CN102837824B - Dampening control device of overwater flight aircraft and method of dampening control device - Google Patents
Dampening control device of overwater flight aircraft and method of dampening control device Download PDFInfo
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Abstract
The invention discloses a dampening control method of an overwater plane and setting of the dampening control device. The method comprises the following steps that: a wireless height meter continuously acquires height information of water levels and calculates average water level information; water wave feature parameters are calculated through a calculation module, thus obtaining basic features of wind waves, surges and nearshore waves; and basic wave features are provided for flight personnel through a display device so as to facilitate the selection of the flight personnel. The dampening control method can overcome the defect that information is not accurate and insufficient through visual observation, relieve the mental burden of the flight personnel, improve the availability of the aircraft, especially improve the availability of the flight in early morning, in the dark and severe weather as well as at night, improve the safety of necessary dampening when the aircraft has an accident, strengthen the all-weather capability of the aircraft, and enhance the driving comfort of the aircraft.
Description
Technical field
The invention belongs to automatic control technology field, particularly relate to a kind of overwater flight aircraft the water surface landing stage water controller and method thereof.
Background technology
Hydroairplane water prior art
The hydroairplane of landing waterborne and the feature of other relevant aircraft as ground effect vehicle (for simplicity, herein hereinafter referred to as " aircraft ") are landed on the water surface.The water surface the subject matter that water day-to-day operation faces and is, water is not static and smooth.
Static and smooth different from land runway, the water surface is not only moving always, and, the surface of water, especially the open waters such as sea, due to impacts such as earth rotation, gravity, bottom topography and circulation, cause the horizontal and vertical of water body self to be moved, water surface image height mountain is the same with valley uneven.In addition, the impact of wind generates the wave of water meter.
The water surface is moving always.The water surface is smooth is dynamic and relative, current maritime affairs hydrograph forecast system lacks for aircraft Exact Forecast the function that water level puts, the diagrammatic forecast in waters in larger time period, in a certain geographic area can only be provided, for the needs of the low speed surface navigations such as boats and ships.Nonetheless, worldwide existing forecasting technique means, meet aircraft water surface landing demand, be namely in time and region two more accurate ripples forecast still very difficult.
Therefore, the essential distinction of operation waterborne and land landing is, one that does not know in advance during water landings fixing airport, does not have the fixing runway that is known in advance, the earth point zone indicating device that ground runway is demarcated more cannot be utilized to complete safety ground.In most of the cases, especially under ocean water surface flight progress, the forecast of accurate water surface situation cannot be carried out in advance.
So to so far, worldwide, during water surface flying, aircraft is when flying to waters, destination, and main dependence aircrew finds the smooth water surface voluntarily, decides water direction in its sole discretion, and most suitable touchdown point, completes water process.
Aircraft in water process, threatens maximum ripples to be gravity waves.According to oceanography definition, mainly the cycle is stormy waves between 4 seconds-30 seconds, surges and coastal wave three kinds gravity wave.
Stormy waves refers to the ripples caused by local wind-force, surging is ripples caused by nonlocal wind-force, the complex that ripples in real world are stormy waves and surge, such as coastal wave is exactly stormy waves and surges in Coastal processes, because the depth of water sharply reduces until the land stopped limits, the kinergety of water collects suddenly, causes the poly-increasing of ripples wave height.Surfing is exactly the billow effect that make use of this coastal wave.
For aircraft for water, the wave height of ripples just threatens a factor of water security, and prior threat is the wavelength of ripples.Under the condition of equal wave height, wavelength is shorter, larger to the threat of aircraft.In order to safety water, first must determine the ripples wavelength in impact area territory, in case overturned by ripples when aircraft water.Secondly, grasp stormy waves and the respective direction of propagation of surging, to select on stormy waves ripples water, or at water of surging on ripples.3rd, finally choose concrete water spot.
