CN105760579B - A method of it is automatically performed by similitude and flies ginseng parametric calibration - Google Patents
A method of it is automatically performed by similitude and flies ginseng parametric calibration Download PDFInfo
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Abstract
The present invention is a kind of to be automatically performed the method for flying ginseng parametric calibration by similitude, and the course of work includes preparation work, works and three parts of ground handling on machine；Preparation work refers to that the preparation of aircraft and the preparation of measuring device, aircraft preparation include the installation and starting for so that measurand is moved the facilities such as required power supply, hydraulic, cold air, air-conditioning in gamut scope；Measuring device preparation includes making the measuring device correctly work such as the necessary mechanical connection of sensitive aircraft measurand, fastening, electrical and oil liquid piping connection.The finger that works on machine is manipulated by the related each profession of aircraft, is made to be calibrated parameter and is run in gamut scope, and is measured device correct measurement and timing is continuously transmitted to the process of host computer.Ground handling refer to the physical quantity sequence using measuring device output and fly ginseng data be unloaded after obtained digital quantity sequence according to corresponding relationship complete the work that restoring data library is formed after synchronizing.
Description
[technical field]
A kind of method that Flight Data Record System for Aircraft (hereinafter referred to as flying ginseng) calibration is automatically performed by similitude of the invention,
Belong to the ground safeguard field for flying ginseng, it is therefore an objective to guarantee the correctness of the winged ginseng institute recording parameters of military secret or civil aircraft.Flight parameter
Record system records the digital quantity sequence for being adopted parameter in real time, by with measured parameter actual physics carry out simultaneously, exportable
The mode that the physical quantity sequence that the special measurement device of amount is exported synchronizes disposably is automatically performed the calibration work of parameter
Make.Applicable situation is to complete to fly ginseng parametric calibration work on ground.
[background technique]
Winged ginseng is that one kind automatically records aircraft and its equipment in energization, aerial and ground running equipment,
The forming process of the parameters number amount recorded includes three steps, first is that making physical quantity be changed into telecommunications by sensor
Number, second is that electric signal is changed into digital signal, third is that digital signal by the conditioning and quantization of the collector for flying to join by electric signal
By the corresponding relationship of pre-set physical quantity and digital quantity, restore as physical quantity.Wherein fly ginseng parametric calibration work
It is exactly the process that physical quantity and digital quantity corresponding relationship are set in third step.The basis for flying the data analysis work of ginseng is data object
The correctness of reason amount reduction, thereby, it is ensured that correct execute of calibration is an important ground safeguard job.
The method that calibration at present uses static calibration, the specific steps are as follows: measuring device is installed first, makes it
It can correctly reflect variation of physical quantity, such as control surface deflection angle, steering engine collapsing length etc.；Secondly by professional's craft
Adjustment aircraft is calibrated the state of equipment, maintains the physical quantity of system under test (SUT) in the observation point of several fixations, then by flying
Join maintenance personnel and read measuring device reading, while observing and flying ginseng ground-support device when communicate with winged parameter word, it is winged to join channel
The digital quantity of the parameter of display records the two spare in the table；Third is to fly ginseng maintenance professional to utilize second step
The table of the numerical value corresponding relationship of the physical quantity and digital quantity of record, forms the restoring data library an of piecewise linear interpolation, school
Quasi- physical quantity work terminates.
