraft for one purpose is to provide a combination of positioning and ground proximity method: 糸，. Charge 'and the existing independent solution of the positioning sum; ΐ Bi r = = since all are for navigation and positioning and ground; = in order to obtain better precision |, and the invention can be used to sigh and have a prepared aircraft, The system cost is lower. "Ί 发: ί Another purpose is to provide a combination of positioning and ground proximity police methods that can be used to update the water of the inertial navigation system :: 糸,: After the number is lost, the system can continue to provide high-precision horizontal bits" The purpose of the January issue is to provide a combination of positioning and ground neighbor methods: 糸, '... shape database and radio altimeter and inertia; Hang = = = and: used to update the altitude measurement of the inertial navigation system ^ ... precision approach , T 陆, and in Traditional Airspace more

1

surface

II C: \ ProgramFiles \ Patent \ k322p002.ptd Page 18 454 〇s i May 2nd invention description (u) High accuracy information. And system development month j: 之 m :: For combined positioning and ground adjacent police method; in order to facilitate the data, the system is invented. Another purpose is to provide information of the group == database, inertial navigation system, ^ Electricity meter, topographical integrity monitor ^ order processing for GPS and system development]: Another purpose is to provide a combination of positioning and ground adjacent police methods, the most The optimal positioning and navigation parameters are fed back to the GPS receiver 2 to assist the GPS signal tracking loop in order to improve its tolerance to interference and dynamics. Another object of the present invention is to provide a combination of positioning and ground neighbor methods: the system, in which the optimal navigation parameters obtained are fed back to the GPS receiver and used to aid the acquisition of GPS signals and signal loss. The subsequent re-acquisition is to reduce the GPS's first positioning time and signal loss. The time of re-acquisition after the loss. Another object of the present invention is to provide a method and a system for combined positioning and ground neighbors, in which navigation information with improved accuracy is used to obtain timely ground neighbor information. It is another object of the present invention to provide a method and a system for combining positioning and ground neighbor police, in which, the navigation information with improved accuracy is used to obtain more accurate and reliable ground neighbor police information. Another object of the present invention is to provide a combined positioning and ground neighbor police method.

C: \ Prograra Files \ Patent \ k322p002. Ptd page 19 4 54 09 5 V. Description of the invention (15) and system, in which '~ synthetic vision system is used to display ground police information' in order to provide pilots with the surrounding terrain environment. Extending the field of vision, system, among them, the police information. Graphic description: First diagram. The second figure Figure. Third chart. The fourth diagram. Fifth chart process chart. The sixth chart. The seventh figure, the eighth figure, and the ninth figure illustrate the figure: Another object of the present invention is to provide a combined positioning and ground neighbor police method and a voice system for providing pilots with audible ground neighbor current system display combined positioning The flow of the method and system with the ground adjacent police system is shown in the combination of the positioning and the ground adjacent police processor. The flow of the display navigation solution module implementation method 6 (a) is the flow of the display navigation solution module implementation method 6 (b). Stream display navigation solution module implementation method 6 (c) Stream display navigation solution module implementation method 6 (d) Display information flow chart of the ground adjacent police module is a block diagram showing a GPS receiver. Display inertial guidance Block diagram of the sharp system. Circuit sampling and A / D converter C: \ ProgramFiles \ Patent \ k322p002.ptd Page 20 454 09 5 Five 'invention description (16) 16- —signal processor 17-oscillator 20-inertia Navigation system 2 2-Inertial navigation processor 2 4-Transform matrix calculation module 2 6-Earth and carrier angular rate calculation module 27-Attitude position speed calculation module 40-Radio directional table combined positioning and ground adjacent police 1 8-navigation processor 2 inertial measurement module 2 3-sensor error compensation module 2 5-coordinate transformation calculation module 30-barometric altimeter 5 0-terrain database 60 62-navigation solution module 6 202-filtering / estimation module 6 2 1 2-TA IN S sub-filter module 61-round input output module 6 2 0 1-correlation / matching module 6 211-correlation / matching module 6213-INSGPS sub-filter 6214-main filter module 6 2 2 single point Terrain Clearance Calculation Module 622 2-Filter / Estimation Module 6 2 3 1 -Single Point Terrain Clearance Calculation Module 6 2 3 3-INSGPS Sub Filter 6 3 -Ground Adjacent Police Solving Module 63 2-Flight Trajectory Prediction Module 623 2-TAINS Sub-filter module 6234-Main wave filter module 6 3 1-Query parameter calculation module 6 3 3-Alarm decision module 6 34-Flight trajectory planning auxiliary module 6 35-Synthetic vision processing module 6 3 6-Speech processing module 7 0-Synthetic vision system 8 0-Speech system 9 0-Airborne flight control and management system The present invention provides a combined positioning and

C: \ ProgramFiles \ Patent \ k322p002.ptd Page 21 ^ 54095 V. Description of the invention (17) The ground neighbor police method and system, which combines GPS receiver, aeronautical system, barometer, radio altimeter, Terrain number line control and management system information. Data library # Please refer to the first figure. The combined positioning and ground proximity alarm system includes GPS receiver 10, inertial navigation system 20, barometric altimeter 30, and, '· helmet electric rain gauge 40, Terrain database 5G, combined positioning and ground location 60. Among them, the GPS receiver 10 receives GPS signals and calculates GPS position, speed, and time information, or pseudorange and pseudorange rate measurements. The inertial navigation system 20 'uses the angular velocity and specific force information of the aircraft measured from an inertial measurement component to solve the navigation equation and obtain the inertial navigation value. 'The barometric altimeter 3 0 ′ provides barometric altitude measurement. The radio altimeter 40 'provides radio altitude measurements. The terrain database 50 stores global terrain data, and can obtain the current position of the aircraft and surrounding terrain altitude data. The combined positioning and ground neighboring police processing unit 60 receives the GPS receiver 10, the inertial navigation system 20, the barometric pressure table 3 〇, the radio altimeter 4 〇, and the terrain database 50 0; the combined positioning and ground neighboring police processing The aircraft 6 also carries the flight control and management system data from the receiver, processes these data, and obtains the optimal navigation information such as position, speed, and attitude, as well as the optimal ground neighbor police information. GPS receiver 10, inertial navigation system 2 0, barometric altitude table 3 0, radio altimeter 40, and terrain database 5 0 are all connected to the integrated positioning and ground adjacent police processor 60. A synthetic vision system 70 and combined positioning and ground adjacent police processor 600

C: \ ProgramFiles \ Patent \ k322p002.ptd Page 22 454095 5 'Explanation of the invention (18) ~~ —- even' is used to provide the pilot with a visual display of the neighbor's ground police information. A voice system 80 is connected to the combined positioning and ground neighboring police processor 60 to provide the pilot with ground ground warning information. The GPS receiver 10 can be selected as: Differential GPS receiver (Differential GPS) or multi-antenna GPS Receiver or GPS receiver with Wide Area Augmentation method. The terrain database 50 can be selected as an on-board terrain database, or a terrain database placed on the ground station, which can be used by the aircraft to query through a data link (Data Unk) method. As shown in the first figure, 'GPS receiver 10 , Inertial navigation system 20, barometric altimeter 30, radio altimeter 40, terrain database 50, combined positioning and ground adjacent police processor 60, synthetic vision system 70, voice system 80, and flight control and management system 9 The connection between 〇 can be one of the following (1) based on the bus connection, such as internal bus, MIL-1553, ARIC429. (2) Connection method based on port # .. Including synchronous communication interface, asynchronous communication interface, such as RS — 232 'RS-422RS — 4 8 5. (3) Network-based connection mode, such as NE2000. As shown in the first and eighth figures, the GPS receiver is connected to the integrated positioning and ground neighboring police processor 60, and includes a navigation processor 18, which can provide the combined positioning and ground neighboring police processor 6 〇 Provide: (1) Position, speed and time information of the aircraft. (2) the raw measurements of the GPS receiver: pseudorange, pseudorange rate, and

C: \ ProgramFiles \ Patent \ k322p002.ptd Page 23 454095 V. Description of the invention (19) ~~~ Satellite ephemeris. A signal processor 16 receives the optimal position, velocity, and attitude information from the combined positioning and ground neighboring police processor 60 to assist in the capture, tracking, and recapture processing of the GPS signals. The GPS receiver 10 further includes a GPS antenna 11 connected to a pre-amplification circuit 12. The GPS antenna 11 receives a GpS radio frequency (Radio Frequence, RF) 5 tiger, and feeds the signal to the pre-amplification circuit I ?. The pre-amplification circuit 12 is connected between the GPS antenna 11 and the down-conversion circuit 13 to amplify the GPS RF signal so as to improve its signal-to-noise ratio. The amplified signal is fed to the down-conversion circuit 13. The down-conversion circuit 13 is connected between the pre-amplification circuit 12 and a band-pass filter 14. It down-converts the input GPS RF signal to a GPS intermediate frequency (IF) signal and feeds the GPS IF signal to the band-pass filter 14. . The band-pass chirper 14 is connected to the down-conversion circuit 13 and an IF sampling and A /]) converter 15 to 'filter out the noise in the input I f signal in order to increase its signal-to-alpha sound ratio' and The filtered F signal is fed to the F sampling and A / D converter 15. The IF sampling and A / D converter 15 is connected between the band-pass filter 14 and a signal processor 16 to sample the round-robin analog if signal and generate the numbers. Sub-I (In-phase), Q <Quadraphase). The signal is fed into the signal processor 16. The signal processor 16 is connected between the IF sampling and A / D converter 15 and a navigation processor 18, and receives the digital I,

C: \ Program Files \ Patent \ k322p002.ptd Page 24 454095 V. Description of the invention (20)

Q signal, from the optimal positioning speed of the integrated positioning and ground adjacent police processor 60. 'Attitude information' performs the acquisition of the GPS signal from the combined positioning and ground adjacent police processing, data-assisted tracking, re-acquisition processor 60 false range , Pseudorange rate and satellite ephemeris to the navigation processor i 8. Then the navigation processor 18 is connected to the signal processor 16 and used. Since the processor 16 pseudorange 'pseudorange rate and satellite ephemeris, solve the navigation side to produce the following two types of data for the combined positioning and ground neighbor police processor 60: Signal &amp; wheel (1) Position, speed, and time information of the aircraft 1 (2) Raw measurements of the GPS receiver: pseudorange, pseudorange rate, satellite ephemeris. And an oscillator 17 is connected to the down conversion circuit 13, the IF sampling and A / D converter 15 and the k processor 16 to improve the local reference signal. ° As shown in the first and ninth pictures, 'Inertial navigation system 20 is connected to the group positioning and ground adjacent police processor 60' receives the inertial navigation parameters and sensor errors from the integrated positioning and ground adjacent second processor 60. The best estimate is to input the inertial navigation parameters, such as position, speed, attitude, etc., given the combination of the neighboring police processor 60. The inertial navigation system 20 further includes an inertial measurement module 21 and an inertial navigation processor 2 2 'The inertial measurement module 21 is connected to the inertial navigation processor 22' and provides its measured body angular velocity and specific force data, and an inertial navigation processor 2 2 further includes the following modules: 'One sensor§ Wu difference compensation module 2 3 Receives the body's Shaw rate, specific force from the inertial measurement component 21, and the optimal estimation of the sensor error from the integrated positioning and ground adjacent police processor 60. ， Compensated input body angular rate and specific force number

