CN113820071A - Airplane gravity center position intelligent measurement system based on differential global satellite positioning - Google Patents
Airplane gravity center position intelligent measurement system based on differential global satellite positioning Download PDFInfo
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Abstract
The invention discloses an aircraft gravity center position intelligent measurement system based on differential global satellite positioning, which comprises: the system comprises a weight measuring and positioning subsystem, an RTK base station and a measuring terminal, wherein the RTK base station is respectively connected with the weight measuring and positioning subsystem and the measuring terminal, and the weight measuring and positioning subsystem is arranged at each of three wheels of an airplane; the weight measuring and positioning subsystem comprises weight measuring equipment and RTK measuring equipment, wherein the weight measuring equipment and the RTK measuring equipment are connected through data transmission equipment, and the data transmission equipment is connected with an RTK base station. The system of the invention has high integration level; the use and the operation are convenient; the user can normally use the device without professional training to finish the measurement work.
Description
Technical Field
The invention relates to the technical field of aircraft flight control system design, in particular to an intelligent measurement system for the center of gravity of an aircraft based on differential global satellite positioning.
Background
The measurement of the weight of the airplane and the determination of the center of gravity are important links in the design, manufacture and use processes of the airplane. The current method for measuring the weight of an airplane is to measure the sum of the weights of different jacking points on the airplane; the center of gravity of an aircraft refers to the point of application of the full weight of the aircraft, and generally refers to the longitudinal position, i.e., the position along the longitudinal axis (x-axis) of the aircraft. There are roughly three methods for experimental measurement of the position of the center of gravity of an aircraft: a wire hanging method, a supporting method and a simple lifting method.
The suspension wire method is to use the principle that the suspension wire of the suspended object must pass through the gravity center of the object, and to use two-point or multi-point suspension, and the intersection point of the extension lines of the suspension wires is the gravity center of the airplane. The method is the most accurate method for measuring the position of the center of gravity, and is also a test method for measuring the actual position of the center of gravity in the process of airplane research and development.
The support method is a method for indirectly measuring the center of gravity by using the moment balance principle.
The suspension wire method and the support method both need relatively specialized equipment and a long test process for measuring the gravity center position of the airplane, and are somewhat complicated for frequently used airplanes. For small-sized airplanes with small size, light weight and higher technical maturity, a simple lifting method is often adopted to determine whether the gravity center position of the airplane is proper or not in a flight field. The measuring process of the simple lifting method is that a single person or two persons put fingers at the length of one quarter to one third chord of the front edge of the airplane wing and then lift the airplane gently; if the airplane slightly lowers the head, the center of gravity of the airplane is proper; if the airplane is raised, the gravity center of the airplane is behind; if the aircraft is severely low and the fingers are moved to the front edge of the wing, the aircraft keeps balance and even lowers the head, and the gravity center of the aircraft is too far forward.
Although the above three methods can measure the position of the center of gravity of the aircraft, there are some problems in practical application. The suspension wire method needs professional hoisting equipment and is too complicated in the actual use process of the airplane. The support method has strong applicability and is suitable for large, medium and small airplanes; the method has the advantages of simple operation, convenience for implementation in field airports, high precision and the like, and becomes the most common method for determining the gravity center position of the airplane in gravity center measurement operation; however, the existing equipment still has the problems of insufficient intellectualization, complex data processing in the later period and the like, and is inconvenient for a technician to operate. The simple lifting method is the most convenient method for determining the position of the center of gravity of the airplane and is also the most common method for measuring the position of the center of gravity of a small airplane. However, the method cannot provide a specific gravity center position, is influenced by a plurality of factors, is not high in precision, and can only be used as the simplest judgment basis.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a scheme for intelligently measuring the gravity center of an airplane based on the combination of a support method, a microelectronic technology and a computer technology aiming at the problems of the methods. The technical scheme has the advantages of simplicity in operation, high intelligence, convenience in practical application and the like, so that the intelligent measuring system for the gravity center position of the airplane based on the differential global satellite positioning is provided.
The purpose of the invention is realized by the following technical scheme:
an aircraft gravity center position intelligent measurement system based on differential global satellite positioning comprises a weight measurement positioning subsystem, an RTK base station and a measurement terminal, wherein the RTK base station is respectively connected with the weight measurement positioning subsystem and the measurement terminal, and the weight measurement positioning subsystem is arranged at three wheels of an aircraft; the weight measuring and positioning subsystem comprises weight measuring equipment and RTK measuring equipment, wherein the weight measuring equipment and the RTK measuring equipment are connected through data transmission equipment, and the data transmission equipment is connected with an RTK base station.
