CN113533784B - GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method - Google Patents

GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method Download PDF

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CN113533784B
CN113533784B CN202111045237.8A CN202111045237A CN113533784B CN 113533784 B CN113533784 B CN 113533784B CN 202111045237 A CN202111045237 A CN 202111045237A CN 113533784 B CN113533784 B CN 113533784B
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CN113533784A (en
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冯宇鹏
张斌
夏斌
李涛
陈斌
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Chengdu Aircraft Industrial Group Co Ltd
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Abstract

The invention relates to a GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method, which is used for determining the range of a full envelope of an airplane to be tested, wherein the range of the air pressure altitude within the range of the full envelope of the airplane to be tested isH 1 ～H N ，NIs a natural number more than 1, and comprises the following steps: step 1, selecting a height ofH m In airspace, a plurality of groups of airspeed calibration results of non-constant speed back-and-forth fly-to-fly flight are tested in sequence to obtain the altitude ofH m Airspeed calibration results of airspace; step 2, according to the same method of the step 1, respectively testing the height ofH 1 、H N And is high atH 1 ～H N And obtaining airspeed calibration results within the full envelope range according to airspeed calibration results of a plurality of airspaces within the full envelope range. The method is used for carrying out airspeed calibration based on different flight speeds, avoids repeated flight of the same speed, improves the efficiency of airspeed calibration, reduces the trial flight number of airspeed calibration, promotes the progress of a trial flight task and has high accuracy.

Description

GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method
Technical Field
The invention relates to the technical field of airspeed calibration methods of aircraft atmospheric systems, in particular to a GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method.
Background
The airspeed calibration test flight of the aircraft atmospheric system is a basic subject for scientific research of the test flight of the aircraft, is also a key subject, and is often related to the design of a flight control law and the safety of flight control. However, in the trial flight phase, due to the constraint of the aircraft commissioning time, the constraint of the trial flight cost, and the limitation of the number of flight frames, only airspeed calibration trial flight is often performed on individual sample points, the trial flight sample points do not sufficiently cover the full envelope of the aircraft, an accurate airspeed calibration correction amount of the atmospheric system in the full envelope range cannot be obtained, and the safety of subsequent trial flight is affected. Therefore, how to obtain a more accurate correction quantity for calibrating the airspeed of the atmospheric system by using a smaller sample size or irregular test flight data in the test flight process is a long-term focus of attention of researchers. The problem that the accuracy of airspeed calibration is affected due to the fact that the amount of data samples is small or the data is irregular is solved, and different test flight methods and correction algorithms need to be adopted to improve the test flight efficiency.
At present, many experts and scholars propose a plurality of test correction algorithms related to atmospheric calibration, for example, methods such as a GPS round-trip constant speed flat flight method, a GPS round-trip flat flight acceleration method, a GPS double altitude calibration method, a GPS single altitude calibration method and the like perform airspeed calibration, so that airspace limitation requirements are reduced, test flight landing data and data processing workload are reduced, and test flight verification shows that the test results have high accuracy. A GPS velocity method aiming at the position error of an airspeed system is also proposed to carry out airspeed calibration; and a theoretical basis and a test method for carrying out airspeed calibration by adopting a GPS trilateral method. The method selects the same speed to carry out flight at different track angles, and completes airspeed calibration of the atmospheric system. However, these methods have the following disadvantages: the repeated flight at the same speed consumes a large amount of flight time and flight number, and particularly, for an airplane with short flight time, the single number is not enough to finish the test flight of a plurality of airspeed calibration sample points, so that the airspeed calibration of all test flight test points in the altitude-speed full envelope can be finished only by increasing the flight number and delaying task nodes, and the test complexity and the test error are increased.
