CN111045045B - Satellite signal fitting reconstruction system and method applied to high-dynamic aircraft - Google Patents
Satellite signal fitting reconstruction system and method applied to high-dynamic aircraft Download PDFInfo
- Publication number
- CN111045045B CN111045045B CN201811187333.4A CN201811187333A CN111045045B CN 111045045 B CN111045045 B CN 111045045B CN 201811187333 A CN201811187333 A CN 201811187333A CN 111045045 B CN111045045 B CN 111045045B
- Authority
- CN
- China
- Prior art keywords
- satellite
- aircraft
- module
- speed information
- guidance
- 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
Classifications
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a satellite signal fitting reconstruction system and a satellite signal fitting reconstruction method applied to a high-dynamic aircraft, wherein the system improves the receiving capacity of satellite signals through a sheet-shaped antenna, reduces the possibility of losing stars under high dynamic conditions, is provided with a plurality of receivers, provides stable and reliable satellite signals for the aircraft to the greatest extent, and in addition, when the loss of stars is determined, the satellite signals are automatically fitted and reconstructed, provides aircraft self-position and speed information required by overload calculation for a microprocessor module, maintains the stability of the aircraft in the star losing period, selects the satellite signal with the largest number of stars to solve the aircraft self-position and speed information when the loss of stars does not occur, solves the overload required to use, and controls the aircraft.
Description
Technical Field
The invention relates to a system and a method for dealing and processing an aircraft when a satellite is lost, in particular to a system and a method for fitting and reconstructing satellite signals applied to a high-dynamic aircraft.
Background
The satellite loss is the most common problem of the aircraft taking satellite guidance as a guidance mode in the flight process, particularly the satellite loss problem of the high dynamic aircraft is more serious, and the high dynamic aircraft has the following defects in the flight process:
(1) the autonomy is poor, and the interference is easy to happen, including various signal interference, regional factor interference and the like;
(2) the satellite receiver is susceptible to weather conditions, and particularly in severe environments, satellite signals cannot be received by the satellite receiver on the aircraft;
(3) the high dynamic characteristic of the satellite receiving device can also influence the receiving of satellite signals;
(4) when a satellite is lost, the high-dynamic aircraft can be out of control, and further irremediable consequences are caused.
Therefore, there is an urgent need for a system and a method for reducing the possibility of satellite loss of a high dynamic aircraft, and a control system and a method for receiving satellite signals again as soon as possible when a satellite is lost, ensuring that the aircraft is not out of control during the satellite loss process, and still advancing according to a predetermined trajectory.
For the above reasons, the present inventors have conducted intensive studies on the existing guidance control system and method, and have awaited designing a control system and method for a highly dynamic aircraft that can solve the above problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the present invention has made an intensive study to design a satellite signal fitting reconstruction system and method applied to a high dynamic aircraft, in which the receiving capability of a satellite signal is improved by a sheet-shaped antenna, the possibility of satellite loss under high dynamic conditions is reduced, a plurality of receivers are provided to provide a stable and reliable satellite signal for the aircraft to the greatest extent possible, in addition, when the satellite loss is determined, the satellite signal is automatically fitted and reconstructed to provide the microprocessor module with the aircraft position and speed information required for calculating overload, the aircraft stability is maintained during the satellite loss period, when the satellite is not lost, the satellite signal with the largest number of stars is selected to resolve the aircraft position and speed information, the overload is calculated, and the aircraft is controlled, thereby completing the present invention
Specifically, the invention aims to provide a satellite signal fitting reconstruction system applied to a high-dynamic aircraft, which can automatically fit and reconstruct a satellite signal when a satellite is lost and continuously provide a guidance instruction for the aircraft in a guidance stage.
The system comprises a quasi-satellite guidance resolving module 1 and a microprocessor module 2, and the quasi-satellite guidance resolving module 1 provides the microprocessor module 2 with the position and speed information of the aircraft at the current moment required by overload calculation when the satellite is lost.
