CN114509073B - Course signal processing method and device, storage medium and aircraft - Google Patents
Course signal processing method and device, storage medium and aircraft Download PDFInfo
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- CN114509073B CN114509073B CN202210105127.4A CN202210105127A CN114509073B CN 114509073 B CN114509073 B CN 114509073B CN 202210105127 A CN202210105127 A CN 202210105127A CN 114509073 B CN114509073 B CN 114509073B
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- 238000003672 processing method Methods 0.000 title claims abstract description 24
- 238000005259 measurement Methods 0.000 claims abstract description 107
- 238000012545 processing Methods 0.000 claims description 33
- 238000000034 method Methods 0.000 claims description 32
- 238000001914 filtration Methods 0.000 claims description 19
- 230000004927 fusion Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
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- 230000009977 dual effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application discloses a course signal processing method, a device, a storage medium and an aircraft, wherein the aircraft comprises a signal receiving unit, an inertia measuring unit and a satellite positioning unit, a course signal from a course table is received through the signal receiving unit, and a received course deviation of the aircraft is determined according to a receiving result of the signal receiving unit; acquiring inertial measurement data of the aircraft from the inertial measurement unit, and acquiring satellite positioning data of the aircraft from the satellite positioning unit; determining a measured course deviation of the aircraft according to the inertial measurement data and the satellite positioning data; and determining the target course deviation of the aircraft according to the received course deviation and the measured course deviation. Errors caused by possible interference to the course signal can be reduced, so that accuracy of determining course deviation of the aircraft is improved, and landing safety of the aircraft is further improved.
Description
Technical Field
The present disclosure relates to the field of aircraft control technologies, and in particular, to a method and an apparatus for processing a course signal, a storage medium, and an aircraft.
Background
The instrument landing system (Instrument Landing System, ILS), also known as an instrument landing system or a blind landing system, is the most widely used precision approach and landing guidance system for aircraft at present. The instrument landing system comprises a course platform arranged on the central extension line of the runway beyond the runway end point and a signal receiving unit arranged on the aircraft. The course signal transmitted by the course platform is fan-shaped wave beam with a specific angle, and a virtual path pointed to the air by the runway is established; the aircraft receives the course signal through the signal receiving unit, determines the course deviation between the aircraft and the virtual path, flies to the runway along the correct direction, and finally realizes safe landing.
However, the runway environment is complex and variable, and in some cases, other aircraft or ground vehicles may pass through the course signal emitted by the course table when the aircraft approaches, which may interfere with the course signal and affect the accuracy of the course deviation determined by the aircraft.
Therefore, it is necessary to provide a course signal processing method to improve the accuracy of determining course deviation of an aircraft.
Disclosure of Invention
The embodiment of the application provides a course signal processing method, a device, a storage medium and an aircraft, which can improve the accuracy of determining course deviation of the aircraft.
In order to solve the technical problems, the embodiment of the application discloses the following technical scheme:
in a first aspect, a method for processing a course signal is provided, which is applied to an aircraft, wherein the aircraft includes a signal receiving unit, an inertial measurement unit and a satellite positioning unit, and the method for processing the course signal includes:
receiving a course signal from a course through a signal receiving unit, and determining a received course deviation of the aircraft according to a receiving result of the signal receiving unit;
acquiring inertial measurement data of the aircraft from the inertial measurement unit, and acquiring satellite positioning data of the aircraft from the satellite positioning unit;
determining a measured course deviation of the aircraft according to the inertial measurement data and the satellite positioning data;
and determining the target course deviation of the aircraft according to the received course deviation and the measured course deviation.
In a second aspect, a course signal processing device is provided, applied to an aircraft, the aircraft including a signal receiving unit, an inertial measurement unit, and a satellite positioning unit, the course signal processing device comprising:
the first deviation determining module is used for receiving the course signal from the course platform through the signal receiving unit and determining the received course deviation of the aircraft according to the receiving result of the signal receiving unit;
The data acquisition module is used for acquiring inertial measurement data of the aircraft from the inertial measurement unit and acquiring satellite positioning data of the aircraft from the satellite positioning unit;
the second deviation determining module is used for determining the measured course deviation of the aircraft according to the inertial measurement data and the satellite positioning data;
and the deviation fusion module is used for determining the target course deviation of the aircraft according to the received course deviation and the measured course deviation.
In a third aspect, a storage medium is provided, the storage medium storing a computer program which, when executed by a processor, implements the steps of a course signal processing method provided by any embodiment of the present application.
In a fourth aspect, an aircraft is provided, including a signal receiving unit, an inertial measurement unit, a satellite positioning unit, a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor implementing steps in a course signal processing method provided in any embodiment of the present application when the computer program is executed by the processor.
