CN105651277B - A method of for continental rise navigation platform needed for selection region navigation - Google Patents
A method of for continental rise navigation platform needed for selection region navigation Download PDFInfo
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The invention discloses a kind of methods for continental rise navigation platform needed for selection region navigation, include the following steps：(1) aircraft-position information is obtained；(2) search navigation station information；(3) m guidance stations nearest apart from aircraft of search from navigation station information；(4) availability of each guidance station in nearest guidance station inventory L0 is calculated one by one；(5) according to the air route route information in area navigation equipment, the guidance station of wireless device VOR and DME first passage is selected from available guidance station；(6) guidance station of DME second channels is selected.(7) guidance station of DME third channels is selected.The present invention makes full use of the current location information and flight leg information of aircraft, guidance station data based on storage, consider guidance station service ability, design channel selection algorithmic formula, can realize RNAV system VOR and DME (triple channel) guidance station automatically select and tuber function.
Description
Technical field
The invention belongs to area navigation technical fields.
Background technology
Area navigation is a kind of navigation mode, it can make aircraft within navigation system signal cover, or
Within the scope of the ability to work of Airplane Navigation Equipment or combination, fly along the path of any desired.Area navigation utilizes
The signal of multiple navigation sources, by the geographical location of area navigation equipment Continuous plus aircraft, to be navigated in real time
Information.
The signal source for being presently available for area navigation mainly has：VOR/DME (voll/ranging), DME/DME (rangings/survey
Away from), GNSS (Global Navigation Satellite System), IRS (inertial reference system).To meet area navigation necessary requirement, area navigation
System can be configured with VOR transceivers and DME transceivers (triple channel).Crew can pass through radio control panel or more work(
Energy display control unit manually selects VOR or DME guidance stations, but artificial selection guidance station increases pilot to a certain extent
Work load, the work that automatically selects required continental rise navigation platform then using area navigation equipment and can effectively reduce pilot is negative
Load.
For the DME transceivers there are three channel, usual first channel is matched with VOR, be can be used for showing, also may be used
For the positions VOR/DME calculate, second and third channel for the positions DME/DME calculating.How this carries out each channel guidance station
Be selected to RNAV system key technology urgently to be resolved hurrily.
Honeywell Inc., HarperCollins, GE companies and the French Thales in the U.S. have monopolized branch line, have done
This of line and commercial aircraft product market, know core technology and its development of RNAV system, in machines such as Air Passenger, Boeing
Automatically selecting and tuning for continental rise navigation platform is early had been achieved in type.We are domestic larger with external gap, although at present also
The goods shelf products of neither one forming, but domestic major colleges and universities, institutes are pursuing always the paces of foreign technology development, carry out
A series of technical research that integrated navigation is carried out using major navigation sensor, such as how to utilize information and the filter of multisensor
The performance of wave algorithm lifting region navigation system.And work for front end, i.e., how to be area navigation equipment real-time selection and tune
Continental rise navigation platform needed for humorous, the country very set foot in less.
Invention content
The purpose of the present invention is to manually select continental rise navigation platform to solve existing RNAV system to meet in real time
Property the problem of, the method for proposing continental rise navigation platform needed for a kind of navigation of selection region makes full use of the current location information of aircraft
With flight leg information, the guidance station data based on storage consider the service ability of guidance station, design channel selection algorithmic formula, real
Existing area navigation equipment VOR and DME (triple channel) guidance station automatically select and tuber function.
To achieve the above object, the present invention adopts the following technical scheme that：
A method of for continental rise navigation platform needed for selection region navigation, include the following steps：
(1) with period Δ T reading area navigation equipments export aircraft-position information, aircraft-position information include longitude L,
Latitude λ, height h；
(2) the navigation station information stored with period Δ T reading area navigation equipments, guidance station information include：Guidance station
Frequency fNAV(i), longitude λNAV(i), latitude LNAV(i), absolute altitude hNAV(i), quality factor FOM (i), wherein i indicate guidance station
Number；
(3) using aircraft current location as the center of circle, the maximum operating range D of guidance stationmaxFor radius, believe from the guidance station
The m guidance stations nearest apart from aircraft are searched in breath, form nearest guidance station inventory L0；
(4) availability of each guidance station in nearest guidance station inventory L0 is calculated one by one, and formation can use guidance station inventory
L1；
(5) according to the air route route information in area navigation equipment, radio is selected to set from available guidance station inventory L1
The guidance station of standby VOR and DME first passages；
(6) guidance station that removal step (5) selects from available guidance station inventory L1 forms DME second channel guidance stations
Inventory L2 is selected, the factor to affect K of each guidance station in DME second channel guidance stations selection inventory L2 is calculated2(i), selection influences
Guidance station of the maximum guidance station of factor as DME second channels.