The system further comprises a storage module 3, wherein the storage module 3 is used for storing the position and speed information of 3 continuous moments on the aircraft;
preferably, when a satellite is lost, the quasi-satellite guidance resolving module 1 retrieves the position and speed information of the continuous 3 moments from the storage module 3, and reconstructs and fits the position and speed information of the current moment according to the retrieved information;
more preferably, the position and speed information at the current time is transmitted to the microprocessor module 2 and stored in the storage module 3.
Wherein, this system still includes:
an antenna 4 for receiving satellite signals,
an anti-interference module 5 connected to the antenna 4 for filtering the satellite signal,
the receiver 6 is used for receiving the satellite signals subjected to filtering processing, converting the satellite signals into navigation messages and transmitting the navigation messages to the storage module 3;
and the satellite guidance calculation module 7 is used for calling the navigation message in the storage module 3 and calculating the position and speed information at the current moment.
Wherein the receiver 6 comprises one or more of a GPS receiver, a Beidou receiver and a GLONASS receiver;
and the receivers respectively receive corresponding satellite signals.
The receiver 6 is further configured to obtain a star number corresponding to each satellite signal;
when the number of the satellites of each satellite signal is lower than a set value, the satellite signals are considered to be in a satellite loss state, and the quasi-satellite guidance resolving module 1 is controlled to start to work;
when at least one of the satellite numbers of each satellite signal is not lower than a set value, transmitting the satellite signal type information with the highest satellite number to a satellite guidance resolving module 7, and the satellite guidance resolving module 7 retrieves a navigation message corresponding to the satellite signal from the storage module 3 and resolves the position and speed information of the current moment according to the navigation message;
preferably, the position and speed information at the current time is also stored in the storage module 3 while being transferred to the microprocessor module 2.
Wherein the antenna 4 is in the shape of a sheet;
preferably, the antenna 4 is arranged on the outer wall of the aircraft.
Wherein, be provided with the holding tank 8 of indent on the outer wall of aircraft, antenna 4 is installed in holding tank 8, and be provided with guard flap 9 in antenna 4 outside.
When a satellite is lost, the quasi-satellite guidance resolving module 1 obtains the position and speed information of the aircraft at the current moment through the following formula (I) and the formula (II);
wherein the content of the first and second substances,
xi,yi,zirespectively representing coordinates of the aircraft in the directions of an x axis, a y axis and a z axis under a ground coordinate system at the ith moment;
the speeds of the aircraft at the ith moment in the directions of an x axis, a y axis and a z axis under a ground coordinate system respectively; and delta t is a satellite guidance period.
The invention also provides a satellite signal fitting reconstruction method applied to the high-dynamic aircraft, which comprises the following steps:
the satellite signals are received by means of an antenna 4,
the satellite signals are filtered by the anti-interference module 5,
receiving the satellite signal after filtering processing through a receiver 6, converting the satellite signal into a navigation message, and transmitting the navigation message to a storage module 3;
judging whether the satellite is lost or not, and fitting and reconstructing a satellite signal through a pseudo-satellite guidance resolving module 1 when the satellite is lost to obtain the position and speed information of the aircraft at the current moment;
when the satellite is not lost, the position and the speed information of the current moment are calculated by the satellite guidance calculating module 7,
overload required is calculated through the microprocessor module 2, and a guidance instruction is continuously provided for the aircraft in the guidance section.
The invention has the advantages that:
(1) the satellite signal fitting reconstruction system applied to the high-dynamic aircraft can improve the reliability of the aircraft, can still control the aircraft to stably fly under the condition of losing the satellite signals, and solves the problem of uncontrollable aircraft caused by satellite loss in the navigation process;
(2) the satellite signal fitting reconstruction system applied to the high-dynamic aircraft provided by the invention has the sheet-shaped antenna, so that the anti-interference capability and the anti-overload capability of the satellite signal fitting reconstruction system can be improved, and the probability of satellite loss is reduced;
drawings
FIG. 1 is a logic diagram of the overall structure of a satellite signal fitting reconstruction system applied to a high dynamic aircraft according to a preferred embodiment of the invention;
FIG. 2 is a schematic structural diagram of an antenna in a satellite signal fitting reconstruction system applied to a high-dynamic aircraft according to a preferred embodiment of the invention;
fig. 3 shows three ballistic curves in the experimental example.
