CN105203075B - Radio altimeter altimetry data fusion system and method for measuring high - Google Patents

Radio altimeter altimetry data fusion system and method for measuring high Download PDF

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CN105203075B
CN105203075B CN201510587649.2A CN201510587649A CN105203075B CN 105203075 B CN105203075 B CN 105203075B CN 201510587649 A CN201510587649 A CN 201510587649A CN 105203075 B CN105203075 B CN 105203075B
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aircraft
value
time
thread
radio
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CN105203075A (en
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朱佳程
王洪涛
刘飞
陈博
荣涛
刘辉
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北京安达维尔航空设备有限公司
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Abstract

本发明提供一种无线电高度表数据融合测高系统以及测高方法,无线电高度表数据融合测高系统包括:处理器、无线电高度测量单元、陀螺仪、加速度计以及气压计;所述处理器分别与所述无线电高度测量单元、所述陀螺仪、所述加速度计以及所述气压计连接。 The present invention provides a radio altimeter altimeter data fusion system and method for measuring high, radio altimeter altimetry data fusion system comprising: a processor, radio altitude measurement unit, a gyroscope, an accelerometer and a barometer; each said processor measuring the height of the radio unit, the gyroscope, the accelerometer and the air pressure gauge is connected. 优点为:通过对基础的飞行器无线高度值、飞行器倾斜角度值、飞行器加速度值以及飞行器气压高度值进行数据融合,保证在地面情况复杂时向飞行器提供合理的对地绝对高度值,并在大机动飞行时提供准确的对地绝对高度值,提高了飞行器的飞行安全性。 Advantages: the wireless height value based on the aircraft, the inclination angle value of the aircraft, the acceleration value of the aircraft and the aircraft pressure altitude value data fusion, to ensure reasonable ground absolute height value to the aircraft on the ground complicated, and highly maneuverable provide highly accurate absolute value of the flight, improve the flight safety of the aircraft.

Description

无线电高度表数据融合测高系统以及测高方法 Radio altimeter altimetry data fusion system and method for measuring high

技术领域_ _ FIELD _ _

[0001] 本发明属于飞行器高度测量技术领域,具体涉及一种无线电高度表数据融合测高系统以及测高方法。 [0001] The present invention belongs to the technical field of aircraft height measurement, particularly, to a radio altimeter altimetry data fusion system and method for measuring high.

背景技术_ Background technique_

[0002] 无线电高度表是航空航天飞行器重要的电子设备之一,主要用于测量飞行器的绝对高度。 [0002] The radio altimeter is one of the important aerospace vehicle electronic equipment, mainly used for measuring the absolute height of the aircraft. 无线电高度表的工作原理为:利用无线电波反射原理工作,具体的,在飞机上装有无线电发射机及无线电接收机,测量时,无线电发射机经发射天线向地面发射无线电波,无线电接收机将先后接收到的由无线电发射机直接传来的电波和经地面反射回的回波进行比较,两束电波存在有时间差。 Radio altimeter operating principle: the use of a radio wave reflection principle, specifically, with a radio transmitter and a radio receiver on the plane, when measured radio transmitter transmits radio waves via the transmission antenna to the ground, we will have a radio receiver received by the radio transmitter and a radio wave directly transmitted from the ground by comparing echo reflected back, there is the time difference between two beams of radio waves. 如果电波在传送过程中没有受到干扰,时间差正比于被测高度,由于电波传播的速度为恒值,因此,可测量得到飞行器当前对地面的绝对高度。 If there is no radio interference during transmission, the time difference is proportional to the measured height, the speed of wave propagation due to a constant level, therefore, the current can be measured to give an absolute altitude of the aircraft on the ground.

[0003] 精确实时测量飞行器的绝对高度,是决定飞行器控制精度和系统稳定性的关键参数。 [0003] accurate real time measurement of the absolute altitude of the aircraft, the aircraft is determined to control key parameters of the system stability and accuracy. 现有的无线电高度表在测量飞行器的绝对高度时,具有低高度测高准确的特点;但是, 当飞行航线经过高楼或深沟时,或者,当飞机进行大俯仰、大横滚机动飞行时,会出现无线电高度表测高不准的现象,进而影响飞行器控制精度和系统稳定性,严重时,甚至会危及飞行器的飞行安全,如何解决上述问题,是目前迫切需要解决的问题。 Existing radio altimeter in the measurement of the absolute altitude of the aircraft, with a low height with high accuracy measurement characteristics; however, when the flight path passes tall buildings or deep, or when large aircraft pitch, roll big time maneuvers, there will be a radio altimeter altimeter allowed the phenomenon, thereby affecting the accuracy of aircraft control and system stability, serious, and even endanger the flight safety of the aircraft, how to solve the above problems, is the urgent need to address the problem.

发明内容 SUMMARY

[0004] 针对现有技术存在的缺陷,本发明提供一种无线电高度表数据融合测高系统以及测高方法,可有效解决上述问题。 [0004] for the drawbacks of the prior art, the present invention provides a radio altimeter altimeter data fusion system and high measuring method, which can effectively solve the above problems.

[0005] 本发明采用的技术方案如下: [0005] The present invention employs the following technical solutions:

[0006] 本发明提供一种无线电高度表数据融合测高系统,包括:处理器、无线电高度测量单元、陀螺仪、加速度计以及气压计;所述处理器分别与所述无线电高度测量单元、所述陀螺仪、所述加速度计以及所述气压计连接。 [0006] The present invention provides a radio altimeter altimetry data fusion system, comprising: a processor, radio altitude measurement unit, a gyroscope, an accelerometer and a barometer; each of said processor means and said radio altitude measurement, the said gyroscope, the accelerometer and the air pressure gauge is connected.

[0007] 本发明还提供一种无线电高度表数据融合测高方法,包括以下步骤: [0007] The present invention further provides a radio altimeter altimeter data fusion method, comprising the steps of:

[0008] 步骤1,在飞行器飞行过程中,无线电高度测量单元按一定的采样频率实时测量得到飞行器无线高度值,并将测量得到的所述飞行器无线高度值实时上传给所述处理器; [0008] Step 1, an aircraft in flight, the wireless radio altitude measurement units derived height value of the aircraft at a certain sampling frequency measured in real time, the aircraft radio altitude value measured in real time and uploaded to the processor;

[0009] 同时,所述陀螺仪实时测量得到飞行器倾斜角度值,并将测量得到的所述飞行器倾斜角度值实时上传给所述处理器; [0009] Also, the gyroscope in real time the aircraft measured values ​​of the inclination angle of the aircraft, and the resulting measured values ​​of the inclination angle uploaded in real time to the processor;

[0010] 同时,所述加速度计实时测量得到飞行器加速度值,并将测量得到的所述飞行器加速度值实时上传给所述处理器; [0010] Meanwhile, the real-time accelerometer measured acceleration value of the aircraft, the aircraft acceleration value measured in real time and uploaded to the processor;

