CN111413717B - Satellite navigation-based digital aircraft landing system - Google Patents
Satellite navigation-based digital aircraft landing system Download PDFInfo
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- CN111413717B CN111413717B CN201911307292.2A CN201911307292A CN111413717B CN 111413717 B CN111413717 B CN 111413717B CN 201911307292 A CN201911307292 A CN 201911307292A CN 111413717 B CN111413717 B CN 111413717B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
Aiming at the weaknesses of the existing aircraft carrier landing guiding system technology in China, the navigation satellite receiver is arranged on the ship, a three-dimensional dynamic ship local coordinate system taking the plane of the ship deck as a reference plane is established, real-time attitude information of the ship deck relative to the three-dimensional dynamic ship coordinate system is acquired, ship navigation satellite coordinate information, the real-time attitude information of the ship deck, the coordinate conversion information and RTK differential information of a main reference station are provided for an approaching aircraft in real time, and then real-time relative positioning coordinate information and real-time flight attitude information of the aircraft relative to the ship in the three-dimensional dynamic ship coordinate system are obtained.
Description
Technical Field
The invention relates to an aircraft digital landing system based on satellite navigation, and belongs to the technical field of aircraft approach navigation positioning landing.
Background
In military strategy, aircraft carriers are regarded as core forces of naval force, as one of important values of the aircraft carriers, how to improve and enhance the automatic carrier guiding capability of the aircraft, especially the carrier guiding operation capability of carrier unmanned aerial vehicle at night and in severe weather is an important content of the technical development of the aircraft carriers.
At present, radar, photoelectricity and satellite are three main means of aircraft landing guiding technology. Radar technology is relatively mature, but landing guidance is limited in use under radio interference and silence conditions; the photoelectric technology is widely applied, but the environmental requirement is higher, and the landing guiding use effect is poor under the low visibility; satellite technology equipment is relatively simple, but relies heavily on space-based satellites, has poor signal integrity, and is susceptible to interference. At present, the Beidou satellite navigation system in China is gradually matured, and reliable guarantee is provided for a safe universal carrier landing guiding technology based on satellite navigation.
The technology of aircraft carrier landing has been studied in China since the 80 s of the last century and some articles have been published successively. However, in general, there are relatively few materials, and in particular, several key technologies are not disclosed, and the existing researches focus on radar guidance technology only, but are still in a starting state for the research of an aircraft landing guidance system and an aircraft-warship tactical information transmission system.
The first aircraft carrier in our country, liaoning, has been equipped with navy forces and with a fight 15 aircraft. It is known that the aircraft landing guiding system equipped with the aeronautical mother Liaoning adopts a technology of combining a laser range finder and a Beidou/GPS direction finding system. The laser range finder is arranged on the aircraft, the laser reflector is arranged at a specific position of the aircraft carrier, and when the aircraft approaches the aircraft carrier, the laser reflector on the aircraft carrier is irradiated by laser to obtain the distance from the aircraft carrier to the aircraft carrier. The Beidou/GPS direction finding system on the aircraft carrier can measure the movement direction of the aircraft carrier in real time and transmit the movement direction to the aircraft, and the direction finding system result on the aircraft is compared with the direction finding result on the ship so as to determine the landing direction of the aircraft.
The aircraft landing relates to the technical problems of precise dynamic positioning, orientation, speed measurement, attitude measurement and the like, and at present, the measurement technology based on satellite navigation has the capability of solving the technical problems, and the development and application of an automatic landing guiding system by using the Beidou/GPS technology are feasible. However, the carrier guiding system based on the navigation satellite is a system engineering comprehensively applying the technology, and at present, no unit in China has developed corresponding products.
The technical development in the information age is urgent to further explore the capability of realizing measurement and control guidance of carrier landing by using a relatively advanced technical theory, a relatively simpler technical method and a more economical mode, and further improving the combat capability of carriers. Currently, the general use in multiple fields is an important way for the development of aircrafts. Especially, realizing the universalization and quick connection of land-based and aircraft is a technical difficulty in the technical field of landing. JPALS in the united states developed two generalized versions of land and ship based at the same time. But the system is complex, the precision is low, the perfect switching between the land base and the ship base can not be realized, the hardware cost is increased by two times, and the weight of the aircraft is greatly increased.