454 09 5 V. Description of the invention (21) According to the errors in the body, the angular rate and specific force of the body are measured by the gyro and accelerometer of the inertial measurement module 21, and the sensor error compensation module 23 outputs the angular rate of the body after compensation. The transformation matrix calculation module 24 is provided, and the compensated specific force is output to the coordinate transformation calculation module 25. The transformation matrix calculation module 24 receives the body angular rate after compensation from the error compensation module 23, the rotation vector from the local navigation coordinate system (n system) to the inertial coordinate system (i system) from the earth and the carrier angular rate calculation module 26, and from the combination The optimal estimation of the attitude error calculated by the inertial navigation of the positioning and ground adjacent police processor 60, updating the orientation matrix from the aircraft system (B system) to the navigation system 'will compensate its error, and update the aircraft system to the navigation system. The methods of the direction transformation matrix are Euler's method, direct direction cosine method and quaternion method. The transformation matrix calculation module 24 outputs the direction from the machine system to the navigation system. The transformation matrix gives the coordinate transformation calculation module 25 and the attitude position. Speed calculation module 27. The ^ coordinate transformation calculation module 25 receives the specific force after compensation from the sensor error compensation module 23, and the direction transformation matrix 'rounded specific force from the transformation matrix calculation module 24 is expressed in the body coordinate system. The coordinate transformation calculation module 2 5 Convert it into the specific force expressed in the navigation coordinate system and output it to the attitude position speed calculation module 27. The posture cancer position and speed calculation module 27 receives the specific force from the coordinate transformation calculation module 25 in the guided coordinate system, the direction transformation matrix from the machine system to the navigation system from the transformation matrix calculation module 24, and the combined positioning. , The optimal estimation of the inertial navigation parameter error of the ground adjacent police processor 60, calculate the position, speed, and attitude 'and compensate for its error, the attitude position speed meter

C: \ ProgramFiles \ Patent \ k322p002.ptd% 26 Page 454 09 5 V. Description of the invention (22) Calculation module 2 7. Output updated navigation parameters to the earth and plant angular rate calculation module 26 and combined positioning and ground neighbor Alarm handler 6 〇. The earth and carrier angular rate calculation module 26 receives the inertial navigation parameters from the attitude position speed calculation module 27, calculates the rotation vector of the local navigation sitting inertia coordinate system, and outputs it to the transformation matrix leaf module 24. As shown in the first figure, the barometric altimeter 30 is connected to the combined positioning and ground neighboring police processing lion, sensitive air pressure, calculates the pressure altitude measurement, and outputs it to the combined positioning and ground neighboring police processing machine 6 as shown in Figure- Show 'The radio altimeter 30 is connected to the combined positioning and ground adjacent police processor 60' to radiate radio signals and receive ground echoes, 1 = interval I, and convert the time difference to radio altimetry [: output ',,,, The line direction measurement is given to the combined positioning and ground adjacent police processor as shown in the first picture, and the terrain database 50 is connected to the group of people. The Shilin police processor 60 is received from the combined positioning and location: the location and the ground The database of the temple left and the V l 彳 and the ground neighboring police processing unit 60 check the parameters of the tenth, and output the current position of the air mover and the surrounding ground _ data according to the combined positioning and ground neighboring police processing unit 60. '冋 又 数 As shown in the first figure', the combined positioning module: and the ground adjacent police processor 60 includes a next input / output module 61 which manages data input and output with other devices and management systems. The carrier gas order control and a navigation solution module 62 are connected to the input wheel output module &amp; solution module 63, which integrates the information from all sensors of the present invention to optimize the navigation parameters' and turns it out for onboard flight control and management.

C: \ Program Files \ Patent \ k322p002.p1; d page 27

Page 4 54 09 5 I. Explanation of the invention (23) 90. Ground floor police solution module 63 'GPS receiver 10, the optimal estimation of inertial navigation parameters and sensor errors is given to the inertial navigation system 20. In order to obtain different system performances of the present invention, the navigation solution module 62 can have the following implementation methods: / (a): As shown in FIG. 3, a correlation / matching module 6211 is turned in and out, and the block receives the radio altimeter 40 Radio altitude measurement, barometric altitude measurement from barometric pressure, degree table 30, and ground 2 data from terrain database 50, &amp; using the collected radio altitude measurement and barometric altitude measurement 'within two given time windows, create A measured terrain envelope, using terrain and database terrain data, to form multiple reference terrain envelopes, compare, and compare the amount of geodetic envelope and reference terrain envelope. Once a matching terrain dagger is found, each matching terrain is output. The geographic location of the envelope is given to a filtering / estimating module 62 0 2. Ｍ K 1 〇Τ 古 # f * ί, the correlation / matching module 62 0 1 compares the radio altitude measurement with the terrain I: Lu Mu and compares it with the inertial altitude or the mixed air pressure inertial altitude to form a “t-difference, and outputs it The crossing wave / estimation module 6 2 0 2. The inertial block 6202 measures the measurement information from the GPS receiver 10, and the navigational parameters of the navigation system 20 are compensated. Push: Modular navigation parameter error, GPS receiver enters optimal estimation. Optimal qualitative sensor error is derived: navigation parameters can be obtained in the following two ways......... ... 6 (a)-1 filter / estimated bridge 堍 9 n 9 Du m β ^ ^ t ^ ^ ^ ^, fi inertial navigation parameter of the continuous navigation system 20

C: \ Program Files \ Patent \ k322p002.ptd Page 28 454095 V. Description of the invention (24) Number. 6 (a)-2 The filtering / estimation module 6 2 0 2 feeds back the optimal estimation of the inertial navigation parameter error, the GPS receiver error, and the inertial sensor error to the inertial navigation system 20 so that the inertial navigation system 20 makes the error Perform reverse reading correction. 6 (b) As shown in the fourth figure, a 'correlation / matching module 6 211 through the input and output module. 6 1 connection: receiving radio from the wireless, electric power meter 40, altitude measurement, from the barometric altimeter 30. Terrain data from the terrain database 50. Using collected radio altitude measurements and barometric altitude measurements, 'create a measured terrain envelope within a given time window, using terrain database's terrain data' to form multiple The reference terrain envelope is compared with the measured terrain envelope and the reference terrain envelope. Once a matching terrain envelope is found, the geographic location of the matched terrain envelope is output to a TAINS (Terrain Aided

Inertial Navigation System) sub-filtering module 6212. In addition, the correlation / matching module 6211 adds the radio altitude measurement to the terrain altitude, and compares it with the inertial altitude or the mixed air pressure inertial altitude to form a 'surplus residual. Difference, which outputs _ to the TA 1N: S sub-filter module 6 2 1 2 '. The TAINS sub-filtering module 6212 models the inertial navigation parameter error and inertial sensor error. ‘Filters the geographic location and height residuals of the matching terrain envelope’ to get the locality of the inertial navigation parameter error and inertial sensor error. Optimal estimate. —INSGPS (Inertial Navigation System / Global Positioning System) sub filter, wave filter 62 1 3 Input GPS receiver 1 〇 Measurement information and inertial navigation system 2 0 inertial navigation parameters ’and perform

C: \ Program Files \ Patent \ k322p002.ptd Page 29 454 09 5 V. Description of the invention (25) Filtering process ′ to obtain another locally optimal estimate of the inertial navigation parameter error, GPS receiver error, and inertial sensor error. A main filter module 6 21 4 fuses the local optimal estimate and its estimation error covariance matrix from the τΑ I NS sub-filter module 6 21 2 and the INSGPS sub-wavelet 6213 to obtain the inertial navigation parameter error and the GP S receiver. 'Global Optimal Estimation of Errors and Inertial Sensor Errors .. Gauge_. TAINS sub-filter module 621 2 and INSGPS sub-filter module 621 3 receive inertial navigation parameter errors, GPS receiver errors, and inertia from the main filter module 6214, respectively Global optimal estimation of sensor error and its estimation error covariance matrix 'Update TAINS sub-wavelet and INSGPS sub-filter, execute TAINS sub-filter module 6212, INSGPS sub-filter module 6213, and main filter module 6 2 1 4 Information sharing algorithm. In order to obtain different performances, there may be different methods of communication and estimation methods between the τ Α NS sub-wavelet module 6 2 1 2, the INSGPS sub-wavelet module 621 3 and the main filter module β 2 1 4. The main wave filter module 6214 can perform a compatibility check between the estimated results of the TAINS sub-filter module 62 丨 2, the INSGPS sub-filter module 6213 and the main filter module 6214, in order to detect and isolate the signals from a faulty GpS satellite Information, and reconstruct the structure and processing of the navigation solution module 62. The optimal positioning and navigation parameters can be obtained in the following two ways: The inertial navigation parameters obtained by using the 6 (b) -1 main filter module mu are optimally estimated to compensate for the inertial navigation parameters from the inertial navigation system 2o. 6 (b) -2 The main filter module 6214 will get the inertial navigation parameter error

C: \ Program Files \ Patent \ k322p002.ptd Page 30 454 09 5 V. Description of the invention (26) The best estimate of the GPS receiver error and inertial sensor error is fed back to the navigation system 2 0, so that Inertial navigation system 2 〇 Corrects its error by feedback-feedback _ 6c As shown in the fifth figure, a single-point terrain headroom calculation module m2 1 receives radio altitude measurements from the radio altimeter 40 through the input-output module 61 2. The air pressure altitude measurement from the air pressure altimeter 30 'topographic data from the terrain database 50' compares the inertial altitude or the mixed air pressure inertial altitude with the terrain height at the current position to obtain a reference single-point topographical aerial measurement, radio altitude measurement Is the measured single-point terrain headroom measurement i single-point terrain headroom calculation module 622 1 turns out a difference between the referenced single-point herringbone headroom measurement and the measured single-point terrain headroom measurement to a filtering / estimation module 6222. Due to the undulating nature of the terrain, the terrain headroom measurement is a non-linear function of the aircraft position. Moreover, the difference between the reference single-point terrain headroom measurement and the measured single-point terrain headroom measurement is a function of the navigation parameter error. The measurement is the pattern of the antenna of the radio altimeter 'a non-linear function of the lateral / longitudinal position, altitude, and attitude of the aircraft'. In general, the reference single-point terrain clearance measurement at the Kth beat can be expressed as' TCk = H1NS-h (Xk, Yk) + yk where 'TCk is the reference single-point terrain headroom measurement at the k-th beat; Hins is the aircraft flight altitude or mixed inertial pressure altitude measurement indicated by the inertial navigation system 20; h (Xk, Yk) is the inertial navigation The system 20 indicates the terrain height at the position (χ, γ); vk is the terrain database error. The chirp / estimation module 6222 measures the measurement information from the GPS receiver 10,

