CN109557572A - A kind of flight navigation system and method based on Beidou - Google Patents
A kind of flight navigation system and method based on Beidou Download PDFInfo
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- CN109557572A CN109557572A CN201811529869.XA CN201811529869A CN109557572A CN 109557572 A CN109557572 A CN 109557572A CN 201811529869 A CN201811529869 A CN 201811529869A CN 109557572 A CN109557572 A CN 109557572A
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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
- G01S19/42—Determining position
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Abstract
The invention belongs to field of satellite navigation, disclose a kind of flight navigation system and method based on Beidou, and system includes navigational computer, control panel, display, Beidou antenna and Beidou receiver；Navigational computer includes processor, database, memory and communication interface, runs navigation software, completes aircraft position calculating, flight plan management, navigation task calculating and graphical display；Display offer map interface is shown and flight plan management window is shown；Beidou receiver receives satellite-signal by Beidou antenna, completes position and resolves.Segment information is executed the present invention is based on the flight plan of foundation to calculate and real-time navigation calculating, flight-path angle needed for calculating, distance, azimuth, E.T.A, estimated flight time, Track Angle Error and offset.
Description
Technical field
The invention belongs to field of satellite navigation more particularly to a kind of flight navigation system and method based on Beidou.
Background technique
Currently, the prior art commonly used in the trade is such that
Modern aircraft navigation is based on radio navigation device and GPS device, completes navigation meter by Flight Management Computer
It calculates.For lacking the area of roadbed navigational facility, GPS navigation can only be relied on.And with the development of Satellite Navigation Technique, aircraft
Gradually it is transitioned into the PBN navigation based on satellite navigation.However only GPS navigation system, it can not be in precision, integrity, consistent
Property and availability in terms of fully meet the requirement of PBN airmanship.And GPS navigation system by foreign countries control, the whole world its
The stability in his area and safety are unable to get guarantee.With the continuous improvement of dipper system positioning accuracy, Beidou is in aviation
The application in field is developed, and be can be used as a kind of satellite navigation means as aircraft and is provided navigation Service, such aircraft can have
Standby two kinds of satellite navigation means of Beidou and GPS.But since airborne Aerial Electronic Equipment is complete set and by Certification is
System does not reserve Beidou communication interface, therefore can not directly increase Beidou Navigation System aboard.
In conclusion problem of the existing technology is:
Existing aircraft only has a kind of Satellite Navigation Technique of GPS, can not be in terms of precision, integrity, consistency and availability
Fully meet the requirement of PBN airmanship.
For lacking the area of roadbed navigational facility, GPS navigation, stability and poor safety performance can only be relied on.GPS is led
Boat system is unable to get guarantee in the stability in other areas of the whole world and safety.
The prior art can not increase Beidou Navigation System on airborne equipment, cause Beidou that can not obtain in aerial navigation
Using.
Solve the difficulty and meaning of above-mentioned technical problem:
The present invention is used to provide a kind of method for increasing Beidou Navigation System in the case where not changing original aircraft system,
So that aircraft has two kinds of satellite navigation means of GPS and Beidou, while passing through detailed flight plan list information, real-time navigation
It calculates data and electronic map patterned way is completed to navigate jointly, substantially increase the safety of aircraft.So that China's aircraft
Beidou navigation can be used, get rid of the constraint of foreign GPS, while improving navigation performance.
Summary of the invention
In view of the problems of the existing technology, the flight navigation system and method based on Beidou that the present invention provides a kind of.
The present invention is a kind of flight navigation system based on Beidou, including navigational computer, control panel, display, north
Struggle against antenna and Beidou receiver；
Navigational computer includes processor, database, memory and communication interface；Navigational computer runs navigation software, complete
It is calculated at aircraft position calculating, map generation, flight plan management, navigation task；
Control panel provides human-computer interaction input, controls flight navigation system；
Display provides electronic map interface, flight plan management window, and shown in a manner of figure or text away from
From, azimuth, E.T.A, estimated flight time, required flight-path angle, Track Angle Error, offset；
Beidou receiver receives satellite-signal by Beidou antenna, completes position and resolves.
