CN114063625A - Flight path symbol calculation method and system used as aircraft landing operation reference - Google Patents
Flight path symbol calculation method and system used as aircraft landing operation reference Download PDFInfo
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Abstract
The invention provides a flight path sign calculation method used as an airplane landing operation reference, which comprises the following steps: s1: calculating a lateral instruction of a flight path symbol based on the course and the path parameters; s2: calculating a main wheel height based on the barometric height and the radio height; s3: when the height of the main wheel is lower than a first threshold value, judging whether the airplane reaches the position right above the road surface, if not, calculating a longitudinal flight path symbol command based on the vertical speed from the sensor group; if the arrival, then the next step is carried out; s4: judging whether the aircraft is on the road surface, if not, calculating the vertical speed of the aircraft relative to the road surface, and calculating the longitudinal command of the flight path symbol based on the vertical speed relative to the road surface; if the road surface is on, the next step is carried out; s5: the aircraft track indicator longitudinal command is set to 0. The invention provides the landing operation reference guide based on the flight path mark of the head-up display, is suitable for various large-scale transport airplanes, and has universality.
Description
Technical Field
The invention belongs to the technical field of airplane control guidance, and particularly relates to a flight path sign calculation method and system used as airplane landing control reference.
Background
The landing of an airplane (especially a large transportation airplane) is an important component of the flight phase of the airplane, and is an accident high-rise phase, and perfect airplane landing not only needs to ensure safety, but also needs to realize good grounding performance, namely: under the premise of avoiding overlong flat flying, the airplane is controlled to be grounded in an expected landing area, the vertical speed of the grounding point is enabled to be close to zero as much as possible, and the airplane structure is protected on the premise of ensuring the comfort of passengers.
During the landing of a manually operated aircraft, the pilot has obtained the required visual reference. The aircraft is typically maneuvered to level and ground according to its own experience with reference to visual references. Although qualified pilots have obtained proper operating skills according to own experience, certain deviation still occurs, and each landing has certain randomness, even accident sign events of heavy landing occur.
Due to the fact that inertia of the large-sized transportation aircraft is large, lag exists between pilot operation input and actual response (track change) of the aircraft during landing leveling, the pilot usually judges the track change qualitatively based on self experience according to required visual reference and external scene change, accurate and appropriate track change response can provide basis for the pilot to operate the aircraft timely and accurately, human errors can be reduced obviously, and landing safety is improved.
Technological developments have led to the widespread use of vitrified cabins in modern large transport-type aircraft, and head-up displays have also been used in advanced commercial aircraft as the cabin primary instrument. By providing the flight path sign on the head-up display, the method provides feasibility for timely and accurate acquisition of the change of the airplane path during visual operation of the airplane by the pilot.
The general flight path symbol instruction is obtained by calculation based on flight path angle and drift angle parameters, however, a pilot mainly focuses on the relative situation of the aircraft and a road surface when the aircraft lands, a runway may have a slope, and a heavy landing event may be caused when the flight path angle is directly adopted as a longitudinal instruction of the flight path symbol; on the other hand, the conventional aircraft open ground state is usually judged through a wheel load signal, but a landing gear compression process is needed between the time when a main wheel of the aircraft contacts the ground and the time when the wheel load signal is sent out, so that a certain time delay exists, and during the landing period, when a pilot cannot timely capture a main wheel touchdown event, the leveling time is possibly too long, so that the distance between a grounding point and a runway entrance is too long, and the grounding performance is reduced.
Disclosure of Invention
The invention aims to solve the problems of high randomness of visual landing and poor grounding performance in the prior art.
The invention aims to provide a flight path sign calculation method used as an airplane landing operation reference, which comprises the following steps:
s1: calculating a lateral instruction of a flight path symbol based on the course and the path parameters;
s2: calculating a main wheel height based on the barometric height and the radio height;
s3: when the height of the main wheel is lower than a first threshold value, judging whether the airplane reaches the position right above the road surface, if not, calculating a longitudinal flight path symbol command based on the vertical speed from the sensor group; if the arrival, then the next step is carried out;
s4: judging whether the aircraft is on the road surface, if not, calculating the vertical speed of the aircraft relative to the road surface, and calculating the longitudinal command of the flight path symbol based on the vertical speed relative to the road surface; if the road surface is on, the next step is carried out;
s5: the aircraft track indicator longitudinal command is set to 0.