C: \ ProgramFiles \ Patent \ k322p002.ptd Page 31 454 09 5 Five 'Description of the Invention (27) Inertial navigation parameters of the inertial navigation system 2 0, single point terrain from the reference of single point terrain headroom calculation module 6 2 2 1 The difference between the headroom measurement and the measured single-point topographic headroom measurement is filtered to calculate the optimal estimates of inertial navigation parameter errors, GPS receiver errors, and inertial sensor errors. Since h (Xk, Yk) is a non-linear function of position (X, Y), the filtering wide estimation module (6222) is a non-linear filter / estimator. The optimal positioning and navigation parameters can be obtained in the following two ways: The 6 (c) -1 filtering / estimation module 6222 uses the optimal estimation of the inertial navigation parameter error to compensate the inertial navigation parameter 20 from the inertial navigation system. 6 (c) -2 The wave / estimation module 6222 feeds back the optimal estimates of the inertial navigation parameter error, GPS receiver error, and inertial sensor error to the inertial navigation system 20 so that the inertial navigation system 20 can correct its error feedback. 6 (d) As shown in the sixth figure, a single-point terrain clearance calculation module 6231 receives radio altitude measurements from the radio altimeter 40, air pressure altitude measurements from the barometric altimeter 30, and the terrain database through the input / output module 61. 50 terrain data, the inertial altitude or mixed air pressure inertia altitude is compared with the terrain altitude at the current position to obtain a reference single-point terrain headroom measurement. Radio altitude measurement is a single point terrain headroom measurement. The single-point terrain headroom calculation module 6 2 3 1 outputs the difference between the referenced single-point terrain headroom measurement and the measured single-point terrain headroom measurement to a TAINS sub-filter module 6232. TAINS sub-filtering module 6 23 2 Modeling inertial navigation parameter errors and inertial sensor errors, reference single-point terrain clearance measurement and single-point measurement

C: \ Program Files \ Patent \ k322p (} 〇2._pt (r Page 32 454 09 5 V. Description of the invention (28) The difference between the terrain clearance measurement is filtered to obtain the inertial navigation parameter error and the inertial sensor error. Local Optimal Estimation》 An INSGPS sub-filter 6233 inputs the measurement information of the GPS receiver 10 and the inertial navigation parameters of the inertial navigation system 20, and filters them to obtain the inertial navigation parameter error 'GPS receiver error and Another local optimal estimation of the inertial sensor error. A main filter module 6234 fuses the local optimal estimation from the TAINS sub-filter module 6 2 3 2 and the INSGPS sub-filter 6233 and estimates the error covariance matrix to obtain the inertial navigation parameters. Global optimal estimation of errors, GPS receiver errors, and inertial sensor errors. TAINS sub-filter module 6232 and INSGPS sub-filter module 6233 receive inertial navigation parameter errors, GPS receiver errors, and inertial sensor errors from main filter module 6234, respectively. Global optimal estimation and its estimation error covariance matrix, update TAINS subfilter and INSGPS subwavelet, and execute TAINS Wavelet module 6 2 3 2. Information sharing algorithm between INSGPS sub-filter module 6 23 3 and main filter module 6234. In order to obtain different performance, TAINS sub-wave module 6232, INSGPS sub-filter module 6233 and main The communication and estimation methods between the filter modules 6234 can have different methods. The main wave filter module 6234 can execute the TAINS sub-filter module 6232, the INSGPS sub-filter module 6233, and the estimation results of the main wave filter module 6214. Performance check 'in order to detect and isolate the information from a faulty CD satellite' and reconstruct the structure and processing of the navigation solution module 62. The optimal positioning and navigation parameters can be obtained in the following two ways:

C: \ Program Files \ Patent \ k322p002.ptd Page 33 ^ 54095 Five 'Invention Description (29) 6 (d) -l The main filter module 6234 uses the resulting inertial navigation to estimate the error optimally and compensates from the inertial navigation The number of inertial navigation parameters of the system 20 is 6 (d) -2. The main filter module 6234 will obtain the optimal estimates of inertial navigation parameter errors, GPS receiver errors, and inertial sensor errors, and give them to the inertial navigation system 20 for inertial navigation. The system 20 corrects it in degrees. 2. As shown in the seventh figure, 'The ground adjacent police solution module 63 further includes a query parameter calculation module 631 and a flight trajectory prediction module 6 3 2. The main police decision block ^ Block 63 3. Flight trajectory planning assistance Module β34, Synthetic Vision, Management Model, 6 3 5, and Speech Processing Module 6 3 6. The ghost query parameter calculation module 631 receives the optimal navigation parameters from the navigation solution module 62 and calculates the query parameters of the terrain database 50 so as to obtain the current position of the aircraft and the surrounding terrain data from the database 50. The flight trajectory prediction module 632 receives and accumulates optimal navigation guidance from the navigation solution module 62, aircraft performance and layout data from the flight control and management system 90, and predicts the flight trajectory of the aircraft forward. The flight trajectory prediction module 6 3 2 outputs the predicted flight trajectory of the forward flight of the aircraft, and the position, speed, and attitude to the alarm decision module 633. The alarm decision module 633 receives the predicted flight track from the flight trajectory prediction module 632, the aircraft performance and layout data from the flight control and management system 90, such as slip line and landing gear data, etc., and the current aircraft from the terrain database 50. Location and surrounding terrain data. If the predicted flight trajectory is too close to the front ground, the alarm decision module 6 3 3 will make a ground neighbor.

C: \ Program Files \ Patent \ k322p002. Ptd Page 34 454 09 5 V. Description of the invention (30) information, and turn it out of the way * tu Step by step; r secret ας, &quot; Claw track plan Auxiliary module 634 'synthesizes video a /, processing module 636. In addition, the alarm decision module 633 will also assist the module 634 with the current position. Speed, 4-state turn-out to the flight trajectory planning assistance 1 迹 Track #planning assistance module 634 receives information from the alarm decision module such as neighbors and current position, speed, attitude, current position of the hitter from the terrain database 50 and surrounding Terrain data, "aircraft performance and layout data of the flight control system 90, calculate an optimal collision avoidance trajectory for the pilot. The synthetic vision processing module 635 receives the predicted flight trajectory and ground neighbors from the alert decision module 6 3 3 The warning information is from the terrain database 50. The current position of the aircraft and the surrounding terrain data, and the optimal collision avoidance avoidance track from the flight trajectory cut-off module 634. The driving data is calculated for the synthetic vision system 70. Voice The processing module 636 receives the pre-flight trajectory and ground adjacent police information from the alarm decision module 633, the current position of the second vehicle from the terrain database 50 and the topographic data of the surrounding area, and the assistance from the flight trajectory plan = Block 63 4 Optimal The anti-collision avoidance track is designed for the voice system 80, and the data. As shown in the first picture, a combination of positioning and ground The neighborhood police method includes the following steps: i The following (1) receives the GPS signal and obtains the GPS position, speed, and time for # or pseudorange, pseudorange rate measurement, and then inputs it to a combination of positioning and ground neighborhood police ~ processor. " tongue

C: \ Program Files \ Patent \ k322p002.ptd Page 35

4b4 Uy b V. Description of the invention (31) — (2) Receive the angular velocity and specific force information of the aircraft, solve the navigation range to obtain the inertial navigation parameter values, such as 戌 鼽 [1], speed, attitude array, etc., and send them to Combined positioning and ground adjacent police processor 1 ^ (3) Measure the atmospheric pressure, calculate the barometric height measurement, and combine them with the ground adjacent police processor. &gt; &gt; 〇 (4) Measure the time delay of the radio signal transmitted from the aircraft and reflected from the ground, calculate the wire electrical height measurement and send it to the combined fixed-surface adjacent police processor. Ground (5) Query an on-board terrain database or query through a data link — and the terrain terrain database to obtain the aircraft's current location and surrounding terrain speech data and send it to the combined positioning and ground adjacent police processor. ° (6) Receive GPS receiver position, speed and time information or pseudorange, pseudorange rate measurement, inertial navigation parameters, barometric altitude measurement, radio altitude measurement, aircraft current position and surrounding terrain altitude data, and calculate the optimal Position, speed, attitude and navigation information, as well as optimal ground neighbor information. As shown in the eighth figure, in step i, the optimal position, speed, acceleration, and attitude data from step 6 can be further used to assist the signal acquisition, tracking, and re-processing of the signal processor 16 of the GPS receiver 10 Capture processing to improve system performance. As shown in the ninth figure, in the second step, the optimal estimation of the position error, speed error, attitude error, and sensor error from the sixth step can be used. The sensor error compensation module 23 in the inertial navigation system 10, In the transformation matrix calculation module 24 and the attitude position speed calculation module 2>, errors are performed.

C: \ Program Files \ Patervt \ k322pO () 2.ptd Page 36 4 54 09 5 V. Description of the invention (32) Feedback correction to improve system performance. As shown in the second and seventh figures, in the sixth step, a synthetic vision processing step can be added to further process the ground neighbor police information so as to enhance the visual display for the pilot. As shown in the second and seventh figures, in the sixth step, a voice processing step can be added to further process the ground neighbor information to provide pilots with voice ground neighbor information. Steps 1 to 5 can be processed in parallel or serially. As shown in the first diagram and the eighth diagram, the first step further includes: (1 -1) receiving the GPS radio frequency RF signal through the GPS antenna 11, and feeding the signal to the pre-amplification circuit 12. (1-2) The pre-amplification circuit 12 amplifies the GPS RF signal in order to improve its signal-to-noise ratio, and the amplified signal is fed into the following frequency conversion circuit 丨 3. (1 to 3) The down-converter circuit 13 mixes the input GPS RF signal with the local signal from the oscillator 17, down-converts it to a GPS intermediate frequency (IF) signal, and feeds the GPS IF signal into a band-pass filter. 14. (1-4) The band-pass filter 14 is used to filter the threatening sound of the U? Signal in order to improve its signal-to-noise ratio, and feed the filtered IF signal into an IF sample and A / D Converter 15. … (1-5) With the 11 ^ sampling and ^ 1) converter 15, the analog IF signal of the human is sampled, and the digital I and q signals are fed to the signal processor 丨 6. (1-6) In the signal processor 16, 'receive the digital I and Q signals from the iF sampling and human / ^ converter 15' from the optimal optimal position and speed of the combined positioning and ground neighboring police processor 60. , Attitude information, execution from combined positioning