Disclosure of Invention
The invention aims to: aiming at the defects in the prior art, a GPS round-trip non-constant speed flat flight airspeed calibration method is provided. The method is used for carrying out airspeed calibration based on different flight speeds, avoids repeated flight of the same speed, improves the efficiency of airspeed calibration, reduces the trial flight number of airspeed calibration, advances the progress of a trial flight task, ensures the accuracy, and has positive significance and profound influence on the design of the subsequent flight control law of the airplane and the safety of flight control.
In order to achieve the purpose, the invention adopts the technical scheme that:
a GPS round-trip non-constant speed flat flight airspeed calibration method comprises the following steps:
step a, at a height ofH m Selecting a starting flying point in a certain directionV it1Indicating vacuum speed to fly at uniform speed for a certain strokeS 1 Acquiring first data during flight, the first data including an indication of true airspeedV it1Total atmospheric temperatureT 01Total pressure ofP 01Speed of the earthV d1；
Step b, after reaching the back-and-forth point, the parallel and opposite stroke is followedS 1 In the direction ofV it2Indicating that the vacuum speed flies at a constant speed, wherein,V it1is not equal toV it2And acquiring second data during the flight, the second data including an indication of true airspeedV it2Total atmospheric temperatureT 02Total pressure ofP 02Speed of the earthV d2；
Step c, solvingV it1AndV it2and obtaining a set of airspeed calibration results of the back-and-forth fly-to-fly flight by using the airspeed calibration results under two different indicated vacuum speeds.
The GPS round-trip non-constant-speed flat flight airspeed calibration method provided by the invention comprises the test of an airspeed calibration result of non-constant-speed round-trip flight, and the method is used for calibrating the airspeed based on different flight speeds, so that repeated flight at the same speed is avoided, the airspeed calibration efficiency is improved, the trial flight number of airspeed calibration is reduced, the progress of a trial flight task is promoted, the accuracy is ensured, and the method has positive significance and profound influence on the design of a subsequent flight control law of an airplane and the safety of flight control. In the whole test process, in the range of the full envelope to be tested, selecting a high airspace, sequentially carrying out multiple groups of non-constant speed back and forth flying in the same high airspace, obtaining airspeed calibration results of the same high airspeed, and then carrying out airspeed calibration tests of different high airspeeds in the range of the full envelope to be tested according to the same method to obtain space calibration results in the range of the full envelope to be tested.
Further, solving forV it1 AndV it2 the specific procedure for the airspeed calibration results at two different indicated vacuum speeds is as follows:
step A, measuring the total pressureP 01 、P 02Respectively substituting the first equation into the first equation to obtain a first equation and a second equation;
wherein, the first formula is:
Figure 569789DEST_PATH_IMAGE001
；P 0is the total pressure of the mixture,Pin order to be at a static pressure,Mis a Mach number of the component (A),ris the specific heat ratio;
the first equation is:
Figure 869183DEST_PATH_IMAGE002
；
the second equation is:
Figure 987312DEST_PATH_IMAGE003
；P 01 、P 02 respectively indicating vacuum speed for differentV it1 AndV it2 the total pressure of the reaction mixture under reduced pressure,P 1 、P 2 respectively indicating vacuum speed for differentV it1 AndV it2 the static pressure of the lower part of the tank,M 1 、M 2 respectively indicating vacuum speed for differentV it1 AndV it2 lower Mach number;
step B, the total temperature of the atmosphereT 01、T 02Respectively substituting into the second formula to obtain a third formula and a fourth formula;
wherein, the formula two is:
Figure 524603DEST_PATH_IMAGE004
；T 0 the total temperature of the atmosphere is the temperature of the atmosphere,Tthe temperature is set to be a static temperature,T 1 =T 2 =T，Mis Mach number;
the third program is:
Figure 335564DEST_PATH_IMAGE005
；
the fourth equation is:
Figure 856676DEST_PATH_IMAGE006