Disclosure of Invention
In order to make up for the defects in the field, the invention provides the navigation satellite-based aircraft carrier digital landing system, which is used for adding bricks and tiles for the development of the national aircraft carrier landing system, improving the landing precision of the aircraft, realizing the digital full-automatic landing of the aircraft and simply realizing the land-based and ship-based switching.
The invention is realized by the following technical scheme:
the digital aircraft landing system based on the navigation satellite comprises a main system arranged on a ship and an auxiliary system arranged on an aircraft, wherein the main system and the auxiliary system both comprise a software system and a hardware system;
the hardware system of the main system comprises at least 3 ship GNSS base stations which are arranged on a ship deck and are not on the same straight line; the software system of the main system sets one of the GNSS reference stations of the ship as a main reference station;
the software system of the main system comprises a ship navigation positioning information acquisition module, a ship real-time attitude information acquisition module, a coordinate conversion module, a differential information acquisition module and an information transmitting and broadcasting module;
the ship navigation positioning information acquisition module is used for acquiring ship navigation satellite coordinate information based on single-point positioning information of the main reference station;
the ship real-time attitude information acquisition module forms a short baseline solution through the main reference station and the rest ship GNSS reference stations to carry out coordinate calculation so as to obtain real-time attitude information of a ship deck;
the coordinate conversion module establishes a three-dimensional ship dynamic coordinate system taking a ship deck plane as a reference plane, wherein a transverse axis and a longitudinal axis of the three-dimensional ship dynamic coordinate system are arranged on the deck plane or a plane determined by the transverse axis and the longitudinal axis of the three-dimensional ship dynamic coordinate system is always parallel to the deck plane, and a height axis of the three-dimensional ship dynamic coordinate system is always perpendicular to the deck plane; the positioning data reference of the coordinate origin of the three-dimensional ship dynamic coordinate system is based on ship navigation satellite coordinate information data;
the differential information acquisition module calculates coordinate conversion information between a navigation satellite coordinate system and a three-dimensional ship dynamic coordinate system in real time according to the ship navigation satellite coordinate information data;
the information transmitting module transmits the navigation satellite coordinate information of the ship, the real-time attitude information of the ship deck, the coordinate conversion information and RTK differential information of the main reference station in real time; the information transmitting and broadcasting module can transmit and broadcast in real time through the 5G communication module.
The hardware system of the auxiliary system comprises at least two GNSS receivers arranged on the aircraft; the soft part system of the auxiliary system comprises an aircraft positioning information acquisition module and a flight attitude information acquisition module, wherein the aircraft positioning information acquisition module receives the ship navigation satellite coordinate information, the real-time attitude information of a ship deck, the coordinate conversion information and RTK differential information of a main reference station, which are transmitted in real time by the information transmission module, through the GNSS receiver, converts the position information of the GNSS receiver into the three-dimensional ship dynamic coordinate system, and acquires the real-time relative positioning coordinate information of the GNSS receiver in the three-dimensional ship dynamic coordinate system; the aircraft attitude information acquisition module acquires real-time flight attitude information of the aircraft in the three-dimensional ship dynamic coordinate system through real-time relative positioning coordinate information of at least two GNSS receivers in the three-dimensional ship dynamic coordinate system;
in the three-dimensional dynamic coordinate system of the ship, the flight control system of the aircraft adjusts the relative positioning coordinate information and the real-time flight attitude information of the aircraft in a static mode of the dynamic-ship deck of the aircraft so as to enable the motion mode of the aircraft and the ship deck platform to be matched.
Preferably, a transverse axis of the three-dimensional ship dynamic coordinate system is arranged on the edge of the aircraft landing deck or the projection of a blocking rope on a landing runway on the ship deck, a longitudinal axis is arranged on the central line of the landing runway of the ship deck, a height axis is perpendicular to the longitudinal axis and the transverse axis and intersects with the longitudinal axis and the transverse axis at the origin of coordinates of the three-dimensional ship dynamic coordinate system, the coordinates of the origin of coordinates of the three-dimensional ship dynamic coordinate system are set as (0, 0), and real-time relative positioning coordinate information and real-time flight attitude information of the aircraft are displayed in a flight control system of the aircraft based on the coordinates.
