CN106586026A - Method for measuring deviation rate of airplane relative to side direction of runway - Google Patents

Abstract

The invention relates to a method for measuring the deviation rate of an airplane relative to a side direction of a runway, and belongs to the technical field of avionics display control. The method comprises the steps: firstly collecting the glide deviation of the airplane relative to a standard glide slope, the pressure altitude and ground velocity of the airplane relative to the runway, the length of the runway and a set glide slope angle, and solving the distance between the airplane and a heading beacon station according to the above collected information; secondly solving the acceleration of the airplane in a side direction of the runway according to a roll angle, a pitch angle, a yaw angle, a selected course, and the X-axis, Y-axis and Z-axis accelerations of an airplane body coordinate system; finally obtaining the deviation rate of the airplane relative to the side direction of the runway through employing a complementary filtering algorithm. According to the invention, the method inhibits the high-frequency noise in heading beacon data and the low-frequency noise in inertia data while making the comprehensive use of the heading beacon data and inertia data, is higher in precision of output data, and can support a head-up flight guide function.

Description

A kind of measuring method of aircraft with respect to runway lateral deviation speed

Technical field

The present invention relates to a kind of measuring method of aircraft with respect to runway lateral deviation speed, belongs to avionics display control technology Field.

Background technology

Aircraft is to look squarely to enter nearly guiding, sliding race in flight guidance function guide, take off and lead with respect to runway lateral deviation speed Draw important lateral deviation state representation amount, the precision of the parameter is directly influenced looks squarely the horizontal side direction guide of flight guidance function Performance.Prior art is generally only according to localizer data or inertial data survey aircraft with respect to runway lateral deviation speed, boat Noise is full of in high frequency to bootstrap information, inertial data has drift and error was accumulated with the time, causes the aircraft for obtaining Cannot support to look squarely the high safety applications such as flight guidance function with respect to the precision of runway lateral deviation speed.

The content of the invention

It is an object of the invention to provide a kind of measuring method of aircraft with respect to runway lateral deviation speed, to support to look squarely winged The high-security applications such as row guidance function.

The technical scheme is that：

A kind of measuring method of the aircraft with respect to runway lateral deviation speed, it is characterised in that：Comprise the following steps：

Step 1：The collection downslide deviation of aircraft relative standard glide path, aircraft are with respect to the pressure altitude of runway, ground velocity, race Road length, the glidepath angles of setting, and according to the above- mentioned information that collects resolve the level of aircraft virtual course beacon station away from From；

Step 2：Collection roll angle, the angle of pitch, yaw angle, selected navigation channel, body axis system X-axis acceleration, body coordinate Be Y-axis acceleration, body axis system Z axis acceleration, and it is lateral the relative runway of aircraft to be resolved according to the above- mentioned information for collecting Acceleration；

Step 3：According to localizer deviation, the horizontal range of aircraft virtual course beacon station, the angle of pitch, roll angle, partially Boat angular velocity, rate of pitch, localizer antenna installation site, inertial reference system installation site, aircraft are in runway coordinate Lateral acceleration under system, obtains the relative runway lateral deviation speed of aircraft using complementary filter method.

Further preferred version, a kind of measuring method of the aircraft with respect to runway lateral deviation speed, its feature exist In：Step 1 resolves the horizontal range process of aircraft virtual course beacon station：

Step 1.1：According to aerodrome elevation h_R, aircraft air height h_A, obtain the relative altitude between aircraft and runway Δ h, Δ h=h_A-h_R；

Step 1.2：As Δ h ＞ 50ft, according under the relative altitude Δ h between aircraft and runway, aircraft relative standard Downslide deviation Γ of slideway_GS, glide path set angle Ω, landing airdrome length L_RWY, resolve aircraft virtual course beacon station level away from From R_LOC, as Δ h≤50ft, according to landing airdrome length L_RWY, aircraft ground velocity V_GS, resolve aircraft virtual course beacon station level away from From R_LOC：

Wherein t₀During correspondence Δ h=50ft, start the ground velocity integration moment.

