CN113281822A - Automatic compensation method for magnetic background of aircraft - Google Patents
Automatic compensation method for magnetic background of aircraft Download PDFInfo
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- CN113281822A CN113281822A CN202110476403.3A CN202110476403A CN113281822A CN 113281822 A CN113281822 A CN 113281822A CN 202110476403 A CN202110476403 A CN 202110476403A CN 113281822 A CN113281822 A CN 113281822A
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- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
Abstract
The invention provides an aircraft magnetic background automatic compensation method, which comprises the following steps: the method comprises the following steps that an aircraft enters a preset route under a preset flying height and a preset flying speed, wherein the preset route is a preset quadrilateral track graph formed by four directions of north, east, south and west; automatically completing the maneuver of the aircraft according to the magnetic compensation flight attitude, and acquiring magnetic background noises of the aircraft in four directions; obtaining magnetic background noise of the aircraft according to the magnetic background noise of the aircraft in the four directions; when the aircraft needs to detect the target in low-altitude flight, the magnetic background noise of the aircraft is counteracted according to the magnetic background noise so as to capture the target to be detected.
Description
Technical Field
The invention belongs to the technical field of aviation, and relates to an automatic magnetic background compensation method for an aircraft.
Background
Aiming at the detection of the inherent magnetic background noise of the aircraft platform, the aircraft is required to be operated to respectively perform maneuvering actions such as rolling and pitching in 4 directions of north, east, south and west, the geomagnetic induction line is dynamically cut through the aircraft platform, and the magnetic flux projected on X, Y, Z three axes in the platform dynamic state is obtained, so that the inherent magnetic flux of the aircraft platform, namely the magnetic background noise is obtained, and when the inherent magnetic background noise of the aircraft platform is used for performing magnetic background detection in the air of the aircraft platform, the inherent magnetic background noise of the platform is counteracted through an algorithm, so that the probability of extracting a target in a complex magnetic environment by a sensor is improved, and the detection mode is called magnetic compensation detection.
At present, magnetic compensation detection is carried out in a manual mode, namely, a pilot carries out the roll and pitch maneuvering action requirements required by magnetic compensation in 4 directions and obtains magnetic background noise data of an aircraft platform through a manual flight mode.
The method mainly has the following defects: 1. a large amount of repeated manual operation is needed, and the workload of a pilot is increased; 2. if the artificial flight does not reach the expected effect, the magnetic compensation effect is poor, and the repeated flight work needs to be carried out manually again, so that the workload of personnel is greatly increased; 3. the manual control aircraft has sudden maneuvering actions, excessive unsmooth maneuvering actions and poorer flying experience of personnel.
Disclosure of Invention
The invention overcomes the defects in the prior art, provides an automatic compensation method for the magnetic background of the aircraft, and realizes the automatic compensation for the magnetic background of the aircraft.
The invention provides an aircraft magnetic background automatic compensation method, which comprises the following steps:
the method comprises the following steps that an aircraft enters a preset route under a preset flying height and a preset flying speed, wherein the preset route is a preset quadrilateral track graph formed by four directions of north, east, south and west;
automatically completing the maneuver of the aircraft according to the magnetic compensation flight attitude, and acquiring magnetic background noises of the aircraft in four directions;
obtaining magnetic background noise of the aircraft according to the magnetic background noise of the aircraft in the four directions;
when the aircraft needs to detect the target in low-altitude flight, the magnetic background noise of the aircraft is counteracted according to the magnetic background noise so as to capture the target to be detected.
Specifically, the magnetic compensation flight attitude comprises roll maneuver, and the pitching maneuver is used as the flight maneuver of the aircraft, wherein the pitching angle of the aircraft continuously changes 0 to +5 to-0 to-5 to-0 degrees for 3 times within 20 seconds +/-2 seconds, the altitude of the aircraft changes +/-100 meters, and the course is unchanged during pitching.
