CN108871328A - A kind of track developing algorithm based on ARINC424 navigation data - Google Patents
A kind of track developing algorithm based on ARINC424 navigation data Download PDFInfo
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Abstract
The present invention relates to a kind of track construction method, in particular to a kind of track developing algorithm based on ARINC424 navigation data.The algorithm includes the following steps：Step 1 extracts related data according to flight plan from airborne navigation database, and the related data extracted is arranged by the sequence of segment specified in flight plan as segment chained list；Step 2 calculates separately segment cut off and transition segment according to segment chained list obtained in aircraft initial condition data and step 1.The present invention realizes the universal solution towards the linking of 23 kinds of segments, smooth complete track is automatically generated according to the flight plan of input, acquired results are consistent with chart, being capable of Accurate Prediction flight track, the automatization level of flight management system can be improved, mitigate pilot's burden.
Description
Technical field
The present invention relates to a kind of track construction method, in particular to a kind of track building based on ARINC424 navigation data
Algorithm.
Background technique
Track building is carried out according to flight plan and aeroplane performance, realizes that the flight based on track is led on the basis of this track
Draw, is one of critical function demand of next-generation flight management system.23 kinds of segment classes are defined in ARINC424 navigation data
Type, joining relation is complicated, and how to carry out the smooth connection between segment is to realize the critical issue of track building.
Flight plan can be shown to pilot by existing flight management system, allow pilot according to chart, artificial to control
Aircraft operation processed, causes larger work load to pilot, and be difficult to flight path and the arrival time of Accurate Prediction aircraft.
Summary of the invention
Present invention solves the technical problem that being：A kind of track developing algorithm based on ARINC424 navigation data is provided, is solved
Certainly in the prior art flight track diverging, the flight time it is difficult to predict the problem of.
Technical solution of the present invention：A kind of track developing algorithm based on ARINC424 navigation data, it is characterised in that institute
The algorithm stated includes the following steps：
Step 1 extracts related data, and the dependency number that will be extracted according to flight plan from airborne navigation database
It is segment chained list according to being arranged by the sequence of segment specified in flight plan；
Step 2 calculates separately segment cut off according to segment chained list obtained in aircraft initial condition data and step 1
With transition segment.
Preferably, segment cut off and transition segment successively are calculated according in the chained list of segment two adjacent segment data.
Preferably, all segments IF data are deleted after obtaining segment chained list, only retain its height and rate limitation.
Preferably, for the segment FC, CA, FA and VA, it is calculated by the following formula segment cut off：In WGS-84 coordinate system
Under, calculate the northeast day coordinate system change in coordinate axis direction vector of segment starting point, respectively day to unit vector PU, east orientation unit to
PE and north orientation unit vector PN is measured, PN is rotated into given course angle around PU using Rodrigo's formula, obtains new vector PQ ', benefit
Segment cut off coordinate is calculated with following formula：
In formula, s is segment length, △ h is that climb altitude is poor, OQ is that segment cut off coordinate OP is segment starting point coordinate,
Turning the high formula of longitude and latitude by WGS-84 coordinate system again can be obtained the latitude and longitude information of segment cut off.
Wherein, formulaFor known segment starting point, sector distance and course angle, segment terminal is sought
General formula.
Preferably, for the segment CD, FD and VD, it is calculated by the following formula segment cut off：Under WGS-84 coordinate system,
Calculate the northeast day coordinate system change in coordinate axis direction vector of segment starting point, respectively day is to unit vector PU, east orientation unit vector
PE and north orientation unit vector PN calculates the line of segment starting point and DME guidance station and the angle theta of real north as followsPD：
In formula, PD be space vector of the segment starting point to DME platform, segment length | PQ | be：
| PQ |=| PD | sin (θPcrs-θPD)
In formula, θPcrsFor segment course angle, and then determine the coordinate of segment cut off.
Preferably, for the segment CR, CI, VI and VR, it is calculated by the following formula segment cut off：Assuming that segment starting point is sat
It is designated as P, guidance station coordinate is V, first calculates the course angle θ from P to VPV, then the linear distance of P, V point-to-point transmission is calculated, according to following
The available segment length of formula：
In formula, θVcrsFor VOR radial line angle, | PQ | it is segment length, and then determines the coordinate of segment cut off.
