CN104077928B - Be applicable to the navigation of irregular flight outside air route dot position information update method - Google Patents
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Abstract
A kind of be applicable to the navigation of irregular flight outside air route dot position information update method.It comprises according to flight plan data and track data, obtains all purpose aircraft course, current location estimate in-position horizontal departure, height tolerance relative to flight planning; Judge whether all purpose aircraft present level deviation and height tolerance all meet threshold value; Judge all purpose aircraft current whether according to schedule course flight; Critical process is performed in preset range; Judge that all purpose aircraft is current whether to fly according to away from intended course; Bulk processing is performed in preset range; Judge that all purpose aircraft is current whether to fly according near intended course "; The steps such as thin process are performed in preset range.The present invention can adopt different disposal method real-time update to estimate dot position information according to different flight intent, improves dot position information renewal crossed by aircraft outside air route degree of accuracy during irregular yawed flight.
Description
Technical field
The invention belongs to aviation automatic control technology field, particularly relate to a kind of be applicable to the navigation of irregular flight outside air route dot position information update method.
Background technology
Along with opening gradually of China's low altitude airspace, General Aviation Flight demand is by sharp increase, the General Aviation autonomous for flight, type is various, civil aviaton's prevailing system is difficult to provide flexibly, service support of flying reliably, and General Aviation Flight safety technique Means of Ensuring is deficienter at present.
Aircraft was estimated that dot position information upgraded and was grasped the flight of aircraft dynamically for aircraft assisting in flying service station personnel in flight course, ensured aircraft safe flight.Transport airline pilots fly down an airway in strict accordance with predetermined flight planning, but for General Aviation, aircraft is larger by ground airflow influence, flight track change is more violent, all purpose aircraft, in flight planning implementation, is affected by human factors comparatively large, and causing cannot strict implement flight planning, these all may cause all purpose aircraft to fly out air route and fly irregular, aircraft is upgraded in flight course and estimated that dot position information became more complicated.Prior art cannot meet the demand of General Aviation, therefore, needs a kind of new technical scheme to solve the problem.
Summary of the invention
In order to solve the problem, the invention provides a kind of be applicable to the navigation of irregular flight outside air route dot position information update method.
In order to achieve the above object, be applicable to the navigation of irregular flight outside air route dot position information update method comprise the following step carried out in order:
Step one, according to flight plan data and track data, obtain all purpose aircraft course respectively, current location estimates horizontal departure, the height tolerance of in-position relative to flight planning;
Step 2, judge whether all purpose aircraft present level deviation and height tolerance all meet threshold value, if judged result is "No", does not then perform any operation, exit treatment scheme; Otherwise enter next step process;
Whether according to schedule step 3, judge the flight of all purpose aircraft current course, if judged result is "No", namely all purpose aircraft flies according to unplanned course, then enter step 5; Otherwise judge all purpose aircraft whether all according to schedule course flight in a N continuous treatment cycle, if judged result is "No", does not then perform any operation, exit treatment scheme; Otherwise enter next step process;
Step 4, in preset range, perform critical process: the distance on the estimation between way point and current flight speed obtain the time estimating to arrive each plan way point; If height tolerance is zero, then estimate that the height arriving each plan way point does not upgrade, otherwise will estimate that the height arriving each plan way point upgrades according to height tolerance; Renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme;
Step 5, judge that all purpose aircraft is current whether according to away from intended course flight, if judged result is "No", namely all purpose aircraft is according near intended course flight, then enter step 7; Otherwise judge that all purpose aircraft, whether all according to away from intended course flight, if judged result is "No", does not then perform any operation, exits treatment scheme in a N continuous treatment cycle; Otherwise enter next step process;
Step 6, bulk processing is performed: suppose when receiving after monitoring data within a flight path update cycle in the scope preset, this all purpose aircraft eliminates unfavorable factor impact and change of flight intention is flown from current location to inside the plan contiguous way point, estimate position relationship between way point according to current location and the contiguous next one and estimate that flying speed obtains all purpose aircraft next one that flies and estimates time of way point, distance again on the estimation between way point and expectation flying speed obtain the time estimating to arrive each plan way point, estimate that the height arriving each plan way point does not upgrade, if both horizontal departure and height tolerance have one to be zero, then in the two dimensional surface at air route and all purpose aircraft place, carry out update process, if the two is all non-vanishing, then need to carry out update process in three dimensions, renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme,
Step 7, to judge that in a N continuous treatment cycle whether all purpose aircraft is all according near intended course flight, if judged result is "No", does not then perform any operation, exits treatment scheme; Otherwise enter next step process;
Step 8, the thin process of execution in preset range: the location and time flown on air route according to current course according to current flight direction and flying speed acquisition all purpose aircraft, again according to aircraft according to estimate after the flight of current course to arrive air route position, estimate that distance between way point and current flight speed obtain the time estimating to arrive each plan way point, estimate that the height arriving each plan way point does not upgrade; If both horizontal departure and height tolerance have one to be zero, then in the two dimensional surface at air route and aircraft place, carry out update process; If the two is all non-vanishing, then need to carry out update process in three dimensions; Renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme.