In addition to receiving the course signal from the course through the signal receiving unit and determining the received course deviation of the aircraft according to the receiving result of the signal receiving unit, the method and the device for measuring the course of the aircraft multiplex inertial measurement data of the inertial measurement unit and satellite positioning data of the satellite positioning unit, and determine a new path of measured course deviation different from the received course deviation according to the inertial measurement data and the satellite positioning data. Compared with the prior art, the method and the device for determining the course deviation of the aircraft only according to the course signal from the course table, the method and the device can obtain multipath course deviations of different sources, and determine the target course deviation of the aircraft according to the obtained course deviations of different sources, so that errors possibly caused by interference to the course signal can be reduced, the accuracy of determining the course deviation of the aircraft is improved, and the landing safety of the aircraft is further improved.
Drawings
For a clearer description of an embodiment of the present application, reference will be made to the accompanying drawings of embodiments, which, as will become apparent, relate only to some embodiments of the present application and are not limiting of the present application, wherein:
FIG. 1 is a top view of a dust-gas separation device according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of a course signal processing method according to an embodiment of the present disclosure;
FIG. 3 is another flow chart of a course signal processing method according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an aircraft combining inertial measurement data and satellite positioning data to ultimately determine a target course bias in accordance with an embodiment of the present application;
FIG. 5 is a block diagram of a course signal processing device according to an embodiment of the present disclosure;
fig. 6 is a block diagram of an aircraft provided in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, based on the embodiments herein, are within the scope of the protection of the present application.
In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Likewise, the terms "a," "an," or "the" and similar terms do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are present in front of "comprising" or "comprising" are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Referring to fig. 1, the present application further provides a course signal processing system, as shown in fig. 1, which includes an aircraft 100 and a course 200. The course 200 is disposed on the central extension of the runway beyond the end of the runway, and emits the course signal of a fan beam at a specific angle perpendicular to the plane of the runway, thereby establishing a virtual path pointing from the runway to the air. The aircraft 100 comprises a signal receiving unit, an inertial measurement unit and a satellite positioning unit. When the aircraft 100 approaches, the course signal from the course 200 is received by the signal receiving unit, and the course deviation of the aircraft is determined according to the receiving result of the signal receiving unit, and is recorded as the received course deviation. In addition, the aircraft 100 acquires inertial measurement data of the aircraft 100 from the inertial measurement unit, acquires satellite positioning data of the aircraft 100 from the satellite positioning unit, and determines a course deviation of the aircraft 100 based on the acquired inertial measurement data and the satellite positioning data, and records the course deviation as a measured course deviation. Finally, the aircraft 100 receives the course deviation and the measured course deviation in combination, determines a target course deviation for the aircraft 100, and uses the target course deviation for automatic landing.
It should be noted that, the schematic view of the scenario of the course signal processing system shown in fig. 1 is only an example, and the course signal processing system and the scenario described in the embodiments of the present application are for more clearly describing the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application, and those skilled in the art can know that, with the evolution of the course signal processing system and the appearance of a new service scenario, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.
Referring to fig. 2, fig. 2 is a schematic flow chart of a course signal processing method provided in an embodiment of the present application, where the course signal processing method is applied to an aircraft, and the aircraft includes a signal receiving unit, an inertia measuring unit and a satellite positioning unit, and the flow chart may be as follows:
in S310, a course signal from the course is received by the signal receiving unit, and a received course deviation of the aircraft is determined according to the reception result of the signal receiving unit.
It should be noted that the aircraft mentioned in this application may be any aircraft employing an instrument landing system, for example, the aircraft may be a large civil passenger aircraft. The aircraft is configured with a signal receiving unit configured to receive a heading channel signal transmitted by a heading station (also known as a heading beacon, locator, runway location beacon, etc.).
In this embodiment, when the aircraft enters the coverage area of the course signal emitted by the course, the aircraft may receive the course signal from the course through the signal receiving unit, and determine the course deviation of the aircraft according to the receiving result of the signal receiving unit, and record the determined course deviation as the received course deviation.
For example, the course signal emitted by the course station includes two radiation lobes intersecting horizontally along the centerline plane of the runway, the lobe on the left side of the runway being modulated with a 90HZ low frequency signal, and the lobe on the right side of the runway being modulated with a 150HZ low frequency signal, such that the 90HZ and 150HZ modulated signal levels (amplitudes) of the signal on the centerline of the runway are equal, while the two sides of the runway are unequal, the difference varying with the magnitude of the offset. Accordingly, the aircraft may determine the received heading channel bias of the aircraft based on the received levels of the 90HZ and 150HZ modulated signals received by the signal receiving unit.
In S320, inertial measurement data of the aircraft is acquired from the inertial measurement unit, and satellite positioning data of the aircraft is acquired from the satellite positioning unit.
