CN105066986B - A kind of multi-mode uploads the Ground landing system and its control method of system - Google Patents
A kind of multi-mode uploads the Ground landing system and its control method of system Download PDFInfo
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Abstract
The present invention provides the Ground landing systems and its control method that a kind of multi-mode uploads system.It measures subsystem transmission request signal triggering aircraft and carries out response, azimuth sensor and height angle transducer calculate course angle, the elevation angle and the distance of aircraft according to the answer signal received respectively, so that it is determined that spatial position of the target aircraft relative to ground-plane antenna, with reference to the navigation channel planned in advance, deviation of the target aircraft current location relative to expectation approach-way is calculated, and forms guidance information；The configuring condition for the airborne equipment that management and control subsystem passes through in-bound aircraft, scheduling upload the uploading module that subsystem activation matches with the airborne equipment, complete the upload of guidance information.The airborne equipment by means of ILS is not needed to, it can solve the problems, such as that the problem of multiple landing systems are of high cost, erection is difficult is installed on same airport and the airborne landing equipment configuration standard of different type of machines is skimble-scamble, dynamic, flexible configuration so as to fulfill Landing Guidance System.
Description
Technical field
The present invention relates to a kind of Ground landing system and its control methods, are suitable for multi-mode more particularly to one kind
Upload the Ground landing system and its control method of system.
Background technology
There are mainly four types of the landing systems used in the dual-use aviation in China at present：Instrument-landing-system（ILS）、
Microwave landing system（MLS）, decimeter wave instrument landing system system made in Russia and precision approach radar（PAR）.Wherein, ILS is the international people
The international standard landing system that determines of boat tissue, China Civil Aviation Airport are equipped with ILS, and aircarrier aircraft is equipped with its and airborne sets substantially
It is standby, but civil aviaton is without equipment, also without the plan of development MLS and PAR.As for military airfield, nearly all only filled equipped with PAR, ILS
On the fixed airport of joint civil and military airport and part, decimeter wave instrument landing system ground installation made in Russia is only assemblied in Soviet Union's formula takeoff and landing
Machine, MLS ground installations are mainly mounted in important airport；In addition, ensure that the airport of heterogenous is also equipped in a manner that same field is co-located
There are two or more landing systems such as ILS, MLS or made in Russia decimeter wave instrument landing system equipment.
In addition, the General Aviation in China has begun to play an increasingly important role in economy and social development, mesh
General Aviation industrial zone is established in preceding domestic existing more ground one after another, seizes General Aviation industry development opportunity, therefore General Aviation
Demand of the development to airpark, opportunity airfield be very big.And according to international standard for hinge and main line airport, airport
Precision approach landing equipment should all be equipped with ILS, but feeder route airport, airpark, opportunity airfield do not require then.
To sum up, either civil airport or military airfield is still opened the navigation or air flight airport, installs single landing system all to ensureing
The machine of landing has larger limitation, not only limits the scope of activities of aircraft, and also limits and perform earthquake relief work, searches and rescues
Etc. the landing of provisional hot job aircraft；At the same time, if installing the plurality of devices such as ILS, MLS, PAR simultaneously on airport,
So not only installation cost is high, but also plurality of devices compatibility will also bring electromagnetic compatibility, bootstrap change etc. are many to ask
Topic.Therefore, it is necessary to develop a kind of dynamically configurable ground Landing Guidance System, to solve China's aircraft landing system type
The problem of more, incompatible.
See that existing landing system type is more, incompatible according to the military-civil approach and landing system applicable cases in China.
Civil airport can only ensure the aircraft landing equipped with ILS airboarne receivers, it is impossible to ensure that military aircraft implements precision approach landing；
And military airfield, due to history, the aircraft airborne equipment that various years develops also is not quite similar, and type is more, mutually not simultaneous
Hold.And precision approach landing resource difficulty is shared with regard to bigger in military-civil airport.It the more system landing systems in China and deposits, makes at present
The main problem faced in shows the following aspects：
1st, install that multiple landing systems are of high cost, it is difficult to set up on same airport.
Tetra- kinds of ILS, decimeter wave instrument landing system made in Russia, MLS, PAR incompatible systems, can only respectively ensure installation respectively
There is the aircraft of corresponding airborne equipment.Due to the critical importance to land for flight safety, fly in order to which the guiding of same field is a variety of
The scheme of two or more landing equipments is installed on machine, the airport having at present using same airport simultaneously, is carried out multiple systems and is exercised
With, and it is relatively independent between each system, this configuration mode cannot share navigation platform, cause the waste of resource, also add
Ground and the diversity and complexity of Airplane Navigation Equipment.
2nd, the airborne landing equipment configuration standard disunity of different type of machines
It is different since ILS, decimeter wave instrument landing system made in Russia, MLS are the landing system that develops in different times respectively
The airborne equipment that is equipped with of aircraft it is also different and working system is single.In addition, aircraft airborne equipment and airport ground facilities are not
Mating, russian aircraft can only use landing system made in Russia, can not Normal Take-Off And Landing on the airport of no navigation equipment made in Russia.ILS and
MLS also only installed on part airport and part aircraft, be all fitted without on most of airport and aircraft corresponding ground or
Airborne equipment, so there is such case：A small number of aircrafts of airborne equipment are installed in most of airport landing due to not having
Corresponding ground-based navigation aid, can only the landing under simple meteorological condition, limit aircraft can flight time and scope of activities；Or
It is guided using landing radar, low so as to cause efficiency, driver is passive.
