CN109871033B - Method for automatically activating next waypoint based on airplane position - Google Patents
Method for automatically activating next waypoint based on airplane position Download PDFInfo
- Publication number
- CN109871033B CN109871033B CN201910215661.9A CN201910215661A CN109871033B CN 109871033 B CN109871033 B CN 109871033B CN 201910215661 A CN201910215661 A CN 201910215661A CN 109871033 B CN109871033 B CN 109871033B
- Authority
- CN
- China
- Prior art keywords
- waypoint
- flight
- current
- activation
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention provides a method for automatically activating a next route point based on an airplane position, which comprises the following steps of obtaining a current flight state and flight state calculation information, obtaining flight plan information according to the flight state calculation information, entering an automatic activation judgment range, calculating an effective activation range of the current route, judging the position relation between the current route and a first target route point according to the flight plan information, judging whether the current route enters an activation region when the current route falls into the radiation range of the first target route point, feeding back a flight plan to automatically activate a second target route point if the current route enters the activation region, returning to the starting step, and returning to the starting step when the current route is not in the radiation range of the first target route point.
Description
Technical Field
The invention belongs to the field of automatic flight navigation systems in flight navigation, and particularly relates to a method for automatically activating a next waypoint based on the position of an airplane.
Background
In the current aviation flight, a pilot can establish a flight plan composed of a plurality of waypoints in advance (a complete flight plan is generally composed of an departure procedure, a flight process and an approach procedure), the pilot sequentially flies through each waypoint in the flight plan to complete the flight task, in the process of flying to each waypoint, a flight calculation unit can give real-time dynamic data (information such as BRG, DIS, DTK, XTK, ETE, ETA and the like) flying to a current target waypoint, the pilot drives the aircraft according to the data, the aircraft reaches the target waypoint position according to the plan, when the aircraft reaches the current target waypoint position, the next target waypoint (if existing) needs to be activated in sequence, so that the flight calculation unit starts to calculate the real-time data of a new target point, and the currently and commonly used methods for activating the next target waypoint are mainly two, the first is to activate the next target waypoint manually (by operating buttons on the flight equipment), the second is to automatically activate the next waypoint when the distance from the current target waypoint is judged to be less than or equal to a certain distance (such as 5NM), the first method has the disadvantages of increasing the operation burden of the pilot in the flight process and not following the trend of developing the prior skill level, the second method has the disadvantages of adopting the same distance size of a cutting to judge whether to automatically activate the next target waypoint for the target waypoints of all the legs, if the distance is set to be smaller, if the pilot cuts into the next leg by a larger turning angle, the pilot may not fly into the set distance range, so that the next target waypoint cannot be automatically activated, if the distance is set to be larger, if the distance between the current consecutive waypoints is very close (such as approaching or leaving the field), it is possible to skip the navigation of the current waypoint directly and switch to the position of the next waypoint instantaneously.
The algorithm dynamically judges when to automatically activate the next waypoint in order to meet different flight segments under the background, thereby ensuring the flexibility and the navigation accuracy of the flight process and effectively reducing the flight burden of pilots.
Disclosure of Invention
It is therefore a primary objective of the claimed invention to provide a method for automatically activating a next waypoint based on a location of an aircraft.