Furthermore, the weight measuring device adopts a digital pressure sensitive resistor and is used for obtaining pressure numerical value data generated by the airplane wheel.
Further, the system also comprises a UWB base station and a UWB positioning tag; the UWB base station is connected with the UWB positioning tag through data transmission equipment and used for measuring the center of gravity of an indoor airplane.
Furthermore, when the weight measuring positioning subsystem is used for measuring, the three wheels of the airplane are respectively placed on the three weight measuring devices, and the weight data of the weight measuring devices are respectively recorded; measuring longitude and latitude coordinate data of three airplane wheels of the airplane through RTK measuring equipment; then, converting longitude and latitude coordinates of the three airplane wheels into space coordinates according to a coordinate conversion formula; then obtaining a straight line from the front wheel to the main wheel according to the space coordinates of the three wheels of the airplaneDistance L1And the distance L between the two main wheels2Obtaining the distance between the front wheel and the connecting line of the two main wheels according to the pythagorean theorem; and finally, obtaining the position of the center of gravity of the airplane according to a moment balance equation at the center of gravity.
Further, the latitude is converted into a corresponding radian in the calculation.
The invention has the beneficial effects that: the system integration level is high; the use and the operation are convenient; the user can normally use the device without professional training to finish the measurement work.
Drawings
Fig. 1 is a system composition structural diagram.
FIG. 2 is a force model diagram of a three-point nose landing gear.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiment 1, as shown in fig. 1, an aircraft center of gravity position intelligent measurement system based on differential global satellite positioning includes a weight-measuring positioning subsystem, an RTK base station and a measurement terminal, where the RTK base station is connected to the weight-measuring positioning subsystem and the measurement terminal respectively, and the weight-measuring positioning subsystem is arranged at each of three aircraft wheels of an aircraft; the weight measuring and positioning subsystem comprises weight measuring equipment and RTK measuring equipment, wherein the weight measuring equipment and the RTK measuring equipment are connected through data transmission equipment, and the data transmission equipment is connected with an RTK base station.
When the weight measuring positioning subsystem is used for measuring, the three wheels of the airplane are respectively placed on the three weight measuring devices, and weight data of the weight measuring devices are respectively recorded; and by measuring R of the locationMeasuring longitude and latitude coordinate data of three airplane wheels of the airplane by TK measuring equipment; then, on the basis of a WGS-84 geodetic coordinate system, converting longitude and latitude coordinates of the three wheels into space coordinates according to a coordinate conversion formula; then, the linear distance L between the front wheel and the main wheel is obtained according to the space coordinates of the three wheels of the airplane1And the distance L between the two main wheels2Obtaining the distance between the front wheel and the connecting line of the two main wheels according to the pythagorean theorem; and finally, obtaining the position of the center of gravity of the airplane according to a moment balance equation at the center of gravity.
The measurement principle is moment balance, and is described in detail as follows:
moment balance, i.e. an object stably placed on the ground, the moment at the center of gravity is balanced, i.e. the sum of the moments at the center of gravity is zero. For aircraft, the airframe typically has geometric and weight symmetry. It is this symmetry that the center of gravity of the aircraft lies on the longitudinal axis of the airframe.
Moreover, when the aircraft is placed on the ground, whether front three-point undercarriages or rear three-point undercarriages are used, the ground supporting force which is only received by the three wheels and can generate moment at the gravity center can be generated. Therefore, the stress of the airplane on the ground can be simplified into an isosceles triangle with three wheels as vertexes. Therefore, the gravity center position of the isosceles triangle can be determined by knowing the size of the isosceles triangle and the stress condition at the vertex. Taking the force model of the three-point nose landing gear shown in fig. 2 as an example, the specific solving method is as follows;
for this model, the moment balance equation at the center of gravity is:
wherein, w1Is the measured front wheel weight, w2Is the measured weight of the right main wheel; x is the distance between the front wheel and the line segment connecting the two main wheels, x0Is the distance of the front wheel to the center of gravity.
The position of the center of gravity can be derived from the above equation as:
in actual operation, the specific measurement steps of the measurement method are as follows:
1) placing wheels of the airplane on three weight measuring devices (corresponding to the front main wheels and the front main wheels respectively), and recording weight data of the weight measuring devices respectively;
2) measuring the straight-line distance from the front wheel to the main wheel and recording as L1；
3) Measuring the span between two main wheels is noted as L2；
4) Known from Pythagorean theorem:
5) the center of gravity position can be obtained by taking the formula (2).