[0011]同时,所述气压计实时测量得到飞行器所在环境的气压值,并将所述气压值换算为飞行器气压高度值,然后将所述飞行器气压高度值实时上传给所述处理器; [0011] Meanwhile, the air pressure gauge pressure value measured in real time environment where the aircraft and the air pressure value is converted into the value of the aircraft pressure altitude, pressure altitude of the aircraft and then the real value is uploaded to the processor;

[0012] 步骤2,所述处理器实时不断接收所述飞行器无线高度值、所述飞行器倾斜角度值、所述飞行器加速度值以及所述飞行器气压高度值; [0012] Step 2, the processor continues to receive the wireless real-time vehicle height value, the value of the inclination angle of the aircraft, the acceleration value of the aircraft and the aircraft pressure altitude value;

[0013] 所述处理器并行运行第1线程、第2线程和第3线程; [0013] Operation of the parallel processor thread 1, thread 2 and thread 3;

[0014] 其中,第1线程的运行过程为步骤2.1; [0014] wherein, during operation of the first step of the thread 2.1;

[0015] 第2线程的运行过程为步骤2.2; During operation [0015] The second step of threads is 2.2;

[0016] 第3线程的运行过程为步骤2.3; During operation [0016] The third step of the thread is 2.3;

[0017] 步骤2.1,第1线程的运行过程,包括: [0017] Step 2.1, a first thread running process, comprising:

[0018]步骤2.1 • 1:所述第1线程实时接收所述飞行器加速度值以及所述飞行器气压高度值; [0018] Step 2.1 • 1: the first thread receives the real-time acceleration value of the aircraft and the aircraft pressure altitude value;

[0019]所述第1线程采用实时接收到的每个飞行器加速度值对实时接收到的每个飞行器气压高度值进行修订,得到每个时刻的飞行器有效气压高度值;然后,绘制得到以时间为横坐标、以飞行器有效气压高度值为纵坐标的气压高度辅助曲线;并实时计算得到当前时刻的气压高度辅助曲线斜率K1;并实时将气压高度辅助曲线斜率K1上传给第2线程; [0019] The first thread using the aircraft acceleration value for each received in real time for each height value received in real time to revise the aircraft pressure, to give the effective height of the aircraft pressure value of each time; then, drawn to obtain time abscissa, the effective height of the aircraft pressure value for the vertical height of the auxiliary pressure curve; and calculate in real time the height of the auxiliary current time pressure curve slope K1; real time the height of the auxiliary pressure slope K1 to the second upload thread;

[0020] 步骤2.2,第2线程的运行过程,包括: [0020] Step 2.2, the second thread running process, comprising:

[0021]步骤2.2.1,第2线程实时不断接收所述飞行器无线高度值,并实时判断所述飞行器无线高度值是否超过第1设定极大值,如果未超过,则将该飞行器无线高度值实时传输给第3线程;如果超过,则执行步骤2.2.2; [0021] Step 2.2.1, the second thread continues to receive the wireless real-time vehicle height value, and determines whether the wireless real-time vehicle height exceeds the first setting value of the maximum value, and if not exceeded, then the radio altitude of the aircraft value of real-time transmission to the third thread; If so, then step 2.2.2;

[0022]步骤2.2.2,所述第2线程以时间为横坐标、以飞行器无线高度值为纵坐标,绘制得到无线高度曲线,并实时计算得到当前时刻的无线高度曲线斜率K2; [0022] Step 2.2.2, the second thread to the time as abscissa, the height of the aircraft is a wireless vertical axis, the height of the curve obtained wireless, real time wireless height calculated slope K2 at the current time;

[0023]所述第2线程实时判断无线高度曲线斜率K2与气压高度辅助曲线斜率K1的偏离度是否超过预设值,如果未超过,则将该飞行器无线高度值实时传输给第3线程;如果超过,则剔除该飞行器无线高度值; [0023] Real-time determination of the second wireless thread height and slope deviation K2 K1 height of the auxiliary pressure slope exceeds a predetermined value, if not exceeded, then the aircraft radio altitude value real-time transmission to the third thread; if over, excluding the height of the aircraft wireless value;

[0024]步骤2 • 3,第3线程的运行过程,包括: [0024] Step 2 • 3, the third thread running process, including:

[0025]步骤2.3.1,所述第3线程实时接收所述飞行器倾斜角度值,并判断所述飞行器倾斜角度值是否超过第2设定极大值,只要未超过,即执行步骤2 • 3 • 2; —旦超过,立即终止执行步骤2.3.2,跳转执行步骤2.3.3; [0025] Step 2.3.1, a third thread to receive the real value of the inclination angle of the aircraft, and the inclination angle of the aircraft is determined whether the value exceeds the maximum value of the second set, as long as no more than, i.e., step 2 • 3 • 2; - more than once, immediately terminate execution step 2.3.2, skip to step 2.3.3;

[0026]步骤2.3.2,所述第3线程按第1自校准周期进行自校准,设第1自校准周期的时间长度为T1,则:在当前第1自校准周期内,初始时,缓存为空,然后,所述第3线程不断将接收到的来自于第2线程的飞行器无线高度值存储到缓存中,并且,每当将一个飞行器无线高度值存储到缓存时,对缓存中所存储的各个飞行器无线高度值进行滤波处理,得到当前时刻的飞行器无线尚度有效值,并输出所述飞行器无线高度有效值;当达到本次的第丨自校准周期时,所述第3线程清空所述缓存中存储的各个飞行器无线高度值,然后进入下一个第丄自校准周期; [0026] Step 2.3.2, the third thread is self-calibration by the first self-calibration cycle, the length of time provided from the first calibration period is T1, then: in the current cycle of the first self-calibration, the initial cache is empty, then the third thread constantly received radio altitude of the aircraft from the stored value of the second thread to the cache, and, whenever an aircraft radio altitude value stored in the cache, stored in the cache of each radio of the aircraft is filtered height value to obtain the current time is still the aircraft radio degrees RMS, and outputs the effective value of the height of the vehicle radio; when the current reaches a first self-calibration cycle Shu, the third thread for emptying the each of said aircraft radio altitude value stored in the cache, then one of the first to enter the next cycle of self-calibration Shang;

[0027]步骤2.3.3,包括: [0027] Step 2.3.3, comprising:

[0028]步骤2_3_3.1,假设在时刻tl,所述第3线程接收到某个超过第2设定极大值的飞行器倾斜角度值,则从时刻tl开始,所述第3线程一方面实时判断所接收到的最新的飞行器倾示斗角度值疋否己低于第2设定极大值,如果未低于,则执行步骤2 • 3 • 3 • 2;如果低于,则立即返回执行步骤2.3.2; [0028] Step 2_3_3.1 assumed that at time tl, the third thread receives a local maximum value exceeds the second set value of the inclination angle of the aircraft, from the start time point tl, the third aspect of the real-time thread Analyzing the received newest aircraft bucket tilt angle value Cloth shown below the second set has no local maximum value, if not lower than, the step 2 • 3 • 3 • 2; if less than, execution returns immediately step 2.3.2;