The method for calculating the flight path symbol for the reference of the aircraft landing maneuver provided by the present invention is further characterized in that in S3, if the current main wheel height of the aircraft is less than or equal to the runway threshold crossing height and no approach out-of-tolerance alarm occurs, it is determined that the aircraft is above the runway surface.
The method for calculating flight path signs for aircraft landing maneuver reference provided by the present invention is further characterized in that in S4, the vertical velocity of the aircraft relative to the road surface is obtained by filtering and fusing the radio altitude parameter and the aircraft attitude angular rate parameter.
The method for calculating the flight path symbol for reference of the aircraft landing maneuver provided by the present invention is further characterized in that, in S4, determining whether the aircraft is on the road surface includes:
when the radio altitude parameters are invalid, judging whether the airplane is on the pavement or not based on the wheel load signals;
and when the radio altitude parameter is effective, judging whether the radio altitude parameter is lower than a second threshold value, if so, judging that the radio altitude parameter is not positioned on the road surface, and if so, judging that the airplane is positioned on the road surface based on the wheel load signal and the spike jump of the axial acceleration.
The flight path symbol calculation method for the aircraft landing maneuver reference provided by the invention is also characterized in that the second threshold value is selected within a radio altitude range of the sensor output when the aircraft is placed on a runway according to a standard landing attitude and is integrally elevated to a distance between a main engine wheel and the runway surface of 0.01m-0.05 m.
It is another object of the present invention to provide a flight trajectory calculation system for use as a reference for landing maneuvers of an aircraft, the system comprising: a parameter input control panel, a flight management system, a sensor group, a manipulation reference calculation module, a head-up display,
the parameter input control board provides an interface for inputting the height of the runway threshold and outputs the input height of the runway threshold to the operation reference calculation module;
the operation reference calculation module is connected with the sensor group and the parameter input control panel or the flight management system, receives data parameters acquired by the sensor group and runway entrance height parameters from the parameter input control panel or the flight management system, calculates an operation reference instruction, and outputs the calculated instruction to the head-up display for displaying;
the head-up display is connected with the operation reference calculation module, receives the airspeed, the attitude and the altitude parameters from the sensor group and the operation reference instruction of the operation reference calculation module, and generates and displays the main flight information and the operation reference information.
The invention provides a flight path symbol computing system used as an airplane landing maneuvering reference, which is also characterized in that the maneuvering reference information comprises a flight path symbol and an external scene seen through a head-up display, and the flight path symbol respectively represents an inertia flight path, a relative flight path relative to a runway surface and a fixed position longitudinally in different flight phases; the lateral direction of the flight path indicator represents the aircraft lateral path.
The invention also provides a flight path sign computing system used as an airplane landing maneuvering reference, which is characterized in that the maneuvering reference computing module comprises: a situation judging unit, an open space judging unit, a vertical speed calculating unit and an instruction calculating unit,
the situation judging unit is used for judging whether the airplane is positioned right above the runway or not based on the current height of the airplane;
the air space judging unit is used for judging whether the airplane is on the road surface;
the vertical speed calculating unit is used for providing a vertical speed parameter for instruction calculation;
and the instruction calculation unit receives the data parameters from the sensor group, calculates the operation reference instruction according to the results of the situation judgment unit, the space judgment unit and the vertical speed calculation unit, and outputs the result to the head-up display.
The invention also provides a flight path sign calculation system used as a reference for landing and maneuvering of an airplane, which is characterized in that the sensor group comprises:
the first sensor is used for collecting parameters of airspeed and air pressure altitude;
the second sensor is used for acquiring parameters of attitude, course, track, axial acceleration, attitude angular rate, ground speed and vertical speed;
a third sensor for acquiring radio altitude parameters;
and the fourth sensor is used for acquiring the wheel-mounted signal parameters.