Further preferred version, a kind of measuring method of the aircraft with respect to runway lateral deviation speed, its feature exist In：Downslide deviation Γ in step 1_GSIt is to be obtained by multimode rake receiver, the aircraft air height is obtained by air data computer Arrive, the glidepath angles of the setting, aerodrome elevation, landing airdrome length are obtained by flight management system, the aircraft ground Speed is obtained by inertial reference system.

Further preferred version, a kind of measuring method of the aircraft with respect to runway lateral deviation speed, its feature exist In：Step 2 resolves the aircraft acceleration process lateral with respect to runway：

Step 2.1：According to roll angle φ, pitching angle theta, yaw angle ψ, selected navigation channel λ_sel, obtain body axis system acceleration Mapping relations M of the component to the runway coordinate system Y-axis centered on body axis system origin_b→r：

Step 2.2：According to body axis system X-axis acceleration a_x, body axis system Y-axis acceleration a_y, body axis system Z axis Acceleration a_z, aircraft is obtained in the lateral acceleration of runway

Further preferred version, a kind of measuring method of the aircraft with respect to runway lateral deviation speed, its feature exist In：In step 2, yaw angle, the angle of pitch, roll angle, body axis system X-axis acceleration, body axis system Y-axis acceleration, body are sat Mark system Z axis acceleration is obtained using inertial reference system, and selected navigation channel is obtained by flight management system.

Further preferred version, a kind of measuring method of the aircraft with respect to runway lateral deviation speed, its feature exist In：Step 3 calculates aircraft：

Step 3.1：According to localizer deviation ε_LOC, aircraft virtual course beacon station horizontal range R_LOC, obtain aircraft With respect to lateral deviation Y of runway_{EST_runway}：Y_{EST_runway}=ε_LOCR_LOC；

Step 3.2：Installed according to pitching angle theta, roll angle φ, rate of pitch p, yaw rate r, localizer antenna Projection X of the position in body axis system X-axis_LOC, inertial reference system installation site body axis system X-axis projection X_IRS, obtain Obtain the lateral deviation rate correction amount from localizer antenna to inertial reference system

Step 3.3：According to lateral deviation Y of the relative runway of aircraft_{EST_runway}, aircraft is in the lateral acceleration of runwayLateral deviation rate correction amount from localizer antenna to inertial reference systemUsing complementary filter Method obtains aircraft with respect to runway lateral deviation speed

Further preferred version, a kind of measuring method of the aircraft with respect to runway lateral deviation speed, its feature exist In：In step 3, course beacon offset is obtained by multimode rake receiver, the angle of pitch, roll angle, rate of pitch, yaw angle Speed is obtained by inertial reference system, projection X of the localizer antenna installation site in body axis system X-axis_LOC, inertia base Projection X of the Barebone installation site in body axis system X-axis_IRSFor aircraft configuration data.

Beneficial effect

The present invention gather first the downslide deviation of aircraft relative standard glide path, aircraft with respect to runway pressure altitude, Speed, landing airdrome length, the glidepath angles of setting, and according to the above- mentioned information that collects resolve aircraft virtual course beacon station away from From；Further according to roll angle, the angle of pitch, yaw angle, selected navigation channel, body axis system X-axis, Y-axis, Z axis acceleration, resolve aircraft and exist The lateral acceleration of runway；Finally the aircraft deviation speed lateral with respect to runway is obtained using complementary filter algorithm.The present invention's Aircraft with respect to runway lateral deviation speed measurement method, while comprehensive utilization localizer data and inertial data, it is suppressed that And in high-frequency noise and inertial data in low-frequency noise, output data precision is higher, can support to look squarely flight guiding work( The high-security applications such as energy.

The additional aspect and advantage of the present invention will be set forth in part in the description, and partly will become from the following description Obtain substantially, or recognized by the practice of the present invention.

Description of the drawings

The above-mentioned and/or additional aspect and advantage of the present invention will become from the description with reference to accompanying drawings below to embodiment It is substantially and easy to understand, wherein：

Fig. 1 is principle schematic of the aircraft of the present invention with respect to runway lateral deviation speed measurement method；

Fig. 2 is flow chart of the aircraft with respect to runway lateral deviation speed measurement method in the embodiment of the present invention.