[0029]、步骤2_3_3_2,所述第3线程按第2自校准周期进行自校准,设第2自校准周期的时间长度=T2;则:所述第3线程将从时刻11到时刻11+T2接收到的来自于第2线程的每个飞行器无线高度值均存储到缓存中,并且,每当将一个飞行器无线高度值存储到缓存时,对缓存中所存储的所有飞行器无线髙度值进行滤波处理,得到当前时刻的飞行器无线高度有效值,并输出所述飞行器无线高度有效值。 [0029] step 2_3_3_2, the third thread from the second self-calibration by the calibration cycle, the length of time provided from the second calibration period = T2; then: the third thread 11 from time to time 11 + T2 each radio height value received from the aircraft to the second thread is stored in the cache, and, whenever an aircraft radio altitude value stored in the cache, all the aircraft radio Gao values ​​stored in the cache filtering to give the current effective value of the radio altitude of the aircraft in time, and outputs the effective value of the height of the aircraft radio.

[0030]优选的,步骤2 • 1 • 1中,所述第1线程采用实时接收到的每个飞行器加速度值对实时接收到的每个飞行器气压高度值进行修订,具体为: [0030] Preferably, the step 2 • 1 • 1, the first acceleration value for each thread using the aircraft received in real time for each aircraft pressure altitude value received in real time to be revised, in particular:

[003_1]所述第1线程实时比较当前时刻接收到的飞行器气压高度值与前一时刻接收到的飞行器气压筒度值,判断当前时刻的飞行器气压高度值是否发生突变;如果发生突变,贝lj获取当前时刻的飞行器加速度值,并判断飞行器加速度值是否发生突变,如果飞行器加速度值发生突变,则当前时刻的飞行器气压高度值为有效的飞行器气压高度值;如果飞行器加速度值未发生突变,则剔除当前时刻的飞行器气压高度值。 [003_1] real-time comparison of the first thread of the aircraft pressure tube current time value to the received value of the aircraft pressure altitude received at a previous time, the pressure of the aircraft is determined whether the value of the current time point mutation height; if mutated, shellfish lj Get the current value of the aircraft acceleration time, and determines whether the acceleration value of the aircraft mutation, a mutation if the acceleration value of the aircraft, the current height of the aircraft pressure value is a valid time of the aircraft pressure altitude value; if the acceleration value of the aircraft not mutated, the culling the current aircraft time pressure height value.

[0032]优选的,步骤2.2.1中,第1设定极大值为40米; [0032] Preferably, in step 2.2.1, first set the maximum value of 40 m;

[0033]步骤2 • 3.1中,第2设定极大值为41°; In [0033] Step 2 • 3.1, the maximum value of the second set to 41 °;

[0034] 步骤2 • 3.2中,第1自校准周期为3秒; In [0034] Step 2 • 3.2, the first self-calibration cycle of 3 seconds;

[0035] 步骤2.3.3.2中,第2自校准周期为150秒。 In [0035] Step 2.3.3.2, the second self-calibration period is 150 seconds.

[0036]本发明提供的无线电高度表数据融合测高系统以及测高方法具有以下优点: [0036] The present invention provides a radio altimeter data fusion system and high altimetry measuring method has the following advantages:

[0037]可在地面情况复杂时向飞行器提供合理的对地绝对高度值,并在大机动飞行时提供准确的对地绝对高度值,提高了飞行器的飞行安全性。 [0037] can provide the aircraft is on the ground the situation is complex and reasonable value for the absolute height, and provide accurate absolute height values ​​to improve the flight safety of the aircraft at the time of the big maneuvers.

附图说明 BRIEF DESCRIPTION

[0038]图1为本发明提供的无线电高度表数据融合测高系统的原理示意图; Principle [0038] FIG 1 the present invention provides a radio altimeter data fusion altimetry system schematic;

[0039]图2为本发明提供的无线电高度表数据融合测高系统的装配示意图; [0039] FIG. 2 of the present invention to provide a radio altimeter data fusion system assembly schematic high frequencies;

[0040]图3为本发明提供的无线电高度表数据融合测高系统的电路原理示意图; [0040] FIG. 3 of the present invention to provide a radio altimeter data measured schematic circuit diagram of a high integration system;

[0041]图4为本发明提供的无线电高度表数据融合测高系统的电气连接示意图; [0041] FIG. 4 of the present invention to provide a radio altimeter data fusion system altimetry electrical connection diagram;

[0042]图5为本发明提供的无线电高度表数据融合测高方法的流程示意图。 [0042] Fig 5 a schematic flowchart of a method for measuring high fusion radio altimeter data provided by the present invention.

具体实施方式 Detailed ways

[0043]以下结合附图对本发明进行详细说明: [0043] conjunction with the drawings of the present invention in detail:

[0044] 为了克服现有的无线电高度表不能进行飞行器对地距离精确测量的不足,本发明提供一种无线电高度表数据融合测高系统以及测高方法,不仅能在地形复杂的飞行航线上进行精确合理的飞行器高度指示,而且能在大机动飞行时,有效避免由于天线波瓣不合适而引起的测量误差。 [0044] In order to overcome the existing aircraft radio altimeter can be insufficient for accurate measurement of the distance, the present invention provides a radio altimeter altimeter data fusion system and method for measuring high, not only in the terrain, the flight route reasonably accurate indication of the altitude of the aircraft, but also in large maneuvers, since the antenna effectively avoid measurement errors caused by inappropriate lobe.

[0045] 本发明提供的无线电高度表数据融合测高系统,如图1所示,为无线电高度表数据融合测高系统的原理示意图,包括:处理器、无线电高度测量单元、陀螺仪、加速度计以及气压计;所述处理器分别与所述无线电高度测量单元、所述陀螺仪、所述加速度计以及所述气压计连接。 [0045] The present invention provides a radio altimeter data fusion altimeter system, shown in Figure 1, a schematic view of the principle of the integration system for altimetry data radio altimeter, comprising: a processor, radio altitude measurement unit, a gyroscope, an accelerometer, and a barometer; each of said processor means and said radio altitude measurement, the gyroscope, the accelerometer and the air pressure gauge is connected. 通过陀螺仪提供的飞行姿态信息为无线电高度在大角度俯仰、横滚时提供校准数据;通过加速度计提供的加速度数值和气压计提供的气压高度值进行无线电高度异常数据的滤除。 Flight attitude information provided by the gyroscope radio altitude high angle pitch, roll providing a calibration data; pressure provided by the accelerometer and acceleration values ​​barometer height values ​​provided to filter out radio altitude abnormal data.

