CN108873044A - A method of helicopter screw propeller is surveyed with respect to fuselage posture with GPS receiver - Google Patents
A method of helicopter screw propeller is surveyed with respect to fuselage posture with GPS receiver Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
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Abstract
一种利用GPS接收机精确测定4桨叶直升机螺旋桨相对于机身姿态的方法，该方法利用4个天线、4个接收机、4个振动发电机、4个无线数据发射器和1个4通道无线数据接收设备来实现螺旋桨相对于机身姿态的测定。它们的关系为：每个螺旋桨的远离旋转中心的一端上侧集中安装1个天线、1个接收机、1个振动发电机和1个无线数据发射器，参照附图3；无线数据接收设备安装在机身上，振动发电机依靠螺旋桨振动发电，供电给接收机和无线数据发射器工作，接收机从天线接收数据，用无线数据发射器传递给无线数据接收设备，最后由机身上自带的计算机计算得到螺旋桨相对于机身的姿态，参照附图1。方法步骤如下：一、基线测量；二、机身姿态的获得；三、桨盘法线方向计算；四、桨叶的相位角计算。
A method for accurately measuring the attitude of a 4-bladed helicopter propeller relative to the fuselage using a GPS receiver, the method uses 4 antennas, 4 receivers, 4 vibration generators, 4 wireless data transmitters and a 4-channel A wireless data receiving device is used to measure the attitude of the propeller relative to the fuselage. Their relationship is as follows: one antenna, one receiver, one vibration generator and one wireless data transmitter are installed on the upper side of each propeller away from the center of rotation, referring to attached drawing 3; the wireless data receiving equipment is installed On the fuselage, the vibration generator relies on the vibration of the propeller to generate power, and supplies power to the receiver and wireless data transmitter. The receiver receives data from the antenna and transmits it to the wireless data receiving device through the wireless data transmitter. The attitude of the propeller relative to the fuselage is calculated by the computer, with reference to accompanying drawing 1. The steps of the method are as follows: 1. Baseline measurement; 2. Obtaining the attitude of the fuselage; 3. Calculating the normal direction of the propeller disk; 4. Calculating the phase angle of the propeller blade.
Description
技术领域technical field
本发明涉及一种利用GPS(Global Positioning System)接收机确定4桨叶的直升机螺旋桨各桨叶相对于机身姿态的方法，属于导航定姿技术领域。The invention relates to a method for using a GPS (Global Positioning System) receiver to determine the attitude of each blade of a helicopter propeller with 4 blades relative to a fuselage, and belongs to the technical field of navigation and attitude determination.
背景技术Background technique
目前在测定直升机螺旋桨相对于机身的姿态方面尚没有行之有效的方法。At present, there is no effective method for measuring the attitude of the helicopter propeller relative to the fuselage.
发明内容Contents of the invention
(一)发明目的(1) Purpose of the invention
精确测定直升机螺旋桨各桨叶相对于直升机机身的姿态，包括桨盘法线方向相对于直升机机身的方向和每一片桨叶实时的旋转相位，给直升机控制系统提供螺旋桨实时姿态信息以提高控制系统的控制效率，并对直升机运行状态进行实时监测。Accurately measure the attitude of each blade of the helicopter propeller relative to the helicopter fuselage, including the direction of the normal direction of the propeller disc relative to the helicopter fuselage and the real-time rotation phase of each blade, and provide the helicopter control system with real-time attitude information of the propeller to improve control The control efficiency of the system, and real-time monitoring of the operating status of the helicopter.
(二)技术方案(2) Technical solution
本发明涉及一种利用GPS接收机精确测定4桨叶直升机螺旋桨相对于机身姿态的方法，该方法利用4个天线、4个接收机、4个振动发电机、4个无线数据发射器和1个4通道无线数据接收设备来实现螺旋桨相对于机身姿态的测定。参照附图3，它们的关系为：每个螺旋桨的远离旋转中心的一端上侧集中安装1个天线、1个接收机、1个振动发电机和1个无线数据发射器，参照附图1，无线数据接收设备安装在机身上。振动发电机依靠螺旋桨振动发电，供电给接收机和无线数据发射器工作，接收机从天线接收数据，用无线数据发射器传递给无线数据接收设备，最后由机身上自带的计算机计算得到螺旋桨相对于机身的姿态。The invention relates to a method for accurately measuring the attitude of a 4-bladed helicopter propeller relative to a fuselage by using a GPS receiver. The method uses 4 antennas, 4 receivers, 4 vibration generators, 4 wireless data transmitters and 1 A 4-channel wireless data receiving device is used to measure the attitude of the propeller relative to the fuselage. With reference to accompanying drawing 3, their relation is: one antenna, 1 receiver, 1 vibration generator and 1 wireless data transmitter are concentratedly installed on the upper side of one end away from the center of rotation of each propeller, with reference to accompanying drawing 1, The wireless data receiving device is installed on the fuselage. The vibration generator relies on propeller vibration to generate power, and supplies power to the receiver and wireless data transmitter to work. The receiver receives data from the antenna and transmits it to the wireless data receiving device through the wireless data transmitter. Finally, the propeller is calculated by the computer on the fuselage. attitude relative to the fuselage.
