CN114115344B - Helicopter automatic area navigation flight segment selection method - Google Patents
Helicopter automatic area navigation flight segment selection method Download PDFInfo
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- CN114115344B CN114115344B CN202111381938.9A CN202111381938A CN114115344B CN 114115344 B CN114115344 B CN 114115344B CN 202111381938 A CN202111381938 A CN 202111381938A CN 114115344 B CN114115344 B CN 114115344B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Abstract
The invention discloses a method for selecting a navigation section of an automatic area navigation of a helicopter, which is a method for realizing the related problem of how to switch from the current position of the helicopter to a non-flight section of a specified flight line as soon as possible in the automatic area navigation process of the helicopter so as to finish the navigation change of a flight plan in the shortest time.
Description
Technical Field
The invention belongs to the technical field of helicopter flight navigation, and particularly relates to a flight segment selection method when helicopter regional navigation is switched on.
Background
Regional Navigation (RNAV) refers to navigation that allows electronic heading guidance on any direct flight path between pilot-established points. Regional navigation is a navigation mode that allows an aircraft to fly along any desired route either within the coverage of a navigation signal, or within the operating range of an onboard self-contained navigation device, or a combination of both, i.e., the RNAV device operates by automatically determining the aircraft position, establishing a desired flight path, and providing path guidance for the next waypoint flight, with many advantages not available with conventional navigation.
The practical RNAV flight method for modern aircraft relies on a Flight Management System (FMS) which automatically identifies the next available waypoint, selects the most appropriate navigation source for positioning, and provides the autopilot with information about the next waypoint to which it is to fly, and may also provide flight guidance information.
When the current domestic large-scale civil helicopter designs automatic regional navigation, the background used by the automatic regional navigation is fully considered, the navigation section is cut into as soon as possible, and the navigation change of the flight plan is completed in the shortest time. When a certain condition is met, a pilot presses a 'navigation' key on a flight control console, a flight control computer sends an automatic regional navigation 'connection' instruction to a comprehensive display processor of a comprehensive display system, the comprehensive display processor judges which flight section of the current helicopter is closest to according to the current instant position of the helicopter, and the comprehensive display processor sends a slave point, a destination point and a next point of the current flight section to a navigation computer of the combined navigation system.
Patent application No. 201210096558.5 "regional navigation method, navigation terminal" discloses a regional navigation method, navigation terminal, wherein the method comprises: the navigation terminal receives a navigation request which comprises destination information, and the algorithm needs to continuously calculate the optimal path, so that the problem of low navigation efficiency exists.
Patent application No. 201811568757.5 "a helicopter route planning method" relates to a helicopter route planning method, and comprises the following steps: the method comprises the steps of constructing a terrain threat avoidance model, calculating a flight route, constructing a random route set containing a comprehensive coordinate sequence, and realizing real-time planning of a global optimal route, wherein the method can provide effective flight service for the helicopter and simultaneously improves the safety and reliability of flight; the algorithm needs to construct a model, and the method is overall complex.
At present, a lot of research is related to design methods, positioning algorithms and optimal selection methods of a navigation station of regional navigation routes and departure and arrival programs, and the related problems of how to switch from the current position of a helicopter to a non-flight section of a designated flight path as soon as possible so as to complete flight change of a flight plan in the shortest time are less involved.
Disclosure of Invention
The invention aims to provide a method for selecting an automatic regional navigation flight segment of a helicopter.
In order to realize the task, the invention adopts the following technical scheme:
a helicopter automatic area navigation flight segment selection method comprises the following steps:
step 2, if the number of the effective waypoints which are not flown is not less than 1, carrying out the next step;
step 3, respectively calculating the linear distance from each waypoint on the flight plan to the current position P of the helicopter;
step 4, calculating the linear distances of all flight sections of the flight plan respectively;
step 5, traversing all non-flying waypoints of a helicopter flight plan from the non-flying first waypoint, and determining whether to access automatic area navigation or not according to the relation between the current position P of the helicopter and the non-flying waypoints;
step 6, calculating a cosine value of an included angle between a connecting line PD of the current position P of the helicopter and the next i +1 waypoint of the currently traversed ith waypoint and a leg CD formed by the ith waypoint and the (i + 1) th waypoint according to a cosine law, and obtaining a distance yaw distance PQ from the helicopter to the leg according to the cosine value;
calculating the yaw distance from the current position of the helicopter to all non-flying sections according to the same method;
step 7, finding out PP meeting the condition of & lt PP from the non-flying waypoints according to preset judgment criteria i+1 P i Finding the nearest flight sections according to the yaw distance from the helicopter to the flight sections, wherein the cosine value of the flight path points is greater than or equal to 0; wherein, P i 、P i+1 Waypoints representing flight plan, betweenThe connecting line of (A) is a flight segment.