C: \ Program Files \ Patent \ k322p002.ptd Page 37 454095 V. Description of the invention (33) Tracking, 'output to guide and ground neighboring police processor 60 data-assisted GPS signal re-capture processing, calculate pseudorange, pseudo Range and satellites' satellite, capture, and aero processors 18. Ephemeris (1-7) In the navigation processor 18, the data from the working distance, pseudorange rate, and satellite ephemeris are used to solve the processor 16 pseudo-two types of data to the combined positioning and ground neighboring police processor 6. The man's way gets the following (1) position, speed and time information of the aircraft. (2) The original measured values of the GPS receiver: pseudorange, satellite ephemeris ^ 'ma distance, and as shown in the first and ninth pictures, the second step further includes-(2 — 1) by inertia The measuring unit 21 measures the angular velocity force of the body and outputs it to the error compensation module 23. '(2 — 1) In a sensor error compensation module 23, the optimal estimation of the sensor error obtained in 6 steps is used to compensate for the errors in the angular velocity and specific force of the wheel. The compensated body angular rate is output to the transformation matrix calculation module 24, and the compensated specific force is output to the coordinate transformation ~ module 25. And lobular nose (2-3) in a transformation matrix calculation module 24, the compensated body angular rate and the local map coordinate system (η system) from the earth and carrier angular rate calculation module 26 to the inertial sitting sample system ( The rotation vector is used to update the direction transformation matrix from the aircraft system (B system) to the navigation system; the optimal estimate of the attitude error calculated from the integrated positioning and ground proximity police processor 60 ’s inertial navigation is To compensate for the error of the directional matrix, and update the directional matrix from the machine system to the guided system can be Euler's method, direct direction cosine method and

c- \ Program Files \ Patent \ k322p002.ptd

454095 The description of the five inventions (34) 'quaternion method, the direction transformation matrix from the machine system to the navigation system is output to the coordinate transformation calculation module 25 and the attitude position velocity calculation module 27. (2-4) In the coordinate transformation calculation module 25, the compensated specific force from the sensor error compensation module 23 is expressed in the body coordinate system, and it is converted into an expression by the transformation matrix from the transformation matrix calculation module 24. The specific force 'in the navigation coordinate system is output to the attitude position speed calculation module 27. (2-5) The optimal positioning of the combined positioning and ground neighbors, the police processor 60, the optimal estimation of the inertial navigation parameters 'calculate the position, speed, attitude, and compensate for their errors' The updated navigation parameters are sent to the earth and the carrier angular rate Calculation module 2 6 and combined positioning and ground adjacent police processor 60. (2-6) In the earth and carrier angular rate calculation module 26 'The inertial navigation parameters from the attitude position velocity calculation module 27 are used to calculate the rotation vector of the local navigation coordinate system to the inertial coordinate system and output it to the transformation Matrix calculation module 24. As shown in the first figure, in the third step, the air pressure is measured by a barometric altimeter 30 and converted into a barometric altitude measurement, which is output to the combined positioning and ground adjacent police processor 60. As shown in the first figure, 'In the fourth step, a radio signal is sent from the radio altimeter 30.' The ground echo is received through the radio altimeter 30, the time difference between the transmission and reception is measured, and the time difference is converted into Radio altitude measurement, output radio altitude measurement to the combined positioning and ground adjacent police processor 60. As shown in the second figure, the sixth step further includes the following steps:

C: \ Program Files \ Patent \ k322p002. Ptd page 39 4 54 09 5 V. Description of the invention (35) (6-1) Via the input and output module 61, from the first to the fifth steps of Cong, receive GPS receiver Position, speed, time information or pseudo-moments, pseudo-range rate measurement, inertial navigation parameters, barometric altitude measurement, radio altitude measurement, current aircraft position and surrounding terrain data. ^ (6--2) using the received GPS receiver's position, speed, time information or pseudorange, pseudorange rate measurement, inertial navigation parameters, barometric altitude measurement, radio altitude measurement, current aircraft position and surrounding terrain data, Calculate and calculate the optimal navigation parameters such as position, speed, and attitude. In order to obtain the performance of different systems of the present invention, the calculation method may have the following steps: 6-2 (a): as shown in the third figure, output by rotation Module 61, radio altitude measurement from radio altimeter 40, terrain data from barometric altimeter 30, terrain data from terrain database 50 are received by a correlation / configuration module 6 2 0 1 'collected radio altitude measurements and barometric altitude Surveys 'in a given time window' were used to create _measured terrain envelopes. The terrain data of the terrain database was used to form multiple reference terrain envelopes. The measured terrain envelope and reference terrain envelope By comparison, once a matching terrain envelope is found, the geographic location of the matching terrain envelope is output to a wave / estimation module 6202. In addition, in a correlation / matching module 6201, the radio altitude measurement is added to the terrain altitude, and compared with the inertial altitude or mixed air pressure inertial altitude, 'formed residuals are formed and output to the filter, wave / estimated model 6.2 〇2. Use measurement information from GPS receiver 10, inertial navigation parameters of inertial navigation system, matched terrain from correlation / matching module 6201

C: \ Program Files \ Patent \ k322p002.ptd The 40th buy 4 54 09 5 V. Description of the invention (36) '----: --- The geographical location of the package, in the wave / estimate module 62〇2, to The method of centralized processing is to perform filtering calculation to obtain the optimal estimation of inertial navigation parameter error, Gps receiver error, and inertial sensor error. The optimal positioning and navigation parameters can be obtained by the following two methods: 6 (a) -1 In the crossing wave / estimation module 62〇2, use the optimal estimation of the inertial navigation parameter error obtained to compensate for the inertial navigation parameter 20 from the inertial navigation system》 6 (a) -2 to obtain the inertial navigation parameter error, Gps The optimal estimation of the receiver error and the inertial sensor error is fed back to the inertial navigation system 20 by the filtering / estimation module 622, so that the inertial navigation system 20 corrects its error feedback. 6-2 (b) As shown in the fourth figure, through the turn-in output module 61, the radio altitude measurement from the radio southerly table 40, the air pressure altimeter 3 0, and the terrain data from the terrain database 50 0 are correlated. The / matching module 62 receives the collected radio altitude measurement and barometric altitude measurement. Within a given time window, it is used to create a measured terrain envelope. The terrain data of the terrain database is dumped to form multiple The reference terrain envelope, the measured terrain envelope and the reference terrain envelope are compared. Once a matching terrain envelope is found, the geographic location of the matched terrain envelope is output to a TAINS sub-filtering module 6212. In addition, in a correlation / matching module 621 丨, the radio altitude measurement is added to the terrain height, and compared with the inertial altitude or the mixed air pressure compensation altitude, `` form a height residual '' and output it to the TAINS sub-filter module 621 2. Inertial navigation parameter error and inertial sensor error in TAINS sub-wave module

C: \ Program Files \ Patent \ k322p002.ptd

454 09 5 V. Description of the invention (37) 6 2 1 2 is modeled. The geographic location and height residual of the matched terrain envelope are filtered in the T AINS sub-filtering module 6 21 2 to obtain the inertial navigation parameter error and Local optimal estimation of inertial sensor error. The GPS receiver 1 〇 measurement information and inertial navigation system 2 〇 inertial navigation parameters are received by an INSGPS sub-filter 6213, and then filtered and processed to obtain inertial navigation parameter errors, GPS receiver errors and inertial sensor errors Of another locally optimal estimate. The local optimal estimates from the TAINS sub-filter module 6212 and the INSGPS sub-filter 6213 and their estimation error covariance matrices are fused by the main filter module 6214 to obtain the inertial navigation parameter errors, GPS receiver errors, and inertial sensor errors Global optimal estimate. The global optimal estimates of inertial general parameter errors, GPS receiver errors, and inertial sensor errors and their estimated error covariance matrices received from the main filter module 62 1 4 are TAINS sub-filter module 6 212 and INSGPS sub-filter module 6213 Received separately to update the TAINS sub-filter and INSGps sub-wavelet, and executes the information sharing algorithm between the TAINS sub-filter module 6212, the INSGPS sub-filter module 6213 and the main filter module 62U. In order to obtain different performances, there may be different methods of communication and estimation methods between the TAINS sub-filter module 6212, the INSGPS sub-wavelet module 6213, and the main filter module 62-14. The compatibility check between the estimated results of the TAINS sub-filtering module 6212, INSGPS sub-filtering module 621 3 and the main filter module 6 21 4 can be performed by the main wave filter module 62 1 4 in order to detect and isolate from faulty Information on GPS Hygiene 'and Restructure the Structure and Processing of Navigation Solution Module 6 2.

C: \ Program Files \ Patent \ k322p0.02.ptd. Page 42 45409 5

V. Description of the invention (38) The optimal positioning and navigation parameters can be obtained in the following two ways: 6 (b) -1 In the main filter module 6 21 4, the optimal estimation of the inertial navigation parameter error is used, The inertial navigation parameters from the inertial navigation system 20 are compensated. 6 (b) -2 The optimal estimation of the inertial navigation parameter error, GPS receiver error, and inertial sensor error is fed back to the inertial navigation system 20 by the main filter module 6214, so that the inertial navigation system 20 performs its error. Feedback correction. 6 (c) As shown in the fifth figure, through the input-output module 61, the radio altitude measurement from the radio altimeter 40, the terrain data from the barometric altimeter (30) ', and the terrain data from the terrain database (50) are a single-point terrain. The headroom calculation module 6 2 2 1 receives the inertial altitude or mixed air pressure inertia altitude and compares it with the terrain height at the current position to obtain a reference single-point terrain headroom measurement. The radio southerly measurement is a measured single-point terrain headroom measurement. The single-point terrain headroom measurement is compared with the measured single-point terrain headroom measurement, and the result is output to a filtering / estimation module 6 2 22. "Due to the undulating characteristics of the terrain, 'the terrain headroom measurement is a non-linear function of the aircraft position, and the difference between the reference single-point terrain headroom measurement and the measured single-point terrain headroom measurement is a function of the navigation parameter error. In theory, the terrain headroom The measurement is a non-linear function of the radio altimeter's antenna pattern, the lateral / longitudinal position, altitude, and attitude of the aircraft. In general, the reference single-point terrain clearance measurement at the Kth beat can be expressed as * TCk = HINS-h (Xk, Yk) + (i)

C; \ Prograni Fi l6s \ Pcttent \ k322p002. Ptd p. 43 5. Description of the invention (39) --- Sundial Lane 'TCk is the reference single-point terrain clearance measurement at the Kth beat; ^ &quot; ^ 疋 ^ 性The altitude or hybrid inertia of the aircraft indicated by the navigation system 20, 2, and measurement; h (Xk, Yk) is the terrain altitude at the indicated position (X, γ) of the inertial navigation system 20; and the terrain database error. , Measurement information from GPS receiver 10, inertial navigation parameters of inertial navigation system 20, single point reference from single-point terrain headroom calculation module 6221, ": ground clearance / measurement and measurement of single-point terrain headroom measurement Poor, perform a wave calculation at 6222 + '7 block / Estimation, and get the inertial navigation parameter error: S receiver error and optimal estimate of inertial sensor error. The optimal positioning and navigation parameters can be obtained in the following two ways: $) ―1 In the wave / estimation module 62 22, the inertial error optimal estimation is used to compensate the inertial navigation parameters from the inertial navigation system 20. 6 (c) 2 The optimal estimation of the inertial navigation parameter error, π 接收机 receiver error, and the sensor error are fed back by the filtering / estimated model lake 2. The tactile navigation system 20 allows the inertial navigation system 20 to perform a feedback correction on the line. 6: As shown in the sixth figure, through the turn-in output module 61, the radio altitude measurement from the helmet line electric southmeter 4D, and the air pressure altitude. The terrain data from the terrain database 50 is received by a single-point terrain headroom calculation module 6 22 1 The inertia height or mixed air pressure inertia height is compared with the current position shape height to obtain a reference single-point terrain headroom measurement. The profit line measurement is a measured single-point terrain headroom measurement. The referenced single-point terrain headroom =

