CN111142561A - Vertical height guiding method of flight management system - Google Patents
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- CN111142561A CN111142561A CN201911356195.2A CN201911356195A CN111142561A CN 111142561 A CN111142561 A CN 111142561A CN 201911356195 A CN201911356195 A CN 201911356195A CN 111142561 A CN111142561 A CN 111142561A
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Abstract
The embodiment of the invention discloses a vertical height guiding method of a flight management system, which comprises the following steps: acquiring the current vertical height and the current track angle in real time; according to the expected track, acquiring the vertical height deviation of the current vertical height and the expected vertical height in real time, and the track angle deviation of the current track angle and the expected track angle; and when the vertical altitude deviation exceeds the altitude deviation range, guiding the vertical altitude according to the vertical altitude deviation and the flight path angle deviation, and guiding the airplane to return to the expected flight path. The embodiment of the invention solves the problem that the traditional navigation technology can not meet the requirement of the modern civil aviation development on airspace resources, can be directly applied to the realization of the vertical guidance function of a flight management system, improves the navigation and guidance precision of actual flight, and finally improves the whole airspace capacity on the premise of ensuring the safety.
Description
Technical Field
The present application relates to, but not limited to, the field of flight management guidance technologies, and in particular, to a method for guiding a vertical height of a flight management system.
Background
The continuous development of aviation requires larger and larger airspace capacity, and the urgency of optimally utilizing available airspace is highlighted.
In the traditional ground-based navigation mode, an airplane flies to a station or a background station along a ground-based navigation station by receiving a guide signal sent by ground-based navigation equipment to navigate, and in the traditional navigation mode, the route planning and the flight program design are greatly restricted by the layout of the ground navigation station and the type of the navigation equipment, and along with the improvement of the performance of airborne navigation equipment of an aircraft and the application of a satellite-based navigation technology, the traditional navigation technology cannot meet the requirements of the development of modern civil aviation on space resources.
Disclosure of Invention
In order to solve the above technical problems, embodiments of the present invention provide a vertical height guidance method for a flight management system, so as to solve the problem that the conventional navigation technology cannot meet the requirement of modern civil aviation development on air space resources.
The embodiment of the invention provides a vertical height guiding method of a flight management system, which comprises the following steps:
acquiring the current vertical height and the current track angle in real time;
according to the expected track, acquiring the vertical height deviation of the current vertical height and the expected vertical height in real time, and the track angle deviation of the current track angle and the expected track angle;
and when the vertical altitude deviation exceeds the altitude deviation range, guiding the vertical altitude according to the vertical altitude deviation and the flight path angle deviation, and guiding the airplane to return to the expected flight path.
Optionally, in the above vertical guiding method of the flight management system, the vertical altitude deviation exceeding the altitude deviation range means: the vertical height deviation is greater than the limit of the vertical airway performance limit VPPL.
Optionally, in the above vertical guidance method for a flight management system, the guiding the vertical height according to the vertical height deviation and the track angle deviation includes:
and taking the vertical altitude deviation and the flight path angle deviation as feedback variables, taking the current flight path angle of the airplane as an output control quantity to guide the vertical altitude, and guiding the airplane to return to the expected flight path.
Optionally, in the above vertical guidance method for a flight management system, the guiding the vertical height according to the vertical height deviation and the track angle deviation includes:
and guiding the vertical height of the aircraft track by adopting a vertical guiding model and corresponding boundary conditions, and guiding the aircraft to return to the expected track.
Optionally, in the vertical guidance method of the flight management system, the vertical guidance model is:
wherein, γcmdA track angle command sent for the flight management system;
γrefis the desired track angle;
tau is a regulating coefficient;
Δ H is the vertical altitude deviation of the current vertical altitude of the aircraft from the desired vertical altitude;
sgn (Δ H) is the sign of the vertical deviation of the airplane, the upward deviation is positive, and the downward deviation is negative;
ΔHinithe initial vertical height deviation when the guide starts to work;
delta gamma is the deviation of the current track angle and the expected track angle;
t is time.
Optionally, in the vertical guidance method of the flight management system, the boundary conditions of the vertical guidance model include: initial state and end state of pilot operation.