(7) guidance station that removal step (6) selects from DME second channel guidance stations selection inventory L2, forms DME thirds
Channel guidance station selects inventory L3, calculates the factor to affect K of each guidance station in DME third channel guidance stations selection inventory L33
(i), guidance station of the maximum guidance station of factor to affect as DME third channels is selected.
Preferably, the computational methods of the availability of each guidance station are in the step (4)：
(4.a) calculates the distance D of each guidance station in aircraft Relative Navigation platform inventory L01(i) and height difference H1(i)；
(4.b) according to the quality factor FOM (i) of each guidance station in nearest guidance station inventory L0, compare different qualities because
The coverage of number guidance station limits table, calculates the distance limitation D of each guidance station servicerestrict(i) and height limitation Hrestrict
(i)；
(4.c) is by the distance D of aircraft Relative Navigation platform1(i) and height difference H1(i) it is limited at a distance from each guidance station respectively
Drestrict(i) and height limitation Hrestrict(i) it compares, if D1(i)<Drestrict(i) and H1(i)<Hrestrict(i), then it is assumed that
Aircraft is in the coverage of guidance station；
(4.d) calculates the taper blind area H of each guidance station in coveragecone：
Hcone(i)=D1(i) cos θ, wherein θ are the bevel angle of guidance station；
(4.e) calculates aircraft whether in the taper blind area of each guidance station, if aircraft is not in the taper blind area of guidance station
Then think that the guidance station is available current aircraft position.
Preferably, in the step (5) VOR and DME first passage guidance stations select comprise the concrete steps that：
(5.a) is if current aircraft was in into the nearly stage, then being selected from available guidance station inventory L1 into close with reference to navigation
Guidance station of the platform as VOR and DME first passages；
(5.b) is if current aircraft is in approach phase, then selection reaches airport reference from available guidance station inventory L1
Guidance station of the guidance station as VOR and DME first passages；
(5.c) leaves the theatre the stage if current aircraft is in, then selection is left the theatre with reference to navigation from available guidance station inventory L1
Guidance station of the platform as VOR and DME first passages；
(5.d) is if aircraft is in cruising phase, then selecting the navigation specified by segment from available guidance station inventory L1
Guidance station of the platform as VOR and DME first passages；
(5.e) is if can the guidance station not having in guidance station inventory L1 specified by current leg be used, then from available guidance station
Guidance station of the reference guidance station of next segment as VOR and DME first passages is selected in inventory L1；
(5.f) can be used if can use in guidance station inventory L1 without reference to guidance station, then being selected from available guidance station inventory L1
Select guidance station of the available guidance station nearest from aircraft as VOR and DME first passages.
Preferably, step (6) the factor to affect K2(i) computational methods are：
(6.a) calculates aircraft and each guidance station distance D in DME second channel guidance stations selection inventory L22(i)；
(6.b) calculates the relative bearing B of aircraft and each guidance station in DME second channel guidance stations selection inventory L22
(i)；
Preferably, factor to affect K in the step (7)3(i) computational methods are：
(7.a) calculates aircraft and each guidance station distance D in DME third channel guidance stations selection inventory L33(i)；
The guidance station of DME second channels and DME third channel guidance stations are selected the guidance station in inventory L3 one by one by (7.b)
Pairing draws two round P and S using the position for matching guidance station as the center of circle by radius of guidance station signal cover R；With two
It is radius r to match the distance between guidance station, with the string that the line between two pairing guidance stations is two intersection circles, draws two
Circle C1 and C2；Then efficient navigation region is C1∪C2-C1∩C2；
(7.c) connects the position A points of aircraft with next way point W, connecting line AW and nearest efficient navigation region phase
Intersection point M calculates AM efficient navigation distances VND3(i)；
Advantages of the present invention and remarkable result：The present invention makes full use of the current location information and flight leg letter of aircraft
Breath, the guidance station data based on storage consider the service ability of guidance station, design channel selection algorithmic formula, can realize that region is led
Boat system VOR and DME (triple channel) guidance station automatically select and tuber function.The method of the present invention is easy, can make full use of
The existing resource of RNAV system includes the navigation station information of aircraft current location information and storage, is in real time area navigation
Continental rise navigation platform needed for Systematic selection.The inventive method is a kind of method being easy to Project Realization, for aircraft in civilian neck
Domain is flown, and is met area navigation required function and is required important practical application meaning.