C: \ Program Files \ Patent \ k322p002.ptd page 44

1H 454 09 5 Fifth invention description (40) The measurement is compared with the measured single-point terrain headroom measurement, and the result is rotated out to a TAINS sub-filter module 6 2 3 2. The inertial navigation parameter error and the inertial sensor error are modeled in the TAINS sub-wave module 6 2 3 2. The difference between the reference single-point terrain headroom measurement and the measured single-point terrain headroom measurement is performed and filtered in the TA IMS sub-filter module 6232. Processing, the local optimal estimation of inertial navigation parameter error and inertial sensor error is obtained. The measurement information of the GPS receiver 10 and the inertial navigation system 2 0 are received by an IN SGPS sub-wavelet 6 2 3_ 3 and subjected to wave processing to obtain inertial navigation parameter errors and GPS receiver errors And another local optimal estimate of inertial transmission, sensor, and error. The local optimal estimates and estimated error covariance matrices from the TAINS sub-filter module 6232 and the INSGPS sub-filter 6233 are fused by the main filter and waver module 6 2 3 4 to obtain the inertial navigation parameter error, GPS receiver error, and Global optimal estimation of inertial sensor errors. Receive the inertia from the main filter module 6234. The global optimal estimates of navigation parameter errors, GPS receiver errors, and inertial sensor errors and their estimated error covariance matrices are received by TAINS sub-filter module 6 232 and INSGPS sub-filter module 6233, respectively. In order to update the TAINS sub-filter 6 2 3 2 and the INSGPS sub-filter 6233, the information sharing algorithm between the TAINS sub-filter module 6232, the INSGPS hand filter module 6233 and the main filter module 6234 is executed. In order to obtain different performance, the communication and estimation between the TAINS sub-filter module 6232, the INSGPS sub-filter module 6 2 3 3 and the main filter and wave filter module 6 2 3 4

C: \ ProgramFiles \ Patent \ k322p002.ptd Page 45 4 54 09 5 V. Description of the invention (41) There can be different methods. T AINS sub-filtering module 6 2 3 2, INSGP S sub-filtering module 6 2 3 3 and the main filter module 6 2 3 4 The compatibility check between the estimated results can be performed by the main filter module 6 234 in order to detect And isolate the information from the faulty (jps) satellite, and reconstruct the structure and processing of the navigation solution module 62. The optimal positioning navigation parameters can be obtained in the following two ways: 6 (d) -1 in the main filter module In 623 4, the inertial navigation parameter error optimal estimate obtained is used to 'compensate the inertial navigation parameter from the inertial navigation system 20. 6 (d) -2 will obtain the inertial navigation parameter error' GPS receiver error and inertial sensor error The optimal estimate of the feedback is fed back to the inertial navigation system 20 by the main filter module 6 2 3 4 so that the inertial navigation system 20 corrects its error feedback. (6-3) As shown in the seventh figure, the input comes from the navigation parameter solution The optimal navigation parameters of module 62, terrain data from the terrain database 50, aircraft performance and layout data from the on-board flight control and management system 90, and calculation of ground adjacent police information 'further includes the following steps: The optimal navigation from the navigation solution module 62. The parameters are received by the query parameter calculation module 6 3 1 'to calculate the query parameters of the terrain database 50 to obtain the current position of the aircraft and the surrounding terrain data from the terrain database 50. From the navigation solution The optimal navigation parameters of module 62 are received and accumulated by the flight trajectory prediction module 6 3 2 'It is used with the aircraft performance and layout data from the flight control and management system 90 to calculate the predicted flight trajectory of the forward flight of the aircraft , Output the predicted flight trajectory of the aircraft forward and now

CAProgram Files \ Patent \ k322p002.ptd page 46

ά54095 V. Description of the invention (42) The bits f, speed, and attitude of ~~~ are given to the alarm decision module 6 33. The self-flight trajectory prediction module 632 predicts the aircraft performance and / or the number of trajectories of the flight control and management system 90 such as, from, and = data, etc., from the terrain database 5 rows ::: terrain data around the sliding line, which is alerted by the decision module 6 2 1 = The position and flight track are too close to the ground in front, then make the ground 2 2 results, and the output of the pre-: is output to the flight trajectory planning assistance module m, Jue Li, and 6/35, / tone processing module 636. In addition, the current position perception speed training is also output to the flight path planning assistance module 634. Also, the ground neighbors from the alarm decision table module 633 can receive the data from the terrain database, the second and the second data, and the flight path planning assistance module 634 from the flight control and management system 90. Λ The crew calculates an optimal collision avoidance trajectory. Come from r! Π f! Module 633's predicted flight trajectory and ground neighbors, information from the terrain database 50 Tian Jue said: ,, ^^ &quot; ί avoidance track is synthesized visual processing Describing the beta collision 70 calculates its driving data module 635 to receive, the predicted flight trajectory of the synthetic vision system ΓΠ ί ΐ module 633, and the ground adjacent terrain data, from the flight trajectory: the current position of the device and surrounding avoidance The track is used by the voice processing module 66sj to assist and calculate the driving data of the optimal anti-collision block 634. 36 receive ’6 models for voice processing

C: \ Program Files \ Patent \ k322p002.ptd Page 47 4 5 4 09 5 Attachment TCk-H] NS- ~ h (&amp;, Yk) + ^ Is

C: \ ProgramFiies \ Patent \ k322p002.ptd page 48

Claims (1)