本发明所述的确定直升机螺旋桨相对于机身姿态的方法实施步骤如下：The implementation steps of the method for determining the attitude of the helicopter propeller relative to the fuselage of the present invention are as follows:
步骤一：基线测量Step 1: Baseline Measurement
参考附图2，图中A、B、C和D是四个螺旋桨末端安装的天线位置，α是机身纵对称面，l是机身纵对称面与桨盘交线，单位向量a是机身纵对称面法线向量，β是桨叶相位角。用公知的解基线方法和接收机的数据可以算得在当地水平坐标系下向量和rAC和rBD。Referring to accompanying drawing 2, A, B, C and D in the figure are the antenna positions installed at the ends of the four propellers, α is the longitudinal symmetry plane of the fuselage, l is the intersection line between the longitudinal symmetry plane of the fuselage and the propeller disc, and the unit vector a is the The body longitudinal symmetry plane normal vector, β is the blade phase angle. The vector in the local horizontal coordinate system can be calculated by using the known baseline solution method and the data of the receiver and r AC and r BD .
步骤二：机身姿态的获得Step 2: Obtaining the attitude of the fuselage
由机身的姿态控制系统可以得到机身纵对称面的法向量a在当地水平坐标系下的表示：ra。From the attitude control system of the fuselage, the expression of the normal vector a of the longitudinal symmetry plane of the fuselage in the local horizontal coordinate system can be obtained: r a .
步骤三：桨盘法线方向计算Step 3: Calculation of the normal direction of the paddle
桨盘的法线方向可表示为：The normal direction of the paddle disc can be expressed as:
步骤四：桨叶的相位角计算Step 4: Calculate the phase angle of the blade
交线l所对应的方向向量为：The direction vector corresponding to the intersection line l is:
b＝ra×n (2)b=r a ×n (2)
天线A所对应的桨叶的相位角可以表示为：The phase angle of the blade corresponding to antenna A can be expressed as:
天线B、C和D对应的桨叶的相位角为：The phase angles of the blades corresponding to antennas B, C and D are:
通过上述流程提出了一种利用GPS接收机测量直升机螺旋桨相对于机身姿态的方法。该方法通过在螺旋桨上安装GPS接收机的方法，实现了对直升机螺旋桨相对于机身姿态的测量，并且该方法弥补了当前直升机螺旋桨姿态测量方法的空白，所需器材简单廉价，实现方式简单方便，便于推广和运用。Through the above process, a method for measuring the attitude of the helicopter propeller relative to the fuselage is proposed by using the GPS receiver. This method realizes the measurement of the attitude of the helicopter propeller relative to the fuselage by installing a GPS receiver on the propeller, and this method makes up for the blank of the current helicopter propeller attitude measurement method, the required equipment is simple and cheap, and the implementation method is simple and convenient , easy to promote and use.
(三)优点(3) Advantages
①本发明提出的方法测量得到的直升机螺旋桨相对于机身的姿态可提供给机身姿态控制系统，提高机身姿态的控制效率。① The attitude of the helicopter propeller relative to the fuselage measured by the method proposed in the present invention can be provided to the fuselage attitude control system to improve the control efficiency of the fuselage attitude.
②本发明提出的方法可用于实时监测直升机螺旋桨的运转状态，预防故障。2. The method proposed by the present invention can be used for real-time monitoring of the operating state of the helicopter propeller to prevent failures.
③本发明中提出的测量直升机螺旋桨相对于机身姿态的方法所需设备，成本低廉，条件要求简单方便，便于推广应用。③ The required equipment for the method of measuring the attitude of the helicopter propeller relative to the fuselage proposed in the present invention has low cost, simple and convenient condition requirements, and is convenient for popularization and application.
附图说明Description of drawings
图1是本发明设备工作示意图。Fig. 1 is a working schematic diagram of the equipment of the present invention.
图2是本发明几何简化计算示意图。Fig. 2 is a schematic diagram of geometric simplification calculation in the present invention.
图3是本发明设备安装示意图。Fig. 3 is a schematic diagram of installation of the equipment of the present invention.
图中1.GPS接收机，2.GPS天线，3.无线数据发射器，4.振动发电机，5.螺旋桨桨叶。In the figure 1. GPS receiver, 2. GPS antenna, 3. Wireless data transmitter, 4. Vibration generator, 5. Propeller blade.
