CN103979117B - A kind of lens type optics helps fall system modeling and simulation method - Google Patents

Abstract

A kind of lens type optics helps fall system modeling and simulation method, belongs to aviation flight and controls technical field, is specifically related to a kind of optics and helps fall system modeling and simulation method.It is characterized in that, comprise the steps: first, lens type optics is set and helps the initial makeup location of fall system；Second, calculate lens type optics and help the fall system angle of pitch and roll angle line stabilization required to attitude angle and roll angle compensation dosage；3rd, calculate pilot's eye position coordinate under optics helps fall system coordinate system；4th, drive optics to help the output of fall system model, guide the change of lens light according to output result.The present invention accurately establishes lens type optics and helps the mathematic simulated mode of fall system, the color of lens lamp can be driven on flying quality simulation device and flight training simulator to change, landing period with this assisting in flying person at motion platform directly perceived, analyze course-line deviation and the azimuth deviation judging relative ideal glide path rapidly.

Description

A kind of lens type optics helps fall system modeling and simulation method

Technical field

The invention belongs to aviation flight and control technical field, be specifically related to a kind of optics and help fall system modeling and simulation side Method.

Background technology

Lens type optics helps fall system, is the landing auxiliary device of modern high accuracy landing task indispensability, and this system is passed through Form downslide track guide lamp battle array, aloft provide the lower landslide surface of a light in order to guide downslide process.Pilot utilizes this Lamp battle array can ensure that aircraft glides along downslide air route with certain angle of attack and height.

The structure of lens lamp is the benchmark lamp having a row green in the middle part of lamp group, and central authorities' vertical setting of types has the lamp box of 5 segmentations, passes through Lens send 5 layers of light beam, and light beam is parallel with landing runway, and sea level is kept at an angle, formed 5 layers domatic.Positive stage casing It is green, is upwards yellow, red time downward.When aircraft landing, if glide paths are correct, pilot is it can be seen that green Photosphere is in the central authorities of green benchmark lamp；If pilot is it is seen that yellow photosphere and being on green benchmark lamp, fly Office staff should revise aircraft glidepath trace in time by estimating high situation, makes aircraft return on normal track.If flight Member is it is seen that red photosphere and be under green benchmark lamp, and pilot should revise in time by estimating low situation.

Lens type optics helps the application of fall system to be the important means instructing pilot to adjust aircraft landing track, is that motion is flat The guiding device that platform is indispensable.Its appearance makes aircraft, and at night, precision landing is possibly realized at motion platform, and significantly reduces The nervous psychology that pilot lands on dark and short and small platform, substantially increases the accuracy rate of aircraft landing.

Summary of the invention

It is an object of the invention to: present invention is generally directed to aircraft flight simulation test, it is provided that a kind of lens type optics helps fall System modeling and simulation method

The technical scheme is that a kind of lens type optics helps fall system modeling and simulation method, it is characterised in that include Following steps:

First, lens type optics is set and helps the initial makeup location of fall system: with runway centerline coideal landing point be Benchmark, measures lens type optics and helps fall system actual installation position on the moving platform, determine that optics helps with this measurement data The initial makeup location of fall system；

Second, calculate needed for lens type optics helps the fall system angle of pitch and roll angle line stabilization and attitude angle and roll angle are mended The amount of repaying；Motion stabilization platform model inputs: the angle of pitch of motion platform motion and inclination angle；Motion stabilization platform model exports: Optics helps the fall system angle of pitch and roll angle line stabilization required to attitude angle and roll angle compensation dosage.

If motion platform body axle is a with the angle of landing runway, by the motion platform angle of pitchOptics is caused to help fall system Mounting platform is respectively as follows: relative to the angle of pitch and the roll angle variable quantity of the earth's axisφ₁。

$\sin ({\mathrm{\θ}}_1/57.3)=\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

$\sin ({\mathrm{\θ}}_1/57.3)=-\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

By motion platform roll angle φ_COptics is caused to help fall system mounting platform to become relative to the angle of pitch and the roll angle of the earth's axis Change amount is respectively as follows:φ₂。

By the motion platform angle of pitchRoll angle φ_COptics is caused to help the fall system mounting platform angle of pitch relative to the earth's axis Resultant is changed with roll angleAnd φ₀Can approximate expression be:

Optics after motion stabilization platform compensation helps the fall system angle of pitch relative to runway coordinate systemRoll angle φ_LIt is respectively as follows:

${\mathrm{\θ}}_L=b-{\mathrm{\θ}}_0$

Wherein aircraft b is glissade angle.