Further, the navigational computer is by expansion interface, from external equipment obtain air speed, pressure altitude, posture and
Course parameter.
Another object of the present invention is the provision of a kind of flight navigation method based on Beidou, using flight plan list,
Flight plan segment information, real-time navigation calculate data and electronic map patterned way completes aircraft navigation process jointly, draws
Lead that mode is intuitive, navigation data is comprehensive.It comprises the following processes:
1) one is established by the flight plan formed that connects before and after several way points, forms flight plan list；
2) segment is formed by the way point that front and back connects, each way point display Name, ID, and by the latter air route
Required flight-path angle of the point away from a upper way point, distance, E.T.A, estimated flight time initialization are shown as invalid flag
"----"；
3) the current ground velocity of aircraft is extracted from Beidou receiver, former and later two way point longitudes and latitudes are extracted from flight plan
Required flight-path angle of the current way point away from a upper way point, distance, E.T.A, estimated is calculated and be shown in information one by one
Flight time, until each segment all shows navigation information；
4) select wherein one section be current flight segment；When by more than the purpose way point currently selected estimated arrival
Between, estimated flight time initialization be shown as invalid flag " ----", indicate the invalid data of aircraft, but track needed for retaining
Angle, distance calculated value, as history reference.
5) aircraft current location, including longitude and latitude, height, ground velocity, course made good information are extracted from Beidou receiver；
6) distance of the aircraft current location apart from destination, azimuth, cross track deviation, estimated is calculated and be shown in real time
Arrival time, estimated flight time；And update the corresponding distance of current purpose way point in flight plan, E.T.A,
Estimated flight time indicates that real-time navigation calculates data；
7) course line is added on electronic map according to aircraft position and course line latitude and longitude coordinates, is shown with patterned way
Aircraft flight is guided in distance, azimuth, offset.
8) period executes 5-7 process, guides aircraft flight in real time.
Further, flight plan can be established directly and fly nonstop to course line, indicate that aircraft is flown nonstop to from current location to destination.
Further, flight navigation system can save a plurality of flight plan, can preview every flight on the electronic map
Plan, when preview, all way points of every flight plan are shown to visibility window by adjust automatically electronic map scale bar
It is interior.
The flight navigation system based on Beidou has navigation computing function, can calculate distance, azimuth, expect to fly
Arrival time row time, offset etc..Navigation computational method are as follows:
The longitude and latitude of segment starting point p1 and terminal p2 are extracted from flight plan；Aircraft position is read from Beidou receiver
p3；Be approximately round sphere by the earth, using distance-angle calculation formula calculate the distance of p1 to p2, required flight-path angle or
The distance of p3 to p2, azimuth；
Ground velocity is received from Beidou receiver, estimated flight time and arrival time are calculated according to distance；
According to the longitude and latitude and aircraft position p3 of segment starting point p1 and terminal p2, it is vertical with the course line p1-p2 to calculate p3
Distance, i.e. offset value.
Based on navigation computing function in flight plan window, according to the flight plan of foundation, calculate each segment starting point and
Required flight-path angle, distance, estimated flight time and the E.T.A of terminal, and shown in way point corresponding position, intuitively
Each segment flight information in flight plan is provided, pilot's rapid evaluation flight time and oil consumption situation are convenient for.
The flight navigation system based on Beidou is based on navigation computing function, is counted according to aircraft position and the course line of activation
Calculate distance, azimuth, estimated flight time, E.T.A, Track Angle Error and the aircraft position of plane distance terminal
Off-line offset value, and show in the display, it guides aircraft according to scheduled airline operation, it is inclined to reduce flight
From saving flight time and reduction oil consumption.
In conclusion advantages of the present invention and good effect are as follows:
The flight navigation system based on Beidou can make aircraft complete electronic map location using Beidou positioning information
It has been shown that, flight plan management and Lateral Navigation, can run independently of aircraft original system.
