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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- CN108873044A CN108873044A CN201810727192.4A CN201810727192A CN108873044A CN 108873044 A CN108873044 A CN 108873044A CN 201810727192 A CN201810727192 A CN 201810727192A CN 108873044 A CN108873044 A CN 108873044A
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- fuselage
- wireless data
- posture
- propeller
- receiver
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A method of 4 blade helicopter screw propellers are accurately measured using GPS receiver relative to fuselage posture, and this method realizes measurement of the propeller relative to fuselage posture using 4 antennas, 4 receivers, 4 vibrating electricity generators, 4 wireless data transmitters and 14 channel wireless data receiving device.Their relationship is：1 antenna, 1 receiver, 1 vibrating electricity generator and 1 wireless data transmitter are installed on the upside of one end of the separate rotation center of each propeller concentratedly, referring to attached drawing 3；Wireless data receiving device is mounted on fuselage, vibrating electricity generator relies on propeller vibrating power-generation, supply electricity to receiver and wireless data transmitter work, receiver receives data from antenna, wireless data receiving device is passed to wireless data transmitter, posture of the propeller relative to fuselage is finally calculated by the computer carried on fuselage, referring to attached drawing 1.Method and step is as follows：One, base line measurement；Two, the acquisition of fuselage posture；Three, paddle disk normal direction calculates；Four, the phase angle of blade calculates.
Description
Technical field
Going straight up to for 4 blades is determined using GPS (Global Positioning System) receiver the present invention relates to a kind of
Method of each blade of machine propeller relative to fuselage posture belongs to navigation and determines appearance technical field.
Background technique
At present still without effective method in terms of measurement helicopter screw propeller is relative to the posture of fuselage.
Summary of the invention
(1) goal of the invention
Posture of the accurate measurement each blade of helicopter screw propeller relative to helicopter fuselage, including paddle disk normal direction are opposite
In the direction of helicopter fuselage and per the real-time rotatable phase of a piece of blade, the real-time appearance of propeller is provided to Systems of Control for Helicopter
State information carries out real-time monitoring to helicopter operating status to improve the control efficiency of control system.
(2) technical solution
The present invention relates to a kind of accurately to measure 4 blade helicopter screw propellers using GPS receiver relative to fuselage posture
Method, this method using 4 antennas, 4 receivers, 4 vibrating electricity generators, 4 wireless data transmitters and 14 channel without
Line data receiver realizes measurement of the propeller relative to fuselage posture.Referring to attached drawing 3, their relationship is：Each spiral shell
It is wireless to install 1 antenna, 1 receiver, 1 vibrating electricity generator and 1 on the upside of one end of the separate rotation center of rotation paddle concentratedly
Data source, referring to attached drawing 1, wireless data receiving device is mounted on fuselage.Vibrating electricity generator is by propeller vibration hair
Electricity, supplies electricity to receiver and wireless data transmitter work, and receiver receives data from antenna, transmitted with wireless data transmitter
Wireless data receiving device is given, posture of the propeller relative to fuselage is finally calculated by the computer carried on fuselage.
Determining helicopter screw propeller of the present invention is as follows relative to the method implementation steps of fuselage posture：
Step 1：Base line measurement
With reference to attached drawing 2, A, B, C and D are the aerial positions of four rotor tips installation in figure, and α is that fuselage indulges the plane of symmetry,
L is that fuselage indulges the plane of symmetry and paddle disk intersection, and unit vector a is that fuselage indulges plane of symmetry normal line vector, and β is blade phase angle.With public affairs
The data of the solution Baseline Methods and receiver known can calculate under local horizontal coordinates vectorWithrACAnd rBD。
Step 2：The acquisition of fuselage posture
The normal vector a of the plane of symmetry is indulged under local horizontal coordinates by the available fuselage of the attitude control system of fuselage
It indicates：ra。
Step 3：Paddle disk normal direction calculates
The normal direction of paddle disk is represented by：
Step 4：The phase angle of blade calculates
Direction vector corresponding to intersection l is：
B=ra×n (2)
The phase angle of blade corresponding to antenna A can be expressed as：
The phase angle of the corresponding blade of antenna B, C and D is：
A kind of side using GPS receiver measurement helicopter screw propeller relative to fuselage posture is proposed by above-mentioned process
Method.Method of this method by installing GPS receiver on propeller, realizes to helicopter screw propeller relative to fuselage posture
Measurement, and this method compensates for the blank of current helicopter screw propeller attitude measurement method, required equipment cheap and simple, real
Existing mode is simple and convenient, convenient for promoting and using.
(3) advantage
1. the helicopter screw propeller that method measurement proposed by the present invention obtains is provided to fuselage relative to the posture of fuselage
Attitude control system improves the control efficiency of fuselage posture.
2. method proposed by the present invention can be used for the operating condition of real-time monitoring helicopter screw propeller, trouble saving.
3. equipment needed for method of the measurement helicopter screw propeller proposed in the present invention relative to fuselage posture, at low cost
Honest and clean, condition requirement is simple and convenient, easy to promote and utilize.
Detailed description of the invention
Fig. 1 is present device operation schematic diagram.
Fig. 2 is that geometry simplification of the present invention calculates schematic diagram.
Fig. 3 is present device scheme of installation.
1.GPS receiver in figure, 2.GPS antenna, 3. wireless data transmitters, 4. vibrating electricity generators, 5. propeller blades.