Specifically, the magnetic compensation flight attitude comprises pitching maneuvering action, the rolling maneuvering action is taken as the flight action that the aircraft continuously finishes one rolling angle for 3 times within 20 seconds +/-2 seconds, the rolling angle is sequentially changed by 0 to +10 to-0 degrees, the course angle deviation during the rolling maneuvering is less than or equal to 15 degrees, the course is kept after the rolling is finished, and the height during the rolling is unchanged.
Specifically, the preset flying height is 3200 meters +/-200 meters.
Specifically, the preset flying speed is 370 km/h-400 km/h.
Specifically, according to the magnetic background noise, the magnetic background noise of the aircraft is cancelled, specifically including:
and according to the magnetic background noise, utilizing a filtering algorithm to counteract the magnetic background noise of the aircraft.
Specifically, the filtering algorithm includes a kalman algorithm and a weighted recursive average filtering algorithm.
Specifically, the aircraft displays the effectiveness of the magnetic background noise of the aircraft in four directions, namely the type of magnetic compensation flight attitude, the magnetic compensation flight direction and the magnetic compensation direction, through a display.
The invention provides a method for automatically detecting magnetic background noise, which greatly improves the working efficiency and flight experience and reduces the workload of personnel.
Drawings
FIG. 1 is a schematic view of a magnetically compensated flight path for an aircraft according to the present application.
Detailed Description
The invention belongs to the technical field of aviation, and relates to a method for automatically compensating a magnetic background.
Example one
The invention provides an aircraft magnetic background automatic compensation method, which comprises the following steps:
the method comprises the following steps that an aircraft enters a preset route under a preset flying height and a preset flying speed, wherein the preset route is a preset quadrilateral track graph formed by four directions of north, east, south and west;
automatically completing the maneuver of the aircraft according to the magnetic compensation flight attitude, and acquiring magnetic background noises of the aircraft in four directions;
obtaining magnetic background noise of the aircraft according to the magnetic background noise of the aircraft in the four directions;
when the aircraft needs to detect the target in low-altitude flight, the magnetic background noise of the aircraft is counteracted according to the magnetic background noise so as to capture the target to be detected.
Specifically, the magnetic compensation flight attitude comprises roll maneuver, and the pitching maneuver is used as the flight maneuver of the aircraft, wherein the pitching angle of the aircraft continuously changes 0 to +5 to-0 to-5 to-0 degrees for 3 times within 20 seconds +/-2 seconds, the altitude of the aircraft changes +/-100 meters, and the course is unchanged during pitching.
Specifically, the magnetic compensation flight attitude comprises pitching maneuvering action, the rolling maneuvering action is taken as the flight action that the aircraft continuously finishes one rolling angle for 3 times within 20 seconds +/-2 seconds, the rolling angle is sequentially changed by 0 to +10 to-0 degrees, the course angle deviation during the rolling maneuvering is less than or equal to 15 degrees, the course is kept after the rolling is finished, and the height during the rolling is unchanged.
Specifically, the preset flying height is 3200 meters +/-200 meters.
Specifically, the preset flying speed is 370 km/h-400 km/h.
Specifically, according to the magnetic background noise, the magnetic background noise of the aircraft is cancelled, specifically including:
and according to the magnetic background noise, utilizing a filtering algorithm to counteract the magnetic background noise of the aircraft.
Specifically, the filtering algorithm includes a kalman algorithm and a weighted recursive average filtering algorithm.
Specifically, the aircraft displays the effectiveness of the magnetic background noise of the aircraft in four directions, namely the type of magnetic compensation flight attitude, the magnetic compensation flight direction and the magnetic compensation direction, through a display.
