CN105513106A - Head-up display equiangular runway symbol drawing method - Google Patents

Abstract

The present invention relates to a head-up display equiangular runway symbol drawing method. According to the method, firstly the gliding deviation of an aircraft relative to a standard glide slope, a course deviation, an airport altitude, a set glide slope angle, a glide station coordinate, a course station coordinate, and aircraft atmospheric altitude information are collected, and then the real-time position information of the aircraft relative to a runway is solved according to the above collected information; according to an aircraft drift angle, a pitch angle, a roll angle, a head-up mounting angle, a runway slope, a runway course and the real-time position information of the aircraft relative to the runway, the mapping relation of a head-up display coordinate system relative to a runway coordinate system is calculated; and finally the real runway is mapped to the head-up display coordinate system and is converted into information which can be identified by a head-up display picture. According to the drawing method of the invention, the equiangular runway symbols which coincide with an outside real runway contour and grounding points can be displayed in the head-up display, the situation perception ability of a pilot in a low visibility weather condition is enhanced, the workload of the pilot is reduced, and the flight safety is improved.

Description

A kind of flat aobvious isogonism runway symbol plotting method

Technical field

The present invention relates to a kind of flat aobvious isogonism runway symbol plotting method, belong to avionics display control technology field.

Background technology

Runway is that aircraft enters reference substance important near procedure, under low visibility meteorological condition, if pilot does not see runway, can produce nervous psychology, and working load increases, and is unfavorable for flight safety.Utilize the isogonism characteristic of head-up display, head-up display is drawn out the runway witness marker with isogonality, can provide target runway information for pilot, assisting in flying person's operating aircraft is implemented near.Usually to draw the method for runway center line marking to arrange runway witness marker on flat aobvious picture in prior art, this method has following deficiency: (one) does not comprise the profile information such as landing airdrome length, width, and the runway symbol situational awareness drawn is not enough; (2) do not comprise ground contact dot information, cause the touch-down zone instruction being supplied to pilot not enough.

Summary of the invention

The object of this invention is to provide a kind of flat aobvious isogonism runway symbol plotting method, improve aircraft and enter the situational awareness of nearly stage under low visibility meteorological condition.

The present invention provides a kind of flat aobvious isogonism runway symbol plotting method for solving the problems of the technologies described above, and this method for drafting comprises the following steps:

1) gather downslide deviation, course deviation, aerodrome elevation, the glidepath angles of setting, lower slide unit coordinate, course platform coordinate, the aircraft air elevation information of aircraft relative standard glide path, and resolve the real-time position information of the relative runway of aircraft according to the above-mentioned information collected;

2) calculate the mapping relations of the relative runway coordinate system of flat palpable coordinate system relative to the real-time position information of runway according to aircraft crab angle, the angle of pitch, roll angle, flat aobvious established angle, the runway gradient, runway course and aircraft;

3) true runway be mapped to flat palpable coordinate system and be converted into the flat aobvious discernible information of picture.

Described step 1) in the computation process of real-time position information of the relative runway of aircraft be:

A. according to aerodrome elevation h _r, aircraft air height h _a, obtain the relative height between aircraft and runway

$P_z^R=h_A-h_R;$

B. according to the downslide deviation Γ of aircraft relative standard glide path _gS, glide path set angle Ω, lower slide unit coordinate l _gS, relative height between aircraft and runway resolve the lengthwise position of the relative runway of aircraft

$P_x^R=-P_z^R/tan(\mathrm{\Ω}+{\mathrm{\Γ}}_{GS})+l_{GS};$

C. according to the lengthwise position of the relative runway of aircraft course platform coordinate l _lOC, course deviation Γ _lOC, resolve the horizontal lateral position of aircraft relative to runway

$P_y^R=(-P_x^R+l_{LOC})*tan\left({\mathrm{\Γ}}_{LOC}\right).$

Described step 1) in downslide deviation and course deviation be obtained by multimode rake receiver, described aircraft air height is obtained by air data computer, and the glidepath angles of described setting, lower slide unit coordinate, course platform coordinate and aerodrome elevation are obtained by flight management system.