Specific embodiment
Specific implementation process of the invention is described in further detail below in conjunction with technical solution.
The present invention relates to a kind of accurately to measure 4 blade helicopter screw propellers using GPS receiver relative to fuselage posture
Method utilizes 4 antennas, 4 receivers, 4 vibrating electricity generators, 4 wireless data transmitters and 14 channel wireless data
Receiving device realizes measurement of the propeller line for fuselage posture.Referring to attached drawing 3, their relationship is：Each propeller
Install 1 antenna, 1 receiver, 1 vibrating electricity generator and 1 wireless data hair on the upside of one end far from rotation center concentratedly
Emitter.Referring to attached drawing 1, wireless data receiving device is mounted on fuselage, and vibrating electricity generator relies on propeller vibrating power-generation, power supply
It works to receiver and wireless data transmitter, receiver receives data from antenna, is passed to wirelessly with wireless data transmitter
Data receiver is finally calculated by the computer carried on fuselage.
Determining helicopter screw propeller of the present invention is as follows relative to the method specific implementation step of fuselage posture：
Step 1：Base line measurement
With reference to attached drawing 2, A, B, C and D are the aerial positions of four rotor tips installation in figure, and α is that fuselage indulges the plane of symmetry,
L is that fuselage indulges the plane of symmetry and paddle disk intersection, and unit vector a is that fuselage indulges plane of symmetry normal line vector, and β is blade phase angle.With public affairs
The data of the solution Baseline Methods and receiver known can calculate under local horizontal coordinates vectorWithrACAnd rBD。
Step 2：The acquisition of fuselage posture
The normal vector a of the plane of symmetry is indulged under local horizontal coordinates by the available fuselage of the attitude control system of fuselage
It indicates：ra。
Step 3：Paddle disk normal direction calculates
The normal direction of paddle disk is represented by：
Step 4：The phase angle of blade calculates
Direction vector corresponding to intersection l is：
B=ra×n (8)
The phase angle of blade corresponding to antenna A can be expressed as：
The phase angle of the corresponding blade of antenna B, C and D is：
A kind of side using GPS receiver measurement helicopter screw propeller relative to fuselage posture is proposed by above-mentioned process
Method.Method of this method by installing GPS receiver on propeller, realizes to helicopter screw propeller relative to fuselage posture
Measurement, and this method compensates for the blank of current helicopter screw propeller attitude measurement method, required equipment cheap and simple, real
Existing mode is simple and convenient, convenient for promoting and using.
Claims (2)
1. a kind of method for accurately being measured 4 blade helicopter screw propellers using GPS receiver relative to fuselage posture, feature are existed
In：This method is wireless using 4 antennas, 4 receivers, 4 vibrating electricity generators, 4 wireless data transmitters and 14 channel
Data receiver realizes measurement of the propeller relative to fuselage posture.Their relationship is：The separate rotation of each propeller
Turn to install 1 antenna, 1 receiver, 1 vibrating electricity generator and 1 wireless data transmitter concentratedly on the upside of the one end at center, join
According to attached drawing 3.Wireless data receiving device is mounted on fuselage, and vibrating electricity generator relies on propeller vibrating power-generation, supplies electricity to receive
Machine and wireless data transmitter work, receiver receive data from antenna, pass to wireless data with wireless data transmitter and connect
Finally posture of the propeller relative to fuselage is calculated by the computer carried on fuselage in receiving unit, referring to attached drawing 1.
2. a kind of 4 blade helicopter screw propellers that accurately measured using GPS receiver are relative to fuselage posture according to claim 1
Method, it is characterised in that：Its step are as follows：
Step 1：Base line measurement
With reference to attached drawing 2, A, B, C and D are the aerial positions of four rotor tips installation in figure, and α is that fuselage indulges the plane of symmetry, and l is
Fuselage indulges the plane of symmetry and paddle disk intersection, and unit vector a is that fuselage indulges plane of symmetry normal line vector, and β is blade phase angle.With well known
Solution Baseline Methods and receiver data can calculate under local horizontal coordinates vectorWithrACAnd rBD。
Step 2：The acquisition of fuselage posture
Table of the normal vector a of the plane of symmetry under local horizontal coordinates is indulged by the available fuselage of the attitude control system of fuselage
Show：ra。
Step 3：Paddle disk normal direction calculates
The normal direction of paddle disk is represented by：
Step 4：The phase angle of blade calculates
Direction vector corresponding to intersection l is：
B=ra×n...............................................(2)
The phase angle of blade corresponding to antenna A can be expressed as：
The phase angle of the corresponding blade of antenna B, C and D is：
A kind of method using GPS receiver measurement helicopter screw propeller relative to fuselage posture is proposed by above-mentioned process.
Method of this method by installing GPS receiver on propeller, realizes to helicopter screw propeller relative to fuselage posture
Measurement, and this method compensates for the blank of current helicopter screw propeller attitude measurement method, and required equipment cheap and simple is realized
Mode is simple and convenient, convenient for promoting and using.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810727192.4A CN108873044A (en) | 2018-07-05 | 2018-07-05 | A method of helicopter screw propeller is surveyed with respect to fuselage posture with GPS receiver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810727192.4A CN108873044A (en) | 2018-07-05 | 2018-07-05 | A method of helicopter screw propeller is surveyed with respect to fuselage posture with GPS receiver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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