Preferably, the GNSS satellite antennas of each of the ship GNSS reference stations are mounted on holders located at four corners of the ship deck.
Preferably, the aircraft positioning information acquisition module receives RTK differential information transmitted by a ship main reference station and performs differential calculation to obtain real-time positioning data of the aircraft with high precision; the flight attitude information acquisition module calculates real-time flight attitude information of the aircraft by using real-time relative positioning coordinate information of at least two GNSS receivers of the aircraft in the three-dimensional ship dynamic coordinate system, wherein the real-time flight attitude information comprises flight direction data and pitching angle data.
Preferably, the real-time relative positioning coordinate information of the aircraft comprises position coordinate data and speed data of the aircraft relative to a coordinate origin of a three-dimensional ship dynamic coordinate system, and the flight direction data of the aircraft comprises azimuth deviation data relative to the three-dimensional ship dynamic coordinate system; the azimuth deviation data refer to transverse deviation angle data of the aircraft relative to the longitudinal axis direction, and the pitch angle data refer to altitude axial angle data of the aircraft relative to the longitudinal axis direction; the position coordinate data refer to horizontal distance data and vertical height data of the aircraft relative to the coordinate origin of the three-dimensional ship dynamic coordinate system.
Preferably, the information transmitting module transmits the navigation satellite coordinate information of the ship, the real-time attitude information of the ship deck, the coordinate conversion information and the RTK differential information of the main reference station to an aircraft adjacent to the ship through a data communication link, and meanwhile, the aircraft transmits the relative positioning coordinate information and the real-time flight attitude information of the aircraft back to the ship through the data communication link, so that information interaction between the aircraft and the ship is realized. Preferably, the aircraft is a ship-borne piloted aircraft or an unmanned plane. The data communication link may be a 5G communication link.
Preferably, the transverse axis is the first arresting cable.
Preferably, the number of the ship GNSS reference stations is 4, and the ship GNSS reference stations are respectively arranged at the positions of four corners of the ship deck.
Preferably, the ship three-dimensional dynamic coordinate system is a gaussian projection coordinate system.
Compared with the prior art, the invention has the advantages that:
1. aiming at the weaknesses of the existing aircraft carrier landing guiding system technology in China, the aircraft digital landing system based on the navigation satellite establishes a three-dimensional ship dynamic coordinate system taking the plane of the ship deck as a reference plane, acquires real-time attitude information of the ship deck relative to the three-dimensional ship dynamic coordinate system, and transmits real-time ship navigation satellite coordinate information, real-time attitude information of the ship deck, real-time attitude information of the coordinate conversion information and RTK differential information of a main reference station to an approaching aircraft in real time, so that real-time relative positioning coordinate information and real-time flight attitude information of the aircraft relative to the ship deck in the three-dimensional ship dynamic coordinate system are obtained. The digital aircraft landing system based on the navigation satellite is combined with the traditional landing system, and a series of functions of navigation, collision avoidance, communication, approach, landing, flying and the like can be integrated into a whole to form a comprehensive landing guiding system;
2. the navigation satellite-based aircraft digitized landing system is a completely digitized system, has the advantages of high measurement precision, less application equipment, strong electromagnetic wave interference resistance, low cost and easy maintenance, and is suitable for running in all weather and bad weather;
3. the auxiliary system of the digital aircraft landing system based on the navigation satellite can be transplanted into a carrier-based unmanned aerial vehicle system, so that the air fight force of an aircraft carrier is further enhanced. Moreover, the technique can be easily applied to automatic landing guidance of aircraft at land-based airports, especially when extremely severe weather is present. In addition, if the navigation satellite system fails, the ground-based pseudo satellite positioning system can be used for replacing the navigation satellite system, so that similar navigation positioning service is provided for taking off and landing of the aircraft at an airport, and the reliability of automatic landing of a land-based airport is improved.