It should be noted that the inertial measurement unit may be composed of an acceleration sensor and an angular velocity sensor. For example, an inertial measurement unit of an aircraft configuration may include a tri-axial acceleration sensor configured to measure acceleration data of the aircraft in three spatial directions and a tri-axial angular velocity sensor configured to measure angular velocity data of the aircraft in three spatial directions. The satellite positioning unit may be a satellite positioning unit adapted to any global navigation satellite system, including but not limited to the global positioning system (Global Positioning System, GPS), GLONASS (Global Navigation Satellite System, GLONASS), galileo satellite navigation system, beidou satellite navigation system, etc.
In this embodiment, the aircraft multiplexes inertial measurement data of the inertial measurement unit and satellite positioning data of the satellite positioning unit in addition to their use for navigation in landing control of the aircraft. The aircraft acquires inertial measurement data of the aircraft from the inertial measurement unit and acquires satellite positioning data of the aircraft from the satellite positioning unit for subsequent processing.
In S330, a measured course bias of the aircraft is determined from the inertial measurement data and the satellite positioning data.
As described above, after the aircraft acquires the inertial measurement data of the aircraft from the inertial measurement unit and acquires the satellite positioning data of the aircraft from the satellite positioning unit, a new course deviation different from the above received course deviation is determined according to the configured course deviation determination policy, and is recorded as the measured course deviation. The configuration of the course deviation determination strategy is not particularly limited herein, and may be configured by those skilled in the art according to actual needs.
It should be noted that, the inertial measurement data is high frequency data, which can generate an integral error, and the satellite positioning data is low frequency data, which can correct the integral error.
At S340, a target course bias for the aircraft is determined based on the received course bias and the measured course bias.
The aircraft obtains multipath course deviation of different sources, namely the received course deviation and the measured course deviation, and at the moment, the aircraft further synthesizes the received course deviation and the measured course deviation of different sources to determine the target course deviation for landing.
In other embodiments, the aircraft may also provide the target course bias to an automatic landing system for landing control of the aircraft after the target course bias is determined.
From the above, the present application not only receives the course signal from the course station through the signal receiving unit, and determines the received course deviation of the aircraft according to the receiving result of the signal receiving unit, but also multiplexes the inertial measurement data of the inertial measurement unit and the satellite positioning data of the satellite positioning unit, and determines a new path of measured course deviation different from the received course deviation according to the inertial measurement data and the satellite positioning data. Compared with the prior art, the method and the device for determining the course deviation of the aircraft only according to the course signal from the course table, the method and the device can obtain multipath course deviations of different sources, and determine the target course deviation of the aircraft according to the obtained course deviations of different sources, so that errors possibly caused by interference to the course signal can be reduced, the accuracy of determining the course deviation of the aircraft is improved, and the landing safety of the aircraft is further improved.
In an alternative embodiment, determining the measured course bias of the aircraft based on the inertial measurement data and the satellite positioning data may include:
establishing a Kalman filtering measurement equation according to satellite positioning data and establishing a Kalman filtering state equation according to inertial measurement data;
and carrying out Kalman filtering according to the measurement equation and the state equation to obtain the measured course deviation of the aircraft.
The embodiment provides an optional course deviation determining strategy, wherein fusion of inertial measurement data and satellite positioning data is realized in a Kalman filtering mode, so that the measured course deviation of the aircraft is determined.
It should be noted that the standard kalman filter is an algorithm that performs optimal estimation of the system state based on the measurement data of the system, and using the linear system state equation. Since the measurement data includes system noise and interference, the process of performing optimal estimation can also be regarded as a filtering process. Because standard Kalman filtering is only applicable to linear systems, and in practice, the metrology data is typically nonlinear, extended Kalman filtering applicable to nonlinear systems is derived, including state equations and metrology equations.
In this embodiment, when determining the measured course deviation of the aircraft according to the inertial measurement data and the satellite positioning data, the determination may be performed by adopting an extended kalman filter method. The method comprises the steps that an aircraft establishes a measurement equation for extended Kalman filtering according to satellite positioning data, establishes a state equation for extended Kalman filtering according to inertial measurement data, and performs extended Kalman filtering according to the measurement equation and the state equation to obtain measured course deviation of the aircraft.
It should be noted that, the present embodiment is not limited to the establishment of the state equation and the measurement equation, and may be configured by those skilled in the art according to actual needs.
For example, when the measurement mode of the kalman filter is established according to satellite positioning data, the measurement mode can be established as follows:
determining first position information of the aircraft according to the satellite positioning data;
acquiring second position information of the course platform;
determining a first candidate heading channel deviation of the aircraft according to the first position information and the second position information;
and taking the first candidate course deviation as a measurement value to establish a measurement equation.
The aircraft determines the position information of the aircraft according to the satellite positioning data, and records the position information as first position information, wherein the first position information comprises, but is not limited to, longitude, latitude, altitude and the like of the aircraft. In addition, the aircraft also obtains location information of the course, noted as second location information, including, but not limited to, longitude, latitude, altitude, and the like of the course.
As described above, after the first position information of the aircraft and the second position information of the course are obtained, the aircraft may determine a course deviation according to the first position information of the aircraft and the second position information of the course, record the course deviation as a first candidate course deviation, and establish a measurement equation using the first course deviation as a measurement value of the kalman filter.
