CN114689054A - High-precision navigation method and device for Takang system, flight equipment and storage medium - Google Patents

High-precision navigation method and device for Takang system, flight equipment and storage medium Download PDF

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CN114689054A
CN114689054A CN202210175050.8A CN202210175050A CN114689054A CN 114689054 A CN114689054 A CN 114689054A CN 202210175050 A CN202210175050 A CN 202210175050A CN 114689054 A CN114689054 A CN 114689054A
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information
tacan
true
slant
azimuth information
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CN114689054B (en
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方涛
钱东
黄泽贵
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CETC 10 Research Institute
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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
    • 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
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • 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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    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract

The invention discloses a high-precision navigation method and device of a Takang system, a flight device and a storage medium. The invention combines the accurate position of the TACAN station under the assistance of the position information output by the airborne inertial navigation system, and fuses the inertial navigation system and the TACAN system through the information fusion strategy of complementary filtering, thereby improving the measuring precision of the TACAN slant range and the orientation, effectively improving the slant range and the magnetic orientation precision of the TACAN system, improving the flight guidance quality in the airway stage and ensuring the flight safety.

Description

High-precision navigation method and device for Takang system, flight equipment and storage medium
Technical Field
The invention relates to the technical field of navigation of flight equipment, in particular to a high-precision navigation method and device of a Takang system, flight equipment and a storage medium.
Background
TACAN is a chinese translation name of Tactical Air Navigation (Tactical Air Navigation) english abbreviation TACAN. The TACAN system is developed from a Vol system and a Dimei instrument system of a civil navigation system by the American army according to military requirements, so that Vol works on the L frequency band of the Dimei instrument by increasing the original U/V frequency band, the volume of a Vol beacon is reduced, and the Vol beacon is convenient to install on a carrier. The tacan system component generally includes two basic devices, namely a tacan beacon and an onboard device. The perfect TACAN system is provided with a beacon monitor, a beacon simulator, TACAN indication control equipment and the like in addition to the beacon and the airborne equipment. The TACAN beacon transmits radio signals to an action airspace in the form of a directional diagram of a rotating antenna, provides azimuth measurement information for an airplane provided with the TACAN airborne equipment, and is used as a ranging transponder for receiving and answering ranging inquiry signals transmitted by the airborne equipment. The TACAN airborne equipment receives the azimuth signal transmitted by the TACAN beacon to realize the measurement of the azimuth angle, and simultaneously, the TACAN airborne equipment is used as a ranging interrogator to transmit and receive ranging signals to realize the measurement of distance data, and the measured azimuth and distance data can be visually displayed through an airborne equipment indicator, and can also be resolved by a navigation computer to obtain position coordinate data for display or navigation assistance. Tacan beacons are typically mounted at known geographic locations at airports or waypoints to provide location signals and ranging response signals for tacan onboard equipment. The accuracy of the tacan system refers to the distance measurement and direction measurement accuracy which can be achieved by the system under the specified use condition of equipment, and the data is generally obtained by a statistical method. The distance measurement precision of the modern tacan system is not more than +/-200 m (2 sigma) in the whole working area, and the direction measurement precision is not more than +/-0.5 degrees (2 sigma). In addition, under the influence of various influences such as hardware design, waveform system, external interference and the like, large jump may occur to the ranging and direction finding errors of the TACAN system to generate outliers, and at the moment, ranging and direction finding information of the system is unavailable. From the viewpoint of improving the flight guidance quality and guaranteeing the flight safety, it is necessary to further improve the distance measurement and direction finding accuracy of the tacan navigation.
In order to improve the distance measurement and direction measurement accuracy of the Takang system, researchers at home and abroad provide beneficial schemes in the following aspects: (1) the idea of optimizing the design scheme of the hardware circuit is to adopt a signal processing algorithm with better performance and a more advanced hardware processing chip to improve the existing scheme; (2) improving a software resolving scheme to improve the resolving precision of a system, and generally adopting a high-grade information fusion algorithm such as a Kalman filtering algorithm, sinusoidal fitting, a Huber criterion based on a maximum likelihood function and the like to finish the resolving of azimuth or ranging information; and (3) designing an anti-interference algorithm to improve the data reliability. For the idea of a first type of improved hardware design scheme, the scheme needs to be determined for a Tacan system with a specific model, is based on point-to-point design and has no universality; in the second category of thinking for improving the measurement accuracy, an additional data processing process is essentially added after the calculation, so that the problems of calculation lag and the like become new factors influencing the measurement accuracy; for the third category of thinking of improving data reliability by designing an anti-interference algorithm, the scheme can only inhibit large jump errors to a certain extent, and cannot play a role in error inhibition on measured values within a normal error range. Therefore, how to improve the accuracy of distance measurement and direction measurement of the tacan system to realize high-accuracy navigation based on the tacan system is a technical problem which needs to be solved urgently.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a high-precision navigation method and device of a Takang system, flight equipment and a storage medium, and aims to solve the technical problem that the navigation precision of the existing Takang system is not high.