[0046]如图2所示,为无线电高度表数据融合测高系统的装配示意图,在图2中,1代表连接器面板、2代表传感器板、3代表射频连接器、4代表低频连接器、5代表母板、6代表高频头、 7代表数字板、8代表处理器板、9代表模拟板、10代表电源板。 [0046] 2, a schematic diagram of a radio altimeter data assembled high system integration test, in FIG. 2, the connector 1 represents a panel, 2 denotes a sensor plate, 3 represents an RF connector, 4 denotes a low-frequency connector, 5 represents a motherboard, 6 denotes a tuner, numeral 7 represents a plate, on behalf of the processor board 8, 9 represents the analog board, 10 denotes a power source plate.

[0047]如图3所示,为无线电高度表数据融合测高系统的电路原理示意图。 [0047] FIG. 3, a schematic circuit diagram for the radio altimeter data fusion altimeter system. 如图4所示,为无线电高度表数据融合测高系统的电气连接示意图。 As shown, the electrical system for fusion altimetry data connector 4 is a schematic radio altimeter.

[0048]如图5所示,为本发明提供的无线电高度表数据融合测高方法的流程示意图,包括以下步骤: [0048], the radio altimeter of the present invention provides a data fusion altimeter schematic flow diagram of the method in FIG. 5, comprising the steps of:

[0049] 步骤1,在飞行器飞行过程中,无线电高度测量单元按一定的采样频率实时测量得到飞行器无线高度值,并将测量得到的所述飞行器无线高度值实时上传给所述处理器; [0049] Step 1, an aircraft in flight, the wireless radio altitude measurement units derived height value of the aircraft at a certain sampling frequency measured in real time, the aircraft radio altitude value measured in real time and uploaded to the processor;

[0050] 同时,所述陀螺仪实时测量得到飞行器倾斜角度值,并将测量得到的所述飞行器倾斜角度值实时上传给所述处理器; [0050] Also, the gyroscope in real time the aircraft measured values ​​of the inclination angle of the aircraft, and the resulting measured values ​​of the inclination angle uploaded in real time to the processor;

[0051] 同时,所述加速度计实时测量得到飞行器加速度值,并将测量得到的所述飞行器加速度值实时上传给所述处理器; [0051] Meanwhile, the real-time accelerometer measured acceleration value of the aircraft, the aircraft acceleration value measured in real time and uploaded to the processor;

[0052] 同时,所述气压计实时测量得到飞行器所在环境的气压值,并将所述气压值换算为飞行器气压高度值,然后将所述飞行器气压高度值实时上传给所述处理器; [0052] Meanwhile, the air pressure gauge pressure value measured in real time environment where the aircraft and the air pressure value is converted into the value of the aircraft pressure altitude, pressure altitude of the aircraft and then the real value is uploaded to the processor;

[0053] 步骤2,所述处理器实时不断接收所述飞行器无线高度值、所述飞行器倾斜角度值、所述飞行器加速度值以及所述飞行器气压高度值; [0053] Step 2, the processor continues to receive the wireless real-time vehicle height value, the value of the inclination angle of the aircraft, the acceleration value of the aircraft and the aircraft pressure altitude value;

[0054] 所述处理器并行运行第1线程、第2线程和第3线程; [0054] Operation of the parallel processor thread 1, thread 2 and thread 3;

[0055] 其中,第1线程的运行过程为步骤2.1; [0055] wherein, during operation of the first step of the thread 2.1;

[0056] 第2线程的运行过程为步骤2.2; During operation [0056] The second step of threads is 2.2;

[0057] 第3线程的运行过程为步骤2.3; During operation [0057] The third step of the thread is 2.3;

[0058] 步骤2.1,第1线程的运行过程,包括: [0058] Step 2.1, a first thread running process, comprising:

[0059] 步骤2.1 • 1:所述第1线程实时接收所述飞行器加速度值以及所述飞行器气压高度值; [0059] Step 2.1 • 1: the first thread receives the real-time acceleration value of the aircraft and the aircraft pressure altitude value;

[0060] 所述第1线程采用实时接收到的每个飞行器加速度值对实时接收到的每个飞行器气压高度值进行修订,得到每个时刻的飞行器有效气压高度值;然后,绘制得到以时间为横坐标、以飞行器有效气压高度值为纵坐标的气压高度辅助曲线;并实时计算得到当前时刻的气压高度辅助曲线斜率K1;并实时将气压高度辅助曲线斜率K1上传给第2线程。 [0060] The first thread using the aircraft acceleration value for each received in real time for each height value received in real time to revise the aircraft pressure, to give the effective height of the aircraft pressure value of each time; then, drawn to obtain time abscissa, the effective height of the aircraft pressure value for the vertical height of the auxiliary pressure curve; and calculate in real time the height of the auxiliary current time pressure curve slope K1; real time the height of the auxiliary pressure slope K1 to the second upload thread.

[0061] 本步骤中,第1线程采用实时接收到的每个飞行器加速度值对实时接收到的每个飞行器气压高度值进行修订,具体为: [0061] In this step, the first thread using the aircraft acceleration value for each received in real time for each aircraft pressure altitude value received in real time to be revised, in particular:

[0062] 所述第1线程实时比较当前时刻接收到的飞行器气压高度值与前一时刻接收到的飞行器气压高度值,判断当前时刻的飞行器气压高度值是否发生突变;如果发生突变,则获取当前时刻的飞行器加速度值,并判断飞行器加速度值是否发生突变,如果飞行器加速度值发生突变,则当前时刻的飞行器气压高度值为有效的飞行器气压高度值;如果飞行器加速度值未发生突变,则剔除当前时刻的飞行器气压高度值。 [0062] The first thread comparing the current real time value of the received pressure altitude of the aircraft with the received pressure altitude of the aircraft before a time value, the pressure of the aircraft is determined whether the value of the current time point mutation height; If the mutation occurs, the current is acquired vehicle acceleration value time, and determines whether the acceleration value of the aircraft mutation, a mutation if the acceleration value of the aircraft, the current height of the aircraft pressure value is a valid time of the aircraft pressure altitude value; if the acceleration value of the aircraft not mutated, excluding the current time the aircraft pressure altitude value.

[0063]具体的,由于飞行器气压高度值受气流的影响较大,只要飞行器附近气流发生变化,就会导致飞行器气压高度值发生变化,因此,飞行器气压高度值的准确性有限,所以,本发明中,采用飞行器加速度值对飞行器气压高度值进行修订,此处的飞行器加速度值指飞行器对地的加速度,当飞行器加速度值发生突变时,如果飞行器气压高度值没有发生突变, 则剔除这个飞行器气压高度值,从而保证飞行器气压高度整体变化趋势的正确性。 [0063] Specifically, since the large value of the aircraft pressure altitude affected by the gas flow, as long as the change in airflow in the vicinity of the aircraft, will cause the aircraft pressure altitude value changes, therefore, limited accuracy of the aircraft pressure altitude values, therefore, the present invention , the acceleration value of the aircraft using the aircraft pressure altitude value revised aircraft acceleration value here refers to the acceleration of the aircraft on the ground, when the acceleration value of the aircraft is mutated, if the value of the aircraft pressure altitude is not mutated, then remove the aircraft pressure altitude value, so as to ensure the correctness of the aircraft barometric altitude change in the overall trend.