At abroad, in addition to above-mentioned ILS, decimeter wave instrument landing system made in Russia, MLS, PAR, ANPC companies of the U.S. are in 1991
Year also design has developed response landing system（Transponder Landing System, TLS）.TLS is using answering machine as base
The I class precision approach navigation system of plinth is greatly improved the availability at airport and boat station, it is more severe to be particularly suitable for natural conditions
Civil airport and interim mobile airport.Typical TLS collection ILS, DME, marker function, into nearly radar function, scheduling radar
Function and the function of scene surveillance radar are.TLS can have by working by the answering machine that must be filled on every airplane
Effect solves the problems, such as that working system is skimble-scamble, but it still will be by means of the airborne equipment of ILS, therefore when uploading guidance information
Its application is still with certain limitation.
Invention content
The technical problem to be solved in the present invention is to provide it is a kind of can cross dynamic, flexible configuration using response landing system as
Basis uploads the earth landing system and its control method of system using multi-mode.
The technical solution adopted by the present invention is as follows：A kind of multi-mode uploads the Ground landing system of system, feature
It is：Including measuring subsystem, management and control subsystem and uploading subsystem；The measurement subsystem is used to calculate aircraft current location
Relative to the deviation of expectation approach-way, and form guidance information；The management and control subsystem is divided by network interface with measuring respectively
System and upload subsystem communication carry out, and scheduling uploads subsystem, activates the uploading module to match with the airborne equipment, completes
Guidance information uploads to target aircraft；
The measurement subsystem measures subsystem for response formula, and response is carried out come really by sending request signal triggering aircraft
Set the goal the spatial position of aircraft；
The upload subsystem includes, for completing the PAR uploading modules of PAR mode boots information upload, for completing
The ILS uploading modules that ILS mode boots information uploads, the decimetric wave for completing the upload of decimetric wave mode boot information upload mould
Block and the MLS uploading modules for completing the upload of MLS mode boots information.
Preferably, the measurement subsystem includes request signal sending module, answer signal receiving module, spatial position
Computing module and guidance information generation module.
Preferably, the subsystem that uploads further includes to complete the upload of integrated data link I pattern formulas guidance information
Integrated data link I type uploading modules.
Preferably, the subsystem that uploads further includes to complete the S moulds that S mode data-link mode boot information uploads
Formula data-link uploading module.
Preferably, the management and control subsystem includes management and control processing host, operation bench, indication control board and interface control module；
The interface control module is used to meet existing data transmission.
The control method of the Ground landing system of system is uploaded based on above-mentioned multi-mode, specific method step is：
Response is carried out Step 1: measuring subsystem and sending request signal triggering aircraft；
Step 2: measurement subsystem azimuth sensor and height angle transducer are counted respectively according to the answer signal received
Course angle, the elevation angle and the distance of aircraft are calculated, so that it is determined that spatial position of the target aircraft relative to ground-plane antenna；
Step 3: measuring subsystem combines the navigation channel planned in advance, target aircraft current location is calculated relative to expectation
The deviation of approach-way, and form guidance information；
Step 4: the configuring condition for the airborne equipment that management and control subsystem passes through in-bound aircraft, scheduling uploads subsystem activation
The uploading module to match with the airborne equipment completes the upload of guidance information；
Upload subsystem, deviation information of the PAR uploading modules based on aircraft position and the preferable final circle of deviation, guiding
The aircraft position and deviate downslide navigation channel data that member's observation management and control subsystem display provides, using ultrashort wave radio set, with speech
Mode vectored flight person completes to land；Deviation information of the ILS uploading modules based on aircraft position and the preferable final circle of deviation, with
ILS signal form uploads course, downslide and marker beacon signal, and vectored flight person is completed to land by ILS landing procedures；Decimetric wave
Deviation information of the uploading module based on aircraft position and the preferable final circle of deviation, is uploaded with decimeter wave instrument landing system signal format
Course, downslide and distance measuring signal, vectored flight person are completed to land by decimeter wave instrument landing system program；MLS uploading modules are based on flying
The deviation information of preferable final circle is put and deviateed in seat in the plane, and orientation, the elevation angle and range information, guiding are uploaded with MLS signal formats
Pilot is completed to land by MLS landing procedures.
Preferably, the method further includes：It measures subsystem and sends one to azimuth sensor and height angle transducer
A pulse provides calibration reference value, solves the slight error in measuring device work, and set verification threshold value, is surveyed with detecting
Measure whether device exceeds threshold value.
Preferably, the method further includes：The integrated data link I type uploading modules of subsystem are uploaded, based on what is measured
Aircraft position and deviation downslide navigation channel data, simulation crosspointer is shown on airborne integrated display, and vectored flight person completes to land.
Preferably, the method further includes：Offset approach method is used to avoid in the step 3 populous
Sensitizing range forms guidance information.