Preferably, for next segment be the segment CF, FX, TF and PI the case where, and be it is non-cross point turning, pass through tangent line
The mode of transition carries out track transition, and distance of the transition segment starting point before the crosspoint of two segments is Rsin (θTcrs-θMcrs/
2), θ in formulaMcrsFor current leg course angle, θTcrsFor next segment course angle, R is the turning half calculated quickly out according to current position
Diameter；If segment was defined as a little turning, transition is carried out with two sections of circular arc tracks, transition flight path starting point is that a upper segment is cut
Stop, the angle turned over are calculated according to following formula：
In formula, θMcrsFor current leg course angle, θTcrsFor next segment course angle, R is turn calculated quickly out according to current position
Curved radius, Δ θ1For the central angle of first segment transition arc, Δ θ2For the central angle of second segment transition arc, aircraft turn direction
With course change direction first with rear different.
Preferably, the case where being CI, CR, VX for next segment, the mistake point that a upper segment was cut off is defaulted at this time
Flight, transition flight path are circular arc track, and transition flight path starting point is the cut off of a upper segment, calculate turning radius using ground velocity,
Corner size is the difference of two segment flight-path angles, and course switchs to course angle as defined in next segment and is considered as transition termination.
Preferably, for next segment be DF the case where, transition flight path be circular arc track, transition flight path starting point be it is upper one boat
The cut off of section calculates turning radius using ground velocity, calculates transition according to the tangent positional relationship of transition arc and a upper segment
Circular arc center location, and then the corner Δ θ of available transition flight path are calculated using following formula：
In formula, O is transition arc central coordinate of circle, and Q is upper segment cut off coordinate, and F is next segment way point coordinate,
<OQ,OF>It is the angle of vector OQ and OF, R is turning radius, | OF | for the transition arc center of circle to the straight of next segment way point
Linear distance.
Preferably, for next segment be AF the case where, transition flight path be circular arc track, transition flight path starting point be it is upper one boat
The cut off of section moves forward a distance along course-and-bearing, the following formula calculating of Forward distance：
△ θ=arcsin [R/ (R+RD)]
|QF1|=(R+RD)sinΔθ-RD
In formula, R is the turning radius calculated according to ground velocity, RDFor the DME reference radius provided in the segment AF, Δ θ was
Circular arc-shaped corner size is crossed, | QF1| for Forward distance.
Beneficial effects of the present invention：
The present invention realizes the universal solution towards the linking of 23 kinds of segments, is automatically generated according to the flight plan of input
Smooth complete track, acquired results are consistent with chart, can Accurate Prediction flight track, flight management system can be improved
Automatization level mitigates pilot's burden.
Detailed description of the invention
The segment Fig. 1 XD cut off schematic diagram
Fig. 2 is the segment XR cut off schematic diagram
Fig. 3 is Fly-by type transition route map
Fig. 4 is Fly-over type transition route map
Fig. 5 is fixed track angle-style transition route map
Fig. 6 is to fly nonstop to type transition route map
Fig. 7 is arc transition schematic diagram
Fig. 8 is one track schematic diagram of embodiment
Specific embodiment
The present invention is applied to be loaded in the Flight Management Computer in ARINC424 standard navigation data library, concrete operation step
It is as follows：
Step 1：Flight plan parsing
The flight plan of pilot's input is received, and inquires corresponding information from ARINC424 navigational route database, is wrapped
It includes：
Air route area：According to air route code and start-stop air route point code, the coordinate of inquirement way way point, height limitation and speed
Degree limitation；
Termination environment：According to airport code, program identification and interim identity, way point coordinate, segment type are inquired, height limits
System, the information such as segment length and recommendation guidance station.
All segment information is sequentially formed into segment chained list by flight plan, is successively handled.
Step 2：Aircraft state initialization
The initial state information of aircraft is inputted in the form of data-link or from CDU, including：Type, longitude and latitude, height above sea level
Degree, weight, initial heading angle etc..
Step 3：Segment chain list processing
Segment chained list is handled, deletes all segments IF, and retain its height limitation, current and next segment is read, presses
It is handled according to step 3.1 and step 3.2.
Step 3.1：End point location and calculate in segment
Current leg type is judged, will then be recorded in the information of segment if the segment XF (TF/CF/DF/AF/RF)
Otherwise way point carries out Taxonomic discussion by step 3.1.1~3.1.3 as this segment cut off.
Step 3.1.1：Distance/height cut-off type calculates
It is directed to FC, CA, FA, the segment VA provided a little distance (height limitation) in database.Since CA, FA only go out
In the program climbed or gone around now, so height cut-off type is equivalent in the situation known to the climb rate and segment starting point height
In range cutoff type.Assuming that the coordinate of segment starting point P is OP=[XP YP ZP], then northeast day (U-N-E) reference axis of P point
Direction vector is：
PN is rotated into given course angle θ around PUcrs, obtained using Rodrigo's formula
PQ'=PNcos θcrs+PU·(1-cosθcrs)(PN*PU)+PU×PN·sinθcrs
In formula, s is length for heading, and △ h is that climb altitude is poor, and OQ is segment cut off coordinate, then by WGS-84 coordinate system
Turning the high formula of longitude and latitude can be obtained the latitude and longitude information of segment cut off.