Alternatively, in the vertical guiding method of the flight management system described above,
the initial state of the guiding work is as follows: t is 0, Δ H is Δ Hini,γcmd＝γini；
The ending state of the guiding work is as follows: t is tend,ΔH＝0,γ＝γref；
Wherein, γiniThe initial track angle when the guide starts to work; and gamma is the actual track angle at the end time.
Optionally, in the above vertical guidance method for the flight management system, when the vertical height deviation exceeds the height deviation range, guiding the vertical height includes:
at Δ HiniAnd when the deviation is larger than the VPPL limit, by adopting the vertical guidance model and corresponding boundary conditions, taking the delta H and the delta gamma as feedback variables of the vertical guidance model, taking the current flight path angle of the airplane as an output control quantity, and continuously guiding the vertical height of the flight path of the airplane until the vertical height deviation obtained after guiding is zero.
The vertical height guiding method of the flight management system provided by the embodiment of the invention comprises the following steps: acquiring the current vertical height and the current track angle in real time; according to the expected track, acquiring the vertical height deviation of the current vertical height and the expected vertical height in real time, and the track angle deviation of the current track angle and the expected track angle; and when the vertical altitude deviation exceeds the altitude deviation range, guiding the vertical altitude according to the vertical altitude deviation and the flight path angle deviation, and guiding the airplane to return to the expected flight path. The vertical guidance mode provided by the invention supports the limitation of the vertical flight path of the airplane within a certain range at any time according to the airworthiness criterion and the requirement of a navigation management instruction in flight, and finally realizes that the vertical height is the vertical height of an expected flight path. The vertical height guidance mode in the embodiment of the invention can be directly applied to the realization of the vertical guidance function of the flight management system, improves the navigation and guidance precision of actual flight, and finally improves the capacity of the whole airspace on the premise of ensuring the safety.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a flow chart of a method for vertical height guidance of a flight management system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a flight path guided by a vertical height guidance method according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating adjustment coefficients versus track angle change speed during vertical height guidance according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The above background art has demonstrated that the conventional navigation technology cannot meet the demand of the modern civil aviation development for space resources. Therefore, the International Civil Aviation Organization (ICAO) introduces a new aviation operation concept on the basis of integrating the operational practices and technical standards of RNAV (Regional Area Navigation) and RNP (Required Navigation Performance) of each country: PBN (Performance Based Navigation). The embodiment of the invention constructs a vertical guidance law of a flight management system for making up for a plurality of defects of the traditional navigation on the basis of a PBN theoretical framework.
The following specific embodiments of the present invention may be combined, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 1 is a flowchart of a vertical height guidance method of a flight management system according to an embodiment of the present invention. The vertical height guiding method of the flight management system provided by the embodiment of the invention can comprise the following steps:
s110, acquiring the current vertical height and the current track angle in real time;
s120, acquiring the vertical height deviation between the current vertical height and the expected vertical height and the track angle deviation between the current track angle and the expected track angle in real time according to the expected track;
and S130, when the vertical altitude deviation exceeds the altitude deviation range, guiding the vertical altitude according to the vertical altitude deviation and the flight path angle deviation, and guiding the airplane to return to the expected flight path.
According to the embodiment of the invention, a feedback type vertical route guiding method is designed according to an expected route, the vertical height H of the current position of the airplane and the vertical height deviation delta H between the current position of the airplane and the expected position of the airplane and the angle deviation delta gamma between the current track angle FPA and the expected track angle FPA are used as feedback variables, and meanwhile, the current track angle of the airplane is used as an output control quantity, so that the airplane is guided to return to the expected track.
Assuming that the aircraft is flying along a certain desired track, the desired track angle is gammaref. The aircraft deviates from the expected track due to the error of a navigation system or the interference of gust in the flight process, and a new track angle gamma is generatediniAnd vertical height deviation Δ Hini。
Note that, in this vertical height deviation Δ HiniWhen the maximum vertical path Performance Limit (Δ H) is greater than the VPPL Limit, vertical altitude guidance of the aircraft is started, i.e., the Δ HiniFor initial vertical height deviation at the start of operation of the guides, gammainiIs the initial track angle at which the leader begins to operate.
In an implementation of guiding the vertical altitude, the vertical altitude of the aircraft track may be guided using a vertical guidance model and corresponding boundary conditions, and the aircraft is guided to return to the desired track.
