CN111665508B - Helicopter-mounted terrain following and avoiding visual navigation system and navigation method - Google Patents
Helicopter-mounted terrain following and avoiding visual navigation system and navigation method Download PDFInfo
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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Abstract
The invention provides a helicopter-mounted terrain following and avoiding visual navigation system and a navigation method, wherein the helicopter-mounted terrain following and avoiding visual navigation system comprises: the system comprises an anti-collision radar system, an enemy threat detection system, an electronic geographic information system, a radio altimeter, a gas engine, a satellite positioning system, an inertial navigation system, a comprehensive display, a data processing computer and a full-authority electronic transmission flight control system. The helicopter-mounted terrain following and avoiding visual navigation system and the navigation method provided by the invention have the advantages that the space three-dimensional trajectory planning is reduced to the two-dimensional trajectory planning, so that the calculation complexity is obviously reduced, the speed of the trajectory planning is increased, and the navigation real-time requirement is met.
Description
Technical Field
The invention belongs to the technical field of aerospace navigation, and particularly relates to a helicopter-mounted terrain following and avoiding visual navigation system and a navigation method.
Background
In the field of modern aerospace, navigation is an important technology, and the flight trajectory of a helicopter in the air is planned in real time through navigation, so that the helicopter can successfully reach a target end point from a starting point. In recent years, the demand of helicopters for low-altitude flight is more and more important, and with the continuous development of electronic technology, geographic information and air defense technology, the low-altitude flight technology of helicopters has become military technology and tactical means. In the prior art, when navigating a helicopter, a spatial three-dimensional trajectory navigation planning method is mainly adopted, specifically, assuming that a current point of the helicopter in space is a point a, grid points adjacent to the point a need to be determined first, and in a three-dimensional space, the number of the adjacent grid points is 26, so that path differences between the point a and the 26 adjacent grid points need to be compared, thereby determining an optimal grid point among the 26 adjacent grid points, assuming that the optimal grid point is a grid point B, and further determining a navigation direction in which the helicopter needs to fly from the current point a to the grid point B.
The helicopter three-dimensional space navigation method has the following problems: because the track needs to be searched in the three-dimensional space, the calculation process is complex, long time is needed, and the requirement on navigation real-time performance cannot be met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a helicopter-mounted terrain following and avoiding visual navigation system and a navigation method, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a helicopter-mounted terrain following and avoiding visual navigation system, which comprises: the system comprises an anti-collision radar system, an enemy threat detection system, an electronic geographic information system, a radio altimeter, an atmospheric machine, a satellite positioning system, an inertial navigation system, a comprehensive display, a data processing computer and a full-authority electronic transmission flight control system;
the output ends of the anti-collision radar system, the enemy threat detection system, the electronic geographic information system, the radio altimeter, the atmospheric machine, the satellite positioning system and the inertial navigation system are all connected with the input end of the data processing computer; the full-authority electric transmission flight control system is provided with a manual control mode and an automatic control mode, and in the manual control mode, the output end of the data processing computer is connected with the comprehensive display to display a navigation picture on the comprehensive display, so that the full-authority electric transmission flight control system is manually controlled by manually operating the handle controller, and the flight attitude of the helicopter body is manually controlled by the full-authority electric transmission flight control system; in an automatic control mode, a control instruction output end of the data processing computer is directly connected with the full-authority fly-by-wire system, and the flight attitude of the helicopter is automatically controlled through the full-authority fly-by-wire system.
Preferably, the satellite positioning system is a Beidou satellite positioning system and/or a GPS satellite positioning system.
The invention also provides a navigation method based on the helicopter-mounted terrain following and avoiding visual navigation system, which comprises the following steps:
step 1, determining a three-dimensional planning space corresponding to a helicopter low-altitude flight task; determining a rasterized digital elevation map corresponding to the three-dimensional planning space; the rasterized digital elevation map is a map used for representing terrain attributes corresponding to a three-dimensional planning space, wherein grid position information of each grid is as follows: (x) 0 ,y 0 ,z 0 ) (ii) a Wherein x is 0 Representing grid longitude data; y is 0 Representing grid latitude data; z is a radical of formula 0 Representing grid elevation data;
step 2, analyzing the actual situation of the three-dimensional planning space by combining with a flight mission, and determining barrier information and enemy threat information of the three-dimensional planning space; storing the obstacle information into an obstacle database; storing the enemy threat information into an enemy threat database;
step 3, marking the obstacle information and the enemy threat information determined in the step 2 into the digital elevation map established in the step 1 to obtain a processed digital elevation map;
step 4, obtaining a two-dimensional map according to the processed digital elevation map determined in the step 3; wherein the two-dimensional map is a grid-form map, and each grid position passes through grid longitude data x 0 And grid latitude data y 0 Representing; meanwhile, each grid is also corresponding to grid elevation data z 0 ；
Step 5, performing initial planning on the flight path of the helicopter to obtain a basic flight path based on the low-altitude flight mission of the helicopter and the two-dimensional map; the basic track is a track which meets the low-altitude flight task of the helicopter and avoids all barrier information and all enemy threat information which are identified in the two-dimensional map; the basic track is formed by connecting n track points which are sequentially arranged according to the flight direction; sequentially representing the n flight path points according to the flight direction as follows: course point P 1 ,P 2 ,...,P n (ii) a Wherein, the track point P 1 Is the starting point of flight; course point P n Is the flight terminal point; course point P 2 ,...,P n-1 Is a track middle point;
step 6, simultaneously carrying out flying by the helicopter by using an anti-collision radar system, an enemy threat detection system, an electronic geographic information system, a radio altimeter, a gas engine, a satellite positioning system, an inertial navigation system, a comprehensive display, a data processing computer and a full-authority electronic transmission flight control system, and when the helicopter flies to any current track point P i Then, wherein i =1, 2.. And n, the following method is adopted for planning the flight path so as to determine the flight direction;