Example two
The invention relates to a quick fastening device for a weapon pulling-off plug, which is described in detail with reference to the accompanying drawings:
in order to solve the technical problems, the invention is realized by the following technical scheme, and the magnetic background automatic compensation of the aircraft is realized. The automatic flight mode is used for replacing the manual flight mode, and the technical problem of the manual magnetic compensation mode can be effectively solved. First, an autopilot needs to incorporate an automatic magnetic compensation modality. The magnetic compensation flight mode comprises two maneuvering actions of rolling and pitching, wherein pitching flight completes a complete 0 to +5 to 0 to-5 to 0 degrees (error is +/-1 and head-up is-), the flight action is continuous for 3 times, the height changes by +/-100 meters, and the course is unchanged during pitching; the rolling flight completes a complete 0 degree to +10 degree to-0 degree to-10 degree to 0 degree (error is +/-2 degrees and right inclination is-) within 20 seconds +/-2 seconds, the flight action is continuous for 3 times, the course angle deviation is less than or equal to 15 degrees when the rolling maneuver is carried out, the course is kept after the rolling is completed, and the height is unchanged when the rolling is carried out. The flying mode under the requirement is designed in the autopilot, and the automatic magnetic compensation mode is introduced, so that the automatic magnetic compensation can be realized, and therefore, the automatic magnetic compensation mode is added in the autopilot, and the autopilot has feasibility. Secondly, the automatic magnetic compensation using process is designed and realized. When the flying height (absolute barometric altitude) of the aircraft is 3200 meters +/-200 meters, the flying speed is 370 km/h-400 km/h, the task unit generates a quadrilateral track graph (the aircraft can fly clockwise or anticlockwise along the quadrilateral track and can start to act from any course) formed by 4 directions of north, east, south and west in the task display and control interface, and the method is specifically shown in fig. 1. The generated flight path diagram is transmitted to a cockpit comprehensive display system through a bus and displayed in a cockpit comprehensive display screen (the cockpit comprehensive display screen is a cabin comprehensive display system matched unit), a driver guides an aircraft to enter a preset air route through long-distance navigation/horizontal navigation, at the moment, an automatic magnetic compensation mode is manually started and lightened under the work of a height keeping mode and a course keeping mode to carry out the set of magnetic compensation maneuvering actions (rolling and pitching are a set), simultaneously, the cockpit comprehensive display screen prompts the completion progress of the rolling and pitching maneuvering actions in a certain direction in real time, after the set of maneuvering actions are completed, an automatic pilot automatic magnetic compensation mode ending signal is introduced into the cockpit comprehensive display system, the cockpit comprehensive display screen synchronously prompts the completion of the magnetic compensation maneuvering actions in the direction, and at the moment, a switch key of the automatic magnetic compensation mode is reset and extinguished, and the sensor compares the quality of the data obtained at this time, transmits the high-low result status words of the quality to a cockpit comprehensive display system and a task group comprehensive tactical and management system through a bus, and synchronously prompts the direction automatic magnetic compensation effect through a cockpit comprehensive display screen and a task group display control interface. After the direction automatic magnetic compensation is finished, the automatic pilot automatically restores to a height keeping mode and a course keeping mode, the driver manually starts the remote navigation/horizontal navigation to enter a preset next direction route, and after the driver enters a preset route, the automatic magnetic compensation mode is manually started to perform the next direction automatic magnetic compensation. If the evaluation of the magnetic compensation effect in a certain direction is poor, after the magnetic compensation of the quadrilateral flight path in advance is completed, a new flight path plan in the direction is generated on a display control interface by a task group, the flight path plan is transmitted to a cockpit comprehensive display system through a bus and displayed in a cockpit comprehensive display screen, a driver guides an aircraft to enter the predetermined flight path in the direction through long-distance navigation/horizontal navigation, an automatic magnetic compensation mode is manually started under the work of an altitude keeping mode and a heading keeping mode, and the magnetic compensation in the direction is supplemented until the evaluation of a better magnetic compensation effect is finally achieved.
