CN112985382A - High-precision fighter terrain reference navigation positioning method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention discloses a high-precision fighter terrain reference navigation positioning method, which is used for realizing navigation positioning correction of an Inertial Navigation System (INS) by combining a Sandia inertial terrain auxiliary navigation System (SITAN) and a terrain contour matching system (TERCOM) based on flight control system parameters and combining a digital terrain elevation database in the flight process of an aircraft and providing high-precision navigation positioning for the aircraft.
Description
Technical Field
The invention relates to an avionics system technology and a data analysis technology, in particular to an auxiliary navigation positioning technology in a navigation positioning technology widely applied to aircrafts, wherein the systems comprise specific products such as an inertial navigation system, a terrain reference navigation positioning technology and the like.
Technical Field
A Terrain reference Navigation Positioning Technology (TAN) is a Navigation technology for correcting an accumulated error of an Inertial Navigation System (INS) by using Terrain information and an altimeter as auxiliary means under the condition that a Global Navigation System (GPS) signal is weak or no signal. The TAN technology has higher navigation precision in an area with obvious topographic features, and is also very useful for tactical flight such as fighter near-air support, low-altitude strong attack, sudden defense, interception and the like. The TAN system can be used as an effective supplement of an INS/GPS combined navigation system, and meets the requirements of autonomous navigation of various aircrafts in low altitude and ultra-low altitude.
The common technologies of the TAN technology are a Sandia inertial terrain aided navigation System (SITAN) and a terrain contour matching system (TERCOM), and the navigation positioning correction of the INS is realized by combining two navigation positioning systems of the SITAN and the TERCOM based on flight control system parameters and a digital terrain elevation database, so that high-precision navigation positioning is provided for the aircraft.
Disclosure of Invention
The invention discloses a high-precision fighter terrain reference navigation positioning method, which is used for realizing navigation positioning correction on an inertial navigation system INS and providing high-precision navigation positioning for an aircraft by combining a Sandia inertial terrain aided navigation system SITAN and a terrain contour matching system TERCOM based on flight control system parameters and a digital terrain elevation database in the flight process of the aircraft.
The invention provides a high-precision fighter terrain reference navigation positioning method which is characterized by comprising the following steps of:
step A, generating air pressure height data h by a flight control systempAnd radar height data hr；
Step B, the flight control system generates air pressure height data hpSending the data to an inertial navigation system INS;
step C, combining the air pressure height data h sent by the flight control systempThe inertial navigation system INS generates inertial air pressure height data hINS；
D, the inertial navigation system INS sends position data P (L, lambda) to a digital terrain elevation database;
e, extracting corresponding digital terrain elevation data h from the digital terrain elevation database according to the position data P (L, lambda) in the step BDEM；
Step F, the flight control system, the inertial navigation system INS and the digital terrain elevation database respectively send radar height data hrInertial gas pressure height data hINSAnd digital terrain elevation data hDEMTo a data processing system;
g, processing the data in the step F by the data processing system, and calculating to generate actual height data hTAnd predicted altitude data hT ’Sending the data to a data storage system;
step H, the data storage system stores the real-time height data HtSending the terrain profile length to a Sandia inertial terrain aided navigation system SITAN, and after the aircraft passes through a certain terrain profile length, namely a flight path, a data storage system enables the length of a terrain profile h to be ddSending the data to a terrain contour matching system TERCOM;
step I, the Sandia inertial terrain aided navigation system SITAN according to real-time height data htCalculating position correction data thetaSITANThe terrain contour matching system TERCOM is based on the length h of the terrain contourdCalculating position correction data thetaTERCOM；
Step J, position correction data theta calculated by the Sandia inertial terrain assisted navigation System SITANSITANSending the position correction data to an inertial navigation system INS, and calculating the position correction data theta by a terrain contour matching system TERCOMTERCOMSending the data to an inertial navigation system INS;
and K, the inertial navigation system INS corrects the position of the inertial navigation system INS according to the position correction data in the step J, wherein the correction formula is as follows:
in the formula, PnewThe corrected position of the inertial navigation system INS is P, the corrected position of the inertial navigation system INS is D, the topographic profile length is d, the cycle number is n, and n% d represents the remainder of dividing n by d;
and step L, repeating the step A to the step K, and continuously correcting the position of the aircraft.