In order to achieve the above object, the present invention provides a high precision navigation method for a tacan system, comprising the following steps:
acquiring flight position information of target flight equipment; the flight position information comprises first position information output by an airborne inertial navigation system, first slope distance information output by an airborne Tacan system and magnetic azimuth information;
correcting the magnetic azimuth information output by the airborne Takang system by using the magnetic difference information of the Takang station to obtain first true azimuth information;
determining second slant distance information and second true azimuth information from the current target flight equipment to the Takon station according to second position information and the first position information of the Takon station;
carrying out wild value elimination on the first slant distance information and the first true azimuth information, and carrying out complementary filtering fusion on the second slant distance information, the second true azimuth information and the wild value eliminated first slant distance information and the first true azimuth information to obtain an estimated value of the slant distance information and the true azimuth information;
and navigating the target flight equipment according to the estimated values of the slant range information and the true azimuth information.
Optionally, the magnetic difference information of the tacan station is used to correct the magnetic azimuth information output by the airborne tacan system, and an expression for obtaining the first true azimuth information is as follows:
ψ＝ψ'-θ
the psi is first true azimuth information, psi' is magnetic azimuth information output by the airborne tacan system, and theta is magnetic difference information of the tacan station.
Optionally, the first true bearing information is a true bearing with respect to geographical north.
Optionally, the expression for determining the second skew distance information and the second true azimuth information from the current target flight device to the tacan station according to the second location information and the first location information of the tacan station is as follows:
Figure RE-GDA0003671831670000031
Figure RE-GDA0003671831670000032
wherein d iscSecond information of the skew, psi, for the target flying device to said TACAN stationcSecond true bearing information for the target flying device to the tacan station, (b) a
Figure RE-GDA0003671831670000033
λA hA) Position coordinates of the second position information output from the airborne inertial navigation system, respectively (a)
Figure RE-GDA0003671831670000034
λS hS) Respectively are the position coordinates of the first position information of the tacan station.
Optionally, the step of removing outliers from the first slant range information and the first true azimuth information specifically includes:
determining wild value elimination judgment quantity according to the variable quantity of the first slope distance information and the first real azimuth information between the first moment and the second moment and the variable quantity of the second slope distance information and the second real azimuth information;
and if the wild value elimination judgment quantity is larger than a preset judgment threshold value, replacing the first slope distance information and the first true azimuth information at the second moment with the first slope distance information and the first true azimuth information at the first moment.
Optionally, the step of performing complementary filtering fusion on the second slant distance information, the second true azimuth information, and the first slant distance information and the first true azimuth information after the wild value is removed to obtain the estimated values of the slant distance information and the true azimuth information specifically includes:
inputting second slope distance information and second true azimuth information into a preset low-pass filter so as to filter high-frequency components in the second slope distance information and the second true azimuth information;
inputting the first slant distance information and the first true azimuth information with the wild values removed into a preset high-pass filter so as to filter low-frequency components in the first slant distance information and the first true azimuth information;
and adding the outputs of the preset low-pass filter and the preset high-pass filter to obtain the estimated values of the slant range information and the true azimuth information.
Optionally, the preset low-pass filter and the preset high-pass filter are complementary.
In order to achieve the above object, the present invention further provides a tacon system high-precision navigation device, including:
the acquisition module is used for acquiring the flight position information of the target flight equipment; the flight position information comprises first position information output by an airborne inertial navigation system, first slope distance information output by an airborne Tacan system and magnetic azimuth information;
the correction module is used for correcting the magnetic azimuth information output by the airborne Takang system by using the magnetic difference information of the Takang station to obtain first true azimuth information;
the determining module is used for determining second skew distance information and second true azimuth information from the current target flight equipment to the TACAN station according to second position information and the first position information of the TACAN station;
the estimation module is used for carrying out wild value elimination on the first slant distance information and the first true azimuth information, and carrying out complementary filtering fusion on the second slant distance information, the second true azimuth information and the first slant distance information and the first true azimuth information after wild value elimination to obtain an estimated value of the slant distance information and the true azimuth information;
and the navigation module is used for navigating the target flight equipment according to the estimated values of the slant range information and the true azimuth information.
Further, in order to achieve the above object, the present invention also provides a flying apparatus provided with a tacan system high-precision navigation apparatus including: the system comprises a memory, a processor and a Takang system high-precision navigation program which is stored on the memory and can run on the processor, wherein when the Takang system high-precision navigation program is executed by the processor, the method realizes the steps of the Takang system high-precision navigation method.