Preferably, the method further includes：Number and closed-loop process are used in the step 3 to correct
Interference of the influence of terrain and its features to radio frequency forms guidance information.
Preferably, the specific works method and step of the management and control subsystem is：
（1）System initialization, includes the refreshing at software guiding interface, initial value setting, and azimuth angle error and elevation angle are missed
The distribution of relevant data space in the refreshing at poor interface and software；The setting of parameter is realized using configuration file；
（2）System self-test, management and control software send self-checking command, measurement subsystem, main measurement subsystem are transmitted to by network interface
After handling instruction, request signal is triggered, after calibration/interior survey device receives request signal, sends answer signal, azimuth passes
Sensor and height angle transducer receive answer signal and handle, and handling result is transmitted to measurement subsystem by interface, and measurement point is
System is handled receiving data, and processing data then are returned to management and control software, complete System self-test；
（3）System calibration after self-test works, by the operation bench of management and control subsystem, sends calibration command, self-test
The practical metrical information that journey obtains is compared with preset location information, and the control information of extraction system passes through orientation in this way
The real data that angle transducer and height angle transducer measure forms true measurement data together with systematic error, initialization system
Deviation threshold completes system calibration；
（4）Target following, System self-test and after calibrating successfully, TLS start to landing aircraft into line trace；TLS, which is measured, to be divided
The data of system pass to management and control subsystem, the management and control subsystem docking collection of letters number analysis, in line traffic control platform after treatment, by interface
The aircraft track of upper display tracking, including height angle tracking and Bearings tracking；ID number of the information including aircraft of flight path reaction,
Highly, course and distance；
（5）Trajectory planning installs the measurement subsystem equipment of TLS, is obtained by measuring instrument and measures subsystem each section
With the position of runway and the terrain information on runway periphery, these terrain informations are inputted into management and control software, according to Path Planning
I.e. existing glide path planning principle and method solve situation of the interim airplane without default flight path, cook up landing glide road；
TLS vector aircrafts into it is near when, using this flight path as reference standard, measured value is compared with reference value, obtains vectoring error, finally
Error is uploaded by different configurations；
（6）The data received are managed and recorded by data management and record, for comparative analysis and backup, number
Include data search, rejecting, update and comparison according to management；
（7）Upload configuration, upload mode have PAR bootmodes, ILS bootmodes, decimetric wave landing pattern, MLS guiding
Pattern and data-link bootmode, according to the configuring condition of the airborne equipment of in-bound aircraft, the matched upload mode of dynamic select；
（8）Working Status Monitoring supervises the working condition for measuring subsystem, management and control subsystem and upload subsystem
Depending on, relevant information is shown on indication control board, judges the working condition of each system, including：
a）It measures and the working condition of management and control subsystem monitors
Azimuth sensor and height angle transducer handle calibration/interior signal for surveying device transmission, handling result
It send to management and control software, by the setting of error threshold, using calibration/interior actual height angle for surveying device and azimuth information, sentences
The disconnected working condition for measuring subsystem；When height angle error and azimuth angle error are more than set threshold value, show to measure and divide
System no longer works normally since error is excessive, and alarm indicator provides prompt message, and terminates guiding；
The working condition monitoring of management and control subsystem mainly includes initialization, self-test, calibration, tracking, azimuth angle error and height
Spend angle error；
b）Upload the working condition monitoring of subsystem
The working condition for uploading subsystem sends management and control subsystem to by interface, and state is carried out to it by management and control subsystem
Monitoring, the content of monitoring include timestamp, aircraft ID number, orientation, distance, height, azimuth angle error and height angle error.
Compared with prior art, the beneficial effects of the invention are as follows：The airborne equipment by means of ILS is not needed to, can be solved
The problem of multiple landing systems are of high cost, erection is difficult and the airborne landing equipment configuration mark of different type of machines are installed on same airport
Accurate skimble-scamble problem, dynamic, flexible configuration so as to fulfill Landing Guidance System.Meet army's boat, civil aviaton and General Aviation
Demand into nearly landing guidance for pushing development and progress of China's aviation into nearly navigation landing technology, has important
Society and economic implications.
Description of the drawings
Fig. 1 is that the multi-mode of a wherein embodiment of the invention uploads the Ground landing system operation principle signal of system
Figure.
Fig. 2 is the system block diagram of embodiment illustrated in fig. 1.
Fig. 3 is the management and control subsystem initialization flowchart of a wherein embodiment of the invention.
Fig. 4 is the management and control subsystem System self-test flow chart of a wherein embodiment of the invention.
Fig. 5 is the management and control subsystem system calibration flow chart of a wherein embodiment of the invention.
Fig. 6 is the management and control subsystem trajectory planning flow chart of a wherein embodiment of the invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
This specification（Including abstract and attached drawing）Disclosed in any feature, unless specifically stated, can be equivalent by other
Or the alternative features with similar purpose are replaced.That is, unless specifically stated, each feature is a series of equivalent or class
Like an example in feature.