Specific embodiment

Embodiments of the invention are described below in detail, the embodiment is exemplary, it is intended to for explaining the present invention, and It is not considered as limiting the invention.

Aircraft of the present invention with respect to runway lateral deviation speed measurement method principle as shown in figure 1, utilize atmosphere data meter The aircraft air height of calculation machine output, the downslide deviation of multimode rake receiver output, the ground velocity of inertial reference system output, tof tube The setting glidepath angles of reason system output, aerodrome elevation, landing airdrome length data calculation aircraft virtual course beacon station Horizontal range；The yaw angle of recycling inertial reference system output, the angle of pitch, roll angle, body axis system X-axis acceleration, machine Body coordinate system Y-axis acceleration, body axis system Z axis acceleration, the selected navigation channel data calculation aircraft of flight management system output In the lateral acceleration of runway；Finally according to aircraft in the lateral acceleration of runway, the level of aircraft virtual course beacon station away from From the localizer deviation of, multimode rake receiver output, the angle of pitch of inertial reference system output, roll angle, rate of pitch, partially Boat angular velocity, aircraft configuration data, using complementary filter method, obtain high-precision aircraft with respect to runway lateral deviation speed. The specific implementation process of the method is as shown in Fig. 2 specific embodiment step is as follows：

1. the horizontal range information of aircraft virtual course beacon station is resolved：

This step need to gather the downslide deviation of aircraft relative standard glide path, aircraft with respect to runway pressure altitude, Speed, landing airdrome length, the glidepath angles information of setting.

The present embodiment is to obtain aircraft air height h from air data computer_A, downslide deviation is obtained from multimode rake receiver Γ_GS, ground velocity V is obtained from inertial reference system_GS, setting glidepath angles Ω, aerodrome elevation are obtained from flight management system h_R, landing airdrome length L_RWY。

First with the aircraft air height h of air data computer output_A, the airport height above sea level of flight management system output Height h_R, obtain the relative altitude Δ h between aircraft and runway；As Δ h ＞ 50ft, according to relative between aircraft and runway Downslide deviation Γ of height Δ h, aircraft relative standard glide path_GS, glide path set angle Ω, landing airdrome length L_RWY, resolve aircraft Horizontal range R of virtual course beacon station_LOC, as Δ h≤50ft, according to landing airdrome length L_RWY, aircraft ground velocity V_GS, resolve aircraft Horizontal range R of virtual course beacon station_LOC：

Δ h=h_A-h_R

Wherein, as Δ h=50ft, start ground velocity integration.

2. the aircraft acceleration information lateral with respect to runway is resolved：

This step needs to gather roll angle, the angle of pitch, yaw angle, body axis system X-axis acceleration, body axis system Y-axis Acceleration, body axis system Z axis acceleration, selected navigation channel information.

The present embodiment is to obtain aircraft crab angle ψ, pitching angle theta, roll angle φ, body axis system X from inertial reference system Axle acceleration a_x, body axis system Y-axis acceleration a_y, body axis system Z axis acceleration a_z, institute is obtained from flight management system Select navigation channel λ_sel。

Using the aircraft crab angle ψ of inertial reference system output, pitching angle theta, roll angle φ, flight management system output Selected navigation channel λ_sel, body axis system component of acceleration is obtained to the runway coordinate system Y-axis centered on body axis system origin Mapping relations M_b→r。

Body axis system component of acceleration is thrown to the runway coordinate system Y-axis centered on body axis system origin Shadow, obtains the aircraft acceleration lateral with respect to runway

3. aircraft is resolved with respect to runway lateral deviation rate information：

This step needs to gather the angle of pitch, roll angle, rate of pitch, yaw rate, localizer antenna installation position Put inclined in the projection of body axis system X-axis, localizer in the projection of body axis system X-axis, inertial reference system installation site Difference, the horizontal range of aircraft virtual course beacon station, the aircraft acceleration lateral with respect to runway.