The reference numbers illustrate:
1-quasi satellite guidance resolving module
2-microprocessor module
3-memory module
4-aerial
5-anti-interference module
6-receiver
7-satellite guidance resolving module
8-holding tank
9-protective baffle
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the satellite signal fitting reconstruction system applied to the high-dynamic aircraft, as shown in fig. 1, the system can automatically fit and reconstruct the satellite signal when a satellite is lost, and continuously provides a guidance instruction for the aircraft in a guidance stage. The invention can generate the aircraft position and speed information which can be solved by simulating the satellite signal, and transmit the information to a processor which needs the information for calculation, and for the processor which executes the guidance calculation, whether the satellite signal is lost or not is not known; therefore, for the processor, the system and the method of the invention fit and reconstruct the satellite signals, so that the processor is in a normal working state with the satellite signals in the whole guidance process.
The high overload in the invention means that the ratio of the resultant force of aerodynamic force and engine thrust acting on the aircraft to the gravity of the aircraft is 10000 or more; the high dynamic state means that the aircraft can carry out large-maneuvering flight, and the aircraft with a large normal acceleration (generally, the flight condition with the normal acceleration of more than 10g is called large-maneuvering flight, and g represents gravity acceleration) generally loses the measurement reference of sensitive equipment on the aircraft, such as a space gyroscope, an inertial gyroscope, a platform type laser guide head and the like, under the condition of high overload/high dynamic state, so that an accurate measurement result is difficult to obtain.
Preferably, as shown in fig. 1, the system comprises a pseudo-satellite guidance calculation module 1 and a microprocessor module 2, by means of which the pseudo-satellite guidance calculation module 1 provides the microprocessor module 2 with information on the position and speed of the aircraft at the current moment required for calculating the required overload, when a satellite is lost.
Specifically, the overload n is obtained by the following formula (three):
wherein x isr＝xT-xM，yr＝yT-yM，vrx＝vMx-vTx，vry＝vMy-vTy，
N represents a navigation ratio, and is generally selected to be 2-4;
v represents the relative speed of the aircraft and the target;
xTrepresenting the position of the target along the x-axis direction under the ground coordinate system;
yTrepresenting the position of the target along the y-axis direction under the ground coordinate system;
xMrepresenting the position of the aircraft along the x-axis direction under a ground coordinate system;
yMrepresenting the position of the aircraft along the y-axis direction under a ground coordinate system;
xrrepresenting the relative distance between the aircraft and the target along the x-axis direction under a ground coordinate system;
yrrepresenting the relative distance between the aircraft and the target along the y-axis direction under a ground coordinate system;
vMxrepresenting the speed of the aircraft along the x-axis direction under a ground coordinate system;
vMyrepresenting the speed of the aircraft in the direction of the y axis under a ground coordinate system;
vTxrepresenting the speed of the target along the x-axis direction under the ground coordinate system;
vTyrepresenting the speed of the target along the y-axis direction under the ground coordinate system;
vrxrepresenting the relative speed of the aircraft and the target along the x-axis direction under a ground coordinate system;
vryrepresenting the relative speed of the aircraft and the target along the y-axis direction under a ground coordinate system; regarding the ground coordinate system, the origin of coordinates is usually taken as the emission point, the x-axis direction is the direction from the emission point to the target point, and the y-axis direction is perpendicular to the x-axis and vertically upward; when the target is a static target, the speed of the target is 0, the position of the target is pre-filled on the aircraft, and the position and the speed of the aircraft are sensitively obtained by devices on the aircraft.
The microprocessor module 2 is a core part of the whole satellite guidance system, in the application, the microprocessor module 2 can select a high-performance 32-bit floating point DSP chip TMS320C6713 of TI company, 8 parallel processing units are arranged in the chip, the external clock input is selected to be 50MHz, and the PLL in the processor multiplies the frequency to 200 MHz.