Described step 2) in the coordinate of runway under flat palpable coordinate system be:

$\left[\begin{array}{c}{A}_x^{hud}\\ A_y^{hud}\\ A_z^{hud}\end{array}\right]=M_{h,b}{M}_{b.n}{M}_{n,r}(\left[\begin{array}{c}{A}_x\\ A_y\\ A_z\end{array}\right]-\left[\begin{array}{c}{P}_x\\ P_y\\ P_z\end{array}\right])$

Wherein ( ) be the coordinate of runway terminal A under flat palpable coordinate, M _h,bfor the mapping relations of the relative airframe coordinate system of flat palpable coordinate system, M _b,nfor airframe coordinate system is relative to the mapping relations of aircraft east northeast ground coordinate system, M _n,rfor runway east northeast ground coordinate system is relative to the mapping relations of runway coordinate system, (A _x, A _y, A _z) be the coordinate of runway terminal A under runway coordinate system, (P _x, P _y, P _z) be the coordinate of the relative runway coordinate system of aircraft, and

$M_{n,r}=\left[\begin{array}{ccc}{\mathrm{cos\ψ}}_R\cos k& {\mathrm{sin\ψ}}_R& {\mathrm{cos\ψ}}_R\sin k\\ -{\mathrm{sin\ψ}}_R\cos k& {\mathrm{cos\ψ}}_R& -{\mathrm{sin\ψ}}_R\sin k\\ \sin k& 0& -\cos k\end{array}\right]$

$M_{b,n}=\left[\begin{array}{ccc}\cos \mathrm{\θ}\cos \mathrm{\ψ}& \cos \mathrm{\θ}\sin \mathrm{\ψ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}\cos \mathrm{\ψ}\sin \mathrm{\φ}& \sin \mathrm{\θ}\sin \mathrm{\ψ}\sin \mathrm{\φ}+\cos \mathrm{\ψ}\cos \mathrm{\φ}& \cos \mathrm{\θ}\sin \mathrm{\φ}\\ \sin \mathrm{\θ}\cos \mathrm{\ψ}\cos \mathrm{\φ}& \sin \mathrm{\θ}\sin \mathrm{\ψ}\cos \mathrm{\φ}-\cos \mathrm{\ψ}\sin \mathrm{\φ}& \cos \mathrm{\θ}\cos \mathrm{\φ}\end{array}\right]$

$M_{h,b}=\left[\begin{array}{ccc}{\mathrm{cos\δ}}_d& 0& {\mathrm{sin\δ}}_d\\ 0& 1& 0\\ -{\mathrm{sin\δ}}_d& 0& {\mathrm{cos\δ}}_d\end{array}\right]$

ψ _rfor runway course, k is the runway gradient, and ψ, θ, φ are respectively aircraft crab angle, the angle of pitch and roll angle, δ _dfor flat aobvious established angle.

Described step 2) in crab angle, the angle of pitch, roll angle be utilize inertial reference system to obtain, described flat aobvious established angle, the runway gradient, runway course utilize flight management system to obtain.

Described step 3) in be under utilizing flat palpable coordinate system, relative to the mapping relations of runway coordinate system, true runway end points, earth point are mapped to flat palpable coordinate system, and be converted into the flat aobvious discernible orientation of picture and pitch information.

Described step 3) under runway is mapped to flat palpable coordinate system, the orientation of its terminal A in flat aobvious picture and pitch information are:

${\mathrm{\ϵ}}_A={\tan }^{-1}(A_y^{Hud}/A_x^{Hud})$

${\mathrm{\η}}_A=-{\tan }^{-1}(A_z^{Hud}/A_x^{Hud})$

Wherein ε _afor the position angle of runway terminal A in flat aobvious picture, η _afor the angle of pitch of runway terminal A in flat aobvious picture.