[00M] 此处,保证飞行器气压高度整体变化趋势正确具有重要意义,可辅助修订无线电高度数据,具体原理在后面详述。 [00M] here to ensure that the overall trend is significant pressure altitude aircraft properly, it can assist the revised radio altitude data, in particular the principles described in detail later.

[0065] 步骤2.2,第2线程的运行过程,包括: [0065] Step 2.2, the second thread running process, comprising:

[0066] 步骤2.2.1,第2线程实时不断接收所述飞行器无线高度值,并实时判断所述飞行器无线高度值是否超过第1设定极大值,如果未超过,则将该飞行器无线高度值实时传输给第3线程;如果超过,则执行步骤2.2.2; [0066] Step 2.2.1, the second thread continues to receive the wireless real-time vehicle height value, and determines whether the wireless real-time vehicle height exceeds the first setting value of the maximum value, and if not exceeded, then the radio altitude of the aircraft value of real-time transmission to the third thread; If so, then step 2.2.2;

[0067] 步骤2.2.2,所述第2线程以时间为横坐标、以飞行器无线高度值为纵坐标,绘制得到无线高度曲线,并实时计算得到当前时刻的无线高度曲线斜率K2; [0067] Step 2.2.2, the second thread to the time as abscissa, the height of the aircraft is a wireless vertical axis, the height of the curve obtained wireless, real time wireless height calculated slope K2 at the current time;

[0068] 所述第2线程实时判断无线高度曲线斜率K2与气压高度辅助曲线斜率K1的偏离度是否超过预设值,如果未超过,则将该飞行器无线高度值实时传输给第3线程;如果超过,则剔除该飞行器无线高度值。 [0068] Real-time determination of the second wireless thread height and slope deviation K2 K1 height of the auxiliary pressure slope exceeds a predetermined value, if not exceeded, then the aircraft radio altitude value real-time transmission to the third thread; if over, excluding the height of the aircraft wireless value.

[0069] 本步骤中,根据经验,第1设定极大值优选设定为40米,具体理由为:由于在低高度时,气压基本不发生变化,受对地高度的影响较小,因此,气压高度计在低高度范围时测量不准确,所以,对地高度越高,气压高度计测量得到的飞行器气压高度值越准确。 [0069] In this step, based on experience, setting the first maximum value is preferably set to 40 m, particularly for the reason: since at low altitude, the air pressure does not change substantially, the height is less impact on the ground, so when barometric altimeter at low height range measurement is inaccurate, the higher the height, the height measured pressure value obtained, the more accurate the barometric altitude of the aircraft. 因此,对于40米以内的低高度,不采用飞行器气压高度值修订飞行器无线高度值。 Thus, for low altitude within 40 meters, the barometric altitude of the aircraft without using revised in the aircraft radio altitude value.

[0070]而当高于40米时,采用飞行器气压高度值修订飞行器无线高度值的原理为:由于当高于40米时,虽然飞行器气压高度值的准确度有限,但是,本发明可有效保证气压高度值变化趋势的正确性,因此,将气压高度值变化趋势(即气压高度辅助曲线斜率K1)与无线高度变化趋势(即无线高度曲线斜率K2)进行比较,如果无线高度变化趋势与气压高度值变化趋势不一致,表明无线高度数据错误,所以剔除该飞行器无线高度值,保证飞行器无线高度数据的正确性。 [0070] When higher than 40 meters, using the principle of the revised aircraft pressure altitude value for the aircraft radio altitude value: since when above 40 meters, although the limited accuracy of the aircraft pressure altitude value, however, the present invention can effectively ensure the the correctness of the pressure altitude value change trend, therefore, the change of the pressure altitude value (i.e., height of the auxiliary pressure curve slope K1) and the height change of the radio (i.e., wireless height slope K2) are compared, and if the wireless height change of pressure altitude inconsistent value trends indicate a high degree of wireless data error, excluding radio height value of the aircraft to ensure the correctness of the aircraft radio height data.

[0071] 步骤2.3,第3线程的运行过程,包括: [0071] Step 2.3, the third thread running process, comprising:

[0072]步骤2.3_1,所述第3线程实时接收所述飞行器倾斜角度值,并判断所述飞行器倾斜角度值是否超过第2设定极大值,只要未超过,即执行步骤2 • 3 • 2; —旦超过,立即终止执行步骤2 • 3 • 2,跳转执行步骤2.3.3; [0072] Step 2.3_1, a third thread to receive the real value of the inclination angle of the aircraft, and the inclination angle of the aircraft is determined whether the value exceeds the maximum value of the second set, as long as no more than, i.e., step 2 • 3 • 2; - more than once, immediately terminate the execution of step 2 • 3 • 2, skip to step 2.3.3;

[0073]其中,根据经验,第2设定极大值优选设定为41。 [0073] wherein, based on experience, the second set value is preferably set to be 41 maximum. .

[0074]步骤2.3.2,所述第3线程按第1自校准周期进行自校准,设第1自校准周期的时间长度为T1,则:在当前第1自校准周期内,初始时,缓存为空,然后,所述第3线程不断将接收到的来自于第2线程的飞行器无线高度值存储到缓存中,并且,每当将一个飞行器无线高度值存^到缓存对缓存中所存储的各个飞行器无线高度值进行滤波处理,得到当前时刻的飞行器无线尚度有效值,并输出所述飞行器无线高度有效值;当达到本次的第丨自校准周期时,所述第3线程清空所述缓存中存储的各个飞行器无线高度值,然后进入下一个第丄自校准周期; [0074] Step 2.3.2, the third thread is self-calibration by the first self-calibration cycle, the length of time provided from the first calibration period is T1, then: in the current cycle of the first self-calibration, the initial cache is empty, then the third thread constantly received radio altitude of the aircraft from the stored value of the second thread to the cache, and, each time a vehicle height value stored ^ wireless cache stored in the cache wireless respective height value of the aircraft is filtered to give the aircraft at the current time is still of the wireless RMS, and outputs the effective value of the radio altitude of the aircraft; when the current reaches a first self-calibration cycle Shu, the third thread emptying the each aircraft radio altitude value stored in the cache, and then proceeds to the next cycle of self-calibration Shang;

[0075]其中,根据经验,第1自校准周期优选设定为3秒。 [0075] wherein, based on experience, the first self-calibration period is preferably set to 3 seconds.