The invention integrated electronic map and navigation computing function, but component is less, it is few with the crosslinking of aircraft original system, implement
Simply, can Fast Installation on aircraft, meet navigation feature.
The navigation indicator contents displayed on interface of existing airplane equipment is few, and flight management function is based on character and shows, content
Dispersion.The flight management function that the invention provides has navigation computing function, can show navigation information abundant, and by course line
Display on the electronic map, has good effect of visualization, improves flight accuracy, saves the flight time, reduces oil consumption.
The invention can make aircraft have two kinds of satellite navigation modes of Beidou and GPS.It is with GPS navigation under normal conditions
Main, supplemented by Beidou navigation, the two is made comparisons, and increases confidence level.GPS navigation can be closed in special circumstances, using China north
Struggle against navigation mode, improves safety.
Detailed description of the invention
Fig. 1 is the composition block diagram of Beidou Navigation System provided in an embodiment of the present invention；
Fig. 2 is flight navigation working principle block diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The embodiment provides a set of navigation system independently of aircraft original system.The system is according to function part
Part divides, including navigational computer, display, control panel, Beidou receiver and Beidou antenna, as shown in Figure 1.The system can
To be an entirety, the component part that can also be separated.
Navigational computer includes processor, database, memory and communication interface；Navigational computer runs navigation software, complete
It is calculated at aircraft position calculating, map generation, flight plan management, navigation task；
Control panel provides human-computer interaction input, controls flight navigation system；
Display provides map interface, flight plan management window, and display distance, side in a manner of figure or text
Parallactic angle, E.T.A, estimated flight time, required flight-path angle, Track Angle Error, offset.
Beidou receiver receives satellite-signal by Beidou antenna, completes position and resolves, by location information and status information
It is sent to navigational computer.Have the function of that autonomous integrity detects (RAIM), big-dipper satellite state is monitored in real time, when Beidou can not
Used time issues warning information.
Navigational computer receives the location data of Beidou receiver, obtains longitude, latitude, height, ground velocity information.
Navigational computer can also obtain air speed, pressure altitude, posture and course etc. from external equipment by expansion interface
Parameter.
The flight navigation method based on Beidou that the present invention also provides a kind of, including flight plan management, segment information meter
It calculates, real-time navigation data calculate and electronic map graphic software platform.Fig. 2 is that flight navigation work provided in an embodiment of the present invention is former
Manage block diagram.
Flight plan management process is as follows:
1) the flight navigation system based on Beidou has flight plan management window.Navigational computer is based on navigation number
Flight plan list is established according to library.Flight plan window provide flight plan editting function, including increase, deletion, activation, fall
It sets.A segment is formed by two way points that front and back is connected in flight plan, forms a flight meter by multiple way points
It draws.
2) flight plan is inputted and is controlled by control panel.Way point in flight plan can pass through control plane
Plate inputs way point code name, ID or code name input of the way point using character composition, input window according to the character of input from
Dynamic retrieval.Longitude and latitude uses WGS-84 coordinate system.
3) flight plan can be established directly and fly nonstop to course line, indicate that aircraft is flown nonstop to from current location to destination.Fly nonstop to mesh
Ground can be the point of a known location on airport, way point, customized point or map.
Electronic map graphic software platform process is as follows:
The flight plan course of foundation can be added on electronic map, graphically to guide aircraft flight, so that flight
Member can intuitively understand the topography and geomorphology of course line geographical feature and surrounding.
Flight navigation system can save a plurality of flight plan, can every flight plan of preview on the electronic map, in advance
When looking at, all way points of every flight plan are shown in visibility window by adjust automatically electronic map scale bar.