The invention has the beneficial effects as follows: first the present invention gathers downslide deviation, course deviation, aerodrome elevation, the glidepath angles of setting, lower slide unit coordinate, course platform coordinate, the aircraft air elevation information of aircraft relative standard glide path, and resolves the real-time position information of the relative runway of aircraft according to the above-mentioned information collected; Calculate the mapping relations of the relative runway coordinate system of flat palpable coordinate system again relative to the real-time position information of runway according to aircraft crab angle, the angle of pitch, roll angle, flat aobvious established angle, the runway gradient, runway course and aircraft; Finally true runway be mapped to flat palpable coordinate system and be converted into the flat aobvious discernible information of picture, namely utilizing the mapping relations obtained to draw isogonism runway symbol.Method for drafting of the present invention can show the isogonism runway symbol overlapped with the true runway profile in the external world, earth point on flat showing, enhance the situational awareness of pilot under low visibility meteorological condition, alleviate the working load of pilot, improve flight safety.

Accompanying drawing explanation

Fig. 1 is the principle schematic that the present invention equals aobvious isogonism runway symbol plotting method;

Fig. 2 is the flat aobvious isogonism runway schematic symbol diagram drawn out in the embodiment of the present invention;

Fig. 3 is the process flow diagram of flat aobvious isogonism runway symbol plotting method in the embodiment of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.

As shown in Figure 1, the air altitude information that the airport data utilizing flight management system to export, air data computer export and the instrument landing system (ILS) data that multimode rake receiver exports resolve the real-time position information of the relative runway of aircraft to the present invention flat aobvious isogonism runway symbol plotting side ratio juris; The runway parameter that the attitude data that recycling aircraft exports relative to the real-time position information of runway, inertial reference system, flight management system export and flat aobvious configuration data calculate the mapping relations of the relative runway coordinate system of flat palpable coordinate system; Finally utilize the above-mentioned mapping relations obtained that true runway is mapped to flat palpable coordinate system and be converted into the flat aobvious discernible information of picture, thus draw out runway profile true in the external world, isogonism runway symbol that earth point overlaps.As shown in Figure 3, specific embodiment step is as follows for the specific implementation process of the method:

1. resolve the real-time position information of the relative runway of aircraft

This step needs the downslide deviation, course deviation, aerodrome elevation, the glidepath angles of setting, lower slide unit coordinate, course platform coordinate, the aircraft air elevation information that gather aircraft relative standard glide path.

The present embodiment obtains aerodrome elevation h from flight management system _r, setting glidepath angles Ω, lower slide unit coordinate l _gS, course platform coordinate l _lOC, from multimode rake receiver, obtain the downslide deviation Γ of aircraft relative standard glide path _gS, course deviation Γ _lOC, from air data computer, obtain aircraft air height h _a.First the aerodrome elevation h that flight management system exports is utilized _r, the aircraft air height h that air data computer exports _a, obtain the relative height between aircraft and runway then the downslide deviation Γ that multimode rake receiver exports is utilized _gS, glide path set angle Ω, lower slide unit coordinate l that flight management system exports _gS, the relative height between aircraft and runway resolve the lengthwise position of the relative runway of aircraft the course deviation Γ that recycling multimode rake receiver exports _lOC, the course platform coordinate l that flight management system exports _lOC, the lengthwise position of the relative runway of aircraft resolve the horizontal lateral position of aircraft relative to runway

$P_z^R=h_A-h_R$

$P_x^R=-P_z^R/tan(\mathrm{\Ω}+{\mathrm{\Γ}}_{GS})+l_{GS}$

$P_y^R=(-P_x^R+l_{LOC})*tan\left({\mathrm{\Γ}}_{LOC}\right)$

2. resolve the flat mapping relations with true runway that show

This step needs the real-time position information gathering aircraft crab angle, the angle of pitch, roll angle, flat aobvious established angle, the runway gradient, runway course runway relative to aircraft.