In an alternative embodiment, determining the measured course bias of the aircraft based on the inertial measurement data and the satellite positioning data may include:
determining third position information of the aircraft based on the inertial measurement data;
determining fourth position information of the aircraft according to the satellite positioning data;
fusing the third position information and the fourth position information to obtain fifth position information of the aircraft;
and acquiring sixth position information of the course table, and determining a measured course deviation according to the fifth position information and the sixth position information.
The present embodiment provides another alternative course bias determination strategy.
The aircraft may determine the position information of the aircraft based on the inertial measurement data, and record the position information as third position information, where the third position information includes, but is not limited to, longitude, latitude, altitude, and the like of the aircraft. For example, the aircraft may perform integration processing according to the obtained inertial measurement data to obtain the displacement of the aircraft, and then calculate the third position information of the aircraft by combining with the original position information of the aircraft. The aircraft also determines location information for the aircraft based on the satellite positioning data, and is noted as fourth location information including, but not limited to, longitude, latitude, altitude, and the like of the aircraft.
As described above, after determining the third position information and the fourth position information of the aircraft, the aircraft further fuses the third position information and the fourth position information according to the configured position information fusion strategy to obtain new position information, and records the new position information as fifth position information.
In addition, the aircraft also obtains location information of the course, noted as sixth location information, including, but not limited to, longitude, latitude, altitude, and the like of the course. And finally, determining a course deviation by the aircraft according to the fifth position information and the sixth position information, and taking the course deviation as a measured course deviation of the aircraft.
It should be noted that the above configuration of the location information fusion policy is not particularly limited, and may be configured by those skilled in the art according to actual needs.
For example, the location information fusion policy configured in this embodiment may include:
calculating the average value of the third position information and the fourth position information as fifth position information; or,
weighting the third position information and the fourth position information to obtain fifth position information; or,
and performing extended Kalman filtering on the third position information and the fourth position information to obtain fifth position information.
In an alternative embodiment, after determining the fourth position information of the aircraft according to the satellite positioning data, the method may further include:
determining a second candidate heading channel deviation of the aircraft according to the third position information and the sixth position information;
determining a third candidate heading channel deviation of the aircraft according to the fourth position information and the sixth position information;
and fusing the second candidate course deviation and the third candidate course deviation to obtain a measured course deviation.
The present embodiment provides yet another alternative course bias determination strategy.
The difference from the previous course deviation determining process is that, in this embodiment, after determining the third position information and the fourth position information of the aircraft, the aircraft does not fuse the third position information and the fourth position information, but determines one course deviation of the aircraft according to the third position information and the sixth position information, and marks the one course deviation as a second candidate course deviation, and determines the other course deviation of the aircraft according to the fourth position information and the sixth position information, and marks the other course deviation as a third candidate course deviation.
As above, after determining the second candidate course deviation and the third candidate course deviation of the aircraft, the aircraft further fuses the second candidate course deviation and the third candidate course deviation according to the configured deviation fusion strategy to obtain a new course deviation as the measured course deviation of the aircraft.
It should be noted that the above configuration of the bias fusion strategy is not particularly limited, and may be configured by those skilled in the art according to actual needs.
For example, the bias fusion policy configured in this embodiment may include:
calculating the mean value of the second candidate course deviation and the third candidate course deviation as the measured course deviation; or,
weighting the second candidate course deviation and the third candidate course deviation to obtain a measured course deviation; or,
and performing extended Kalman filtering on the second candidate course deviation and the third candidate course deviation to obtain a measured course deviation.
In an alternative embodiment, to further improve accuracy of determining a course deviation of the aircraft, the signal receiving unit of the aircraft adopts a dual redundancy design, including a first signal receiving unit and a second signal receiving unit, and the signal receiving unit receives a course signal from the course table, and determines a received course deviation of the aircraft according to a receiving result of the signal receiving unit, including:
receiving a course signal from a course through a first signal receiving unit, and determining a first received course deviation of the aircraft according to a receiving result of the first signal receiving unit;
And receiving the course signal from the course through the second signal receiving unit, and determining a second received course deviation of the aircraft according to the receiving result of the second signal receiving unit.
The aircraft receives the course signal from the course platform through the first signal receiving unit and the second signal receiving unit respectively, determines two course deviations according to the receiving results of the first signal receiving unit and the second signal receiving unit respectively, marks the course deviation determined according to the receiving result of the first signal receiving unit as a first receiving course deviation, and marks the course deviation determined according to the receiving result of the second signal receiving unit as a second receiving course deviation.