The algorithm of adjust automatically scale bar is as follows when preview:
1) successively compare all way points in flight plan, obtain most northern, most southern, most western, most eastern four boundary longitudes and latitudes
The value of degree is successively denoted as LATmax, LATmin, LONmax, LONmin；
2) the value LAT of the rectangular central point longitude and latitude of this four boundary longitude and latitude groups is calculatedmax, LATcentre,
LONcentre；
LATcentre=(| LATmax|+|LATmin|)/2；
LONcentre=(| LONmax|+|LONmin|)/2；
3) length and height of the rectangle of boundary longitude and latitude composition are calculated
Parameter declaration:
α=110；Latitude differs the distance between 1 degree, unit K M
β=0.5399568；KM is converted into the conversion coefficient of NM
PI=3.1415926；Pi
VERdisThe height of=rectangle
HORdisThe length of=rectangle
Calculation method:
VERdis=(| LATmax-LATmin|)*α*β；
HORdis=(| LONmax-LONmin|)*α*cos(LATcentre/180*PI)*β；
4) scale bar is successively denoted as L from small to large0To Ln, successively with VERdisCompare, finds first and be greater than VERdisRatio
Example ruler is denoted as Lx, then from LxStart Lx* the α length to height ratio of map (α be) step by step with HORdisCompare, first is greater than HORdisRatio
Example ruler is denoted as Ly, LyThen to need scale bar to be shown, if do not found once arbitrarily in comparing twice bigger than current distance
Scale bar, the then scale bar that should be shown are the scale bar of maximum level.
The flight navigation system based on Beidou has navigation computing function, can calculate distance, azimuth, level partially
From, estimated flight time and arrival time.
Navigation computational method are as follows: the longitude and latitude of segment starting point p1 and terminal p2 are extracted from flight plan；It is received from Beidou
It is machine-readable to take aircraft position p3；Be approximately round sphere by the earth, using distance-angle calculation formula calculate p1 to p2 distance,
Required flight-path angle or the distance of p3 to p2, azimuth；
Distance-angle calculation process:
Parameter declaration:
B1=source point latitude value (north latitude be+, south latitude be -)
L1=source point longitude (east longitude be+, west longitude be -)
B2=target point latitude value (north latitude be+, south latitude be -)
L2=target point longitude (east longitude be+, west longitude be -)
φ=refer to angle
The measurement line length of S=source point and target point
α1-2=source point is to the measurement orientation of target point
α2-1=target point is to the measurement orientation of source point
Constant declaration:
F=3.35281066474x 10-3(earth curvature)
A0=6378137m (earth semi-major axis)
B0=6356752.3142m (earth semi-minor axis)
Formula explanation:
When | B1|≤45°
β1=arctan [(1-f) tan B1]
When | B1| 45 ° of >
β1=arccot [cot B1/(1-f)]
When | B2|≤45°
β2=arctan [(1-f) tan B2]
When | B2| 45 ° of >
β2=arccot [cot B2/(1-f)]
L=(L2-L1)
A=sin β1sinβ2
B=cos β1cosβ2
Cos φ=a+b+cosL
C=(bsinL) sin φ
M=1-c2
λ=L+c { (f+f2)φ+m[-(5f2/4)sinφ+(f2/4)sinφcosφ+f2φ2cotφ]+
a[-(f2/2)sinφ-f2φ2cscφ]}
Distance value S are as follows:
S=B0{[(1+f+f2)]+a[(f+f2)sinφ-(f2/2)φ2cscφ]+m[-(f+f2/2)φ-(f+
f2/2)sinφcosφ+(f2/2)φ2cotφ]+a2[-(f2/2)sinφcosφ]+m2[(f2/16)φ+
(f2/16sinφcosφ)-(f2/2φ2cotφ)–(f2/8sinφcos3φ)]+am[f2/2φ2cosφ
+(f2/2)sinφcos2φ]}
Source point is to the orientation of target point are as follows:
cotα1-2=(sin β2cosβ1-cosλsinβ1cosβ2)+sinλcosβ2
Target point is to the orientation of source point are as follows:
cotα2-1=(sin β2cosβ1cosλ-sinβ1cosβ2)+sinλcosβ1
Ground velocity is received from Beidou receiver, estimated flight time and arrival time are calculated according to distance；
Time calculating process:
Parameter declaration:
The distance of S=plane distance target point；
The current ground velocity of GS=aircraft；
ETE=estimated flight time；
ETA=E.T.A；
UTC=current time；
Calculation formula:
ETE=S/GS；
ETA=(UTC+ETE) % (24*60*60)；
According to the longitude and latitude and aircraft position p3 of segment starting point p1 and terminal p2, it is vertical with the course line p1-p2 to calculate p3
Distance, i.e. offset value.