In a preferred embodiment, the system further comprises a storage module 3, said storage module 3 being adapted to store position and speed information for 3 consecutive moments on the aircraft;
when receiving new position and speed information in the storage module 3, automatically covering the earliest position and speed information, so that only 3 groups of information are reserved in the storage module 3 for standby calling; a set of position and velocity information is resolved each time a satellite signal is received, referred to as a time instant, preferably 50ms apart.
Preferably, when a satellite is lost, the quasi-satellite guidance resolving module 1 retrieves the position and speed information of the continuous 3 moments from the storage module 3, and reconstructs and fits the position and speed information of the current moment according to the retrieved information;
more preferably, the position and speed information at the current moment is transmitted to the microprocessor module 2 and simultaneously stored in the storage module 3, the position and speed information is transmitted to the microprocessor module 2 so that the microprocessor module 2 can calculate overload, guidance control is provided for the aircraft, the position and speed information in the storage module 3 is updated in real time after being transmitted to the storage module 3, and the position and speed information at the next moment can be calculated conveniently by calling the information at any time.
In a preferred embodiment, as shown in fig. 1 and 2, the system further comprises:
an antenna 4 for receiving satellite signals,
the anti-interference module 5 is connected with the antenna 4 and used for filtering the satellite signals and eliminating noise interference in the satellite signals;
the receiver 6 is used for receiving the satellite signals subjected to filtering processing, converting the satellite signals into navigation messages and transmitting the navigation messages to the storage module 3; the navigation message is a message which is broadcasted to a user by a navigation satellite and used for describing the operation state parameters of the navigation satellite, and comprises system time, ephemeris, almanac, correction parameters of a satellite clock, health conditions of the navigation satellite, ionospheric delay model parameters and the like; the parameters of the navigation message provide time information for the user, and the position coordinate and the speed of the user can be calculated by utilizing the parameters of the navigation message;
and the satellite guidance calculation module 7 is used for calling the navigation message in the storage module 3 and calculating the position and the speed information of the aircraft at the current moment according to the navigation message.
Wherein, preferably, the receiver 6 comprises one or more of a GPS receiver, a beidou receiver and a GLONASS receiver; more preferably, the receiver 6 comprises a GPS receiver, a beidou receiver and a GLONASS receiver;
the receivers receive corresponding satellite signals respectively, namely the GPS receiver receives GPS satellite signals, the Beidou receiver receives Beidou satellite signals, and the GLONASS receiver receives GLONASS satellite signals.
Further preferably, the receiver 6 is further configured to obtain a star number corresponding to each satellite signal; the GPS receiver is used for acquiring the number of stars corresponding to the GPS satellite signals, the Beidou receiver is used for acquiring the number of stars corresponding to the Beidou satellite signals, and the GLONASS receiver is used for acquiring the number of stars corresponding to the GLONASS satellite signals;
when the number of the satellites of each satellite signal is lower than a set value, the satellite signals are considered to be in a satellite loss state, and the quasi-satellite guidance resolving module 1 is controlled to start to work; the set value can be set according to the actual working condition and can be 4-5, and the set value is preferably set to be 4 in the invention; the specific judgment process can be carried out in the receiver, and the star number information can also be gathered to the microprocessor module, and the microprocessor module uniformly judges and sends out a control instruction;
when at least one of the satellite numbers of the satellite signals is not lower than a set value, determining that no satellite is lost at the moment, transmitting the satellite signal type information with the highest satellite number to a satellite guidance resolving module 7, and the satellite guidance resolving module 7 retrieves a navigation message corresponding to the satellite signal from the storage module 3 and resolves the position and speed information at the current moment according to the navigation message; if the number of the stars of the Beidou satellite signals is the largest, the navigation message corresponding to the GPS satellite signals is called, and the position and speed information at the current moment is calculated according to the navigation message, and if the number of the stars of the Beidou satellite signals is the largest, the navigation message corresponding to the Beidou satellite signals is called, and the position and speed information at the current moment is calculated according to the navigation message.