4 5 ZL n Q R 88103653 A method for rapidly modifying the position of the aircraft / traveler and the police near her, including the following steps (a) receiving a Global Positioning System (GPS) signal, performing changes and calculations, and obtaining position, speed, time information or pseudorange Pseudorange rate measurement, output k to a combined positioning / ground adjacent police processor; (b) Receive the angular rate and specific force signal of the aircraft, calculate the inertial navigation # parameters, including position, speed, attitude, etc., and The inertial navigation sensor inputs the output to the combined positioning / ground adjacent police processor; (c) measures the atmospheric pressure, calculates the barometric height measurement, and outputs the barometric height measurement to the combined positioning / ground adjacent police processor; After no M: M original (d) measures the difference between the time when a radio signal is emitted from the aircraft and the time when the radio signal is reflected from the ground, converts the time difference into a radioless height measurement, and outputs the radio height measurement Give the combined positioning / ground adjacent police processor; (e) Query a terrain database to obtain the current position of the aircraft and the surrounding terrain height data, and the terrain height data To the processor; (ί) Receive the GPS position, speed, time information or pseudorange, pseudorange rate measurement, the inertial navigation parameters, the radio altitude measurement, the air cliff height measurement, and the current position of the aircraft. The topographic height data of the kitchen enclosure. Set the optimal positioning and ground neighbor information. 2. The method of aircraft positioning and ground neighbor police as described in item 1 of the scope of patent application, wherein in step b, an additional step is further included, namely receiving the inertial navigation parameter error and inertia from step f ^ Optimal estimation of sensor errors, performing an error feedback correction process in order to obtain better performance Page 50 454095 __ Case No. 88103653_ Bamboo Year 丨 丨 Monthly Amendment_ VI. Scope of patent application. .... 3. The method of aircraft positioning and ground proximity police as described in item 1 of the patent application scope, wherein in step f, the following steps are included: (f-1) receiving the GPS reception Aircraft position, speed, time information or pseudorange, pseudorange rate measurement, the inertial navigation parameters, the radio altitude measurement, the barometric altitude measurement, talk about the current position of the aircraft and the surrounding terrain altitude data; (f-2) use the GPS Receiver's position, speed, time information or pseudorange, pseudorange rate measurement, the inertial navigation parameters, the radio altitude measurement, the barometric altitude measurement, the aircraft's current position, and the week _. Surrounding terrain _ altitude data, Calculate optimal navigation data, including position, speed, and attitude; (f-3) Enter the optimal navigation data, the aircraft's current position and surrounding terrain altitude data, and aircraft performance from an airborne flight control and management system And layout data, to calculate the ground neighbor police information. 4 .. The method of applying for patents .. One of the two methods described in item 2 _. Aircraft positioning and ground. Adjacent police method, in step f, including the following steps: (f-1) receiving the GPS receiver Position, speed, time information or pseudorange, pseudorange rate measurement, the inertial navigation parameters, the radio altitude measurement, the barometric altitude measurement, the aircraft is now in position and surrounding area: terrain altitude data; (f-2 ) Use the GPS receiver's position, speed, time information or pseudorange, pseudorange rate measurement, the inertial navigation parameters, the radio altitude measurement, the airborne altitude measurement, the aircraft presence, position, and week. . Surrounding terrain height data, calculate optimal navigation data, including position, speed, and attitude; 454095 _ Case No. 88103653) ?? Amended on the Wth day of the month___ Sixth, the scope of the patent application (f ~ 3) Enter y into the optimal navigation data, the flight. Now the traveler: in the 'The surrounding terrain height data, as well as aircraft performance and layout data from an on-board flight control and management system, calculate the ground neighbor information. 5. The aircraft positioning and ground neighboring police method described in item 3 of the scope of the patent application, wherein in step f-3, the method further includes the following steps: using the optimal navigation parameter to calculate the query of the terrain altitude database Parameters, and enter the query parameters into the terrain database in order to obtain the terrain data of the current position and surrounding locations; use the optimal navigation parameters and aircraft performance and layout parameters from the airborne flight control and management system to calculate Forward flight track of the aircraft; Use the forward flight track of the aircraft and from the onboard flight control and management system. Calculate and compare the performance and layout parameters of the aircraft, if the forward flight track is too close to the ground , Then make an alarm message; I 'ί receive the derived alarm information, the position of the current aircraft, speed, attitude, altitude data of the aircraft's current position and surrounding terrain in the terrain database, and the onboard flight control and management system Aircraft performance and layout parameters, calculate an optimal avoidance flight trajectory .. 6. The aircraft positioning and ground neighboring police method as described in item 4 of the scope of the patent application, wherein in step f-3, the method further includes the following steps: Use the optimal navigation parameter to calculate the query of the terrain altitude database Parameters, and enter the query parameters into the terrain database in order to obtain the terrain data of the current location and surrounding locations; use the optimal navigation parameters and from the airborne flight control and management 454095 __ Case number 88103653_ 行年 ι | Month &gt; 0th Amendment VI. Patent application Fanzu system aircraft performance and layout parameters, calculate the forward flight certificate of the aircraft: track; use the forward flight path of the aircraft and Aircraft flight control and management system aircraft performance and layout parameters, calculation and comparison, if the forward flight trajectory is too close to the ground, make a warning message; receive the resulting warning information, the current aircraft position, speed , Attitude, aircraft's current position and surrounding terrain altitude data of the terrain database, aircraft performance and layout parameters of the on-board flight control and management system, and calculate an optimal avoidance flight tracker. 7. The aircraft positioning and ground proximity police method described in item 6 of the scope of the patent application, wherein step (f-2) includes the following steps: inputting a radio altitude measurement from a radio altimeter, Barometric altitude measurements and terrain data from the terrain database, I · Give a correlation / matching module; use the collected radio altitude measurements and barometric altitude measurements to generate a measured terrain profile within a specified time window, and collect the The terrain data from the terrain database is used to generate multiple terrain contours for the benefit area as reference terrain contours. The measured terrain contours and the reference terrain contours are compared. Terrain contour line, the geographic location of the matched terrain contour line is input into a wave / estimator; the radio altitude measurement and the terrain altitude measurement of the current aircraft position are added together, and then combined with the inertial altitude measurement or mixed air pressure inertial altitude Subtract the measurements to get a height measurement residual; Page 53 454095 Case No. 88103653 Year "Month and Day Amendment Sixth, the scope of patent application is filtered by the information or pseudo-pitch-shaped contour line to filter errors. Inertia will result in line error feedback. 8. Rushen · Ground Neighborhood The police input to press the altimeter data, give the thumb a set time from the topographical figure of the terrain, the profile and the reference profile, then the ground waver _ the radio plus the sum, then y minus, Obtain the position, speed, and time of the GPS receiver and the GPS / wave / estimator pair from the TA location, velocity, time: pseudorange rate measurement, the inertial navigation parameters, the matched geographic location, and the altitude measurement residual Calculated by the method of centralized processing, the optimal estimation of the inertial navigation parameter error and the GPS receiver sensor error is obtained; the inertial navigation of _ is fed back to the inertial navigation system so as to be corrected. Please apply for patent No. 6 One of the aircraft positioning methods, wherein the (f-2) step includes the following steps: a radio altitude measurement from a radio altimeter, an air pressure altitude measurement, and a number from the terrain The terrain number of the database is closed / matched; the set of the radio altitude measurement and the barometric altitude measurement generates a measured terrain contour line in the window, and the collected terrain data from the database is used to generate multiple terrains in the corresponding area. As a reference terrain contour line, the terrain contour line of the measured terrain wheel is compared. Once the geographical position of the terrain profile that matches the best terrain wheel is determined, it is sent to a TAI NS height measurement and the current aircraft position. The height measurement residuals of the terrain height measurement phase and the inertial height measurement or the mixed air pressure inertial height measurement phase; the INS local filter / estimator filters the height measurement residuals of the matched terrain contour line to obtain a local optimal py- Page 54 ^ 4 5 4 09 5 Amendment No. 88103653 VI. Optimal estimation of inertial navigation parameter error and inertial sensor error in the patent application range; An INSGPS local oscilloscope is used to determine the position, speed, Time or pseudo-range, pseudo-range rate measurement, and the inertial navigation parameter are filtered to obtain the local optimal inertial navigation parameter error, GPS receiver 'receiver error, and inertial sensor error. A main filter receives the optimal estimation of the inertial navigation parameter error, GPS receiver error, inertial sensor error and its covariance matrix and the inertial navigation parameter error sum from the TAINS from the NSGPS local waver. Another local optimal estimate of the inertial sensor error and its covariance are used to calculate the global optimal 'estimation' by crossing wave calculation. _ The inertial navigation parameter error, inertial sensor error, GPS receiver error obtained from the feedback Global optimal estimation to the TAINS local filter and the GP S_I NS local filter.wave filter. In order to readjust the TAINS local.filter.wave filter and the GPSIN S. local wave is 'and execute the main filter.' Information sharing algorithm between the GPSINS local waver and the TA I MS local filter; tune the main filter, the INSGPS local filter, and the TAINS Communication and estimation mode between local filters in order to obtain different performance; for the main filter, the GPS I NS local filter and the TA I NS local filter_: state estimation for compatibility check Detect and isolate the failure signal of the above G. PS satellite, and reconstruct the structure and process of the above navigation solution; feedback the inertial navigation obtained to the inertial navigation system for error feedback correction. 9. If applying for an application One of the aircraft positioning and ground neighbor police methods described in the fifth item of the patent scope, wherein the (Γ-2) step includes the following steps: Page 55 454 09 5 Case No. 88103653 β Year Leap Month: Day Amendment VI. The scope of the patent application will come from the inertial navigation parameters of the inertial navigation system mentioned above, and from the above ...... The radio altitude measurement of the radio altimeter, the terrain data stored in the above terrain number is input to a single-point terrain headroom calculation module; in this terrain headroom calculation module, the single-point air pressure altitude measurement or mixed air pressure inertial altitude measurement and the current position of the aircraft The terrain height is subtracted to obtain a reference single-point terrain headroom measurement, and the radio altitude measurement is used as an actual measured single-point terrain headroom measurement. The difference between the actual measured terrain headroom measurement and the reference terrain headroom measurement is output to A wave / estimate 33. · The GPS receiver's position, speed, time information or pseudorange, pseudorange rate measurement, the inertial navigation parameter, the actual measured terrain headroom measurement and reference are performed by the filter / estimator. The difference in terrain headroom measurement is filtered in a centralized manner to obtain the inertial navigation parameters. Difference, optimal estimation error GPS receiver, an inertial sensor error; and the derived inertial navigation back to the inertial navigation system, in order to carry out error correction by feedback. 10. The aircraft positioning and ground proximity police method as described in item 6 of the scope of the patent application, wherein the step (f-2) includes the following steps: the inertial navigation parameters from the inertial navigation system are derived from the above-mentioned air pressure altitude The barometric altitude measurement of the meter, the radio altitude measurement of the above radio altimeter, and the terrain data stored in the above terrain number are input to a single-point terrain clearance calculation module; in the terrain clearance calculation module, the single-point pressure altitude measurement or mixed Page 56 4 54 09 5 Amendment No. 88103653 VI. Patent application scope Air pressure inertia altitude measurement and the terrain height and degree declining of the aircraft's current position, a reference single point terrain headroom measurement is obtained, and radio altitude measurement is used as The actual measured single-point terrain headroom measurement, the difference between the actual measured terrain headroom measurement and the reference terrain headroom measurement is output to a TAINS local filter; the TAA NS local filter / estimator for the actual measured terrain headroom The difference between the measurement and the reference terrain headroom measurement is wave-processed to obtain an optimal estimate of the local optimal inertial navigation parameter error and inertial sensor error. The TAINS local filter is a non-linear filter / estimator or extended Kalman Filter. An INSGPS local filter measures the position, velocity, time or pseudorange, pseudorange, pseudorange rate, and inertial navigation parameters from the GPS receiver. The wavelet processing is performed to obtain a locally optimal Inertial navigation parameter error, GPS,........ Estimation; A main filter receives the optimal estimates of inertial navigation parameter errors, GPS receiver errors, inertial sensor errors from the INSGPS local filter and their covariance matrix and inertial navigation parameter errors and inertia from the TAI NS Another local optimal estimation of the sensor error and its covariance matrix, the global optimal estimate obtained by performing a chirp wave calculation, and the global optimum of the inertial navigation parameter error, inertial sensor error, and GPS receiver error obtained from feedback Estimate the TAINS local waver and GPS I NS local filter to readjust the TAI NS local waver and the GPS I NS local waver, and execute the main chirper 'the GPSI NS local filter and the TAI Information sharing algorithm between RS local filters; Page 5T 4 5 4 09 5 Case No. 88103653 β Years 丨 丨 Month π Amendment Sixth, the patent application scope communication between the wave. Letter and estimation mode in order to obtain different performance; For the main filter, let GPS I The NS local filter and the state estimation of the TAI NS local waver perform a compatibility check in order to detect and isolate the failure signal of the above GPS satellite, and reconstruct the structure and process of the above navigation solution; the inertia to be obtained Navigation feedback is provided to the inertial navigation system for error feedback correction. 