Further, the preset determination criterion is:
if less than PP i+1 P i Is more than 90 degrees, namely the angle PP i+1 P i If the cosine value of the reference point P is less than 0, the current position P of the helicopter is at the reverse position of the extension line of the flight, and P is abandoned when the yaw distance is compared i P i+1 The leg in between.
Further, the preset decision criterion further includes:
if PP is less than i+1 P i Is less than or equal to 90 degrees, namely the angle PP i+1 P i If the cosine value of (A) is greater than or equal to 0, then the yaw distance is within the flight or P is at the forward position of the flight extension line, and the flight is retained when comparing the yaw distances.
Further, in step 2, if the number of effective waypoints that do not fly is less than 1, indicating that all points have flown, then the last waypoint of the flight plan is returned, and the helicopter flies directly to the last waypoint of the flight plan.
Further, the determining whether to access automatic area navigation according to the relationship between the current position P of the helicopter and the waypoints that do not fly includes:
and if the current position P of the helicopter is superposed with the ith waypoint C which does not fly, taking the point C as an automatic area navigation connection point, and if the current position P of the helicopter is superposed with the point D of the i +1 waypoint which does not fly, taking the point D as the automatic area navigation connection point.
Further, if the point C is coincident with the point D, the point C is directly skipped, and the next waypoint is traversed.
Further, the finding the nearest leg according to the yaw distance from the helicopter to the legs includes:
and comparing the yaw distances of the helicopters to the legs, wherein the leg with the minimum yaw distance is the leg which is closest to the helicopters and needs to be searched.
A flight control system of a helicopter is loaded with a computer program, and when the computer program is executed by a processor, the steps of the method for selecting the automatic area navigation flight path of the helicopter are realized.
Compared with the prior art, the invention has the following technical characteristics:
the invention provides an implementation algorithm aiming at the relevant problems of how to switch from the current position of the helicopter to the non-flying section of the designated air route as soon as possible in the automatic area navigation process of the helicopter so as to realize the navigation change of the flight plan in the shortest time, can judge which section of the current activated flight plan the helicopter is closest to according to the current position, is successfully applied to the development of the AC313 helicopter comprehensive display control software at present, and has good effect after experiments and trial flight verification.
Drawings
FIG. 1 is a schematic view of determining whether a yaw distance is within a flight segment;
FIG. 2 is a schematic diagram illustrating a determination of forward and reverse directions of an extension line of a flight path of a helicopter;
FIG. 3 is a schematic illustration of a calculation of a recent non-flight segment;
FIG. 4 is a schematic flow chart of the method of the present invention.
Detailed Description
Referring to the attached drawings, the invention discloses a method for selecting an automatic regional navigation flight path of a helicopter, which comprises the following steps:
step 2, if the number of the effective waypoints which are not flown is less than 1, namely all the waypoints are flown, returning to the last waypoint of the flight plan, and directly flying the helicopter to the last waypoint of the flight plan at the moment; if the number of the effective waypoints which are not flown is not less than 1, carrying out the next step;
step 3, respectively calculating the linear distance from each waypoint on the flight plan to the current position P of the helicopter;
step 4, calculating the linear distances of all flight sections of the flight plan respectively;
step 5, traversing all non-flying waypoints of a helicopter flight plan from a non-flying first waypoint, if the current position P of the helicopter is superposed with the ith waypoint C point which is not flying, taking the point C as an automatic area navigation connecting point, and if the current position P of the helicopter is superposed with the (i + 1) waypoints D point which are not flying, taking the point D as an automatic area navigation connecting point; if the point C is overlapped with the point D, directly skipping the point C and starting traversing the next route point;
step 6, calculating a cosine value of an included angle between a connecting line PD of the current position P of the helicopter and the next i +1 waypoint of the currently traversed ith waypoint and a leg CD formed by the ith waypoint and the (i + 1) th waypoint according to a cosine law, and obtaining a distance yaw distance PQ from the helicopter to the leg according to the cosine value;
calculating the yaw distance from the current position of the helicopter to all non-flight sections according to the same method;
step 7, according to the judgment criterion, finding out the meeting & lt PP from the non-flying waypoints i+1 P i The cosine value of (1) is greater than or equal to the waypoint under the condition of 0, the yaw distances from the helicopter to the flight segments are compared, and the flight segment with the minimum yaw distance is the flight segment which is closest to the helicopter and needs to be searched.