Drawings
FIG. 1 is a schematic diagram of the general scheme of an aircraft digital landing system based on navigation satellites of the present invention;
FIG. 2 is a schematic flow diagram of a navigation satellite based digital aircraft landing system according to the present invention.
The reference numerals in the figures are listed below: 1-a main system; 11-origin of coordinates; 12-the runway center line; 13-a ship GNSS base station; 131—a master reference station; 14-the software system of the host system;
2-an auxiliary system; 21—hardware system of auxiliary system; 211-a GNSS receiver;
3-an information transmitting and broadcasting module;
4-satellite.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
1-2, an aircraft digital landing system based on navigation satellites comprises a main system 1 arranged on a ship and an auxiliary system 2 arranged on an aircraft, wherein the main system 1 and the auxiliary system 2 comprise a software system and a hardware system; the hardware system of the main system 1 comprises at least 3 ship GNSS reference stations 13 which are arranged on a ship deck and are not on the same straight line; the software system of the main system 1 sets one of the ship GNSS reference stations 13 as a main reference station 131;
the software system of the main system 1 comprises a ship navigation positioning information acquisition module, a ship real-time attitude information acquisition module, a coordinate conversion module, a differential information acquisition module and an information transmitting and broadcasting module;
the ship navigation positioning information acquisition module is used for acquiring ship navigation satellite coordinate information based on single-point positioning information of the main reference station;
the ship real-time attitude information acquisition module forms a short baseline with the rest of the ship GNSS reference stations through the main reference station 131 to carry out coordinate calculation, and the main reference station 131 and the rest of the ship GNSS reference stations are not on the same straight line, so that the real-time attitude information of the ship deck can be obtained through the coordinate calculation; specifically, 4 GNSS reference stations may be set at the positions of the four corners of the ship deck, any one of the GNSS reference stations may be used as the main reference station 131, and once the main reference station 131 is determined, the main reference station 131 is also used as an RTK reference station for measuring the position of the aircraft, and the information transmitting module 3 may transmit the RTK information of the aircraft relative to the three-dimensional ship dynamic coordinate system to the aircraft. The other ship GNSS reference stations can obtain real-time dynamic data no matter the ship turns, advances, ascends or swings transversely or swings longitudinally, then forms a short base line with the main reference station to carry out coordinate calculation, forms a high-precision base line network, is convenient for establishing a three-dimensional ship dynamic coordinate system, obtains real-time attitude information of a ship deck, and improves the real-time dynamic measurement precision of the ship.
The coordinate conversion module establishes a three-dimensional ship dynamic coordinate system taking a ship deck plane as a reference plane, wherein a transverse axis and a longitudinal axis of the three-dimensional ship dynamic coordinate system are arranged on the deck plane or a plane determined by the transverse axis and the longitudinal axis of the three-dimensional ship dynamic coordinate system is always parallel to the deck plane, and a height axis of the three-dimensional ship dynamic coordinate system is always perpendicular to the deck plane; the positioning data reference of the coordinate origin 11 of the three-dimensional ship dynamic coordinate system is based on ship navigation satellite coordinate information data; that is, the coordinate reference of the positioning data of the three-dimensional ship dynamic coordinate system is based on the real-time single-point positioning result of the main reference station 131, and the conversion parameters between the navigation satellite coordinate system and the ship three-dimensional dynamic coordinate system can be calculated in real time. Preferably, a transverse axis of the three-dimensional ship dynamic coordinate system is arranged at a projection of a blocking rope on the ship deck or an edge of the deck, a longitudinal axis is arranged at a center line 12 of the ship deck, a height axis is perpendicular to the longitudinal axis and the transverse axis and intersects with the longitudinal axis and the transverse axis at a coordinate origin 11 of the three-dimensional ship dynamic coordinate system, coordinate values of coordinate origins of the three-dimensional ship dynamic coordinate system are set as (0, 0), and real-time relative positioning coordinate information and real-time flight attitude information of an aircraft are displayed in a flight control system of the aircraft based on the coordinate values.
