CN110096830B - HLA-based sea-based JPALS simulation design method - Google Patents
HLA-based sea-based JPALS simulation design method Download PDFInfo
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Abstract
The invention discloses a sea-based JPALS simulation design method based on HLA, in particular to the field of automatic carrier landing of carrier-based aircraft, comprising the following specific operation steps: s1, analyzing system functions; s2, designing the system overall; s3, designing a simulation system FOM/SOM; and S4, realizing simulation. The sea-based combined precision approach landing system (JPALS) of the invention uses the carrier phase differential positioning technology to complete the precise positioning and approach guidance of carrier-based aircraft landing, and meets the harsh all-weather automatic landing requirement; the distributed simulation system framework of the sea-based JPALS based on HLA is provided, the repeated work of secondary modeling in simulation is reduced, the development efficiency of the large-scale complex system engineering is improved, and the expansibility of the system to the advanced technology in the required subject field is met.
Description
Technical Field
The invention relates to the technical field of automatic carrier landing of shipboard aircrafts, in particular to a sea-based JPALS simulation design method based on HLA.
Background
The carrier-based aircraft landing not only reflects the technological level of the relevant technology of the aircraft carrier, but also is the demonstration of the strength of various aspects such as a national industry and a software system. Conventional carrier-based aircraft landing is risky, and although drivers of the carrier-based aircraft have enough training amount for controlling the carrier-based aircraft to land on the aircraft carrier, the marine meteorological conditions, storms, deck swaying and the like are numerous uncertain risks which the carrier-based aircraft needs to face, so that manual landing accidents are far higher than those of land-based aircrafts and spacecrafts.
A joint precision approach landing system JPALS developed by the US army acquires accurate positioning information of a carrier-based aircraft by means of a carrier phase difference GPS technology, and then full-automatic carrier landing is completed. The system aims to keep high maneuverability of the American army, can make quick response to various military conditions, and embodies the leading level of the American army in subjects in various fields such as navigation positioning, digital communication, computer application, automatic control and the like. The JPALS is a complex project with multidisciplinary intersection, so that in the process of researching the precise landing simulation of the carrier-based aircraft, the technology in each field needs to be considered to be rapidly developed for continuous improvement and updating, and the system integration is completed under the condition of ensuring the compatibility, so that a lot of uncertain risks still exist in the use.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a sea-based JPALS simulation design method based on HLA (high level architecture). the invention designs a sea-based JPALS simulation system based on a simulation framework of a high-level architecture, fully considers the interoperability and expandability support of simulation components, adopts a distributed operation structure, ensures the independent development and operation of each module of the simulation system, improves the reusability of the simulation system, and avoids the resource waste of manpower, material resources and time; aiming at the requirement of multi-disciplinary co-research of sea-based JPALS, the development of simulation software reaches standardization and normalization, and the development period of a sea-based JPALS system can be greatly shortened and the time for loading weapons on a vessel can be reduced.
In order to achieve the purpose, the invention provides the following technical scheme: a sea-based JPALS simulation design method based on HLA comprises the following specific operation steps:
s1, analyzing system functions; setting a plurality of GPS reference stations by adopting a GPS carrier phase differential positioning technology, acquiring relative positions of the reference stations and a receiver, calculating to obtain an ideal landing point of a deck by using a computer, calculating relative positions of a carrier aircraft and an aircraft carrier, and detecting a GPS carrier phase differential positioning system by adopting autonomous integrity monitoring of the receiver;
s2, designing the system overall; the method comprises the following steps that a sea-based JPALS simulation platform designs a sea-based JPALS simulation calculation federation according to system function analysis, wherein the federation consists of carrier aircraft federation members, aircraft carrier federation members, integrity monitoring federation members and satellite federation members to form a complete simulation application, the whole simulation platform is designed in a distributed mode, all federation members operate independently, and the simulation platform further comprises an air traffic control module and a navigation control module;
the aircraft carrier federal member is used for providing relative navigation positioning information, admission permission and air control information for the landing of a carrier-based aircraft;
the air traffic control module is used for guaranteeing and maintaining air traffic safety, and has the specific tasks of registering information of all carrier-based aircrafts in an approaching area, monitoring runway conditions in real time, allowing and issuing landing queues and providing guide information for carrier-based aircrafts to land;