In order to achieve the above object, the present invention further provides a storage medium having a tacon system high-precision navigation program stored thereon, wherein the tacon system high-precision navigation program, when executed by a processor, implements the steps of the tacon system high-precision navigation method as described in any one of the above.
The method comprises the steps of collecting flight position information of an airborne inertial navigation system and an airborne Tacan system in target flight equipment, utilizing magnetic difference information and position information pre-stored in a Tacan station to eliminate the wild value of the flight position information, carrying out complementary filtering fusion with the position information of the Tacan station, and finally obtaining the slant range information and the true azimuth information for the navigation of the flight equipment. The invention combines the accurate position of the TACAN station under the assistance of the position information output by the airborne inertial navigation system, and fuses the inertial navigation system and the TACAN system through the information fusion strategy of complementary filtering, thereby improving the measuring precision of the TACAN slant range and the orientation, effectively improving the slant range and the magnetic orientation precision of the TACAN system, improving the flight guidance quality in the airway stage and ensuring the flight safety.
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Fig. 1 is a schematic structural diagram of a high-precision navigation device of a tacan system in an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a high-precision navigation method of a Tacan system in an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an example of a high-precision navigation method of a TACAN system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the present invention implementing TACAN measurement value outlier rejection;
FIG. 5 is a schematic diagram of inertial navigation/TACAN complementary filtering performed in accordance with the present invention;
fig. 6 is a block diagram of a high-precision navigation apparatus of a tacan system according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to improve the distance measurement and direction measurement accuracy of the Takang system, researchers at home and abroad provide beneficial schemes in the following aspects: (1) the idea of optimizing the design scheme of the hardware circuit is to adopt a signal processing algorithm with better performance and a more advanced hardware processing chip to improve the existing scheme; (2) improving a software resolving scheme to improve the resolving precision of a system, and generally adopting a high-grade information fusion algorithm such as a Kalman filtering algorithm, sinusoidal fitting, a Huber criterion based on a maximum likelihood function and the like to finish the resolving of azimuth or ranging information; and (3) designing an anti-interference algorithm to improve data reliability. For the idea of a first type of improved hardware design scheme, the scheme needs to be determined for a Tacan system with a specific model, is based on point-to-point design and has no universality; in the second category of thinking for improving the measurement accuracy, an additional data processing process is essentially added after the calculation, so that the problems of calculation lag and the like become new factors influencing the measurement accuracy; for the third category of thinking of improving data reliability by designing an anti-interference algorithm, the scheme can only inhibit large jump errors to a certain extent, and cannot play a role in error inhibition on a measured value in a normal error range. Therefore, how to improve the accuracy of distance measurement and direction measurement of the tacan system to realize high-accuracy navigation based on the tacan system is a technical problem which needs to be solved urgently.
In order to solve the problem, various embodiments of the tacan system high-precision navigation method are provided. The high-precision navigation method of the Tacan system provided by the invention combines the accurate position of the Tacan station through the assistance of the position information output by the onboard inertial navigation system, fuses the inertial navigation system and the Tacan system through the information fusion strategy of complementary filtering, improves the measurement precision of the bevel distance and the azimuth of the Tacan system, can effectively improve the precision of the bevel distance and the magnetic azimuth of the Tacan system, improves the flight guidance quality in the airway stage, and ensures the flight safety.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a tacan system high-precision navigation device according to an embodiment of the present invention.
The device may be a Mobile phone, a smart phone, a laptop, a digital broadcast receiver, a User Equipment (UE) such as a Personal Digital Assistant (PDA), a tablet computer (PAD), etc. configured to the in-flight device, a handheld device, an onboard device, a wearable device, a computing device or other processing device connected to a wireless modem, a Mobile Station (MS), etc. The device may be referred to as a user terminal, portable terminal, desktop terminal, etc.
Generally, the apparatus comprises: at least one processor 301, a memory 302, and a tacon system high accuracy navigation program stored on the memory and executable on the processor, the tacon system high accuracy navigation program configured to implement the steps of the tacon system high accuracy navigation method as previously described.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing content that the display screen needs to display. The processor 301 may further include an AI (Artificial Intelligence) processor for processing high-precision navigation operations related to the takang system, so that the high-precision navigation model of the takang system can be trained and learned autonomously, thereby improving efficiency and accuracy.
Memory 302 may include one or more computer-readable storage media, which may be non-transitory. Memory 302 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 302 is used to store at least one instruction for execution by the processor 301 to implement the tacan system high precision navigation method provided by the method embodiments of the present application.