Offset calculating process:
Parameter declaration:
XTK=offset parameter
CRS=flight track
The azimuth of BRG=aircraft current location distance objective point；
The distance of S=aircraft current location distance objective point；
θd=angle difference
Calculation formula:
θd=fabs (BRG-XTK)
If(θd>180)θd=360-θd；
XTK=S*sin θd。
It is current to extract aircraft from Beidou receiver for the flight navigation system segment information computing function based on Beidou
Ground velocity calculates required flight-path angle, the distance, estimated flight time of each segment beginning and end according to the flight plan of foundation
And arrival time, and shown in way point corresponding position, each segment flight information in flight plan is intuitively provided, pilot is convenient for
Rapid evaluation flight time and oil consumption situation.
Flight plan segment information calculation process is as follows:
1) longitude and latitude of flight plan first segment starting point p1 and terminal p2 are read；
2) zequin p1 calculates distance value D1, the required flight-path angle R1 apart from terminal p2；
3) aircraft ground velocity Vg is read from Beidou receiver in real time；
4) according to aircraft ground velocity Vg, distance D1, E.T.A ETA1, estimated flight time ETE1 are calculated；
5) be successively read the starting point p1n and terminal p2n longitude and latitude of next segment, calculate distance value Dn, required flight-path angle Rn,
E.T.A ETAn, estimated flight time ETEn.
6) above-mentioned calculated result is shown in flight plan window.
The flight navigation system based on Beidou is based on navigation computing function, executes level according to the flight plan of activation
Navigation computing function.
Lateral Navigation calculation process is as follows:
1) according to the segment information of activation, start of record pj1 and terminal pj2 longitude and latitude；
2) aircraft position pa and ground velocity Vg is read from Beidou receiver in real time；
3) distance value Dj, the azimuth Rj apart from terminal pj2 are calculated according to aircraft position pa；
4) according to aircraft ground velocity Vg, distance Dj, E.T.A ETAj, estimated flight time ETEj are calculated；
5) according to bearing of aircraft angle Rj required flight-path angle Rjn corresponding with activation segment, Track Angle Error TRACK is calculated
error；
6) according to aircraft position pa, activation segment starting point pj1 and terminal pj2 longitude and latitude, offset XTK is calculated.
7) calculated result is shown to display flight parameter window.
In this way, the present invention has elaborated a kind of flight navigation system based on Beidou, compared to existing aircraft navigation
System, the benefit of the system are to be easy to increase dipper system, calculate data and electronic map by flight plan list, navigation
Graphic software platform executes the PBN program based on GNSS.This system can also integrate, and composition one is independent airborne to be set
It is standby, and do not have to be crosslinked with other avionic devices on aircraft.Aircraft equipped with the system will have the bis- set satellites of GPS and BDS
Navigation equipment improves the safety of flight.
Although presenting at least one exemplary embodiment in aforementioned specific implementation, but it is to be understood that, exist big
The deformation of amount.And these examples are not intended to limit the invention in any way the range of theme, usability or configuration.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of flight navigation system based on Beidou, which is characterized in that should include navigation based on the flight navigation system of Beidou
Computer, control panel, display, Beidou antenna and Beidou receiver；
Navigational computer includes processor, database, memory and communication interface；Navigational computer runs navigation software, completes to fly
Set calculating, map generation, flight plan management, navigation task calculating in seat in the plane；
Control panel provides human-computer interaction input, controls flight navigation system；
Display provides electronic map interface, flight plan management window, and display distance, side in a manner of figure or text
Parallactic angle, E.T.A, estimated flight time, required flight-path angle, Track Angle Error, offset；
Beidou receiver receives satellite-signal by Beidou antenna, completes position and resolves.