；T 01 、T 02 respectively indicating vacuum speed for differentV it1 AndV it2 the total temperature of the atmosphere below the temperature,T 1 andT 2 respectively indicating vacuum speed for differentV it1 AndV it2 the temperature of the mixture is lower than the normal temperature,M 1 、M 2 respectively indicating vacuum speed for differentV it1 AndV it2 lower Mach number;
wherein, T1＝T2＝Tx；TxIs a static temperature value;
step C, mixing the ground speedV d1、V d2Respectively substituting the formula III to obtain a fifth equation;
wherein, the formula three is:
Figure 20637DEST_PATH_IMAGE007
；V dn andV dm indicating vacuum speed for different purposesV itn AndV itm ground speed for downward forward flight and reverse flight;M n andM m is different fromIndicating vacuum speedV itn AndV itm t is the static temperature;
the fifth equation is:
Figure 678014DEST_PATH_IMAGE008
；V d1 to indicate the vacuum speedV it1 The ground speed of the lower forward flight,V d2 to indicate the vacuum speedV it2 Ground speed of the reverse flight; tx is a static temperature value;M 1 、M 2 respectively indicating vacuum speed for differentV it1 AndV it2 lower Mach number;
step D, simultaneously establishing a first equation, a second equation, a third equation, a fourth equation and a fifth equation; the Mach number can be obtainedM 1、M 2(ii) a Static pressureP 1、P 2And static temperatureTI.e. test flight sample points at different indicated vacuum speedsT，P 1，M 1) And (a)T，P 2，M 2）；
Step E, substituting the two sample points obtained in the step D into a formula seven to obtain two different actual vacuum speeds, and obtaining the vacuum pressureV it1AndV it2two different airspeed calibration results at indicated vacuum speeds;
wherein, the formula seven is:
Figure 191035DEST_PATH_IMAGE009
(ii) a Wherein,V tin order to realize the vacuum speed,Tthe temperature is set to be a static temperature,Mis mach number.
Further, in the step b, the process is carried outS 1 And returning the original path to test.
Further, the time interval between the step b and the step a is controlled within 20 min. The research finds that the interval time of the non-constant speed opposite flight cannot be too long, the too long time can cause excessive change of the environment, the stability is poor, and the error of the calibration result is large. Further, the time interval between the step b and the step a is 5-20 min.
Further, the indication of the vacuum rate, the total temperature of the atmosphere and the total pressure are measured by an atmospheric system, and the ground speed is measured by a GPS device.
Further, after completing a set of back-and-forth flying flights of the step a and the step b, the flying speed is changed, and the flying speed is changed at the same height according to the same method of the step a and the step bH m And c, performing multiple groups of back-and-forth fly-to-fly flights, and calculating the airspeed calibration result of each group of back-and-forth fly-to-fly flights according to the same method in the step c, so as to obtain the airspeed calibration result at the same altitude.
Further, after completing the calibration of the airspeed at a height, according to the same method, the height is respectively testedH 1 、H N （NIs a natural number greater than 1) and has a height ofH 1 ～H N The airspeed calibration results of a plurality of height airspaces within the range of obtaining the height from the groundH 1 ～H N And (5) calibrating the airspeed within the full envelope range.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention provides a GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method, which comprises the steps of firstly selecting a high airspace within a full envelope range to be tested, sequentially carrying out multiple groups of non-constant-speed round-trip flight in the same high airspace to obtain an airspeed calibration result of the same high airspace, and then carrying out airspeed calibration tests of different high airspaces within the full envelope range to be tested according to the same method.
Drawings
FIG. 1 is a plot of the airspeed calibration test procedure for the full envelope range of example 1.
Fig. 2 is a chart showing the shuttle to flight of the airplane in embodiment 1.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following 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.
Example 1
As shown in fig. 1, a method for calibrating a GPS round-trip non-constant velocity flat flight airspeed includes the following steps: determining the range of the full envelope of the airplane to be tested, wherein the range of the vertical height from the ground in the range of the full envelope to be tested isH 1 ～H N ，NIs a natural number greater than 1.