In the practical application process, it is critical to measure and obtain the data of the support weight of the three wheels, the linear distance between the front wheel and the main wheel, and the span between the two main wheels, and it is a troublesome step to process the data after obtaining the data to obtain the data of the center of gravity position.
In response to these practical problems, the present invention has devised an intelligent system as follows. The weight measuring equipment adopts a digital piezoresistor and is used for obtaining pressure numerical value data generated by airplane wheels. The position coordinates of the measuring points can be accurately obtained through RTK measuring equipment; the RTK base station equipment is a ground base station end of a differential global satellite positioning system. And data transmission between the system devices is realized through data transmission interaction devices.
In the practical application process, the weight measuring equipment can directly measure and obtain the weight data of the measuring point, and the RTK measuring equipment and the RTK base station equipment perform interactive positioning and accurate measurement to obtain the longitude and latitude coordinate data of the measuring point; the data are transmitted to the base station end through the integrated data transmission equipment and transmitted to the measurement terminal software through the base station end.
And gravity center measuring software is arranged in the measuring terminal, and the software processes related measuring data through a corresponding algorithm of the data and obtains a final measuring result.
The weight data measured by the weight measuring equipment are w1、w2、w3Then the total weight of the aircraft is measured as:
the longitude and latitude coordinate data measured by the RTK measuring equipment are respectively (B)1，L1，h1），（B2，L2，h2），（B3，L3，h3). During data processing, the front wheel of the front three-point undercarriage layout (the rear wheel of the rear three-point undercarriage layout) is uniformly adopted as the coordinate origin for data processing and conversion.
Converting (B, L, h) into space coordinates (X, Y, Z) by adopting a WGS-84 geodetic coordinate system comprising latitude B, longitude L and geodetic height h in the conversion from longitude and latitude coordinates to geospatial coordinates, wherein the result is as follows:
b, L, h represents latitude, longitude and geodetic height of longitude and latitude coordinates, X, Y, Z represents coordinate points on an x axis, a y axis and a z axis of a space coordinate, N represents curvature radius of a prime circle, e represents a first eccentricity of an ellipsoid, and l represents a warp difference between a meridian of the ellipsoid point and a central meridian.
Wherein, N is the radius of curvature of the unitary-mortise ring, and the calculation formula is as follows:
e is the first eccentricity of the ellipsoid, and the calculation formula is as follows:
e' represents the second eccentricity of the ellipsoid, and the calculation formula is as follows:
l is the meridian difference between the ellipsoid meridian and the central meridian, and the calculation formula is as follows:
for the WGS-84 reference ellipsoid (a =6387137.0m, f = 1/295.2572235634), the meridional arc length x can be calculated by:
in the above formula, x is the meridian arc length from the equator to the latitude of the latitude coil B, L is the geodetic longitude measured by the GPS, B is the geodetic latitude, and a and B are the length of the long semi-axis and the short semi-axis of the ellipsoid respectively. Where B is to be calculated as the corresponding radian.
By the calculation method, longitude and latitude coordinate data of three weighing points can be converted into geographic space coordinate data: (X)Front side，YFront side，ZFront side)、(XLeft side of，YLeft side of，ZLeft side of)、(XRight side，YRight side，ZRight side). The linear distance L1 between the front wheels and the main wheel is;
the span L2 between the two main wheels is;
the center of gravity of the airplane can be obtained by bringing formulas (5) and (6) into formulas (2) and (3).
The system comprises the following specific use steps:
1. the system is powered on, the positioning system finishes satellite searching and positioning, the digital pressure-sensitive weight measuring equipment performs automatic zero correction, and the system initialization is finished;
2. placing the three modules of the system under the wheels of the aircraft;
3. and clicking a measurement button in the terminal measurement software to finish measurement.
The system of the invention combines the basic principle of the support method balance measurement and combines the microelectronic technology, the RTK satellite positioning technology and the computer software technology to form a set of convenient, accurate and convenient-to-use airplane gravity center position measuring device. Compared with other airplane measuring equipment, the system has the following advantages:
1) the system integration level is high;
2) the use and the operation are convenient;
3) the user can normally use the device without professional training to finish the measurement work.
And (3) measurement precision analysis: in this device, the following factors are mainly involved in the measurement accuracy, 1) the measurement accuracy of the weighing digital varistor; 2) the measurement accuracy of a differential global positioning system for determining position.