[0076]步骤2.3.3,包括: [0076] Step 2.3.3, comprising:

[0077]、步骤2_3.3_1,假设在时刻tl,所述第3线程接收到某个超过第2设定极大值的飞行器倾斜角度值,则从时刻tl开始,所述第3线程一方面实时判断所接收到的最新的飞行器倾示斗角度值疋否己低于第2设定极大值,如果未低于,则执行步骤2 • 3 • 3 • 2;如果低于,両立即返回执行步骤2.3.2; ' [0077] Step 2_3.3_1 assumed that at time tl, the third thread receives a local maximum value exceeds the second set value of the inclination angle of the aircraft, from the start time point tl, the third aspect of the thread real-time determination of the received newest aircraft bucket tilt angle value Cloth shown below the second set has no local maximum value, if not lower than, the step 2 • 3 • 3 • 2; if less than, returns immediately Ryogoku step 2.3.2; '

[00^8]、步骤2.3.3 _ 2,所述第3线程按第2自校准周期进行自校准,设第2自校准周期的时间长度,T2;则:所述第3线程将从时刻tl到时刻tl+T2接收到的来自于第2线程的每个飞行器无线高度值均存储到缓存中,并且,每当将一个飞行器无线高度值存储到缓存时,对缓存中所存储的所有飞行器无线高度值进行滤波处理,得到当前时刻的飞行器无线高度有效值,并输出所述飞行器无线高度有效值。 [00 ^ 8], _ 2.3.3 Step 2, the third thread by the second self-calibration Self-calibration cycle, the length of time provided from the second calibration period, T2; then: the time from the first thread 3 tl to time tl + T2 each radio height value received from the aircraft to the second thread is stored in the cache, and, whenever an aircraft radio altitude value stored in the cache, all of the aircraft is stored in the cache wireless height values ​​are smoothed to obtain the height of the aircraft wireless RMS current time, and outputs the effective value of the radio altitude of the aircraft.

[0079] 其中,根据经验,第2自校准周期优选设定为150秒。 [0079] wherein, based on experience, the second self-calibration period is preferably set at 150 seconds.

[0080] 第3线程的运行原理为: The operating principle [0080] 3 threads are:

[0081] 通过陀螺仪实时测量得到飞行器倾斜角度值,当飞行器倾斜角度未超过41°时,此时飞行器可认为属于正常飞行状态,由于飞行器对地未严重倾斜,通过无线电发射和接收天线,可测量得到相对准确的无线电高度值,此时,采用3秒的自校准周期,对测量得到的无线电高度值进行数据滤波处理,防止高度数据的跳变。 [0081] The inclination angle values ​​obtained by the gyro-time measurements of the aircraft, when the aircraft does not exceed the angle of inclination of 41 °, this time the aircraft can be considered to belong to a normal flight condition of the aircraft since no serious inclined, by a radio transmitting and receiving antennas, can be relatively accurate measured value of radio altitude, time, 3 seconds using the self-calibration cycle, the measured value of radio altitude data filtering process is performed, to prevent the hopping height data. 本发明中,自校准的含义为:每经过3 秒钟,将缓存中存储的所有无线电高度值清空,通过无线电发射和接收天线,对地面重新搜索测量无线电高度值;而在每一个3秒钟的自校准周期内,每向缓存中存储一个无线电高度值时,即对缓存中己存储的所有无线电高度值进行滤波处理,处理后的结果作为当前时刻最终有效的无线电高度值,并输出有效的无线电高度值。 In the present invention, the meaning of self-calibration is: After every 3 seconds, all radio height value stored in the buffer emptied, through the radio transmitting and receiving antenna, terrestrial radio altitude measurement value search again; in every 3 seconds when the self-calibration cycle, each storing a radio altitude value into the cache, i.e. all radio altitude values ​​in the cache already stored in the filter processing, the processing result as the current time last valid radio altitude value, and outputs the effective radio altitude value.

[0082] 而当飞行器倾斜角度超过41°时,此时飞行器对地严重倾斜,例如,进行横滚,因此,此时测量得到的无线电高度值不准确,此时,采用150秒的自校准周期,远大于前述正常未倾斜时3秒的自校准周期,意义为:假设在第1秒到第3秒,飞行器对地未倾斜,则缓存中缓存了第1-3秒测量得到的n个无线电高度值;然后,当在第4秒飞行器对地严重倾斜时,由于延长了自校准周期,所以,不对缓存清空处理,继续将第4秒测量得到的无线电高度值存储到缓存中,将第4秒测量得到的无线电高度值记为无线电高度值a,则:由于缓存中已存储n 个正常的无线电高度值,所以在将无线电高度值a存入缓存中时,对n个正常的无线电高度值和一个异常的无线电高度值a进行滤波处理后,可保证滤波后得到正确的无线电高度值; 而由于通常情况下,飞行器对地严重倾斜的发生 [0082] When the inclination angle of the aircraft exceeds 41 °, the inclination of the aircraft to a serious case, for example, a roll, and therefore, radio altitude value measured at this time is not accurate, this time using a calibration period from 150 seconds , is much greater than the self-calibration cycle 3 seconds untilted normal, meaning: assuming the first to second 3 seconds, the aircraft on the ground is not inclined, then the cache buffer n radio 1-3 seconds measured height value; then, when the heavily tilted in second 4 of the aircraft, since the extension of self-calibration cycle, therefore, does not cache flush processing, continue to 4 seconds measured radio altitude value stored in the cache, the first 4 second radio altitude measured value referred to as a radio altitude value, then: when n is normal since the radio altitude values ​​already stored in the cache, so the radio altitude value stored in a cache, the n value of the normal radio altitude and an abnormal radio altitude value for a filtering process, to ensure correct filtering radio altitude value; and because usually, an aircraft is inclined to the occurrence of severe 间远小于150秒,通常仅为2-3秒,所以, 在150秒的自校准周期中,只会向缓存中存入数量非常小的异常的无线高度值,而大多数无线电高度值均是有效平稳的,因此,在150秒的自校准周期中,每当向缓存中存储一个无线电高度值时,经过对缓存中所有无线电高度值进行滤波处理,均能保证滤波后得到一个更为准确的无线电高度值。 Between far less than 150 seconds, typically only 2-3 seconds, so in a self-calibration cycle 150 seconds, only the very small number of abnormal deposit of radio height value to the cache, and most of the radio height values ​​are smooth valid, and therefore, the self-calibration cycle 150 seconds, whenever the value stored in a cache radio altitude, radio altitude values ​​after all the cache filtering process, can ensure a more accurate filtered to give the radio altitude value.

[0083]此外,当飞行器倾斜角度超过41°时,可同时提高测高灵敏度,在飞行器倾斜状态下,提高无线电接收机所接收到的位于飞行器正下方地面反射波强度,使无线电高度表接收到尽量多的正常无线电高度数据。 [0083] Further, when the vehicle inclination angle exceeds 41 °, high sensitivity can be measured while increasing, in an inclined state of the aircraft, to improve the strength of the positive ground reflected wave received by the radio receiver below the aircraft is located, so that the received radio altimeter as much of a normal radio altitude data.

