RU2087868C1 - Information system of group pilotage - Google Patents

Abstract

FIELD: aviation instrumentation, specifically systems ensuring formation of relative coordinates. SUBSTANCE: information system forming relative coordinates with reference to each interacting aircraft is additionally inserted with unit of formation of relative coordinates, unit of algebraic summing, unit for reception and transmission of data and unit of error formation which is line filter extracting signal of relative errors of pickups of coordinates and angles of aircraft. Precise relative coordinates of interacting aircraft transmitted to users for provision of control and pilotage in group aircraft navigation are formed after termination of transition processes. EFFECT: enhanced operational reliability of information system. 1 dwg

Description

 The invention relates to the field of aviation instrumentation, in particular to systems providing group navigation.

A known system for the formation of relative coordinates [1] containing the first sensor of coordinates and angles (of one aircraft) DKUS1, the first sensor of coordinates of the target (relative to one aircraft) DKTs1, the second sensor of coordinates and angles (of another aircraft) DKUS2, the second sensor of coordinates of the target (relative to another aircraft ) DCC2. DKUS1 determines the angles of evolution of the aircraft α _1i relatively related to the ground by the coordinate system (heading angle α ₁₁ , roll angle α ₁₂ , pitch angle α ₁₃ and the position coordinates of the plane X _1i (longitudinal coordinate X ₁₁ lateral coordinate X ₁₂ , height X ₁₃ ). one output DKUS1 angles α _1i are fed to the input DKTs1, and from another output DKUS1 coordinates X _1i are given to consumers in the control system, for display to the pilot, in the sighting system.

DKTs1, which is a radar or optical-electronic sensor that determines the coordinates of one aircraft relative to the target in the coordinate system implemented in DKUS1, X _ts1i (X _ts11 relative longitudinal coordinate, X _ts12 relative lateral coordinate, X _ts13 - relative excess) issued to consumers from the exit DCC 1.

On another aircraft, similarly, in DKUS2, angles α _{2i are formed} , from one output of DKUS2 fed to the input of DKTS2, where the coordinates of another airplane are formed relative to the same target X _c2i , issued to consumers. From another exit of DKUS2, the coordinates of another X _2i aircraft are also given to consumers.

 The technical result of the invention is the expansion of the functionality of the system by determining the exact relative coordinates of one aircraft relative to another, which provides group navigation.

 This result is achieved by the fact that in the information system of group navigation, containing the first sensor of coordinates and angles of the aircraft and the first sensor of coordinates of the target, the second sensor of coordinates and angles of the plane and the second sensor of coordinates of the target connected in series, the first unit for generating relative coordinates, the first block of algebraic summation, the first block of the formation of errors, combined in a ring the second block of the formation of rel coordinates, the second block of algebraic summation, the second block of the formation of errors, as well as the first block of reception and transmission of data and the second block of reception and transmission of data, moreover, the other output of the first sensor of coordinates and angles of the plane is connected respectively to the second and third inputs of the first block of formation of relative coordinates and the first output of the first block of data reception and transmission, the second and third inputs of the first block of algebraic summation are connected, respectively, the output of the first target coordinate sensor and the second output of the first block of data reception and transmission, to the first and second inputs of which are connected respectively another output of the first sensor of coordinates and angles of the aircraft and the output of the first sensor of coordinates of the target, the second and third inputs of the second block of formation of relative coordinates are connected respectively to another output of the second coordinate sensor and the angles of the aircraft and the first output of the second data reception and transmission unit, the second sensor output is connected to the second and third inputs of the second algebraic summation unit the coordinates of the target and the second output of the second block of data reception and transmission, the first and second inputs of which are connected respectively another output of the second sensor of coordinates and angles of the aircraft and the output of the second sensor of the coordinates of the target, the first and second inputs of the first block of data reception and transmission are connected respectively to its third and the fourth outputs connected respectively to the third and fourth inputs of the second data reception and transmission unit, respectively connected to its first and second outputs, the first and second inputs of the second Lok receiving and transmitting data are connected to its third and fourth output coupled respectively to third and fourth inputs of the first data communication unit, respectively connected to its first and second outputs.

 The drawing shows a block diagram of the proposed system, where 1 is the first sensor coordinates and angles of the aircraft DKUS1; 2 first target coordinate sensor DKTs1; 3 first block for the formation of relative coordinates BFOK1; 4 - algebraic summation of BAS1; 5 the first unit for the formation of errors BFP1; 6 first block receiving and transmitting data BPPD1; 7 second sensor coordinates and angles of the aircraft DKUS2; 8 second target coordinate sensor DKTs2; 9 - the second block for the formation of relative coordinates BFOK2; 10 second block of algebraic summation; 11 second unit for generating errors BFP2; 12 second block receiving and transmitting data BPPD2.

 Blocks 1 6 are installed on the first plane, blocks 7 12 are installed on the second plane.

 The system operates as follows.