3rd, calculate pilot's eye position coordinate under optics helps fall system coordinate system；Helped by pilot's eye position and optics Fall system coordinate system initial point coordinate under motion platform runway coordinate system, obtains pilot's eye position opposing optical and helps fall system to sit The position of mark system initial point.Specifically comprise the following steps that

A) obtaining under ground axis coordinate system, (pilot's eye position is on ground in the position of pilot's eye position relative motion platform barycenter Coordinate on axle-motion platform barycenter coordinate in the earth's axis)；

B) coordinate values of required eye site relative motion platform barycenter is changed to initial point be motion platform barycenter, X-axis For the projection on the ground of motion platform body axle, the right-hand rule coordinate system in the Z-axis direction right side, Y-axis (i.e. sit by motion platform body axle Mark ties up to ground projection) on.

$\left[\begin{array}{ccc}\cos \left(a\right)& 0& \sin \left(a\right)\\ 0& 1& 0\\ -\sin \left(a\right)& 0& \cos \left(a\right)\end{array}\right]$

Transition matrix is:

C) angle of pitch moved according to known motion platformRoll angle γ, course angle ψ, turn coordinate values required in b) The transition matrix shifting to motion platform body-axis coordinate system is:

$\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}& -\sin \mathrm{\ψ}\cos \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\γ}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\ψ}\sin \mathrm{\γ}+\sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \\ \sin \mathrm{\ψ}\cos \mathrm{\γ}+\cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}& -\cos \mathrm{\θ}\sin \mathrm{\γ}& \cos \mathrm{\ψ}\cos \mathrm{\γ}-\sin \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}\end{array},\mathrm{\γ}\right]$

D) through above-mentioned conversion, site coordinate values under motion platform body-axis coordinate system has been obtained.Landing runway XZ plane is parallel with motion platform body-axis coordinate system XZ plane, and the X of Two coordinate system, Z axis differ a degree respectively.If wanting to obtain eye Site coordinate under landing runway coordinate system, can first obtain a site at origin of coordinate is motion platform barycenter, and X, Y, Z axis is divided Not with the coordinate in the parallel coordinate system of runway.Motion platform body-axis coordinate system is to through motion platform barycenter and runway coordinate system Parallel coordinate system transformational relation matrix is:

$\left[\begin{array}{ccc}\cos \left(a\right)& 0& -\sin \left(a\right)\\ 0& 1& 0\\ \sin \left(a\right)& 0& \cos \left(a\right)\end{array}\right]$

E) eye site coordinate figure in runway coordinate system is that on aircraft, each point is motion platform barycenter at origin of coordinate, sits Plus [xpk0, ypk0, zpk0], (motion platform barycenter is at runway coordinate system with the coordinate figure in the parallel coordinate system of runway for parameter On coordinate).

4th, drive optics to help the output of fall system model, can show that pilot's eye position helps at optics according to above step Coordinate [xop, yop, zop] under fall system coordinate system, according to

$\mathrm{eps}=\frac{\mathrm{yop}}{\left|\mathrm{xop}\right|}*57.3$

Output result guides the change of lens light.

The invention have the advantage that

The present invention accurately establishes lens type optics and helps the mathematic simulated mode of fall system, it is possible at flying quality simulation device And on flight training simulator, drive the color of lens lamp to change, landing period with this assisting in flying person at motion platform straight See, analyze course-line deviation and the azimuth deviation judging relative ideal glide path rapidly.

Detailed description of the invention

Below by the modeling process introducing real data, the present invention is described in further detail:

First, lens type optics is set and helps the initial makeup location of fall system: with runway centerline coideal landing point be Benchmark, measures lens type optics and helps fall system actual installation position on the moving platform, determine that optics helps with this measurement data The initial makeup location of fall system；

Second, calculate needed for lens type optics helps the fall system angle of pitch and roll angle line stabilization and attitude angle and roll angle are mended The amount of repaying；Motion stabilization platform model inputs: the angle of pitch of motion platform motion and inclination angle；Motion stabilization platform model exports: Optics helps the fall system angle of pitch and roll angle line stabilization required to attitude angle and roll angle compensation dosage.