N in described step 3, step 5 and step 7 is system variable element, and span is positive integer.
Provided by the invention be applicable to the navigation of irregular flight outside air route dot position information update method compared with prior art have the following advantages: the inventive method can adopt different disposal route real-time update to estimate dot position information according to different flight intent, instead of only adopt certain single process means simply, overcome the problem that prior art cannot use in new applied environment, improve dot position information renewal crossed by aircraft outside air route degree of accuracy during irregular yawed flight.
Accompanying drawing explanation
Fig. 1 is General Aviation Flight scene schematic diagram provided by the invention;
Fig. 2 is that aircraft provided by the invention estimated that dot position information upgraded process flow diagram;
Fig. 3 provided by the inventionly estimated dot position information update process model schematic.
Embodiment
Below in conjunction with the drawings and specific embodiments to provided by the invention be applicable to the navigation of irregular flight outside air route dot position information update method be described in detail.
Fig. 1 is General Aviation Flight scene schematic diagram provided by the invention.Transport airline pilots fly along fixing flight path in strict accordance with predetermined flight planning, but for General Aviation, aircraft is larger by ground airflow influence, flight track change is more violent, all purpose aircraft, in flight planning implementation, is affected by human factors comparatively large, and causing cannot strict implement flight planning, these track data wide variation all causing surveillance equipment to collect, aircraft is irregular.
General Aviation Flight scene as shown in Figure 1, there is different flying scenes in the flight due to same kind, clear in order to illustrate, here a scene in same kind is only listed, flying scene is tentatively divided into 24 scenes by the course type that the present invention's foundation aircraft is different and position, each scene is described from horizontal direction and vertical direction two angles, wherein
indicate the air route of width,
represent that aircraft current location estimates the horizontal departure of in-position, the effective range of height tolerance relative to flight planning, wherein horizontal departure and height tolerance are the distances from directionless empty fine rule to directionless real thick line neighboring edge, "○" represents aircraft, " → " represents the heading that aircraft is current
represent that this kind of scene meets and dynamically update criterion,
represent that this kind of scene does not meet and dynamically update criterion, bottom each scene, be furnished with the detailed description of this scene respectively.
Fig. 2 be provided by the invention be applicable to the navigation of irregular flight outside air route dot position information update method process flow diagram.All purpose aircraft is larger by ground airflow influence, aircraft can cause when being subject to ground airflow influence and depart from original Route reform and flight path is irregular, cause without obvious target course point in aircraft process, model target location being considered as a certain way point planned outside air route cannot be used when upgrading and estimating dot position information to process.All purpose aircraft is in flight planning implementation, be affected by human factors larger, causing cannot strict implement flight planning, and the aircraft of non-regularity makes to use the model data generated based on long history flight accumulation to process when upgrading and estimating dot position information.Transport airline pilots fly along fixing flight path in strict accordance with predetermined flight planning, but for General Aviation, aircraft is comparatively large and be affected by human factors that cause cannot strict implement flight planning by ground airflow influence, these all may cause all purpose aircraft to fly out air route and fly irregular, make monitoring data and predicted position difference exceed the process range of previous methods.In order to overcome the problem that prior art cannot use in new applied environment, need to judge that aircraft is intended to according to current course, different disposal route real-time update positional informations is adopted according to different flight intent, and the process means that can not only adopt certain single simply.