The present embodiment obtains aircraft crab angle ψ, pitching angle theta, roll angle φ from inertial reference system, from flight management system, obtain flat aobvious established angle δ _d, runway gradient k, runway course ψ _r, calculate the mapping relations of the relative runway coordinate system of flat palpable coordinate system relative to the real-time position information of runway in conjunction with aircraft.

Obtain runway gradient k, runway course ψ that flight management system provides _r, be the frame of reference with runway coordinate, be rotated counterclockwise-k, ψ by the rotation mode of y-z-x _r, 0, then z-axis is reverse, obtain runway east northeast ground coordinate system.The mapping relations M of the relative runway coordinate system of runway east northeast ground coordinate system _n,rfor:

$M_{n,r}=\left[\begin{array}{ccc}{\mathrm{cos\ψ}}_R\cos k& {\mathrm{sin\ψ}}_R& {\mathrm{cos\ψ}}_R\sin k\\ -{\mathrm{sin\ψ}}_R\cos k& {\mathrm{cos\ψ}}_R& -{\mathrm{sin\ψ}}_R\sin k\\ \sin k& 0& -\cos k\end{array}\right]$

Obtain aircraft crab angle ψ, pitching angle theta, roll angle φ that inertial reference system provides, be the frame of reference with aircraft east northeast ground coordinate, be rotated counterclockwise ψ, θ, φ by the rotation mode of z-y-x, obtain body axis system.The mapping relations M of airframe coordinate system relative aircraft east northeast ground coordinate system _b,nfor:

$M_{b,n}=\left[\begin{array}{ccc}\cos \mathrm{\θ}\cos \mathrm{\ψ}& \cos \mathrm{\θ}\sin \mathrm{\ψ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}\cos \mathrm{\ψ}\sin \mathrm{\φ}& \sin \mathrm{\θ}\sin \mathrm{\ψ}\sin \mathrm{\φ}+\cos \mathrm{\ψ}\cos \mathrm{\φ}& \cos \mathrm{\θ}\sin \mathrm{\φ}\\ \sin \mathrm{\θ}\cos \mathrm{\ψ}\cos \mathrm{\φ}& \sin \mathrm{\θ}\sin \mathrm{\ψ}\cos \mathrm{\φ}-\cos \mathrm{\ψ}\sin \mathrm{\φ}& \cos \mathrm{\θ}\cos \mathrm{\φ}\end{array}\right]$

Obtain the flat aobvious established angle δ that flight management system provides _d, be the frame of reference with airframe coordinate, be rotated counterclockwise-δ around y-axis _d, obtain flat palpable coordinate system.The mapping relations M of the relative airframe coordinate system of flat palpable coordinate system _h,bfor:

$M_{h,b}=\left[\begin{array}{ccc}{\mathrm{cos\δ}}_d& 0& {\mathrm{sin\δ}}_d\\ 0& 1& 0\\ -{\mathrm{sin\δ}}_d& 0& {\mathrm{cos\δ}}_d\end{array}\right]$

In the present embodiment, the true end points of runway is A, B, C, D, and the intersection point of ground wire and the left and right edge line of runway is respectively E, F.If the coordinate of the relative runway coordinate system of t aircraft is (P _x, P _y, P _z), the coordinate of runway terminal A under runway coordinate system is (A _x, A _y, A _z), the mapping relations of the relative airframe coordinate system of flat palpable coordinate system are M _h,b, airframe coordinate system is M relative to the mapping relations of aircraft east northeast ground coordinate system _b,n, runway east northeast ground coordinate system is M relative to the mapping relations of runway coordinate system _n,r, then the coordinate of A point under flat palpable coordinate system for:

$\left[\begin{array}{c}{A}_x^{hud}\\ A_y^{hud}\\ A_z^{hud}\end{array}\right]=M_{h,b}{M}_{b.n}{M}_{n,r}(\left[\begin{array}{c}{A}_x\\ A_y\\ A_z\end{array}\right]-\left[\begin{array}{c}{P}_x\\ P_y\\ P_z\end{array}\right])$

3. true runway be mapped to flat palpable coordinate system and be converted into the flat aobvious discernible information of picture

This step is under utilizing flat palpable coordinate system, relative to the mapping relations of runway coordinate system, true runway end points, earth point are mapped to flat palpable coordinate system, and is converted into the flat aobvious discernible position angle of picture and angle of pitch information.

Wherein true runway terminal A has been mapped to flat palpable coordinate system, is translated into the flat aobvious discernible position angle ε of picture _awith angle of pitch η _a:

${\mathrm{\ϵ}}_A={\tan }^{-1}(A_y^{Hud}/A_x^{Hud})$

${\mathrm{\η}}_A=-{\tan }^{-1}(A_z^{Hud}/A_x^{Hud})$

Runway terminal B, C, D in the present embodiment, position angle and the angle of pitch information computing method of earth point E, F are the same, just directly can draw isogonism runway symbol on flat aobvious picture after the position angle of acquisition 6 points and angle of pitch information.

The flat aobvious isogonism runway symbol drawn in the present embodiment as shown in Figure 2.Method for drafting of the present invention can show the isogonism runway symbol overlapped with the true runway profile in the external world, earth point on flat showing, enhance the situational awareness of pilot under low visibility meteorological condition, alleviate the working load of pilot, improve flight safety.

Claims (7)

1. a flat aobvious isogonism runway symbol plotting method, it is characterized in that, this method for drafting comprises the following steps:

1) gather downslide deviation, course deviation, aerodrome elevation, the glidepath angles of setting, lower slide unit coordinate, course platform coordinate, the aircraft air elevation information of aircraft relative standard glide path, and resolve the real-time position information of the relative runway of aircraft according to the above-mentioned information collected;

2) calculate the mapping relations of the relative runway coordinate system of flat palpable coordinate system relative to the real-time position information of runway according to aircraft crab angle, the angle of pitch, roll angle, flat aobvious established angle, the runway gradient, runway course and aircraft;

3) true runway be mapped to flat palpable coordinate system and be converted into the flat aobvious discernible information of picture.

2. flat aobvious isogonism runway symbol plotting method according to claim 1, is characterized in that, described step 1) in the computation process of real-time position information of the relative runway of aircraft be:

A. according to aerodrome elevation h _r, aircraft air height h _a, obtain the relative height between aircraft and runway

$P_z^R=h_A-h_R;$

B. according to the downslide deviation Γ of aircraft relative standard glide path _gS, glide path set angle Ω, lower slide unit coordinate l _gS, relative height between aircraft and runway resolve the lengthwise position of the relative runway of aircraft

$P_x^R=-P_z^R/tan(\mathrm{\Ω}+{\mathrm{\Γ}}_{GS})+l_{GS};$

C. according to the lengthwise position of the relative runway of aircraft course platform coordinate l _lOC, course deviation Γ _lOC, resolve the horizontal lateral position of aircraft relative to runway

$P_y^R=(-P_x^R+l_{LOC})*tan\left({\mathrm{\Γ}}_{LOC}\right).$

3. flat aobvious isogonism runway symbol plotting method according to claim 2, it is characterized in that, described step 1) in downslide deviation and course deviation be obtained by multimode rake receiver, described aircraft air height is obtained by air data computer, and the glidepath angles of described setting, lower slide unit coordinate, course platform coordinate and aerodrome elevation are obtained by flight management system.

