CN112461222A - Virtual compass field and method suitable for aircraft airborne compass calibration - Google Patents
Virtual compass field and method suitable for aircraft airborne compass calibration Download PDFInfo
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- CN112461222A CN112461222A CN202011245089.XA CN202011245089A CN112461222A CN 112461222 A CN112461222 A CN 112461222A CN 202011245089 A CN202011245089 A CN 202011245089A CN 112461222 A CN112461222 A CN 112461222A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
Abstract
The invention belongs to the field of ground guarantee equipment for correcting the error of an airborne compass and an attitude and heading system, and relates to a virtual compass field and a method suitable for correcting the airborne compass of an airplane; the device comprises a course measuring component, a microprocessor, a servo mechanism and a support box; the invention breaks the excessive dependence of compass calibration work on a calibration environment, innovating an outfield compass calibration technology, improving the compass calibration efficiency and the calibration precision, and exactly solving the problem that the normal running of a key procedure 'compass calibration' in the aircraft development and production and the influence on the aircraft development and production are ensured by replacing a physical compass field with a virtual compass field under the condition that the compass field cannot be built.
Description
Technical Field
The invention belongs to the field of ground support equipment for correcting the error of airborne compasses and attitude heading systems, and is mainly used for correcting the error of the airborne compasses and the attitude heading systems of airplanes in the ground debugging process, namely providing a ground support facility virtual compass field for correcting the compasses so as to finish the adjustment of the navigation accuracy of the airborne compasses and the attitude heading systems.
Background
The compass calibration is a key procedure in the test flight debugging process of the airplane, and the compass field is a necessary ground facility for the compass calibration.
The traditional compass field has 2 forms at present:
1) selecting a wide field without tall buildings and ferromagnetic substances, generally a circular area with the radius of 200 meters, building a turntable at the center of the field, marking 8-point (45-degree interval, the same below) and 12-point (30-degree interval, the same below) scale marks around the turntable, wherein the 0-degree magnetic north is taken as a zero point, and the scale marks are used for compass calibration of equipment such as a magnetic compass and a strapdown navigational attitude; and marking 8-point and 12-point scale marks by taking a radio 0 degree (the magnetic north 0 degree angle of the place + the magnetic azimuth angle of the radio compass navigation station of the place) as a 0 point for calibrating the radio compass, wherein the place is called a compass field, the precision of the compass field is generally less than or equal to 1 degree, and the compass field is used for completing ground calibration work of various types of compasses of airplanes. The method is a wide field, and the combination of the central turntable and the scale markings is called as a compass field;
2) selecting a wide field without tall buildings and ferromagnetic substances, generally a circular area with the radius of 200 m, finding a fixed tall and narrow building around the compass field as a reference object, such as a chimney and the like, erecting a compass on an airplane cabin or the top of an airplane, enabling the magnetic north of the compass to be 0 degrees and coincide with the longitudinal axis of the airplane, reading the reading alpha of the reference object on the compass by the compass, wherein the alpha is the angle of the magnetic north of 0 degrees, the airplane turns anticlockwise on the spot, the angle is alpha +45 degrees multiplied by beta, the angle is 0, 1, 2, 3, 4, 5, 6 and 7, and calibrating the scale mark line of the compass field for 8 points; α +30 ° × β, β ═ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, is a 12 point calibration compass field scale mark; and (3) calibrating the radio compass, wherein the 8-point marked line and the 12-point marked line are added with a sigma angle (the magnetic north 0 degree angle of the place + the magnetic azimuth angle of the radio compass navigation station of the place) to serve as calibration marked lines of a radio compass field. This method, a collection of broad fields, references, compasses and algorithms, is collectively referred to as a compass field.