DKUS1 (1) is an inertial or inertial-satellite sensor of coordinates of location and angles of evolution, generates and outputs from one output the angles of evolution of the aircraft α _1i (α ₁₁ angle of course, α ₁₂ angle of heel, α ₁₃ pitch angle) received at one input of DCTs1 (2). The coordinates of the location in the Earth's coordinate system X _1i (X _{11 is the} longitudinal coordinate, X ₁₂ is the lateral coordinate, X _{13 is the} height) from the other output of DKUS1 (1), the first input of BPD1 (6) and the second input of BFOK1 (3) are received.

DKTs1 (2) is a radar or optoelectronic sensor, in which the coordinates of the first aircraft relative to the target in the coordinate system implemented in DKUS1 (1), X are formed from the measured distance from the aircraft to the target D _c1 , target viewing angles β ₁ , γ _{1 q1i} (X _c11 is the relative longitudinal coordinate, X _{c12 is the} relative lateral coordinate, X _{c13 is the} relative excess), which, from the output of the DCC1 (2), go to the second input of the BPD1 (6) and to the second input of the BAS1 (4). DKUS2 (7) is similar in execution to DKUS1 (1).

From one output of DKUS2 (7), the signals of the angles of evolution α _2i are fed to the input of DKTs2 (8), from the other output of DKUS2 (7), the signals of the coordinates of the location X _2i are fed to the first input of BPD2 (12) and to the second input of BFOK2 (9).

In DCC2 (8), in a similar design to DCC1 (2), the coordinates of the second aircraft are formed with respect to the same target X _c2i , which, from the output of DCC2 (8), are fed to the second input of BPPT2 (12) and to the second input of BFOK2 (9).

BPPT1 (6) is, for example, a radio transceiver, its first and second inputs are connected respectively to the third and fourth outputs, from where the signals X _1i , X _{Ц1i are} respectively transmitted to the third and fourth inputs of BPPT2 (12), connected respectively to the first and his second exits.

BPAP2 (12) for implementation is similar to BPPT1 (6). The first and second inputs of BPPT2 (12) are connected respectively to its third and fourth outputs, from where the signals X _2i , X _{c2i are} respectively transmitted to the third and fourth inputs of BPPT1 (6), in which the third and fourth inputs are connected respectively to the first and second outputs.

From the first output of BFDP1 (6), the coordinates X _2i are fed to the third input of BFOK1 (3), to the first input of which a correction signal Δ _1i is connected from the output of BFR1 (5). From the second output of BFDP1 (6), the relative coordinates of X _c2i are fed to the third input of BAS1 (4), the first input of which from the output of BFOK1 (3) receives the corrected coordinates x $\genfrac{}{}{0ex}{}{\text{to}}{\text{12i}}$ In BFOK1 (3), the adjusted relative coordinates of the first aircraft relative to the second aircraft x _1i - x _2i - Δ _1i = x $\genfrac{}{}{0ex}{}{\text{to}}{\text{12i}}$ .

,
здесь

точные значения координат местоположения; погрешности определения координат f_1i, f_2i датчиков ДКУС1(1), ДКУС2(7)
f_1i=a₀₁+a_1i+a_2it²+. a_nitⁿ,
f_2i=b_0i+b_1i+b_2it²+. b_nitⁿ,
f_12i=f_1i-f_2i+(a_0i-b_0i)+(a_1i-b_1i)t+.+ +(a_ni-b_ni)tⁿ= C_0i+C_1it+.+C_nitⁿ.Wherein

,
here

Exact location coordinates errors in determining the coordinates f _1i , f _{2i of} sensors DKUS1 (1), DKUS2 (7)
f _1i = a ₀₁ + a _1i + a _2i t ² +. a _ni t ⁿ ,
f _2i = b _0i + b _1i + b _2i t ² +. b _ni t ⁿ
f _12i = f _1i -f _2i + (a _0i -b _0i ) + (a _1i -b _1i ) t +. + + (a _ni -b _ni ) t ⁿ = C _0i + C _1i t +. + C _ni t ⁿ .

 here a, b, c are constant values, t is time.

,
(здесь

точные значения относительных координат, f_12i - погрешность относительных координат).Then

,
(here

exact values of relative coordinates, f _12i is the error of relative coordinates).

с входа БФОК1(3) поступают на первый вход БАС1(4), где формируются
y_1i= x_ц1i+ x_ц2i- x $\genfrac{}{}{0ex}{}{\text{к}}{\text{12i}}$ .Corrected Relative Coordinates

from the input of BFOK1 (3), they arrive at the first input of BAS1 (4), where they are formed
y _1i = x _q1i + x _q2i - x $\genfrac{}{}{0ex}{}{\text{to}}{\text{12i}}$ .

при этом

высокочастотная центрированная ошибка, тогда

с выхода БАС1(4), поступающий на вход БФП1(5). БФП1(5) является корректирующим линейным фильтром, реализующим передаточную функцию

(здесь р оператор дифференцирования, m n +1), на выходе ВФП1(5) будет корректирующая поправка

соответственно при r Ao + + A_m-1P^m-1,
где постоянные коэффициенты A обеспечивают устойчивость, качество переходных процессов и подавление высокочастотных погрешностей

.Here

wherein

high frequency centered error then

from the output of BAS1 (4), entering the input of BFP1 (5). BFP1 (5) is a corrective linear filter that implements the transfer function

(here p is the differentiation operator, mn +1), at the output of VFP1 (5) there will be a correction correction

respectively, when r Ao + + A _m-1 P ^m-1 ,
where constant coefficients A provide stability, quality of transients and suppression of high-frequency errors

.