Although this method can complete calibration, there are following three disadvantages.First is that prover time is long, workload
Greatly, personnel occupy more, since static calibration needs the operator of airplane equipment, the reading personnel of measuring device and digital quantity
It is worked at the same time in terms of reading personnel three, external field environment is noisy, and it is inconvenient that communication is linked up, and in addition to guarantee that measurand is maintained at
Specified position is maintained in stipulated time section, needs the prolonged accurate manipulation of operator, flies the parameter of ginseng acquisition in addition in cockpit
In there is no indicator instruction, need gauger to inform orally and whether reach measurement point, so heavy workload, holding time is long.Two
Be calibration effect accuracy it is not high, due to the links such as airplane equipment, sensor, measuring device it is different degrees of there are dead zone,
The nonlinear elements such as gap, when static measurement, are readily incorporated such error, reduce accuracy；In addition each calibration is passed through
It can only obtain several groups of corresponding relationships after extensive work, the efficient algorithm of measurement error can not be reduced using least square method etc., no
Only cost effectiveness is high, also reduces accuracy.Third is that manually forming, database is easy error, database result verifies not intuitive and school
Quasi- result electronization degree is low, this is because what the database forming process after calibration was manually entered, and input
It is preceding other than several fixed positions, whole measurement numerical value cannot be efficiently used, and can not be to the physics of this calibration
Amount reduction situation obtain visual understanding, then have be exactly papery correction card antifalsification it is not high, be easy to obscure, physical quantity knot
Fruit can not be electronic, is unfavorable for implementing for retrospective.
Since the function of flying to participate in ground installation real time communication is weaker, time delay is big, and this functional interface is not to user
It is open with third party, it can not obtain in real time, therefore the data sequence for flying ginseng must can just be obtained by way of unloading offline, this
But also can not be using the equipment observation and control technology of current mainstream, online to complete calibration, i.e. physical quantity and winged ginseng is recorded
Digital quantity completes corresponding work during the test.
To solve the disadvantage that current calibration, the present invention proposes a kind of side that calibration is automatically performed by similitude
Method can quickly, accurately, automatically be completed to fly the calibration that ginseng records data.
Measuring device needed for this method is required to meet the precision of alignment requirements, accurately measures tested physics
Amount, and timing is continuously sent to host computer in the form of digital quantity by measurement result.
[summary of the invention]
Purpose:
The purpose of the present invention is the method by using special measurement device, timing output continuous using its is tested physics
The Serial No. of amount, with winged the recorded autosynchronous method of digital quantity of ginseng, on ground, quick, accurate, automatic completion flies to join
Record the calibration of data.
Technical solution:
The course of work of the invention includes preparation work, works and three parts of ground handling on machine.
Preparation work:
Preparation work refers to that the preparation of aircraft and the preparation of measuring device, aircraft preparation include making measured object
Reason amount moves the installation and starting of the facilities such as required power supply, hydraulic, cold air, air-conditioning in gamut scope；Measuring device is quasi-
Standby work includes making the measuring device correctly necessary mechanical connection of sensitive aircraft measurand, fastening, electrical and oil liquid pipe
The work such as road connection.
In addition, needing to provide the digital quantity of its self registering measured parameter due to flying ginseng, guarantee that flying ginseng is measuring
It works normally in the process and correct recording parameters is also a part of preparation work.
It works on machine:
The finger that works on machine is manipulated by the related each profession of aircraft, is made to be calibrated parameter and is run in gamut scope, and is tested
Amount device correct measurement and timing are continuously transmitted to the process of host computer.
When being run in gamut scope, without the Control requirements of fixed point position, it is only necessary to reciprocal in range of operation
Movement, and random brief stay is in different positions, to increase the irregularities of sequence, preferably utilizes least square method
Advantage.
After operating, the physical quantity sequential file and the quilt for flying ginseng record that measuring device measures are unloaded and saved respectively
Survey the digital quantity sequential file of parameter voltages value.
Ground handling:
Ground handling refer to the physical quantity sequence using measuring device output and fly ginseng data be unloaded after obtained number
Sequence is measured, according to corresponding relationship, completes the work for forming restoring data library after synchronizing.
Ground handling includes 3 steps, wherein it is crucial that the data of step 1 are synchronous, due to the measurement work of physical quantity
Make can not be the same with the markers for flying ginseng institute's recording parameters, can only utilize to find to fly to join on the physical quantity period and is recorded
In digital information and physical quantity same-phase (or antiphase, i.e., when physical quantity value is positive and negative different from electric signal) this
Information is completed to synchronize.Synchronous working use two different methods, the principle of the first be using two curves Min Kefu away from
Determine that the start-stop point of corresponding relationship, second of principle are to utilize as similarity measurement from (minkowski distance)
The cross-correlation function of two curves determines that the mode of phase difference determines the start-stop point of corresponding relationship, and both methods is only the 1st
Step is had any different, other all the same.