Further, in the step a, the flight control system respectively generates barometric altitude data h according to the barometric altimeter and the radar altimeterpAnd radar height data hr；
Further, in the step B, the flight control system generates air pressure height data hpSending the data to an inertial navigation system INS;
further, in the step C, the inertial navigation system INS combines with the barometric altitude data h sent by the flight control systempGenerating inertial barometric altitude data hINS；
Further, in the step D, the inertial navigation system INS sends the position data P (L, λ) of the current aircraft to the digital terrain elevation database;
further, in the step E, the digital terrain elevation database extracts corresponding digital terrain elevation data h according to the position data P (L, λ) sent by the inertial navigation system INSDEM；
Further, in the step F, the flight control system, the inertial navigation system INS, and the digital terrain elevation database respectively provide radar height data hrInertial gas pressure height data hINSAnd digital terrain elevation data hDEMSending the data to a data processing system;
further, in the step G, the data processing system processes the radar height data hrInertial gas pressure height data hINSAnd digital terrain elevation data hDEMProcessing the height data to calculate and generate actual height data hTAnd predicted altitude data hT ’And sending to a data storage system;
further, in the step H, the data storage system stores the real-time height data HtSending the terrain profile length to a Sandia inertial terrain aided navigation system SITAN, and after the aircraft passes through a certain terrain profile length, namely a flight path, a data storage system enables the length of a terrain profile h to be ddSending the data to a terrain contour matching system TERCOM;
further, in the step I, the Sandia inertial terrain assisted navigation system SITAN carries out navigation according to the real-time height data htCalculating elevation error, introducing measurement equation, and calculating position correction data theta by Kalman filteringSITANThe terrain contour matching system TERCOM is based on the length h of the terrain contourdCalculating position correction data theta by correlation analysis with real terrain profile dataTERCOM
Further, in the step J,position correction data theta to be calculated by the Sandia inertial terrain assisted navigation System SITANSITANSending the position correction data to an inertial navigation system INS, and calculating the position correction data theta by a terrain contour matching system TERCOMTERCOMSending the data to an inertial navigation system INS;
further, in the step K, the inertial navigation system INS corrects the position of itself according to the position correction data in the step J, and the correction formula is as follows:
in the formula, PnewThe corrected position of the inertial navigation system INS is P, the corrected position of the inertial navigation system INS is D, the topographic profile length is d, the cycle number is n, and n% d represents the remainder of dividing n by d;
further, in the step L, the steps a to K are repeated, and the position of the aircraft is continuously corrected in real time, so as to meet the requirement of the Sandia inertial terrain assisted navigation system SITAN on the initial position error and the requirement of the Sandia inertial terrain assisted navigation system SITAN and the terrain contour matching system TERCOM on the terrain.
The method is combined with an Inertial Navigation System (INS) and is realized in navigation positioning equipment, so that various functions of navigation positioning, threat avoidance, intelligent ground-based warning, accurate weapon release and the like are provided for the aircraft, and the navigation positioning result is used for correcting the INS error of the inertial navigation system so as to meet the requirement of various aircraft on high-accuracy navigation positioning.
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The invention will be further explained with reference to the drawings.
FIG. 1 illustrates an exemplary flow according to an embodiment of the invention.
Detailed Description
The technical solution of the present invention is illustrated by the following preferred examples, but the following examples do not limit the scope of the present invention.
The high-precision fighter terrain reference navigation positioning method provided by the invention can be built in an avionic device on an aircraft in the form of software, such as a navigation positioning system, a flight control system, a flight management system and other avionic devices. In addition, the high-precision fighter terrain reference navigation positioning method provided by the invention can be used for fighters, attackers, unmanned aerial vehicles for battle and the like.
FIG. 1 is an exemplary flow diagram of a single cycle formed in accordance with one embodiment of the present invention. During each cycle, the method is performed in the order shown in fig. 1.
Referring to FIG. 1, at block 101, a flight control system generates barometric altitude data hpAnd radar height data hrAnd generating the air pressure height data hpSending the data to an inertial navigation system INS to obtain radar height data hrTo the data processing system.
