CN105571593B - A kind of geographical position information acquisition method based on MLS - Google Patents
A kind of geographical position information acquisition method based on MLS Download PDFInfo
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- CN105571593B CN105571593B CN201510845834.7A CN201510845834A CN105571593B CN 105571593 B CN105571593 B CN 105571593B CN 201510845834 A CN201510845834 A CN 201510845834A CN 105571593 B CN105571593 B CN 105571593B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The present invention provides a kind of geographical position information acquisition methods based on MLS, obtain MLS metrical informations and Airport information first, if MLS metrical informations and Airport information are effective, allow moral iterative algorithm to obtain position of the aircraft in MLS coordinate systems using rotation Gauss；Otherwise continue to obtain；The final coordinate for calculating aircraft in earth coordinates.The present invention can avoid vulnerability and intact sex chromosome mosaicism caused by being influenced by satellite-signal using satellite navigation receiver, also the problem of can avoid drifting about at any time using the precision caused by inertial navigation projectional technique ensure that the reliability of airborne equipment geographical location information output.
Description
Technical field
The invention belongs to navigation fields, are related to ground based navigational system, especially a kind of utilization microwave landing system (MLS)
Angle measurement and ranging information, the method for obtaining geographical location information (latitude, longitude and altitude).
Background technology
Microwave landing system (MLS) is aircraft precision approach talk down system of new generation, typical ground installation composition
Including Azimuth Station, elevation table and distance finding station, respectively airborne equipment provides the azimuth relative to the orientation station, relative to the elevation angle
The elevation angle of the station and distance relative to the ranging station.Azimuth Station and distance finding station are generally co-located erection, behind runway outlet
End；Elevation table is erected at runway threshold side；All stations both face towards aircraft landing direction.When aircraft landing, pilot or from
Dynamic pilot manipulates aircraft, azimuth and the elevation angle is maintained at certain numerically (representative value is 0 ° of orientation, 3 ° of the elevation angle), and join
Range information is examined, the speed and posture of aircraft are adjusted, realizes and lands.This instrument landing system is to be used as to lead using Angle Information
Navigate guidance information.
It is more and more airborne flat with the gradual application of the satellite navigation system based on navigation satellite (GPS, Big Dipper etc.)
Platform matches track chart as navigational guidance information using geographical location information (latitude, longitude and altitude).In order to adapt to this answer
With mode, landing system is also required to the function of having output geographical location information.
Traditional geographical location acquisition methods, can be used satellite navigation receiver or inertial navigation calculates.It is connect using satellite navigation
Receipts machine can make airborne equipment obtain high geographical location precision (using real-time especially in conjunction with the utilization of difference enhancement information
After carrier phase difference technology, positioning accuracy is up to Centimeter Level), still, there are vulnerabilities and integrity to ask for satellite navigation system
Topic.So-called " vulnerability " refers to the easy interference problem of satellite navigation system, since the distance of satellite from the ground is too far, reaches ground
On signal it is very faint, be highly prone to interfere；So-called intact sex chromosome mosaicism refers to that satellite navigation receiver is difficult to judge satellite
Whether real-time status and the signal of transmission are abnormal.It is affected by this, (pressing type that such as there is satellite-signal is dry under certain conditions
Disturb, Deceiving interference), the geographical location information of satellite navigation receiver output is insecure.The shortcomings that being calculated using inertial navigation
Be inertial navigation precision can be at any time passage and gradually drift about, cause the precision of geographical location information to run down.
Currently, MLS airborne equipments only have output angle and the function of range information both at home and abroad, do not find with geographical location
The pertinent literature of information output function is reported.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of geographical position information acquisition method, is based on MLS angle measurements
And ranging information obtains the geographical position residing for MLS airborne equipments in conjunction with MLS station coordinates information and runway geographical location information
Confidence ceases (latitude, longitude and altitude), can be used for MLS airborne equipments output information and satellite navigation receiver output information is straight
It connects comparison, correct the applications such as inertial navigation information and map match.