It enables and flies ginseng institute's recording parameters sequence as [xi], physical measurement sequence is [yj], wherein i, j ∈ N；i>j.Then calculate stream
Journey is as follows:
Step 1: by [xi], [yj] calculating and Similarity measures is normalized, obtain starting point shift value.Even
xmax, xmin, ymax, yminRespectively fly maximum, minimum value and maximum in physical quantity in the digital quantity of ginseng institute's recording parameters, most
Small value.It calculates
To determine optimized migration amount of the file 1 in file 2.There are two types of methods to calculate optimized migration amount.
Min Ke husband's distance method: the subsequence [x of sequential selection sequence digital quantityi], i ∈ [1+l, j+l], l < i-j are calculated
Min Ke husband's distance sequence(corresponding same-phase) and(corresponding antiphase).
It willWithMinimum value corresponding to position, be denoted as l+, l-, it is stored in two variables, the two must have one
A is to synchronize required offset.X in above formulak+lIndicate k-th since l the numerical value for flying ginseng sampled point, ykIt is k-th
Physical quantity value, i are to fly ginseng sampling number, and j is physical quantity points, l+To calculateMinimum value institute is obtained when numerical value
Corresponding index value, l-To calculateIndex value corresponding to minimum value is obtained when numerical value.
Cross-correlation method: using calculating [xi] and [yj] modes of cross-correlation of two sequences calculates synchronous point choosing method.
Select sequence [xi], i ∈ [1+l, j+l], l < i-j calculate cross-correlation sequence [Sxy(l)]。
By Sxy(l) position l corresponding to maximum value and minimum value+, l-It is stored in two variables respectively.It is wherein maximum
Value indicates that x with y phase is identical, and minimum value indicates x and y opposite in phase.
Two methods can determine l+, l-。
Step 2: determining polynomial fitting, finds out polynomial inflection point and judges whether to be included in final data library range.Benefit
Use l+, l-The two position datas choose corresponding [x in the data for flying ginseng institute's recording parametersi] and [yi] sequence, it carries out 5 times
Fitting of a polynomial calculates.Obtain two polynomial expressions of same-phase/antiphase:
Y=f±(x)=a5x5+a4x4+a3x3+a2x2+a1x+a0,
By [xi] bring the sequence that 2 above-mentioned fitting formulas obtain into, it is denoted asWithCalculate separately the two sequences
Column and [yi] Euclidean distance, apart from small receiving be this calibration polynomial fitting formula.
Y=f (x) derivation to selection obtains the second order derived function of matched curve
Obtain the numerical value P that three are 0A,B,C.All inflection points that may be present can be found out and in this way.
By PA,B,CWith [xi] range be compared, leaving in range, remaining is not considered further that.
Step 3: the point that final piece-wise linearization is taken is determined.Select xiMaximum value be denoted as P1, minimum value be denoted as P2, with
And PA,B,CThe middle point for meeting range, after the selection of remaining point is with above-mentioned segmentation, the mode of mean allocation selects to remain in every section
Remaining point can indicate the mode of the piece-wise linearization of monotonic function determined by endpoint, inflection point in this way.It is specific to determine method
For if PA,B,CPoint in range is 3, then selects this 5 points, and will select every section of midpoint in separated 4 sections of this 5 points
The point that final choice is added in totally 4 points is put, the total 4+5=9 of quantity is a；If PA,B,CPoint in range is 2, then selects this 4
Point, and by separated 3 sections of this 4 points, every section of point for averagely selecting 2 points that final choice is added again, the total 4+2*3=10 of quantity
It is a；If PA,B,CPoint in range is 1, then selects this 1 point, and by separated 2 sections of this 3 points, every section is averagely selected again
The point that final choice is added in 3 points is selected, the total 3+2*3=9 of quantity is a；If PA,B,CPoint in range is 0, then by entire scope
Averagely select 7 points that the point of final choice is added, the total 2+7=9 of quantity is a.It is final to determine that point is point selected by calibration data base.