Current, the aircraft water surface as above water process, is realized by the artificial judgment of aircrew, personal experience and concrete operations technical ability.Concrete regulation this manual manipulative techniques (hereinafter referred to as FAA-H-8083-23) in the FAA-H-8083-23 " hydroairplane, skid aircraft, float/skid helicopter run book " of Federal Aviation Public Roads Administration, comprise the observational technique of water surface planeness situation and resolution process, course and the concrete skill such as selection of water spot.
Because need aircrew's visual inspection and manual operation, FAA-H-8083-23 emphasizes, for the water surface of status of the water area complexity, the especially vast sea of off-lying sea, in this occasion water very dangerous.
Because need visual inspection to find suitable impact area territory, FAA-H-8083-23 emphasizes, and it is also very dangerous that aircraft water at night.
Above two large danger significantly limit the actual range of use of aircraft and ability of sailing.
Even if daylight time, FAA-H-8083-23 points out, the large or cloud base of water surface fog high very low time, visbility all can be caused not good, the accuracy of directly impact observation; Even if in sunny daytime, due to the sunlight reflecting effect that the water surface is strong, the erroneous judgement of aircrew also can be caused.These restrictions not only increase the difficulty of daily flight, too increase the cost of training aircrew.
But if the aircraft of overwater service is as a kind of transportation means, must possess the service requirement of " round-the-clock ", especially research and development large water aircraft and large-scale ground effect vehicle have been set about by China, meet the need of national Emergency System construction." round-the-clock " of these large-scale aircraft runs, and has been the pre-requisite abilities of contingency tasks.
In sum, in order to make this kind of aircraft have " round-the-clock " service requirement, just must be implemented under various condition outlet capacity, the operational requirements reducing aircrew and training cost.Based on the principles of science, must realize water controling method by automatic technology, design apparatus and system thereof thus, promotes the practicality of this kind of aircraft.
The difficult point of dealing with problems
The earth point area identification of the traffic pattern of airfield, runway course and runway is all at the beginning of the design of airport, the steady state value determined by the data analysis all the year round to local geographic position and environment.When aircrew lands, mission program that announce according to official, that cross through Flight, under the guiding of ground tower man, guided by instrument compressed air (ILS) or the automation of global position system and implement to land, ensure that the aircraft of modern land landing has all-weather capability, made air transportation constantly universal and sustainable development.
But for water landing, still as the aviation starting stage before 100 years, all want aircrew to differentiate voluntarily and temporarily, very original.Newest F AA-H-8083-23 program according to version in 2007: first, in the region that required by task lands, aircrew is flat on 1500 ~ 2000 feet of high-altitudes to fly, and observes the water surface, determines the smooth waters of one's respective area, as the selection in impact area territory.Secondly, be reduced to by aircraft on 500 feet, observe the stormy waves in this waters in detail, surge and coastal wave situation, select water course, such as downsea water, or top ripple water, with the angle in the fluctuation direction of main unrestrained group; 3rd, further falling head, to 100 feet, keeps flat flying, and whether correctly checks above-mentioned observations, determines concrete water spot.Finally, water is implemented.
Must have a kind of failure-free technology solution, facilitate aircrew according to the governing principle of FAA-H-8083-23, select suitable impact area territory according to the planeness of water, this is equivalent to the destination determining land; Afterwards, determine the angled relationships with ripples, namely the course of water, this is equivalent to determine the runway that a certain bar of airfield is concrete; 3rd, according to the wavelength characteristic of ripples, determine suitable a water spot, this is equivalent to set up the landing point on airfield runway.
Summary of the invention
For the problems referred to above, the object of the present invention is to provide a kind of overwater flight aircraft water controller;
Another object of the present invention is to provide this overwater flight aircraft water controling method.
Goal of the invention of the present invention is achieved by the following technical solution.
A kind of overwater flight aircraft water controller, comprise data acquisition unit, processing module, telltale and alarm device, described data acquisition unit comprises the radio altimeter of the water surface elevation take off data provided based on aircraft platform, and described processing module comprises application algoritic module, the height measured data input processing module provided by radio altimeter, calculate ripples information by application algoritic module, ripples information delivers to telltale and alarm device.