Therefore, the aircraft can determine two-way course deviation (namely, a first received course deviation and a second received course deviation) through the way of receiving the course signal of the course table, and in addition, three-way course deviation is determined by adding one-way course deviation (namely, a measured course deviation) determined according to inertia measurement data and satellite positioning data. Accordingly, determining a target course bias for the aircraft based on the received course bias and the measured course bias may include:
Determining a current course deviation voting strategy;
according to the course deviation voting strategy, voting to obtain the target course deviation according to the first received course deviation, the second received course deviation and the measured course deviation.
It should be noted that the course bias voting strategy can be configured by those skilled in the art according to actual needs, and is not particularly limited herein.
Illustratively, when the determined course bias table decision is slightly the first course bias voting strategy, a course bias is selected from the first received course bias, the second received course bias, and the measured course bias as the target course bias.
The first course deviation voting strategy can be called as 'active/standby', and is used for indicating that one course deviation is selected from the three courses of course deviations determined above to serve as a target course deviation. The selection criteria for the target course bias are not particularly limited herein and may be configured by one skilled in the art according to actual needs.
For example, a path of course deviation can be randomly selected from the first received course deviation, the second received course deviation and the measured course deviation as the target course deviation; the median value of the first received course deviation, the second received course deviation and the measured course deviation can be selected as the target course deviation; and when the difference values of the measured course deviation and the first and second received course deviations are smaller than the difference value threshold (which can be valued by a person skilled in the art according to actual needs), the measured course deviation can be selected as the target course deviation.
In addition, when the determined course deviation table decision is slightly the second course deviation voting strategy, the first received course deviation, the second received course deviation and the measured course deviation are fused to obtain the target course deviation.
The second course voting strategy can be called as a main, and is used for indicating and fusing the three course deviations to obtain a course deviation as a target course deviation. The method of fusing the three-way course bias is not particularly limited, and can be configured by a person skilled in the art according to actual needs.
For example, a first received heading channel deviation, a second received heading channel deviation and a deviation average of the measured heading channel deviations can be calculated, and the deviation average is used as a target heading channel deviation; the first received course deviation, the second received course deviation and the measured course deviation can be weighted and summed, and the weighted sum value obtained through calculation is used as the target course deviation.
In an alternative embodiment, in order to increase the accuracy of the inertial measurement unit for navigation, the inertial measurement unit may be further modified in dependence on the target course deviation after determining the target course deviation of the aircraft in dependence on the received course deviation and the measured course deviation.
Based on the method described in the above embodiments, taking an aircraft as an example, the method for processing a course signal of the present application is further described, where the aircraft includes an inertial measurement unit, a satellite positioning unit, and two signal receiving units, please refer to fig. 3 and fig. 4, and the method for processing a course signal may include:
in S410, the aircraft receives the course signal from the course through the first signal receiving unit and determines a first received course deviation of the aircraft based on the reception result of the first signal receiving unit, and receives the course signal from the course through the second signal receiving unit and determines a second received course deviation of the aircraft based on the reception result of the second signal receiving unit.
In this embodiment, the aircraft is configured with dual-redundancy signal receiving units, corresponding to the course signal emitted from the course, respectively, a first signal receiving unit and a second signal receiving unit. When entering the coverage range of the course signal emitted by the course platform, the aircraft receives the course signal from the course platform through the first signal receiving unit and the second signal receiving unit respectively, determines two course deviations according to the receiving results of the first signal receiving unit and the second signal receiving unit respectively, marks the course deviation determined according to the receiving result of the first signal receiving unit as a first receiving course deviation, and marks the course deviation determined according to the receiving result of the second signal receiving unit as a second receiving course deviation.
Therefore, the aircraft can determine two paths of course deviation, namely a first received course deviation and a second received course deviation by receiving the course signal of the course.
In S420, the aircraft acquires inertial measurement data of the aircraft from the inertial measurement unit, and acquires satellite positioning data of the aircraft from the satellite positioning unit.
In this embodiment, the aircraft multiplexes inertial measurement data of the inertial measurement unit and satellite positioning data of the satellite positioning unit in addition to their use for navigation in landing control of the aircraft. The aircraft obtains inertial measurement data of the aircraft from the inertial measurement unit and obtains satellite positioning data of the aircraft from the satellite positioning unit for subsequent processing.
In S430, the aircraft determines third position information of the aircraft from the inertial measurement data and fourth position information of the aircraft from the satellite positioning data.
The aircraft may determine the location information of the aircraft based on the inertial measurement data, and record the location information as third location information, where the third location information includes, but is not limited to, longitude, latitude, altitude, and the like of the aircraft. For example, the aircraft may perform integral processing according to the obtained inertial measurement data to obtain the displacement of the aircraft, and then calculate the third position information of the aircraft by combining with the original position information of the aircraft. The aircraft also determines location information for the aircraft based on the satellite positioning data, and records as fourth location information including, but not limited to, longitude, latitude, altitude, and the like of the aircraft.
In S440, the aircraft obtains sixth location information for the course and determines a second candidate course bias for the aircraft based on the third location information and the sixth location information and determines a third candidate course bias for the aircraft based on the fourth location information and the sixth location information.