Compared with the prior art, the invention has the beneficial effects that:
the method for calculating the flight path sign used as the airplane landing operation reference uses the head-up display as a display carrier and the flight path sign as the operation reference to form a man-machine-loop closed-loop system, can provide effective feedback for a pilot to operate a leveling maneuvering airplane, and avoids unsafe events such as over-pulling, under-pulling and the like; the flight path symbol longitudinal command is calculated in real time based on the vertical speed, and the adopted vertical speed adopts different strategies according to different situations that the airplane is at high altitude, right above the runway surface and grounded, so that the possible runway gradient can be effectively captured, and the heavy landing risk is reduced; the ground contact state of the airplane is captured in time through radio altitude parameters, axial acceleration parameters and the like based on geometrical parameters of the airplane, so that delay caused by the fact that only wheel-borne signals are adopted in the prior art is avoided, a main wheel ground contact event can be captured in time, operators are guided to operate the airplane to lower the head in time, and the situation that the ground contact performance is reduced due to overlong leveling time is avoided.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1: the invention provides a flow chart of a flight path symbol calculation method used as an airplane landing operation reference;
FIG. 2: the method for calculating the flight path symbol comprises the steps of obtaining an internal flow chart of an air space judgment unit of the flight path symbol calculation method;
FIG. 3: the structure diagram of the flight path sign computing system used as the reference for the landing operation of the airplane is provided by the embodiment of the invention;
FIG. 4: schematic diagram of landing phase of large transport aircraft.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following embodiments are specifically described in the flight path symbol calculation method for the landing maneuver reference of the airplane provided by the invention with reference to the attached drawings.
In the description of the embodiments of the present invention, it should be understood that the terms "central", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only used for convenience in describing and simplifying the description of the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 4, which is a schematic diagram of a landing phase of a large transportation aircraft, a trajectory change process and a corresponding altitude change of the large transportation aircraft in the landing phase are shown in fig. 4.
The aircraft is at position 101, relatively high altitude, based on the inertial flight path as a crew maneuver reference.
When the aircraft is lowered to position 102, the entry crossing height is nominally 50ft, and thereafter above the runway, based on flight path relative to the runway as a crew maneuver reference.
When the airplane descends to the position 103, the main wheel just starts to contact the ground, the airplane starts to be grounded, the flight path is close to the transverse direction, and the airplane is controlled by the flight unit through the reference pitching attitude to finish head lowering.
When the aircraft decelerates to position 104, the speed is reduced to a taxi speed, ending the landing and rollout process.
As shown in fig. 1 to 3, an embodiment of the present invention provides a flight path calculation method for use as a reference for landing maneuver of an aircraft, the calculation method includes the following steps:
s1: calculating a lateral instruction of a flight path symbol based on the course and the path parameters;
s2 (301): calculating a main wheel height based on the barometric height and the radio height;
s3 (302): when the height of a main wheel is lower than a first threshold value of 100ft, judging whether the aircraft reaches the position right above a road surface (303), if not, calculating a flight track symbol longitudinal command based on the vertical speed from the sensor group (304); if the arrival, then the next step is carried out;
s4: judging whether the aircraft is on the road surface (307), if not, calculating the vertical speed of the aircraft relative to the road surface (308), and calculating the flight track symbol longitudinal command based on the vertical speed relative to the road surface; if the road surface is on, the next step is carried out;
s5: the aircraft track indicator longitudinal command is set to 0 (309).
In some embodiments, in S3, if the current main wheel height of the aircraft is less than or equal to the runway threshold crossing height and no out-of-tolerance approach warning is generated, it is determined that the aircraft is above the runway surface.
In some embodiments, in S4, the vertical velocity of the aircraft relative to the road surface is obtained by filtering and fusing the radio altitude parameter and the aircraft attitude angular rate parameter.
In some embodiments, the determining whether the aircraft is on the road surface in S4 includes:
when the radio altitude parameters are invalid, judging whether the airplane is on the pavement or not based on the wheel load signals;
and when the radio altitude parameter is effective, judging whether the radio altitude parameter is lower than a second threshold value, if so, judging that the radio altitude parameter is not positioned on the road surface, and if so, judging that the airplane is positioned on the road surface based on the wheel load signal and the spike jump of the axial acceleration.
In some embodiments, the second threshold is selected to be in a range of radio altitudes of sensor outputs when the aircraft is placed on the runway in a standard landing attitude and raised as a whole to 0.01-0.05 m from the runway surface from the main machine wheel.