The defects of the prior art are as follows: compass farms must be built in an open field, typically a circular area of 200 m radius, without tall buildings and ferromagnetic objects, such as airports or wide tarmac. Without the condition, a compass field and a compass can not be built for work, and a compass calibration procedure in the process of aircraft development and production can not be implemented, so that the development and production progress of the aircraft is influenced.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a virtual compass field and a method suitable for aircraft compass calibration, and provides technical support of the virtual compass field for the compass calibration of special compass calibration equipment and an airborne navigation system. The virtual compass field comprises a conventional state and a degraded state, wherein the conventional state comprises a magnetic heading sensor, inertial navigation, a microprocessor and a servo mechanism, and is suitable for modeling the virtual compass field with high precision requirement; the state of degradation does not contain inertial navigation, is a working mode when the inertial navigation fails or the precision requirement is not high, has simple principle and structure and low cost, and is used for calibrating the compass with the precision not more than 1 degree.
Technical scheme of the invention
A virtual compass field suitable for calibrating an airborne compass of an airplane is characterized by comprising a course measuring component, a microprocessor, a servo mechanism and a support box; the course measuring component is connected with the microprocessor and is responsible for the reference of the magnetic course marking of the virtual compass field after being combined; the microprocessor receives a magnetic heading signal and a servo mechanism feedback signal of the heading measurement component, is responsible for modeling and operating a virtual compass field, and outputs a virtual compass model of a corresponding compass and a heading and attitude system according to the requirement of external user equipment; the servo mechanism is responsible for controlling the course measuring component to rotate according to the instruction of the microprocessor and feeding back the action information to the microprocessor; the support box is an external carrier of a virtual compass field, and is provided with a marked line which is superposed with the longitudinal axis of the airplane and faces to the nose direction of the airplane in the direction of 0 degree, and the course measuring component, the microprocessor and the servo mechanism are arranged in the support box.
The heading measurement component comprises a magnetic heading sensor and inertial navigation, the inertial navigation and the magnetic heading sensor are used in a combined mode and used for virtual compass field modeling, and the highest precision can reach more than 0.001 degrees; the magnetic heading sensor mainly undertakes the measurement of the magnetic north 0 degree of the virtual compass field, and the inertial navigation is responsible for the modeling of the virtual compass field in other directions except the magnetic north.
The modeling of the virtual compass field comprises the steps of:
a) pressing a compass field modeling button on a compass calibration picture, and starting a compass field modeling function by the virtual compass field;
b) taking a magnetic north point as a starting point, clockwise marking a magnetic compass and a virtual compass field marking line of the attitude and heading system by using a compass marking line with 8 points or 12 points, and carrying out modeling on the magnetic compass and the virtual compass field of the attitude and heading system by taking a signal output by inertial navigation as a reference at a marking line interval angle;
c) reading the magnetic azimuth angle of the local radio compass navigation station input by the external user equipment, if the magnetic azimuth angle of the navigation station input last time is not input, then taking the magnetic azimuth angle of the local navigation station as 0 degree reference, namely a starting point, and clockwise marking a radio compass virtual compass field marking line by using a compass marking line with 8 points or 12 points to perform radio compass virtual compass field modeling.
d) The two compass field models are stored in a memory for calling when an external user equipment program calibrates the compass.
e) After the compass field model is built, a compass field modeling completion word is displayed on a compass calibration picture, a compass calibration button is lighted, and the virtual compass field is in a to-be-run state.
The operation of the virtual compass field comprises the following steps:
a) pressing a compass calibration button on a compass calibration picture, and sending a compass calibration instruction to the virtual compass field by the external user equipment;
b) the virtual compass field can immediately enter an operating state after receiving the calibration instruction, and at the moment, the virtual compass field can identify the calibration instruction of the external user equipment;
c) during the running period of the virtual compass field, if no termination instruction or model conversion instruction of external user equipment exists, the virtual compass field can run continuously according to the running state until a new instruction arrives;
d) after the compass is calibrated, a 'calibration ending' button on a compass calibration picture is pressed, external user equipment sends a calibration ending instruction to the virtual compass field, and the virtual compass field stops running immediately after receiving the instruction and returns to a waiting state.