Preferably, the position and speed information at the current moment is transmitted to the microprocessor module 2 and simultaneously stored in the storage module 3, the position and speed information is transmitted to the microprocessor module 2 so that the microprocessor module 2 can calculate overload, guidance control is provided for the aircraft, the position and speed information in the storage module 3 is updated in real time after being transmitted to the storage module 3, and the position and speed information at the next moment can be calculated conveniently by calling the information at any time.
In a preferred embodiment, as shown in fig. 2, the antenna 4 is in the shape of a sheet, for receiving satellite signals in case of high overload,
preferably, the antenna 4 is arranged on the outer wall of the aircraft,
more preferably, be provided with the holding tank 8 of indent on the outer wall of aircraft, antenna 4 is installed in holding tank 8, holding tank 8's degree of depth size is greater than the thickness size of antenna, and is provided with guard flap 9 in antenna 4 outside.
The protective baffle 9 is used for protecting the antenna 4 on the inner side of the aircraft in the acceleration stage, the antenna 4 is prevented from being damaged in the acceleration process, when the aircraft enters the guidance stage, the protective baffle 9 is separated from the aircraft, the antenna 4 is exposed outside, satellite signals can be conveniently received by the protective baffle 9 and the protective baffle 9 is prevented from shielding/interfering the satellite signals. Preferably, the antenna 4 is similar to a steering engine on an aircraft and needs to be started in the guidance stage, so that the protective baffle 9 and a baffle outside the steering engine of the aircraft can be synchronously controlled and synchronously separated.
The antenna 4 is in a sheet shape, that is, the antenna 4 is a sheet antenna or a sheet antenna, and the antenna may be a rectangular flat plate or an arc plate with a radian, and may be arranged according to the outline of the aircraft, in this application, the arc plate with the radian is preferred to match with the outline of the aircraft, and in the rolling process of the aircraft, the time for receiving the satellite signal by the arc plate antenna with the radian is longer, the signal strength is better,
preferably, the antenna 4 is provided with a plurality of pieces which are uniformly distributed around the aircraft, preferably, the antenna 4 is provided with 4 pieces, and in the application, the antenna 4 is preferably arranged along the circumferential direction of the rolling of the aircraft so as to ensure that the satellite signal receiving capability of the aircraft is not weakened when the aircraft rolls at a high speed.
Compared with a traditional conical antenna or annular antenna, the flaky antenna 4 in the application has the advantages that the occupied space area is small, the influence of external noise or interference is not easily caused, the integration level of the flaky antenna is higher, and the satellite signal receiving capacity is stronger.
Preferably, the sheet-shaped antenna 4 may be made of the same material as that of a conventional loop antenna or a cone antenna, and the thickness of the antenna 4 may be reduced as much as possible on the basis of ensuring stability and physical strength, so as to reduce cost;
preferably, the length of the antenna 4 is preferably 120-200 mm, the width of the antenna 4 is preferably 50-70 mm, and the thickness of the antenna is 4-8 mm.
In a preferred embodiment, the system further comprises a power supply module responsible for supplying power to the other modules, and the main functions of the power supply module include: ensuring that each module works under rated voltage and providing a specific reset signal for each module; and a protection circuit.
In a preferred embodiment, the data transmission between the receiver 6 and the memory module, and between the memory module and the modules such as the microprocessor module 3, the pseudo-satellite guidance calculating module 1, the satellite guidance calculating module 7, etc., is performed through a data bus, and the data bus integrates an a/D converter, a D/a converter, an 422/485/232 interface, and an SPI/SCI interface, so that information can be transmitted more quickly and with less loss.