Description of the drawings
Fig. 1 is the workflow schematic diagram of the method for the present invention.
Fig. 2 is the attached drawing of efficient navigation distance in the method for the present invention, and wherein P and S are respectively the guidance station of two pairings, cloudy
Shadow part is the efficient navigation region of the two pairing guidance stations, and A is aircraft position, and W is next way point, M be AW along
The crosspoint in aircraft flight direction and efficient navigation region, AM are efficient navigation distance.
Specific implementation
Technical scheme of the present invention is described in detail below in conjunction with the accompanying drawings：
As shown in Figure 1, the present invention is directed to the demand that RNAV system tunes radio navigation station, aircraft is made full use of
Current location information and flight leg information, the guidance station data based on storage, consider the service ability of guidance station, design choosing
Platform algorithmic formula, can realize RNAV system VOR and DME (triple channel) guidance station automatically select and tuber function.Tool
Body includes the following steps：
(1) aircraft-position information exported with period Δ T reading area navigation equipments, aircraft-position information include：Longitude
L, latitude λ, height h.
(2) the navigation station information stored with period Δ T reading area navigation equipments, guidance station information include：Guidance station
Frequency fNAV(i), longitude λNAV(i), latitude LNAV(i), absolute altitude hNAV(i), quality factor FOM (i), wherein i indicate guidance station
Number.
(3) the step of region of search guidance station：
Using aircraft current location as the center of circle, the maximum operating range D of guidance stationmaxFor radius, stored from area navigation equipment
Navigation station information in nearest apart from the aircraft guidance stations of search m, form nearest guidance station inventory L0；
(4) the availability step of each guidance station in nearest guidance station inventory L0 is calculated one by one：
(4.a) calculates the distance D of each guidance station in aircraft Relative Navigation platform inventory L01(i) and height difference H1(i)；
(4.b) calculates distance limitation and the height limitation of guidance station service
According to the quality factor FOM (i) of guidance station, the coverage limitation table of different quality factor guidance stations is compareed (such as
Shown in table 1), calculate the distance limitation D of the guidance station servicerestrict(i) and height limitation Hrestrict(i)；
| FOM | Distance limitation | Height limitation |
| 0 | 40 nautical miles | 12000 feet |
| 1 | 70 nautical miles | 18000 feet |
| 2 | 130 nautical miles | Without limitation |
| 3 | 160 nautical miles | Without limitation |
Table 1
Whether (4.c) judges aircraft in guidance station coverage
By the distance D of aircraft Relative Navigation platform1(i) and height difference H1(i) D is limited at a distance from guidance station respectivelyrestrict
(i) and height limitation Hrestrict(i) it compares, if D1(i)<Drestrict(i) and H1(i)<Hrestrict(i), then it is assumed that aircraft exists
In the coverage of guidance station.If aircraft is in the coverage of guidance station, then it is assumed that the guidance station is for current aircraft position
It is available.
The oblique distance when bevel angle that (4.d) calculates each guidance station in coverage is θ projects H in short transversecone(i),
I.e.：The taper blind area of guidance station
Hcone(i)=D1(i)cosθ
Whether (4.e) judges aircraft in the taper blind area of guidance station
Compare Hcone(i) and H1(i), if Hcone(i)>H1(i), then it is assumed that aircraft is in the taper blind area of guidance station.If flying
Machine is not in the taper blind area of guidance station, but in the coverage of guidance station, then it is assumed that the guidance station has availability.
(5) the step of VOR and DME first passages guidance station selects：
According to the air route route information in area navigation equipment, based on available guidance station inventory L1, according to following priority
The guidance station of VOR and DME first passages is calculated, digital more low level is higher.
(5.a) judges whether it is into closely with reference to guidance station
If current aircraft was in into the nearly stage, guidance station is referred to if can use in guidance station inventory L1 and exist into close,
Select this into closely with reference to guidance station of the guidance station as VOR and DME first passages；
(5.b) judge whether to be arrived at the airport with reference to guidance station
If current aircraft is in approach phase, arrive at the airport with reference to guidance station if can exist with guidance station inventory L1, that
Select the guidance station with reference to guidance station as VOR and DME first passages that arrives at the airport；
(5.c) judge whether to be left the theatre with reference to guidance station
If current aircraft is in and leaves the theatre the stage, leave the theatre with reference to guidance station if can exist with guidance station inventory L1, it should
Select the guidance station left the theatre with reference to guidance station as VOR and DME first passages；
(5.d) judges whether it is that guidance station is specified in segment
If aircraft is in cruising phase, if can with guidance station inventory L1 there are specified by current leg reference navigation
Platform, then selecting guidance station of the guidance station as VOR and DME first passages specified by the segment；
(5.e) judges whether the reference guidance station of next segment
If can to use guidance station inventory L1 there is no the reference guidance stations specified by current leg, but in the presence of a segment
With reference to guidance station, then selecting guidance station of the reference guidance station of next segment as VOR and DME first passages；
The nearest available guidance station of (5.f) selection
If can not there is no the reference guidance station of next segment with guidance station inventory L1, nearest from aircraft can be used is selected
Guidance station of the guidance station as VOR and DME first passages.