Multi-mode as depicted in figs. 1 and 2 uploads the Ground landing system and its control method of system, including measuring
Subsystem, management and control subsystem and upload subsystem；It is described measurement subsystem for calculate aircraft current location relative to it is expected into
The deviation in field path, and form guidance information；The management and control subsystem is divided by network interface with measuring subsystem and uploading respectively
System communication carries out, and scheduling uploads subsystem, and the uploading module that activation matches with the airborne equipment is completed guidance information and uploaded
To target aircraft；The measurement subsystem measures subsystem for response formula, and response is carried out by sending request signal triggering aircraft
To determine the spatial position of target aircraft；The upload subsystem includes, for completing the PAR of PAR mode boots information upload
Uploading module, for completing the ILS uploading modules of ILS mode boots information upload, for completing decimetric wave mode boot information
The decimetric wave uploading module of upload and the MLS uploading modules for completing the upload of MLS mode boots information.
In this embodiment, during work, overall scheduling and management are carried out to system by management and control subsystem first, by surveying
The request signal triggering target aircraft that amount subsystem sends 1030MHz carries out response, azimuth sensor and height angle transducer
Course angle, the elevation angle and the distance of aircraft are calculated respectively according to the answer signal received, so that it is determined that aircraft is relative to ground
The spatial position of antenna；Then in conjunction with the navigation channel planned in advance, system-computed goes out aircraft current location relative to it is expected to march into the arena road
The deviation of diameter, and form guidance information；The configuring condition for the airborne equipment that management and control subsystem passes through in-bound aircraft at this time, scheduling
The uploading module that subsystem activation matches with the airborne equipment is uploaded, the upload of guidance information is completed, so as to which vector aircraft is pressed
Preset path efficiently solves the problems, such as that the airborne landing equipment configuration standard of different type of machines is skimble-scamble and same near and land
One airport is installed by the problem of multiple landing systems are of high cost, erection is difficult.
The measurement subsystem includes request signal sending module, answer signal receiving module, spatial position computing module
With guidance information generation module.It measures subsystem and provides measurement data for entire response landing system, measurement data is passed through into net
Management and control subsystem is given in oral instructions.
In this embodiment, answer signal receiving module includes height angle transducer and azimuth sensor.Inquiry
After signal transmitting module is connected to processing Host Command, emit 1030MHz request signals.The reception of height angle transducer comes from aircraft
1090MHz answer signal, for the distance and height of survey aircraft, share 4 vertical alternate antennas, provide 3 not
With altitude angle measurements value（It is basic, normal, high）.Azimuth sensor reception comes from the answer signal of the 1090MHz of aircraft, for surveying
The distance and bearing of aircraft is measured, 3 alternate antennas of level is shared, two different azimuth determination values is provided（It is low and high）.
In this embodiment, it measures subsystem and further includes calibration/interior survey device, to azimuth sensor and elevation angle
Sensor sends a pulse, provides calibration reference value, solves the slight error in measuring device work, and set verification thresholding
Value, whether to detect measuring device beyond threshold value.
Measure subsystem data processing module to the data from azimuth sensor and height angle transducer at
Reason using Data fusion technique, using modes such as Kalman filterings, obtains more accurate measurement data.
Management and control subsystem is made of management and control processing host, operation bench, indication control board and interface control module.In this specific implementation
In example, interface control module goes back the interface outside retention in addition to existing data transmission is met, and is verified for subsequent system.
Management and control subsystem is communicated by network interface with measuring subsystem and uploading subsystem respectively, measures subsystem general side
The information such as position, height, distance, pattern 3/A information and systematic error are transmitted to management and control subsystem, are shown on interface by management and control subsystem
Show, the guide tracks of aircraft and the difference of desired trajectory can be reacted.
The specific works method and step of the management and control subsystem is：
（1）System initialization, as shown in Figure 1, include the refreshing at software guiding interface, initial value setting, azimuth angle error
The distribution of relevant data space in refreshing and software with elevation angle error interface；Utilize configuration file（.xml
Or .ini etc.）Realize the setting of parameter；If system initialization is unsuccessful, then subsequent self-test, calibration, tracking operation will not
Give execution；
（2）As shown in figure 4, management and control software sends self-checking command, measurement subsystem is transmitted to by network interface for System self-test, main
After subsystem is measured to instruction processing, 1030MHz request signals are triggered, after calibration/interior survey device receives request signal, are sent
1090MHz answer signals, azimuth sensor and height angle transducer receive answer signal and handle, and handling result passes through interface
Measurement subsystem is transmitted to, subsystem is measured and handles receiving data, processing data are then returned into management and control software, are completed
System self-test, management and control software receive data information, show System self-test success；
（3）System calibration as shown in figure 5, after self-test works, by the operation bench of management and control subsystem, sends calibration
Instruction, the practical metrical information that process of self-test obtains（Highly, orientation）It is compared with preset location information, extraction system
Control information, the real data measured in this way by azimuth sensor and height angle transducer are formed very together with systematic error
Actual measured amount data, the deviation threshold of initialization system complete system calibration；When actual deviation is more than deviation threshold, system calibration
Failure；
（4）Target following, System self-test and after calibrating successfully, TLS start to landing aircraft into line trace；TLS, which is measured, to be divided