In addition to acquiring the third and fourth location information of the aircraft, the aircraft also acquires location information of the course, noted as sixth location information, including, but not limited to, the longitude, latitude, altitude, and the like of the course. Further, the aircraft determines one course deviation of the aircraft according to the third position information and the sixth position information, and marks the one course deviation as a second candidate course deviation, and determines the other course deviation of the aircraft according to the fourth position information and the sixth position information, and marks the other course deviation as a third candidate course deviation.
In S450, the aircraft fuses the second candidate course bias and the third candidate course bias to obtain a measured course bias.
After determining the second candidate course deviation and the third candidate course deviation of the aircraft, the aircraft further fuses the second candidate course deviation and the third candidate course deviation according to the configured deviation fusion strategy to obtain a new course deviation as the measured course deviation of the aircraft.
It should be noted that the above configuration of the bias fusion strategy is not particularly limited, and may be configured by those skilled in the art according to actual needs.
For example, the bias fusion policy configured in this embodiment may include:
calculating the mean value of the second candidate course deviation and the third candidate course deviation as the measured course deviation; or,
weighting the second candidate course deviation and the third candidate course deviation to obtain a measured course deviation; or,
and performing extended Kalman filtering on the second candidate course deviation and the third candidate course deviation to obtain a measured course deviation.
In S460, if the differences between the measured course deviation and the first and second received course deviations are smaller than the difference threshold, the aircraft selects the measured course deviation as the target course deviation, otherwise the aircraft calculates the deviation average of the first and second received course deviations and the measured course deviation, and uses the deviation average as the target course deviation.
The aircraft determines two-way course deviation (namely, a first received course deviation and a second received course deviation) by receiving the course signal of the course, and in addition, determines three-way course deviation by adding the one-way course deviation (namely, a measured course deviation) determined according to the inertia measurement data and the satellite positioning data.
Further, the aircraft identifies whether the difference values of the measured course deviation and the first and second received course deviations are smaller than a difference threshold value, if so, the measured course deviation is selected as the target course deviation of the aircraft, otherwise, the first and second received course deviations and the deviation mean value of the measured course deviations are calculated, and the deviation mean value is used as the target course deviation.
In order to better implement the course signal processing method in the embodiment of the present application, based on the course signal processing method, the present application further provides a course signal processing device, which is applied to an aircraft, where the aircraft includes a signal receiving unit, an inertial measurement unit, and a satellite positioning unit, as shown in fig. 5, the course signal processing device 500 includes:
the first deviation determining module 510 is configured to receive the course signal from the course through the signal receiving unit, and determine a received course deviation of the aircraft according to a receiving result of the signal receiving unit;
a data acquisition module 520 for acquiring inertial measurement data of the aircraft from the inertial measurement unit and satellite positioning data of the aircraft from the satellite positioning unit;
A second deviation determination module 530 for determining a measured heading channel deviation of the aircraft based on the inertial measurement data and the satellite positioning data;
the deviation fusion module 540 is configured to determine a target course deviation of the aircraft according to the received course deviation and the measured course deviation.
In an alternative embodiment, the second deviation determination module 530 is configured to:
establishing a Kalman filtering measurement equation according to satellite positioning data and establishing a Kalman filtering state equation according to inertial measurement data;
and carrying out Kalman filtering according to the measurement equation and the state equation to obtain the measured course deviation.
In an alternative embodiment, the second deviation determination module 530 is configured to:
determining first position information of the aircraft according to the satellite positioning data;
acquiring second position information of the course platform;
determining a first candidate heading channel deviation of the aircraft according to the first position information and the second position information;
and taking the first candidate course deviation as a measurement value to establish a measurement equation.
In an alternative embodiment, the second deviation determination module 530 is configured to:
determining third position information of the aircraft based on the inertial measurement data;
determining fourth position information of the aircraft according to the satellite positioning data;
Fusing the third position information and the fourth position information to obtain fifth position information of the aircraft;
and acquiring sixth position information of the course table, and determining a measured course deviation according to the fifth position information and the sixth position information.
In an alternative embodiment, the second deviation determination module 530 is further configured to:
determining a second candidate heading channel deviation of the aircraft according to the third position information and the sixth position information;
determining a third candidate heading channel deviation of the aircraft according to the fourth position information and the sixth position information;
and fusing the second candidate course deviation and the third candidate course deviation to obtain a measured course deviation.
In an alternative embodiment, the signal receiving unit includes a first signal receiving unit and a second signal receiving unit, and the first deviation determining module 510 is configured to:
receiving a course signal from a course through a first signal receiving unit, and determining a first received course deviation of the aircraft according to a receiving result of the first signal receiving unit;
and receiving the course signal from the course through the second signal receiving unit, and determining a second received course deviation of the aircraft according to the receiving result of the second signal receiving unit.