(6) the step of DME second channels guidance station selects：
(6.a) selects DME guidance stations, the DME first passages selected in removal step (4) from available guidance station inventory L1
Guidance station, form second channel guidance station selection inventory L2；
(6.b) calculates aircraft and each guidance station distance D in second channel guidance station selection inventory L22(i)；
(6.c) calculates the relative bearing B of aircraft and guidance station in second channel guidance station selection inventory L22(i)；
(6.d) calculates the factor to affect of each guidance station in second channel guidance station selection inventory L2：
(6.e) determines DME second channel guidance stations
Select K2(i) maximum DME guidance stations are as second channel guidance station.
(7) the step of DME third channels guidance station selects：
(7.a) removes the second channel guidance station having been selected from second channel guidance station selection inventory L2, forms DME
Third channel guidance station selects inventory L3；
(7.b) calculates aircraft and each guidance station distance D in third channel guidance station selection inventory L33(i)；
(7.c) calculates the efficient navigation distance of each guidance station in third channel guidance station selection inventory L3:
Second channel guidance station and the guidance station in third channel guidance station selection inventory L3 are matched one by one, calculate third
The efficient navigation distance VND of each guidance station in the guidance station selection inventory L3 of channel3(i)；
Determine the efficient navigation region of pairing guidance station.As shown in Fig. 2, to match the position of guidance station as the center of circle, to lead
The platform signal cover R (value 200Nm) that navigates is that radius draws two round P and S；It is half with the distance between two pairing guidance stations
Diameter r draws two round C1 and C2 with the string that the line between two pairing guidance stations is two intersection circles；Then efficient navigation region
For C1∪C2-C1∩C2；
Calculate the efficient navigation distance of pairing guidance station.Assuming that the position of aircraft is A, next way point is W, tie point
AW, AW intersect with efficient navigation region, it is assumed that along the nearest crosspoint in the directions AW are M, then AM efficient navigations distance VND3
(i)；
(7.e) selects K3(i) guidance station of the maximum DME guidance stations as DME third channels.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Protect range.
Claims (1)
1. a kind of method for continental rise navigation platform needed for selection region navigation includes the following steps：
(1) aircraft-position information exported with period △ T reading area navigation equipment, aircraft-position information include longitude L, latitude
λ, height h；
(2) the navigation station information stored with period △ T reading area navigation equipment, guidance station information include：The frequency of guidance station
fNAV(i), longitude λNAV(i), latitude LNAV(i), absolute altitude hNAV(i), quality factor FOM (i), wherein i indicate the number of guidance station；
(3) using aircraft current location as the center of circle, the maximum operating range D of guidance stationmaxFor radius, from the navigation station information
The m guidance stations nearest apart from aircraft are searched for, nearest guidance station inventory L0 is formed；
(4) availability of each guidance station in nearest guidance station inventory L0 is calculated one by one, and formation can use guidance station inventory L1；Its
In, the computational methods of the availability of each guidance station are：
(4.a) calculates the distance D of each guidance station in aircraft Relative Navigation platform inventory L01(i) and height difference H1(i)；
(4.b) compares different quality factor and leads according to the quality factor FOM (i) of each guidance station in nearest guidance station inventory L0
The coverage of boat platform limits table, calculates the distance limitation D of each guidance station servicerestrict(i) and height limitation Hrestrict(i)；
(4.c) is by the distance D of aircraft Relative Navigation platform1(i) and height difference H1(i) it is limited at a distance from each guidance station respectively
Drestrict(i) and height limitation Hrestrict(i) it compares, if D1(i)<Drestrict(i) and H1(i)<Hrestrict(i), then it is assumed that
Aircraft is in the coverage of guidance station；
(4.d) calculates the taper blind area H of each guidance station in coveragecone：
Hcone(i)=D1(i) cos θ, wherein θ are the bevel angle of guidance station；
(4.e) calculates aircraft whether in the taper blind area of each guidance station, recognizes if aircraft is not in the taper blind area of guidance station
Current aircraft position is available for the guidance station；
(5) according to the air route route information in area navigation equipment, wireless device VOR is selected from available guidance station inventory L1