The data of system pass to management and control subsystem, the management and control subsystem docking collection of letters number analysis, in line traffic control platform after treatment, by interface
The aircraft track of upper display tracking, including height angle tracking and Bearings tracking；ID number of the information including aircraft of flight path reaction,
Highly, course and distance；
（5）Trajectory planning, as shown in fig. 6, the measurement subsystem equipment of installation TLS, passes through measuring instrument（As optics is determined
Position instrument etc.）It obtains and measures subsystem each section and the position of runway and the terrain information on runway periphery（High building, massif, river
Deng）, these terrain informations are inputted into management and control software, according to Path Planning, that is, existing glide path planning principle and method,
Situation of the interim airplane without default flight path is solved, cooks up landing glide road；TLS vector aircrafts into it is near when, using this flight path as ginseng
Standard is examined, measured value is compared with reference value, obtains vectoring error, finally uploads error by different configurations；
（6）The data received are managed and recorded by data management and record, for comparative analysis and backup, number
Include data search, rejecting, update and comparison according to management；
（7）Upload configuration, upload mode have PAR bootmodes, ILS bootmodes, decimetric wave landing pattern, MLS guiding
Pattern and data-link bootmode, according to the configuring condition of the airborne equipment of in-bound aircraft（Approach tower provides）, dynamic select
Matched upload mode；
（8）Working Status Monitoring supervises the working condition for measuring subsystem, management and control subsystem and upload subsystem
Depending on showing relevant information on indication control board, passing through the dispaly state of different colours, to judge the working condition of each system, packet
It includes：
a）It measures and the working condition of management and control subsystem monitors
Azimuth sensor and height angle transducer handle calibration/interior 1090MHz signals for surveying device transmission, locate
Reason result is sent to management and control software, by the setting of error threshold, is believed using calibration/interior actual height angle for surveying device and azimuth
Breath judges to measure the working condition of subsystem；When height angle error and azimuth angle error are more than set threshold value, show to survey
Subsystem is measured since error is excessive, is no longer worked normally, alarm indicator provides prompt message, and terminates guiding；
The working condition monitoring of management and control subsystem mainly includes initialization, self-test, calibration, tracking, azimuth angle error and height
Spend angle error；
b）Upload the working condition monitoring of subsystem
The working condition for uploading subsystem sends management and control subsystem to by interface, and state is carried out to it by management and control subsystem
Monitoring, the content of monitoring include timestamp, aircraft ID number, orientation, distance, height, azimuth angle error and height angle error.
The core application that subsystem is patent of the present invention is uploaded, the design for uploading subsystem directly solves different type of machines machine
It carries the skimble-scamble problem of land device configuration standard and installs that multiple landing systems are of high cost, it is difficult to set up on same airport
Problem.
Subsystem is uploaded to be managed and dispatched by management and control subsystem, according to the configuring condition of in-bound aircraft airborne equipment,
Scheduling uploads the uploading module that subsystem activation matches with the airborne equipment, completes the upload of guidance information, winged so as to guide
Machine presses preset path near and landing.Specifically, the uploading module of different mode will measure obtained aircraft position deviation information
It is modeled to PAR speeches, integrated data link I types, S mode data-link, ILS, decimetric wave landing, MLS signal formats and guiding side
Formula is transmitted by corresponding transmitting antenna to aircraft.
PAR uploading modules：The response landing system survey aircraft position of system and deviation ideal are uploaded based on multi-mode
The deviation information in land course line, pilot observe aircraft position and the deviation downslide navigation channel data that management and control subsystem display provides,
Using ultrashort wave radio set, vectored flight person completes to land in a manner of speech.
ILS uploading modules：Applied to the aircraft equipped with ILS airborne equipments, based on aircraft position and deviate preferable boat of landing
The deviation information of line uploads course, downslide and marker beacon signal with ILS signal form, and vectored flight person presses ILS landing procedures
It completes to land.
Decimetric wave uploading module：Applied to the aircraft equipped with decimeter wave instrument landing system airborne equipment, based on aircraft position and
Deviate the deviation information of preferable final circle, course, downslide and distance measuring signal are uploaded with decimeter wave instrument landing system signal format, drawn
Pilot is led to complete to land by decimeter wave instrument landing system program.
MLS uploading modules：Applied to the aircraft equipped with MLS airborne equipments, based on aircraft position and deviate preferable boat of landing
The deviation information of line uploads orientation, the elevation angle and range information with MLS signal formats, and vectored flight person is completed by MLS landing procedures
It lands.
Integrated data link I type uploading modules：Applied to the aircraft of the S mode equipped with air traffic control radar or integrated data link I types,
Based on the aircraft position measured and deviate downslide navigation channel data, crosspointer is simulated on airborne integrated display and is shown, vectored flight
Member completes to land.
The subsystem that uploads further includes to complete the S mode data-link that S mode data-link mode boot information uploads
Uploading module.
The method further includes：Populous sensitizing range, shape are avoided using offset approach method in the step 3
Into guidance information.It can realize and deviate near, reduce the influence of noise to city
With booming and Process of Urbanization Construction paces the quickening of China's economic, urban planning is easy with airport planning
Generate certain contradiction.Than if any airport it is nearer far from city, the landing stage just not only brings urban safety in city overhead
Extreme influence can also generate very big noise, the environment of surrounding be influenced greatly, to reduce influence of the noise to residential block.This
The invention upload of the multi-mode based on the response landing system system design method, which may be used, to be deviated into closely to avoid population
Numerous sensitizing ranges deviates into nearly angle maximum and can reach 15 °.