In order to solve the problems, the invention provides a method for automatically activating a next route point based on the position of an airplane, which comprises the following steps of obtaining the current flight state and flight state calculation information, obtaining flight plan information according to the flight state calculation information, entering automatic activation judgment, calculating the effective activation range of the current route, judging the position relation between the current route and a first target route point according to the flight plan information, judging whether the current route enters an activation area or not when the current route falls into the radiation range of the first target route point, feeding back to the flight plan to automatically activate a second target route point if the current route enters the activation area, and returning to the starting step when the current route is not in the radiation range of the first target route point;
the activation region is determined by the following method:
flight range S from current flying position to first target waypoint12When the distance is more than 10NM, the radius r of the activated circular area is 1NM, and the height b of the activated rectangular area is 2 x 1 NM;
pre-activated leg S of first target waypoint and second target waypoint23Is greater than 10NM, the length a of the active rectangular area is 5 NM;
pre-activation leg S23Is less than or equal to 10NM, the length a of the active rectangular region is 0.5S23And the minimum is not less than 1 KM;
or, the current flight position reaches the first target waypoint range S12When the radius is less than or equal to 10NM, the radius r of the activated circular area is 0.1S12The minimum value is not less than 50 m; the height b of the active rectangular region is 2 x 0.1 x S12The minimum value is not less than 50 m;
pre-activation leg S23Is greater than 10NM, the length a of the rectangular region is activatedIs 5 NM;
pre-activation leg S23When the distance is less than or equal to 10NM, the length a of the activated rectangular area is 0.5S23And the minimum is not less than 1 KM;
the radiation range of the first target waypoint is a circular area which takes the first target waypoint as the center and takes R as the radius; r is the minimum distance for starting to calculate whether to automatically activate the next waypoint or not;
when R > a, R ═ 2 × R;
and when R is less than or equal to a, R is 2 a.
The invention has the beneficial effects that:
the method for automatically activating the next waypoint when the aircraft is positioned at the position is judged according to different current flight legs, and the method calculates the position of the aircraft at which the next leg is automatically activated according to the specific characteristics of the current flight leg and the next leg needing automatic activation by referring to the flight mode and experience of a pilot in the actual flight process.
In the actual flight segment flight process, the aircraft does not always fly according to the flight route completely, particularly, in the different flight segment switching processes, a switching flight segment angle (inner contact or outer contact) exists, when the switching angle is large, the aircraft is likely to complete flight segment switching under the condition of being far away from a target flight route point, and at the moment, when the next flight segment is automatically activated, the next flight segment is automatically activated according to the characteristics of the current flight segment and the flight segment to be activated.
Whether the next waypoint is automatically activated or not is determined according to the positions of the airplane relative to the current activated flight segment and the flight segment to be activated, and the judgment is not simply made according to the distance of the current target waypoint.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a logic diagram of a process of a method provided by an embodiment of the invention;
FIG. 2 is a route diagram for segment switching during flight of an aircraft according to an embodiment of the present invention;
FIG. 3 is an illustration of a heading angle (BRG) and a distance DIS in a method provided by an embodiment of the invention;
fig. 4 is a diagram of an automatically activated position indication provided by an embodiment of the present invention.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions of the present invention are provided to explain the present invention without limiting the invention thereto.
Referring to fig. 1 to 4, the present invention provides a method for automatically activating a next waypoint based on an aircraft position, including the steps of obtaining a current flight state and flight state calculation information, obtaining flight plan information according to the flight state calculation information, entering an automatic activation judgment, calculating an effective activation range of the current waypoint, judging a position relationship between the current waypoint and a first target waypoint according to the flight state calculation information, judging whether the current waypoint enters an activation region when the current waypoint falls within a radiation range of the first target waypoint, feeding back to the flight plan to automatically activate a second target waypoint if the current waypoint enters the activation region, and returning to the starting step when the current waypoint is not within the radiation range of the first target waypoint;
the activation region is determined by the following method:
flight range S from current flying position to first target waypoint12When the distance is more than 10NM, the radius r of the activated circular area is 1NM, and the height b of the activated rectangular area is 2 x 1 NM;
pre-activated leg S of first target waypoint and second target waypoint23Is greater than 10NM, the length a of the active rectangular area is 5 NM;
pre-activation leg S23Is less than or equal to 10NM, the length a of the active rectangular region is 0.5S23And the minimum is not less than 1 KM;
or, the current flight position reaches the first target waypoint range S12When the radius is less than or equal to 10NM, the radius r of the activated circular area is 0.1S12Minimum value of not less than50 m; the height b of the active rectangular region is 2 x 0.1 x S12The minimum value is not less than 50 m;
pre-activation leg S23Is greater than 10NM, the length a of the active rectangular area is 5 NM;
pre-activation leg S23When the distance is less than or equal to 10NM, the length a of the activated rectangular area is 0.5S23And the minimum is not less than 1 KM;
the radiation range of the first target waypoint is a circular area which takes the first target waypoint as the center and takes R as the radius; r is the minimum distance for starting to calculate whether to automatically activate the next waypoint or not;
when R > a, R ═ 2 × R;
and when R is less than or equal to a, R is 2 a.