具体实施方式Detailed ways
下面将结合技术方案对本发明的具体实施过程做进一步的详细说明。The specific implementation process of the present invention will be further described in detail below in conjunction with the technical solution.
本发明涉及一种利用GPS接收机精确测定4桨叶直升机螺旋桨相对于机身姿态的方法，利用4个天线、4个接收机、4个振动发电机、4个无线数据发射器和1个4通道无线数据接收设备来实现螺旋桨线对于机身姿态的测定。参照附图3，它们的关系为：每个螺旋桨的远离旋转中心的一端上侧集中安装1个天线、1个接收机、1个振动发电机和1个无线数据发射器。参照附图1，无线数据接收设备安装在机身上，振动发电机依靠螺旋桨振动发电，供电给接收机和无线数据发射器工作，接收机从天线接收数据，用无线数据发射器传递给无线数据接收设备，最后由机身上自带的计算机计算。The invention relates to a method for accurately measuring the attitude of a 4-bladed helicopter propeller relative to a fuselage by using a GPS receiver, using 4 antennas, 4 receivers, 4 vibration generators, 4 wireless data transmitters and 1 4 Channel wireless data receiving equipment to realize the determination of the attitude of the propeller line to the fuselage. With reference to accompanying drawing 3, their relation is: an antenna, a receiver, a vibration generator and a wireless data transmitter are concentratedly installed on the upper side of one end away from the center of rotation of each propeller. Referring to Figure 1, the wireless data receiving equipment is installed on the fuselage, the vibration generator relies on propeller vibration to generate power, and supplies power to the receiver and wireless data transmitter to work. The receiver receives data from the antenna and transmits it to the wireless data transmitter through the wireless data transmitter. The receiving device is finally calculated by the computer on the fuselage.
本发明所述的确定直升机螺旋桨相对于机身姿态的方法具体实施步骤如下：The specific implementation steps of the method for determining the attitude of the helicopter propeller relative to the fuselage of the present invention are as follows:
步骤一：基线测量Step 1: Baseline Measurement
参考附图2，图中A、B、C和D是四个螺旋桨末端安装的天线位置，α是机身纵对称面，l是机身纵对称面与桨盘交线，单位向量a是机身纵对称面法线向量，β是桨叶相位角。用公知的解基线方法和接收机的数据可以算得在当地水平坐标系下向量和rAC和rBD。Referring to accompanying drawing 2, A, B, C and D in the figure are the antenna positions installed at the ends of the four propellers, α is the longitudinal symmetry plane of the fuselage, l is the intersection line between the longitudinal symmetry plane of the fuselage and the propeller disc, and the unit vector a is the The body longitudinal symmetry plane normal vector, β is the blade phase angle. The vector in the local horizontal coordinate system can be calculated by using the known baseline solution method and the data of the receiver and r AC and r BD .
步骤二：机身姿态的获得Step 2: Obtaining the attitude of the fuselage
由机身的姿态控制系统可以得到机身纵对称面的法向量a在当地水平坐标系下的表示：ra。From the attitude control system of the fuselage, the expression of the normal vector a of the longitudinal symmetry plane of the fuselage in the local horizontal coordinate system can be obtained: r a .
步骤三：桨盘法线方向计算Step 3: Calculation of the normal direction of the paddle
桨盘的法线方向可表示为：The normal direction of the paddle disc can be expressed as:
步骤四：桨叶的相位角计算Step 4: Calculate the phase angle of the blade
交线l所对应的方向向量为：The direction vector corresponding to the intersection line l is:
b＝ra×n (8)b=r a ×n (8)
天线A所对应的桨叶的相位角可以表示为：The phase angle of the blade corresponding to antenna A can be expressed as:
天线B、C和D对应的桨叶的相位角为：The phase angles of the blades corresponding to antennas B, C and D are:
通过上述流程提出了一种利用GPS接收机测量直升机螺旋桨相对于机身姿态的方法。该方法通过在螺旋桨上安装GPS接收机的方法，实现了对直升机螺旋桨相对于机身姿态的测量，并且该方法弥补了当前直升机螺旋桨姿态测量方法的空白，所需器材简单廉价，实现方式简单方便，便于推广和运用。Through the above process, a method for measuring the attitude of the helicopter propeller relative to the fuselage is proposed by using the GPS receiver. This method realizes the measurement of the attitude of the helicopter propeller relative to the fuselage by installing a GPS receiver on the propeller, and this method makes up for the blank of the current helicopter propeller attitude measurement method, the required equipment is simple and cheap, and the implementation method is simple and convenient , easy to promote and use.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110672091A (en) * | 2019-09-29 | 2020-01-10 | 哈尔滨飞机工业集团有限责任公司 | Time domain aircraft flexible towing pod positioning system |
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