CN106525030B - A kind of method of navigation system double redundancy control and display - Google Patents
A kind of method of navigation system double redundancy control and display Download PDFInfo
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- CN106525030B CN106525030B CN201510574867.2A CN201510574867A CN106525030B CN 106525030 B CN106525030 B CN 106525030B CN 201510574867 A CN201510574867 A CN 201510574867A CN 106525030 B CN106525030 B CN 106525030B
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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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
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention belongs to navigation system double redundancy designing techniques, and in particular to a kind of method navigation system double redundancy control and shown.The case where method of the control of navigation system double redundancy and display of the present invention is for the double set configuration inertial navigation components of carrier aircraft and double sets configuration control display unit, display unit is controlled by double sets, management strategy is controlled to the double redundancy that double set inertial navigation components are implemented, realize the control of navigation system double redundancy；The navigation information of double set inertial navigation components output is monitored judgement validity, is put to the vote the data-handling procedure of fusion by the data of monitoring, output display information.The method achieve the real redundant configurations strategies of airborne navigational system, solve the problems, such as navigation system double redundancy control management and fusion display, improve performance indicator and reliability of the carrier aircraft about navigation.
Description
Technical field
The invention belongs to navigation system redundancy management technologies, and in particular to a kind of control of navigation system double redundancy and display
Method.
Background technique
It is more and more with the raising that carrier aircraft requires navigation performance, and to the further demand of safety, reliability
Carrier aircraft be equipped with double set inertial navigation systems, to meet its requirement.Outfits of double set inertial navigation systems in carrier aircraft at present are
The system of two sets of independent parallels work respectively completes display and the control function of navigation information by the control display unit of itself
Can, the effect reached is the navigation product of double set back-up jobs.Certain navigation system, can be single by wherein one control display
Member carries out the functions such as parameter Cross transfer simultaneously for two sets of navigation components, but this also absolutely not reaches the requirement of redundancy management.
If some navigation component breaks down or some control display components failure, it can all lead to the set thrashing, drop rapidly
Grade is single set inertial navigation system configuration, and the safety and reliability of navigation degrades too fast, and resource is unable to fully utilize.In addition,
The system of two sets of independent parallels, the navigation information of output do not optimize fusion, therefore, navigate on navigation performance with single set
System, which is compared, not to be improved substantially.
Summary of the invention
The purpose of the present invention is: introduce a kind of control of navigation system double redundancy and display methods.
The technical solution adopted by the present invention is that: a kind of method navigation system double redundancy control and shown, characterized in that double
Remaining navigation system includes two control display units and two inertial navigation components, and each inertial navigation components are controlled with two
Display unit is crosslinked by 429 buses, and each control display unit and two inertial navigation components are crosslinked by 429 buses, and
Two control display units are cross-linked with each other by 429 buses；
Specific step is as follows for this method:
Step 1 when a control display unit receive user it is key controlled and key controlled reasonable when, judgement is current
Control display unit whether have control, if having control continues to execute step 2, if not having control, by working as
Preceding control display unit sends the request for obtaining control to another control display unit, if the request success sent,
Current control display unit waits another release of control display unit to control to hold later until obtaining control
Row step 2；
Step 2 sends control instruction, and two inertia from the control display unit of acquisition control to two navigation components
Navigation data is sent to the control display unit for obtaining control by navigation component；
The control display unit that step 3 obtains control respectively successively carries out the navigation data of two-way inertial navigation components
Data mode monitoring and the monitoring of data reasonability, if data mode appearance exception, rejects this inertial navigation components all the way
The navigation data of transmission and stop receiving the road navigation data, and shows the road inertial navigation components failure；If data are reasonable
Sexual abnormality then rejects the period received data, and records a data exception, and to the road, navigation data is counted again later
It is monitored according to status monitoring and data reasonability；When all the way data mode monitoring and data reasonability monitoring do not occur it is different
It is normal then this navigation data passes through monitoring all the way；
It is aobvious that step 4 obtains output when two-way navigation data passes through monitoring, to the progress data preparation of two-way navigation data
Indicating value, and output show value is shown；When only navigation data passes through monitoring all the way, which is directly displayed.