When designing the automatic area navigation, the background of the automatic area navigation is fully considered, for example, after the helicopter is executed, the helicopter may not be located on a certain flight segment of the flight plan, and it is required to cut into the nearest flight segment as soon as possible to complete the flight of the flight plan in the shortest time.
A flight plan has at most 25 points, namely 24 flight segments; the helicopter comprehensive display system judges which segment of the current activated flight plan the current helicopter is closest to according to the current position, and only compares the yaw distance of the segments within the segments or at the forward extension line position of the segments, wherein the judging methods of the two segments are as follows:
and giving a flight segment, drawing two perpendicular lines perpendicular to the flight segment at two ends of the flight segment, and judging that the vertical distance from the helicopter to the flight segment is on the extension line of the flight segment when the current point is out of the two perpendicular lines.
The judgment criterion is as follows: judging the forward and reverse directions of the extension line of the helicopter in the flight section
The situation of fig. 1 and fig. 2 can be determined by judging ≈ P i+1 P i The angle of (c) is judged:
if less than PP i+1 P i Is more than 90 degrees, namely less than PP i+1 P i If the cosine value of the distance P is less than 0, the current position P of the helicopter is at the reverse position of the extended line of the flight segment, and P is abandoned when the yaw distance (the distance from the current position P of the helicopter to the perpendicular line of the flight segment) is compared i P i+1 The leg between;
if less than PP i+1 P i Is less than or equal to 90 degrees, namely < PP i+1 P i If the cosine value of (A) is greater than or equal to 0, then the yaw distance is within the flight or P is at the forward position of the flight extension line, and the flight is retained when comparing the yaw distances.
Wherein P represents the current position of the helicopter, P i 、P i+1 The route points of the flight plan are represented, and the connection line between the route points is a flight segment.
After receiving an automatic area navigation 'on' instruction of a flight control system, the comprehensive display processor judges which flight section of the flight plan the current helicopter is closest to according to the current instant position of the helicopter and sends a slave point P of the flight section closest to the current flight section i To point P i+1 And a next point P i+2 (start of next leg) to the navigation computer of the integrated navigation system.
Example (b):
the method relates to how to judge which leg of the flight plan the current helicopter is closest to, and for easy understanding, as for example the flight plan shown in fig. 3, there are 7 waypoints in total, where waypoint a and waypoint B are flown waypoints, and the corresponding legs are indicated by dashed lines, which is described as an example below.
step 2, if the number of the effective waypoints which do not fly is less than 1, namely all the waypoints fly through, returning to the last waypoint of the flight plan, and directly flying the helicopter to the last waypoint of the flight plan at the moment; if the number of the effective waypoints which are not flown is not less than 1, carrying out the next step;
step 3, respectively calculating the straight line distance from each waypoint on the flight plan to the current position P of the helicopter, namely the distance of PA, PB, PC (robot) \ 8230; \ 8230;
step 4, respectively calculating the linear distances of all flight sections (including flying sections and non-flying sections) of the flight plan, namely the distances of AB, BC, CD \8230;
step 5, traversing all non-flying waypoints of a helicopter flight plan from the non-flying first waypoint, traversing from a point C corresponding to the point C in the graph 3, if the current position P of the helicopter is overlapped with the ith waypoint C which does not fly, taking the point C as an automatic area navigation connection point, and if the current position P of the helicopter is overlapped with the (i + 1) th waypoint D which does not fly, taking the point D as an automatic area navigation connection point; if the point C is coincident with the point D (the situation that two continuous points are the same point in the flight plan is avoided), the point C is directly skipped, and the next waypoint is traversed;
step 6, calculating a cosine value of an included angle between a connecting line PD of the current position P of the helicopter and a next waypoint i +1 of the ith waypoint traversed currently and a flight section CD formed by the waypoint i and the waypoint i +1 according to a cosine law, and obtaining a distance PQ (yaw distance) from the helicopter to the flight section according to the cosine value; corresponding to the graph 3, calculating a cosine value of the < PDC according to three edges of the delta PCD, and obtaining a sine value of the < PDC according to the cosine value so as to calculate a linear distance PQ from a point P to CD;
calculating the yaw distance from the current position of the helicopter to all non-flying sections according to the same method;
step 7, according to the judgment criterion, finding out the meeting & lt PP from the non-flying waypoints i+1 P i Comparing the yaw distances from the helicopter to the flight segments, wherein the flight segment with the minimum yaw distance is the flight segment which is closest to the helicopter and needs to be searched; the flow chart of the algorithm is shown in fig. 4.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.