The technical solution adopted by the present invention to solve the technical problems includes the following steps：
(1) MLS metrical informations and Airport information are obtained, is as follows：
(1.1) it establishes using runway touchdown point as the cartesian coordinate system of origin, in the horizontal plane, X-axis is being run for X-axis and Y-axis
On road elongated central line, negative value indicates the end direction to runway；
(1.2) obtain MLS ground installations in Azimuth Station, elevation table and distance finding station antenna phase center in MLS system coordinates
Coordinate (X in systemA,YA,ZA)、(XE,YE,ZE) and (XD,YD,ZD)。
(1.3) metrical information of acquisition MLS airborne equipments, including the azimuth angle theta of aircraft relative bearing antenna, aircraft are opposite
The elevation angle of elevation antennaAnd aircraft is with respect to the distance ρ of telemetry antenna；
(1.4) runway geography information is obtained, the geodetic coordinates (φ of landing point is included0,λ0,h0) and runway geographical north of marching into the arena
Angle γ；
(2) if MLS metrical informations and Airport information that step (1) obtains are effective, using rotation, Gauss-allows moral iteration to calculate
Method obtains position (X of the aircraft in MLS coordinate systemsT,YT,ZT)；Otherwise return to step (1) continues to obtain；
(3) coordinate of the aircraft in earth coordinates is calculated, is as follows：
(3.1) by (φ0,λ0,h0) be converted to the coordinate (x of WGS-84 coordinate systems0,y0,z0), wherein x0=(N+h0)cos
φ0cosλ0, y0=(N+h0)cosφ0sinλ0, z0=[(N (1-e2)+h0)]sinφ0, φ0For latitude, λ0For longitude, h0For height
It spends, the fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches circle radius of curvature of spheroid on the basis of N, e is eccentricity of ellipsoid, e2=0.00669437999,A=6378137；
(3.2) by (XT,YT,ZT) be converted under topocentric coordinate system coordinate (Δ e, Δ n, Δ u), wherein
According to coordinate (x of the landing point under WGS-84 coordinate systems0,y0,z0) obtain seat of the aircraft in WGS-84 coordinate systems
It marks (x, y, z), wherein x=Δs x+x0, y=Δs y+y0, z=Δs z+z0；
In the step (1), runway geography letter is uploaded by data link or pre-enters to obtain.
The step (3.4) is gradually approached using iterative method, is first assumed that the value of φ is 0, is calculated N successively, h and
Then φ will be calculated in obtained φ values again substitution formula again, update N again, h and φ values so recycle, until φ values are kept
It is constant.
The beneficial effects of the invention are as follows：Angle measurement based on MLS itself and ranging information, in conjunction with MLS station coordinates information and
Runway geographical location information obtains the geographical location information residing for MLS airborne equipments.Since MLS signals are difficult to interfere, itself tool
There are good integrity Means of Ensuring, system accuracy to stablize, along with (each station is under MLS system coordinate systems for MLS stations position
Coordinate) and runway information (geographical coordinate at runway geographical north angle and landing point) be all that can accurately measure and immobilize in advance
, therefore, the present invention can avoid vulnerability and intact sex chromosome mosaicism caused by being influenced by satellite-signal using satellite navigation receiver,
Also the problem of can avoid drifting about at any time using the precision caused by inertial navigation projectional technique ensure that airborne equipment geographical location is believed
Cease the reliability of output.
Description of the drawings
Fig. 1 is the flow diagram of the present invention；
Fig. 2 is the cartesian coordinate system schematic diagram using runway touchdown point as origin.
Specific implementation mode
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention proposes a kind of geographical position information acquisition method based on MLS, includes the following steps：
(1) MLS metrical informations and Airport information are obtained, it is as follows：
A) MLS system coordinate systems are established.With reference to Fig. 2, establish using runway touchdown point as the cartesian coordinate system of origin, X-axis
It is horizontal plane with Y-axis, the X-axis of coordinate system is selected on runway elongated central line, and negative value indicates the end direction to runway.
B) obtain MLS ground installations in Azimuth Station, elevation table and distance finding station antenna phase center in MLS system coordinate systems
Coordinate.These coordinates can be uploaded to airborne equipment by the MLS ground installations data link of itself, and airborne equipment passes through reception
The data word information of ground installation broadcast can obtain azimuth anteena phase center, elevation antenna phase center, telemetry antenna phase
Coordinate position of the position center in cartesian coordinate system, is set to (XA,YA,ZA), (XE,YE,ZE), (XD,YD,ZD)。
C) metrical information of MLS airborne equipments is obtained.Angle-data and the range data difference that airborne equipment measurement obtains
It is the azimuth angle theta of aircraft relative bearing antenna, the elevation angle of the aircraft with respect to elevation antennaDistance ρ of the aircraft with respect to telemetry antenna.