The present embodiment is to obtain aircraft pitch angle θ, roll angle φ, rate of pitch p, yaw angle speed from inertial reference system Degree r, obtains localizer deviation ε from multimode rake receiver_LOC, projection of the localizer antenna installation site in body axis system X-axis X_LOC, inertial reference system installation site body axis system X-axis projection X_IRSFor aircraft configuration data, aircraft virtual course letter Horizontal range R of mark platform_LOC, the aircraft acceleration lateral with respect to runwayFor intermediate computations amount.

First, localizer deviation ε for being exported using multimode rake receiver_LOCAnd the level of aircraft virtual course beacon station away from From R_LOC, obtain lateral deviation Y of the aircraft with respect to runway_{EST_runway}：

Y_{EST_runway}=ε_LOCR_LOC

Using the aircraft pitch angle θ of inertial reference system output, roll angle φ, rate of pitch p, yaw rate r, meter Calculate aircraft yaw angular speed

Using aircraft yaw angular speedProjection X of the localizer antenna installation site in body axis system X-axis_LOC, it is used Projection X of the property benchmark system installation site in body axis system X-axis_IRS, obtain from localizer antenna to inertial reference system Lateral deviation rate correction amount

According to lateral deviation Y of the relative runway of aircraft_{EST_runway}, aircraft is in the lateral acceleration of runwayFrom boat To beacon antenna to the lateral deviation rate correction amount of inertial reference systemAircraft is obtained using complementary filter method The deviation speed lateral with respect to runway

WhereinWithFor corresponding transmission function.

In the present embodiment, aircraft fully utilizes localizer data and inertia with respect to the measurement of runway lateral deviation speed Data, it is suppressed that the low-frequency noise in high-frequency noise and inertial data in localizer data, output data precision are higher, can To support to look squarely the high-security applications such as flight guidance function.

Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is in the principle and objective without departing from the present invention In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.

Claims (7)

1. measuring method of a kind of aircraft with respect to runway lateral deviation speed, it is characterised in that：Comprise the following steps：

Step 1：The collection downslide deviation of aircraft relative standard glide path, aircraft are long with respect to the pressure altitude of runway, ground velocity, runway Degree, the glidepath angles of setting, and the horizontal range of aircraft virtual course beacon station is resolved according to the above- mentioned information for collecting；

Step 2：Collection roll angle, the angle of pitch, yaw angle, selected navigation channel, body axis system X-axis acceleration, body axis system Y-axis Acceleration, body axis system Z axis acceleration, and the aircraft lateral acceleration of relative runway is resolved according to the above- mentioned information for collecting Degree；

Step 3：According to localizer deviation, the horizontal range of aircraft virtual course beacon station, the angle of pitch, roll angle, yaw angle Speed, rate of pitch, localizer antenna installation site, inertial reference system installation site, aircraft are under runway coordinate system Lateral acceleration, obtain the relative runway lateral deviation speed of aircraft using complementary filter method.

2. measuring method of a kind of aircraft with respect to runway lateral deviation speed according to claim 1, it is characterised in that：

Step 1 resolves the horizontal range process of aircraft virtual course beacon station：

Step 1.1：According to aerodrome elevation h_R, aircraft air height h_A, the relative altitude Δ h between aircraft and runway is obtained, Δ h=h_A-h_R；

Step 1.2：As Δ h ＞ 50ft, according to the relative altitude Δ h between aircraft and runway, aircraft relative standard glide path Downslide deviation Γ_GS, glide path set angle Ω, landing airdrome length L_RWY, resolve the horizontal range of aircraft virtual course beacon station R_LOC, as Δ h≤50ft, according to landing airdrome length L_RWY, aircraft ground velocity V_GS, resolve the horizontal range of aircraft virtual course beacon station R_LOC：

$R_{LOC}=\left\{\begin{array}{cc}{L}_{RWY}+\frac{\mathrm{\Δ}h}{tan(\mathrm{\Ω}+{\mathrm{\Γ}}_{GS})}& \mathrm{\Δ}h>50ft\\ L_{RWY}+1000-{\∫}_{t_0}{V}_{GS}& \mathrm{\Δ}h\≤50ft\end{array}\right.$

Wherein t₀During correspondence Δ h=50ft, start the ground velocity integration moment.

