CN105513106B - A kind of HUD isogonism runway symbol plotting method - Google Patents
A kind of HUD isogonism runway symbol plotting method Download PDFInfo
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- CN105513106B CN105513106B CN201510900814.5A CN201510900814A CN105513106B CN 105513106 B CN105513106 B CN 105513106B CN 201510900814 A CN201510900814 A CN 201510900814A CN 105513106 B CN105513106 B CN 105513106B
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- G06T11/00—2D [Two Dimensional] image generation
Abstract
The present invention relates to a kind of HUD isogonism runway symbol plotting methods, this method acquires the downslide deviation of aircraft relative standard's glide path, course deviation, aerodrome elevation, the glidepath angles of setting, lower slide unit coordinate, course platform coordinate, aircraft air elevation information first, and resolves real-time position information of the aircraft with respect to runway according to collected above- mentioned information；Further according to aircraft crab angle, pitch angle, roll angle, HUD established angle, the runway gradient, runway course and aircraft mapping relations of the HUD coordinate system with respect to runway coordinate system are calculated with respect to the real-time position information of runway；True runway is finally mapped to HUD coordinate system and is converted into the identifiable information of HUD picture.The method for drafting of the present invention can show the isogonism runway symbol overlapped with extraneous true runway profile, earth point in HUD, enhance situational awareness of the pilot under low visibility meteorological condition, the live load for alleviating pilot, improves flight safety.
Description
Technical field
The present invention relates to a kind of HUD isogonism runway symbol plotting methods, belong to avionics display control technology field.
Background technology
Runway is aircraft into reference substance important near procedure, under low visibility meteorological condition, if pilot sees not
Clear runway will produce nervous psychology, and live load increases, and is unfavorable for flight safety.Using the isogonism characteristic of head-up display,
The runway reference mark with isogonality is drawn out on head-up display, target runway information can be provided for pilot, is assisted
Aircraft is implemented into close.It is usually run in the prior art with drawing the method for runway center line marking on HUD picture to be arranged
Road reference mark, this method have following deficiency：(1) profile informations such as landing airdrome length, width, the runway drawn are not included
Symbol situational awareness is insufficient；(2) do not include ground contact point information, cause to be supplied to the touch-down zone of pilot to indicate not
Foot.
Invention content
The object of the present invention is to provide a kind of HUD isogonism runway symbol plotting methods, improve aircraft into the nearly stage in low energy
Situational awareness under degree of opinion meteorological condition.
The present invention provides a kind of HUD isogonism runway symbol plotting method, the method for drafting to solve above-mentioned technical problem
Include the following steps：
1) the acquisition downslide deviation of aircraft relative standard's glide path, course deviation, aerodrome elevation, setting glide path
Angle, lower slide unit coordinate, course platform coordinate, aircraft air elevation information, and aircraft phase is resolved according to collected above- mentioned information
To the real-time position information of runway；
2) opposite according to aircraft crab angle, pitch angle, roll angle, HUD established angle, the runway gradient, runway course and aircraft
The real-time position information of runway calculates mapping relations of the HUD coordinate system with respect to runway coordinate system；
3) true runway is mapped to HUD coordinate system and is converted into the identifiable information of HUD picture.
Aircraft is with respect to the calculating process of the real-time position information of runway in the step 1)：
A. according to aerodrome elevation hR, aircraft air height hA, obtain the relative altitude between aircraft and runway
B. according to the downslide deviation Γ of aircraft relative standard's glide pathGS, glide path set angle Ω, lower slide unit coordinate lGS、
Relative altitude between aircraft and runwayResolve lengthwise position of the aircraft with respect to runway
C. the lengthwise position according to aircraft with respect to runwayCourse platform coordinate lLOC, course deviation ΓLOC, resolve aircraft phase
To the horizontal lateral position of runway
Downslide deviation and course deviation are obtained by multimode rake receiver in the step 1), the aircraft air height be by
Air data computer obtains, and glidepath angles, lower slide unit coordinate, course platform coordinate and the aerodrome elevation of the setting are
It is obtained by flight management system.