The differential information acquisition module calculates coordinate conversion information between a navigation satellite coordinate system and a three-dimensional ship dynamic coordinate system in real time according to the ship navigation satellite coordinate information data;
the information transmitting module 3 can transmit the coordinate information of the ship navigation satellite, the real-time attitude information of the ship deck, the coordinate conversion information and the RTK differential information of the main reference station in real time through a 5G or 4G or other communication modules;
the hardware system 21 of the assistance system 2 comprises at least two GNSS receivers 211 arranged on board the aircraft;
the software system of the auxiliary system 2 comprises an aircraft positioning information acquisition module and a flight attitude information acquisition module, wherein the aircraft positioning information acquisition module receives the ship navigation satellite coordinate information, the real-time attitude information of a ship deck, the coordinate conversion information and RTK differential information of a main reference station, which are transmitted in real time by the information transmission module, through the GNSS receiver 211, converts the position information of the GNSS receiver 211 into the three-dimensional ship dynamic coordinate system, and acquires the real-time relative positioning coordinate information of the GNSS receiver in the three-dimensional ship dynamic coordinate system; and the aircraft attitude information obtaining module obtains real-time flight attitude information of the aircraft in the three-dimensional ship dynamic coordinate system through real-time relative positioning coordinate information of at least two GNSS receivers in the three-dimensional ship dynamic coordinate system.
In a three-dimensional dynamic coordinate system of the ship, a flight control system or a pilot of the aircraft adjusts relative positioning coordinate information and real-time flight attitude information of the aircraft in a dynamic-ship deck static mode of the aircraft so that the aircraft is matched with a motion mode of a ship deck platform. Particularly, in the standby and approach stages of the aircraft, namely when the aircraft approaches the ship, the control quantity of the pilot or the flight control system of the aircraft to the aircraft is greatly simplified, and the landing accuracy is improved. The whole process uses a digital measurement mode, has the advantages of high measurement precision, less application equipment, strong electromagnetic wave interference resistance, low cost and easy maintenance, ensures that the measurement precision of the aircraft on the horizontal plane and the vertical plane relative to the ship deck can reach the centimeter level, and is suitable for all-weather operation and severe weather operation. The digital aircraft landing system based on the navigation satellite is combined with the traditional landing system, and a series of functions of navigation, collision avoidance, communication, approach, landing, flying and the like can be integrated to form the comprehensive landing guiding system.
Preferably, the GNSS satellite antenna of each ship GNSS reference station is arranged on a cradle head arranged at four corners of the deck, so that the GNSS satellite antenna is kept in a horizontal state all the time, and accuracy and effectiveness of observation data are ensured.
Preferably, the aircraft positioning information obtaining module receives RTK differential information sent by the ship main reference station 131 and performs differential calculation to obtain real-time positioning data of the aircraft with high precision; the flight attitude information acquisition module calculates real-time flight attitude information of the aircraft by using real-time relative positioning coordinate information of at least two aircraft GNSS receivers 211 in the three-dimensional ship dynamic coordinate system, wherein the real-time flight attitude information comprises flight direction data and pitching angle data.
The aircraft GNSS receivers 211 can all receive satellite navigation data, wherein the aircraft GNSS receiver at the front end has an RTK positioning function, can perform high-precision positioning according to the RTK differential information of the ship main reference station 131 to obtain the relative positioning information of the aircraft, and simultaneously perform real-time measurement and calculation on the aircraft satellite navigation data received by the two aircraft GNSS receivers 211 to obtain real-time flight attitude information of the aircraft, wherein the real-time flight attitude information comprises flight direction data and pitching angle data. The real-time relative positioning information, the flight direction data and the pitching angle data of the aircraft are in a three-dimensional ship dynamic coordinate system, so that a pilot or a flight control system can rapidly adjust the flight speed, the flight direction and the flight attitude of the aircraft according to the data, and the relative synchronous flight attitude of the aircraft relative to the ship can be adjusted under the dynamic-static mode of the aircraft relative to the static ship.