The virtual compass field marked line is modeled on an 8-azimuth marked line and a 12-azimuth marked line or any azimuth marked line and is used for calibrating equipment compasses with higher navigation precision requirements.
The course measuring component is fixedly arranged in the support box along the course of the airplane, the bottom of the support box is provided with a rotating shaft and an angle feedback mechanism, the support box can rotate freely under the control of the servo mechanism, and the rotating information is fed back to the servo mechanism; and the course measuring component is a mounting carrier of the magnetic course sensor and the inertial navigation, and the magnetic course sensor and the inertial navigation are fixedly installed in the course measuring component in a course manner.
The microprocessor is a core signal processing and controlling component of the virtual compass field, receives magnetic heading signals of the magnetic heading sensor and the inertial navigation, and is used for modeling the magnetic north 0 degrees of the virtual compass field and other compass field scale marks; the microprocessor outputs a control signal to the servo mechanism, controls the course measuring assembly to rotate, and synchronously receives signals of the course measuring assembly, the magnetic course sensor and the inertial navigation so as to detect the functional integrity of the magnetic course sensor and the inertial navigation; the microprocessor receives and outputs signals to external user equipment, is mainly used for transmitting a compass calibration instruction of the external user equipment, is responsible for receiving an operation instruction of the external equipment, and outputs self-checking information, marking information, compass calibration process information and an external equipment operation instruction execution result of a virtual compass field.
The external user equipment is equipment which needs to use a virtual compass field to carry out the calibration of the compass error; the device comprises a control display, an airborne comprehensive display system, a flight indicating instrument EFIS, special compass calibration equipment and an attitude and heading reference system.
The support box is a non-magnetic mechanism box body and is a carrier of a virtual compass field, and the magnetic heading sensor, the inertial navigation and heading measurement component and the support box structure are all installed in fixed directions and are provided with aircraft heading mark lines; the support box is structurally connected with an airplane body through an external device, and when the support box is installed on an airplane, the course marking on the support box is required to be consistent with the course of the airplane.
A use method of a virtual compass field suitable for calibrating an airborne compass of an airplane is characterized by comprising the following steps: the method comprises the following specific steps:
step 1: preparation work
The system is powered on, after equipment initialization is completed, a compass calibration picture can show whether equipment self-detection is carried out or not, the system automatically enters an inertial navigation alignment state after the default state is 20s, and if a self-detection button is pressed, the system can enter a self-detection picture.
Step 2: inertial navigation alignment
a) Pressing an inertial navigation alignment button to enable the system to enter an inertial navigation alignment mode;
b) the microprocessor reads out the magnetic heading data of the magnetic heading sensor at the moment, and then sends out an instruction signal to external user equipment in a digital and graphic mode;
c) the compass calibration picture of the external user equipment can display a compass azimuth card of a virtual compass field and the magnetic azimuth of the current airplane, if the compass is in the magnetic north 0-degree azimuth, a magnetic north 0-degree marking line is directly marked, 0-degree reference is made, and the inertial navigation 0-degree magnetic heading is aligned; if the magnetic orientation is not in the magnetic north 0 degree, outputting and displaying instruction information of 'rotating a certain angle to the magnetic north 0 degree anticlockwise';
d) rotating the airplane anticlockwise to a magnetic north 0-degree position, wherein the compass azimuth card of the virtual compass field displays the degree of 0 degrees, pressing an alignment start button of a compass calibration picture, marking a magnetic north 0-degree marking line by the virtual compass field, making a 0-degree reference, and aligning the inertial navigation 0-degree magnetic heading;
d) after inertial navigation alignment is finished, a compass field modeling button on a compass calibration picture is lighted;
and step 3: modeling a virtual compass field;
and 4, step 4: the virtual compass field runs.
The invention has the advantages that:
the invention breaks the excessive dependence of compass calibration work on a calibration environment, innovating an outfield compass calibration technology, improving the compass calibration efficiency and the calibration precision, and exactly solving the problem that the normal running of a key procedure 'compass calibration' in the aircraft development and production and the influence on the aircraft development and production are ensured by replacing a physical compass field with a virtual compass field under the condition that the compass field cannot be built.