The present invention has the advantage that and the utility model has the advantages that the present invention is the side of a kind of navigation system double redundancy control and display
Method, it is real by being equipped with the Redundancy Control System of inertial navigation system and the remaining display technology of navigation information to the double sets of carrier aircraft
The double redundancy technology of navigation system is showed.Single navigation component or control display components failure are eliminated, the set system is brought
Entirely ineffective phenomenon avoids the rapid degradation of security of system and reliability.By Redundancy Control System, user is provided
The interface that two sets of navigation system are manipulated by single control display unit, alleviates the workload that user uses.In addition, navigation information
Integration technology effectively increases navigation performance.
Detailed description of the invention
Fig. 1 is the control of navigation system double redundancy and display general frame figure；
Fig. 2 is navigation system double redundancy configuration exchange figure；
Fig. 3 is standard control instruction format chart；
Fig. 4 is that double redundancy guidance system data arranges algorithm pattern.
Specific embodiment
Below by taking the navigation system of double sets configuration as an example, in conjunction with attached drawing, a kind of navigation system double redundancy is controlled and is shown
Method be introduced, general frame is shown in Fig. 1, the specific steps are as follows:
A kind of method navigation system double redundancy control and shown, characterized in that double redundancy navigation system includes two controls
Display unit processed and two inertial navigation components, each inertial navigation components are handed over two control display units by 429 buses
Connection, each control display unit and two inertial navigation components are crosslinked by 429 buses, and two control display units pass through
429 buses are cross-linked with each other；
Specific step is as follows for this method:
Step 1 when a control display unit receive user it is key controlled and key controlled reasonable when, judgement is current
Control display unit whether have control, if having control continues to execute step 2, if not having control, by working as
Preceding control display unit sends the request for obtaining control to another control display unit, if the request success sent,
Current control display unit waits another release of control display unit to control to hold later until obtaining control
Row step 2；
Step 2 sends control instruction, and two inertia from the control display unit of acquisition control to two navigation components
Navigation data is sent to the control display unit for obtaining control by navigation component；
The control display unit that step 3 obtains control respectively successively carries out the navigation data of two-way inertial navigation components
Data mode monitoring and the monitoring of data reasonability, if data mode appearance exception, rejects this inertial navigation components all the way
The navigation data of transmission and stop receiving the road navigation data, and shows the road inertial navigation components failure；If data are reasonable
Sexual abnormality then rejects the period received data, and records a data exception, and to the road, navigation data is counted again later
It is monitored according to status monitoring and data reasonability；When all the way data mode monitoring and data reasonability monitoring do not occur it is different
It is normal then this navigation data passes through monitoring all the way；
It is aobvious that step 4 obtains output when two-way navigation data passes through monitoring, to the progress data preparation of two-way navigation data
Indicating value, and output show value is shown；When only navigation data passes through monitoring all the way, which is directly displayed.
Further, wherein, step 4 includes inertial navigation data and satellite navigation data per navigation data all the way；Institute
The data preparation stated is defined as: the two-way satellite data received is averaged to obtain satellite reference data all the way, by satellite reference
Data, according to sorting from large to small, find out the endpoint value nearest apart from middle point value with two-way inertial navigation data, by the endpoint
Value, as retention, judges whether the difference between the retention is greater than threshold value with median, is such as larger than equal to thresholding
Value, then using middle point value as output show value, such as less than threshold value, then using the mean value of two retentions as output show value.
Further, wherein, will be shown simultaneously by the two-way navigation data of monitoring in step 4.
Further voting algorithm: two-way navigation data of the step 4 pair by monitoring carries out data preparation work, carries out table
Certainly and fusion generates optimal display data, and algorithm is shown in Fig. 4.By this embodiment, the inertial navigation latitude that inertial navigation components 1 provide is
34.23 °, satellite latitude 1 is 34.26 °；The inertial navigation latitude that inertial navigation components 2 provide is 34.21 °, and satellite latitude 2 is
34.26°.According to algorithm is arranged, obtaining satellite reference data latitude is 34.26 °；Maximum value is satellite reference data latitude after sequence
Degree is 34.26 °, and minimum value is that the inertial navigation latitude that inertial navigation components 2 provide is 34.21 °, and median is inertial navigation components 1
The inertial navigation latitude provided is 34.23 °；According to voting algorithm data error △ 1=| 34.26-34.23 |=0.03, △ 2=|
34.23-34.21 |=0.02, therefore, obtained retention is that minimum value is that the inertial navigation latitude that inertial navigation components 2 provide is
34.21 °, median is that the inertial navigation latitude that inertial navigation components 1 provide is 34.23 °；| 34.23-34.21 |=0.02 < △ ST
(0.17), therefore, optimal show value is (34.23+34.21)/2=34.22 °.