The following is further described by way of examples.
The method of the invention comprises the following steps:
referring to FIG. 2, the decision analysis to automatically activate the next waypoint for a leg
A flight plan from A to B to C is as follows, the current active flight segment is A to B, the next flight segment is B to C (flight segment to be automatically activated), A is departure waypoint, B is activation waypoint, and C is next waypoint (waypoint to be automatically activated)
The principle of automatic activation is as follows:
because the distance of each flight segment is not constant in the flight process, in order to ensure the flexibility of automatically activating the next flight path point in the flight of a very long flight segment (the next flight segment can be automatically activated under the condition that the relative distance to the target flight path point is relatively far, such as a relatively large turning angle) and the accuracy of automatically activating the next flight path point in the flight of a very short flight segment (the next flight segment needs to be automatically activated under the condition that the relative distance to the target flight path point is very close, so as to ensure the flight completion of the flight segment, such as approaching time), a dynamic value is adopted to judge when the next flight path point is automatically activated.
Description of automatic activation range determination:
when the position of the airplane flies into the range of a rectangular area with the length and the width of a and B and a circular area with the radius of r in the lower graph, the next target waypoint is automatically activated, the judgment range is set, namely, the airplane can be ensured to automatically activate the next waypoint (C) after being away from the target waypoint (B) for a certain distance (the range of a circle with the radius of r in the graph), and the airplane can be ensured to directly fly to the next target waypoint (C) around the circular area to fly away from the target waypoint (B) due to the turning angle or other reasons, and can still automatically activate the next waypoint (C) when the airplane returns to the vicinity (within the range of the rectangle) of the next flight route (B → C) in the later flight process when the airplane is further away from the target waypoint (B).
Setting of the size of the active region:
in order to ensure the completeness of each flight section of the flight plan and the flexibility of automatically starting to activate the next flight section, the selection of the size of the activation region is determined by flexibly calculating and judging according to the current actual flight section distance.
Referring to fig. 3, default settings are:
when the distance Sab of the current flying segment (AB) is more than 10NM, the radius r of the circular area is 1NM, and the height b of the rectangular area is 2 x 1 NM.
When the distance Sbc of the next pre-activated segment (BC) is larger than 10NM, the length a of the activated rectangular area is 5 NM;
when the distance Sbc of the next pre-activated segment (BC) is less than or equal to 10NM, the length a of the activated rectangular area is 0.5 Sbc, and the minimum length is not less than 1 KM;
when the distance Sab of the current flying segment (AB) is less than or equal to 10NM, the radius r of the activated circular area is 0.1 Sab, and the minimum value is not less than 50 m; the height b of the activation rectangular area is also 2 × 0.1 × Sab, and the minimum value is not less than 50 m;
when the distance Sbc of the next pre-activated segment (BC) is larger than 10NM, the length a of the activated rectangular area is 5 NM;
when the distance Sbc of the next pre-activated segment (BC) is less than or equal to 10NM, the length a of the activated rectangular area is 0.5 Sbc, and the minimum length is not less than 1 KM;
the size of the area is set as a default, the activation range can be dynamically adjusted according to needs in actual use, and the distance parameter of the automatic activation range can be manually set in flight navigation software, so that the applicability and flexibility of different flight segments and under different conditions are improved.