Drawings
FIG. 1 is a schematic block diagram of a virtual compass field;
FIG. 2 is a flowchart of a virtual compass field runtime
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in figure 1, the invention mainly comprises a magnetic heading sensor, an inertial navigation system, a microprocessor, a servo mechanism and a support box, mainly completes the measurement of 0 degree of magnetic north of a compass field and the measurement of a magnetic heading angle of an airplane, and models the compass field with 8 points and 12 points by taking 0 degree of magnetic north as 0 point; and (3) modeling the radio compass field of 8 points and 12 points by taking the radio compass 0 degrees (the magnetic north 0 degree angle of the place + the magnetic azimuth angle of the radio compass navigation station of the place) as 0 point, and having an automatic detection function of the equipment, wherein the specific schematic block diagram is shown in figure 1.
And the magnetic heading sensor is connected with the microprocessor, is arranged in the heading measurement component and is used for measuring the magnetic north 0-degree position of the virtual compass field or bearing the virtual compass field modeling function when the precision requirement is not high (the precision is within the range of +/-1 degrees).
The inertial navigation system (mainly comprising laser strapdown inertial navigation, optical fiber strapdown inertial navigation and the like) is combined with a magnetic heading sensor for use, is connected with a microprocessor, is installed in a heading measurement component, is used for modeling a virtual compass field with high precision requirement, and can reach the highest precision of more than 0.001 degrees. Wherein the magnetic heading sensor mainly undertakes the magnetic north 0 degree measurement of the virtual compass field, namely the function of finding north; inertial navigation is responsible for modeling virtual compass fields at orientations other than magnetic north, such as 8-azimuth (45-degree-spaced graticules) or 12-azimuth (30-degree graticules) electronic graticules; the modeling of arbitrary reticles, such as 360 azimuth reticles (1 ° apart reticles), can also be extended.
And the course measuring component is connected with the servo mechanism and the microprocessor, is fixedly installed with the support box, is an installation carrier of the magnetic course sensor and the inertial navigation, feeds back a rotation signal to the servo mechanism, outputs the rotation signal to the microprocessor and is used for the microprocessor to detect the functions of the magnetic course sensor and the inertial navigation. The inertial navigation and the magnetic heading sensor in the heading measurement component share the heading measurement function, wherein the magnetic heading sensor mainly has the function of finding magnetic north, and the inertial navigation has the function of modeling other heading mark lines of a compass field on the basis of the magnetic north, so that the system precision can reach more than 0.001 degree or higher in the state, and different inertial navigations can be selected according to special user requirements to meet the requirements.
And the microprocessor is connected with the magnetic heading sensor, the inertial navigation unit, the heading measurement component and the servo mechanism and is a core signal processing and controlling component of the virtual compass field. The microprocessor receives magnetic heading signals of the magnetic heading sensor and the inertial navigation and is used for modeling magnetic north 0 degrees of the virtual compass field and other compass field scale marks; the microprocessor outputs a control signal to the servo mechanism, controls the course measuring assembly to rotate, and synchronously receives signals of the course measuring assembly, the magnetic course sensor and the inertial navigation so as to detect the functional integrity of the magnetic course sensor and the inertial navigation. The microprocessor receives and outputs signals to external user equipment, is mainly used for transmitting compass calibration instructions of external users such as special compass calibration equipment, a navigation attitude system and the like, is responsible for receiving operation instructions of the external equipment, and outputs self-checking information of a virtual compass field, compass field marking information, compass calibration process information, external equipment operation instruction execution results and the like.
And the servo mechanism is connected with the microprocessor and the course measuring component and is used for receiving the instruction of the microprocessor, controlling the movement of the course measuring component and feeding back a state signal of the course measuring component to the microprocessor.