Taking motion platform body axle with the angle of warship runway is 7 °, by the motion platform angle of pitchOptics is caused to help fall system System mounting platform is respectively as follows: relative to the angle of pitch and the roll angle variable quantity of the earth's axisφ₁。

$\sin ({\mathrm{\θ}}_1/57.3)=\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

$\sin ({\mathrm{\θ}}_1/57.3)=-\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

By motion platform roll angle φ_COptics is caused to help fall system mounting platform to become relative to the angle of pitch and the roll angle of the earth's axis Change amount is respectively as follows:φ₂。

By the motion platform angle of pitchRoll angle φ_COptics is caused to help the fall system mounting platform angle of pitch relative to the earth's axis Resultant is changed with roll angleAnd φ₀Can approximate expression be:

Optics after motion stabilization platform compensation helps the fall system angle of pitch relative to runway coordinate systemRoll angle φ_LIt is respectively as follows:

${\mathrm{\θ}}_L=b-{\mathrm{\θ}}_0$

Wherein-5 land by-5 ° of glissade angles for aircraft.

3rd, calculate pilot's eye position coordinate under optics helps fall system coordinate system；Helped by pilot's eye position and optics Fall system coordinate system initial point coordinate under warship flight-deck coordinate system, obtains pilot's eye position opposing optical and helps fall system to sit The position of mark system initial point.Specifically comprise the following steps that

A) obtaining under ground axis coordinate system, (pilot's eye position is on ground in the position of pilot's eye position relative motion platform barycenter Coordinate on axle-motion platform barycenter coordinate in the earth's axis)；

B) coordinate values of required eye site relative motion platform barycenter is changed to initial point be motion platform barycenter, X-axis For the projection on the ground of motion platform body axle, the right-hand rule coordinate system in the Z-axis direction right side, Y-axis (i.e. sit by motion platform body axle Mark ties up to ground projection) on.Transition matrix is:

$\left[\begin{array}{ccc}\cos \left(7\right)& 0& \sin \left(7\right)\\ 0& 1& 0\\ -\sin \left(7\right)& 0& \cos \left(7\right)\end{array}\right]$

C) angle of pitch moved according to known motion platformRoll angle γ, course angle ψ, by coordinate values required in b) Conversion to the transition matrix of motion platform body-axis coordinate system is:

$\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}& -\sin \mathrm{\ψ}\cos \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\γ}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\ψ}\sin \mathrm{\γ}+\sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \\ \sin \mathrm{\ψ}\cos \mathrm{\γ}+\cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}& -\cos \mathrm{\θ}\sin \mathrm{\γ}& \cos \mathrm{\ψ}\cos \mathrm{\γ}-\sin \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}\end{array},\mathrm{\γ}\right]$

D) through above-mentioned conversion, site coordinate values under motion platform body-axis coordinate system has been obtained.Landing runway XZ plane is parallel with motion platform body-axis coordinate system XZ plane, and the X of Two coordinate system, Z axis differ 7 degree respectively.If wanting to obtain eye Site coordinate under landing runway coordinate system, can first obtain a site at origin of coordinate is motion platform barycenter, and X, Y, Z axis is divided Not with the coordinate in the parallel coordinate system of runway.Motion platform body-axis coordinate system is to through motion platform barycenter and runway coordinate system Parallel coordinate system transformational relation matrix is:

$\left[\begin{array}{ccc}\cos \left(7\right)& 0& -\sin \left(7\right)\\ 0& 1& 0\\ \sin \left(7\right)& 0& \cos \left(7\right)\end{array}\right]$

E) eye site coordinate figure in runway coordinate system is that on aircraft, each point is motion platform barycenter at origin of coordinate, sits Plus [xpk0, ypk0, zpk0], (motion platform barycenter is at runway coordinate system with the coordinate figure in the parallel coordinate system of runway for parameter On coordinate).

4th, optics helps the output of fall system model, can show that pilot's eye position helps fall system at optics according to above step Coordinate [xop, yop, zop] under system coordinate system, according to

$\mathrm{eps}=\frac{\mathrm{yop}}{\left|\mathrm{xop}\right|}*57.3$

Output result guides the change of lens light, as a example by 5 groups of lens light, by be respectively designated as under upper a signal lamp, Two signal lamps, three signal lamps, four signal lamps and five signal lamps.According to-5 ° of glide paths, often group light mean allocation, then drive the side of light Formula such as following table:

Eps value	eps≥5.6	5.6>eps≥5.2	5.2>eps≥4.8	4.8>eps≥4.4	4.4>eps
						Lamp name	One signal lamp	Two signal lamps	Three signal lamps	Four signal lamps	Five signal lamps

Claims (1)

1. a lens type optics helps fall system modeling and simulation method, it is characterised in that comprise the steps:

First, lens type optics is set and helps the initial makeup location of fall system: on the basis of runway centerline coideal landing point, Measure lens type optics and help fall system actual installation position on the moving platform, determine that optics helps fall system with this measurement data Initial makeup location；

Second, calculate needed for lens type optics helps the fall system angle of pitch and roll angle line stabilization and attitude angle and roll angle are compensated Amount；Motion stabilization platform model inputs: the angle of pitch of motion platform motion and inclination angle；Motion stabilization platform model exports: light Help the fall system angle of pitch and roll angle line stabilization required to attitude angle and roll angle compensation dosage；

If motion platform body axle is a with the angle of landing runway, by motion platform pitching angle theta_COptics is caused to help fall system to install flat Platform is respectively as follows: θ relative to the angle of pitch and the roll angle variable quantity of the earth's axis₁、φ₁；

sin(θ₁/ 57.3)=sin (θ_C/57.3)*cos(a/57.3)

sin(θ₁/ 57.3)=-sin (θ_C/57.3)*sin(a/57.3)

By motion platform roll angle φ_COptics is caused to help fall system mounting platform relative to the angle of pitch of the earth's axis and roll angle variable quantity It is respectively as follows: θ₂、φ₂；

By motion platform pitching angle theta_C, roll angle φ_COptics is caused to help fall system mounting platform relative to the angle of pitch of the earth's axis and rolling Angle change resultant θ₀And φ₀It is expressed as:

Optics after motion stabilization platform compensation helps the fall system pitching angle theta relative to runway coordinate system_L, roll angle φ_LRespectively For:

θ_L=b-θ₀

Wherein aircraft b is glissade angle；

3rd, calculate pilot's eye position coordinate under optics helps fall system coordinate system；Fall system is helped by pilot's eye position and optics System coordinate origin coordinate under motion platform runway coordinate system, obtains pilot's eye position opposing optical and helps fall system coordinate system The position of initial point, specifically comprises the following steps that

A) obtain under ground axis coordinate system, the position of pilot's eye position relative motion platform barycenter, obtain pilot's eye position on ground Coordinate on axle-motion platform barycenter coordinate in the earth's axis；

B) coordinate values of required eye site relative motion platform barycenter is changed to initial point be motion platform barycenter, X-axis for fortune The projection on the ground of moving platform body axle, in the right-hand rule coordinate system in the Z-axis direction right side, Y-axis；Transition matrix is:

$\left[\begin{array}{ccc}cos\left(a\right)& 0& sin\left(a\right)\\ 0& 1& 0\\ -\sin \left(a\right)& 0& cos\left(a\right)\end{array}\right]$

C) pitching angle theta moved according to known motion platform, roll angle γ, course angle ψ, by required coordinate values conversion in b) to fortune The transition matrix of moving platform body-axis coordinate system is:

$\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}& -\sin \mathrm{\ψ}\cos \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\γ}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\ψ}\sin \mathrm{\γ}+\sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\γ}\\ \sin \mathrm{\ψ}\cos \mathrm{\γ}+\cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}& -\cos \mathrm{\θ}\sin \mathrm{\γ}& \cos \mathrm{\ψ}\cos \mathrm{\γ}-\sin \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}\end{array}\right]$

D) through above-mentioned conversion, site coordinate values under motion platform body-axis coordinate system has been obtained；Landing runway XZ puts down Face is parallel with motion platform body-axis coordinate system XZ plane, and the X of Two coordinate system, Z axis differ a degree respectively；If wanting to obtain a site Coordinate under landing runway coordinate system, can first obtain a site at origin of coordinate is motion platform barycenter, and X, Y, Z axis is same respectively The coordinate in coordinate system that runway is parallel；Motion platform body-axis coordinate system is to parallel with runway coordinate system through motion platform barycenter Coordinate system transformational relation matrix be:

$\left[\begin{array}{ccc}cos\left(a\right)& 0& -sin\left(a\right)\\ 0& 1& 0\\ sin\left(a\right)& 0& \cos \left(a\right)\end{array}\right]$

E) eye site coordinate figure in runway coordinate system is that on aircraft, each point is motion platform barycenter at origin of coordinate, coordinate axes The coordinate fastened at runway coordinate plus motion platform barycenter with the coordinate figure in the coordinate system that runway is parallel [xpk0, ypk0, zpk0]；

4th, drive optics to help the output of fall system model, show that pilot's eye position helps fall system at optics according to above step Coordinate [xop, yop, zop] under coordinate system, according to

$eps=\frac{yop}{\left|xop\right|}*57.3$

Output result guides the change of lens light.