the navigation control module is used for providing carrier differential positioning related data for the carrier-based aircraft through a plurality of GPS reference stations arranged on the ship, accurately positioning and estimating deck motion and ship attitude by means of an INS/GPS combined navigation system on the ship, and calculating an ideal landing point TDP through positioning information returned by the GPS of the carrier-based aircraft to provide an optimal track for the carrier-based aircraft;
the carrier aircraft federal member is used for calculating differential positioning information provided by the carrier aircraft in real time and sending the differential positioning information to the carrier aircraft federal member, and a carrier phase is resolved by a navigation control module; meanwhile, in the landing process, the communication with the air traffic control module is continuously kept, and the carrier landing is finished or the carrier flies and escapes when warning occurs according to the guidance of entering the glide slope;
the integrity monitoring federal member is used for monitoring abnormal navigation signals and system faults by using a plurality of GPS reference stations on a ship, and sending warning prompts to an airborne subsystem in real time to ensure that the system meets the performance requirements of integrity indexes;
the satellite federal member is a GPS satellite and provides a navigation message and a precise ephemeris of the federal member; in the simulation platform, STK software provides required simulation data;
s3, designing a simulation system FOM/SOM;
s3.1, providing a universal framework for a sea-based JPALS simulation platform by using an object model template, namely OMT;
s3.2, dividing the OMT into a federal object model FOM and a simulation object model SOM, wherein the FOM is used for describing the whole simulation federal object model; SOM is an object model for a single federal member; the FOM/SOM-based model description method is characterized in that the main functions of a sea-based JPALS federation are designed into two object classes and two interactive classes, wherein the two object classes are an aircraft carrier object class and a carrier-based aircraft object class and serve as simulation entities of the system; the two interaction classes are a differential navigation class and an integrity monitoring class and are used as interaction events among entities in the system;
s3.3, when the attributes in the object classes need to be updated or transferred, the communication is carried out through publishing and ordering description, and the transmission of the attributes and the interactive classes is realized by adopting a high-efficiency Best Effort and Reliable mode;
s3.4, after the federation is started, generating an aircraft carrier federation object and a plurality of carrier-borne aircraft federation objects, ordering navigation information to a differential navigation class by the carrier-borne aircraft objects and the aircraft carrier objects, wherein the operation result of the differential navigation class is firstly subjected to integrity monitoring class data detection and then sent to an entity object class; aiming at the difference of the requirements of the carrier-based aircraft and the aircraft carrier on the differential navigation function, the differential navigation class is designed as a base class, and the functions of the differential navigation object of the carrier-based aircraft and the differential navigation object of the aircraft carrier are inherited; meanwhile, the aircraft carrier differential navigation object provides reference station information for the carrier-based aircraft differential navigation object, and the relative position is calculated;
s3.5, realizing the main behavior codes of all federal members when local data is updated, and changing the core behavior codes when simulation requirements are changed;
s4, realizing simulation; numerical simulation and environment construction are carried out by adopting c + + and matlab environments, and shipboard aircraft and aircraft carrier models are generated by combining a simulink toolbox.
In a preferred embodiment, in step S1, the carrier phase of the GPS is used to observe accurate positioning information, and the carrier phase algorithm formula is:
where φ is the carrier phase, λ is the carrier wavelength, ρ is the geometric distance of the receiver satellite, and ξ is the ionosphereSystematic errors such as errors, tropospheric errors and satellite clock errors, N being the integer ambiguity, εφTo receive observed noise of carrier phase.
In a preferred embodiment, in step S1, the reference station and the receiver obtain a single difference equation by observing the same satellite, and then perform a difference on the single difference equations of two different satellites to obtain a double difference equation, where the equation formula is:
wherein the content of the first and second substances,
double difference results are shown.
In a preferred embodiment, in step S2, the federal architecture includes a bottom layer communication support system, an operation support framework RTI, and a plurality of carrier-borne aircraft federal members, an aircraft carrier federal member, an integrity monitoring federal member, and a satellite federal member, where the operation support framework RTI is connected to the carrier-borne aircraft federal members, the aircraft carrier federal members, the integrity monitoring federal member, and the satellite federal member through an RTI interface module, so as to implement two-way communication.
In a preferred embodiment, the carrier aircraft federal member, the aircraft carrier federal member, the integrity monitoring federal member and the satellite federal member are used for sending and receiving data, the RTI is operated by a separate server, and data transmission service is provided for each federal member by setting an RTI initialization file.