step 6.1, the anti-collision radar system detects and identifies whether obstacles exist in a set range in front of the flight of the helicopter in real time, and if so, the detected obstacle information is sent to the data processing computer in real time; the enemy threat detection system detects and identifies whether enemy threats exist in a set range in front of the flight of the helicopter in real time, and if so, sends detected enemy threat information to the data processing computer in real time;
meanwhile, the radio altimeter measures real-time real altitude data from the helicopter to the ground in real time and sends the real-time real altitude data to the data processing computer in real time;
meanwhile, the atmospheric machine detects the atmospheric parameters of the flight area in real time and sends the atmospheric parameters to the data processing computer in real time;
meanwhile, the satellite positioning system detects the current longitude and latitude data of the helicopter in real time and sends the current longitude and latitude data to the data processing computer in real time;
meanwhile, the inertial navigation system detects the current course, attitude and flying speed data of the helicopter in real time and sends the current course, attitude and flying speed data of the helicopter to the data processing computer in real time;
step 6.2, if the data processing computer receives the obstacle information detected by the anti-collision radar system, the data processing computer judges whether the obstacle information detected in real time is stored in the obstacle database, and if so, the step 6.3 is executed; if not, storing the detected obstacle information into the obstacle database, and simultaneously identifying the new obstacle information detected in real time to the two-dimensional map determined in the step 4 to obtain an updated two-dimensional map; then step 6.4 is executed;
if the data processing computer receives the enemy threat information detected by the enemy threat detection system, the data processing computer judges whether the enemy threat information detected in real time is stored in the enemy threat database, and if so, the step 6.3 is executed; if not, storing the detected enemy threat information into the enemy threat database, and meanwhile, identifying the new enemy threat information detected in real time to the two-dimensional map determined in the step 4 to obtain an updated two-dimensional map; then step 6.4 is executed;
step 6.3, theThe data processing computer judges the current track point P i Whether the terminal is a flight terminal or not, if so, ending the navigation process; if not, making i = i +1, and returning to step 6.1;
step 6.4, the data processing computer calls a dynamic track planning module to carry out dynamic track planning, and the method specifically comprises the following steps: the data processing computer comprehensively analyzes the detected barrier and/or the detected enemy threat, the real-time real altitude data, the atmospheric parameters, the current longitude and latitude data and the current heading, attitude and flight speed data of the helicopter obtained in the step 6.1, and determines a safety basic course point closest to the detected barrier and/or the detected enemy threat as a dynamic track planning terminal point; at the same time, with the current course point P i Planning a starting point P for a dynamic track i (ii) a Setting the dynamic track planning terminal point as P j ；
And 6.5, the three-dimensional coordinates of the dynamic track planning starting point are as follows: p i (x i ,y i ,z i ) Wherein x is i Planning a starting point P for a dynamic track i Longitude data of (a); y is i Planning a starting point P for a dynamic track i (ii) latitude data of; z is a radical of formula i Planning a starting point P for a dynamic track i Altitude data in the air;
planning dynamic flight path starting point P i (x i ,y i ,z i ) Projecting the map to the updated two-dimensional map obtained in the step 6.2, and setting the projection point of the map on the updated two-dimensional map as P i ', projection point P i ' the longitude data is still x i The latitude data is still y i Projection point P i ' the terrain elevation data of the terrain is z i '；
In the updated two-dimensional map, the projected point P i ' there are 8 adjacent grid points, and for each adjacent grid point, the following steps 6.5.1-6.5.4 are performed to determine whether the adjacent grid point is an obstacle point:
step 6.5.1, assume neighboring grid points are Q k (x k ,y k ) Wherein x is k Is the data of the longitude of the adjacent grid points,y k for adjacent grid point latitude data, adjacent grid point Q k Expressed as z, of terrain elevation data k ；
Step 6.5.2, calculate projection point P using the following equation i ' to adjacent grid point Q k Climbing height H of (a):
H＝z k -z i '
according to the projection point P i ' with adjacent grid point Q k To obtain a projected point P i ' to adjacent grid point Q k The horizontal distance S of;
obtaining a starting point P of the helicopter in the dynamic track planning through an inertial navigation system i The horizontal flying speed v of the airplane;
step 6.5.3, calculating the helicopter secondary projection point P by adopting the following formula i ' to adjacent grid point Q k Actual climbing rate of
Step 6.5.4, obtaining the maximum climbing rate gamma which can be reached by the helicopter at the current level flight speed v Max (ii) a Comparing actual climbing rates
And a maximum climb rate Γ Max If actual climbing rate
A maximum climbing rate gamma of less than or equal to Max Then represents the adjacent grid point Q k Is a free point; on the contrary, if the actual climbing rate is higher than the rated value
Greater than the maximum climbing rate gamma Max Then represents the adjacent grid point Q k Is an obstacle point;
step 6.6, therefore, all the adjacent grid points identified in step 6.5 as free points are added to the free point set, assuming that there are a total of d free points in the free point set, which are: q 11 ,Q 12 ,...,Q 1d For any free point, denoted Q 1f Wherein f =1,2.. And d, each of which is calculated by the following formula 1f Value of f (Q) 1f )：
f(Q 1f )＝g(Q 1f )+h(Q 1f )
Wherein:
g(Q 1f ) Representing starting points P planned from a dynamic track i To a free point Q 1f The actual cost of (c);
h(Q 1f ) Representing the free point Q 1f To dynamic track planning terminal point P j An estimated value of (d);
because there are d free points in total, d estimated values are obtained through calculation; among the d estimated values, the free point corresponding to the minimum estimated value is identified and set as the free point Q 1min (ii) a Free point Q 1min Is a topographic data point of a two-dimensional map with longitude data x 1min Latitude data of y 1min The terrain elevation data is z 1min (ii) a Terrain following clearance h 0 Is a known set value; therefore, according to the free point Q 1min Determining the corresponding space planning track point P 0 (x 0 ,y 0 ,z 0 ) Comprises the following steps:
x 0 ＝x 1min
y 0 ＝y 1min
z 0 ＝z 1min +h 0
space planning track point P 0 The navigation path points are obtained by the dynamic navigation path planning; thus, the helicopter follows the current course point P i Planning track point P to space 0 Flying while at the same time, at track point P i Dynamic track planning as the starting point of the dynamic track planning of step 6.5The end point is still P j Planning track point P in space 0 The next track point is planned, the dynamic track planning is continuously carried out in such a way, and finally, the dynamic track planning terminal point P is reached j (ii) a Due to dynamic track planning terminal point P j A basic track point, so that when the helicopter reaches the dynamic track planning end point P j And then returning to the step 6.1, continuing to fly along the basic flight path, simultaneously detecting a new obstacle and a new enemy threat, and when the new obstacle and the new enemy threat are detected, restarting the dynamic flight path planning algorithm, and continuously circulating until the flight reaches a flight end point P n 。
Preferably, in step 6.6, h (Q) 1f ) Is a free point Q 1f To dynamic track planning end point P j The distance of (d); the distance is the manhattan distance.