In some embodiments, longitudinal commands for flight trajectory are calculated based on vertical velocity and parameters from the sensor group (305); calculating lateral commands (306) for flight path markers based on the heading and path parameters from the sensor group;
in some embodiments, as shown in fig. 3, the flow chart inside the air space determination unit according to an embodiment of the present invention, as shown in fig. 3, includes the following steps:
step 401, starting detection when the height of a main wheel is lower than 10 ft;
step 402, performing 1/(s +1) filtering processing on the original axial acceleration to obtain the original axial acceleration;
and step 406, outputting a judgment result of the air space state.
In some embodiments, there is provided a flight trajectory calculation system for use as a reference for aircraft landing maneuvers, the system comprising: a parameter input control panel 201, a flight management system 206, a sensor set 202 and 205, a maneuver reference calculation module 207, a head-up display 208,
the parameter input control board 201 provides an interface for inputting the height of the runway threshold and outputs the input height of the runway threshold to the operation reference calculation module 207;
the operation reference calculation module 207 is connected with the sensor group 202 and the parameter input control board 201 or the flight management system 206, and receives the data parameters collected by the sensor group and the data parameters from the parametersRunway threshold height h of input control panel or flight management systemThresholdA parameter for calculating a manipulation reference command and outputting the calculated command to the head-up display 208 for display;
the head-up display 208 is connected to the maneuver reference calculation module 207, and receives the airspeed, attitude, and altitude parameters from the sensor set 202 and 205 and the maneuver reference command from the maneuver reference calculation module 207, and generates and displays the primary flight information and the maneuver reference information.
In some embodiments, the maneuver reference information includes a flight path indicator longitudinally characterizing the inertial flight path, the relative flight path with respect to the runway surface, and the fixed position at different flight phases, respectively, and an external scene viewed through the heads-up display; the lateral direction of the flight path indicator represents the aircraft lateral path. That is, when the aircraft is at high altitude, the flight path longitudinally represents the inertial flight path; when the aircraft is directly above the runway, the flight path longitudinally characterizes a relative flight path relative to the runway surface; when the aircraft is in the runway, the flight path is in a fixed position in the longitudinal direction.
In some embodiments, the manipulation reference calculation module 207 comprises: a situation judgment unit 209, a free space judgment unit 211, a vertical velocity calculation unit 210, and an instruction calculation unit 207,
the situation judging unit 209 is configured to judge whether the aircraft is located right above the runway based on the current altitude of the aircraft;
the air-ground determining unit 211 is configured to combine the wheel load signal, the radio altitude parameter, and the axial acceleration parameter from the sensor group 202-205, and determine whether the aircraft is on the road surface according to the priority relationship and the data validity;
the vertical speed calculating unit 210 determines to output a vertical speed by adopting different vertical speed calculating methods according to the signal whether the aircraft output by the situation judging unit 209 is on the road surface and the signal whether the aircraft output by the space judging unit 211 is right above the runway, and further calculates the command of the flight path symbol referenced by foot manipulation by the command calculating unit 207;
the output of the vertical velocity calculating unit 210 is as follows: when the aircraft is on the road surface, the vertical speed is set to be 0; when the airplane is positioned right above the runway, the vertical speed is the vertical speed relative to the runway surface; when the aircraft is at high altitude, the vertical velocity is the original inertial vertical velocity.
The command calculation unit 212 receives the data parameters from the sensor group 202 and 205, calculates the manipulation reference command according to the results of the situation determination unit 209, the space determination unit 211 and the vertical speed calculation unit 210, and outputs the result to the head-up display 208.
In some embodiments, the sensor group comprises:
a first sensor 202 for collecting airspeed VCASHeight h of air pressureBaroA parameter;
a second sensor 203 for acquiring the attitude theta, the heading psi, the track lambda and the axial acceleration axAttitude angular rate p/q/r, ground speed VGSVertical velocity
A roll angle phi parameter;
a third sensor 204 for detecting the radio altitude hRAA parameter;
and the fourth sensor 205 is used for acquiring the WOW parameter of the wheel-mounted signal.