Coordinate of the runway under HUD coordinate system is in the step 2)：
Wherein () it is coordinate of the runway terminal A under HUD coordinate, Mh,bFly relatively for HUD coordinate system
The mapping relations of machine body coordinate system, Mb,nFor the mapping relations of airframe coordinate system relative to aircraft east northeast coordinate system,
Mn,rFor runway east northeast mapping relations of the coordinate system relative to runway coordinate system, (Ax,Ay,Az) it is that runway terminal A is sat in runway
Coordinate under mark system, (Px,Py,Pz) it is coordinate of the aircraft with respect to runway coordinate system, and
ψRFor runway course, k is the runway gradient, and ψ, θ, φ are respectively aircraft crab angle, pitch angle and roll angle, δdIt is flat
Aobvious established angle.
Yaw angle, pitch angle, roll angle are obtained using inertial reference system in the step 2), the HUD installation
Angle, the runway gradient, runway course are obtained using flight management system.
Be in the step 3) mapping relations using HUD coordinate system with respect to runway coordinate system by true runway endpoint, connect
Place is mapped under HUD coordinate system, and is converted into the identifiable orientation of HUD picture and pitch information.
Runway is mapped under HUD coordinate system in the step 3), orientation and pitching letter of the terminal A in HUD picture
Breath is：
Wherein εAFor azimuth of the runway terminal A in HUD picture, ηAFor pitching of the runway terminal A in HUD picture
Angle.
The beneficial effects of the invention are as follows:It is inclined that the present invention acquires the downslide deviation of aircraft relative standard's glide path, course first
Difference, aerodrome elevation, the glidepath angles of setting, lower slide unit coordinate, course platform coordinate, aircraft air elevation information, and root
Real-time position information of the aircraft with respect to runway is resolved according to collected above- mentioned information；Further according to aircraft crab angle, pitch angle, rolling
Angle, HUD established angle, the runway gradient, runway course and aircraft calculate HUD coordinate system phase with respect to the real-time position information of runway
To the mapping relations of runway coordinate system；True runway is finally mapped to HUD coordinate system and to be converted into HUD picture identifiable
Information draws isogonism runway symbol using obtained mapping relations.The present invention method for drafting can show in HUD and
The isogonism runway symbol that extraneous true runway profile, earth point overlap, enhances pilot under low visibility meteorological condition
Situational awareness alleviates the live load of pilot, improves flight safety.
Description of the drawings
Fig. 1 is the principle schematic of HUD isogonism runway symbol plotting method of the present invention；
Fig. 2 is the HUD isogonism runway schematic symbol diagram drawn out in the embodiment of the present invention；
Fig. 3 is the flow chart of HUD isogonism runway symbol plotting method in the embodiment of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings.
The principle of HUD isogonism runway symbol plotting method of the present invention is as shown in Figure 1, utilize flight management system output
The instrument-landing-system data solution of airport data, the air altitude information of air data computer output and multimode rake receiver output
Calculate real-time position information of the aircraft with respect to runway；Recycle aircraft defeated with respect to the real-time position information of runway, inertial reference system
The runway parameter and HUD configuration data of the attitude data, flight management system output that go out calculate HUD coordinate system with respect to runway
The mapping relations of coordinate system；True runway is finally mapped to HUD coordinate system using obtained above-mentioned mapping relations and is converted into
The identifiable information of HUD picture, to draw out the isogonism runway symbol overlapped with extraneous true runway profile, earth point.It should
The specific implementation process of method as shown in figure 3, specific embodiment steps are as follows：
1. resolving real-time position information of the aircraft with respect to runway
This step needs to acquire the downslide deviation of aircraft relative standard's glide path, course deviation, aerodrome elevation, setting
Glidepath angles, lower slide unit coordinate, course platform coordinate, aircraft air elevation information.