Aircraft can fly according to flight planning down an airway when normal flight, when aircraft by ground airflow influence comparatively large and be affected by human factors cause flight path wide variation time, fly a period of time according to away from flight planning course in the aircraft air route that first can fly out, then after unfavorable factor is eliminated, aircraft can fly according near flight planning course, and last aircraft will get back to course flight according to schedule on air route.When aircraft flies out air route according to when flying away from intended course, in departure degree preset range, adopt bulk processing to estimate dot position information with auxiliary renewal, it provide when after receiving current track data within a flight path update cycle, if aircraft eliminates adverse effect and change current flight intention, that flies to the inside the plan next way point closed on crosses a some position performance prediction; When aircraft in flying off-airways and aircraft course is identical with intended course time, in departure degree preset range, adopt critical process to upgrade with transition estimated dot position information, it provides aircraft by transition of flying away from intended course is the critical prediction in intended course flight course; When aircraft is according to during near intended course flight, in departure degree preset range, thin process is adopted to obtain lastest imformation more accurately according to practical flight course.
Crossing dot information replacement criteria is: judge in each treatment cycle, if when the position that aircraft is current and flight planning estimate that the horizontal departure of in-position and height tolerance meet threshold value constraint simultaneously, adopt different disposal routes to generate according to the current different course of aircraft and position and estimated some location updating messages.
As shown in Figure 2, according to the General Aviation Flight scene schematic diagram that Fig. 1 provides, provided by the invention be applicable to the navigation of irregular flight outside air route dot position information update method comprise the following step carried out in order:
Step one, according to flight plan data and track data, obtain all purpose aircraft course respectively, current location estimates horizontal departure, the height tolerance of in-position relative to flight planning;
Step 2, judge whether all purpose aircraft present level deviation and height tolerance all meet threshold value, if judged result is "No", does not then perform any operation, exit treatment scheme; Otherwise enter next step process;
Whether according to schedule step 3, judge the flight of all purpose aircraft current course, if judged result is "No", namely all purpose aircraft flies according to unplanned course, then enter step 5; Otherwise whether all according to schedule judge all purpose aircraft course flight in a N continuous treatment cycle, wherein N is system variable element, and span is positive integer, concrete value is depending on concrete flight progress, if judged result is "No", does not then perform any operation, exit treatment scheme; Otherwise enter next step process;
Step 4, in preset range, perform critical process: the distance on the estimation between way point and current flight speed obtain the time estimating to arrive each plan way point; If height tolerance is zero, then estimate that the height arriving each plan way point does not upgrade, otherwise will estimate that the height arriving each plan way point upgrades according to height tolerance; Renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme;
Step 5, judge that all purpose aircraft is current whether according to away from intended course flight, if judged result is "No", namely all purpose aircraft is according near intended course flight, then enter step 7; Otherwise judge whether all purpose aircraft all flies according to away from intended course in a N continuous treatment cycle, wherein N is system variable element, span is positive integer, concrete value is depending on concrete flight progress, if judged result is "No", then do not perform any operation, exit treatment scheme; Otherwise enter next step process;
Step 6, because way point is made up of a series of reporting point or guidance station, bulk processing is performed: suppose when receiving after monitoring data within a flight path update cycle in the scope preset, this all purpose aircraft eliminates unfavorable factor impact and change of flight intention is flown from current location to inside the plan contiguous way point, estimate position relationship between way point according to current location and the contiguous next one and estimate that flying speed obtains all purpose aircraft next one that flies and estimates time of way point, distance again on the estimation between way point and expectation flying speed obtain the time estimating to arrive each plan way point, estimate that the height arriving each plan way point does not upgrade, if both horizontal departure and height tolerance have one to be zero, then in the two dimensional surface at air route and all purpose aircraft place, carry out update process, as shown in Fig. 3-a, all purpose aircraft is flown to A by O, wherein O is current all purpose aircraft, A, B be respectively with all purpose aircraft before and after contiguous way point, if the two is all non-vanishing, then need in three dimensions, to carry out update process, as shown in Fig. 3-b, all purpose aircraft is flown to A by O ', wherein O ' is current all purpose aircraft, A, B be respectively with all purpose aircraft before and after contiguous way point, OO ' is height tolerance, renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme,
Step 7, to judge in a N continuous treatment cycle all purpose aircraft whether all according near intended course flight, wherein N is system variable element, span is positive integer, concrete value is depending on concrete flight progress, if judged result is "No", then do not perform any operation, exit treatment scheme; Otherwise enter next step process;