In a preferred embodiment, in step S3.5, the flow of the HLA-based sea-based JPALS federal member simulation core program is specifically as follows:
s3.5.1, in the lifecycle of federal execution, when the local data is updated, the member main behavior code is initialized, the member first calls RTI, createFederationexecution to create federal execution; after the federation execution is established, all members call an RTI, wherein a joinFaedenderationexecution function is added into the federation execution;
s3.5.2, the member calls RTI, publishObjectClassAttributes and RTI, publishInteractionClass publishes object class attribute and interaction class, declares that the member has the ability to generate the object class/interaction class data, after which registers the instance of the object class or sends the interaction of the interaction class, the member calls RTI, subscribeObjectClassAttributes and RTI, subscribeInteractionClass orders the object class/interaction class, declares that the member has a need for the object class/interaction class data, if there are other members in the federation registering the instance of the object class or sending the interaction of the interaction class, the member will find the object instance or receive the interaction data information;
s3.5.3, after releasing the statement, the simulation platform configures the time propulsion strategy of each member according to the statement information of the member, then registers the object class instance of the member, finally requests RTI time propulsion, the request information is sent to the air traffic control module, when the time propulsion permits, the member algorithm is executed, the object interaction data of the federate member is updated, the simulation is finished, the member completes the calculation task, can propose to quit the federate, and calls RTI:: destroyFederation execution to destroy the federate after the last federate member logs off, at this moment, the federate task is finished;
s3.5.4, when the time advance permits, executing member algorithm, updating object interaction data of federates, if the simulation is not finished, feeding back information to the air traffic control module, and requesting RTI time advance again
S3.5.5, when time advance is not permitted, the information is fed back to the air traffic control module, which may again request an RTI time advance.
In a preferred embodiment, in step S4, a host with Win10, 16G memory, and 3 virtual Win10 hosts respectively run each federate, and the network environment thereof is set as 100M lan, and then simulation is performed.
In a preferred embodiment, in step S4, the simulation process is as follows:
s4.1, enabling the carrier-based aircraft to enter an aircraft carrier airspace, identifying and starting by the enemy and the me of an air control system, guiding the carrier-based aircraft to enter an approaching area after permission authentication, and circling a track to be descended at high altitude in sequence;
s4.2, simultaneously, the carrier-based aircraft differential positioning system receives the base station reference information to calculate the positioning and attitude information of the carrier-based aircraft, and sends the positioning and attitude information to the carrier-based subsystem;
s4.3, after the shipboard subsystem receives the positioning information of the aircraft and the positioning and attitude information obtained through the onboard GPS reference station in real time, calculating the relative distance from the shipboard aircraft to an ideal landing point, and transmitting the optimal track to the shipboard aircraft;
and S4.4, finally, the carrier-based aircraft automatically landing according to the track to finish landing operation.
The invention has the technical effects and advantages that:
1. the sea-based combined precision approach landing system (JPALS) of the invention uses the carrier phase differential positioning technology to complete the precise positioning and approach guidance of carrier-based aircraft landing, and can meet the harsh all-weather automatic landing requirement; the distributed simulation system framework of the sea-based JPALS based on HLA is provided, the repeated work of secondary modeling in simulation is reduced, the development efficiency of the large-scale complex system engineering is improved, the expansibility of the system to the advanced technology in the required subject field is met, the overall framework of the sea-based JPALS is designed by analyzing the functional requirements of the sea-based JPALS, the interactive characteristics of the system are abstracted and modeled, the object class and the interactive class model of SOM/FOM are constructed, and finally, the simulation development result verifies that the system has good expandability and reusability, and the simulation system target is realized.
2. The invention designs a sea-based JPALS simulation system based on a simulation framework of a high-level system structure, fully considers the interoperability and expandability support of simulation components, adopts a distributed operation structure, ensures the independent development and operation of each module of the simulation system, improves the reusability of the simulation system, and avoids the resource waste of manpower, material resources and time; aiming at the multi-disciplinary co-study of the sea-based JPALS, the development of simulation software reaches standardization and normalization, the development period of the sea-based JPALS system can be greatly shortened, and the time for loading weapons systems on ships can be reduced;
3. in the invention, HLA is used as a system framework of simulation software, and a sea-based JPALS simulation platform is designed by using complete system specifications and interface rules; through the overall design of the system and the construction of the federated object model template, the development of each module code can have good independence, the problems of reusability and expandability of simulation components are solved, and the cooperation of the automatic carrier landing research of the carrier aircraft in each subject field is more effective.