The method further includes：Number and closed-loop process are used in the step 3 to correct terrain and its features
The interference to radio frequency is influenced, forms guidance information.It can solve and enrich the navigation configuration of Airport in Mountain Region.
Airport in Mountain Region by peripheral obstacle due to will be influenced, general navigational facility（Such as ILS）It is difficult to play it to answer
Play the role of, it is possible to be interfered by multipath, so as to be distorted ILS radiation patterns, lead to bend, fan pendulum and tremble
It is dynamic, influence the safety of flight.For example Linzhi airport is located on the river shoal terrace of Yarlungzangbo Jiangnan bank, runway both sides are height above sea level
The unbroken high mountains of 5000m or so, both ends are the straight line river valley area for being about 20km, wide about 2~5km, under such landform, signal
It is very likely radiated by massif and reflects again and form multipath interference, and multipath interference almost can not in ILS
It eliminates, in such case, uploading system design method using the multi-mode of the present invention based on response landing system will
More advantage, by using number, the technology of closed loop to correct interference of the influence to radio frequency of terrain and its features,
The terrain and its features such as massif and marshland around therefore will not have an impact system of the present invention.
Important technology reference can be provided for inexpensive feeder route airport addressing.Much regional mountain is mostly few in China, particularly
Western most area is known as the saying of " without three rulers put down ", and very big difficulty is brought to airport site choice work.Due to being hindered
Hinder the limitation of object, what airport some carried with building river valley in build on ridge, build river valley area in, and headroom processing is difficult, and
Easily generate multipath interference problem.It build on ridge, construction cost is high, and traffic uses and safeguards inconvenience.Some proposed machines
Field even causes engineering project that can not build since headroom processing quantities is too big.For example kangding airport is due to radius
Without suitable site in the range of 50km, it has to be selected in site on more than 4200 meters of mountain.In existing navigational facility,
Airport will generally be handled barrier according to the site requirements of navigational facility, actually using removing barrier
Method.And the multi-mode of the present invention based on response landing system uploads system design method using mobile flight road
Diameter can also be supported non-linear near and be segmented near in the method for avoiding obstacles, each straight line segment be connected, some barriers
Hinder object that can not process or handle less, the expense of a large amount of cubic metre of earth and stone processing can be saved.
It can meet the growth requirement of General Aviation.Low altitude airspace opens, General Aviation great development, the demand on airport
Greatly, low cost, the adaptable response landing system that system design method is uploaded based on multi-mode of the present invention in place
Construction demand especially suitable for opportunity airfield, small airport.
Mountain is suitably applied in since the multi-mode of the present invention based on response landing system uploads system design method
Area airport, and its installation has great flexibility, takes up an area also smaller.West area Duo Shan is bordered on multiple countries,
Strategic position is again very strategically located and difficult of access, and west area is influenced by landform and other factors at present, and military airfield is on the low side, needs to build more
Military airfield.It is peculiar that response landing system based on multi-mode of the present invention upload system design method will play its
Effect.In addition be transformed on the basis of system of the present invention design could be applicable to military affairs, rescue and relief work, search and
Activities, the simple installations such as rescue are quick, it is only necessary to which installation, debugging, calibration and in remote machine can be completed in 3 people in 6 hours
Field carries out system operatio.
In addition, China is the country that one vast in territory, produce are abundant, tourist resources is also very abundant, in order to promote to pass through
The good development that Ji is built, the facility for increasing traffic that builds an airport on a plurality of trunk navigation channel and agility are also preferable way
One of diameter.As economic construction of China and development plan need, it will there is more and more various types of airport needs
It builds, the response landing system that system design method is uploaded based on multi-mode of the present invention will also be sent out in airport construction
Wave larger effect.