This is because, using the method for piece-wise linearization, these points, which may make up, normally flies ginseng record when flying ginseng record data convert
Corresponding relationship needed for data convert piece-wise linearization.
By obtained data to as database, generates and import in database file.
Advantage and effect of the present invention are:
Advantage of the invention, which first consists in, is utilized metrical information all in calibration implementation procedure, rather than only
The data of several fixed points, reduce error, improve calibration accuracy；Secondly because calibration is not needed in particular job point
The requirement of upper stable certain time, and do not need more people's cooperations while working, therefore workload is small, implementation tissue is simple,
Prover time is short；Due to calibration result fully digitalization, automation the possibility of human error is effectively reduced, and increase in third
The retrospective of calibration can also change system performance using calibration history record and make a decision, increase the maintainability of system.
[Detailed description of the invention]
Fig. 1 is physical quantity sequence.
Fig. 2 is to fly ginseng to record physical quantity sequence.
Fig. 3 is physical quantity and winged parameter value synchronous effect.
Fig. 4 is fitting of a polynomial result.
Fig. 5 is reduction effect after physical quantity and the fitting of winged parameter value.
[specific embodiment]
Specific embodiment for example under:
By taking aircraft aileron angular displacement calibration as an example.
Preparation work: step 1 the equipment for measuring aileron angular displacement is mounted on horizontal tail rudder surface；It will be surveyed with communication cable
The equipment of angulation displacement is attached with host computer, receives so that physical quantity value periodically continuously to be sent to host computer, is aobvious
Show and saves.
Step 2 works on machine: opening and flies ginseng electric switch, flies after ginseng works normally, mechanical major personnel drive aileron, make it
3-5 period is moved back and forth in gamut scope (- 20 ° to 20 °).
Step 3 works on machine: physical quantity value sequence is saved as file 1, this calibration is unloaded from aircraft
The record data for flying ginseng, save as file 2 for the argument sequence of aileron angular displacement.Physical quantity sequence is as shown in Figure 1, fly ginseng
Aileron drift angle parameter voltages value sequence is as shown in Figure 2.[purpose that file 1 measures is to obtain continuous, timing in aileron rotation process
The drift angle numerical value of acquisition.The purpose of file 2 is to fly the sensor output voltage value of ginseng record during being energized.It is described below
Ground handling task exactly file 1 is matched with file 2, file 1 is compareed frame by frame using similitude, is found most suitable
, the changing rule of file 1 and the most similar starting of changing rule of file 2 and final position]
Step 4,Ground handling: using described in step 1 in ground handlingCross-correlation method or Min Ke husband's distance method,
Array after obtaining two sequence synchronizations.This work purpose be the starting most appropriate in file 2 of specific calculation document 1 and
Terminating point.Since 1 length of file is shorter than 2 length of file, and the sequence of file 1 and file 2 does not have markers, it is necessary to pass through sight
It examines the similar of file 1 and file 2 some part and obtains relative position.Observation method is in file 2 with the length of file 1
Slided for window broadband, one sampled point of every sliding just carries out a Similarity measures, when window sliding to file 2 most
When afterwards, by the maximum position of similarity in sliding process as optimal synchronisation position, because not knowing file 1 and file 2 in advance
Phase it is whether identical, therefore the calculated value of similarity need to obtain two values, respectively correspond same-phase and antiphase.According to same
Phase and antiphase evaluation Euclidean distance are respectively 23.53 and 60.34 it is found that obtained by the same-phase of file 1 and file 2
Relative position be true relative position best estimate.The offset numerical quantity 4296 for being 23.53 using same-phase calculated value
Alternatively position is put together as shown in Figure 3.