The support box is a non-magnetic mechanism box body and is a carrier of a virtual compass field, and the magnetic heading sensor, the inertial navigation and heading measurement component and the support box structure are all installed in fixed directions and are provided with aircraft heading mark lines. The support box is quickly connected with an airplane body structure through an external device (such as a sucker and the like), and when the support box is installed on an airplane, a course marking on the support box is required to be consistent with the course of the airplane.
The external user equipment is connected with and communicates with the microprocessor, and mainly refers to equipment which needs to use a virtual compass field to calibrate the compass, such as a control display, an airborne integrated display system, a flight indicating instrument EFIS, compass special calibration equipment, a navigation attitude system and the like.
The system has allowance capacity, can degrade and use the virtual compass field under the condition of inertial navigation fault or low user precision requirement, namely, the inertial navigation is not needed or cancelled, and directly uses the magnetic heading sensor to complete the virtual compass field modeling function, the system precision is not more than 0.5 degrees, and the basic function of the system is ensured.
As shown in fig. 2, the operation method of the present invention specifically comprises the following steps:
2.1 preparation work
a) The virtual compass field tray is stably connected to the airframe structure by external means (where? The device is a portable variable quick-release mounting bracket which can be a carrier of a virtual compass field and can be quickly and stably connected with a non-standard structure of an airplane, and is disclosed in the invention patent of a portable variable quick-release mounting bracket (patent number 2019103317285)), and the course marking of the virtual compass field is ensured to be coincident with the course of the airplane (the bar is only suitable for a non-automatic calibration program, namely a special equipment calibration program);
b) the system is powered on, after equipment initialization is completed, a compass calibration picture can show whether equipment self-detection is carried out or not, the system automatically enters an inertial navigation alignment state after the default state is 20s, and if a self-detection button is pressed, the system can enter a self-detection picture.
2.2 System self-test
a) Pressing a self-checking button on a compass calibration picture (controlling a display or a comprehensive display), the virtual compass field system can enter a self-checking mode;
b) the microprocessor outputs a signal to the servo mechanism, the servo mechanism controls and controls the course measuring component to rotate 360 degrees anticlockwise at a constant speed, the microprocessor simultaneously receives a rotation signal fed back by the course measuring component, a magnetic course signal output by the magnetic course sensor and a course signal output by inertial navigation, and outputs 'qualified self-check' information if the linearity and the angle signal precision of the signals are calculated and compared within a specified range;
c) and after self-checking is finished, the system returns to the initial picture, and the inertial navigation alignment button is lightened.
2.3 inertial navigation alignment
a) Pressing an inertial navigation alignment button to enable the system to enter an inertial navigation alignment mode;
b) the microprocessor reads out the magnetic heading data of the magnetic heading sensor at the moment, and then sends out an instruction signal to external user equipment in a digital and graphic mode;
c) the compass calibration picture of the external equipment can display a compass azimuth card of a virtual compass field and the magnetic azimuth of the current airplane, if the compass is in the magnetic north 0-degree azimuth, a magnetic north 0-degree marking line is directly marked, 0-degree reference is made, and the inertial navigation 0-degree magnetic heading is aligned; if the magnetic orientation is not in the magnetic north 0 degree, outputting and displaying instruction information of 'rotating a certain angle to the magnetic north 0 degree anticlockwise';
d) rotating the airplane anticlockwise to a magnetic north 0-degree position, wherein the compass azimuth card of the virtual compass field displays the degree of 0 degrees, pressing an alignment start button of a compass calibration picture, marking a magnetic north 0-degree marking line by the virtual compass field, making a 0-degree reference, and aligning the inertial navigation 0-degree magnetic heading;
d) after inertial navigation alignment is completed, a compass field modeling button on a compass calibration picture is lighted.