Described data acquisition unit also comprises: provide the aviation air data sensor resolving current flight track desired parameters data and the aviation inertial sensor providing aircraft current pose data.
Described processing module also comprises: the aircraft airworthiness module being built in computer platform providing the flight performance data of aircraft and usage condition, be built in computer platform, aircraft the types of applications programmed software module of water controling method, based on oceanologic Wave Model module.Wave Model module comprises the stormy waves relevant to waters geographic location feature, surges, coastal wave, and other relevant ripples math modelings.
Described overwater flight aircraft the flight control system of water controller and aircraft and engine management system be cross-linked mutually.
The telltale of aircraft, it can be high-end large colour display, also can be more easy electromechanical scale dial plate.Aircraft alarm device, it can be alarm system that is high-end, that have synthetic speech and different tone, also can be the buzzer phone of low side.
This overwater flight aircraft water controling method comprise the following steps:
Step one: aircrew handles aircraft and keeps flat fly on certain altitude, and radio altimeter starts the elevation information obtaining the water surface continuously;
Step 2: processing module calculates average level surface information, is compared by two end datas of mean water level and initial value and end value time gap, draws the degree of dip of this mean water level; Based on average level surface information, calculate the diff-H information of ripples, obtain Lang Feng and unrestrained paddy data thus; By comparing the character of diff-H, identifying stormy waves, surging or coastal wave; By calculating the time difference at adjacent unrestrained peak, obtain wavelength data; According to corresponding model formation, obtain velocity of wave information;
Step 3: the information that step 2 calculates by processing module delivers to telltale and alarm device.
Further, data acquisition unit of the present invention also comprises aviation air data sensor and aviation inertial sensor, and described processing module also comprises application algoritic module, Wave Model module.
With front Measures compare, this method calculates mean water level packets of information containing obtaining flight path data by air data sensor, in conjunction with the performance data in aircraft flight performance data storehouse, by the stability assessment to track, equals the error correction flown for reality; By the actual attitude of aircraft during inertial reference system collection radio altitude table record ripples altitude information, revise the computing value of the average water surface comprehensively.
Be cross-linked with flight control system and engine management system further, form the aircraft with automatic guidance function and water control system, as the component part of high-end aircraft autoflight system.
Oceanography is pointed out, gravity wave is the maximum a kind of moving wave shape of Water wave energy, is the principal element affecting safety of navigation.Gravity wave by stormy waves, to surge and coastal wave three kinds of forms formed, oscillation frequency is between 4-30 second.For aircraft water process, this cycle of fluctuation with water match crucial moment.
Tactile water when pointing to water the crucial moment that aircraft water process and ensuing high speed water skiing stage, this stage needs 15-30 time second usually.The ripples that emphasis solves this moment judge and operation, match with oceanography " gravity wave is the principal element affecting safety of navigation " these main conclusions.
According to oceanologic achievement in research, stormy waves, to surge and the sinusoidal waveform of all available simplification of coastal wave describes, their complex then can describe with the model superposition of ripple.
Oceanography to stormy waves, to surge and the math modeling of coastal wave all has the achievement in research of various maturation, because one of fundamental that these models are design boats and ships and the daily navigation of boats and ships to be controlled, select combination that is any or which algorithm to depend on the predetermined mission of aircraft, this patent is liquid container body Model algorithm and Combination application thereof no longer further.
By a kind of means of radio measurement, the parameter that as above model is relevant can be obtained.
Why select the means of radio measurement, instead of being described as follows of other means:
Although there is multiple measurement mechanism on the market, comprise laser measuring device for measuring, if for aircraft, these devices must meet the requirement of Certification.For the consideration that cost, technology maturity and system architecture are easy, patent of the present invention directly adopts existing radio height measuring device in aircraft, and namely aviation radio height indicator is as measurement mechanism.
By increasing corresponding software for calculation on existing flight control, flight management or navigation computer, water guiding function can be realized.