[0084]另外,本发明中,只要无线电高度表测量得到的无线电高度值低于告警高度,立即停止数据剔除,保证飞行器的安全。 [0084] In the present invention, as long as the radio altitude values ​​measured by the radio altimeter height lower than the alarm is stopped data immediately removed to ensure the safety of the aircraft. 理由为:当飞行器飞行高度较低时,由于此时回波信号足够稳定,因此无线高度数据的准确度足够保证其可靠性,不需要进行数据剔除操作。 Reason is: when the aircraft is flying at low altitudes, since the echo signal is stable enough at this time, so highly accurate wireless data sufficient to ensure its reliability, no data culling operations.

[0085]由此可见,本发明提供的无线电高度表数据融合测高系统以及测高方法具有以下优点: [0085] Thus, the present invention provides a radio altimeter data fusion system and high altimetry measuring method has the following advantages:

[0086]通过对基础的飞行器无线高度值、飞行器倾斜角度值、飞行器加速度值以及飞行器气压高度值进行数据融合,保证在地面情况复杂时向飞行器提供合理的对地绝对高度值,并在大机动飞行时提供准确的对地绝对高度值,提高了飞行器的飞行安全性。 [0086] By wireless height value based on the aircraft, the inclination angle value of the aircraft, the acceleration value of the aircraft and the aircraft pressure altitude value data fusion, to ensure reasonable ground absolute height value to the aircraft on the ground complicated, and highly maneuverable provide highly accurate absolute value of the flight, improve the flight safety of the aircraft.

[0087]以上所述仅是本发明的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视本发明的保护范围。 [0087] The above are only preferred embodiments of the present invention, it should be noted that those of ordinary skill in the art, in the present invention without departing from the principles of the premise, can make various improvements and modifications, such modifications and modifications should also depend on the scope of the present invention.

Claims (3)