2. the flight navigation system based on Beidou as described in claim 1, which is characterized in that the navigational computer passes through expansion
Interface is opened up, air speed, pressure altitude, posture and course parameter is obtained from external equipment, gives indicator gate and show.
3. a kind of flight navigation method based on Beidou of the flight navigation system based on Beidou as described in claim 1, special
Sign is that the flight navigation method based on Beidou calculates number using flight plan list, flight plan segment information, real-time navigation
Aircraft navigation process is completed jointly according to electronic map patterned way, and guidance mode is intuitive, navigation data is comprehensive, specific to wrap
It includes:
1) one is established by the flight plan formed that connects before and after several way points, forms flight plan list；
2) segment is formed by the way point that front and back connects, each way point display Name, ID, and by the latter way point away from
The required flight-path angle of a upper way point, distance, E.T.A, estimated flight time initialization are shown as invalid flag
"----"；
3) the current ground velocity of aircraft is extracted from Beidou receiver, former and later two way point longitudes and latitudes letter is extracted from flight plan
Required flight-path angle of the current way point away from a upper way point is calculated and be shown one by one, distance, E.T.A, estimated flies for breath
The row time, until each segment all shows navigation information；
4) select wherein one section be current flight segment；By E.T.A, pre- more than the purpose way point currently selected
The initialization of meter flight time is shown as invalid flag " ----", indicates the invalid data of aircraft, but flight-path angle, distance needed for retaining
Calculated value, as history reference；
5) aircraft current location, including longitude and latitude, height, ground velocity, course made good information are extracted from Beidou receiver；
6) distance, azimuth, cross track deviation, estimated arrival of the aircraft current location apart from destination are calculated and be shown in real time
Time, estimated flight time；And it updates the corresponding distance of current purpose way point in flight plan, E.T.A, expect
Flight time indicates that real-time navigation calculates data；
7) course line is added on electronic map according to aircraft position and course line latitude and longitude coordinates, with patterned way show away from
From, azimuth, offset, guide aircraft flight；
8) period executes step 5)-step 7) process, guides aircraft flight in real time.
4. the flight navigation method based on Beidou as claimed in claim 3, which is characterized in that flight navigation system can save
A plurality of flight plan, can every flight plan of preview on the electronic map, when preview, adjust automatically electronic map scale bar,
All way points of every flight plan are shown in visibility window.
5. the flight navigation method based on Beidou as claimed in claim 3, which is characterized in that navigation computational method are as follows: from fly
Row extracts the longitude and latitude of segment starting point p1 and terminal p2 in the works；Aircraft position p3 is read from Beidou receiver；By ground spheric approximation
For round sphere, using distance-angle calculation formula calculate the distance of p1 to p2, the distance of required flight-path angle or p3 to p2,
Azimuth；
Ground velocity is received from Beidou receiver, estimated flight time and arrival time are calculated according to distance；
According to the longitude and latitude and aircraft position p3 of segment starting point p1 and terminal p2, calculate p3 it is vertical with the course line p1-p2 away from
From i.e. offset value.
6. the flight navigation method based on Beidou as claimed in claim 3, which is characterized in that be based on leading in flight plan window
Computing function of navigating calculates the prospective path angle of each segment beginning and end, distance, expects to fly according to the flight plan of foundation
Row time and E.T.A, and shown in way point corresponding position, each segment flight information in flight plan is provided, is analyzed
Flight time and oil consumption situation.
7. the flight navigation method based on Beidou as claimed in claim 3, which is characterized in that the flight based on Beidou is led
Boat system is based on navigation computing function, according to aircraft position and the course line of activation calculate plane distance purpose way point distance,
Azimuth, estimated flight time, E.T.A, the off-line offset value of Track Angle Error and aircraft position,
And it shows in the display.
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