2.4 virtual Compass field modeling
a) Pressing a compass field modeling button on a compass calibration picture, and starting a compass field modeling function by the virtual compass field;
b) taking a magnetic north point as a starting point, clockwise marking a magnetic compass and a virtual compass field marking line of a navigation attitude system by using compass marking lines with 8 points (45 degrees in interval, 8 points are exactly 360 degrees and the same below) or 12 points (30 degrees in interval, 12 points are exactly 360 degrees and the same below), and carrying out modeling on the magnetic compass and the virtual compass field of the navigation attitude system by taking a signal output by inertial navigation as a reference at the interval angle of the marking lines;
c) reading the magnetic azimuth angle of the local radio compass navigation station input by the external user equipment, if the magnetic azimuth angle of the navigation station input last time is not input, then taking the magnetic azimuth angle of the local navigation station as 0 degree reference, namely a starting point, and clockwise marking a radio compass virtual compass field marking line by using a compass marking line with 8 points or 12 points to perform radio compass virtual compass field modeling.
d) The two compass field models are stored in a memory for calling when an external user equipment program calibrates the compass.
e) After the compass field model is built, a compass field modeling completion word is displayed on a compass calibration picture, a compass calibration button is lighted, and the virtual compass field is in a to-be-run state.
2.5 virtual Compass field operation
2.5.1 Special Equipment calibration procedure
The special equipment calibration program is suitable for special compass calibration equipment, the equipment is based on a virtual compass field calibration technology, is not crosslinked with an airborne compass, a navigation attitude system and other systems, is used for external field compass calibration of an airborne magnetic compass, a strapdown navigation attitude system and a radio compass, and can provide a calibration reference and bypass over dependence on a calibration environment during compass calibration.
a) Pressing a compass calibration button on a compass calibration picture, the external user equipment (control display) sends a compass calibration instruction to the virtual compass field;
b) the virtual compass field can immediately enter the running state after receiving the calibration instruction, and at the moment, the virtual compass field can identify the calibration instruction of the external user equipment, namely:
1) if the external user equipment carries out magnetic compass or attitude heading system calibration, the virtual compass field outputs a compass field model taking a magnetic north 0-degree magnetic azimuth as a reference for the external user equipment to call, and simultaneously displays data information of the virtual compass field in a compass calibration picture in a graph and data form in real time;
2) if the external user equipment carries out radio compass calibration, the virtual compass field outputs a compass field model which takes the magnetic azimuth at radio 0 DEG as 0 DEG reference for the external user equipment to call, and simultaneously displays the data information of the virtual compass field in a compass calibration picture in a graph and data form in real time;
c) during the running period of the virtual compass field, if no termination instruction or model conversion instruction of external user equipment exists, the virtual compass field can run continuously according to the running state until a new instruction arrives;
d) after the compass is calibrated, a 'calibration ending' button on a compass calibration picture is pressed, external user equipment sends a calibration ending instruction to the virtual compass field, and the virtual compass field stops running immediately after receiving the instruction and returns to a running waiting state.
2.5.2 Embedded calibration procedure.
The embedded calibration program is suitable for automatic calibration of an airborne compass, an attitude heading system and a radio compass, and a virtual compass field technology can be embedded into an airborne equipment system, such as a comprehensive display system, a combined navigation system, a strapdown attitude heading system and the like, or can be independently arranged and crosslinked with the airborne compass and the attitude heading system so as to finish automatic calibration and error compensation of external field errors of the airborne compass, the attitude heading system and the radio compass. And in the running process of the embedded calibration program, the airborne compass and the attitude heading reference system are allowed to automatically start the virtual compass program or terminate the virtual compass program.
a) After the system automatically recognizes that the magnetic compass is automatically calibrated, the system can automatically detect whether the instruction of an external user is calibrated by the magnetic compass;
b) if the compass calibration is performed on the magnetic compass and the heading and attitude system, the system automatically calls a 'virtual compass field model output with magnetic north 0 degrees as a reference' until the operation of an external user reference program is finished, and then judges whether the radio compass calibration is needed or not, if not, the program is finished;
c) if radio compass calibration is needed, the system can automatically call 'output of a virtual compass field model with radio 0 degrees as a reference' until the operation of an external user reference program is finished, the system automatically returns, the virtual compass field program is closed, and the system returns to a waiting operation state.