Step 8, the thin process of execution in preset range: the location and time flown on air route according to current course according to current flight direction and flying speed acquisition all purpose aircraft, again according to aircraft according to estimate after the flight of current course to arrive air route position, estimate that distance between way point and current flight speed obtain the time estimating to arrive each plan way point, estimate that the height arriving each plan way point does not upgrade; If both horizontal departure and height tolerance have one to be zero, then in the two dimensional surface at air route and aircraft place, carry out update process, as shown in Fig. 3-c, aircraft is flown to A ' by O, wherein O is current aerospace device, A, B be respectively with aircraft before and after contiguous way point, A ' be according to position during current flight arrival air route, course; If the two is all non-vanishing, then need to carry out update process in three dimensions, as shown in Fig. 3-d, aircraft is flown to A ' by O ', wherein O ' is current aerospace device, A, B be respectively with aircraft before and after contiguous way point, OO ' is height tolerance, and A ' be according to position during current flight arrival air route, course; Renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme.
Be only process of the present invention and embodiment of the method above, not in order to limit the present invention, all amendments done within the spirit and principles in the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. be applicable to the navigation of irregular flight outside air route a dot position information update method, it is characterized in that: it comprises the following step carried out in order:
Step one, according to flight plan data and track data, obtain all purpose aircraft course respectively, current location estimates horizontal departure, the height tolerance of in-position relative to flight planning;
Step 2, judge whether all purpose aircraft present level deviation and height tolerance all meet threshold value, if judged result is "No", does not then perform any operation, exit treatment scheme; Otherwise enter next step process;
Whether according to schedule step 3, judge the flight of all purpose aircraft current course, if judged result is "No", namely all purpose aircraft flies according to unplanned course, then enter step 5; Otherwise judge all purpose aircraft whether all according to schedule course flight in a N continuous treatment cycle, if judged result is "No", does not then perform any operation, exit treatment scheme; Otherwise enter next step process;
Step 4, in preset range, perform critical process: the distance on the estimation between way point and current flight speed obtain the time estimating to arrive each plan way point; If height tolerance is zero, then estimate that the height arriving each plan way point does not upgrade, otherwise will estimate that the height arriving each plan way point upgrades according to height tolerance; Renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme;
Step 5, judge that all purpose aircraft is current whether according to away from intended course flight, if judged result is "No", namely all purpose aircraft is according near intended course flight, then enter step 7; Otherwise judge that all purpose aircraft, whether all according to away from intended course flight, if judged result is "No", does not then perform any operation, exits treatment scheme in a N continuous treatment cycle; Otherwise enter next step process;
Step 6, because way point is made up of a series of reporting point or guidance station, bulk processing is performed: suppose when receiving after monitoring data within a flight path update cycle in the scope preset, this all purpose aircraft eliminates unfavorable factor impact and change of flight intention is flown from current location to inside the plan contiguous way point, estimate position relationship between way point according to current location and the contiguous next one and estimate that flying speed obtains all purpose aircraft next one that flies and estimates time of way point, distance again on the estimation between way point and expectation flying speed obtain the time estimating to arrive each plan way point, estimate that the height arriving each plan way point does not upgrade, if both horizontal departure and height tolerance have one to be zero, then in the two dimensional surface at air route and all purpose aircraft place, carry out update process, if the two is all non-vanishing, then need to carry out update process in three dimensions, renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme,
Step 7, to judge that in a N continuous treatment cycle whether all purpose aircraft is all according near intended course flight, if judged result is "No", does not then perform any operation, exits treatment scheme; Otherwise enter next step process;
Step 8, the thin process of execution in preset range: the location and time flown on air route according to current course according to current flight direction and flying speed acquisition all purpose aircraft, again according to aircraft according to estimate after the flight of current course to arrive air route position, estimate that distance between way point and current flight speed obtain the time estimating to arrive each plan way point, estimate that the height arriving each plan way point does not upgrade; If both horizontal departure and height tolerance have one to be zero, then in the two dimensional surface at air route and aircraft place, carry out update process; If the two is all non-vanishing, then need to carry out update process in three dimensions; Renewal process has considered the impact of aerial wind, generates and estimates some location updating messages, exit treatment scheme.