4. flat aobvious isogonism runway symbol plotting method according to claim 2, is characterized in that, described step 2) in the coordinate of runway under flat palpable coordinate system be:

$\left[\begin{array}{c}{A}_x^{hud}\\ A_y^{hud}\\ A_z^{hud}\end{array}\right]=M_{h,b}{M}_{b.n}{M}_{n,r}(\left[\begin{array}{c}{A}_x\\ A_y\\ A_z\end{array}\right]-\left[\begin{array}{c}{P}_x\\ P_y\\ P_z\end{array}\right])$

Wherein for the coordinate of runway terminal A under flat palpable coordinate, M _h,bfor the mapping relations of the relative airframe coordinate system of flat palpable coordinate system, M _b,nfor airframe coordinate system is relative to the mapping relations of aircraft east northeast ground coordinate system, M _n,rfor runway east northeast ground coordinate system is relative to the mapping relations of runway coordinate system, (A _x, A _y, A _z) be the coordinate of runway terminal A under runway coordinate system, (P _x, P _y, P _z) be the coordinate of the relative runway coordinate system of aircraft, and

$M_{n,r}=\left[\begin{array}{ccc}{\mathrm{cos\ψ}}_R\cos k& {\mathrm{sin\ψ}}_R& {\mathrm{cos\ψ}}_R\sin k\\ -{\mathrm{sin\ψ}}_R\cos k& {\mathrm{cos\ψ}}_R& -{\mathrm{sin\ψ}}_R\sin k\\ \sin k& 0& -\cos k\end{array}\right]$

$M_{b,n}=\left[\begin{array}{ccc}\cos \mathrm{\θ}\cos \mathrm{\ψ}& \cos \mathrm{\θ}\sin \mathrm{\ψ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}\cos \mathrm{\ψ}\sin \mathrm{\φ}& \sin \mathrm{\θ}\sin \mathrm{\ψ}\sin \mathrm{\φ}+\cos \mathrm{\ψ}\cos \mathrm{\φ}& \cos \mathrm{\θ}\sin \mathrm{\φ}\\ \sin \mathrm{\θ}\cos \mathrm{\ψ}\cos \mathrm{\φ}& \sin \mathrm{\θ}\sin \mathrm{\ψ}\cos \mathrm{\φ}-\cos \mathrm{\ψ}\sin \mathrm{\φ}& \cos \mathrm{\θ}\cos \mathrm{\φ}\end{array}\right]$

$M_{h,b}=\left[\begin{array}{ccc}{\mathrm{cos\δ}}_d& 0& {\mathrm{sin\δ}}_d\\ 0& 1& 0\\ -{\mathrm{sin\δ}}_d& 0& {\mathrm{cos\δ}}_d\end{array}\right]$

ψ _rfor runway course, k is the runway gradient, and ψ, θ, φ are respectively aircraft crab angle, the angle of pitch and roll angle, δ _dfor flat aobvious established angle.

5. flat aobvious isogonism runway symbol plotting method according to claim 4, it is characterized in that, described step 2) in crab angle, the angle of pitch, roll angle be utilize inertial reference system to obtain, described flat aobvious established angle, the runway gradient, runway course utilize flight management system to obtain.

6. flat aobvious isogonism runway symbol plotting method according to claim 4, it is characterized in that, described step 3) in be under utilizing flat palpable coordinate system, relative to the mapping relations of runway coordinate system, true runway end points, earth point are mapped to flat palpable coordinate system, and be converted into the flat aobvious discernible orientation of picture and pitch information.

7. flat aobvious isogonism runway symbol plotting method according to claim 6, is characterized in that, described step 3) under runway is mapped to flat palpable coordinate system, the orientation of its terminal A in flat aobvious picture and pitch information are:

${\mathrm{\ϵ}}_A={\tan }^{-1}(A_y^{Hud}/A_x^{Hud})$

${\mathrm{\η}}_A=-{\tan }^{-1}(A_z^{Hud}/A_x^{Hud})$

Wherein ε _afor the position angle of runway terminal A in flat aobvious picture, η _afor the angle of pitch of runway terminal A in flat aobvious picture.