Referring to fig. 4, the calculation process:
description of the constants:
ACT rmax 1 NM; (radius of active circular area when Current flight segment is greater than 10NM (settable))
ACT _ rmin is 50 m; (minimum radius of activated circular area)
ACT _ amax ═ 5 NM; (activation rectangle region length when next flight is larger than 10NM (can be set))
ACT _ amin ═ 1000 KM; (minimum length of active rectangular region)
Description of the parameters:
a is the length value of the pre-activation rectangle in the current flight plan;
b is the width value of the pre-activated rectangle in the current flight plan;
r is the radius value of the pre-activation circle in the current flight plan;
r is the minimum distance for starting to calculate whether to automatically activate the next waypoint;
θ BO is the azimuth angle from the currently active waypoint B to the aircraft position O;
θ BC is the azimuth angle from the current active waypoint B to the next waypoint C;
theta is equal to the included angle value of theta BO and theta BC;
SAB is the distance from waypoint a to waypoint B (the currently active leg distance);
SBC is the distance from waypoint B to waypoint C (the leg distance to be activated);
XTK is the vertical distance of the aircraft from the next leg (or its extension);
and (3) calculating:
calculating the size r, a, b of the current activation area
Calculating the minimum distance R at which to begin automatically activating the next waypoint:
determining whether to begin calculating for automatically activating a next waypoint
Thus, the invention has set forth a new judgment mechanism and algorithm for automatically activating the next target waypoint, and the method well accomplishes the flexible judgment and implementation for automatically activating the next waypoint in the flight navigation process.
While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. And these examples are not intended to limit the scope, applicability, or configuration of the inventive subject matter in any way.
While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (1)
1. A method for automatically activating a next waypoint based on the position of an airplane is characterized by comprising the following steps of obtaining a current flight state and flight state calculation information, obtaining flight plan information according to the flight state calculation information, entering automatic activation judgment, calculating an effective activation range of the current waypoint, judging the position relation between the current waypoint and a first target waypoint according to the flight plan information, judging whether the current waypoint enters an activation region or not when the current waypoint falls into the radiation range of the first target waypoint, feeding back to a flight plan to automatically activate a second target waypoint if the current waypoint enters the activation region, returning to the starting step when the current waypoint is not in the radiation range of the first target waypoint;
the activation region is determined by the following method:
flight range S from current flying position to first target waypoint12When the distance is more than 10NM, the radius r of the activated circular area is 1NM, and the height b of the activated rectangular area is 2 x 1 NM;
pre-activated leg S of first target waypoint and second target waypoint23Is greater than 10NM, the length a of the active rectangular area is 5 NM;
pre-activation leg S23Is less than or equal to 10NM, the length a of the active rectangular region is 0.5S23And the minimum is not less than 1 KM;
or, the current flight position reaches the first target waypoint range S12When the radius is less than or equal to 10NM, the radius r of the activated circular area is 0.1S12The minimum value is not less than 50 m; the height b of the active rectangular region is 2 x 0.1 x S12The minimum value is not less than 50 m;
pre-activation leg S23Is greater than 10NM, the length a of the active rectangular area is 5 NM;
pre-activation leg S23When the distance is less than or equal to 10NM, the length a of the activated rectangular area is 0.5S23And the minimum is not less than 1 KM;
the radiation range of the first target waypoint is a circular area which takes the first target waypoint as the center and takes R as the radius; r is the minimum distance for starting to calculate whether to automatically activate the next waypoint or not;
when R > a, R ═ 2 × R;