Preferably, the real-time relative positioning coordinate information of the aircraft comprises position coordinate data and speed data of the aircraft relative to a ship three-dimensional ship dynamic coordinate system coordinate origin 11, and the aircraft flight direction data comprises azimuth deviation data relative to the ship three-dimensional ship dynamic coordinate system; the azimuth deviation data refer to transverse deviation angle data of the aircraft relative to the longitudinal axis direction, and the pitch angle data refer to altitude axial angle data of the aircraft relative to the longitudinal axis direction.
Preferably, the information transmitting module transmits the navigation satellite coordinate information of the ship, the real-time attitude information of the ship deck, the coordinate conversion information and the RTK differential information of the main reference station to an aircraft adjacent to the ship through a data communication link, and meanwhile, the aircraft transmits the relative positioning coordinate information and the real-time flight attitude information of the aircraft back to the ship through the data communication link, so that information interaction between the aircraft and the ship is realized.
Preferably, the aircraft is a carrier-borne unmanned aerial vehicle or an unmanned aerial vehicle. The auxiliary system of the digital aircraft landing system based on the navigation satellite can be transplanted into a carrier-based unmanned aerial vehicle system, so that the air combat force of an aircraft carrier is further enhanced. The technology can be easily applied to the automatic landing guidance of the airplane at the land-based airport, especially when the navigation satellite system fails due to reasons, the ground-based pseudolite positioning system can be used for replacing the navigation satellite system, so that similar navigation positioning service is provided for the airplane taking off and landing at the airport, and the automatic landing reliability of the land-based airport is improved.
Preferably, the transverse axis is the first arresting cable.
Preferably, the ship three-dimensional dynamic coordinate system is a gaussian projection coordinate system.
It should be noted that the above-described embodiments provide a more complete understanding of the present invention to those skilled in the art, but do not limit the present invention in any way. Therefore, although the present invention has been described in detail with reference to the drawings and examples, it will be understood by those skilled in the art that the present invention may be modified or equivalent thereto, and in any event, all modifications and variations thereto may be made without departing from the spirit and scope of the present invention, and the scope of the present invention is to be covered by the appended claims.
Claims (8)
1. The digital aircraft landing system based on the navigation satellite is characterized by comprising a main system arranged on a ship and an auxiliary system arranged on an aircraft, wherein the main system and the auxiliary system both comprise a software system and a hardware system;
the hardware system of the main system comprises at least 3 ship GNSS reference stations which are arranged on a ship deck and are not on the same straight line; the software system of the main system sets one of the GNSS reference stations of the ship as a main reference station;
the software system of the main system comprises a ship navigation positioning information acquisition module, a ship real-time attitude information acquisition module, a coordinate conversion module, a differential information acquisition module and an information transmitting and broadcasting module;
the ship navigation positioning information acquisition module is used for acquiring ship navigation satellite coordinate information based on single-point positioning information of the main reference station;
the ship real-time attitude information acquisition module forms a short baseline solution through the main reference station and the rest ship GNSS reference stations to carry out coordinate calculation so as to obtain real-time attitude information of a ship deck;
the coordinate conversion module establishes a three-dimensional ship dynamic coordinate system taking a ship deck plane as a reference plane, wherein a transverse axis and a longitudinal axis of the three-dimensional ship dynamic coordinate system are arranged on the deck plane or a plane determined by the transverse axis and the longitudinal axis of the three-dimensional ship dynamic coordinate system is always parallel to the deck plane, and a height axis of the three-dimensional ship dynamic coordinate system is always perpendicular to the deck plane; the positioning data reference of the coordinate origin of the three-dimensional ship dynamic coordinate system is based on ship navigation satellite coordinate information data;
the differential information acquisition module calculates coordinate conversion information between a navigation satellite coordinate system and a three-dimensional ship dynamic coordinate system in real time according to the ship navigation satellite coordinate information data;
the information transmitting module transmits the navigation satellite coordinate information of the ship, the real-time attitude information of the ship deck, the coordinate conversion information and RTK differential information of the main reference station in real time;