In an alternative embodiment, the bias fusion module 540 is configured to:
determining a current course deviation voting strategy;
according to the course deviation voting strategy, voting to obtain the target course deviation according to the first received course deviation, the second received course deviation and the measured course deviation.
In an alternative embodiment, the bias fusion module 540 is configured to:
when the determined course deviation table decision is slightly the first course deviation voting strategy, selecting a course deviation from the first received course deviation, the second received course deviation and the measured course deviation as a target course deviation; or alternatively
And when the determined course deviation table decision is slightly the second course deviation voting strategy, fusing the first received course deviation, the second received course deviation and the measured course deviation to obtain the target course deviation.
In an alternative embodiment, the bias fusion module 540 is configured to:
and when the difference value between the measured course deviation and the first and second received course deviations is smaller than the difference value threshold value, selecting the measured course deviation as the target course deviation.
In an alternative embodiment, the bias fusion module 540 is configured to:
Calculating a first receiving course deviation, a second receiving course deviation and a deviation average value of the measured course deviation, and taking the deviation average value as a target course deviation.
In an optional embodiment, the course signal processing device provided in the application further includes a correction module, configured to correct the inertial measurement unit according to the target course deviation.
It should be noted that, the course signal processing device provided in the embodiment of the present application and the course signal processing method in the foregoing embodiment belong to the same concept, and the specific implementation process of the course signal processing device is detailed in the course signal processing method embodiment, which is not described herein again.
The embodiment of the application also provides an aircraft which can be any aircraft adopting the instrument landing system, for example, the aircraft can be a large civil airliner. Referring to fig. 6, fig. 6 is a block diagram of an aircraft 100 according to an embodiment of the present application. The aircraft 100 includes a signal receiving unit 110, an inertial measurement unit 120, a satellite positioning unit 130, one or more processors 140 of processing cores, memory 150 having one or more computer readable storage media, and a computer program stored on the memory 150 and executable on the processor. The processor 140 is electrically connected to the memory 150. Those skilled in the art will appreciate that the aircraft 100 may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
Processor 140 is a control center of aircraft 100 that utilizes various interfaces and lines to connect various portions of the entire aircraft 100, and performs various functions of aircraft 100 and processes data by running or loading software programs and/or modules stored in memory 150, and invoking data stored in memory 150, thereby controlling the overall aircraft 100.
In this embodiment of the present application, the processor 140 in the aircraft 100 loads the instructions corresponding to the processes of one or more application programs into the memory 150 according to the following steps, and the processor 140 executes the application programs stored in the memory 150, so as to implement the course signal processing method provided in the present application, for example:
receiving a course signal from a course through a signal receiving unit, and determining a received course deviation of the aircraft according to a receiving result of the signal receiving unit;
acquiring inertial measurement data of the aircraft from the inertial measurement unit, and acquiring satellite positioning data of the aircraft from the satellite positioning unit;
determining a measured course deviation of the aircraft according to the inertial measurement data and the satellite positioning data;
and determining the target course deviation of the aircraft according to the received course deviation and the measured course deviation.
The specific implementation of each operation above may be referred to the previous embodiments, and will not be repeated here.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.
To this end, embodiments of the present application provide a computer readable storage medium having a computer program stored therein, which when executed by a processor, implements steps in any of the heading channel signal processing methods provided by the embodiments of the present application.
The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.
Wherein the storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.
The steps in any course signal processing method provided in the embodiments of the present application may be executed by the computer program stored in the storage medium, so that the beneficial effects that any course signal processing method provided in the embodiments of the present application may be achieved, which are detailed in the previous embodiments and are not described herein.
The above describes in detail a method, an apparatus, an aircraft, and a storage medium for processing a course signal provided in the embodiments of the present application, and specific examples are applied to illustrate the principles and embodiments of the present application, where the descriptions of the above embodiments are only used to help understand the method and core ideas of the present application; meanwhile, those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, and the present description should not be construed as limiting the present application in view of the above.
Claims (13)
1. A course signal processing method applied to an aircraft, wherein the aircraft comprises a signal receiving unit, an inertial measurement unit and a satellite positioning unit, and the course signal processing method comprises the following steps:
receiving a course signal from a course through the signal receiving unit, and determining a received course deviation of the aircraft according to a receiving result of the signal receiving unit;
acquiring inertial measurement data of the aircraft from the inertial measurement unit, and acquiring satellite positioning data of the aircraft from the satellite positioning unit;
Determining a measured heading channel deviation of the aircraft according to the inertial measurement data and the satellite positioning data;
determining a target course deviation of the aircraft according to the received course deviation and the measured course deviation;
wherein said determining a measured course bias for said aircraft based on said inertial measurement data and said satellite positioning data comprises:
determining third position information of the aircraft from the inertial measurement data;
determining fourth position information of the aircraft according to the satellite positioning data, and acquiring sixth position information of the course platform;
determining a second candidate heading channel deviation of the aircraft according to the third position information and the sixth position information;
determining a third candidate heading channel deviation of the aircraft according to the fourth position information and the sixth position information;
and fusing the second candidate course deviation and the third candidate course deviation to obtain the measured course deviation.