So, by technical scheme of the present invention, for aeromarine aircraft provides a kind of instrumented data collection based on airborne equipment, analyze and automatic guidance capability, overcome the current limitation relying on the operation of aircrew's artificial experience, especially when visbility is not good, make up the defect that visual inspection information is inaccurate and insufficient, reduce aircrew's mental burden, promote the availability of aircraft, particularly early morning, dusk, the feasibility of terrible weather and navigation at night, and when aircraft meets accident must the safety of water, promote the all-weather capability of aircraft, finally, under the help of this invention, more level and smooth operation can promote the travelling comfort of aircraft.
Accompanying drawing explanation
Fig. 1 be overwater flight aircraft of the present invention the structural representation of water controller;
Fig. 2 is the algorithm flow chart of the embodiment of the present invention 1;
Fig. 3 a is positive gradient display figure;
Fig. 3 b is zero gradient display figure;
Fig. 3 c is negative slope display figure;
Fig. 4 is the structural representation of the embodiment of the present invention 2;
Fig. 5 is the algorithm flow chart of embodiment 2;
Fig. 6 is the structural representation of embodiment 3.
Detailed description of the invention
Below in conjunction with accompanying drawing 1-Fig. 6, further illustrate the present invention and how to realize.
Embodiment 1
As shown in Figure 1, aviation radio height indicator, application algoritic module, indicating device, alarm device constitutes simple and easy water controller of the present invention.
During actual use, according to the governing principle of FAA-H-8083-23, aircrew handles aircraft and on certain altitude, keeps flat fly, at this moment, radio altimeter starts the elevation information obtaining the water surface continuously, and this continuous print water surface elevation change information can become the simulate data of ripples waveform.The time gap that application algoritic module is determined by aircrew, first calculates average level surface information.Calculated by this, not only calculate mean water level, two end datas (boundary value) of this mean water level and initial value and end value and time gap can also be compared, draw the degree of dip of this mean water level, i.e. the gradient of horizontal surface.Based on this average level surface information, calculate the diff-H information of ripples, obtain Lang Feng and unrestrained paddy data thus.By comparing the character of diff-H, identifying stormy waves, surging or coastal wave.Afterwards, by calculating the time difference at adjacent unrestrained peak, obtaining wavelength data, finally, according to corresponding model formation, obtaining velocity of wave information.Then, these information are delivered to indicating device and alarm device, for aircrew provides relevant water guidance information.
Algorithm flow as shown in Figure 2.
On stream, first flown by the flat of time length, such as the flat of 1.5 minutes flies, and aviation radio height indicator records the height change data on ripples surface continuously.By the simple algorithm of arithmetic average, obtain the average water wave height in this 1.5 minutes, as mean water level data.These mean water level data as the cross central line calculating the crest of ripples, trough and wavelength, i.e. the axis of waveform.In addition, by comparing the size of two end datas (boundary value) of 1.5 minutes observed readings, gradient direction and the slope calculations of this mean water level is obtained.Such as, 1.5 minutes initial values i.e. first height measurements deducts stop value i.e. last observed reading of 1.5 minutes, if its difference on the occasion of, then can judge that mean water level is negative slope, i.e. descending; Vice versa.This gradient judgment value is directly given telltale and alarm device by algorithm, to inform the actual tilt situation of aircrew front mean water level, as shown in Fig. 3 a-Fig. 3 c.
After drawing these mean water level data, continue each observed reading in use 1.5 minutes therewith aviation value simply compare, obtain difference that is a series of and mean water level.Such as, deduct the difference of mean water level by each observed reading, wherein, on the occasion of the peak regions for ripples, negative value is the valley regions of ripples.
Obtain this series of with the difference of mean water level after, algoritic module compares the situation of change of these differences further.If difference change is obviously, then can be judged to be stormy waves, algorithm enterprising enter stormy waves algorithm model; If difference change is mild, then can be judged to surge, algorithm enters algorithm model of surging; If difference continues to uprush, then can be judged to be coastal wave, algorithm enter coastal wave algorithm model.
After ripples waveform separation completes, these waveform separation data are also directly sent to telltale and alarm device.