the hardware system of the auxiliary system comprises at least two GNSS receivers arranged on the aircraft; the software system of the auxiliary system comprises an aircraft positioning information acquisition module and a flight attitude information acquisition module, wherein the aircraft positioning information acquisition module receives the ship navigation satellite coordinate information, the real-time attitude information of a ship deck, the coordinate conversion information and RTK differential information of a main reference station, which are transmitted in real time by the information transmission module, through the GNSS receiver, converts the position information of the GNSS receiver into the three-dimensional ship dynamic coordinate system, and acquires the real-time relative positioning coordinate information of the GNSS receiver in the three-dimensional ship dynamic coordinate system; the aircraft attitude information acquisition module acquires real-time flight attitude information of the aircraft in the three-dimensional ship dynamic coordinate system through real-time relative positioning coordinate information of at least two GNSS receivers in the three-dimensional ship dynamic coordinate system;
the method comprises the steps that a transverse axis of the three-dimensional ship dynamic coordinate system is arranged on the projection of a blocking rope on a ship deck of the ship landing runway, a longitudinal axis is arranged on a ship landing runway center line of the ship deck, a height axis is perpendicular to the longitudinal axis and the transverse axis and intersects with the longitudinal axis and the transverse axis at a coordinate origin of the three-dimensional ship dynamic coordinate system, coordinate values of the coordinate origin of the three-dimensional ship dynamic coordinate system are set to be (0, 0), and real-time relative positioning coordinate information and real-time flight attitude information of an aircraft are displayed in a flight control system of the aircraft based on the coordinate values; the transverse shaft is a first arresting rope;
in the three-dimensional dynamic coordinate system of the ship, the flight control system of the aircraft adjusts the relative positioning coordinate information and the real-time flight attitude information of the aircraft in a static mode of the dynamic-ship deck of the aircraft so as to enable the motion mode of the aircraft and the ship deck platform to be matched.
2. The navigation satellite based aircraft digital landing system of claim 1, wherein the GNSS satellite antenna of each of the vessel GNSS reference stations is mounted on a cradle head provided at four corner edges of the vessel deck.
3. The navigation satellite based aircraft digital landing system according to claim 1, wherein the aircraft positioning information acquisition module receives RTK differential information transmitted by a main reference station of a ship and performs differential calculation to obtain real-time positioning data of the aircraft with high precision; the flight attitude information acquisition module calculates real-time flight attitude information of the aircraft by using real-time relative positioning coordinate information of at least two aircraft GNSS receivers in the three-dimensional ship dynamic coordinate system, wherein the real-time flight attitude information comprises flight direction data and pitching angle data.
4. The navigation satellite based aircraft digital landing system of claim 3, wherein the real-time relative positioning coordinate information of the aircraft comprises position coordinate data and velocity data of the aircraft relative to a three-dimensional ship dynamic coordinate system coordinate origin, and the direction of flight data of the aircraft comprises azimuth deviation data relative to the three-dimensional ship dynamic coordinate system; the azimuth deviation data refer to transverse deviation angle data of the aircraft relative to the longitudinal axis direction, and the pitch angle data refer to altitude axial angle data of the aircraft relative to the longitudinal axis direction; the position coordinate data refer to horizontal distance data and vertical height data of the aircraft relative to the coordinate origin of the three-dimensional ship dynamic coordinate system.
5. The navigation satellite based digital aircraft landing system according to claim 4, wherein the information transmitting module transmits the navigation satellite coordinate information of the ship, the real-time attitude information of the ship deck, the coordinate conversion information and the RTK differential information of the main reference station to an aircraft adjacent to the ship through a data communication link, and simultaneously the aircraft transmits the relative positioning coordinate information and the real-time flight attitude information of the aircraft back to the ship through the data communication link, so that information interaction between the aircraft and the ship is realized.
6. The navigation satellite based digital aircraft landing system of any of claims 1-4, wherein the aircraft is a manned aircraft or a drone.
7. The navigation satellite based aircraft digital landing system of claim 1, wherein the number of the ship GNSS reference stations is 4, and the GNSS reference stations are respectively disposed at four corners of the ship deck.
8. The navigation satellite based aircraft digital landing system of claim 1, wherein the ship three-dimensional dynamic coordinate system is a gaussian projection coordinate system.
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