2. according to claim 1 be applicable to the navigation of irregular flight outside air route dot position information update method, it is characterized in that: the N in described step 3, step 5 and step 7 is system variable element, span is positive integer.
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| US9875659B2 (en) * | 2014-11-18 | 2018-01-23 | Honeywell International Inc. | System and method for exocentric display of integrated navigation |
| CN107409051B (en) | 2015-03-31 | 2021-02-26 | 深圳市大疆创新科技有限公司 | Authentication system and method for generating flight controls |
| JP6467520B2 (en) * | 2015-03-31 | 2019-02-13 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Method and system for issuing an alarm |
| CN105427675B (en) * | 2015-12-30 | 2018-05-01 | 北京招通致晟科技有限公司 | Aircraft lands the Forecasting Methodology and device of time |
| CN108268049B (en) * | 2016-12-30 | 2023-01-10 | 北京远度互联科技有限公司 | Aircraft, following flight system and control method |
| CN109215398B (en) * | 2018-11-05 | 2022-03-11 | 飞牛智能科技（南京）有限公司 | Unmanned aerial vehicle route planning method and device |
| CN109859531B (en) * | 2018-12-04 | 2021-12-03 | 中国航空无线电电子研究所 | Method for calculating forecast wind at forecast point by aiming at incomplete input of pilot |
| CN109557572A (en) * | 2018-12-14 | 2019-04-02 | 西安索格亚航空科技有限公司 | A kind of flight navigation system and method based on Beidou |
| CN110379210B (en) * | 2019-07-30 | 2020-11-03 | 四川九洲空管科技有限责任公司 | Method and device for monitoring abnormal flight of civil aircraft |
| CN111968410A (en) * | 2020-08-14 | 2020-11-20 | 成都民航空管科技发展有限公司 | ATC system-based flight passing waypoint identification method, system and medium |
| CN115171432B (en) * | 2022-06-29 | 2024-05-03 | 中国航空无线电电子研究所 | Speed solving method and system based on required arrival time and performance prediction |
| CN115273562A (en) * | 2022-07-27 | 2022-11-01 | 齐鲁空天信息研究院 | Consistency monitoring method for general aviation low-altitude navigation flight |
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| CN1262846C (en) * | 2001-11-09 | 2006-07-05 | 财团法人资讯工业策进会 | Fusion processing method of flight path information in combined radar/automatic echo monitoring |
| EP2167917B1 (en) * | 2007-07-21 | 2015-03-11 | Peter Lyons | Apparatus and method to indicate course deviation instrument saturation |
| FR2939904B1 (en) * | 2008-12-16 | 2015-08-07 | Thales Sa | METHOD OF PROCESSING MULTI-SENSOR TRACKING WITH REDUCED LATENCY TIME |
| CN102955478B (en) * | 2012-10-24 | 2016-01-20 | 深圳一电科技有限公司 | UAV flight control method and system |
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