Preferably, the method further comprises the following steps:
step 7, after the data processing computer obtains a flight target point at the next moment through a dynamic trajectory planning algorithm, if the full-authority electric transmission flight control system starts a manual control mode, the data processing computer outputs navigation picture data with a navigation indication direction to a comprehensive display; a pilot manually controls the full-authority electric transmission flight control system by observing the comprehensive display and manually operating the handle controller, and the flight attitude of the helicopter is manually controlled by the full-authority electric transmission flight control system;
and if the full-authority fly-by-wire system starts an automatic control mode, the data processing computer directly generates a control instruction and directly outputs the control instruction to the full-authority fly-by-wire system, and the flight attitude of the helicopter is automatically controlled through the full-authority fly-by-wire system.
The helicopter-mounted terrain following and avoiding visual navigation system and the navigation method provided by the invention have the following advantages:
the helicopter-mounted terrain following and avoiding visual navigation system and the navigation method provided by the invention have the advantages that the space three-dimensional trajectory planning is reduced to the two-dimensional trajectory planning, so that the calculation complexity is obviously reduced, the speed of the trajectory planning is increased, and the navigation real-time requirement is met.
Drawings
FIG. 1 is a schematic structural diagram of a helicopter-mounted terrain following and avoidance visualization navigation system provided by the present invention;
fig. 2 is a relational diagram of positions of adjacent grid points and projection points in the two-dimensional map provided by the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a visual navigation system for helicopter-mounted terrain following and terrain avoidance, in particular to a visual step navigation system for realizing terrain following and terrain avoidance during low-altitude flight of a helicopter, which comprises the following components in reference to figure 1: the system comprises an anti-collision radar system, an enemy threat detection system, an electronic geographic information system, a radio altimeter, an atmospheric machine, a satellite positioning system, an inertial navigation system, a comprehensive display, a data processing computer and a full-authority electronic transmission flight control system;
the output ends of the anti-collision radar system, the enemy threat detection system, the electronic geographic information system, the radio altimeter, the atmospheric machine, the satellite positioning system and the inertial navigation system are all connected with the input end of the data processing computer; the full-authority electric transmission flight control system is provided with a manual control mode and an automatic control mode, and in the manual control mode, the output end of the data processing computer is connected with the comprehensive display to display a navigation picture on the comprehensive display, so that the full-authority electric transmission flight control system is manually controlled by manually operating the handle controller, and the flight attitude of the helicopter body is manually controlled by the full-authority electric transmission flight control system; in an automatic control mode, a control instruction output end of the data processing computer is directly connected with the full-authority fly-by-wire system, and the flight attitude of the helicopter is automatically controlled through the full-authority fly-by-wire system.
The invention provides a helicopter-mounted terrain following and avoiding visual navigation system, which has the functions of automatic terrain following, automatic terrain avoiding, automatic threat avoiding, anti-collision warning, automatic avoiding and visual real-time navigation, and can achieve the following performance indexes:
a) Terrain following clearance: no greater than 20 meters;
b) Terrain avoidance distance: no greater than 50 meters;
c) Isolated obstacle warning distance: not less than 2 kilometers;
d) High-voltage line warning distance: not less than 1 km;
e) Reliability: not less than 0.98.
The invention provides a helicopter-mounted terrain following and avoiding visual navigation system.A data processing computer acquires data uploaded by sensors such as an anti-collision radar system, an enemy threat detection system, an electronic geographic information system, a radio altimeter, a satellite positioning system, an inertial navigation system, an atmospheric engine and the like in real time in the process of flying a helicopter along a basic flight path, so that a new obstacle and/or a new enemy threat which are not marked on a digital elevation map on a flight path can be detected, a data fusion technology and a flight control technology are comprehensively applied to obtain an optimal flight path point which is optimal at the current moment and can avoid the new obstacle and/or the new enemy threat, a flight path optimization control instruction is generated, and then the flight path optimization control instruction is sent to a full-authority electronic flight control system, or a visual navigation picture and a control instruction are provided for a pilot through a comprehensive display, the pilot manually controls the flight of the helicopter, and the effect of real-time navigation is realized.