Drawings
Fig. 1 is an ideal landing point diagram of an aircraft carrier according to the present invention.
Fig. 2 is a federal architecture diagram of the present invention.
FIG. 3 is a diagram of federal member interrelationships in accordance with the present invention.
FIG. 4 is a UML class diagram of the differential navigation interaction class of the present invention.
FIG. 5 is a flowchart of the HLA-based sea-based JPALS federal member simulation core program of the present invention.
FIG. 6 is a diagram of a simulation run interface of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A sea-based JPALS simulation design method based on HLA comprises the following specific operation steps:
s1, analyzing system functions;
the sea-based JPALS simulation system is an all-weather automatic carrier landing technology for the carrier-based aircraft, and has the core function of providing high-precision and high-reliability positioning data for the carrier-based aircraft and ensuring the safety and stability during automatic carrier landing. The carrier-based aircraft landing needs to calculate the relative position of the carrier-based aircraft and the aircraft carrier, and the key problem is that the ideal landing point (TDP) of the deck to be acquired is shown in fig. 1, and the ideal landing point is in motion, so that the actual track of the relative position of the aircraft is a constantly fluctuating curve. The actual requirement for the ship position in the carrier-borne differential GPS positioning is just TDP, however, the point is a landing point on an aircraft runway, and an antenna of a GPS reference station cannot be directly deployed;
therefore, a GPS carrier phase differential positioning technology is adopted, a plurality of GPS reference stations are arranged, the relative positions of the reference stations and the receiver are obtained, the ideal landing point of a deck is obtained through computer calculation, and then the relative positions of the carrier-based aircraft and the aircraft carrier are calculated;
the carrier phase of the differential GPS is adopted to observe accurate positioning information, and the carrier phase algorithm formula is as follows:
where phi is the carrier phase, lambda is the carrier wavelength, rho is the geometric distance of the receiver satellite, xi is the systematic errors such as ionosphere error, troposphere error and satellite clock error, N is the integer ambiguity, epsilonφReceiving observed noise of carrier phase;
the reference station and the receiver obtain a single difference equation through observing the same satellite, and then perform difference on the single difference equations of two different satellites to obtain a double difference equation, which can eliminate most errors, and the equation formula is as follows:
wherein the content of the first and second substances,
represents a double difference result; according to the formula, under the condition that the integer ambiguity is resolved, only the measurement residual error and the multipath error exist in the measured error term, and the relative positioning data with the precision reaching centimeter level can be provided;
meanwhile, in order to meet the requirement of system Integrity and meet the standard of an alarm threshold, for various abnormal or failure problems of the GPS, Receiver Autonomous Integrity Monitoring (RAIM) is adopted for detection; RAIM mainly uses redundant satellites to detect GPS failure, and can be used when the number of visible satellites is more than 5;
s2, designing the system overall; the method comprises the following steps that a sea-based JPALS simulation platform designs a sea-based JPALS simulation calculation federation according to system function analysis, wherein the federation consists of carrier aircraft federation members, aircraft carrier federation members, integrity monitoring federation members and satellite federation members to form a complete simulation application, as shown in FIG. 2, the architecture of the federation comprises a bottom layer communication support system, a plurality of carrier aircraft federation members, the integrity monitoring federation members and the satellite federation members, and the carrier aircraft federation members are connected with the carrier aircraft federation members, the aircraft carrier federation members, the integrity monitoring federation members and the satellite federation members through RTI interface modules to realize two-way communication;
the whole simulation platform is designed in a distributed mode, all federal members operate independently, and only corresponding RTI interfaces are allowed to be used for data interaction by referring to HLA interface specifications of IEEE1516-2010 standard; thus, for other federal members, carrier aircraft federal members, aircraft carrier federal members, integrity monitoring federal members, and satellite federal members are used to transmit and receive data, only being "black box" objects that transmit or receive data; the RTI is operated by a single server, and Data transmission service similar to 'middleware' is provided for the federation by setting an RTI Initialization Data (RID);
the simulation platform also comprises an air traffic control module and a navigation control module;
the aircraft carrier federal member is used for providing relative navigation positioning information, admission permission, air control information and the like for the landing of a carrier-based aircraft;
the air traffic control module is used for effectively guaranteeing and maintaining air traffic safety, and has the specific tasks of registering information of all carrier-based aircrafts in an approaching area, monitoring runway conditions in real time, allowing release of landing queues and providing guidance information for carrier-based aircrafts to land;