Wherein, the vertical guide model is:
wherein, γcmdA track angle command issued for a Flight Management System (FMS); the track angle command can be sent to an autopilot or automatic flight control; indicating a required arrival track angle;
γrefis the desired track angle;
tau is a regulating coefficient; units of °/s or rad/s; the speed for adjusting the airplane to return to the expected track;
Δ H is the vertical altitude deviation of the current vertical altitude of the aircraft from the desired vertical altitude;
sgn (Δ H) is the sign of the vertical deviation of the airplane, the upward deviation is positive, and the downward deviation is negative;
ΔHinithe initial vertical height deviation when the guide starts to work;
delta gamma is the deviation of the current track angle and the expected track angle;
t is time.
The boundary mark condition of the vertical guide model comprises: initial state and end state of pilot operation.
The initial state of the guidance work is as follows: t is 0, Δ H is Δ Hini,γcmd＝γini；
The ending state of the guidance work is as follows: t is tend,ΔH＝0,γ＝γref；
Wherein, γiniThe initial track angle when the guide starts to work; and gamma is the actual track angle at the end time.
According to the vertical guidance model and the corresponding boundary conditions, the vertical height guidance method of the flight management system provided by the embodiment of the invention has the following specific steps:
at Δ HiniWhen the deviation is larger than the VPPL limit, the vertical guidance model and the corresponding boundary conditions are adopted, the delta H and the delta gamma are used as feedback variables of the vertical guidance model, the current flight path angle of the airplane is used as an output control quantity, and the vertical height of the flight path of the airplane is continuously and repeatedly guided until the vertical height deviation obtained after guidance is zero.
In order to improve the utilization rate of the airspace, the requirement of the airspace on the navigation precision of the aircraft is more and more strict. The embodiment of the invention is based on a PBN theoretical framework, and a vertical guide mode of a flight management system is constructed so as to realize the vertical position guide of an airplane.
The embodiment of the invention provides a performance-based vertical guidance mode of an airborne flight management system aiming at realizing vertical route guidance. The vertical guidance mode supports the vertical flight path of the airplane to be limited within a certain range at any time according to the airworthiness standard and the requirement of a navigation management instruction in flight, and finally the vertical height of the airplane is the vertical height of the expected flight path. The vertical height guidance mode in the embodiment of the invention can be directly applied to the realization of the vertical guidance function of the flight management system, improves the navigation and guidance precision of actual flight, and finally improves the capacity of the whole airspace on the premise of ensuring the safety.
By implanting the guidance method provided by the embodiment of the invention into the flight management system, the vertical flight path of the airplane can be limited, and the route guidance precision is obviously improved. And the capacity of a flight airspace is improved when the safety is ensured.
The embodiment of the invention realizes verification through MATLAB programming, and compiles a plurality of functional functions including airplane position calculation, acceleration and deceleration calculation, engine required thrust calculation, estimated arrival time calculation and the like based on a kinetic equation.
In order to verify the guidance method provided by the embodiment of the present invention, the embodiment of the present invention makes the following assumptions in the verification process:
1. ignoring engine transient behavior, assuming that the required thrust of the engine can be achieved in one time integration step;
2. neglecting the time of the gust affecting the airplane, and assuming that the new flight state of the airplane reaches in a time integration step after the airplane encounters the gust;
the guiding mode is implemented in three stages of climbing, cruising and descending of the airplane respectively.
Initially, the aircraft is flying along a desired route, and given the climb, cruise, and descent speeds, the track angle FPA may be calculated from the vertical profile. 30 seconds after the start of each phase, assuming the aircraft encounters gust disturbance, the vertical position has changed Δ H by 400ft, exceeding the VPPL limit, and the flight parameters before and after the aircraft encounters the disturbance are compared in table 1.
TABLE 1
Based on the disturbed flight status, vertical route guidance and time guidance start intervention, pulling the aircraft back on the desired route.
When the deviation delta H of the actual vertical position of the airplane and the expected vertical position is less than 1ft, the vertical navigation guidance stops and the time guidance starts to intervene, and after the FMS rapidly calculates a new EAS required to arrive, an accelerator command is sent to control the thrust of an engine so as to accelerate or decelerate the airplane to meet the RTA.
The verification result in the embodiment of the invention is as follows:
in this embodiment, the calculation result of the climbing stage is emphasized, and the cruising is similar to the climbing stage and will not be described again.
The accuracy of the arrival time was set to 10 s.