The main functions of each functional module are as follows:
a) Anti-collision radar system: the system is used for detecting and identifying the terrain in a set range in front of the flight of the helicopter in real time so as to judge whether an obstacle exists or not;
b) Electronic geographic information system: the system comprises a high-precision digital elevation map used for providing a carrier mission area;
c) Radio altimeter: measuring real-time real height from the helicopter to the ground;
d) An atmospheric machine: the system is used for detecting atmospheric parameters of a flight area in real time;
e) The satellite positioning system can be a Beidou satellite positioning system and/or a GPS satellite positioning system and is used for detecting the current longitude and latitude data of the helicopter;
f) An inertial navigation system: the method is used for detecting the current heading, attitude and flight speed data of the helicopter in real time.
g) A data processing computer: and the system is used for processing the data acquired by each sensor, and resolving an optimal track point by adopting a dynamic real-time track planning algorithm when the track needs to be re-planned, so as to generate a control instruction.
h) Full authority fly-by-wire control system: and the system is used for controlling the flight attitude of the helicopter in real time according to a control instruction issued by the data processing computer.
i) And (3) comprehensive display: the visual navigation picture is used for displaying a visual navigation picture for a pilot, a two-dimensional/three-dimensional navigation view can be guided horizontally and vertically, a safe flight track (comprising a horizontal track and a vertical track) is predicted, and meanwhile, the state information of the aircraft and a real-time guiding instruction are displayed.
The performance index requirements of each functional module are as follows:
1. performance index requirements of the anti-collision radar system are as follows:
a) Working frequency band and bandwidth: ka wave band, bandwidth not less than 200MHz;
b) Wave velocity width of the antenna: no greater than 6 ° (azimuth) x 11 ° (pitch);
c) Antenna azimuth scanning: the range of +/-60 degrees and the speed of 25 +/-10 degrees/s;
d) Antenna pitching scanning: automatic mode, range-15 ° +10 °;
e) Action distance: for an overhead stranded wire with the diameter of more than or equal to 20mm (the height difference between a carrier and a target is not more than 60 meters) is not less than 2km, and for a chimney with the diameter of more than or equal to 1m (the height difference between the carrier and the target is not more than 60 meters) is not less than 4km;
f) Continuous working time: not less than 8h.
2. The performance index requirements of the electronic geographic information system are as follows:
a) The number of loaded drawings is more than or equal to 100;
b) The number of space entities which can be simultaneously drawn is more than or equal to 100000;
c) The corresponding time of data query is less than or equal to 5 seconds;
d) The display refresh rate is more than or equal to 30 frames/second;
e) The maximum occupied memory of the system is less than 4GB;
f) The average frame rate of system operation is more than or equal to 30fps;
g) No obvious pause exists in the viewpoint transferring process in the scene;
h) The function response time corresponding to the UI operation is not more than 0.1s;
i) In the process of network data transmission, under the condition of not considering network delay, the time spent by software from data receiving, data analyzing to drawing and displaying is less than or equal to 0.5s;
j) The tile data loading speed reaches millisecond level.
3. Radio altimeter performance index requirements
a) Height measurement range: 0m to 1500m;
b) The working frequency is as follows: 4200 MHz-4400 MHz;
c) And (3) measuring the height precision:
less than or equal to 0.3m (the height H is not more than 50 m);
h (height H of 500m to 800 m) at most 2%;
less than or equal to 3 percent (the height H is 800m to 1500 m);
d) Response time: when the height is below 60m and the input signal suddenly changes by 10%, the response time of the output signal is not more than 0.1s;
e) And (3) adapting to the attitude angle: when the pitching and rolling attitude angles are not more than +/-40 degrees, the normal work can be realized;
f) The automatic power control function is provided;
4. big Dipper/GPS performance index requirement
a) Positioning accuracy (CEP): 30m;
b) Attitude accuracy (1 s): 0.1 degree;
c) Heading accuracy (1 s): 0.2 degrees;
d) East and north velocity accuracy (RMS): 0.5m/s.
5. Inertial navigation system performance index requirements
And modifying the terrain following/avoiding algorithm model according to the performance index of the inertial navigation system assembled by the aircraft without special requirements.
6. Performance index requirements of atmospheric machines
And (4) modifying the terrain following/avoiding algorithm model according to the performance index of the atmospheric machine assembled by the aircraft without special requirements.
The invention also provides a navigation method based on the helicopter-mounted terrain following and avoiding visual navigation system, which comprises the following steps:
step 1, determining a three-dimensional planning space corresponding to a low-altitude flight task of a helicopter; determining a rasterized digital elevation map corresponding to the three-dimensional planning space; the rasterized digital elevation map is a map used for representing terrain attributes corresponding to a three-dimensional planning space, wherein grid position information of each grid is as follows: (x) 0 ,y 0 ,z 0 ) (ii) a Wherein x is 0 Representing grid longitude data; y is 0 Representing grid latitude data; z is a radical of formula 0 Representing grid elevation data;
step 2, analyzing the actual situation of the three-dimensional planning space by combining with a flight mission, and determining barrier information and enemy threat information of the three-dimensional planning space; storing the obstacle information into an obstacle database; storing the enemy threat information into an enemy threat database; the obstacle information includes, but is not limited to, a geographical obstacle, an isolated obstacle, a high-voltage line, and the like.
Step 3, marking the obstacle information and the enemy threat information determined in the step 2 into the digital elevation map established in the step 1 to obtain a processed digital elevation map; specifically, in the processed digital elevation map, the obstacle position and the influence range can be identified for the obstacle information; likewise, for enemy threat information, the location of the enemy threat and the scope of influence are identified.