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. The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A method for calculating a flight trajectory used as a reference for landing manoeuvres of an aircraft, said method comprising the steps of:
s1: calculating a lateral instruction of a flight path symbol based on the course and the path parameters;
s2: calculating a main wheel height based on the barometric height and the radio height;
s3: when the height of the main wheel is lower than a first threshold value, judging whether the airplane reaches the position right above the road surface, if not, calculating a longitudinal flight path symbol command based on the vertical speed from the sensor group; if the arrival, then the next step is carried out;
s4: judging whether the aircraft is on the road surface, if not, calculating the vertical speed of the aircraft relative to the road surface, and calculating the longitudinal command of the flight path symbol based on the vertical speed relative to the road surface; if the road surface is on, the next step is carried out;
s5: the aircraft track indicator longitudinal command is set to 0.
2. The method of claim 1, wherein in step S3, if the current main wheel height of the aircraft is less than or equal to the runway threshold crossing height and no out-of-tolerance approach warning is given, it is determined that the aircraft is above the runway surface.
3. The method for calculating flight path parameters for aircraft landing maneuver reference according to claim 1, wherein in said S4, the vertical velocity of the aircraft relative to the runway is obtained by filtering and fusing the radio altitude parameter and the aircraft attitude angular rate parameter.
4. The method for calculating the flight path symbol for the aircraft landing maneuver reference according to claim 1, wherein the step of determining whether the aircraft is on the runway in S4 comprises:
when the radio altitude parameters are invalid, judging whether the airplane is on the pavement or not based on the wheel load signals;
and when the radio altitude parameter is effective, judging whether the radio altitude parameter is lower than a second threshold value, if so, judging that the radio altitude parameter is not positioned on the road surface, and if so, judging that the airplane is positioned on the road surface based on the wheel load signal and the spike jump of the axial acceleration.
5. The method of claim 4, wherein the second threshold is selected from a range of radio altitudes of the sensor output when the aircraft is placed on the runway in a standard landing attitude and raised to a distance of 0.01-0.05 m from the runway surface as a whole.
6. A flight trajectory calculation system for use as a reference for aircraft landing maneuvers, the system comprising: a parameter input control panel, a flight management system, a sensor group, a manipulation reference calculation module, a head-up display,
the parameter input control board provides an interface for inputting the height of the runway threshold and outputs the input height of the runway threshold to the operation reference calculation module;
the operation reference calculation module is connected with the sensor group and the parameter input control panel or the flight management system, receives data parameters acquired by the sensor group and runway entrance height parameters from the parameter input control panel or the flight management system, calculates an operation reference instruction, and outputs the calculated instruction to the head-up display for displaying;
the head-up display is connected with the operation reference calculation module, receives the airspeed, the attitude and the altitude parameters from the sensor group and the operation reference instruction of the operation reference calculation module, and generates and displays the main flight information and the operation reference information.
7. The flight trajectory calculation system for use as a reference for aircraft landing maneuvers according to claim 6, wherein the maneuver reference information includes a flight trajectory indicator and an external view as viewed through the heads-up display, the flight trajectory indicator longitudinally characterizing an inertial flight trajectory, a relative flight trajectory with respect to the runway surface, and a fixed position, respectively, at different flight phases; the lateral direction of the flight path indicator represents the aircraft lateral path.
8. The flight trajectory calculation system for use as a reference for aircraft landing maneuvers according to claim 6, wherein the maneuver reference calculation module comprises: a situation judging unit, an open space judging unit, a vertical speed calculating unit and an instruction calculating unit,
the situation judging unit is used for judging whether the airplane is positioned right above the runway or not based on the current height of the airplane;
the air space judging unit is used for judging whether the airplane is on the road surface;
the vertical speed calculating unit is used for providing a vertical speed parameter for instruction calculation;
and the instruction calculation unit receives the data parameters from the sensor group, calculates the operation reference instruction according to the results of the situation judgment unit, the space judgment unit and the vertical speed calculation unit, and outputs the result to the head-up display.
9. The flight trajectory calculation system for use as a reference for aircraft landing maneuvers according to claim 6, wherein the set of sensors comprises:
the first sensor is used for collecting parameters of airspeed and air pressure altitude;
the second sensor is used for acquiring parameters of attitude, course, track, axial acceleration, attitude angular rate, ground speed and vertical speed;
a third sensor for acquiring radio altitude parameters;
and the fourth sensor is used for acquiring the wheel-mounted signal parameters.
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