In a preferred embodiment, when a satellite is lost, the quasi-satellite guidance resolving module 1 obtains the aircraft position and speed information at the current moment through the following formula (one) and formula (two);
wherein the content of the first and second substances,
xi,yi,zirespectively representing coordinates of the aircraft in the directions of an x axis, a y axis and a z axis under a ground coordinate system at the ith moment;
the speeds of the aircraft at the ith moment in the directions of an x axis, a y axis and a z axis under a ground coordinate system respectively; by analogy, xi-1,yi-1,zi-1Respectively are coordinates of the aircraft in the directions of an x axis, a y axis and a z axis under a ground coordinate system at the moment i-1;
the speed of the aircraft in the directions of an x axis, a y axis and a z axis under a ground coordinate system at the moment i-1 respectively, namely xi-1,yi-1,zi-1Together represent the position information of the aircraft at time i-1,
collectively representing speed information of the aircraft at time i-1; x is the number ofi-2,yi-2,zi-2At the i-2 nd time respectivelyCoordinates of the aircraft in the directions of an x axis, a y axis and a z axis under a ground coordinate system;
the speeds of the aircraft in the directions of an x axis, a y axis and a z axis under a ground coordinate system at the moment i-2 are respectively; and delta t is a satellite guidance period, and the general value of delta t is 50 ms.
The invention also provides a satellite signal fitting reconstruction method applied to a high-dynamic aircraft, which adopts the satellite signal fitting reconstruction system applied to the high-dynamic aircraft, and specifically comprises the following steps:
the satellite signals are received by means of an antenna 4,
the satellite signals are filtered by the anti-interference module 5,
receiving the satellite signal after filtering processing through a receiver 6, converting the satellite signal into a navigation message, and transmitting the navigation message to a storage module 3;
judging whether the satellite is lost or not, and fitting and reconstructing a satellite signal through a pseudo-satellite guidance resolving module 1 when the satellite is lost to obtain the position and speed information of the aircraft at the current moment;
when the satellite is not lost, the position and the speed information of the current moment are calculated by the satellite guidance calculating module 7,
overload required is calculated through the microprocessor module 2, and a guidance instruction is continuously provided for the aircraft in the guidance section.
Experimental example:
simulating the flight trajectory of the aircraft through an aircraft simulation system, in a simulation experiment, launching three aircraft of the same type to the same target position at the same launching site, wherein for each aircraft, the target point is within the range, the distance between the target point and the launching point is 2 kilometers, the rotating speed of the aircraft in the advancing process is controlled to be 6-10 r/s, the overload on each aircraft is more than 10000g, and the flight trajectory of each aircraft is mapped to obtain a graph 3;
in the simulation process, the position and speed information of the aircraft is calculated in real time through computer simulation, and is converted into satellite signals which are transmitted to a control system of the aircraft in the form of satellite signals.
The satellite signal fitting reconstruction system applied to the high-dynamic aircraft is installed in all the three aircrafts, receives satellite signals through the antenna as shown in fig. 2, performs filtering processing on the satellite signals through the anti-interference module, receives the satellite signals subjected to filtering processing through the receiver, converts the satellite signals into navigation messages and transmits the navigation messages to the storage module; judging whether the satellite is lost or not through a microprocessor module, and fitting and reconstructing a satellite signal through a pseudo-satellite guidance resolving module when the satellite is lost to obtain the position and speed information of the aircraft at the current moment; when the satellite is not lost, the position and speed information at the current moment is calculated by the satellite guidance calculating module, the overload required is calculated by the microprocessor module, and a guidance instruction is continuously provided for the aircraft in the guidance section.
Wherein, the first aircraft does not encounter the problem of losing stars during the flight process, and finally smoothly reaches the target point, which is represented by a trajectory curve of the lost stars in fig. 3;
the second aircraft loses the satellite signal within 5s from 36s to 41s after being transmitted, and finally still successfully reaches the target point, which is represented by a lost star 1 track curve in fig. 3;
the third aircraft loses satellite signals in an area 10000m-12000m away from the launching point, and finally still successfully reaches the target point, which is represented by a lost satellite 2 track curve in fig. 3.