откуда следует, что при m+n= 1,

, высокочастотная составляющая

проходя через фильтр, подавляется до любого близкого к нулю уровня, тогда соответственно

, т.е. откорректированные относительные координаты x $\genfrac{}{}{0ex}{}{\text{к}}{\text{12i}}$ фактически равны действительным

Координаты x $\genfrac{}{}{0ex}{}{\text{к}}{\text{12i}}$ выдаются потребителям в систему управления и систему индикации для выполнения самолетовождения первого самолета относительно второго.Accordingly, the output of BFOK1 (3) will be adjusted relative coordinates

whence it follows that for m + n = 1,

high frequency component

passing through the filter, it is suppressed to any level close to zero, then, respectively

, i.e. adjusted relative x coordinates $\genfrac{}{}{0ex}{}{\text{to}}{\text{12i}}$ actually equal to real

X coordinates $\genfrac{}{}{0ex}{}{\text{to}}{\text{12i}}$ issued to consumers in the control system and display system for performing aircraft navigation of the first aircraft relative to the second.

где

точное значение относительно координат,
f_21i=f_12i,

.By analogy with the first aircraft on the second aircraft, the first output of BPPT2 (12) is connected to the third input of BFOK2 (9), the output of BFP2 (11) Δ _{2i is} connected to its third input. The second output of BPPD2 (12) is connected to the third input of BAS2 (10), the first input of which from the output of BFOK2 (9) receives a signal of corrected coordinates

Where

exact value relative to coordinates,
f _21i = f _12i ,

.

поступающий на вход БФП2(11), где по аналогии с БФП1(3) формируется сигнал

соответственно на выходе БФОК2(9) будет

откуда следует, что высокочастотная составляющая

подавляется до любого близкого к нулю уровня, а при m+n=1

, соответственно

т.е. формируются относительные координаты x $\genfrac{}{}{0ex}{}{\text{к}}{\text{21i/}}$ , практически равные действительный

; координаты x $\genfrac{}{}{0ex}{}{\text{к}}{\text{21i}}$ выдаются потребителям на индикацию и в систему управления для выполнения самолетовождения второго самолета относительно первого.In BAS2 (10) is formed when

arriving at the input of BFP2 (11), where, by analogy with BFP1 (3), a signal is formed

accordingly, the output of BFOK2 (9) will be

whence it follows that the high-frequency component

suppressed to any level close to zero, and when m + n = 1

, respectively

those. relative x coordinates are formed $\genfrac{}{}{0ex}{}{\text{to}}{\text{21i /}}$ practically equal to the actual

; x coordinates $\genfrac{}{}{0ex}{}{\text{to}}{\text{21i}}$ issued to consumers for indication and in the control system for performing aircraft navigation of the second aircraft relative to the first.

 Thus, information support for group navigation is achieved, which indicates the expansion of the functionality of the system.

Claims (1)

 A group navigation information system comprising a first sensor of coordinates and angles of an airplane and a first sensor of target coordinates connected in series, a second sensor of coordinates and angles of a plane and a second target coordinate sensor connected in series, characterized in that the first relative coordinate formation unit is additionally introduced in series, the first block algebraic summation and the first block of the formation of errors connected in series to the second block of the formation of the relative coordinates, the second block of algebraic summation and the second block of the formation of errors, as well as the first and second blocks of receiving and transmitting data, in each of which the first and second inputs are connected respectively to the third and fourth outputs, and the third and fourth inputs with the first and second outputs , the third and fourth outputs of the first data reception and transmission unit are connected respectively to the third and fourth inputs of the second data reception and transmission unit, the third and fourth outputs of which are connected to the third and fourth inputs of the first data reception and transmission unit, the first input of the first data reception and transmission unit is connected to the second output of the first coordinate and angle sensor of the aircraft and to the second input of the first relative coordinate formation unit, the first input of which is connected to the output of the first error generation unit, and the third input with the first output of the first data reception and transmission unit, the second input of the first data reception and transmission unit is connected to the output of the first target coordinate sensor and the second input of the first algebraic summation unit the third input of which is connected to the second output of the first data reception and transmission unit, the first input of the second data reception and transmission unit is connected to the second output of the second coordinate and angle sensor of the aircraft and the second input of the second relative coordinate formation unit, the first input of which is connected to the output of the second block errors, and the third input with the first output of the second data reception and transmission unit, the second input of the second data reception and transmission unit is connected to the output of the second target coordinate sensor and the second input second algebraic summation block house, a third input coupled to the second output of the second data communication unit, wherein the outputs of the first and second blocks forming the relative coordinates are the outputs of the information system.