D) runway geography information is obtained.Geographical geodetic coordinates (φ including landing point0,λ0,h0) and runway geographical north of marching into the arena
Angle γ (refers to the angle of runway centerline and geographical geographical north, the i.e. angle of X-axis and geographical geographical north).It should be pointed out that standard
It has included the content of runway information in MLS data words, but the poor (latitude and longitude precision is 100 milliseconds, height-precision is of precision
1 meter, geographical north angular accuracy be 0.01 °), only can be used as airfield runway reference information, change scaling method of the present invention can not be used as
Input precision require (latitude and longitude required precision is 1 millisecond, height-precision requirement is 0.06 meter, geographical north angular accuracy requirement
It is 0.002 °) operation is participated in, therefore, it is necessary to (such as be uploaded by data link by remaining technological approaches, or pacified according to task
Row, inputs the runway information for intending landing station in advance) provide runway geography information for MLS airborne equipments.
(2) if MLS airborne equipments have obtained above- mentioned information and judged effectively, to execute coordinate transform, using rotation Gauss-
Moral iterative algorithm is allowed to obtain position (X of the aircraft in MLS coordinate systemsT,YT,ZT)；If not obtaining effective information, continue to obtain.
(3) the geographical geodetic coordinates (φ of landing point known to0,λ0,h0), the geographical north angle γ that marches into the arena of runway, aircraft is opposite lands
Coordinate (the X of pointT,YT,ZT), coordinate of the aircraft in geographical earth coordinates can be calculated by following calculating step：
(1) geodetic coordinates of landing point is converted into WGS-84 coordinate system coordinates (x0,y0,z0).Computational methods are：
From geodetic coordinates (φ0,λ0,h0) to ground heart consolidate rectangular coordinate system (x0,y0,z0) between transformation for mula be：
x0=(N+h0)cosφ0cosλ0
y0=(N+h0)cosφ0sinλ0
z0=[(N (1-e2)+h0)]sinφ0
Wherein, φ0For latitude, λ0For longitude, h0For height.The fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches of spheroid justifies radius of curvature on the basis of N, and e is ellipsoid
Eccentricity, there are following relationships by their major radius a and short radius b with datum ellipsoid body：
For WGS-84 coordinate systems, there are a=6378137 meters, the pole ellipticity of datum ellipsoid is：
e2=0.00669437999
(2) aircraft coordinate is converted to topocentric coordinate system coordinate (Δ e, Δ n, the Δ using landing point as origin by MLS coordinates
u).Computational methods are：
MLS system coordinate systems are rotated the angles γ about the z axis can obtain topocentric coordinate system using landing point as origin, thus may be used
By coordinate (X of the aircraft in landing rectangular coordinate systemT,YT,ZT) be converted under topocentric coordinate system coordinate (Δ e, Δ n, Δ u),
Its transformation relation is：
(3) aircraft coordinate is converted to WGS-84 coordinate system coordinates (x by topocentric coordinate system0,y0,z0), computational methods are such as
Under：
According to position of the aircraft in topocentric coordinate system, (Δ e, Δ n, Δ u) can be converted by following transformation for mula
(the Δ x, Δ y, Δ z) of WGS-84 coordinate systems：
Wherein, transformation matrix of coordinates is：
According to coordinate (x of the calculated landing point under WGS-84 coordinate systems in a)0,y0,z0), aircraft can be obtained and exist
Coordinate (x, y, z) in WGS-84 coordinate systems：
X=Δs x+x0
Y=Δs y+y0
Z=Δs z+z0
(4) by aircraft coordinate by WGS-84 coordinate system coordinate transformation earth coordinates coordinates (φ, λ, h), computational methods are：
It is from WGS-84 coordinate systems coordinate (x, y, z) to the transformation for mula of earth coordinates coordinate (φ, λ, h)：
Wherein：
A=6378137,
e2=0.00669437999
The calculation formula of intermediate variable p is：
Step d) needs are gradually approached by iterative method：First assume that the value of φ is 0, calculates N, h and φ successively, then
It will be calculated in the value just obtained again substitution formula again, update the value of N, h and φ again, so recycled, until φ values remain unchanged.
Referring to Fig.1, the embodiment of the present invention includes the following steps：
(1) MLS metrical informations and Airport information are obtained, it is as follows：
A) azimuth anteena phase center, elevation antenna phase center, telemetry antenna phase center in MLS ground installations are obtained
Coordinate position in MLS system coordinate systems, is set to (XA,YA,ZA), (XE,YE,ZE), (XD,YD,ZD)。
B) metrical information of MLS airborne equipments is obtained.Angle-data and the range data difference that airborne equipment measurement obtains
It is the azimuth angle theta of aircraft relative bearing antenna, the elevation angle of the aircraft with respect to elevation antennaDistance ρ of the aircraft with respect to telemetry antenna.