Claims (2)
1. a kind of method of navigation system double redundancy control and display, characterized in that double redundancy navigation system includes two controls
Display unit and two inertial navigation components, each inertial navigation components and two control display units are crosslinked by 429 buses,
Each control display unit and two inertial navigation components are crosslinked by 429 buses, and two control display units are total by 429
Line is cross-linked with each other；
Specific step is as follows for this method:
Step 1 when a control display unit receive user it is key controlled and key controlled reasonable when, judge current control
Whether display unit processed has control, if having control continues to execute step 2, if not having control, by current
It controls display unit and sends the request for obtaining control to another control display unit, if the request success sent, currently
Control display unit wait another release to control of control display unit to execute step later until obtaining control
Rapid 2；
Step 2 sends control instruction, and two inertial navigations from the control display unit of acquisition control to two navigation components
Navigation data is sent to the control display unit for obtaining control by component；
The control display unit that step 3 obtains control successively carries out data to the navigation data of two-way inertial navigation components respectively
Status monitoring and the monitoring of data reasonability, if exception occurs in data mode, rejecting this, inertial navigation components are sent all the way
Navigation data and stop receiving the road navigation data, and show the road inertial navigation components failure；If data reasonability is different
Often, then the period received data are rejected, and record a data exception, data shape is carried out to the road navigation data again later
State monitoring and the monitoring of data reasonability；When all the way data mode monitoring and the monitoring of data reasonability do not occur it is abnormal then
Navigation data passes through monitoring all the way for this；
Step 4 carries out data preparation to two-way navigation data and obtains output show value when two-way navigation data passes through monitoring,
And output show value is shown；When only navigation data passes through monitoring all the way, which is directly displayed；Wherein, each
The navigation data on road includes inertial navigation data and satellite navigation data；The data preparation is defined as: two will received
Road satellite data averages to obtain satellite reference data all the way, by satellite reference data and two-way inertial navigation data according to from big
To small sequence, the endpoint value nearest apart from middle point value is found out, using the endpoint value and middle point value as retention, described in judgement
Retention between difference whether be greater than threshold value, such as larger than be equal to threshold value, then using middle point value as export show value,
Such as less than threshold value, then using the mean value of two retentions as output show value.
2. the method for a kind of navigation system double redundancy control according to claim 1 and display, it is characterised in that: wherein,
It will be shown simultaneously by the two-way navigation data of monitoring in step 4.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107590055B (en) * | 2017-09-21 | 2021-03-02 | 中国航空无线电电子研究所 | Multi-display-unit monitoring method for aviation airborne cockpit display system |
| CN108413984A (en) * | 2018-02-02 | 2018-08-17 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of triplex redundance the airbone gyro signal redundancy management method |
| CN108592946B (en) * | 2018-04-26 | 2022-02-08 | 北京航空航天大学 | Inertial device drift online monitoring method based on two sets of rotary inertial navigation redundancy configuration |
| CN109115241A (en) * | 2018-08-07 | 2019-01-01 | 中国航空无线电电子研究所 | Vector data source integrity monitoring method |
| CN113204732B (en) * | 2021-05-14 | 2023-05-16 | 四川腾盾科技有限公司 | Method, system, computer program and storage medium for voting secondary redundancy data of unmanned aerial vehicle sensor |
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| US4244215A (en) * | 1979-09-24 | 1981-01-13 | Nasa | Autonomous navigation system |
| CN103853622A (en) * | 2012-11-28 | 2014-06-11 | 中国航空工业集团公司第六三一研究所 | Control method of dual redundancies capable of being backed up mutually |
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