General assumptions for the airspeed calibration method:
(1) the short-time atmospheric environment in the same airspace is the same, namely the static temperature and the wind speed/wind direction are the same;
(2) the total pressure is the sum of static pressure and dynamic pressure.
1 test flight procedure
1.1 test flight method
In the same airspace and at the same height HmSelecting two different speeds respectivelyV it1AndV it2and the shuttle pair flight is performed, and the chart is shown in figure 2.
The test procedure of the airspeed calibration result of non-constant speed back-and-forth flying flight is as follows:
step a, at a height ofH m In a space domain, a flying point is selected along a certain directionV it1Indicating vacuum speed to carry out uniform speed flight for a section of travelS 1 Reading first data by using a GPS system in the flight process: indicating vacuum speedV it1Total atmospheric temperatureT 01Total pressure ofP 01Speed of the earthV d1。
Step b, then, flying the airplane to the height HmIn the airspace parallel to the strokeS 1 In the direction ofV it2The indicated vacuum speed is flown at the uniform speed, and a GPS system is utilized to read second data in the flying process: indicating vacuum speedV it2Total atmospheric temperatureT 02Total pressure ofP 02Speed of the earthV d2。
The time interval between the step b and the step a is controlled within 20 min.
1.2 data acquisition
In airspeed calibration test flight, the test flight data to be collected are vacuum speed, total atmospheric temperature, total pressure and ground speed, wherein the vacuum speed, the total atmospheric temperature and the total pressure are measured by an atmospheric system, and the ground speed is measured by a GPS device.
2 airspeed calibration method
Solving forV it1AndV it2and obtaining the airspeed calibration result of the group of non-constant-speed back-and-forth opposite flight by two airspeed calibration results under different indicated vacuum speeds:
2.1 mechanics model
2.1.1 pressure dependence of Mach number
Figure 199443DEST_PATH_IMAGE010
（1）
Wherein,P 0is the total pressure of the mixture,Pin order to be at a static pressure,Mis a Mach number of the component (A),rthe specific heat ratio is generally 1.4.
2.1.2 relation of total atmospheric temperature, static temperature and Mach number
Figure 190532DEST_PATH_IMAGE011
（2）
Wherein，T 0The total temperature of the atmosphere is the temperature of the atmosphere,Tthe temperature is set to be a static temperature,Mis mach number.
2.1.3 ground speed vs. vacuum speed
Figure 967996DEST_PATH_IMAGE012
（3）
Wherein,V din order to obtain the ground speed,V tin order to realize the vacuum speed,V windis the wind speed.
2.1.4 relation of vacuum speed, Mach number and static temperature
Figure 386339DEST_PATH_IMAGE013
（4）
Figure 616463DEST_PATH_IMAGE014
（5）
To obtain
Figure 676823DEST_PATH_IMAGE015
（6）
Wherein,V tin order to realize the vacuum speed,Tthe temperature is set to be a static temperature,Mis mach number.
2.2 airspeed calibration algorithm
2.2.1 pressure and Mach number relation at different indicated vacuum speeds
According to equation (1) of bar 2.1.1, the vacuum rate (1) can be indicated at different pointsV it1AndV it2the same applies below), the pressure and mach number formula is:
Figure 43213DEST_PATH_IMAGE016
（7）
Figure 898037DEST_PATH_IMAGE017
（8）
wherein,P 01、P 02respectively indicating vacuum speed for differentV it1AndV it2the total pressure of the reaction mixture under reduced pressure,P 1、P 2respectively indicating vacuum speed for differentV it1AndV it2the static pressure of the lower part of the tank,M 1、M 2respectively indicating vacuum speed for differentV it1AndV it2the Mach number of the lower one,rthe specific heat ratio is generally 1.4.
According to item 1.2, it is knownP 01 、P 02Measured by an atmospheric data system to be a known number;P 1、P 2、M 1andM 2is an unknown number.