Claims (9)
1. a kind of multi-mode uploads the Ground landing system of system, it is characterised in that：Including measuring subsystem, management and control point is
System and upload subsystem；The subsystem that measures is used to calculate deviation of the aircraft current location relative to expectation approach-way,
And form guidance information；The management and control subsystem is communicated by network interface with measuring subsystem and uploading subsystem respectively, is adjusted
Degree uploads subsystem, and the uploading module that activation matches with airborne equipment completes guidance information and uploads to target aircraft；
The measurement subsystem measures subsystem for response formula, triggers aircraft and carry out response determining mesh by sending request signal
Mark the spatial position of aircraft；
The upload subsystem includes, for completing the PAR uploading modules of PAR mode boots information upload, for completing ILS moulds
The ILS uploading modules that formula guidance information uploads, for completing the decimetric wave uploading module of decimetric wave mode boot information upload, with
And the MLS uploading modules for completing the upload of MLS mode boots information；
The specific works method and step of the management and control subsystem is：
（1）System initialization includes the refreshing at software guiding interface, initial value setting, azimuth angle error and elevation angle error bounds
The distribution of relevant data space in the refreshing in face and software；The setting of parameter is realized using configuration file；
（2）System self-test, management and control software send self-checking command, are transmitted to measurement subsystem by network interface, main measurement subsystem is to referring to
After order processing, request signal is triggered, after calibration/interior survey device receives request signal, sends answer signal, azimuth sensor
Answer signal is received with height angle transducer and is handled, and handling result is transmitted to measurement subsystem by interface, measures subsystem pair
It receives data to be handled, processing data is then returned into management and control software, complete System self-test；
（3）System calibration after self-test works, by the operation bench of management and control subsystem, sends calibration command, process of self-test obtains
To practical metrical information be compared with preset location information, the control information of extraction system is passed in this way by azimuth
The real data that sensor and height angle transducer measure forms true measurement data, the deviation of initialization system together with systematic error
Thresholding completes system calibration；
（4）Target following, System self-test and after calibrating successfully, TLS start to landing aircraft into line trace；TLS measures subsystem
Data after treatment, management and control subsystem is passed to by interface, the docking of management and control subsystem is collected mail a number analysis, is shown on line traffic control platform
Show the aircraft track of tracking, including height angle tracking and Bearings tracking；The information of flight path reaction includes the ID number of aircraft, height
Degree, course and distance；
（5）Trajectory planning installs the measurement subsystem equipment of TLS, is obtained by measuring instrument and measures subsystem each section with running
These terrain informations are inputted management and control software by the position in road and the terrain information on runway periphery, i.e. existing according to Path Planning
Some glide path planning principles and method solve situation of the interim airplane without default flight path, cook up landing glide road；TLS draws
Lead aircraft into it is near when, using this flight path as reference standard, measured value is compared with reference value, obtains vectoring error, finally will accidentally
Difference is uploaded by different configurations；
（6）The data received are managed and recorded, for comparative analysis and backup, data pipe by data management and record
Reason includes data search, rejecting, update and comparison；
（7）Upload configuration, upload mode have PAR bootmodes, ILS bootmodes, decimetric wave landing pattern, MLS bootmodes
With data-link bootmode, according to the configuring condition of the airborne equipment of in-bound aircraft, the matched upload mode of dynamic select；
（8）Working Status Monitoring, to measure subsystem, management and control subsystem and upload subsystem working condition monitor,
Relevant information is shown on indication control board, judges the working condition of each system, including：
a）It measures and the working condition of management and control subsystem monitors
Azimuth sensor and height angle transducer are surveyed calibration/interior the signal that device is sent and are handled, handling result send to
Management and control software by the setting of error threshold, using calibration/interior actual height angle for surveying device and azimuth information, judges to survey
Measure the working condition of subsystem；When height angle error and azimuth angle error are more than set threshold value, show to measure subsystem
It since error is excessive, no longer works normally, alarm indicator provides prompt message, and terminates guiding；
The working condition monitoring of management and control subsystem includes initialization, self-test, calibration, tracking, azimuth angle error and height angle error；
b）Upload the working condition monitoring of subsystem
The working condition for uploading subsystem sends management and control subsystem to by interface, and state prison is carried out to it by management and control subsystem
Depending on the content of monitoring includes timestamp, aircraft ID number, orientation, distance, height, azimuth angle error and height angle error.
2. multi-mode according to claim 1 uploads the Ground landing system of system, it is characterised in that：The measurement
Subsystem includes request signal sending module, answer signal receiving module, spatial position computing module and guidance information generation mould
Block.
3. multi-mode according to claim 1 uploads the Ground landing system of system, it is characterised in that：The upload
Subsystem further includes the integrated data link I type uploading modules for completing the upload of integrated data link I pattern formulas guidance information.
4. multi-mode according to claim 1 uploads the Ground landing system of system, it is characterised in that：The upload
Subsystem further includes the S mode data-link uploading module for completing the upload of S mode data-link mode boot information.
5. multi-mode according to claim 1 uploads the Ground landing system of system, it is characterised in that：The management and control
Subsystem includes management and control processing host, operation bench, indication control board and interface control module；The interface control module is existing for meeting
Some data transmissions.