the navigation control module is used for providing carrier differential positioning related data for the carrier-based aircraft through a plurality of GPS reference stations arranged on the ship, accurately positioning and estimating deck motion and ship attitude by means of an INS/GPS combined navigation system on the ship, and calculating an ideal landing point TDP through positioning information returned by the GPS of the carrier-based aircraft to provide an optimal track for the carrier-based aircraft;
the carrier aircraft federal member is used for calculating differential positioning information provided by the carrier aircraft in real time and sending the differential positioning information to the carrier aircraft federal member, and a carrier phase is resolved by a navigation control module; meanwhile, in the landing process, the communication with the air traffic control module is continuously kept, and the carrier landing is finished or the carrier flies and escapes when warning occurs according to the guidance of entering the glide slope;
the integrity monitoring federal member is used for monitoring signal abnormality and system faults occurring in navigation by using a plurality of GPS reference stations on a ship, and sending warning prompts to an airborne subsystem in real time to ensure that the system meets the performance requirements of integrity indexes;
the satellite federal member is a GPS satellite and provides a navigation message and a precise ephemeris of the federal member; in the simulation platform, STK software provides required simulation data;
the interrelationship between the sub-members is shown in FIG. 3;
s3, designing a simulation system FOM/SOM;
an Object Model Template (OMT) is a general term of abstract structures of an HLA system for the federal and members and is used for recording key information such as attributes, structures, parameters and the like of all federal and member classes; the OMT is different from an object model established by object-oriented analysis design and has similar relation; the difference mainly embodies different modes of target difference on a system level and data transmission on an object level; in a system level, an object-oriented design mode emphasizes the static and dynamic relation among objects and the global description of a logic algorithm, and HLA (high level architecture) has a smaller characteristic range for description, and the design requirement is mainly put on member information interaction; on the object level, the object-oriented class is the encapsulation of data and methods, and HLA only encapsulates the specified operation and specific attributes, and has certain rule requirements for updating data and attribute modes; in the development process, an object model template is used for providing a universal framework for a sea-based JPALS simulation platform, so that a proper reuse rule can be constructed for each module of a simulation system, and the interaction operation among members can achieve high compatibility;
s3.1, providing a universal framework for a sea-based JPALS simulation platform by using an object model template, namely OMT;
s3.2, dividing the OMT into a federal object model FOM and a simulation object model SOM, wherein the FOM is used for describing the whole simulation federal object model; SOM is an object model for a single federal member; the FOM/SOM-based model description method is characterized in that the main functions of a sea-based JPALS federation are designed into two object classes and two interactive classes, wherein the two object classes are an aircraft carrier object class and a carrier-based aircraft object class and serve as simulation entities of the system; the two interaction classes are a differential navigation class and an integrity monitoring class and are used as interaction events among entities in the system;
s3.3, when the attributes in the object classes need to be updated or transmitted, the communication is carried out through publishing and ordering description, the transmission of the attributes and the interactive classes is realized by adopting a high-efficiency Best efficiency and Reliable manner, a UDP protocol is usually used at high efficiency, the network delay is low, but the reliability is poor; reliable, usually using TDP protocol, the network delay is relatively high, thus defining a major FOM/SOM attribute table overview of the sea-based JPALS as follows:
TABLE 1OM/SOM Attribute overview sheet
S3.4, after the federation is started, generating an aircraft carrier federation object and a plurality of carrier-borne aircraft federation objects, wherein the carrier-borne aircraft objects and the aircraft carrier objects do not own navigation positioning information and need to order navigation information to a differential navigation class; the operation result of the differential navigation class is firstly subjected to data detection of the integrity monitoring class and then sent to the entity object class; aiming at the difference of the requirements of the carrier-based aircraft and the aircraft carrier on the differential navigation function, the differential navigation class is designed as a base class, and the functions of the differential navigation object of the carrier-based aircraft and the differential navigation object of the aircraft carrier are inherited; meanwhile, the aircraft carrier differential navigation object provides reference station information for the carrier-based aircraft differential navigation object, and the relative position is calculated; by using the design concept of the object-oriented middle class, the compatibility of the performance test of different GPS receivers is improved, and the reusability of the differential navigation federal members is enhanced through common basic attributes in the base classes; the UML class diagram of the differential navigation interaction class is shown in FIG. 4;