Step 4, obtaining a two-dimensional map according to the processed digital elevation map determined in the step 3; wherein the two-dimensional map is a grid-form map, and each gridGrid position by grid longitude data x 0 And grid latitude data y 0 Represents; meanwhile, each grid is also corresponding to grid elevation data z 0 ；
Step 5, performing initial planning on the flight path of the helicopter to obtain a basic flight path based on the low-altitude flight mission of the helicopter and the two-dimensional map; the basic track is a track which meets the low-altitude flight task of the helicopter and avoids all barrier information and all enemy threat information which are identified in the two-dimensional map; the basic track is formed by connecting n track points which are sequentially arranged according to the flight direction; sequentially representing the n flight path points according to the flight direction as follows: course point P 1 ,P 2 ,...,P n (ii) a Wherein, the track point P 1 Is a flight starting point; course point P n Is the flight terminal point; course point P 2 ,...,P n-1 Is a track middle point;
wherein, the steps 1-5 are basic steps carried out before the helicopter flies. Starting from step 6, the actual flight of the helicopter is described.
Step 6, the helicopter simultaneously carries out flying by an anti-collision radar system, an enemy threat detection system, an electronic geographic information system, a radio altimeter, an atmospheric machine, a satellite positioning system, an inertial navigation system, a comprehensive display, a data processing computer and a full-authority electronic transmission flight control system, and when the helicopter flies to any current track point P i Wherein i =1, 2.. And n, the following method is adopted for flight path planning, so as to determine the flight direction;
step 6.1, the anti-collision radar system detects and identifies whether obstacles exist in a set range in front of the flight of the helicopter in real time, and if so, the detected obstacle information is sent to the data processing computer in real time; the enemy threat detection system detects and identifies whether enemy threats exist in a set range in front of the flight of the helicopter in real time, and if so, sends detected enemy threat information to the data processing computer in real time;
meanwhile, the radio altimeter measures real-time real altitude data from the helicopter to the ground in real time and sends the real-time real altitude data to the data processing computer in real time;
meanwhile, the atmospheric machine detects the atmospheric parameters of the flight area in real time and sends the atmospheric parameters to the data processing computer in real time;
meanwhile, a satellite positioning system detects the current longitude and latitude data of the helicopter in real time and sends the current longitude and latitude data to the data processing computer in real time;
meanwhile, the inertial navigation system detects the current course, attitude and flying speed data of the helicopter in real time and sends the current course, attitude and flying speed data of the helicopter to the data processing computer in real time;
step 6.2, if the data processing computer receives the obstacle information detected by the anti-collision radar system, the data processing computer judges whether the obstacle information detected in real time is stored in the obstacle database, if so, the obstacle information indicates that the obstacle is avoided when a basic flight path is generated, so that the basic flight path does not need to be changed, the helicopter can continuously fly forwards along the basic flight path, and therefore, the step 6.3 is executed; if not, the detected obstacle is a new obstacle, if the helicopter continues to fly along the basic track, the new obstacle can affect the normal flight of the helicopter, and at the moment, a dynamic track planning algorithm needs to be started, so that the detected obstacle information is stored in the obstacle database, and meanwhile, the new obstacle information detected in real time is identified to the two-dimensional map determined in the step 4, and an updated two-dimensional map is obtained; then step 6.4 is executed;
if the data processing computer receives the enemy threat information detected by the enemy threat detection system, the data processing computer judges whether the enemy threat information detected in real time is stored in the enemy threat database, and if yes, the step 6.3 is executed; if not, storing the detected enemy threat information into the enemy threat database, and meanwhile, identifying the new enemy threat information detected in real time to the two-dimensional map determined in the step (4) to obtain an updated two-dimensional map; then step 6.4 is executed; the processing idea of the enemy threat is the same as that of the obstacle, and is not described in detail herein.
Step 6.3, the data processing computer judges the current track point P i Whether the terminal is a flight terminal or not, if so, ending the navigation process; if not, making i = i +1, and returning to step 6.1;
step 6.4, the data processing computer calls a dynamic track planning module to carry out dynamic track planning, and the method specifically comprises the following steps: the data processing computer comprehensively analyzes the detected barrier and/or the detected enemy threat, the real-time real altitude data, the atmospheric parameters, the current longitude and latitude data and the current heading, attitude and flight speed data of the helicopter obtained in the step 6.1, and determines a safety basic course point closest to the detected barrier and/or the detected enemy threat as a dynamic track planning terminal point; at the same time, with the current course point P i Planning a starting point P for a dynamic track i (ii) a Setting the dynamic track planning terminal point as P j ；
And 6.5, the three-dimensional coordinates of the dynamic track planning starting point are as follows: p is i (x i ,y i ,z i ) Wherein x is i Planning a starting point P for a dynamic track i Longitude data of (a); y is i Planning a starting point P for a dynamic track i (ii) latitude data of; z is a radical of formula i Planning a starting point P for a dynamic track i Altitude data in the air;
planning dynamic track starting point P i (x i ,y i ,z i ) Projecting the image to the updated two-dimensional map obtained in the step 6.2, and setting the projection point of the image on the updated two-dimensional map as P i ', projection point P i ' the longitude data is still x i The latitude data is still y i Projection point P i ' the terrain elevation data of the terrain is z i '; wherein the terrain elevation data z i ' and z i The relationship of (1) is: z is a radical of i Minus z i A difference of' equal to the terrain following clearance h 0 。
In the updated two-dimensional map, the projected point P i ' there are 8 adjacent grid points, as shown in FIG. 2, with the center point being the projection point P i ', with a total of 8 adjacent grid points around it. For each adjacent grid point, the following steps 6.5.1-6.5.4 are performed to determine whether the adjacent grid point is an obstacle point:
step 6.5.1, assume adjacent grid points to be Q k (x k ,y k ) Wherein x is k For adjacent grid point longitude data, y k For adjacent grid point latitude data, adjacent grid point Q k Expressed as z, of terrain elevation data k ；
Step 6.5.2, calculate projection point P using the following equation i To adjacent grid point Q k Climbing height H of (a):
H＝z k -z i '
according to the projection point P i ' with adjacent grid point Q k To obtain a projected point P i To adjacent grid point Q k The horizontal distance S;
obtaining a starting point P of the helicopter in the dynamic track planning through an inertial navigation system i The horizontal flying speed v of the airplane;
step 6.5.3, calculating the helicopter secondary projection point P by adopting the following formula i ' to adjacent grid point Q k Actual rate of climb of
Step 6.5.4, obtaining the maximum climbing rate gamma which can be reached by the helicopter at the current level flying speed v Max (ii) a Comparing actual climbing rates
And a maximum climb rate Γ Max If the actual rate of climb
A maximum climbing rate gamma of less than or equal to Max Then represents the adjacent grid point Q k Is a free point; on the contrary, if the actual climbing rate is higher than the rated value
Greater than the maximum climb rate Γ Max Then represents the adjacent grid point Q k Is a barrier point;
step 6.6, therefore, all the adjacent grid points identified in step 6.5 as free points are added to the free point set, assuming that there are a total of d free points in the free point set, which are: q 11 ,Q 12 ,...,Q 1d For any free point, denoted as Q 1f Wherein f =1,2.. And d, each of which is calculated by the following formula 1f Value of f (Q) 1f )：
f(Q 1f )＝g(Q 1f )+h(Q 1f )
Wherein:
g(Q 1f ) Representing starting points P planned from a dynamic track i To the free point Q 1f The actual cost of (c);
h(Q 1f ) Representing the free point Q 1f To dynamic track planning terminal point P j An estimated value of (d); as a specific implementation, h (Q) 1f ) Can be expressed as a free point Q 1f To dynamic track planning end point P j The distance of (a); the distance is a manhattan distance.