Claims (8)
1. A helicopter automatic area navigation flight segment selection method is characterized by comprising the following steps:
step 1, acquiring the number of effective waypoints which are not flown from a flight plan;
step 2, if the number of the effective waypoints which do not fly is not less than 1, carrying out the next step;
step 3, respectively calculating the linear distance from each waypoint on the flight plan to the current position P of the helicopter;
step 4, respectively calculating the linear distances of all flight sections of the flight plan;
step 5, traversing all non-flying waypoints of a helicopter flight plan from the non-flying first waypoint, and determining whether to access automatic area navigation or not according to the relationship between the current position P of the helicopter and the non-flying waypoints;
step 6, calculating a cosine value of an included angle between a connecting line PD of the current position P of the helicopter and a next i +1 waypoint of the ith waypoint traversed currently and a flight section CD formed by the ith waypoint and the (i + 1) th waypoint according to a cosine law, and obtaining a distance yaw distance PQ from the helicopter to the flight section according to the cosine value;
calculating the yaw distance from the current position of the helicopter to all non-flight sections according to the same method;
step 7, finding out PP meeting the condition of & lt PP from the non-flying waypoints according to preset judgment criteria i+1 P i Finding the nearest flight sections according to the yaw distance from the helicopter to the flight sections, wherein the cosine value of the flight path points is greater than or equal to 0; wherein, P i 、P i+1 The route points of the flight plan are represented, and the connection line between the route points is a flight segment.
2. A helicopter automatic area navigation flight segment selection method according to claim 1, wherein said predetermined decision criteria are:
if PP is less than i+1 P i Is more than 90 degrees, namely less than PP i+1 P i If the cosine value of the reference point P is less than 0, the current position P of the helicopter is at the reverse position of the extension line of the flight, and P is abandoned when the yaw distance is compared i P i+1 The leg in between.
3. A helicopter automatic area navigation leg selection method as claimed in claim 2 wherein said predetermined decision criteria further comprises:
if less than PP i+1 P i Is less than or equal to 90 degrees, namely < PP i+1 P i If the cosine value of (A) is greater than or equal to 0, then the yaw distance is within the flight or P is at the forward position of the flight extension line, and the flight is retained when comparing the yaw distances.
4. A helicopter automatic area navigation leg selection method according to claim 1 wherein in step 2 if the number of valid waypoints that did not fly is less than 1 indicating that all points have flown then returning to the last waypoint of the flight plan when the helicopter is flying directly to the last waypoint of the flight plan.
5. The method for selecting the automatic regional navigation route section of the helicopter of claim 1, wherein the determining whether to access the automatic regional navigation according to the relationship between the current position P of the helicopter and the route points not flying comprises:
and if the current position P of the helicopter is superposed with the ith waypoint C which does not fly, taking the point C as an automatic area navigation connection point, and if the current position P of the helicopter is superposed with the point D of the i +1 waypoint which does not fly, taking the point D as the automatic area navigation connection point.
6. A helicopter auto area navigation leg selection method according to claim 5 wherein if point C coincides with point D then point C is skipped directly and traversal of the next waypoint begins.
7. A helicopter automatic area navigation leg selection method according to claim 1 wherein said finding the closest leg based on the yaw distance of the helicopter to those legs comprises:
and comparing the yaw distances of the helicopters to the legs, wherein the leg with the minimum yaw distance is the leg which is closest to the helicopters and needs to be searched.
8. A helicopter flight control system having a computer program loaded thereon, wherein the computer program when executed by a processor implements the steps of a method according to any one of claims 1 to 7.
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