s3.5, realizing main behavior codes of all federal members when local data are updated, wherein the calculation is centralized, the realization tends to be independent, and when simulation requirements are changed, reconstruction and expansion of the federal members are realized only by changing the core behavior codes without changing other parts of the federal members;
the flow of the HLA-based sea-based JPALS federal member simulation core program is shown in fig. 5, and the flow is specifically as follows:
s3.5.1, in the lifecycle of federal execution, when the local data is updated, the member main behavior code is initialized, the member first calls RTI, createFederationexecution to create federal execution; after the federation execution is established, all members call an RTI, wherein a joinFaedenderationexecution function is added into the federation execution;
s3.5.2, the member calls RTI, publishObjectClassAttributes and RTI, publishInteractionClass publishes object class attribute and interaction class, declares that the member has the ability to generate the object class/interaction class data, after which registers the instance of the object class or sends the interaction of the interaction class, the member calls RTI, subscribeObjectClassAttributes and RTI, subscribeInteractionClass orders the object class/interaction class, declares that the member has a need for the object class/interaction class data, if there are other members in the federation registering the instance of the object class or sending the interaction of the interaction class, the member will find the object instance or receive the interaction data information;
s3.5.3, after releasing the statement, the simulation platform configures the time propulsion strategy of each member according to the statement information of the member, then registers the object class instance of the member, finally requests RTI time propulsion, the request information is sent to the air traffic control module, when the time propulsion permits, the member algorithm is executed, the object interaction data of the federate member is updated, the simulation is finished, the member completes the calculation task, can propose to quit the federate, and calls RTI:: destroyFederation execution to destroy the federate after the last federate member logs off, at this moment, the federate task is finished;
s3.5.4, when the time advance permits, executing member algorithm, updating object interaction data of federates, if the simulation is not finished, feeding back information to the air traffic control module, and requesting RTI time advance again
S3.5.5, when the time advance is not allowed, the information is fed back to the air traffic control module, and RTI time advance can be requested again;
s4, realizing simulation; numerical simulation and environment construction are carried out by adopting c + + and matlab environments, and shipboard aircraft and aircraft carrier models are generated by combining a simulink toolbox; a host with Win10 and 16G memory and 3 virtual Win10 hosts are adopted to run all federates respectively, the network environment is set as 100M local area network, and then simulation is carried out, wherein the simulation process is as follows:
s4.1, allowing the carrier-based aircraft to enter an aircraft carrier airspace, identifying and starting by the enemy of an air control system, allowing authentication, guiding the carrier-based aircraft to enter an approaching area, and circling at a high-altitude track to be descended in sequence;
s4.2, simultaneously, the carrier-based aircraft differential positioning system receives the base station reference information to calculate the positioning and attitude information of the carrier-based aircraft, and sends the positioning and attitude information to the carrier-based subsystem;
s4.3, after the shipboard subsystem receives the positioning information of the aircraft and the positioning and attitude information obtained through the onboard GPS reference station in real time, calculating the relative distance from the shipboard aircraft to an ideal landing point, and transmitting the optimal track to the shipboard aircraft;
and S4.4, finally, the carrier-based aircraft automatically landing according to the track to finish landing operation.
The system simulation running interface is as shown in FIG. 6; the interface displays the landing track of the carrier-based aircraft, the RAIM availability of the sea area and the VDOP value condition of the time period meet the JPALS performance data requirement.
Because the sea-based JPALS is still in the theoretical research stage in China, the research on the whole system is relatively insufficient, in the scheme, HLA is used as the system framework of the simulation software, and the complete system specification and interface rule are used to design the sea-based JPALS simulation platform; through the overall design of the system and the construction of the federated object model template, the development of each module code can have good independence, the problems of reusability and expandability of simulation components are solved, and the cooperation of the automatic carrier landing research of the carrier aircraft in each subject field is more effective.
And finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. A sea-based JPALS simulation design method based on HLA is characterized in that: the specific operation steps are as follows:
s1, analyzing system functions; setting a plurality of GPS reference stations by adopting a GPS carrier phase differential positioning technology, acquiring relative positions of the reference stations and a receiver, calculating to obtain an ideal landing point of a deck by using a computer, calculating relative positions of a carrier aircraft and an aircraft carrier, and detecting a GPS carrier phase differential positioning system by adopting autonomous integrity monitoring of the receiver;
s2, designing the system overall; the method comprises the following steps that a sea-based JPALS simulation platform designs a sea-based JPALS simulation calculation federation according to system function analysis, wherein the federation consists of carrier aircraft federation members, aircraft carrier federation members, integrity monitoring federation members and satellite federation members to form a complete simulation application, the whole simulation platform is designed in a distributed mode, all federation members operate independently, and the simulation platform further comprises an air traffic control module and a navigation control module;
the aircraft carrier federal member is used for providing relative navigation positioning information, admission permission and air control information for the landing of a carrier-based aircraft;
the air traffic control module is used for guaranteeing and maintaining air traffic safety, and has the specific tasks of registering information of all carrier-based aircrafts in an approaching area, monitoring runway conditions in real time, allowing and issuing landing queues and providing guide information for carrier-based aircrafts to land;
the navigation control module is used for providing carrier differential positioning related data for the carrier-based aircraft through a plurality of GPS reference stations arranged on the ship, accurately positioning and estimating deck motion and ship attitude by means of an INS/GPS combined navigation system on the ship, and calculating an ideal landing point TDP through positioning information returned by the GPS of the carrier-based aircraft to provide an optimal track for the carrier-based aircraft;
the carrier aircraft federal member is used for calculating differential positioning information provided by the carrier aircraft in real time and sending the differential positioning information to the carrier aircraft federal member, and a carrier phase is resolved by a navigation control module; meanwhile, in the landing process, the communication with the air traffic control module is continuously kept, and the carrier landing is finished or the carrier flies and escapes when warning occurs according to the guidance of entering the glide slope;
the integrity monitoring federal member is used for monitoring signal abnormality and system faults occurring in navigation by using a plurality of GPS reference stations on a ship, and sending warning prompts to an airborne subsystem in real time to ensure that the system meets the performance requirements of integrity indexes;
the satellite federal member is a GPS satellite and provides a navigation message and a precise ephemeris of the federal member; in the simulation platform, STK software provides required simulation data;
s3, designing a simulation system FOM/SOM;
s3.1, providing a universal framework for a sea-based JPALS simulation platform by using an object model template, namely OMT;
s3.2, dividing the OMT into a federal object model FOM and a simulation object model SOM, wherein the FOM is used for describing the whole simulation federal object model; SOM is an object model for a single federal member; the FOM/SOM-based model description method is characterized in that the main functions of a sea-based JPALS federation are designed into two object classes and two interactive classes, wherein the two object classes are an aircraft carrier object class and a carrier-based aircraft object class and serve as simulation entities of the system; the two interaction classes are a differential navigation class and an integrity monitoring class and are used as interaction events among entities in the system;
s3.3, when the attributes in the object classes need to be updated or transferred, the communication is carried out through publishing and ordering description, and the transmission of the attributes and the interactive classes is realized by adopting a high-efficiency Best Effort and Reliable mode;
s3.4, after the federation is started, generating an aircraft carrier federation object and a plurality of carrier-borne aircraft federation objects, ordering navigation information to a differential navigation class by the carrier-borne aircraft objects and the aircraft carrier objects, wherein the operation result of the differential navigation class is firstly subjected to integrity monitoring class data detection and then sent to an entity object class; aiming at the difference of the requirements of the carrier-based aircraft and the aircraft carrier on the differential navigation function, the differential navigation class is designed as a base class, and the functions of the differential navigation object of the carrier-based aircraft and the differential navigation object of the aircraft carrier are inherited; meanwhile, the aircraft carrier differential navigation object provides reference station information for the carrier-based aircraft differential navigation object, and the relative position is calculated;
s3.5, realizing the main behavior codes of all federal members when local data is updated, and changing the core behavior codes when simulation requirements are changed;
s4, realizing simulation; numerical simulation and environment construction are carried out by adopting c + + and matlab environments, and shipboard aircraft and aircraft carrier models are generated by combining a simulink toolbox.
2. The HLA-based sea-based JPALS simulation design method as claimed in claim 1, wherein: in step S1, the carrier phase of the differential GPS is used to observe accurate positioning information, and the carrier phase algorithm formula is:
where phi is the carrier phase, lambda is the carrier wavelength, rho is the geometric distance of the receiver satellite, xi is the ionosphere error, troposphere error and satellite clock error, N is the integer ambiguity, and epsilonφTo receive observed noise of carrier phase.