2.2.2 different atmospheric total temperature and static temperature relations under indicated vacuum speed
According to the equation (2) in item 2.1.2, the relationship between the total temperature and the static temperature of the atmosphere at different indicated vacuum speeds can be obtained as follows:
Figure 615457DEST_PATH_IMAGE018
（9）
Figure 213928DEST_PATH_IMAGE019
（10）
according to the general assumption of airspeed calibration, the addition formula is as follows:
Figure 700405DEST_PATH_IMAGE020
（11）
obtaining the equation set of the total temperature and the static temperature of the atmosphere under different indicated vacuum speeds:
Figure 460550DEST_PATH_IMAGE021
（12）
Figure 665267DEST_PATH_IMAGE022
（13）
wherein,T 01、T 02respectively indicating vacuum speed for differentV it1AndV it2the total temperature of the atmosphere below the temperature,Tthe different indicated vacuum rates obtained for equation (11)V it1AndV it2the temperature of the mixture is lower than the normal temperature,M 1、M 2respectively indicating vacuum speed for differentV it1AndV it2lower mach number.
According to item 1.2, it is knownT 01、T 02Measured by an atmospheric data system to be a known number;T、M 1andM 2is an unknown number.
2.2.3 relation between ground speed and actual vacuum speed under different indicated vacuum speeds
Two different indication vacuum speeds are selected to carry out the GPS forward and reverse flight path method pair flight method, which is shown in figure 2. At this time, according to equation (3) of 2.1.3, the actual vacuum speed, ground speed and wind speed at the two different indicated vacuum speeds satisfy the following relation:
Figure 801850DEST_PATH_IMAGE023
（14）
Figure 142832DEST_PATH_IMAGE024
（15）
wherein,V d1the ground speed of the forward flight is the ground speed,V d2in order to reverse the ground speed of the flight,V t1is the actual vacuum speed of the forward flight,V t2for the actual vacuum velocity of the reverse flight,V wind1is the wind speed of the forward flight,V wind2the wind speed of the reverse flight.
According to the general assumption of airspeed calibration, the addition formula is as follows:
Figure 73879DEST_PATH_IMAGE025
（16）
obtaining two relation formulas of actual ground speed and actual vacuum speed under different indicated vacuum speeds:
Figure 765892DEST_PATH_IMAGE026
（17）
wherein,V d1the ground speed of the forward flight is the ground speed,V d2in order to reverse the ground speed of the flight,V t1is the actual vacuum speed of the forward flight,V t2the actual vacuum velocity of the reverse fly.V d1、V d2Measured separately by GPS, are known numbers,V t1、V t2is an unknown number.
2.2.4 different relation expressions of actual ground speed, Mach number and static temperature under indicated vacuum speed
According to the formula (6) of 2.1.4, the relation among the actual vacuum speed, the Mach number and the static temperature under different indicated vacuum speeds is as follows:
Figure 706166DEST_PATH_IMAGE027
（18）
Figure 167234DEST_PATH_IMAGE028
（19）
meanwhile, the coupling type (17), (18) and (19) can obtain:
Figure 534762DEST_PATH_IMAGE029
（20）
wherein,V d1the ground speed of the forward flight is the ground speed,V d2in order to reverse the ground speed of the flight,M 1、M 2indicating the mach number at different vacuum speeds.V d1、V d2Measured separately by GPS, are known numbers,T、M 1andM 2is an unknown number.
2.2.5 airspeed calibration algorithm
The five equations of (7), (8), (12), (13) and (20) are combined to solve the Mach number at different indicated vacuum speedsM 1、M 2Static pressure ofP 1、P 2Static temperatureTI.e. test flight sample points at different indicated vacuum speedsT，P 1，M 1) And (a)T，P 2，M 2). The two sample points are substituted into the 2.1.4 equation (6) to obtain the actual vacuum speed corresponding to the two different indicated vacuum speed test points, which is shown in table 1.