The experiments show that the satellite signals lost in stages can still finally hit the target under the condition that the satellite signal fitting reconstruction system applied to the high-dynamic aircraft provided by the invention is installed.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (6)
1. A satellite signal fitting reconstruction system applied to a high-dynamic aircraft is characterized in that the system can automatically fit and reconstruct a satellite signal when a satellite is lost, and continuously provides a guidance instruction for the aircraft in a guidance stage;
the system comprises a quasi-satellite guidance resolving module (1) and a microprocessor module (2), wherein the quasi-satellite guidance resolving module (1) provides the microprocessor module (2) with the position and speed information of the aircraft at the current moment required by overload calculation when the satellite is lost;
the system also comprises a storage module (3), wherein the storage module (3) is used for storing the position and speed information of 3 continuous moments on the aircraft;
when a satellite is lost, the quasi-satellite guidance resolving module (1) retrieves the position and speed information of the continuous 3 moments from the storage module (3), and reconstructs and fits the position and speed information of the current moment according to the retrieved information;
the position and speed information at the current moment is transmitted to the microprocessor module (2) and is also stored in the storage module (3);
when a satellite is lost, the quasi-satellite guidance resolving module (1) obtains the position and speed information of the aircraft at the current moment through the following formula (I) and the formula (II);
wherein the content of the first and second substances,
xi，yi，zirespectively, the aircraft is in the ground coordinate system at the ith momentCoordinates in the directions of the lower axis x, the y axis and the z axis;
the speeds of the aircraft at the ith moment in the directions of an x axis, a y axis and a z axis under a ground coordinate system respectively; and delta t is a satellite guidance period.
2. The system of claim 1,
the system further comprises:
an antenna (4) for receiving satellite signals,
an anti-interference module (5) connected with the antenna (4) and used for filtering the satellite signals,
the receiver (6) is used for receiving the satellite signals subjected to filtering processing, converting the satellite signals into navigation messages and transmitting the navigation messages to the storage module (3);
and the satellite guidance calculation module (7) is used for calling the navigation message in the storage module (3) and calculating the position and speed information at the current moment.
3. The system of claim 2,
the receiver (6) comprises one or more of a GPS receiver, a Beidou receiver and a GLONASS receiver;
and the receivers respectively receive corresponding satellite signals.
4. The system of claim 3,
the receiver (6) is also used for acquiring the corresponding star number of each satellite signal;
when the number of the satellites of each satellite signal is lower than a set value, the satellite signals are considered to be in a satellite loss state, and a quasi-satellite guidance resolving module (1) is controlled to start working;
when at least one of the satellite numbers of each satellite signal is not lower than a set value, transmitting the satellite signal type information with the highest satellite number to a satellite guidance resolving module (7), and the satellite guidance resolving module (7) retrieves a navigation message corresponding to the satellite signal from a storage module (3) and resolves the position and speed information of the current moment according to the navigation message;
the position and speed information of the current moment is transmitted to the microprocessor module (2) and is also stored in the storage module (3).
5. The system of claim 2,
the antenna (4) is in the shape of a sheet;
the antenna (4) is arranged on the outer wall of the aircraft.
6. The system of claim 5,
be provided with holding tank (8) of indent on the outer wall of aircraft, install antenna (4) in holding tank (8), and be provided with guard flap (9) in antenna (4) outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187333.4A CN111045045B (en) | 2018-10-12 | 2018-10-12 | Satellite signal fitting reconstruction system and method applied to high-dynamic aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187333.4A CN111045045B (en) | 2018-10-12 | 2018-10-12 | Satellite signal fitting reconstruction system and method applied to high-dynamic aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111045045A CN111045045A (en) | 2020-04-21 |
| CN111045045B true CN111045045B (en) | 2022-04-01 |
Family