For the weighing mode of the pressure-sensitive element with the bridge circuit for measuring weight, the weight measuring precision can reach more than 0.1g after the circuit is calibrated. Therefore, for an aircraft with the weight of tens of kilograms, hundreds of kilograms, tons or even hundreds of tons, the weight measurement precision is considerable, and measurement errors are hardly caused.
The typical static measurement accuracy of the differential global satellite positioning system is 0.1-15 mm, and the position measurement accuracy of the differential global satellite positioning system is very high for an airplane with the size unit of meter.
In a comprehensive view, the measurement precision of the system on the gravity center position can reach the centimeter magnitude, is superior to all current measurement modes, and meets the requirements of engineering measurement.
Example 2, for the gravity center measurement scenes of indoor spaces, factory buildings and teaching enclosed spaces, global satellite positioning information cannot be obtained from the used spaces. To solve this problem, the system may employ a UWB scheme.
Uwb (ultra Wide band), also known as ultra Wide band, is a carrier-free communication technology that uses nanosecond to microsecond level non-sine wave narrow pulses to transmit data. UWB was used in the early days for near-distance high-speed data transmission, and recently, it has been used abroad to perform near-distance accurate indoor positioning by using sub-nanosecond ultra-narrow pulses.
In this embodiment, the algorithm and data transmission device are the same as those in embodiment 1, and therefore the software functions are also the same. Except that the RTK technology based weight determination positioning subsystem and base station are replaced with a UWB based weight determination positioning subsystem and base station.
In the embodiment, a certain position measurement accuracy requirement can be achieved by arranging a certain number of UWB equipment in a specific closed space, and the measurement accuracy is higher as the number of the arranged equipment is larger. Therefore, for the measurement use environment of the closed space, the measurement accuracy of the differential global satellite positioning system can be completely achieved as long as a certain number of UWB devices are arranged according to the measurement accuracy requirement.
In this embodiment, the measurement system includes a weight measurement positioning subsystem, a UWB base station and a measurement terminal, the UWB base station is connected to the weight measurement positioning subsystem and the measurement terminal, and the weight measurement positioning subsystem is disposed at each of three wheels of the aircraft; the weight measuring and positioning subsystem comprises weight measuring equipment and a UWB positioning tag, wherein the weight measuring equipment and the UWB positioning tag are connected through data transmission equipment, and the data transmission equipment is connected with a UWB base station.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and elements referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a ROM, a RAM, etc.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (5)
1. An aircraft gravity center position intelligent measurement system based on differential global satellite positioning is characterized by comprising a weight measurement positioning subsystem, an RTK base station and a measurement terminal, wherein the RTK base station is respectively connected with the weight measurement positioning subsystem and the measurement terminal, and the weight measurement positioning subsystem is arranged at each of three wheels of an aircraft; the weight measuring and positioning subsystem comprises weight measuring equipment and RTK measuring equipment, wherein the weight measuring equipment and the RTK measuring equipment are connected through data transmission equipment, and the data transmission equipment is connected with an RTK base station.
2. The system for intelligently measuring the position of the center of gravity of an airplane based on differential global satellite positioning as claimed in claim 1, wherein the weight measuring device adopts a digital pressure sensitive resistor for obtaining the pressure numerical data generated by the wheels of the airplane.
3. The intelligent measurement system for aircraft gravity center position based on differential satellite positioning as claimed in claim 1, further comprising a UWB base station and a UWB positioning tag; the UWB base station is connected with the UWB positioning tag through data transmission equipment and used for measuring the center of gravity of an indoor airplane.
4. The system for intelligently measuring the center of gravity of an aircraft based on differential global satellite positioning as claimed in claim 1, wherein the weight measuring positioning subsystem is used for placing three wheels of the aircraft on three weight measuring devices respectively and recording weight data of the weight measuring devices respectively when measuring; measuring longitude and latitude coordinate data of three airplane wheels of the airplane through RTK measuring equipment; then, converting longitude and latitude coordinates of the three airplane wheels into space coordinates according to a coordinate conversion formula; then, the linear distance L from the front wheel to the main wheel is obtained according to the space coordinates of the three airplane wheels of the airplane1And the distance L between the two main wheels2Obtaining the distance between the front wheel and the connecting line of the two main wheels according to the pythagorean theorem; and finally, obtaining the position of the center of gravity of the airplane according to a moment balance equation at the center of gravity.
5. The system of claim 4, wherein the latitude is converted to a corresponding arc in the calculation.
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