TABLE 1 actual vacuum Rate corresponding to two different indicated vacuum Rate test points
Figure 182912DEST_PATH_IMAGE030
3 airspeed calibration of full envelope
3.1 same height, different speed
To calibrate for the same altitude, airspeed is calibrated for different indicated vacuum speeds. The test flight and calibration of airspeed can be performed according to the 1-strip and 2-strip methods with different indicated vacuum speeds. The actual vacuum speed corresponding to the same height and different indicated vacuum speed test points can be obtained at the same height HmIn the airspace, the same non-isotachy test method was used for the test of the 2n (n is a natural number greater than or equal to 1) group, and the calibration results of the test are shown in table 2.
TABLE 2 actual vacuum rate corresponding to the same height, different indicated vacuum rate test points
Figure 926877DEST_PATH_IMAGE031
3.2 full envelope range
To calibrate the airspeed for an actual vacuum speed within the full envelope range (i.e., different altitudes, different indicated vacuum speeds). At different altitudes, airspeed test flight and calibration are carried out according to the method of 3.1 knots, and airspeed calibration results in the range of altitude-speed full envelope are obtained, and are shown in tables 3 and 4.
TABLE 3 airspeed calibration results for altitude-velocity full envelope
Figure 242452DEST_PATH_IMAGE032
TABLE 4 airspeed calibration results for altitude-velocity full envelope
Figure 249722DEST_PATH_IMAGE033
The test height isH 1 、H N And is high atH 1 ～H N The invention provides a method for calibrating airspeed of GPS (global positioning system) round-trip non-constant-speed flat flight, which comprises the steps of firstly selecting one airspeed within a full envelope range to be tested, sequentially carrying out multiple groups of non-constant-speed round-trip flight in the same airspeed, obtaining the airspeed calibration result of the same airspeed, and then carrying out airspeed calibration tests of different altitudes within the full envelope range to be tested according to the same methodThe method has the advantages that the progress of the test flight task is guaranteed, the accuracy is guaranteed, and the method has positive significance and profound influence on the design of the subsequent flight control law of the airplane and the safety of flight control.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (7)

1. A GPS round-trip non-constant speed flat flight airspeed calibration method is characterized by comprising the following steps: the method comprises the following steps:
step a, at a height ofH m Selecting a starting flying point in a certain directionV it1Indicating vacuum speed to fly at uniform speed for a certain strokeS 1 Acquiring first data during flight, the first data including an indication of true airspeedV it1Total atmospheric temperatureT 01Total pressure ofP 01Speed of the earthV d1；
Step b, after the return point is reached, the plane is parallel and opposite to the strokeS 1 In the direction ofV it2Indicating that the vacuum speed flies at a constant speed, wherein,V it1is not equal toV it2And acquiring second data during the flight, the second data including an indication of true airspeedV it2Total atmospheric temperatureT 02Total pressure ofP 02Speed of the earthV d2；
Step c, solvingV it1AndV it2obtaining a set of airspeed calibration results of back-and-forth fly flight by the airspeed calibration results under two different indicated vacuum speeds;
wherein, solvingV it1 AndV it2 the specific procedure for the airspeed calibration results at two different indicated vacuum speeds is as follows:
step A, measuring the total pressureP 01 、P 02Respectively substituting into formula one to obtain the first partyA program and a second equation;
wherein, the first formula is:
Figure DEST_PATH_IMAGE001
；P 0is the total pressure of the mixture,Pin order to be at a static pressure,Mis a Mach number of the component (A),ris the specific heat ratio;
the first equation is:
Figure DEST_PATH_IMAGE002
；
the second equation is:
Figure DEST_PATH_IMAGE003
；P 01 、P 02 respectively indicating vacuum speed for differentV it1 AndV it2 the total pressure of the reaction mixture under reduced pressure,P 1 、P 2 respectively indicating vacuum speed for differentV it1 And Vit2The static pressure of the lower part of the tank,M 1 、M 2 respectively indicating vacuum speed for differentV it1 AndV it2 lower Mach number;