C) runway geography information is obtained.Geographical geodetic coordinates (φ including landing point0,λ0,h0) and runway geographical north of marching into the arena
Angle γ.Required precision is：Latitude and longitude precision are 1 millisecond, height-precision is 0.06 meter, geographical north angular accuracy is 0.002 °.
(2) MLS airborne equipments execute coordinate transform, obtain position (X of the aircraft in MLS coordinate systemsT,YT,ZT), it calculates
Method allows moral iterative algorithm using rotation Gauss-.
(3) coordinate of the aircraft in geographical earth coordinates is calculated：
A) geodetic coordinates of landing point is converted into WGS-84 coordinate system coordinates (x0,y0,z0).Computational methods are：
From geodetic coordinates (φ0,λ0,h0) to ground heart consolidate rectangular coordinate system (x0,y0,z0) between transformation for mula be：
x0=(N+h0)cosφ0cosλ0
y0=(N+h0)cosφ0sinλ0
z0=[(N (1-e2)+h0)]sinφ0
Wherein, φ0For latitude, λ0For longitude, h0For height.The fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches of spheroid justifies radius of curvature on the basis of N, and e is ellipsoid
Eccentricity, there are following relationships by their major radius a and short radius b with datum ellipsoid body：
For WGS-84 coordinate systems, there are a=6378137 meters, the pole ellipticity of datum ellipsoid is：
e2=0.00669437999
B) aircraft coordinate is converted to topocentric coordinate system coordinate (Δ e, Δ n, the Δ using landing point as origin by MLS coordinates
u).Computational methods are：
C) aircraft coordinate is converted to WGS-84 coordinate system coordinates (x by topocentric coordinate system0,y0,z0), computational methods are as follows：
According to position of the aircraft in topocentric coordinate system, (Δ e, Δ n, Δ u) can be converted by following transformation for mula
(the Δ x, Δ y, Δ z) of WGS-84 coordinate systems：
Wherein, transformation matrix of coordinates is：
According to coordinate (x of the calculated landing point under WGS-84 coordinate systems in a)0,y0,z0), aircraft can be obtained and exist
Coordinate (x, y, z) in WGS-84 coordinate systems：
X=Δs x+x0
Y=Δs y+y0
Z=Δs z+z0
D) by aircraft coordinate by WGS-84 coordinate system coordinate transformation earth coordinates coordinates (φ, λ, h), computational methods are：
It is from WGS-84 coordinate systems coordinate (x, y, z) to the transformation for mula of earth coordinates coordinate (φ, λ, h)：
Wherein：
A=6378137,
e2=0.00669437999
The calculation formula of intermediate variable p is：
Step d) needs are gradually approached by iterative method：First assume that the value of φ is 0, calculates N, h and φ successively, then
It will be calculated in the value just obtained again substitution formula again, update the value of N, h and φ again, so recycled, until φ values remain unchanged.
According to above-mentioned steps, it is assumed that runway geographical north angle is 0.00 °, the geodetic coordinates of landing point be (109.2655 ° of longitude,
34.63206 ° of latitude, 358.00 meters of height), two different ground station configurations are chosen, the configuration of each station has chosen two kinds
Different MLS measurement data has obtained corresponding data by MATLAB simulation calculations, has demonstrated geodetic coordinates transfer algorithm
Correctness is specifically shown in Table 1.
Table 1
The method of the present invention principle is simple, and data source is reliable, has stronger engineer application.