Claims (10)
1. A virtual compass field suitable for calibrating an airborne compass of an airplane is characterized by comprising a course measuring component, a microprocessor, a servo mechanism and a support box; the course measuring component is connected with the microprocessor and is responsible for the reference of the magnetic course marking of the virtual compass field after being combined; the microprocessor receives a magnetic heading signal and a servo mechanism feedback signal of the heading measurement component, is responsible for modeling and operating a virtual compass field, and outputs a virtual compass model of a corresponding compass and a heading and attitude system according to the requirement of external user equipment; the servo mechanism is responsible for controlling the course measuring component to rotate according to the instruction of the microprocessor and feeding back the action information to the microprocessor; the support box is an external carrier of a virtual compass field, and is provided with a marked line which is superposed with the longitudinal axis of the airplane and faces to the nose direction of the airplane in the direction of 0 degree, and the course measuring component, the microprocessor and the servo mechanism are arranged in the support box.
2. The virtual compass field suitable for calibration of an airborne compass of an aircraft according to claim 1, wherein the heading measurement component comprises a magnetic heading sensor and an inertial navigation, the inertial navigation and the magnetic heading sensor are used in combination for modeling of the virtual compass field, and the highest accuracy can reach more than 0.001 degrees; the magnetic heading sensor mainly undertakes the measurement of the magnetic north 0 degree of the virtual compass field, and the inertial navigation is responsible for the modeling of the virtual compass field in other directions except the magnetic north.
3. A virtual compass field suitable for use in the calibration of a compass on-board an aircraft according to claim 1, wherein: the modeling of the virtual compass field comprises the steps of:
a) pressing a compass field modeling button on a compass calibration picture, and starting a compass field modeling function by the virtual compass field;
b) taking a magnetic north point as a starting point, clockwise marking a magnetic compass and a virtual compass field marking line of the attitude and heading system by using a compass marking line with 8 points or 12 points, and carrying out modeling on the magnetic compass and the virtual compass field of the attitude and heading system by taking a signal output by inertial navigation as a reference at a marking line interval angle;
c) reading the magnetic azimuth angle of the local radio compass navigation station input by the external user equipment, if the magnetic azimuth angle of the navigation station input last time is not input, then taking the magnetic azimuth angle of the local navigation station as 0 degree reference, namely a starting point, and clockwise marking a radio compass virtual compass field marking line by using a compass marking line with 8 points or 12 points to perform radio compass virtual compass field modeling.
d) The two compass field models are stored in a memory for calling when an external user equipment program calibrates the compass.
e) After the compass field model is built, a compass field modeling completion word is displayed on a compass calibration picture, a compass calibration button is lighted, and the virtual compass field is in a to-be-run state.
4. A virtual compass field suitable for use in the calibration of a compass on-board an aircraft according to claim 1, wherein: the operation of the virtual compass field comprises the following steps:
a) pressing a compass calibration button on a compass calibration picture, and sending a compass calibration instruction to the virtual compass field by the external user equipment;
b) the virtual compass field can immediately enter an operating state after receiving the calibration instruction, and at the moment, the virtual compass field can identify the calibration instruction of the external user equipment;
c) during the running period of the virtual compass field, if no termination instruction or model conversion instruction of external user equipment exists, the virtual compass field can run continuously according to the running state until a new instruction arrives;
d) after the compass is calibrated, a 'calibration ending' button on a compass calibration picture is pressed, external user equipment sends a calibration ending instruction to the virtual compass field, and the virtual compass field stops running immediately after receiving the instruction and returns to a waiting state.
5. A virtual compass field suitable for use in the calibration of a compass on-board an aircraft according to claim 1, wherein: the virtual compass field marked line is modeled on an 8-azimuth marked line and a 12-azimuth marked line or any azimuth marked line and is used for calibrating equipment compasses with higher navigation precision requirements.