1. 一种基于无线电高度表数据融合测高系统的无线电高度表数据融合测高方法,其特征在于,无线电高度表数据融合测高系统包括:处理器、无线电高度测量单元、陀螺仪、加速度计以及气压计;所述处理器分别与所述无线电高度测量单元、所述陀螺仪、所述加速度计以及所述气压计连接; 无线电高度表数据融合测高方法包括以下步骤: 步骤1,在飞行器飞行过程中,无线电高度测量单元按一定的采样频率实时测量得到飞行器无线高度值,并将测量得到的所述飞行器无线高度值实时上传给所述处理器; 同时,所述陀螺仪实时测量得到飞行器倾斜角度值,并将测量得到的所述飞行器倾斜角度值实时上传给所述处理器; 同时,所述加速度计实时测量得到飞行器加速度值,并将测量得到的所述飞行器加速度值实时上传给所述处理器; 同时,所述气压计实 A high-integration system based on the measured radio altimeter data radio altimeter altimeter data fusion method, wherein the radio altimeter altimetry data fusion system comprising: a processor, radio altitude measurement unit, a gyroscope, an accelerometer, and a barometer; each of said processor means and said radio altitude measurement, the gyroscope, the accelerometer and the air pressure gauge is connected; radio altimeter altimeter data fusion method comprising the following steps: step 1, an aircraft flight, wireless radio altitude measurement units derived height value of the aircraft at a certain sampling frequency measured in real time, the aircraft radio altitude value measured in real time and uploaded to the processor; simultaneously, the real-time measured aircraft gyroscopes value of the inclination angle, the inclination angle and the measured value of the aircraft to upload in real-time to the processor; while the accelerometer obtained real-time measurement values ​​of the acceleration of the aircraft, the aircraft and the acceleration values ​​measured by real-time to upload said processor; Meanwhile, the real barometer 测量得到飞行器所在环境的气压值,并将所述气压值换算为飞行器气压高度值,然后将所述飞行器气压高度值实时上传给所述处理器; 步骤2,所述处理器实时不断接收所述飞行器无线高度值、所述飞行器倾斜角度值、所述飞行器加速度值以及所述飞行器气压高度值; 所述处理器并行运行第1线程、第2线程和第3线程; 其中,第1线程的运行过程为步骤2.1; 第2线程的运行过程为步骤2.2; 第3线程的运行过程为步骤2.3; 步骤2.1,第1线程的运行过程,包括: 步骤2.1 • 1:所述第1线程实时接收所述飞行器加速度值以及所述飞行器气压高度值; 所述第1线程采用实时接收到的每个飞行器加速度值对实时接收到的每个飞行器气压高度值进行修订,得到每个时刻的飞行器有效气压高度值;然后,绘制得到以时间为横坐标、以飞行器有效气压高度值为纵坐标的气压高度辅 Measured value of the ambient pressure where the aircraft and the air pressure value is converted into the value of the aircraft pressure altitude, pressure altitude of the aircraft and then the real value is uploaded to the processor; step 2, the processor continues to receive the real-time aircraft radio altitude value, the value of the tilt angle of the aircraft, the acceleration value of the aircraft and the aircraft pressure altitude value; the first thread runs parallel processor, a second thread and the third thread; wherein the first thread runs a step of the process 2.1; run during the second step of the thread 2.2; thread during operation of a third step of 2.3; 2.1 step, a first thread running process, comprising the steps of: 2.1 • 1: the first thread receives the real-time said acceleration value of the aircraft and the aircraft pressure altitude value; each of the first acceleration value of the aircraft using the thread received in real time for each aircraft pressure altitude value received in real time to revise the effective pressure altitude of the aircraft at each moment value; then, in order to obtain a time plotted as abscissa, effective pressure value for the vertical height of the aircraft pressure altitude secondary 助曲线;并实时计算得到当前时刻的气压高度辅助曲线斜率K1;并实时将气压高度辅助曲线斜率K1上传给第2线程; 步骤2.2,第2线程的运行过程,包括: 步骤2.2.1,第2线程实时不断接收所述飞行器无线高度值,并实时判断所述飞行器无线高度值是否超过第1设定极大值,如果未超过,则将该飞行器无线高度值实时传输给第3 线程;如果超过,则执行步骤2.2.2; _步骤2.2_2,所述第2线程以时间为横坐标、以飞行器无线高度值为纵坐标,绘制得到无线高度曲线,并实时计算得到当前时刻的无线高度曲线斜率K2; 所述第2线程实时判断无线高度曲线斜率K2与气压高度辅助曲线斜率K1的偏离度是否超过预设值,如果未超过,则将该飞行器无线高度值实时传输给第3线程;如果超过,则剔除该飞行器无线高度值; 步骤2 • 3,第3线程的运行过程,包括: 步骤2.3.1,所述第3线程 Co curves; calculated in real time and the current time obtained height of the auxiliary pressure curve slope K1; real time the height of the auxiliary pressure to the first slope K1 upload thread 2; step 2.2, the second thread running process, comprising the steps of: 2.2.1, section 2 continuously receive the wireless real-time thread height value of the aircraft, in real time and determines whether the aircraft radio altitude value exceeds the first predetermined maximum value, if not exceeded, then the aircraft radio altitude value real-time transmission to the third thread; if exceeded, step 2.2.2; 2.2_2 _ step, the second thread to the time as abscissa, the height of the aircraft is a wireless vertical axis, the height of the curve obtained wireless, real time wireless calculated height of the curve at the current time the slope K2; real-time determination of the second wireless thread height and slope of the curve K2 auxiliary pressure altitude slope deviation exceeds a predetermined value K1, if not exceeded, then the aircraft radio altitude value real-time transmission to the third thread; if over, excluding the height of the aircraft wireless value; step 2 • 3, during operation of the thread 3, comprising the steps of: 2.3.1, the third thread 时接收所述飞行器倾斜角度值,并判断所述飞行器倾斜角度值是否超过第2设定极大值,只要未超过,即执行步骤2.3.2; —旦超过,立即终止执行步骤2 • 3 • 2,跳转执行步骤2.3.3; 步骤2.3.2,所述第3线程按第1自校准周期进行自校准,设第丨自校准周期的时间长度为T1,则:在当則桌1 -校准周期内,初始时,缓存为空,然后,所述第3线程不断将接收到的来自于第2线程的飞行器无线高度值存储到缓存中,并且,每当将一个飞行器无线高度值存储到缓存$,对缓存中所存储的各个飞行器无线高度值进行滤波处理,得到当前时刻的飞行器无线尚度有效值,并输出所述飞行器无线高度有效值;当达到本次的第丨自校准周期时,所述第3线程清空所述缓存中存储的各个飞行器无线高度值,然后进入下一个第丨自校准周期; 步骤2.3.3,包括: 步骤2.3.3.1,假设在时刻tl Upon receiving the value of the tilt angle of the aircraft, and the inclination angle of the aircraft is determined whether the value exceeds the maximum value of the second set, as long as no more than, i.e., step 2.3.2; - more than once, immediately terminates execution of Step 2 • 3 • 2, jumps to step 2.3.3; 2.3.2 step, the third thread from a first self-calibration by the calibration cycle, the length of time provided from the first calibration period Shu is T1, then: when in the Table 1-- calibration period, initially, the cache is empty, then the third thread constantly received from the aircraft radio altitude value of the second thread is stored in the cache, and, each time a vehicle height value is stored in the radio $ cache, each of the aircraft radio altitude value stored in the cache performs a filtering process, to obtain the current time is still of the aircraft wireless RMS, and outputs the effective value of the radio altitude of the aircraft; when the current reaches a first self-calibration cycle Shu the third thread emptying the aircraft radio altitude values ​​each stored in the cache, and then proceeds to the next cycle of self-calibration of Shu; 2.3.3, comprising the steps of: 2.3.3.1, assumed that at time tl 所述第3线程接收到某个超过第2设定极大值的飞行器倾斜角度值,则从时刻tl开始,所述第3线程一方面实时判断所接收到的最新的飞行器倾斜角度值是否已低于第2设定极大值,如果未低于,则执行步骤2 • 3 • 3 • 2;如果低于,则立即返回执行步骤2.3.2; 步骤2.3 • 3 • 2,所述第3线程按第2自校准周期进行自校准,设第2自校准周期的时间长度为T2;则:所述第3线程将从时刻tl到时刻tl+T2接收到的来自于第2线程的每个飞行器无线高度值均存储到缓存中,并且,每当将一个飞行器无线高度值存储到缓存时,对缓存中所存储的所有飞行器无线高度值进行滤波处理,得到当前时刻的飞行器无线高度有效值,并输出所述飞行器无线高度有效值。 The third thread receives a second set great value exceeds the value of the tilt angle of the aircraft, from the beginning of time tl, the third thread on the one hand the real-time judge received the latest value of the tilt angle of the aircraft has been lower than the second set value maximum, if not lower than, the step 2 • 3 • 3 • 2; is less than, then immediately returns to step 2.3.2; step 2.3 • 3 • 2, the third the second thread by the self-calibration self-calibration cycle, the length of time provided from the second calibration period is T2; then: the third thread from time tl to time tl + T2 each received from the second thread wireless aircraft height values ​​are stored in the cache, and, whenever an aircraft radio altitude value stored in the cache, all the aircraft radio altitude value stored in the cache performs a filtering process, to obtain the height of the aircraft wireless RMS current time, and outputting the effective value of the radio altitude of the aircraft.
2. 根据权利要求1所述的无线电高度表数据融合测高方法,其特征在于,步骤2.1.丨中, 所述第1线程采用实时接收到的每个飞行器加速度值对实时接收到的每个飞行器气压高度值进行修订,具体为: 所述第1线程实时比较当前时刻接收到的飞行器气压高度值与前一时刻接收到的飞行器气压高度值,判断当前时刻的飞行器气压高度值是否发生突变;如果发生突变,则获取当前时刻的飞行器加速度值,并判断飞行器加速度值是否发生突变,如果飞行器加速度值发生突变,则当前时刻的飞行器气压高度值为有效的飞行器气压高度值;如果飞行器加速度值未发生突变,则剔除当前时刻的飞行器气压高度值。 The radio altimeter data according to claim 1 altimeter fusion method, wherein the step 2.1. Shu, the first thread of the aircraft in real time using an acceleration value for each received each of the real-time received revised aircraft pressure altitude value, specifically: a first thread of the current time received real-time comparison of the aircraft pressure altitude values ​​received at a previous time of the aircraft pressure altitude value, the pressure of the aircraft is determined whether the value of the current time point mutation height; If the mutation occurs, acquires the current time acceleration value of the aircraft, and determines whether the acceleration value of the aircraft mutation, a mutation if the acceleration value of the aircraft, the current height of the aircraft pressure value is a valid time of the aircraft pressure altitude value; if the acceleration value of the aircraft is not mutation, excluding the current time of the aircraft pressure altitude value.
3. 根据权利要求1所述的无线电高度表数据融合测高方法,其特征在于,步骤2.2.丨中, 第1设定极大值为40米; 步骤2 • 3 • 1中,第2设定极大值为41 ° ; 步骤2.3.2中,第1自校准周期为3秒; 步骤2 • 3 • 3 • 2中,第2自校准周期为150秒。 The data of the radio altimeter as claimed in claim 1, altimeter fusion method, wherein the step of Shu 2.2, the maximum value of the first set to 40 m;. Step 2 • 3 • 1, the second set set the maximum value of 41 °; in step 2.3.2, the first self-calibration period of 3 seconds; step 2 • 3 • 3 • 2, the second self-calibration period is 150 seconds.
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