With the guidance station of DME first passages, specially：
(5.a) is if current aircraft was in into the nearly stage, then being selected from available guidance station inventory L1 into closely with reference to guidance station work
For the guidance station of VOR and DME first passages；
(5.b) is if current aircraft is in approach phase, then selection reaches airport reference navigation from available guidance station inventory L1
Guidance station of the platform as VOR and DME first passages；
(5.c) leaves the theatre the stage if current aircraft is in, then selection is left the theatre with reference to guidance station work from available guidance station inventory L1
For the guidance station of VOR and DME first passages；
(5.d) is if aircraft is in cruising phase, then the guidance station specified by segment is selected to make from available guidance station inventory L1
For the guidance station of VOR and DME first passages；
(5.e) is if can the guidance station not having in guidance station inventory L1 specified by current leg be used, then from available guidance station inventory
Guidance station of the reference guidance station of next segment as VOR and DME first passages is selected in L1；
(5.f) if can use it is available without reference to guidance station in guidance station inventory L1, then from available guidance station inventory L1 select from
Guidance station of the nearest available guidance station of aircraft as VOR and DME first passages；
(6) guidance station that removal step (5) selects from available guidance station inventory L1 forms the selection of DME second channel guidance stations
Inventory L2 calculates the factor to affect K of each guidance station in DME second channel guidance stations selection inventory L22(i), factor to affect is selected
Guidance station of the maximum guidance station as DME second channels；Wherein, factor to affect K2(i) computational methods are：
(6.a) calculates aircraft and each guidance station distance D in DME second channel guidance stations selection inventory L22(i)；
(6.b) calculates the relative bearing B of aircraft and each guidance station in DME second channel guidance stations selection inventory L22(i)；
(6.c) if | B2(i) |≤90 °, thenIf | B2(i)|>90 °,
Then K2(i)=10, wherein 0≤D2(i)≤Dmax；
(7) guidance station that removal step (6) selects from DME second channel guidance stations selection inventory L2, forms DME third channels
Guidance station selects inventory L3, calculates the factor to affect K of each guidance station in DME third channel guidance stations selection inventory L33(i), it selects
Select guidance station of the maximum guidance station of factor to affect as DME third channels；Wherein, factor to affect K3(i) computational methods are：
(7.a) calculates aircraft and each guidance station distance D in DME third channel guidance stations selection inventory L33(i)；
(7.b) matches the guidance station of DME second channels and the guidance station in DME third channel guidance stations selection inventory L3 one by one
It is right, using the position for matching guidance station as the center of circle, two round P and S are drawn by radius of guidance station signal cover R；Matched with two
It is radius r to the distance between guidance station, with the string that the line between two pairing guidance stations is two intersection circles, draws two circles
C1 and C2；Then efficient navigation region is C1∪C2-C1∩C2；
(7.c) connects the position A points of aircraft with next way point W, connecting line AW and nearest efficient navigation region crosspoint
M calculates AM efficient navigation distances VND3(i)；
(7.d) is if VND3(i)=0, then K3(i)=0, if VND3(i) ≠ 0, then
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| CN107764283B (en) * | 2016-08-17 | 2021-02-09 | 中国航空工业集团公司西安飞行自动控制研究所 | Automatic tuning algorithm of radio navigation station suitable for flight management system |
| CN107784866A (en) * | 2016-08-25 | 2018-03-09 | 中国飞行试验研究院 | A kind of flight management system transverse direction navigation accuracy is taken a flight test AIRSPACE PLANNING method |
| CN106643691B (en) * | 2016-09-21 | 2019-12-17 | 中国航空无线电电子研究所 | method for automatically managing airborne navigation radio transceiver |
| FR3088443B1 (en) * | 2018-11-13 | 2022-03-11 | Thales Sa | aircraft navigation method and system |
| CN110608737B (en) * | 2019-09-16 | 2023-03-10 | 中国民航大学 | Land-based radio navigation station selection method based on total system error estimation |
| CN111025363A (en) * | 2019-11-28 | 2020-04-17 | 中国航空工业集团公司西安航空计算技术研究所 | General airplane full-track autonomous navigation method meeting PBN |
| CN111897797B (en) * | 2020-07-10 | 2023-05-23 | 中国航空工业集团公司西安飞行自动控制研究所 | Navigation station data screening method based on flight management system |
| CN114530060B (en) * | 2022-03-11 | 2024-01-23 | 中电科航空电子有限公司 | Five-channel DME tuning method and system suitable for large civil airliners |
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