D estimated values are obtained through calculation due to the fact that d free points are total; among the d estimated values, the free point corresponding to the minimum estimated value is identified and set as the free point Q 1min (ii) a Free point Q 1min Is a topographic data point of a two-dimensional map with longitude data x 1min Latitude data of y 1min The topographic elevation data is z 1min (ii) a Terrain following clearance h 0 Is a known set value; thus, according to the free point Q 1min Determining the corresponding space planning track point P 0 (x 0 ,y 0 ,z 0 ) Comprises the following steps:
x 0 ＝x 1min
y 0 ＝y 1min
z 0 ＝z 1min +h 0
space planning track point P 0 The navigation path points are obtained by the dynamic navigation path planning; thus, the helicopter follows the current course point P i Planning course point P to space 0 Flying while at the same time, at track point P i As the dynamic track planning starting point of step 6.5, the dynamic track planning end point is still P j Planning track point P for space 0 The next track point is planned, the dynamic track planning is continuously carried out in the way, and finally the dynamic track planning end point P is reached j (ii) a Due to dynamic track planning terminal point P j A basic track point, so that when the helicopter reaches the dynamic track planning end point P j And then returning to the step 6.1, continuing to fly along the basic flight path, simultaneously detecting a new obstacle and a new enemy threat, and when the new obstacle and the new enemy threat are detected, restarting the dynamic flight path planning algorithm, and continuously circulating until the flight reaches a flight end point P n 。
Further comprising:
step 7, after the data processing computer obtains the flight target point at the next moment through a dynamic trajectory planning algorithm, if the full-authority electric transmission flight control system starts a manual control mode, the data processing computer outputs navigation picture data with a navigation indication direction to a comprehensive display; a pilot manually controls the full-authority fly-by-wire system by observing the comprehensive display and manually operating the handle controller, and manually controls the flight attitude of the helicopter through the full-authority fly-by-wire system;
if the full-authority fly-by-wire system starts an automatic control mode, the data processing computer directly generates a control instruction and directly outputs the control instruction to the full-authority fly-by-wire system, and the flight attitude of the helicopter is automatically controlled through the full-authority fly-by-wire system.
The invention also provides a navigation method based on the helicopter-mounted terrain following and avoiding visual navigation system, and the main thought can be described as follows:
1) Before a flight task starts, planning and forming a basic flight path on the ground according to known information such as GIS (geographic information system), task requirements and the like; and importing the basic flight path into the data processing computer.
2) After a flight task starts, the helicopter flies along the terrain according to a basic track, in the flying process, the data processing computer acquires and fuses sensor data such as an anti-collision radar system, an enemy threat detection system, a radio altimeter, a gas engine and inertial navigation in real time, judges whether a new obstacle and/or a new enemy threat are detected or not, and if not, continues to fly along the terrain according to the basic track; if so, the data processing computer calls the dynamic track planning module to carry out dynamic track planning to obtain the optimal track point which avoids new obstacles and/or new enemy threats and has the minimum cost, so that the basic track is locally optimized, and a control instruction is given by the data processing computer. And simultaneously, the data processing computer displays the real-time navigation information picture to the comprehensive display.
3) The control instructions may be switched between an automatic mode and a manual mode. In the automatic mode, the control instruction can be directly sent to the full-authority fly-by-wire system for processing, and the attitude of the airplane is finally controlled. In the manual mode, a control instruction is displayed on the comprehensive display, and a pilot operates the handle according to the provided reference information and finally controls the attitude of the airplane through the full-authority electronic transmission flight control system.