The present embodiment is that aerodrome elevation h is obtained from flight management systemR, setting glidepath angles Ω, glide
Platform coordinate lGS, course platform coordinate lLOC, the downslide deviation Γ of aircraft relative standard's glide path is obtained from multimode rake receiverGS, boat
To deviation ΓLOC, aircraft air height h is obtained from air data computerA.The machine exported first with flight management system
Field height above sea level hR, the aircraft air height h of air data computer outputA, obtain the relative altitude between aircraft and runwayThen the downslide deviation Γ of multimode rake receiver output is utilizedGS, flight management system output glide path set angle Ω, under
Slide unit coordinate lGS, the relative altitude between aircraft and runwayResolve lengthwise position of the aircraft with respect to runwayIt recycles more
The course deviation Γ of mould receiver outputLOC, the course platform coordinate l of flight management system outputLOC, longitudinal direction of the aircraft with respect to runway
PositionResolve horizontal lateral position of the aircraft with respect to runway
2. resolving the mapping relations of HUD and true runway
This step need acquire aircraft crab angle, pitch angle, roll angle, HUD established angle, the runway gradient, runway course and
Real-time position information of the aircraft with respect to runway.
The present embodiment be from inertial reference system obtain aircraft crab angle ψ, pitching angle theta, roll angle φ, from flight management system
HUD established angle δ is obtained in systemd, runway gradient k, runway course ψR, calculate and put down with respect to the real-time position information of runway in conjunction with aircraft
Mapping relations of the palpable coordinate system with respect to runway coordinate system.
Obtain runway gradient k, runway course ψ that flight management system providesR, the coordinate system on the basis of runway coordinate system,
By rotation mode rotation-k, the ψ counterclockwise of y-z-xR, 0, then z-axis is reversed, with obtaining runway east northeast coordinate system.Runway east northeast
Mapping relations M of the ground coordinate system with respect to runway coordinate systemn,rFor：
Aircraft crab angle ψ, pitching angle theta, roll angle φ that inertial reference system provides are obtained, with aircraft east northeast coordinate system
On the basis of coordinate system, rotate ψ, θ, φ counterclockwise by the rotation mode of z-y-x, obtain body coordinate system.Airframe coordinate system
With respect to aircraft east northeast the mapping relations M of coordinate systemb,nFor：
Obtain the HUD established angle δ that flight management system providesd, the coordinate system on the basis of airframe coordinate system, around y-axis
Rotation-δ counterclockwised, obtain HUD coordinate system.Mapping relations M of the HUD coordinate system with respect to airframe coordinate systemh,bFor：
The true endpoint of runway is A, B, C, D in the present embodiment, ground wire and the intersection point of the left and right edge line of runway be respectively E,
F.If t moment aircraft is (P with respect to the coordinate of runway coordinate systemx,Py,Pz), coordinate of the runway terminal A under runway coordinate system
For (Ax,Ay,Az), HUD coordinate system is M with respect to the mapping relations of airframe coordinate systemh,b, airframe coordinate system relative to
Aircraft east northeast coordinate system mapping relations be Mb,n, runway east northeast coordinate system be relative to the mapping relations of runway coordinate system
Mn,r, then coordinate of the A points under HUD coordinate systemFor：
3. true runway is mapped to HUD coordinate system and is converted into the identifiable information of HUD picture
This step is that the mapping relations using HUD coordinate system with respect to runway coordinate system reflect true runway endpoint, earth point
It is mapped under HUD coordinate system, and is converted into the identifiable azimuth of HUD picture and pitching angle information.
Wherein true runway terminal A is mapped to HUD coordinate system, is translated into the identifiable azimuth of HUD picture
εAWith pitch angle ηA：
Runway terminal B, C, D in the present embodiment, the azimuth of earth point E, F and pitching angle information computational methods are same as above, obtain
6 points azimuth and pitching angle information after isogonism runway symbol can be drawn directly on HUD picture.
The HUD isogonism runway symbol drawn in the present embodiment is as shown in Figure 2.The method for drafting of the present invention can be in HUD
The isogonism runway symbol that upper display is overlapped with extraneous true runway profile, earth point, enhances pilot in low visibility meteorology
Under the conditions of situational awareness, alleviate the live load of pilot, improve flight safety.