Claims (8)
1. An aircraft magnetic background automatic compensation method is characterized by comprising the following steps:
the method comprises the following steps that an aircraft enters a preset route under a preset flying height and a preset flying speed, wherein the preset route is a preset quadrilateral track graph formed by four directions of north, east, south and west;
automatically completing the maneuver of the aircraft according to the magnetic compensation flight attitude, and acquiring magnetic background noises of the aircraft in four directions;
obtaining magnetic background noise of the aircraft according to the magnetic background noise of the aircraft in the four directions;
when the aircraft needs to detect the target in low-altitude flight, the magnetic background noise of the aircraft is counteracted according to the magnetic background noise so as to capture the target to be detected.
2. The method of claim 1, wherein the magnetically compensated flight attitude comprises roll maneuvers, and the pitch maneuvers are flight maneuvers with a pitch angle of 0 ° -5 ° -0 °, a change in altitude of ± 100 meters, and a constant course at pitch, as the aircraft completes one pitch angle 3 times in succession within a time of 20 seconds ± 2 seconds.
3. The method of claim 1, wherein the magnetically compensated flight attitude comprises a pitching maneuver, the roll maneuver being a flight maneuver in which the roll angle of the aircraft varies sequentially by 0 ° +10 ° -0 °, the course angle deviation at roll maneuver is ≦ 15 °, the course remains after roll completion, and the altitude at roll is unchanged for 3 consecutive times within 20 seconds ± 2 seconds.
4. The method of claim 1, wherein the preset flying height is 3200 meters ± 200 meters.
5. The method according to claim 1, wherein the preset flying speed is 370km/h to 400 km/h.
6. The method according to claim 1, characterized in that the cancellation of the magnetic background noise of the aircraft itself is performed on the basis of said magnetic background noise, and in particular comprises:
and according to the magnetic background noise, utilizing a filtering algorithm to counteract the magnetic background noise of the aircraft.
7. The method of claim 6, wherein the filter algorithm comprises a Kalman algorithm, a weighted recursive average filter algorithm.
8. The method according to claim 2 or 3, wherein the aircraft displays the type of the magnetic compensation flight attitude, the magnetic compensation flight direction and the effectiveness of magnetic background noise of the aircraft in four directions of magnetic compensation through a display.
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| CN202110476403.3A CN113281822A (en) | 2021-04-29 | 2021-04-29 | Automatic compensation method for magnetic background of aircraft |
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| CN202110476403.3A CN113281822A (en) | 2021-04-29 | 2021-04-29 | Automatic compensation method for magnetic background of aircraft |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808250A (en) * | 2015-05-03 | 2015-07-29 | 国家深海基地管理中心 | Aerial magnetic force detection device and aerial magnetic force detection method based on unmanned aerial vehicle |
| CN108802839A (en) * | 2018-06-08 | 2018-11-13 | 北京桔灯地球物理勘探股份有限公司 | Caesium optical pumping magnetic survey method based on fixed-wing unmanned plane |
| US20200301040A1 (en) * | 2017-09-30 | 2020-09-24 | Institute Of Electronics, Chinese Academy Of Sciences | Magnetic compensation method based on aeromagnetic compensation error model |
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- 2021-04-29 CN CN202110476403.3A patent/CN113281822A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808250A (en) * | 2015-05-03 | 2015-07-29 | 国家深海基地管理中心 | Aerial magnetic force detection device and aerial magnetic force detection method based on unmanned aerial vehicle |
| US20200301040A1 (en) * | 2017-09-30 | 2020-09-24 | Institute Of Electronics, Chinese Academy Of Sciences | Magnetic compensation method based on aeromagnetic compensation error model |
| CN108802839A (en) * | 2018-06-08 | 2018-11-13 | 北京桔灯地球物理勘探股份有限公司 | Caesium optical pumping magnetic survey method based on fixed-wing unmanned plane |
Non-Patent Citations (1)
| Title |
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| 刘首善;唐林牧;许庆丰;吴芳;: "航磁补偿技术及补偿质量的评价方法" * |
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