3. The HLA-based sea-based JPALS simulation design method as claimed in claim 2, wherein: in step S1, the reference station and the receiver obtain a single difference equation by observing the same satellite, and then perform a difference on the single difference equations of two different satellites to obtain a double difference equation, where the equation formula is:
wherein the content of the first and second substances,
double difference results are shown.
4. The HLA-based sea-based JPALS simulation design method as claimed in claim 1, wherein: in the step S2, the federal architecture includes a bottom layer communication support system, an operation support frame RTI, a plurality of carrier-borne aircraft federal members, an aircraft carrier federal member, an integrity monitoring federal member and a satellite federal member, and the operation support frame RTI is connected with the carrier-borne aircraft federal members, the aircraft carrier federal member, the integrity monitoring federal member and the satellite federal member through an RTI interface module to realize two-way communication.
5. The HLA-based sea-based JPALS simulation design method as claimed in claim 4, wherein: the carrier-borne aircraft federal member, the aircraft carrier federal member, the integrity monitoring federal member and the satellite federal member are used for sending and receiving data, the RTI is operated by a single server, and data transmission service is provided for each federal member by setting an RTI initialization file.
6. The HLA-based sea-based JPALS simulation design method as claimed in claim 1, wherein: in the step S3.5, the flow of the HLA-based sea-based JPALS federal member simulation core program is specifically as follows:
s3.5.1, in the lifecycle of federal execution, when the local data is updated, the member main behavior code is initialized, the member first calls RTI, createFederationexecution to create federal execution; after the federation execution is established, all members call an RTI, wherein a joinFaedenderationexecution function is added into the federation execution;
s3.5.2, the member calls RTI, publishObjectClassAttributes and RTI, publishInteractionClass publishes object class attribute and interaction class, declares that the member has the ability to generate the object class/interaction class data, after which registers the instance of the object class or sends the interaction of the interaction class, the member calls RTI, subscribeObjectClassAttributes and RTI, subscribeInteractionClass orders the object class/interaction class, declares that the member has a need for the object class/interaction class data, if there are other members in the federation registering the instance of the object class or sending the interaction of the interaction class, the member will find the object instance or receive the interaction data information;
s3.5.3, after releasing the statement, the simulation platform configures the time propulsion strategy of each member according to the statement information of the member, then registers the object class instance of the member, finally requests RTI time propulsion, the request information is sent to the air traffic control module, when the time propulsion permits, the member algorithm is executed, the object interaction data of the federate member is updated, the simulation is finished, the member completes the calculation task, can propose to quit the federate, and calls RTI:: destroyFederation execution to destroy the federate after the last federate member logs off, at this moment, the federate task is finished;
s3.5.4, when the time advance permits, executing member algorithm, after updating object interaction data of federates, if the simulation is not finished, feeding back information to the air traffic control module, and requesting RTI time advance again;
s3.5.5, when time advance is not permitted, the information is fed back to the air traffic control module, which may again request an RTI time advance.
7. The HLA-based sea-based JPALS simulation design method as claimed in claim 1, wherein: in the step S4, a host with Win10 and 16G memories and 3 virtual Win10 hosts are used to run each federate respectively, and the network environment is set as 100M local area network, and then simulation is performed.
8. The HLA-based sea-based JPALS simulation design method as claimed in claim 7, wherein: in step S4, the simulation process is as follows:
s4.1, enabling the carrier-based aircraft to enter an aircraft carrier airspace, identifying and starting by the enemy and the me of an air control system, guiding the carrier-based aircraft to enter an approaching area after permission authentication, and circling a track to be descended at high altitude in sequence;
s4.2, simultaneously, the carrier-based aircraft differential positioning system receives the base station reference information to calculate the positioning and attitude information of the carrier-based aircraft, and sends the positioning and attitude information to the carrier-based subsystem;
s4.3, after the shipboard subsystem receives the positioning information of the aircraft and the positioning and attitude information obtained through the onboard GPS reference station in real time, calculating the relative distance from the shipboard aircraft to an ideal landing point, and transmitting the optimal track to the shipboard aircraft;
and S4.4, finally, the carrier-based aircraft automatically landing according to the track to finish landing operation.
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