Enter stormy waves, surge or coastal wave algorithm model after, according to the existing model algorithm of marine sciences, corresponding wavelength data can be obtained, be sent to telltale and alarm device.
Aircrew is by observing the ripples waveform display information obtained measured by aviation radio height indicator, in conjunction with the Gradient of type of waveform, crest, trough, wavelength and mean water level that computing module calculates, identify relative smooth waters thus, as the region of managing to make do water.
Embodiment 2
As shown in Figure 4, aviation radio height indicator, provides the water surface elevation take off data based on aircraft platform.Aviation air data sensor, provides the supplemental characteristic resolved needed for current flight track; Aviation inertial sensor, such as inertial navigation unit, it provides the current pose data of aircraft.These three sensors constitute the data acquisition unit of the second way of the present invention.
The aircraft airworthiness module being built in computer platform provides flight performance data and the usage condition of aircraft, resolves task for support application program software.Usually, it is a kind of data bank.Be built in computer platform, aircraft the types of applications algoritic module of water controling method, its is responsible for concrete resolving.Based on oceanologic Wave Model module, comprise the stormy waves relevant to waters geographic location feature, surge, coastal wave and other relevant ripples math modelings, resolve task for support application program software.Usually, it is a kind of data bank.The geographic position of aircraft can be inputted by aircrew, also by being cross-linked with the navigationsystem positioning function in aircraft, upgrades the geographical location information of aircraft automatically real-time.For support apply algoritic module resolve task.
The telltale of aircraft can be high-end large colour display, also can be comparatively easy electromechanical scale dial plate.Aircraft alarm device, can be alarm system that is high-end, that have synthetic speech and different tone, also can be the buzzer phone of low side.
Algorithm flow as shown in Figure 5.
On stream, first flown by the flat of time length, such as the flat of 1.5 minutes flies, and aviation radio height indicator records the height change data on ripples surface continuously.By arithmetic average algorithm, obtain the average water wave height in this 1.5 minutes, be mean water level data.Obtain flight path data by air data sensor, in conjunction with the performance data in aircraft flight performance data storehouse, by the stability assessment to track, equal the error correction flown for reality, to obtain ripples height measured data more accurately.The actual attitude of aircraft when gathering radio altitude table record ripples altitude information by inertial reference system, with data together with, revise the computing value of the average water surface comprehensively, eliminate aircraft self and equal the error flying the measurement ripples height that error causes.After error correction, mean water level data are as the cross central line calculating the crest of ripples, trough and wavelength, i.e. the axis of waveform.By comparing the size of the endpoints thereof of 1.5 minutes observed readings, obtain gradient direction and the slope calculations of this mean water level.Such as, 1.5 minutes initial values i.e. first height measurements deducts stop value i.e. last observed reading of 1.5 minutes, if its difference on the occasion of, then can judge that mean water level is negative slope, i.e. descending; Vice versa.
On algorithm flow, directly give telltale by this gradient judgment value, to inform the actual tilt situation of aircrew front mean water level, as shown in Fig. 3 a-Fig. 3 c.Wherein, 1. solid line represents horizontal reference position, and 2. dotted line represents position, real standard face.When real standard face overlaps substantially with horizontal reference, be shown as the solid line of Fig. 3 b; When there is enough large ripples height rolling shape, such as, the wavelength length of surging is in the same order of magnitude with water distance usually, and when surging enough large, namely the situation of occurred level face tilt, namely has certain slope; When this gradient is in rising trend along predetermined landing direction, be defined as the positive gradient, display as shown in Figure 3 a.Otherwise be defined as negative slope, display as shown in Figure 3 c.
After the data drawing this mean water level, continue each observed reading in use 1.5 minutes therewith aviation value compare, obtain difference that is a series of and mean water level.Such as, deduct the difference of mean water level by each observed reading, wherein, on the occasion of the peak regions for ripples, negative value is the valley regions of ripples.