In the invention, one of the main innovations is a dynamic track planning algorithm, and in the prior art, a space three-dimensional track navigation planning method is adopted, so that the defects of complex calculation process, long time consumption and the like are overcome. In the invention, the space three-dimensional track planning is reduced to the flight path planning in the two-dimensional space, specifically, the current point of the helicopter in the space is assumed to be the point A, and the point A1 is assumed when the helicopter is projected to the two-dimensional map, so that when the flight path searching is carried out in the two-dimensional space, only the optimization is carried out on the adjacent 8 grid points around the point A1 to determine the track, thereby obviously reducing the calculation complexity, accelerating the speed of the flight path planning, and meeting the requirement of navigation real-time.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (4)
1. A navigation method based on a helicopter-mounted terrain following and avoiding visual navigation system is characterized in that the helicopter-mounted terrain following and avoiding visual navigation system comprises the following steps: the system comprises an anti-collision radar system, an enemy threat detection system, an electronic geographic information system, a radio altimeter, an atmospheric machine, a satellite positioning system, an inertial navigation system, a comprehensive display, a data processing computer and a full-authority electronic transmission flight control system;
the output ends of the anti-collision radar system, the enemy threat detection system, the electronic geographic information system, the radio altimeter, the atmospheric machine, the satellite positioning system and the inertial navigation system are all connected with the input end of the data processing computer; the full-authority electric transmission flight control system is provided with a manual control mode and an automatic control mode, and in the manual control mode, the output end of the data processing computer is connected with the comprehensive display to display a navigation picture on the comprehensive display, so that the full-authority electric transmission flight control system is manually controlled by manually operating the handle controller, and the flight attitude of the helicopter body is manually controlled by the full-authority electric transmission flight control system; in an automatic control mode, a control instruction output end of the data processing computer is directly connected with the full-authority fly-by-wire system, and the flight attitude of the helicopter is automatically controlled through the full-authority fly-by-wire system;
the navigation method based on the helicopter-mounted terrain following and avoiding visual navigation system comprises the following steps:
step 1, determining a three-dimensional planning space corresponding to a helicopter low-altitude flight task; determining a rasterized digital elevation map corresponding to the three-dimensional planning space; wherein the rasterized digital elevation map is used for representation and three-dimensional gaugeDrawing a map of terrain attributes corresponding to the space, wherein grid position information of each grid is as follows: (x) 0 ,y 0 ,z 0 ) (ii) a Wherein x is 0 Representing grid longitude data; y is 0 Representing grid latitude data; z is a radical of 0 Representing grid elevation data;
step 2, analyzing the actual situation of the three-dimensional planning space by combining with a flight mission, and determining barrier information and enemy threat information of the three-dimensional planning space; storing the obstacle information into an obstacle database; storing the enemy threat information into an enemy threat database;
step 3, marking the obstacle information and the enemy threat information determined in the step 2 into the digital elevation map established in the step 1 to obtain a processed digital elevation map;
step 4, obtaining a two-dimensional map according to the processed digital elevation map determined in the step 3; wherein the two-dimensional map is a grid map, and each grid position passes through grid longitude data x 0 And grid latitude data y 0 Representing; meanwhile, each grid is also corresponding to grid elevation data z 0 ；
Step 5, performing initial planning on the flight track of the helicopter based on the low-altitude flight mission of the helicopter and the two-dimensional map to obtain a basic flight track; the basic track is a track which meets the low-altitude flight task of the helicopter and avoids all barrier information and all enemy threat information which are identified in the two-dimensional map; the basic track is formed by connecting n track points which are sequentially arranged according to the flight direction; sequentially representing the n flight path points according to the flight direction as follows: course point P 1 ,P 2 ,...,P n (ii) a Wherein, the track point P 1 Is a flight starting point; course point P n Is the flight terminal point; course point P 2 ,...,P n-1 Is a track middle point;
step 6, simultaneously carrying an anti-collision radar system, an enemy threat detection system, an electronic geographic information system, a radio altimeter, a gas engine, a satellite positioning system, an inertial navigation system, a comprehensive display, a data processing computer and a full-scale vehicle on the helicopterThe electric fly-by-wire flight control system is authorized to fly, and when the helicopter flies to any current track point P i Wherein i =1, 2.. And n, the following method is adopted for flight path planning, so as to determine the flight direction;
step 6.1, the anti-collision radar system detects and identifies whether obstacles exist in a set range in front of the flight of the helicopter in real time, and if so, the detected obstacle information is sent to the data processing computer in real time; the enemy threat detection system detects and identifies whether enemy threats exist in a set range in front of the flight of the helicopter in real time, and if so, sends detected enemy threat information to the data processing computer in real time;
meanwhile, the radio altimeter measures real-time real altitude data from the helicopter to the ground in real time and sends the real-time real altitude data to the data processing computer in real time;
meanwhile, the atmospheric machine detects the atmospheric parameters of the flight area in real time and sends the atmospheric parameters to the data processing computer in real time;
meanwhile, a satellite positioning system detects the current longitude and latitude data of the helicopter in real time and sends the current longitude and latitude data to the data processing computer in real time;
meanwhile, the inertial navigation system detects the current course, attitude and flying speed data of the helicopter in real time and sends the current course, attitude and flying speed data of the helicopter to the data processing computer in real time;
step 6.2, if the data processing computer receives the obstacle information detected by the anti-collision radar system, the data processing computer judges whether the obstacle information detected in real time is stored in the obstacle database, and if so, the step 6.3 is executed; if not, storing the detected obstacle information into the obstacle database, and simultaneously identifying the new obstacle information detected in real time to the two-dimensional map determined in the step 4 to obtain an updated two-dimensional map; then step 6.4 is executed;