and when R is less than or equal to a, R is 2 a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910215661.9A CN109871033B (en) | 2019-03-21 | 2019-03-21 | Method for automatically activating next waypoint based on airplane position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910215661.9A CN109871033B (en) | 2019-03-21 | 2019-03-21 | Method for automatically activating next waypoint based on airplane position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109871033A CN109871033A (en) | 2019-06-11 |
| CN109871033B true CN109871033B (en) | 2021-01-19 |
Family
ID=66920933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910215661.9A Active CN109871033B (en) | 2019-03-21 | 2019-03-21 | Method for automatically activating next waypoint based on airplane position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109871033B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111127955B (en) * | 2019-11-28 | 2021-05-04 | 中国航空工业集团公司西安航空计算技术研究所 | Automatic activation method for flight planning flight segment |
| CN111474959A (en) * | 2020-06-02 | 2020-07-31 | 四川省天域航通科技有限公司 | Large-scale freight unmanned aerial vehicle remote navigation implementation method |
| CN112346482B (en) * | 2020-11-25 | 2023-03-03 | 中国工程物理研究院总体工程研究所 | Flight route management method |
| CN114115344B (en) * | 2021-11-19 | 2023-03-28 | 中国直升机设计研究所 | Helicopter automatic area navigation flight segment selection method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2921153B1 (en) * | 2007-09-14 | 2010-03-26 | Thales Sa | METHOD FOR AIDING NAVIGATION |
| CN103135546B (en) * | 2013-01-28 | 2015-08-19 | 北京航空航天大学 | Based on the unmanned plane during flying leg changing method of sector distance and relative position dot product |
| CN105425818B (en) * | 2016-01-15 | 2018-08-31 | 中国人民解放军国防科学技术大学 | A kind of unmanned vehicle independent safe flight control method |
| FR3053781B1 (en) * | 2016-07-07 | 2018-08-17 | Thales | METHOD OF CALCULATING BY A FLIGHT MANAGEMENT SYSTEM A TRACK HAVING IMPROVED TRANSITIONS |
| CN106403957A (en) * | 2016-11-03 | 2017-02-15 | 哈尔滨工程大学 | Amphibious air cushion shipway point guidance control method |
-
2019
- 2019-03-21 CN CN201910215661.9A patent/CN109871033B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109871033A (en) | 2019-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109871033B (en) | Method for automatically activating next waypoint based on airplane position | |
| JP6025742B2 (en) | Aircraft path compatibility monitoring | |
| EP3296831B1 (en) | Methods and systems for automation guidance | |
| US9280904B2 (en) | Methods, systems and computer readable media for arming aircraft runway approach guidance modes | |
| US8346412B2 (en) | Method and device for assisting an aircraft flight control during landing approach | |
| EP2135806B1 (en) | Method and apparatus for improving pilot situational awareness during flare to touchdown | |
| US7917254B2 (en) | Aircraft guidance using localizer capture criteria for rectilinear displacement data | |
| US9527601B2 (en) | Method and apparatus for generating a virtual inner marker for an aircraft landing approach | |
| EP1147505B1 (en) | Method and apparatus for automated runway selection | |
| US8983689B2 (en) | Navigation assistance method based on anticipation of linear or angular deviations | |
| AU2016257208B2 (en) | Aircraft wake turbulence awareness | |
| EP3166093B1 (en) | Aircraft systems and methods for providing landing approach alerts | |
| US9646506B2 (en) | Methods and apparatus for managing a premature descent envelope during descent of an aircraft | |
| US20140350755A1 (en) | Method and system for aiding piloting when selecting a trajectory of approach | |
| EP3486740B1 (en) | Systems and methods for providing predicted mode change data for decoupled vertical navigation (vnav) and lateral navigation (lnav) autopilot operations | |
| US11551560B2 (en) | Enhanced flight navigation determination | |
| US9666082B2 (en) | Method and system for guidance of an aircraft | |
| US20100017053A1 (en) | Consistent Localizer Captures | |
| US7652621B2 (en) | Method for automatically selecting radionavigation beacons | |
| US8948939B2 (en) | Navigation assistance method for monitoring navigation performance in linear or angular mode | |
| JP7261334B1 (en) | Flight management device, flight management method and program | |
| EP4012684A1 (en) | Dynamic radar vectoring guidance methods and systems | |
| EP3792895A1 (en) | Determining an airport for landing an aircraft | |
| US11598647B1 (en) | Marine traffic depiction for portable and installed aircraft displays | |
| US20220028285A1 (en) | Aircraft comprising a flight management architecture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Guo Bin Inventor after: Bai Junqiang Inventor before: Guo Bin |