Step 5,Ground handling: using described in step 2 in ground handlingPhysical quantity is obtained in the way of fitting of a polynomial
Fit correlation between winged ginseng record value, and the fit correlation calculates by winged ginseng record value.Formula are as follows:
Y=a5x5+a4x4+a3x3+a2x2+a1x+a0
Wherein a5=5.323E-17；A4=-5.114E-13；A3=1.302E-9；A2=4.9636E-7；A1=-
0.0219；A0=46.192；It is two of 3395,2276 values in x value range that step 4, which acquires inflection point numerical value, numerical value is-
For 116 x value not in range, taking 3395 and 2276 two values is that database selects numerical value.
As a result as shown in Figure 4.
Step 6, fit correlation: being passed through the method for " ground handling " step 3 by ground handling, is obtained and is suitable for segmented line
Property 10 groups of corresponding relationships, complete calibration.Wherein minimum value p1 be (1286,20.445), maximum value p2 be (3640 ,-
19.836) it is (3395, -15.342) that, inflection point 1, which is p3, and inflection point 2 is that p4 is (2276,3.859), and p5 is (1616,14.738),
P6 is (1946,9.2550), and p7 is (2649, -2.306), and p8 is (3022, -8.685), and p9 is (3476, -16.820), p10
For (3557, -18.306).By ascending above-mentioned 10 points of arrangement of x value, the fit correlation result in the way of piece-wise linearization
As shown in Figure 5.
Claims (3)
1. a kind of be automatically performed the method for flying ginseng parametric calibration by similitude, it is characterised in that: including work on preparation work, machine
Make and three parts of ground handling；
Preparation work:
Preparation work refers to the preparation of aircraft and the preparation of measuring device；
It needs to provide the digital quantity of its self registering measured parameter due to flying ginseng, guarantees to fly to join normal in measurement process
It works and correct recording parameters is also a part of preparation work；
It works on machine:
The finger that works on machine is manipulated by the related each profession of aircraft, is made to be calibrated parameter and is run in gamut scope, and is measured dress
It sets correct measurement and timing is continuously transmitted to the process of host computer；
Ground handling:
Ground handling refer to the physical quantity sequence using measuring device output and fly ginseng data be unloaded after obtained digital quantity sequence
Column complete the work that restoring data library is formed after synchronizing according to corresponding relationship；
The ground handling includes 3 steps, and the markers of measurement work and winged ginseng institute's recording parameters by physical quantity can not
Equally, can only utilize found on the physical quantity period fly in the recorded digital information of ginseng and physical quantity same-phase this
One information is completed to synchronize；Synchronous working uses two different methods, the first is the Min Kefu distance using two curves
(minkowski distance) determines the start-stop point of corresponding relationship as similarity measurement, and second is to utilize two curves
Cross-correlation function determine that the mode of phase difference determines that the start-stop point of corresponding relationship, both methods are only had any different in step 1,
It is other all the same；
It enables and flies ginseng institute's recording parameters sequence as [xi], physical measurement sequence is [yj], wherein i, j ∈ N；I > j；Then calculation process is such as
Under:
Step 1: by [xi], [yj] calculating and Similarity measures is normalized, obtain starting point shift value x 'i、y′i；Even
xmax, xmin, ymax, yminRespectively fly maximum, minimum value and maximum in physical quantity in the digital quantity of ginseng institute's recording parameters, most
Small value；It calculates
To determine optimized migration amount of the file 1 in file 2；Physical quantity value sequence is saved as into file 1, from aircraft
The record data for unloading the winged ginseng of this calibration, save as file 2 for the argument sequence of aileron angular displacement；
There are two types of methods to calculate optimized migration amount；
Min Ke husband's distance method: the subsequence [x of sequential selection sequence digital quantityi], i ∈ [1+l, j+l], l < i-j calculate Min Ke
Husband's distance sequenceCorresponding same-phase andCorresponding antiphase；
It willWithMinimum value corresponding to position, be denoted as l+, l-, it is stored in two variables, it is same that the two, which must have one,
Offset needed for step；X in above formulak+lIndicate k-th since l the numerical value for flying ginseng sampled point, ykFor k-th of physical quantity