Claims (7)
1. a kind of HUD isogonism runway symbol plotting method, which is characterized in that the method for drafting includes the following steps：
1) the acquisition downslide deviation of aircraft relative standard's glide path, course deviation, aerodrome elevation, setting glide path angle
Degree, lower slide unit coordinate, course platform coordinate, aircraft air elevation information, and it is opposite according to collected above- mentioned information resolving aircraft
The real-time position information of runway；
2) according to aircraft crab angle, pitch angle, roll angle, HUD established angle, the runway gradient, runway course and aircraft with respect to runway
Real-time position information calculate mapping relations of the HUD coordinate system with respect to runway coordinate system；
3) true runway is mapped to HUD coordinate system and is converted into the identifiable information of HUD picture.
2. HUD isogonism runway symbol plotting method according to claim 1, which is characterized in that aircraft in the step 1)
The calculating process of the real-time position information of opposite runway is：
A. according to aerodrome elevation hR, aircraft air height hA, obtain the relative altitude between aircraft and runway
B. according to the downslide deviation Γ of aircraft relative standard's glide pathGS, glide path set angle Ω, lower slide unit coordinate lGS, aircraft
Relative altitude between runwayResolve lengthwise position of the aircraft with respect to runway
C. the lengthwise position according to aircraft with respect to runwayCourse platform coordinate lLOC, course deviation ΓLOC, resolve the opposite race of aircraft
The horizontal lateral position in road
3. HUD isogonism runway symbol plotting method according to claim 2, which is characterized in that glide in the step 1)
Deviation and course deviation are obtained by multimode rake receiver, and the aircraft air height is obtained by air data computer, described
Glidepath angles, lower slide unit coordinate, course platform coordinate and the aerodrome elevation of setting are obtained by flight management system.
4. HUD isogonism runway symbol plotting method according to claim 2, which is characterized in that runway in the step 2)
Coordinate under HUD coordinate system is：
WhereinFor coordinate of the runway terminal A under HUD coordinate, Mh,bIt is the opposite aircraft machine of HUD coordinate system
The mapping relations of body coordinate system, Mb,nFor the mapping relations of airframe coordinate system relative to aircraft east northeast coordinate system, Mn,rFor
Runway east northeast ground mapping relations of the coordinate system relative to runway coordinate system, (Ax,Ay,Az) be runway terminal A under runway coordinate system
Coordinate, (Px,Py,Pz) it is coordinate of the aircraft with respect to runway coordinate system, and
ψRFor runway course, k is the runway gradient, and ψ, θ, φ are respectively aircraft crab angle, pitch angle and roll angle, δdPacify for HUD
Fill angle.
5. HUD isogonism runway symbol plotting method according to claim 4, which is characterized in that yaw in the step 2)
Angle, pitch angle, roll angle are obtained using inertial reference system, and the HUD established angle, the runway gradient, runway course are to utilize
Flight management system obtains.
6. HUD isogonism runway symbol plotting method according to claim 4, which is characterized in that be profit in the step 3)
True runway endpoint, earth point are mapped under HUD coordinate system by the mapping relations with HUD coordinate system with respect to runway coordinate system,
And it is converted into the identifiable orientation of HUD picture and pitch information.
7. HUD isogonism runway symbol plotting method according to claim 6, which is characterized in that runway in the step 3)
It is mapped under HUD coordinate system, orientation and pitch information of the terminal A in HUD picture are：
Wherein εAFor azimuth of the runway terminal A in HUD picture, ηAFor pitch angle of the runway terminal A in HUD picture.
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| CN106444044A (en) * | 2016-12-12 | 2017-02-22 | 中国航空工业集团公司洛阳电光设备研究所 | Headset display for civil aircraft |
| CN112200847B (en) * | 2020-10-29 | 2022-10-25 | 中国航空工业集团公司洛阳电光设备研究所 | Method for enhancing matching and calibration of flight visual images |
| CN112710991B (en) * | 2020-12-08 | 2024-01-16 | 陕西长岭电子科技有限责任公司 | Comprehensive display method of lifting guiding radar |
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| CN104006790A (en) * | 2013-02-21 | 2014-08-27 | 成都海存艾匹科技有限公司 | Vision-Based Aircraft Landing Aid |
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