Claims (3)
1. a kind of geographical position information acquisition method based on MLS, it is characterised in that include the following steps：
(1) MLS metrical informations and Airport information are obtained, is as follows：
(1.1) it establishes using runway touchdown point as the cartesian coordinate system of origin, in the horizontal plane, X-axis is in runway for X-axis and Y-axis
On heart extended line, negative value indicates the end direction to runway；
(1.2) obtain MLS ground installations in Azimuth Station, elevation table and distance finding station antenna phase center in MLS system coordinate systems
Coordinate (XA,YA,ZA)、(XE,YE,ZE) and (XD,YD,ZD)；
(1.3) metrical information of MLS airborne equipments is obtained, including the azimuth angle theta of aircraft relative bearing antenna, aircraft are with respect to the elevation angle
The elevation angle of antennaAnd aircraft is with respect to the distance ρ of telemetry antenna；
(1.4) runway geography information is obtained, the geodetic coordinates (φ of landing point is included0,λ0,h0) and runway the geographical north angle γ that marches into the arena；
(2) if MLS metrical informations and Airport information that step (1) obtains are effective, using rotation, Gauss-allows moral iterative algorithm to obtain
Obtain position (X of the aircraft in MLS coordinate systemsT,YT,ZT)；Otherwise return to step (1) continues to obtain；
(3) coordinate of the aircraft in earth coordinates is calculated, is as follows：
(3.1) by (φ0,λ0,h0) be converted to the coordinate (x of WGS-84 coordinate systems0,y0,z0), wherein x0=(N+h0)cosφ0cosλ0, y0=(N+h0)cosφ0sinλ0, z0=[(N (1-e2)+h0)]sinφ0, φ0For latitude, λ0For longitude, h0For height
It spends, the fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches circle radius of curvature of spheroid on the basis of N, e is eccentricity of ellipsoid, e2=0.00669437999,A=6378137；
(3.2) by (XT,YT,ZT) be converted under topocentric coordinate system coordinate (Δ e, Δ n, Δ u), wherein
(3.3) will (Δ e, Δ n, Δ u) be converted into WGS-84 coordinate systems coordinate (Δ x, Δ y, Δ z), whereinTransformation matrix of coordinates
According to coordinate (x of the landing point under WGS-84 coordinate systems0,y0,z0) obtain coordinate of the aircraft in WGS-84 coordinate systems
(x, y, z), wherein x=Δs x+x0, y=Δs y+y0, z=Δs z+z0；
(3.4) aircraft coordinate (x, y, z) is transformed into earth coordinates coordinate (φ, λ, h), wherein Intermediate variable
2. the geographical position information acquisition method according to claim 1 based on MLS, it is characterised in that：The step
(1) in, runway geography information is uploaded by data link or pre-enters to obtain.
3. the geographical position information acquisition method according to claim 1 based on MLS, it is characterised in that including following steps
Suddenly：The step (3.4) is gradually approached using iterative method, is first assumed that the value of φ is 0, is calculated N, h and φ successively, then
It will be calculated in obtained φ values again substitution formula again, update N again, h and φ values so recycle, until φ values remain unchanged.
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| CN106597446B (en) * | 2016-12-13 | 2020-07-14 | 中国电子科技集团公司第二十研究所 | M L S blind area landing guiding method fusing radio altimeter information |
| CN109683184B (en) * | 2018-12-25 | 2023-05-12 | 深圳市华信天线技术有限公司 | Inclined ground coordinate measuring method |
| CN110617816B (en) * | 2019-09-20 | 2020-12-29 | 航科院（北京）科技发展有限公司 | Method and system for removing foreign matters on airfield runway by accurate navigation guidance |
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| CN102565766A (en) * | 2011-12-15 | 2012-07-11 | 北京航空航天大学 | Flight check method for air traffic control monitoring radar |
| CN104655135A (en) * | 2015-02-09 | 2015-05-27 | 南京邮电大学 | Landmark-recognition-based aircraft visual navigation method |
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| US5229776A (en) * | 1991-12-05 | 1993-07-20 | Allied-Signal Inc. | Method for field monitoring of a phased array microwave landing system far field antenna pattern employing a near field correction technique |
| FR2925712B1 (en) * | 2007-12-21 | 2010-01-01 | Thales Sa | METHOD FOR AIRCRAFT LANDING AID USING GPS AND MLS UNDER A CALCULATED AXIAL APPROACH |
| FR3010807B1 (en) * | 2013-09-13 | 2015-10-09 | Airbus Operations Sas | METHOD AND DEVICE FOR AIDING THE CONTROL OF AN AIRCRAFT DURING AN APPROACH PHASE FOR LANDING. |
| CN104515974B (en) * | 2014-12-10 | 2017-02-22 | 中国电子科技集团公司第二十研究所 | Processing method of microwave landing airborne equipment angle and ranging data |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102565766A (en) * | 2011-12-15 | 2012-07-11 | 北京航空航天大学 | Flight check method for air traffic control monitoring radar |
| CN104655135A (en) * | 2015-02-09 | 2015-05-27 | 南京邮电大学 | Landmark-recognition-based aircraft visual navigation method |
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