6. A virtual compass field suitable for use in the calibration of a compass on-board an aircraft according to claim 3, wherein: the course measuring component is fixedly arranged in the support box along the course of the airplane, the bottom of the support box is provided with a rotating shaft and an angle feedback mechanism, the support box can rotate freely under the control of the servo mechanism, and the rotating information is fed back to the servo mechanism; and the course measuring component is a mounting carrier of the magnetic course sensor and the inertial navigation, and the magnetic course sensor and the inertial navigation are fixedly installed in the course measuring component in a course manner.
7. A virtual compass field suitable for use in the calibration of a compass on-board an aircraft according to claim 1, wherein: the microprocessor is a core signal processing and controlling part of the virtual compass field, receives magnetic heading signals of the magnetic heading sensor and the inertial navigation, and is used for modeling the magnetic north 0 degrees of the virtual compass field and other compass field scale marks; the microprocessor outputs a control signal to the servo mechanism, controls the course measuring assembly to rotate, and synchronously receives signals of the course measuring assembly, the magnetic course sensor and the inertial navigation so as to detect the functional integrity of the magnetic course sensor and the inertial navigation; the microprocessor receives and outputs signals to external user equipment, is mainly used for transmitting a compass calibration instruction of the external user equipment, is responsible for receiving an operation instruction of the external equipment, and outputs self-checking information, marking information, compass calibration process information and an external equipment operation instruction execution result of a virtual compass field.
8. A virtual compass field suitable for use in the calibration of a compass on-board an aircraft according to claim 1, wherein: the external user equipment is equipment which needs to use a virtual compass field to carry out the calibration of the compass error; the device comprises a control display, an airborne comprehensive display system, a flight indicating instrument EFIS, special compass calibration equipment and an attitude and heading reference system.
9. A virtual compass field suitable for use in the calibration of a compass on-board an aircraft according to claim 1, wherein: the support box is a non-magnetic mechanism box body and is a carrier of a virtual compass field, and the magnetic heading sensor, the inertial navigation and heading measurement component and the support box structure are all installed in fixed directions and are provided with aircraft heading mark lines; the support box is structurally connected with an airplane body through an external device, and when the support box is installed on an airplane, the course marking on the support box is required to be consistent with the course of the airplane.
10. Use of a virtual compass field according to any one of claims 1 to 9, characterized in that: the method comprises the following specific steps:
step 1: preparation work
The system is powered on, after equipment initialization is completed, a compass calibration picture can show whether equipment self-detection is carried out or not, the system automatically enters an inertial navigation alignment state after the default state is 20s, and if a self-detection button is pressed, the system can enter a self-detection picture.
Step 2: inertial navigation alignment
a) Pressing an inertial navigation alignment button to enable the system to enter an inertial navigation alignment mode;
b) the microprocessor reads out the magnetic heading data of the magnetic heading sensor at the moment, and then sends out an instruction signal to external user equipment in a digital and graphic mode;
c) the compass calibration picture of the external user equipment can display a compass azimuth card of a virtual compass field and the magnetic azimuth of the current airplane, if the compass is in the magnetic north 0-degree azimuth, a magnetic north 0-degree marking line is directly marked, 0-degree reference is made, and the inertial navigation 0-degree magnetic heading is aligned; if the magnetic orientation is not in the magnetic north 0 degree, outputting and displaying instruction information of 'rotating a certain angle to the magnetic north 0 degree anticlockwise';
d) rotating the airplane anticlockwise to a magnetic north 0-degree position, wherein the compass azimuth card of the virtual compass field displays the degree of 0 degrees, pressing an alignment start button of a compass calibration picture, marking a magnetic north 0-degree marking line by the virtual compass field, making a 0-degree reference, and aligning the inertial navigation 0-degree magnetic heading;
d) after inertial navigation alignment is finished, a compass field modeling button on a compass calibration picture is lighted;
and step 3: modeling a virtual compass field;
and 4, step 4: the virtual compass field runs.
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| CN113932831A (en) * | 2021-09-24 | 2022-01-14 | 成都飞机工业（集团）有限责任公司 | Aircraft magnetic heading calibration method for laser aiming without reference object |
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