Measured value, i are to fly ginseng sampling number, and j is physical quantity points；
Cross-correlation method: using calculating [xi] and [yj] modes of cross-correlation of two sequences calculates synchronous point choosing method；Selection
Sequence [xi], i ∈ [1+l, j+l], l < i-j calculate cross-correlation sequence [Sxy(l)]；
By Sxy(l) position l corresponding to maximum value and minimum value+, l-It is stored in two variables respectively；Wherein maximum value table
Show that x with y phase is identical, minimum value indicates x and y opposite in phase；
Two methods can determine that l+, l-；
Step 2: determining polynomial fitting, finds out polynomial inflection point and judges whether to be included in final data library range；Utilize l+,
l-The two position datas choose corresponding [x in the data for flying ginseng institute's recording parametersi] and [yi] sequence, progress 5 times are multinomial
Formula the Fitting Calculation；Obtain the polynomial expression of same-phase or antiphase:
Y=f±(x)=a5x5+a4x4+a3x3+a2x2+a1x+a0,
It will corresponding [xi] sequence that above-mentioned polynomial expression obtains is substituted into, it is denoted asWithCalculate separately the two
Sequence and [yi] Euclidean distance, apart from small receiving be this calibration polynomial fitting formula；
Y=f (x) derivation to selection obtains the second order derived function of matched curve
Obtain the numerical value P that three are 0A, PB, PC；All inflection points that may be present are found out to come；
By PA, PB, PCWith [xi] range be compared, leaving in range, remaining is not considered further that；
Step 3: the point that final piece-wise linearization is taken is determined；Select xiMaximum value be denoted as P1, minimum value be denoted as P2And PA,
PB, PCThe middle point for meeting range, after the selection of remaining point is with above-mentioned segmentation, the mode of mean allocation selects residue in every section
Point, the mode of the piece-wise linearization of monotonic function determined by endpoint, inflection point is indicated；It is specific to determine that method is, if PA, PB,
PCPoint in range is 3, then selects this 5 points, and point totally 4 of every section of midpoint will be selected in separated 4 sections of this 5 points
The point of final choice is added in point, and the total 4+5=9 of quantity is a；If PA, PB, PCPoint in range is 2, then selects this 4 points, and
By in separated 3 sections of this 4 points, every section of point for averagely selecting 2 points that final choice is added again, the total 4+2*3=10 of quantity is a；If
PA, PB, PCPoint in range is 1, then selects this 1 point, and by separated 2 sections of this 3 points, every section of averagely selection 3 again
The point of final choice is added in a point, and the total 3+2*3=9 of quantity is a；If PA, PB, PCPoint in range is 0, then by entire scope
Averagely select 7 points that the point of final choice is added, the total 2+7=9 of quantity is a；It is final to determine that point is point selected by calibration data base；
By obtained data to as database, generates and import in database file.
2. a kind of method for being automatically performed winged ginseng parametric calibration by similitude according to claim 1, it is characterised in that:
Aircraft preparation includes that measurand is made to move required power supply, hydraulic, cold air, air conditioner facility in gamut scope
Installation and starting；Measuring device preparation includes making measuring device correctly machinery company necessary to sensitive aircraft measurand
It connects, fasten, the work of electrical and oil liquid piping connection.
3. a kind of method for being automatically performed winged ginseng parametric calibration by similitude according to claim 1, it is characterised in that:
In working on machine, when being run in gamut scope, without the Control requirements of fixed point position, it is only necessary in range of operation
It moves back and forth, and random brief stay is in different positions, to increase the irregularities of sequence, utilizes least square method；
After operating, the physical quantity sequential file and the measured parameter electricity for flying ginseng record that measuring device measures are unloaded and saved respectively
The digital quantity sequential file of pressure value.
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| CN109934956B (en) * | 2019-03-13 | 2022-05-03 | 北京五维星宇科技有限公司 | Flight parameter data interpretation method, system, device and medium |
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| CN104501836A (en) * | 2014-12-22 | 2015-04-08 | 中国人民解放军海军航空工程学院青岛校区 | Wireless device for calibration of flight data |
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