step B, the total temperature of the atmosphereT 01、T 02Respectively substituting into the second formula to obtain a third formula and a fourth formula;
wherein, the formula two is:
Figure DEST_PATH_IMAGE004
；T 0 the total temperature of the atmosphere is the temperature of the atmosphere,Tthe temperature is set to be a static temperature,Mis Mach number;
the third program is:
Figure DEST_PATH_IMAGE005
；
the fourth equation is:
Figure DEST_PATH_IMAGE006
；T 01 、T 02 respectively indicating vacuum speed for differentV it1 AndV it2 the total temperature of the atmosphere below the temperature,T 1 andT 2 respectively indicating vacuum speed for differentV it1 AndV it2 the temperature of the mixture is lower than the normal temperature,M 1 、M 2 respectively indicating vacuum speed for differentV it1 AndV it2 lower Mach number;
wherein, T1＝T2＝Tx；TxIs a static temperature value;
step C, mixing the ground speedV d1、V d2Respectively substituting the formula III to obtain a fifth equation;
wherein, the formula three is:
Figure DEST_PATH_IMAGE007
；V dn andV dm indicating vacuum speed for different purposesV itn AndV itm ground speed for downward forward flight and reverse flight;M n andM m is different to indicate the vacuum speedV itn AndV itm lower Mach number;
the fifth equation is:
Figure DEST_PATH_IMAGE008
；V d1 to indicate the vacuum speedV it1 The ground speed of the lower forward flight,V d2 to indicate the vacuum speedV it2 Ground speed of the reverse flight; tx is a static temperature value;M 1 、M 2 respectively indicating vacuum speed for differentV it1 AndV it2 lower Mach number;
step D, simultaneously establishing the first equation, the second equation, the third equation, and the fourth equationEquation and a fifth equation; the Mach number can be obtainedM 1、M 2(ii) a Static pressureP 1、P 2And static temperatureTI.e. test flight sample points at different indicated vacuum speedsT，P 1，M 1) And (a)T，P 2，M 2）；
Step E, substituting the two sample points obtained in the step D into a formula seven to obtain two different actual vacuum speeds, and obtaining the vacuum pressureV it1AndV it2two different airspeed calibration results at indicated vacuum speeds;
wherein, the formula seven is:
Figure DEST_PATH_IMAGE009
(ii) a Wherein,V tin order to realize the vacuum speed,Tthe temperature is set to be a static temperature,Mis mach number.
2. The method according to claim 1, wherein in step b, the distance between the GPS and the non-constant speed flat flight is measured along the pathS 1 And returning the original path to test.
3. The GPS round-trip non-constant velocity flat flight airspeed calibration method according to claim 1, wherein the time interval between step b and step a is controlled to be within 20 min.
4. The method according to claim 3, wherein the time interval between step b and step a is 5-20 min.
5. The GPS round-trip non-constant-velocity flat flight airspeed calibration method according to claim 1, wherein the vacuum velocity, the total atmospheric temperature and the total pressure are measured by an atmospheric system, and the ground velocity is measured by a GPS device.
6. GPS roundtrip non-constant speed flat flight according to any of claims 1-5The airspeed calibration method is characterized in that after a set of back-and-forth flying flights of the step a and the step b are completed, the flying speed is changed, and the flying speed is at the same height according to the same method of the step a and the step bH m And c, performing multiple groups of back-and-forth fly-to-fly flights, and calculating the airspeed calibration result of each group of back-and-forth fly-to-fly flights according to the same method in the step c, so as to obtain the airspeed calibration result at the same altitude.
7. The method as claimed in claim 6, wherein after the calibration of the airspeed at a certain altitude, the altitude is measured according to the same methodH 1 、H N And is high atH 1 ～H N The airspeed calibration results of a plurality of height airspaces within the range of obtaining the height from the groundH 1 ～H N And (5) calibrating the airspeed within the full envelope range.
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