Step 3.1.2：DME cut-off type calculates
For CD, FD, the segment VD provides the coordinate for recommending DME platform in database and to DME distance.In actual use
Need to determine that aircraft is close or far from DME platform.It is calculated by close to for DME platform.
Assuming that segment starting point is P, recommendation DME platform is D, and coordinate is OD=[XD YD ZD], segment course angle is θPcrs, such as
Shown in Fig. 1, the course angle θ in the direction PD can be calculatedPD:
Sector distance can so be calculated | PQ | be：
| PQ |=| PD | sin (θPcrs-θPD)
And then the coordinate of segment cut off can be determined using the algorithm in step 3.1.1.
Step 3.1.3：VOR cut-off type calculates
For CR, the segment VR provides the coordinate and VOR radial line angle for recommending VOR platform in database.Assuming that segment is risen
Point is P, and recommendation VOR platform is V, and coordinate is OV=[XV YV ZV], segment course angle is θPcrs。
Schematic diagram is as shown in Figure 2.
PV course angle θ can be calculated according to the method for calculating PD course angle in step 3.1.2PV, had according to sine,
In formula, θVcrsFor VOR radial line angle, and then segment cut off can be determined using the algorithm in step 3.1.1
Coordinate.
For CI, the segment VI provides course angle information in database.The calculating of XI cut off depends on next segment
Information, according to the pertinent regulations of ARINC424-Leg Sequencing, the type of next segment can only be AF, CF, FX or
IF-TF can uniformly be summarized as certain radial line by a certain fixed point, then the calculation of cut off and VOR type are cut
Only mode is identical.
Step 3.2：Transition segment calculates
The starting point of current leg, cut off and next segment type are obtained, is classified according to step 3.2.1~3.2.4
It discusses, carries out the building of transition segment, turning radius is taken as at this time：
Wherein,It is the maximum ground velocity during turning, φ is the specified roll angle of aircraft.
Step 3.2.1：Scheduled airline transition
Suitable for next segment be CF, FX, TF, PI the case where, fixed point, course line are crossed to fix course in given next segment
Position is fixed, and is cut next course line and is considered as transition termination.Two kinds of transient modes of Fly-by and Fly-over can be divided at this time.
As shown in figure 3, M point is segment crosspoint, it may be possible to the cut-off calculated in the Fix or 3.2 sections provided in database
Point, it is also possible to the intersection point for the front and back segment extended line being calculated.
Due to being tangent-line transition, the Forward of M point, distance is
| MM'|=| MT |=R sin (Δ θ/2)
Δ θ=θTcrs-θMcrs
When Waypoint Description Code the 2nd in the data of segment be Y, and next section define approach boat
When waypoint and flight-path angle, need using the transition of Fly-over type.Since the cut off Q of previous segment is not necessarily on latter segment
(such as XF-CF), it is therefore desirable to the position for first calculating course line intersection point M, as shown in figure 3, if meeting condition：
|QM|≥R
It then runs in the way of Fly-by, is otherwise run in the way of Fly-over, as shown in Figure 4.
Turn direction and course change direction calculate its corner size △ θ first with rear different1,△θ2And incision course line away from
From | MT |.
Step 3.2.2：Fixed flight-path angle transition
The case where suitable for next segment being CX (be free of CF), VX, the Fly- that a upper segment was cut off is defaulted at this time
Over flight crosses point and directly changes course later, and corner size is the difference of two segment flight-path angles, and course switchs to next segment regulation
Course is considered as transition termination.
Schematic diagram is as shown in Figure 5.
Step 3.2.3：Fly nonstop to transition
Suitable for next segment be DF the case where, according to the position of upper segment cut off, directly fly to next point, cut
Straightway is considered as transition termination.Schematic diagram is as shown in Figure 6.
Unit north orientation vector QN is rotated into angle, θ around Q point ellipsoid normal vectorQcrs+ pi/2 can obtain center of circle O point coordinate,
The coordinate of T point can be obtained by unitization vector OT around O point ellipsoid normal vector rotation angle △ θ at this time, course
Angle is △ θ+θQcrs。
Step 3.2.4：Arc transition
The case where suitable for next segment being AF, is cut after circular arc i.e. according to the position and course of upper segment cut off
It is considered as transition termination.ARINC424 standard regulation, when being cut-off type segment (XF) before the segment AF, this Fix mono- is scheduled on camber line
On；When ending the type segment (XD) before for DME, this DME platform is centainly also the recommendation guidance station of the segment AF；It is before CI type segment
When, the recommendation guidance station of (or backwards to) segment AF is centainly directed toward in course, therefore transition route map is as shown in Figure 7.