11. The aircraft positioning and ground neighboring police method according to one of the items 1 to 10 of the scope of patent application, wherein in step f, the optimal navigation parameters include the optimal aircraft position, speed, acceleration, attitude, etc. The information, in step a, further includes an adding step, that is, receiving the optimal navigation parameter from step Γ to assist the signal acquisition, tracking, and re-acquisition processor of the GPS receiver. 1 2. The aircraft positioning and ground neighbor police method described in one of the items 1 to 10 of the above-mentioned patent application range, wherein one step after step f is further included: the step includes an additional step of receiving the above-mentioned ground neighbor police information, the optimal Navigation parameters, terrain data, and synthetic visual processing are performed to provide pilots with an enhanced visual display. 1 3. The aircraft positioning and ground neighbor police method described in item 11 of the scope of the patent application, which further includes an additional step after the first step, namely receiving the above ground neighbor police information, optimal navigation parameters, terrain Data for synthetic visual processing to provide the pilot with an enhanced visual display. 14. The aircraft positioning and ground neighbor police method according to one of the items 1 to 10 of the scope of patent application, wherein t further includes an additional step after step f. Page 58 4 5 4 09 5 _ Case No. 88103653 31 years) 丨 month / day __. Sixth, the scope of the patent application, that is, to receive the above-mentioned police information and language processing in order to provide pilots with audible ground Police information. 15. The aircraft positioning and ground neighbor police method as described in item 11 of the scope of the patent application, which further includes an additional step after step f, that is, receiving the above-mentioned facing police information and performing language processing in order to The pilot provided an audible face to a police informer. 16. The aircraft positioning and ground adjacent police method as described in item 12 of the scope of the patent application, which further includes an additional step after step f, that is, receiving the above-mentioned face-to-face police information and performing language processing in order to provide pilots with Provide audible face to police information. 17 According to one of the methods described in item 12 of the scope of the patent application, the aircraft positioning and ground neighboring police method further includes an additional step after step f, that is, receiving the above-mentioned facing police information and performing language processing in order to provide pilots with: Provide audible ground police information. 18. The aircraft positioning and ground adjacent police method described in one of items 1 to 10 of the scope of patent application, wherein step a further includes the following steps: receiving a GPS RF signal through the GPS antenna and inputting the GPS RF signal to A pre-amplification circuit; in the pre-amplification circuit, the GPS RF signal is amplified in order to improve its signal-to-noise ratio and output to the down-conversion circuit; in the down-conversion circuit, the amplified G PS signal The local reference signal of the oscillator is mixed to obtain the GPS intermediate frequency signal, including the analog in-phase (I) and quadrature (Q) signals, and the intermediate frequency signal is sent to a band pass chirp; Page 59 454095 Case No. 88103653 / / Month / Day Amendment VI. In the band-pass amplifier, the noise in the IF signal is divided by i: in order to improve its signal-to-noise ratio, and Output to an IF sampling and A / D converter; in the IF sampling and A / D converter, the IF signal is sampled and digitized to form digital I and Q signals, which are input to a signal processing In the signal processor, the above I, Q signals are used to capture, track, and manage the above GPS signals. Use the signals from the above description, the red positioning, and the ground. The optimal navigation parameters of the processor assist the signal acquisition and tracking processing, calculate the pseudorange and pseudorange rate measurements, extract satellite ephemeris data, and output the pseudorange and pseudorange rate satellite ephemeris data to A navigation processor; in the navigation processor, the above-mentioned pseudorange, pseudorange rate measurement, and satellite ephemeris data are used to calculate aircraft position, speed, and time information, and ... ...,-. The aircraft's position, speed, and time: information From the pseudo input, pseudo, range rate measurements: a combination of the amount of the positioning wheel and the ground to said alarm handler, who. 19. The aircraft positioning and ground proximity police method as described in item 11 of the scope of patent application, wherein step a further includes the following steps: receiving a GPS RF signal through the GPS antenna and inputting the GPS RF signal to a Pre-amplification circuit; In the pre-amplification circuit, the above GPSRF signal is amplified in order to improve its signal-to-noise ratio and output to the down conversion circuit; in the down conversion circuit, the amplified GPS signal The local reference signal of the mixer is mixed to obtain a GPS intermediate frequency signal, which includes analog in-phase (I) and quadrature (Q) signals, and sends the intermediate frequency signal to a bandpass filter y Page 60 ^ 454 09 5 _; _ Case No. 88103653_fT year 丨 丨 Month / Revision Amendment_6. Patent application scope In this band-pass filter, the noise in the IF signal is eliminated to improve its signal noise Ratio and output it to an IF sampler and A / D converter. In the IF sampler and A / D converter, the IF signal is sampled and digitized to form digital I and Q signals. Input to a signal processor; in the signal processor, use the above I, Q signals to capture and track the above GPS signals, use the combined positioning and ground from the above. Optimize navigation parameters, assist in signal acquisition and tracking processing, calculate pseudorange and pseudorange rate measurements, extract satellite ephemeris data, and output the pseudorange and pseudorange rate satellite ephemeris data to a navigation processor. ; In the navigation processor, use the above-mentioned pseudorange, pseudorange rate measurement, and satellite ephemeris data to calculate the aircraft position, speed, and time information, and the aircraft position, speed and time information, or the input pseudorange, Pseudorange rate measurement The amount of output to the above. Combined positioning and ground, proactive processor. I 20. The method of aircraft positioning and ground contact as described in item 12 of the scope of the patent application, wherein the step a further includes the following steps: receiving the GPS RF signal through the above GPS antenna, and transmitting the GPS RF signal Input to a pre-amplification circuit; in the pre-amplification circuit, the above-mentioned GPS RF signal is amplified so as to improve its signal-to-noise ratio and output to a down-conversion circuit; in a down-conversion circuit, the amplified GPS The signals are mixed with the local reference signal from the above-mentioned oscillator to obtain a GPS intermediate frequency signal, which includes analog isochronous (I) and quadrature (Q) signals, and sends the intermediate frequency signal to a band-pass filter; 454095 Case No. 88103653 Year of the Bamboo 丨 Issue of Amendment on the 6th of January, the scope of the patent application is in the bandpass filter, the noise in the applied frequency signal is eliminated, in order to improve its signal-to-noise ratio, and output it to an intermediate frequency &lt; Sampling and A / D converter; In the IF sampling and A / D converter, the IF signal is sampled and digitized to form digital I and Q signals, which are input to a signal processor; In the signal processor, the above-mentioned I and Q signals are used to capture and track the GPS signals described above, and the optimal navigation parameters from the combined positioning and ground-facing police processor are used to perform the signal capturing and tracking processing. Assistance, calculate pseudorange and pseudorange rate measurement, extract satellite ephemeris data, and output the pseudorange and pseudorange rate satellite ephemeris data to a navigation processor; / In the navigation processor, use the pseudo Range, pseudorange rate measurement, and satellite ephemeris data, calculate aircraft position, speed, and time information, and output the aircraft position, speed, and time information or the input pseudorange, pseudorange rate measurement to The above-mentioned combination of positioning and ground V Pro Police processor. 2 1 According to one of the methods described in item 14 of the scope of patent application, the method of aircraft positioning and ground proximity alarm, wherein step a further includes the following steps: receiving a GPS RF signal through the GPS antenna, and inputting the GPS RF signal to a A pre-amplification circuit; in the pre-amplification circuit, the GPS RF signal is amplified so as to improve its signal-to-noise ratio and output to a down-conversion circuit; in the down-conversion circuit, the amplified GPS signal Mixing the local reference signals to obtain GPS intermediate frequency signals, including analog in-phase (I) and quadrature (Q) signals, and sending the impulse signals to a band-pass filter; 454 09 5 _Case No. 88103653_Year &quot; Month Amendment Output to an IF sampling and A / D converter; in the IF sampling and A / D converter, the IF signal is sampled and digitized to form digital I and Q signals, which are input to a signal processing In the signal processor, the above I, Q signals are used to capture and track the above GPS signals, and the combined positioning and ground from the above are used. Signal capture and tracking processing are assisted to calculate pseudorange and pseudorange rate measurement, extract satellite ephemeris data, and output the pseudorange and pseudorange rate satellite ephemeris data to a navigation processor; in the navigation processor , Using the above pseudorange, pseudorange rate measurement, and satellite ephemeris data, calculate aircraft position, speed, and time information, and output the aircraft position, velocity, and time information or the input pseudorange, pseudorange rate measurement to And positioning said ground composition ^ Pro processor by police. 22. The aircraft positioning and ground neighbor alarm method as described in one of the items 1 to 10 of the scope of the patent application, wherein step b further includes the following steps: Step b-1, measuring the angle of the aircraft by throwing an inertial measurement component Velocity and specific force, and output the angular velocity and specific force to an error compensation module; Step b-2. Use the optimal estimation of the inertial sensor error from the above-mentioned combined positioning and ground, all police processors. Speed and specific force measurement to perform error compensation; Step b-3 Use the angular rate after the above compensation and the local navigation coordinate system (N system) to the inertial sitting system (i system) from the Earth and aircraft angular rate calculation module. Rotation angular rate, update a slave system (b system) guide ' Page 63 454095 _ Case No. 88103653 _ Correction of the year U / month __ VI. The transformation matrix of the patent application range for the local navigation coordinate system, using the combination from the above: positioning and ground aircraft f Optimal estimation, compensating for the errors of the transformation matrix, and outputting the transformation matrix after the error compensation to a coordinate transformation calculation module and a position velocity and attitude calculation module; 'using the transformation matrix described above, The specific force measurement expressed in the body coordinate system is converted into the specific force measurement expressed in the navigation coordinate system and output to the above-mentioned position velocity calculation module; using the specific force measurement expressed in the navigation sitting sample system, the calculation is performed. The position and speed of the aircraft, combined with the optimal estimation of the position and speed errors from the aircraft from the combined positioning and ground (g) police processor, perform error compensation on the position and speed, and extract the attitude from the transformation matrix. Information, and output the obtained position, speed, and attitude to the above-mentioned combined positioning and ground facing police processor · If the resulting bit-position, speed, attitude, the rotation vector is calculated from the local navigation coordinate system (N lines) to the inertial coordinate system (i line), and outputs it. B_3 step to the first person. 2 3. The aircraft positioning and ground proximity police method as described in item 11 of the scope of patent application, wherein step b further includes the following steps: Step b-1. Measure the angular velocity and specific force of the aircraft with an inertial measurement unit And output the angular rate and specific force to an error compensation module; Step b-2. Using the above-mentioned optimal estimation of the inertial sensor error of the combined positioning and ground and proximity processor, measure the above angular rate and specific force Perform error compensation; S t ep b -3 use the angular rate and Page 64 4 54 09 5 _ Case No. 88103653 Year I 丨 Month Day Amendment __. VI. Application for Patent Range Ball and Aircraft Angular Rate Calculation Module Local Navigation Sitting in the Rubber System (N System) to the Inertial Coordinate System (i System) ), And update a slave system (series b) (0 local navigation coordinate system transformation matrix, using the optimal estimation of the aircraft attitude error from the combined positioning and ground facing police processor, The error is compensated, and the transformation matrix after the error compensation is output to a coordinate transformation calculation module and a position velocity and attitude calculation module; the above-mentioned transformation matrix is used to measure the specific force expressed in the body coordinate system after the above error compensation. , Converted into the specific force measurement expressed in the navigation coordinate system, and output it to the above position and speed calculation module; using the specific force measurement expressed in the navigation coordinate system, calculate the position, speed of the aircraft, and use from above. .Combination.Positioning and ground facing_Alarm · Processing. Optimal estimation of bit black error and speed error of aircraft The speed is compensated for error, and the attitude information is extracted from the transformation matrix, and the obtained position, speed, and attitude are output to the above-mentioned combined positioning and ground: Provincial Police Processor; 'using the obtained position, speed, and attitude to calculate The rotation vector from the local navigation coordinate system (U system) to the inertial coordinate system (i system), and output it to the b_3 step person. 