ID=70229549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811187333.4A Active CN111045045B (en) | 2018-10-12 | 2018-10-12 | Satellite signal fitting reconstruction system and method applied to high-dynamic aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111045045B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111538043B (en) * | 2020-05-29 | 2022-07-12 | 国网浙江省电力有限公司检修分公司 | Method and device for eliminating non-through-view satellite in complex environment and electronic equipment |
| CN112652194A (en) * | 2020-10-19 | 2021-04-13 | 中电科芜湖通用航空产业技术研究院有限公司 | General aircraft comprehensive avionics system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105785415A (en) * | 2016-03-03 | 2016-07-20 | 北京航天控制仪器研究所 | Air trajectory prediction method of guided projectile |
| CN106019335A (en) * | 2016-07-01 | 2016-10-12 | 广东工业大学 | Slope bit synchronization method for satellite navigation signals |
| CN108169771A (en) * | 2017-08-31 | 2018-06-15 | 国科天成（北京）科技有限公司 | High dynamic satellite navigation receiver |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8593342B2 (en) * | 2009-03-11 | 2013-11-26 | CSR Technology Holdings Inc. | Utilizing SBAS signals to improve GNSS receiver performance |
| US9557742B2 (en) * | 2013-11-27 | 2017-01-31 | Aurora Flight Sciences Corporation | Autonomous cargo delivery system |
-
2018
- 2018-10-12 CN CN201811187333.4A patent/CN111045045B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105785415A (en) * | 2016-03-03 | 2016-07-20 | 北京航天控制仪器研究所 | Air trajectory prediction method of guided projectile |
| CN106019335A (en) * | 2016-07-01 | 2016-10-12 | 广东工业大学 | Slope bit synchronization method for satellite navigation signals |
| CN108169771A (en) * | 2017-08-31 | 2018-06-15 | 国科天成（北京）科技有限公司 | High dynamic satellite navigation receiver |
Non-Patent Citations (3)
| Title |
|---|
| An Assessment of the Precision and Accuracy of Altimetry Retrievals for a Monterey Bay GNSS-R Experiment;Jake Mashburn等;《IEEE JOURNAL OF SELECTED TOPICS IN APPLIED EARTH OBSERVATIONS AND REMOTE SENSING》;20161031;第9卷(第10期);全文 * |
| Frequency Acquisition and Tracking in High Dynamic Environments;Yu T.Su等;《IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY》;20001130;第49卷(第6期);全文 * |
| 高动态航天器复合定位异常处理方法;魏可惠等;《信息与电子工程》;20091031;第7卷(第5期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111045045A (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111045045B (en) | Satellite signal fitting reconstruction system and method applied to high-dynamic aircraft | |
| Colomina et al. | Towards a new paradigm for high-resolution low-cost photogrammetryand remote sensing | |
| CN108303995B (en) | Substation inspection unmanned aerial vehicle flight safety system and use method | |
| CN107298186B (en) | Method for keeping autonomous relative position of co-orbital satellite based on laser load | |
| US6484072B1 (en) | Embedded terrain awareness warning system for aircraft | |
| CN101332872A (en) | Multipurpose composite power unmanned air vehicle | |
| CN107861522A (en) | Unmanned target drone control system | |
| CN105807787B (en) | A kind of control method and device of unmanned vehicle | |
| CN108454883A (en) | A kind of power rises secondary rail control and reliably enters the orbit method and system | |
| CN111434586B (en) | Aircraft guidance control system | |
| CN111290002B (en) | Aircraft lateral deviation correction system applied to satellite signal unstable area | |
| CN111380405B (en) | Guidance control system of high-dynamic aircraft with strapdown seeker | |
| CN107111321A (en) | Control method, control device, flight control system and multi-rotor unmanned aerial vehicle | |
| CN114802819A (en) | Rocket terminal level off-orbit control method and device | |
| CN111361763B (en) | Composite range-extending aircraft capable of being applied to satellite signal unstable area | |
| CN208444201U (en) | The communication of supersonic speed unmanned plane ultra-viewing distance and safety control system | |
| CN108082438B (en) | Method and device for acquiring initial speed of unmanned aerial vehicle during release | |
| CN212658984U (en) | Ground antenna tracking system and real-time direction tracking system of aircraft | |
| CN207232391U (en) | A kind of low-altitude surveillance system based on Beidou satellite communication | |
| CN103885075B (en) | Satellite borne obscuration receiver quick positioning method based on satellite platform system | |
| JP7262845B2 (en) | Integrated guidance and control system with high load capacity | |
| CN107222723A (en) | A kind of UAV Video is superimposed total management system with AIS | |
| CN106598038B (en) | Disaster minimization control device and method for fixed wing unmanned aerial vehicle | |
| CN108469622A (en) | Satellite navigation data integrity detecting system based on adaptive threshold and method | |
| CN202550072U (en) | Satellite-communication-in-motion antenna control system containing 'compass signal-free input' mode |
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 |