2. The method of course signal processing of claim 1, wherein said determining a measured course bias for the aircraft based on the inertial measurement data and the satellite positioning data comprises:
Establishing a Kalman filtering measurement equation according to the satellite positioning data, and establishing a Kalman filtering state equation according to the inertial measurement data;
and carrying out Kalman filtering according to the measurement equation and the state equation to obtain the measured course deviation.
3. The method of course signal processing of claim 2, wherein said establishing a kalman filtered measurement equation based on said satellite positioning data includes:
determining first location information of the aircraft from the satellite positioning data;
acquiring second position information of the course platform;
determining a first candidate heading channel deviation of the aircraft according to the first position information and the second position information;
and establishing the measurement equation by taking the first candidate heading channel deviation as a measurement value.
4. The method of course signal processing of claim 1, wherein said determining a measured course bias for the aircraft based on the inertial measurement data and the satellite positioning data, further comprises:
fusing the third position information and the fourth position information to obtain fifth position information of the aircraft;
And determining the measured course deviation according to the fifth position information and the sixth position information.
5. The course signal processing method according to claim 1, wherein the signal receiving unit includes a first signal receiving unit and a second signal receiving unit, the course signal from the course table is received by the signal receiving unit, and the received course deviation of the aircraft is determined based on the reception result of the signal receiving unit, comprising:
receiving a course signal from a course through the first signal receiving unit, and determining a first received course deviation of the aircraft according to a receiving result of the first signal receiving unit;
and receiving a course signal from a course through the second signal receiving unit, and determining a second received course deviation of the aircraft according to a receiving result of the second signal receiving unit.
6. The method of course signal processing of claim 5, wherein said determining a target course bias for the aircraft based on the received course bias and the measured course bias comprises:
determining a current course deviation voting strategy;
According to the course deviation voting strategy, voting to obtain the target course deviation according to the first received course deviation, the second received course deviation and the measured course deviation.
7. The method of course signal processing of claim 6, wherein voting to obtain the target course bias based on the first received course bias, the second received course bias, and the measured course bias according to the course bias voting strategy comprises:
when the determined course deviation table decision is slightly a first course deviation voting strategy, selecting a course deviation from the first received course deviation, the second received course deviation and the measured course deviation as the target course deviation; or alternatively
And when the determined course deviation table decision is slightly the second course deviation voting strategy, fusing the first received course deviation, the second received course deviation and the measured course deviation to obtain the target course deviation.
8. The method of course signal processing of claim 7, wherein said selecting a course bias from said first received course bias, second received course bias, and said measured course bias as said target course bias comprises:
And when the difference value between the measured course deviation and the first and second received course deviations is smaller than a difference value threshold, selecting the measured course deviation as the target course deviation.
9. The method of course signal processing of claim 7, wherein said fusing said first received course bias, second received course bias, and said measured course bias to obtain said target course bias comprises:
and calculating a deviation mean value of the first receiving course deviation, the second receiving course deviation and the measured course deviation, and taking the deviation mean value as the target course deviation.
10. The method of course signal processing of any one of claims 1-9, wherein after determining a target course bias for the aircraft based on the received course bias and the measured course bias, further comprising:
and correcting the inertial measurement unit according to the target course deviation.
11. A course signal processing device applied to an aircraft, the aircraft comprising a signal receiving unit, an inertial measurement unit and a satellite positioning unit, characterized in that the course signal processing device comprises:
The first deviation determining module is used for receiving the course signal from the course platform through the signal receiving unit and determining the received course deviation of the aircraft according to the receiving result of the signal receiving unit;
the data acquisition module is used for acquiring inertial measurement data of the aircraft from the inertial measurement unit and acquiring satellite positioning data of the aircraft from the satellite positioning unit;
the second deviation determining module is used for determining the measured course deviation of the aircraft according to the inertial measurement data and the satellite positioning data;
the deviation fusion module is used for determining the target course deviation of the aircraft according to the received course deviation and the measured course deviation;
wherein the second deviation determining module is configured to: determining third position information of the aircraft from the inertial measurement data; determining fourth position information of the aircraft according to the satellite positioning data, and acquiring sixth position information of the course platform; determining a second candidate heading channel deviation of the aircraft according to the third position information and the sixth position information; determining a third candidate heading channel deviation of the aircraft according to the fourth position information and the sixth position information; and fusing the second candidate course deviation and the third candidate course deviation to obtain the measured course deviation.
12. A storage medium storing a computer program which, when executed by a processor, implements the steps of the course signal processing method according to any one of claims 1-10.
13. An aircraft comprising a signal receiving unit, an inertial measurement unit, a satellite positioning unit, a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the steps in the course signal processing method according to any one of claims 1-10 when the computer program is executed.
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