2 4 · As described in the patent application. No. 12 · One of the methods described above. The positioning of the traveler and the ground adjacent police method 'where step b further includes the following steps: S t ep b _ 1. Use an inertial measurement The component measures the angular rate and specific force of the aircraft, and outputs the angular rate and specific force to an error compensation module; Step b-2. Make the rejection of the inertial sensor of the police processor from the above-mentioned combined positioning and ground 1). The best estimate is to measure the above angular rate and specific force Page 65 454 09 5 __Case No. 88103653_ ^ 西 年 // 月 月 __ VI. Patent application scope for error compensation; S tepb-3 uses the above-mentioned compensation for the angular rate and the angular rate from an earth and an aircraft to calculate The rotation angular rate of the module's local navigation coordinate system (N system) to the inertial coordinate system (i system), update a transformation matrix of the slave system (system b) to guide the local navigation coordinate system, and use the combined positioning and ground facing police from the above. Optimal estimation of aircraft attitude error of the processor, compensating for the error of the transformation matrix, and outputting the error-compensated transformation matrix to a coordinate transformation calculation module and a position velocity attitude calculation module; using the transformation matrix described above, The specific force measurement expressed in the body coordinate system after error compensation is converted into the specific force measurement expressed in the navigation sitting sample system, and is output to the above-mentioned position velocity calculation module; using the above expression in the navigation coordinates The specific force measurement in the system calculates the position and speed of the aircraft, and uses the combined positioning and processing from the ground police. The optimal estimation of the position error and speed error of the aircraft, and the position and speed error compensation is performed. The attitude information is extracted from the above transformation matrix, and the obtained position, speed and attitude are output to the combined positioning I and Ground facing police processor; using the position, speed, and attitude obtained above, calculate the rotation vector from the local navigation coordinate system (N system) to the inertial sitting system (i system), and output it to the person in step b_3. '2 5. Flying according to one of the fourteenth in the scope of the patent application: vehicle, positioning and ground adjacent police method, wherein step b further includes the following steps: S t ep b _ 1. Use a The inertial measurement component measures the angular velocity shore and specific force of the aircraft, and outputs the angular rate and specific force to an error compensation module; Page Docket No. 66454095 88103653 amended on the eve of Day // I 1 -. ~ ~ VI patent range Step b-2 used in combination from the positioning and faced) y police processors optimal inertial sensor errors Make an estimate and perform error compensation for the above angular velocity and ratio. Force measurement; Step b-3 Use the angular rate after the above compensation and the local navigation coordinate system (N system) from an earth and aircraft angular rate calculation module. The rotation angular rate to the inertial coordinate system (i system), update a transformation matrix of the slave system (b system) to the local navigation coordinate system, and use the optimal positioning attitude error of the aircraft from the above combined positioning and ground and police processors It is estimated that the error of the transform.moment! Matrix is compensated, and the transformed matrix after the error compensation is output to a coordinate transformation calculation module and a position velocity and attitude calculation module;! The specific force measurement expressed in the i-body coordinate system is converted to the specific force measurement expressed in the navigation coordinate system and output to the above-mentioned position velocity calculation mode. Block:: Using the above expressions in the navigation coordinate system. Force measurement, calculation, flight; position, speed of the aircraft, and the position error and speed of the aircraft from the combined positioning and ground pro! The optimal estimation of the error, the error compensation is performed on the i. Position and speed, and the attitude j is extracted from the above transformation matrix, and the obtained position, speed, and attitude are output to the above-mentioned combined positioning and facing police processor. Calculate the rotation vector from the local navigation coordinate system (N system) to the inertial coordinate system (i system) using the position, velocity, and attitude obtained above, and output it to step b-3. 2 6 .. As claimed _ please patent scope _ one of the aircraft positioning _ position and ground _ surface neighbor police method described in item 18, wherein step b further includes the following steps: 4 5 4 09 5 ^ _ Case No. 88103653 "year // Month &gt; 〇 Amendment ______ VI. Patent Application 81 Step b-1. Use an inertia measurement component to measure the aircraft: the angle, the velocity and the specific force, and output the angular velocity and the specific force to An error compensation module; Step b-2. From the above-mentioned combined positioning and ground facing) the optimal estimation of the inertial sensor error of the police processor, error compensation for the above-mentioned angular rate and specific force measurement; S tepb-3 using the above-mentioned compensated angular rate and from an earth and an aircraft The rotation angular rate of the local navigation coordinate system (N system) to the inertial coordinate system (i system) of the angular rate calculation module is used to update a transformation matrix of the slave system (13 system) to the local navigation coordinate system. The optimal estimation of the attitude error of the aircraft facing the police processor, the error of the transformation matrix is compensated, and the transformation matrix after the error compensation is output to a coordinate transformation calculation module and a position velocity attitude calculation module; using the above transformation The matrix converts the above-mentioned specific force measurement in the coordinate system of the body after the error is compensated into a specific force measurement expressed in the navigation coordinate system and outputs it to the above-mentioned position and speed calculation module; = Use the specific force measurement in the navigation coordinate system to calculate the position and speed of the aircraft, and use the The combined positioning and ground and the optimal estimation of the position error and speed error of the aircraft of the police processor, error compensation is performed on the position and speed, and the attitude is extracted from the above transformation matrix. The position, The speed and attitude are output to the above-mentioned combined positioning and ground alarm processor; .. using the position, speed, and attitude obtained above to calculate the rotation vector from the local navigation coordinate system (N system) to the inertial coordinate system (i system), And output it to step b-3. 454 09 5 _ Case No. 88103653_ Year // Month &gt; Name ___ 6. Application for patent scope 2 7. Aircraft positioning and ground neighbor police method according to one of the patent application scope items 1 to 10, where In 3 steps, the atmospheric pressure is measured by a barometric altimeter and converted into a barometric altitude measurement, and the barometric altitude measurement is output to the above-mentioned combined positioning and ground adjacent police processor. 28. An aircraft positioning and ground proximity alarm method as described in item 26 of the scope of the patent application, wherein in the third step, the above atmospheric pressure is measured by a barometric altimeter and converted into a barometric altimeter. The altitude measurement is output to the above-mentioned combined positioning and ground proximity handler. 29. An aircraft positioning and ground proximity alarm method as described in items 1 to 10 of the scope of patent application, wherein in the fourth step, a radio signal emitted by a radio altimeter is reflected by the ground and then received by the radio altimeter , And measure the time delay of sending and receiving time, the delay is converted into a radio altitude measurement, and the radio altitude measurement is output to the above-mentioned combined positioning and ground adjacent police processor. 30. An aircraft positioning and ground proximity alarm method as described in item 26 of the scope of the patent application, wherein in the fourth step, a radio signal emitted by a radio altimeter is reflected by the ground and then received by the radio altimeter, and The time delay between sending and receiving time is measured, and the delay is converted into a radio altitude measurement, which is output to the above-mentioned combined positioning and ground adjacent police processor. 3 1. An aircraft positioning and ground proximity police system, including the following components: a GPS receiver, receives GPS signals, changes the GPS signals, and calculates position, speed, time information, and pseudorange and pseudorange rate measurements; Page 69 454 09 5 Case No. 88103653 Tooth? Year 1 / Month χ »Day 6. Application for Patent Scope-An inertial navigation system, which uses the angular rate and specific force signals from the inertial measurement component to solve the inertial navigation equations to obtain the inertial navigation parameters; a barometric altimeter, which provides barometric altitude Survey; a radio altimeter that provides radio altitude measurements from the ground;-a terrain database that provides the aircraft's current location and altitude data of the surrounding terrain; a combined positioning and ground facing police processor that receives the GPS receiver's position, Speed, time information and pseudorange., Pseudorange rate measurement, the inertial navigation inertial navigation parameters, barometric altitude measurement from the barometric altimeter, radio altimetry measurement from the radio altimeter, current position of the aircraft from the terrain database And altitude data of the surrounding terrain, as well as aircraft performance and parameters from an on-board flight control and management system, calculate the optimal position _, .. speed _ degree, attitude, etc., navigation, navigation information, and optimal Ground. Surface / Pro_Police Department_Management. 3 2. The aircraft positioning and ground adjacent police system described in item 31 of the scope of patent application, wherein the terrain database is a terrain database installed on the aircraft. .3 3 As described in the patent application. Item 31. One of the aircraft positioning and ground adjacent police system, wherein the terrain database is a terrain database installed on the ground, and a data link can be passed on the aircraft. Access to the terrain database. -... 34. The aircraft positioning and ground adjacent police system described in item 31 of the scope of patent application, wherein the positioning and ground adjacent police system processor further includes an input-output module Manage data input and output with the other devices mentioned above and the on-board flight control and management system; Page 70 4 54 09 5 Case No. 88103653 ?? year // month &gt; 〇 4 54 09 5 _Case No. 88103653_0 July / Month &gt; 0 Day Amendment __ i. For the scope of patent application, the flight trajectory planning assistance module receives the near-ground collision warning information from the alarm decision module and the current Position, speed, attitude, the current position of the aircraft from the terrain database and surrounding terrain data, aircraft performance and layout data from the flight control and management system, calculate an optimal collision avoidance tracker for the pilot. I 36. The aircraft positioning and ground i as described in item 35 of the scope of the patent application | surface adjacent police system, wherein a composite vision system and the combined positioning and ground | adjacent police processor are connected for the pilot Provides visual display of neighboring ground police information. A synthetic vision processing module is connected to the alarm decision module, the terrain i database, and the flight trajectory planning assistance module for the synthetic vision system: those who provide driving data. 37. One of the aircraft positioning and ground l. Neighbor police systems described in item 35 of the scope of the patent application, wherein a voice system is connected to the combined positioning and ground neighbor police processor to provide pilots with ground neighbor police information Auditory information, a voice processing module is connected to the alert decision module, the terrain database, and the flight track plan assistance module to provide the driver with data for the voice. System. 38. According to one of the items 31 to 37 in the scope of the patent application, the aircraft positioning system 1 and the ground adjacent police system, wherein the GPS receiver, the inertial navigation system, the barometric altimeter, the radio altimeter, the The connection methods between the terrain database, the combined positioning and near-earth collision warning processor, the synthetic vision system, the voice system, and the flight control and management system are based on Page 72 4 54 09 5 Case No. 88103653 yyyy / mm ^ dd Amendment Page 73 4 54 09 5 years; / month y Amendment _Case No. 881Q3653 6. Scope of patent application Barometric altitude measurement, terrain data from the terrain database, using the collected radio altitude measurements and the barometric altitude measurement to create a surveyed terrain envelope within a given time window, using the terrain database's terrain Data to form multiple reference terrain envelopes, compare the measured terrain envelope with the reference terrain envelope, and output the geographic location of the matched terrain envelope to a TAINS local filtering module; the correlation / matching module associates the radio altitude measurement with the terrain The heights are added and compared with the inertial altitude or mixed air pressure inertial altitude to form a height residual and output it to the TAINS local filtering module; the TAI NS sub-wave module models the inertial navigation parameter error and the inertial sensor error , Performing filtering processing on the geographical position of the matched terrain envelope and the height residual to obtain a local optimal estimate of the inertial navigation parameter error and the inertial sensor error; an NSGPS sub-filter receives measurement information from the GPS receiver And the inertial navigation parameters of the inertial navigation system, and Perform a filtering process to obtain another local optimal estimate of the inertial navigation parameter error, GPS receiver error, and inertial sensor error; a main filter module fuses the local optimum from the TAINS sub-filter module and the INSGPS sub-filter The optimal estimation and the covariance matrix of estimation errors yield the global optimal estimation of the inertial navigation parameter error, the GPS receiver error, and the inertial sensor. Error; the TAINS sub-filter module and the INSGPS sub-filter module respectively receive from the Global optimal estimation of inertial navigation parameter error, GPS receiver error, and inertial sensor error of the main filter module and its estimation error Page 74 4 54 09 5 Case No. 88103653 Year f / month &gt; · 〇 Amendment VI. Patent application range variance matrix, update the TA I NS sub-filter and the I NSGPS sub-filter, execute the TA I NS Information sharing algorithm between the sub-filter module, the I NSGPS sub-filter module and the main filter module; the main filter module can execute the TAINS sub-filter module, the I NSGPS sub-filter module and the main wave filter module Ancestral test between the estimated results in order to detect and isolate the information from the faulty GPS satellite, and reconstruct the structure and processing of the navigation solution module; the inertial navigation parameter error that will be obtained by the main filter module 4. The optimal estimation of the GPS receiver error and the inertial sensor error is fed back to the inertial navigation system, so that the inertial navigation system can correct the error of the inertial navigation system. 4 1. An aircraft positioning and ground adjacent police system, where _, the navigation solution module further _ includes: __ a single-point terrain contour calculation module, receiving from the radio altitude Radio altitude measurement, terrain data from the barometric altimeter, and terrain data from the terrain database. Compare the inertial altitude or the mixed atmospheric inertia altitude with the terrain altitude at the current position of the aircraft to obtain a reference single-point terrain profile measurement. The radio height measurement is a measured single-point topographic profile measurement, and the single-point topographic profile calculation module outputs the difference between the reference single-point topographic profile measurement and the measured single-point topographic profile measurement to a filtering / estimation module; the The filtering / estimation module receives measurement information from the GPS receiver, inertial navigation parameters of the inertial navigation system, and referenced single-point ground contour measurement and measured single-point topographic profile from the single-point topographic profile calculation module Page 75 4 54 03 5 Case No. 88103653 / / month, said amended six, the difference between the patent application range measurement, filtering calculations in a centralized manner, to obtain the inertial navigation parameter error, the GPS receiver error and the inertia Optimal estimation of sensor error; T, The filtering / estimation module is a non-linear filter / estimator, and it will feed back the optimal estimation of the inertial navigation parameter error, GPS receiver error, and inertial sensor error to the Inertial navigation system, so that the inertial navigation system feedback corrects its error. 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