if the data processing computer receives the enemy threat information detected by the enemy threat detection system, the data processing computer judges whether the enemy threat information detected in real time is stored in the enemy threat database, and if yes, the step 6.3 is executed; if not, storing the detected enemy threat information into the enemy threat database, and meanwhile, identifying the new enemy threat information detected in real time to the two-dimensional map determined in the step 4 to obtain an updated two-dimensional map; then step 6.4 is executed;
step 6.3, the data processing computer judges the current track point P i Whether the terminal point is a flight terminal point or not, if so, ending the navigation process; if not, making i = i +1, and returning to step 6.1;
step 6.4, the data processing computer calls a dynamic track planning module to carry out dynamic track planning, and the method specifically comprises the following steps: the data processing computer comprehensively analyzes the detected barrier and/or the detected enemy threat, the real-time real altitude data, the atmospheric parameters, the current longitude and latitude data and the current heading, attitude and flight speed data of the helicopter obtained in the step 6.1, and determines a safety basic course point closest to the detected barrier and/or the detected enemy threat as a dynamic track planning terminal point; at the same time, with the current course point P i Planning a starting point P for a dynamic track i (ii) a Setting the dynamic track planning terminal point as P j ；
And 6.5, the three-dimensional coordinates of the dynamic track planning starting point are as follows: p is i (x i ,y i ,z i ) Wherein x is i Planning a starting point P for a dynamic track i Longitude data of (a); y is i Planning a starting point P for a dynamic track i (ii) latitude data of; z is a radical of i Planning a starting point P for a dynamic track i Altitude data in the air;
planning dynamic flight path starting point P i (x i ,y i ,z i ) Projecting the image to the updated two-dimensional map obtained in the step 6.2, and setting the projection point of the image on the updated two-dimensional map as P i ', projection point P i ' the longitude data is still x i The latitude data is still y i Projection point P i ' terrain of the terrainElevation data is z i '；
In the updated two-dimensional map, the projected point P i ' there are 8 adjacent grid points, and for each adjacent grid point, the following steps 6.5.1-6.5.4 are performed to determine whether the adjacent grid point is an obstacle point:
step 6.5.1, assume neighboring grid points are Q k (x k ,y k ) Wherein x is k For adjacent grid point longitude data, y k For adjacent grid point latitude data, adjacent grid point Q k Expressed as z, of terrain elevation data k ；
Step 6.5.2, calculate projection Point P using the following equation i To adjacent grid point Q k Climbing height H of (a):
H＝z k -z i '
according to the projection point P i ' with adjacent grid point Q k To obtain a projected point P i ' to adjacent grid point Q k The horizontal distance S of;
obtaining a starting point P of the helicopter in the dynamic track planning through an inertial navigation system i The horizontal flight speed v of the aircraft;
step 6.5.3, calculating the helicopter secondary projection point P by adopting the following formula i To adjacent grid point Q k Actual rate of climb of
Step 6.5.4, obtaining the maximum climbing rate gamma which can be reached by the helicopter at the current level flying speed v Max (ii) a Comparing actual climbing rates
And a maximum climb rate Γ Max If the actual rate of climb
The maximum climbing rate is less than or equal to gamma Max Then represents the adjacent grid point Q k Is a free point; on the contrary, if the actual climbing rate is higher than the rated value
Greater than the maximum climb rate Γ Max Then represents the adjacent grid point Q k Is an obstacle point;
step 6.6, therefore, all the adjacent grid points identified in step 6.5 as free points are added to the free point set, assuming that there are a total of d free points in the free point set, which are: q 11 ,Q 12 ,...,Q 1d For any free point, denoted Q 1f Wherein f =1,2,. And d, each of which is calculated by the following formula 1f The estimated value f (Q) 1f )：
f(Q 1f )＝g(Q 1f )+h(Q 1f )
Wherein:
g(Q 1f ) Representing starting points P planned from a dynamic track i To a free point Q 1f The actual cost of (c);
h(Q 1f ) Representing the free point Q 1f To dynamic track planning end point P j An estimated value of (d);
d estimated values are obtained through calculation due to the fact that d free points are total; among the d estimated values, the free point corresponding to the minimum estimated value is identified and set as the free point Q 1min (ii) a Free point Q 1min Is a topographic data point of a two-dimensional map, the longitude data of which is x 1min Latitude data of y 1min The topographic elevation data is z 1min (ii) a Terrain following clearance h 0 Is a known set value; thus, according to the free point Q 1min Determining the corresponding space planning track point P 0 (x 0 ,y 0 ,z 0 ) Comprises the following steps:
x 0 ＝x 1min
y 0 ＝y 1min
z 0 ＝z 1min +h 0
space planning track point P 0 The navigation path points are obtained by the dynamic navigation path planning; thus, the helicopter follows the current course point P i Planning course point P to space 0 Flying while at the same time, at track point P i As the dynamic track planning starting point of step 6.5, the dynamic track planning end point is still P j Planning track point P in space 0 The next track point is planned, the dynamic track planning is continuously carried out in such a way, and finally, the dynamic track planning terminal point P is reached j (ii) a Due to dynamic track planning terminal point P j A basic track point, so that when the helicopter reaches the dynamic track planning end point P j And then returning to the step 6.1, continuing flying along the basic flight path, simultaneously detecting a new obstacle and a new enemy threat, and when the new obstacle and the new enemy threat are detected, restarting the dynamic flight path planning algorithm, and continuously circulating until the flight reaches a flight terminal point P n 。
2. The method of claim 1, wherein in step 6.6, h (Q) is 1f ) Is a free point Q 1f To dynamic track planning end point P j The distance of (a); the distance is the manhattan distance.
3. The method of helicopter-based terrain following and avoidance visualization navigation system of claim 1, further comprising:
step 7, after the data processing computer obtains a flight target point at the next moment through a dynamic trajectory planning algorithm, if the full-authority electric transmission flight control system starts a manual control mode, the data processing computer outputs navigation picture data with a navigation indication direction to a comprehensive display; a pilot manually controls the full-authority electric transmission flight control system by observing the comprehensive display and manually operating the handle controller, and the flight attitude of the helicopter is manually controlled by the full-authority electric transmission flight control system;
and if the full-authority fly-by-wire system starts an automatic control mode, the data processing computer directly generates a control instruction and directly outputs the control instruction to the full-authority fly-by-wire system, and the flight attitude of the helicopter is automatically controlled through the full-authority fly-by-wire system.
4. The navigation method based on helicopter-borne terrain following and avoidance visualization navigation system of claim 1, wherein the satellite positioning system is a Beidou satellite positioning system and/or a GPS satellite positioning system.
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