6. the control method of the Ground landing system of system, specific method are uploaded based on multi-mode described in claim 1
Step is：
Response is carried out Step 1: measuring subsystem and sending request signal triggering aircraft；
Step 2: measurement subsystem azimuth sensor and height angle transducer calculate respectively according to the answer signal received
Course angle, the elevation angle and the distance of aircraft, so that it is determined that spatial position of the target aircraft relative to ground-plane antenna；
Step 3: measuring subsystem combines the navigation channel planned in advance, calculate target aircraft current location and march into the arena relative to expectation
The deviation in path, and form guidance information；
Step 4: the configuring condition for the airborne equipment that management and control subsystem passes through in-bound aircraft, scheduling uploads subsystem activation and machine
The uploading module that equipment matches is carried, completes the upload of guidance information；
Subsystem, deviation information of the PAR uploading modules based on aircraft position and the preferable final circle of deviation are uploaded, pilot sees
The aircraft position and deviate downslide navigation channel data that test tube control subsystem display provides, using ultrashort wave radio set, in a manner of speech
Vectored flight person completes to land；Deviation information of the ILS uploading modules based on aircraft position and the preferable final circle of deviation, with ILS
Signal format uploads course, downslide and marker beacon signal, and vectored flight person is completed to land by ILS landing procedures；On decimetric wave
Deviation information of the transmission module based on aircraft position and the preferable final circle of deviation, is uploaded with decimeter wave instrument landing system signal format and navigated
To, glide and distance measuring signal, vectored flight person by decimeter wave instrument landing system program complete land；MLS uploading modules are based on aircraft
Position and the deviation information for deviateing preferable final circle upload orientation, the elevation angle and range information with MLS signal formats, and guiding flies
Office staff is completed to land by MLS landing procedures：
The specific works method and step of the management and control subsystem is：
（1）System initialization includes the refreshing at software guiding interface, initial value setting, azimuth angle error and elevation angle error bounds
The distribution of relevant data space in the refreshing in face and software；The setting of parameter is realized using configuration file；
（2）System self-test, management and control software send self-checking command, are transmitted to measurement subsystem by network interface, main measurement subsystem is to referring to
After order processing, request signal is triggered, after calibration/interior survey device receives request signal, sends answer signal, azimuth sensor
Answer signal is received with height angle transducer and is handled, and handling result is transmitted to measurement subsystem by interface, measures subsystem pair
It receives data to be handled, processing data is then returned into management and control software, complete System self-test；
（3）System calibration after self-test works, by the operation bench of management and control subsystem, sends calibration command, process of self-test obtains
To practical metrical information be compared with preset location information, the control information of extraction system is passed in this way by azimuth
The real data that sensor and height angle transducer measure forms true measurement data, the deviation of initialization system together with systematic error
Thresholding completes system calibration；
（4）Target following, System self-test and after calibrating successfully, TLS start to landing aircraft into line trace；TLS measures subsystem
Data after treatment, management and control subsystem is passed to by interface, the docking of management and control subsystem is collected mail a number analysis, is shown on line traffic control platform
Show the aircraft track of tracking, including height angle tracking and Bearings tracking；The information of flight path reaction includes the ID number of aircraft, height
Degree, course and distance；
（5）Trajectory planning installs the measurement subsystem equipment of TLS, is obtained by measuring instrument and measures subsystem each section with running
These terrain informations are inputted management and control software by the position in road and the terrain information on runway periphery, i.e. existing according to Path Planning
Some glide path planning principles and method solve situation of the interim airplane without default flight path, cook up landing glide road；TLS draws
Lead aircraft into it is near when, using this flight path as reference standard, measured value is compared with reference value, obtains vectoring error, finally will accidentally
Difference is uploaded by different configurations；
（6）The data received are managed and recorded, for comparative analysis and backup, data pipe by data management and record
Reason includes data search, rejecting, update and comparison；
（7）Upload configuration, upload mode have PAR bootmodes, ILS bootmodes, decimetric wave landing pattern, MLS bootmodes
With data-link bootmode, according to the configuring condition of the airborne equipment of in-bound aircraft, the matched upload mode of dynamic select；
（8）Working Status Monitoring, to measure subsystem, management and control subsystem and upload subsystem working condition monitor,
Relevant information is shown on indication control board, judges the working condition of each system, including：
a）It measures and the working condition of management and control subsystem monitors
Azimuth sensor and height angle transducer are surveyed calibration/interior the signal that device is sent and are handled, handling result send to
Management and control software by the setting of error threshold, using calibration/interior actual height angle for surveying device and azimuth information, judges to survey
Measure the working condition of subsystem；When height angle error and azimuth angle error are more than set threshold value, show to measure subsystem
It since error is excessive, no longer works normally, alarm indicator provides prompt message, and terminates guiding；
The working condition monitoring of management and control subsystem includes initialization, self-test, calibration, tracking, azimuth angle error and height angle error；
b）Upload the working condition monitoring of subsystem
The working condition for uploading subsystem sends management and control subsystem to by interface, and state prison is carried out to it by management and control subsystem
Depending on the content of monitoring includes timestamp, aircraft ID number, orientation, distance, height, azimuth angle error and height angle error.
7. multi-mode according to claim 6 uploads the Ground landing system control method of system, the method is also
Including：It measures subsystem and sends a pulse to azimuth sensor and height angle transducer, calibration reference value is provided, solve to survey
The slight error in device work is measured, and verification threshold value is set, whether to detect measuring device beyond threshold value.
8. multi-mode according to claim 6 uploads the Ground landing system control method of system, the method is also
Including：The integrated data link I type uploading modules of subsystem are uploaded, based on the aircraft position measured and deviate downslide navigation channel data,
It simulates crosspointer on airborne integrated display to show, vectored flight person completes to land.
9. multi-mode according to claim 6 uploads the Ground landing system control method of system, the method is also
Including：In the step 3：Populous sensitizing range is avoided using offset approach method, forms guidance information；Or, it uses
Number and closed-loop process form guidance information to correct interference of the influence to radio frequency of terrain and its features.
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| US10625876B2 (en) * | 2018-08-08 | 2020-04-21 | Aurora Flight Sciences Corporation | Aircraft landing systems and methods for monitoring a vertical landing of an aircraft |
| CN112630775B (en) * | 2020-12-01 | 2021-07-09 | 北京航天驭星科技有限公司 | Method and system for measuring distance of target flying object |
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