3. measuring method of a kind of aircraft with respect to runway lateral deviation speed according to claim 2, it is characterised in that：

Downslide deviation Γ in step 1_GSIt is to be obtained by multimode rake receiver, the aircraft air height is obtained by air data computer Arrive, the glidepath angles of the setting, aerodrome elevation, landing airdrome length are obtained by flight management system, the aircraft ground Speed is obtained by inertial reference system.

4. measuring method of a kind of aircraft with respect to runway lateral deviation speed according to claim 1, it is characterised in that：

Step 2 resolves the aircraft acceleration process lateral with respect to runway：

Step 2.1：According to roll angle φ, pitching angle theta, yaw angle ψ, selected navigation channel λ_sel, obtain body axis system component of acceleration To mapping relations M of the runway coordinate system Y-axis centered on body axis system origin_b→r：

$N_{b\→r}=\left[\begin{array}{c}\sin (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\cos \mathrm{\θ}\\ \sin (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\sin \mathrm{\θ}\sin \mathrm{\φ}+\cos (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\cos \mathrm{\φ}\\ \sin (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\sin \mathrm{\θ}\cos \mathrm{\φ}-\cos (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\sin \mathrm{\φ}\end{array}\right]$

Step 2.2：According to body axis system X-axis acceleration a_x, body axis system Y-axis acceleration a_y, body axis system Z axis accelerate Degree a_z, aircraft is obtained in the lateral acceleration of runway

$\begin{array}{c}{\stackrel{\·\·}{Y}}_{IRS\_runway}=a_x\sin (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\cos \mathrm{\θ}+a_y\[\sin \mathrm{\θ}\sin \mathrm{\φ}+\cos (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\cos \mathrm{\φ}\]+\\ a_z\[\sin (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\sin \mathrm{\θ}\cos \mathrm{\φ}-\cos (\mathrm{\ψ}-{\mathrm{\λ}}_{sel})\sin \mathrm{\φ}\]\end{array}$

5. measuring method of a kind of aircraft with respect to runway lateral deviation speed according to claim 4, it is characterised in that：

Yaw angle, the angle of pitch, roll angle, body axis system X-axis acceleration, body axis system Y-axis acceleration, body in step 2 Coordinate system Z axis acceleration is obtained using inertial reference system, and selected navigation channel is obtained by flight management system.

6. measuring method of a kind of aircraft with respect to runway lateral deviation speed according to claim 1, it is characterised in that：

Step 3 calculates aircraft：

Step 3.1：According to localizer deviation ε_LOC, aircraft virtual course beacon station horizontal range R_LOC, obtain aircraft relative Lateral deviation Y of runway_{EST_runway}：Y_{EST_runway}=ε_LOCR_LOC；

Step 3.2：According to pitching angle theta, roll angle φ, rate of pitch p, yaw rate r, localizer antenna installation site In the projection X of body axis system X-axis_LOC, inertial reference system installation site body axis system X-axis projection X_IRS, obtain from Lateral deviation rate correction amount of the localizer antenna to inertial reference system

${\stackrel{\·}{Y}}_{LOC\→IRS}=(X_{IRS}-X_{LOC})\frac{(rcos\mathrm{\φ}+q\sin \mathrm{\φ})}{cos\mathrm{\θ}}$

Step 3.3：According to lateral deviation Y of the relative runway of aircraft_{EST_runway}, aircraft is in the lateral acceleration of runway Lateral deviation rate correction amount from localizer antenna to inertial reference systemObtained using complementary filter method Aircraft is with respect to runway lateral deviation speed

7. measuring method of a kind of aircraft with respect to runway lateral deviation speed according to claim 6, it is characterised in that：

In step 3, course beacon offset is obtained by multimode rake receiver, the angle of pitch, roll angle, rate of pitch, yaw angle Speed is obtained by inertial reference system, projection X of the localizer antenna installation site in body axis system X-axis_LOC, inertia base Projection X of the Barebone installation site in body axis system X-axis_IRSFor aircraft configuration data.