The required arrival time is 1200s, the aircraft is corrected through a guidance mode after being disturbed, and the simulated arrival time is 1209 s.
The verification result in the embodiment of the invention is as follows:
in this embodiment, the calculation result of the climbing stage is emphasized, and the cruising is similar to the climbing stage and will not be described again.
The accuracy of the arrival time was set to 10 s.
The required arrival time is 1200s, the aircraft is corrected through a guidance mode after being disturbed, and the simulated arrival time is 1209 s. Detailed results fig. 2 is a schematic view of a flight path guided by the vertical height guidance method in the embodiment of the present invention.
The above validation results were analyzed as follows:
1, adjustment factor τ analysis
By assigning different values to τ in the vertical altitude guidance mode and calculating the values respectively, it is found that the larger the value is, the faster the route is guided back to the desired route, that is, the faster the change of the track angle in the regression process is, as shown in fig. 3, which is a schematic diagram of the adjustment coefficient to the change speed of the track angle in the vertical altitude guidance process performed by the embodiment of the present invention. Thus, τ may also be referred to as a track angle adjustment factor.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A method of vertical height guidance for a flight management system, comprising:
acquiring the current vertical height and the current track angle in real time;
according to the expected track, acquiring the vertical height deviation of the current vertical height and the expected vertical height in real time, and the track angle deviation of the current track angle and the expected track angle;
and when the vertical altitude deviation exceeds the altitude deviation range, guiding the vertical altitude according to the vertical altitude deviation and the flight path angle deviation, and guiding the airplane to return to the expected flight path.
2. The vertical guidance method of a flight management system according to claim 1, wherein the vertical altitude deviation exceeds the altitude deviation range and is: the vertical height deviation is greater than the limit of the vertical airway performance limit VPPL.
3. The vertical guidance method of the flight management system according to claim 2, wherein the guidance of the vertical height according to the vertical height deviation and the track angle deviation comprises:
and taking the vertical altitude deviation and the flight path angle deviation as feedback variables, taking the current flight path angle of the airplane as an output control quantity to guide the vertical altitude, and guiding the airplane to return to the expected flight path.
4. The vertical guidance method of a flight management system according to claim 3, wherein the guidance of the vertical height according to the vertical height deviation and the track angle deviation comprises:
and guiding the vertical height of the aircraft track by adopting a vertical guiding model and corresponding boundary conditions, and guiding the aircraft to return to the expected track.
5. The vertical steering method of the flight management system of claim 4, wherein the vertical steering model is:
wherein, γcmdA track angle command sent for the flight management system;
γrefis the desired track angle;
tau is a regulating coefficient;
Δ H is the vertical altitude deviation of the current vertical altitude of the aircraft from the desired vertical altitude;
sgn (Δ H) is the sign of the vertical deviation of the airplane, the upward deviation is positive, and the downward deviation is negative;
ΔHinithe initial vertical height deviation when the guide starts to work;
delta gamma is the deviation of the current track angle and the expected track angle;
t is time.
6. The vertical height guidance method of a flight management system according to claim 5, wherein the boundary conditions of the vertical guidance model include: initial state and end state of pilot operation.
7. The vertical height guidance method of a flight management system according to claim 6,
the initial state of the guiding work is as follows: t is 0, Δ H is Δ Hini,γcmd＝γini；
The ending state of the guiding work is as follows: t is tend,ΔH＝0,γ＝γref；
Wherein, γiniThe initial track angle when the guide starts to work; and gamma is the actual track angle at the end time.
8. The method as claimed in claim 7, wherein the step of guiding the vertical height when the vertical height deviation exceeds the height deviation range is:
at Δ HiniIs greater than theDuring VPPL limiting, the vertical guidance model and the corresponding boundary conditions are adopted, the delta H and the delta gamma are used as feedback variables of the vertical guidance model, the current flight path angle of the airplane is used as an output control quantity, and the vertical height of the flight path of the airplane is continuously guided until the vertical height deviation obtained after guiding is zero.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112558478A (en) * | 2020-12-08 | 2021-03-26 | 中国商用飞机有限责任公司 | Height leveling function control method and system for civil aircraft autopilot |
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| US20170185083A1 (en) * | 2014-04-22 | 2017-06-29 | Safran Electronics & Defense | Method for guiding an aircraft |
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