After obtaining this series of difference with mean water level, algoritic module compares the situation of change of these differences further.If difference change obviously, then can be judged to be stormy waves, enter stormy waves algorithm model; If difference change is mild, then can be judged to surge, enters algorithm model of surging; If difference continues to uprush, then can be judged to be coastal wave, enter coastal wave algorithm model.
After determining the algorithm model of ripples, can particular location residing for aircraft, from the data bank of Wave Model, call the Wave Model error correction values determined based on geographic position, waters.The geographic position of aircraft can be inputted by aircrew, also by being cross-linked with the navigationsystem positioning function in aircraft, upgrades the geographical location information of aircraft automatically real-time.
After having carried out ripples waveform separation, these waveform separation data have also directly been sent to read out instrument.
Entering stormy waves, surge and coastal wave algorithm model after, according to the existing model algorithm of marine sciences, corresponding wavelength data can be obtained.
By above-mentioned data and calculating, enter water management computing module, here, first according to above data acquisition and compare, draw the mildest water-surface areas, as the concrete region of water, then, in this sheet shoulder, according to the ripples waveform determined before and wavelength, in conjunction with the wind direction wind-force data that air data system gathers, according to the governing principle of FAA-H-8083-23, select reasonable water course; In conjunction with the performance data in aircraft flight performance data storehouse, calculate that this optimum speed of water.According to the ripples data obtained before, in conjunction with the performance data in aircraft flight performance data storehouse, according to the governing principle of FAA-H-8083-23, calculate best water receiving angle.
So far, impact area territory, water course, water speed and water attitude all determine, these parameters are delivered to telltale, for aircrew provides relevant visual indication information.These data are delivered to alarm device, alarm device is according to predetermined alarm logic, and monitoring aircrew operation, once exceed predetermined error, proposes to warn or alarm automatically simultaneously.
Embodiment 3
As shown in Figure 6, aviation radio height indicator, provides the water surface elevation take off data based on aircraft platform.Aviation air data sensor, provides the supplemental characteristic resolved needed for current flight track; Aviation inertial sensor, such as inertial navigation unit, it provides the current pose data of aircraft.These three sensors constitute the data acquisition unit of the third mode of the present invention.
Be built in the aircraft airworthiness module of computer platform, it provides flight performance data and the usage condition of aircraft, resolves task for support application program software.Usually, it is a kind of data bank.Be built in computer platform, aircraft the types of applications algoritic module of water controling method, its is responsible for concrete resolving.Based on oceanologic Wave Model module, comprise the stormy waves relevant to waters geographic location feature, surge, coastal wave, and other relevant ripples math modelings, resolve task for what support to apply algoritic module.Usually, it is a kind of data bank.The geographic position of aircraft can be inputted by aircrew, also by being cross-linked with the navigationsystem positioning function in aircraft, upgrades the geographical location information of aircraft automatically real-time.Task is resolved for support application program software.
The read out instrument of aircraft, it can be high-end large colour display, also can be more easy electromechanical scale dial plate.Aircraft alarm device, it can be alarm system that is high-end, that have synthetic speech and different tone, also can be the buzzer phone of low side.The flight control system of aircraft, for receiving the flight control command from the types of applications algoritic module being built in computer platform; The engine management system of aircraft, for receiving the power control instruction from the types of applications algoritic module being built in computer platform.
Omit the explanation of algorithm flow
Compared with the second way, the principal feature of the third mode control information of the present invention is directly accessed flight control system and the engine management system of aircraft, the closed loop control of formation automation like this, the demand of concrete control command depends on the specific design of aircraft, engine type and configuration thereof, algorithm flow water leader be analogous to the second way; Then based on the flight control system algorithm flow of existing conventional airplane, can repeat no more with the ring-closing crosslinking moiety of flight control system and engine management system.