Calculate angle of turn and by a Forward distance | QF1|,
△ θ=arcsin [R/ (R+RD)]
|QF1|=(R+RD)sin△θ-RD
Simultaneously as the regulation of ARINC424 standard, circular arc as defined in the segment segment Bi YuRF being connected with the segment RF
Tangent, there is no need to calculate transition flight path.
Step 3.3：Track state updates
By calculated straight line segment starting point, cut off, the information such as radius, the center of circle and start-stop point coordinate of transition arc
It records, track chained list is added, return step 3.1 handles next flight plan segment, until all flight plan segments
Processing is completed.
Step 4：Trace information output
The trajectory lists being calculated are stored with xml format, for CDU inquiry and horizontal guidance reference.
Embodiment one：Xi'an is constructed to Pekinese's track
Step 1：Flight plan parsing
Xi'an is as shown in table 1 to Pekinese's flight plan：
1 ZLXYZBAA01 flight plan data content of table
By the inquiry in navigational route database, each mission program can be refined as following content：
2 ZLXYZBAA01 flight plan of table parses data
By this 28 segment Uniform data formats, segment chained list is constituted, data include：Segment serial number, segment type, whether
Point, turn direction, height limitation type, height limitation value, turning radius, segment length, air route point identification, way point is crossed to sit
Mark, reference center coordinate recommend navigation station identification, recommend guidance station coordinate, magnetic heading, vertical angle.
Step 2：Aircraft state initialization
The aircraft initial state information of input is as shown in table 3.
3 aircraft initial state information of table
| Type | B737-800 |
| Original base longitude and latitude | (108.7399,34.43808) |
| Original base height above sea level | 476m |
| Take-off weight | 60000kg |
| Initial heading angle | 52° |
Step 3：Segment chain list processing
The segment chained list that processing step 1 generates, deletes all segments IF, and retain its height limitation, is successively read and works as
Preceding and next segment calculates separately the cut off of current leg, and the transition flight path with next segment.
For example, reading the 1st, 2 segments, the 1st segment type is that VA can be in the hope of VA then using the algorithm in step 3.1.1
Segment cut off coordinate is longitude：108.759538, latitude：34.45246671.2nd segment is the segment DF, then utilizes step
3.2.3 the algorithm in, can be as shown in table 4 in the hope of transition flight path information：
4 segment 1-2 transition flight path information of table
| Starting point coordinate | (108.759538,34.45246671) |
| Terminal point coordinate | (108.766468,34.460239) |
| Turning radius | 2578m |
| Turn direction | It is left |
Next the 2nd, 3 segments are read, the 2nd segment type is DF, then segment cut off is way point XY101, longitude and latitude
Degree is the longitude and latitude of XY101.3rd segment type be TF, and cross point turning be identified as false, so using step 3.2.1
In tangent-line transition algorithm, can be as shown in table 5 in the hope of transition flight path information：
5 segment 2-3 transition flight path information of table
| Starting point coordinate | (108.8458587,34.60849421) |
| Terminal point coordinate | (108.8476738,34.61142255) |
| Turning radius | 3260m |
| Turn direction | It is right |
So far the track chained list of the segment available 1-2, data content are as shown in table 6：
Remaining segment is handled with this according to identical step, until reaching purpose runway.
Step 4：Trace information output
The trajectory lists being calculated are stored with xml format, for CDU inquiry and horizontal guidance reference.This calculation
Track building result schematic diagram in example is as shown in Figure 8.
Claims (10)
1. a kind of track developing algorithm based on ARINC424 navigation data, it is characterised in that the algorithm includes following step
Suddenly：
Step 1 extracts related data according to flight plan from airborne navigation database, and by the related data extracted by
It is segment chained list that the sequence of segment specified in flight plan, which arranges,；
Step 2 calculates separately segment cut off and mistake according to segment chained list obtained in aircraft initial condition data and step 1
Crossing section.
2. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：Successively
According in the chained list of segment two adjacent segment data, segment cut off and transition segment are calculated.
3. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：It obtains
All segments IF data are deleted after the chained list of segment, only retain its height and rate limitation.
4. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：For
The segment FC, CA, FA and VA is calculated by the following formula segment cut off：Under WGS-84 coordinate system, segment starting point is calculated
Northeast day coordinate system change in coordinate axis direction vector, respectively day are to unit vector PU, east orientation unit vector PE and north orientation unit vector
PN is rotated given course angle around PU using Rodrigo's formula, obtains new vector PQ ', calculate segment using following formula by PN
Cut off coordinate：
In formula, s is segment length, △ h is that climb altitude is poor, OQ is that segment cut off coordinate OP is segment starting point coordinate, then by
WGS-84 coordinate system, which turns the high formula of longitude and latitude, can be obtained the latitude and longitude information of segment cut off.
Wherein, formulaFor known segment starting point, sector distance and course angle, the general of segment terminal is sought
Formula.
5. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：For
The segment CD, FD and VD is calculated by the following formula segment cut off：Under WGS-84 coordinate system, the east of segment starting point is calculated
Northern day coordinate system change in coordinate axis direction vector, respectively day to unit vector PU, east orientation unit vector PE and north orientation unit vector PN,
The line of segment starting point and DME guidance station and the angle theta of real north are calculated as followsPD：
In formula, PD be space vector of the segment starting point to DME platform, segment length | PQ | be：
| PQ |=| PD | sin (θPcrs-θPD)
In formula, θPcrsFor segment course angle, and then determine the coordinate of segment cut off.
6. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：For
The segment CR, CI, VI and VR is calculated by the following formula segment cut off：Assuming that segment starting point coordinate is P, guidance station coordinate is
V first calculates the course angle θ from P to VPV, then the linear distance of P, V point-to-point transmission is calculated, available segment is long according to the following formula
Degree：
In formula, θVcrsFor VOR radial line angle, | PQ | it is segment length, and then determines the coordinate of segment cut off.
7. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：For
The case where next segment is the segment CF, FX, TF and PI, and be that non-point of crossing is turned, track is carried out by way of tangent-line transition
Transition, distance of the transition segment starting point before the crosspoint of two segments are Rsin (θTcrs-θMcrs/ 2), θ in formulaMcrsCurrently to navigate
Section course angle, θTcrsFor next segment course angle, R is the turning radius calculated quickly out according to current position；If segment was defined as
Point turning then carries out transition with two sections of circular arc tracks, and transition flight path starting point is upper segment cut off, the angle turned over according to
Following formula calculates：
In formula, θMcrsFor current leg course angle, θTcrsFor next segment course angle, R is the turning half calculated quickly out according to current position
Diameter, Δ θ1For the central angle of first segment transition arc, Δ θ2For the central angle of second segment transition arc, aircraft turn direction and boat
It is first with rear different to direction is changed.
8. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：For
The case where next segment is CI, CR, VX defaults the point of crossing that a upper segment was cut off at this time and flies, and transition flight path is circular arc
Track, transition flight path starting point are the cut off of a upper segment, calculate turning radius using ground velocity, corner size is two segment tracks
The difference at angle, course switch to course angle as defined in next segment and are considered as transition termination.
9. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：For
The case where next segment is DF, transition flight path are circular arc track, and transition flight path starting point is the cut off of a upper segment, utilize ground velocity
Turning radius is calculated, transition arc center location, Jin Erke are calculated according to the tangent positional relationship of transition arc and a upper segment
To obtain the corner Δ θ of transition flight path, calculated using following formula：
In formula, O is transition arc central coordinate of circle, and Q is upper segment cut off coordinate, and F is next segment way point coordinate,<OQ,
OF>The angle of vector OQ and OF, R is turning radius, | OF | for the transition arc center of circle to next segment way point straight line away from
From.
10. a kind of track developing algorithm based on ARINC424 navigation data according to claim 1, it is characterized in that：Needle
The case where being AF to next segment, transition flight path are circular arc track, and transition flight path starting point is the cut off of a upper segment along course line
Direction moves forward a distance, the following formula calculating of Forward distance：
△ θ=arcsin [R/ (R+RD)]
|QF1|=(R+RD)sinΔθ-RD
In formula, R is the turning radius calculated according to ground velocity, RDFor the DME reference radius provided in the segment AF, Δ θ is transition arc
Corner size, | QF1| for Forward distance.
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| CN111444174A (en) * | 2020-02-25 | 2020-07-24 | 民航数据通信有限责任公司 | Flight program track data checking and controlling method and device |
| CN111984917A (en) * | 2020-07-15 | 2020-11-24 | 北京机电工程研究所 | Method for calculating turning center in turning process of spherical track |
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| CN109631880B (en) * | 2018-11-29 | 2022-08-19 | 中国航空工业集团公司沈阳飞机设计研究所 | Secondary flying navigation method and system |
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