Referring to FIG. 1, at block 102, barometric altitude data h sent in conjunction with a flight control systempThe inertial navigation system INS generates inertial air pressure height data hINSAnd sends inertial barometric altitude data hINSAnd sending the position data P (L, lambda) to a data processing system and sending the position data P (L, lambda) to a digital terrain elevation database by the inertial navigation system INS.
Referring to FIG. 1, at block 103, the digital terrain elevation database extracts corresponding digital terrain elevation data h according to the position data P (L, λ)DEMAnd sent to the data processing system.
Referring to FIG. 1, at block 104, the data processing system processes the data to computationally generate actual height data hTAnd predicted altitude data hT', to the data storage system.
Referring to FIG. 1, at block 105, the data storage system stores real-time height data htSending the terrain profile length to a Sandia inertial terrain aided navigation system SITAN, and after the aircraft passes through a certain terrain profile length, namely a flight path, a data storage system enables the terrain profile length h with the length d to be ddTo the terrain contour matching system TERCOM.
Referring to FIG. 1, at block 106, the Sandia inertial terrain assisted navigation System SITAN counts altitude in real timeAccording to htCalculating position correction data thetaSITANAnd correcting the calculated position by the data thetaSITANAnd sending the data to an inertial navigation system INS.
Referring to FIG. 1, at block 107, the terrain profile matching system TERCOM is run according to a terrain profile length hdCalculating position correction data thetaTERCOMAnd correcting the calculated position by the data thetaTERCOMAnd sending the data to an inertial navigation system INS.
Referring to fig. 1, at block 102, the inertial navigation system INS corrects its position according to the position correction data of step J, and the correction formula is as follows:
in the formula, PnewThe corrected position of the inertial navigation system INS is P, the corrected position of the inertial navigation system INS is d, the topographic profile length is d, the cycle number is n, and n% d represents the remainder of dividing n by d.
It should be noted that the above description is based on specific embodiments of the invention, and although the invention has been described in detail with reference to preferred embodiments, it will be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the invention without departing from the spirit and scope of the technical solution of the invention.
Claims (1)
1. A high-precision fighter terrain reference navigation positioning method is characterized by comprising the following steps,
step A, generating air pressure height data h by a flight control systempAnd radar height data hr；
Step B, the flight control system generates air pressure height data hpSending the data to an inertial navigation system INS;
step C, combining the air pressure height data h sent by the flight control systempThe inertial navigation system INS generates inertial air pressure height data hINS；
D, the inertial navigation system INS sends position data P (L, lambda) to a digital terrain elevation database;
e, extracting corresponding digital terrain elevation data h from the digital terrain elevation database according to the position data P (L, lambda) in the step BDEM；
Step F, the flight control system, the inertial navigation system INS and the digital terrain elevation database respectively send radar height data hrInertial gas pressure height data hINSAnd digital terrain elevation data hDEMTo a data processing system;
g, processing the data in the step F by the data processing system, and calculating to generate actual height data hTAnd predicted altitude data hT ’Sending the data to a data storage system;
step H, the data storage system stores the real-time height data HtSending the terrain profile length to a Sandia inertial terrain aided navigation system SITAN, and after the aircraft passes through a certain terrain profile length, namely a flight path, a data storage system enables the length of a terrain profile h to be ddSending the data to a terrain contour matching system TERCOM;
step I, the Sandia inertial terrain aided navigation system SITAN according to real-time height data htCalculating position correction data thetaSITANThe terrain contour matching system TERCOM is based on the length h of the terrain contourdCalculating position correction data thetaTERCOM；
Step J, position correction data theta calculated by the Sandia inertial terrain assisted navigation System SITANSITANSending the position correction data to an inertial navigation system INS, and calculating the position correction data theta by a terrain contour matching system TERCOMTERCOMSending the data to an inertial navigation system INS;
and K, the inertial navigation system INS corrects the position of the inertial navigation system INS according to the position correction data in the step J, wherein the correction formula is as follows:
in the formula, PnewFor corrected inertial navigation systemThe method comprises the following steps that (1) INS position, P is the position of an inertial navigation system before INS correction, d is the topographic profile length, n is the cycle number, and n% d represents the remainder of dividing n by d;
and step L, repeating the step A to the step K, and continuously correcting the position of the aircraft.
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