Claims (10)
1. overwater flight aircraft a water controller, comprise data acquisition unit, processing module, telltale and alarm device, is characterized in that, described data acquisition unit comprises radio altimeter, and described processing module comprises application algoritic module;
Described radio altimeter is used for the elevation information obtaining the water surface when aircraft continues flat flying continuously;
The elevation information that described application algoritic module is used for the water surface first obtained according to radio altimeter calculates average level surface information; Then, try to achieve the inclination information of mean water level according to average level surface information and initial value and end value, calculate the diff-H information of ripples according to average level surface information, obtain Lang Feng and unrestrained paddy data; Again, by comparing the character of diff-H, identify wave type; Afterwards, by calculating the time difference at adjacent unrestrained peak, wavelength data is obtained; Finally, according to corresponding model formation, obtain velocity of wave information and the information calculated is delivered to telltale and alarm device.
2. a kind of overwater flight aircraft according to claim 1 water controller, it is characterized in that, described data acquisition unit also comprises: provide the aviation air data sensor resolving current flight track desired parameters data and the aviation inertial sensor providing aircraft current pose data;
Described application algoritic module puts down the computing value of error and the average water surface flown according to the data correction that aviation air data sensor and aviation inertial sensor provide.
3. a kind of overwater flight aircraft according to claim 1 water controller, it is characterized in that, described processing module also comprises: the aircraft airworthiness module being built in computer platform providing the flight performance data of aircraft and usage condition, be built in computer platform, aircraft the types of applications programmed software module of water controling method, based on oceanologic Wave Model module.
4. a kind of overwater flight aircraft according to claim 3 water controller, it is characterized in that, described Wave Model module comprises the stormy waves relevant to waters geographic location feature, surges, coastal wave, and other relevant ripples math modelings.
5. a kind of overwater flight aircraft according to claim 1 water controller, it is characterized in that, described overwater flight aircraft the flight control system of water controller and aircraft and engine management system be cross-linked mutually.
6. a kind of overwater flight aircraft according to claim 1 water controller, it is characterized in that, described telltale is large colour display or electromechanical scale dial plate.
7. a kind of overwater flight aircraft according to claim 1 water controller, it is characterized in that, described alarm device be have synthetic speech and different tone alarm device or for buzzer phone.
8. overwater flight aircraft a water controling method, it is characterized in that, comprise following steps:
Step one: aircrew handles aircraft and keeps flat fly on certain altitude, and radio altimeter is using aircraft as benchmark, and the change of detection water surface elevation, obtains the elevation information of the water surface continuously;
Step 2: processing module calculates average level surface information, is compared by two end datas of mean water level and initial value and end value time gap, draws the degree of dip of this mean water level; Based on average level surface information, calculate the diff-H information of ripples, obtain Lang Feng and unrestrained paddy data thus; By comparing the character of diff-H, identifying stormy waves, surging or coastal wave; By calculating the time difference at adjacent unrestrained peak, obtain wavelength data; According to corresponding model formation, obtain velocity of wave information;
Step 3: the information that step 2 calculates by processing module delivers to telltale and alarm device.
9. a kind of overwater flight aircraft according to claim 8 water controling method, it is characterized in that, described step one also comprises the supplemental characteristic needed for aviation air data sensor record current flight track, the current pose data of aviation inertial sensor record aircraft.
10. according to right want a kind of overwater flight aircraft described in 8 water controling method, it is characterized in that, information step 2 calculated directly accesses flight control system and the engine management system of aircraft.
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| CN103832598B (en) * | 2013-11-18 | 2015-10-07 | 中国特种飞行器研究所 | Water surface flying device water load full machine without power model basin test method |
| CN105539815B (en) * | 2016-01-06 | 2017-09-15 | 郑素华 | A kind of empty amphibious unmanned plane posture adjustment counterweight control system of water |
| CN106586025B (en) * | 2016-12-02 | 2018-10-12 | 中国特种飞行器研究所 | A kind of water surface flying device water surface landing sky water logical relation determination method |
| CN109917812B (en) * | 2019-04-13 | 2021-10-08 | 成都飞机工业（集团）有限责任公司 | High-altitude high-speed unmanned aerial vehicle landing state control method |
| WO2023019358A1 (en) * | 2021-08-17 | 2023-02-23 | Brancato Jacob | 4-d wave mapping navigation system and method |
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