In some embodiments, the terminal may further include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. The communication interface 303 is used for receiving the movement tracks of the plurality of mobile terminals uploaded by the user and other data through the peripheral device. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit 304 communicates with a communication network and other communication devices through electromagnetic signals, so as to obtain the movement tracks and other data of a plurality of mobile terminals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to capture touch signals on or over the surface of the display screen 305. The touch signal may be input to the processor 301 as a control signal for processing. At this point, the display screen 305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 305 may be one, the front panel of the electronic device; in other embodiments, the display screens 305 may be at least two, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display screen 305 may be a flexible display screen disposed on a curved surface or a folded surface of the electronic device. Even further, the display screen 305 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 305 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 306 is used to power various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the tacon system high-precision navigation device, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
The embodiment of the invention provides a high-precision navigation method of a TACAN system, and referring to FIG. 2, FIG. 2 is a schematic flow chart of the embodiment of the high-precision navigation method of the TACAN system.
In this embodiment, the high-precision navigation method for the tacan system includes the following steps:
s100, acquiring flight position information of target flight equipment; the flight position information comprises first position information output by the airborne inertial navigation system, first slope distance information output by the airborne TACAN system and magnetic azimuth information.
Specifically, firstly, the position information and the magnetic difference information of the tacan station are loaded in advance, and the flight position information of the target flight equipment is collected, wherein the flight position information comprises first position information output by an airborne inertial navigation system, and first slope distance information and magnetic azimuth information output by the airborne tacan system. In this embodiment, the tacan station location information is the second location information.
And S200, correcting the magnetic azimuth information output by the airborne Takang system by using the magnetic difference information of the Takang station to obtain first true azimuth information.
In this embodiment, the position information and the magnetic difference information of the tacan station are preloaded, the airborne inertial navigation position information and the skew distance and the azimuth information output by the tacan system are collected in real time, data are sent to the data conversion module, the module mainly calculates the distance and the azimuth from the aircraft to the tacan station in real time according to the aircraft position output by inertial navigation and the position of the tacan station, and the magnetic azimuth output by the tacan is corrected by using the station magnetic difference to obtain the true azimuth relative to the geographical north.
Specifically, the magnetic azimuth information is corrected by using the tacan station, and the expression for obtaining the first true azimuth information is as follows: psi '-theta, where psi is the first true orientation information, psi' is the magnetic orientation information output by the airborne tacan system, and theta is the magnetic difference information of the tacan station.
Further, the first true bearing information is a true bearing relative to geographical north.
Step S300, according to second position information and the first position information of the Tacan station, second slant distance information and second true azimuth information from the current target flight equipment to the Tacan station are determined.
Specifically, according to second position information and the first position information of the tacan station, determining an expression of second slant distance information and second true azimuth information of the current target flight device to the tacan station as follows:
Figure RE-GDA0003671831670000091
Figure RE-GDA0003671831670000092
wherein d iscSecond information of the skew, psi, for the target flying device to said TACAN stationcSecond true bearing information for the target flying device to the tacan station, (b) a
Figure RE-GDA0003671831670000093
λA hA) Position coordinates of the second position information output from the airborne inertial navigation system, respectively (a)
Figure RE-GDA0003671831670000094
λS hS) Respectively are the position coordinates of the first position information of the tacan station.
And S400, performing outlier elimination on the first slant distance information and the first true azimuth information, and performing complementary filtering fusion on the second slant distance information, the second true azimuth information and the outlier eliminated first slant distance information and the first true azimuth information to obtain an estimated value of the slant distance information and the true azimuth information.
In this embodiment, the slant range and the converted true azimuth information of the tacan measurement, and the slant range and the azimuth information obtained by calculation are sent to a wild value elimination module, the module eliminates the wild value output by the tacan system by using the characteristic that inertial navigation outputs continuity at two adjacent moments, and when the tacan measurement value at the previous moment is identified as the wild value according to the wild value elimination strategy, the tacan measurement value at the current moment is replaced by the tacan measurement value at the previous moment.
After wild value elimination is completed, transmitting the slope distance and azimuth information measured by the TACAN after the wild value elimination and the slope distance and azimuth information obtained by calculation into a complementary filtering module, utilizing the high-frequency characteristics of the output slope distance and azimuth error of the TACAN and the low-frequency characteristics of the calculated slope distance and azimuth error, fusing the two navigation information by complementary filtering, namely removing the high-frequency component in the measurement error from the slope distance and azimuth output by the TACAN through a preset low-pass filter, removing the low-frequency component in the calculation error from the calculated slope distance and azimuth through a high-pass filter complementary with the calculated slope distance and azimuth, and adding the filtering outputs of the two branches to obtain the estimated values of the common signal slope distance and the true azimuth value of the two branches.
Specifically, the outlier rejection of the first slant-distance information and the first true azimuth information may be determined by determining an outlier rejection determination amount according to a variation of the first slant-distance information and the first true azimuth information between the first time and the second time and a variation of the second slant-distance information and the second true azimuth information; and if the wild value elimination judgment quantity is larger than a preset judgment threshold value, replacing the first slope distance information and the first true azimuth information at the second moment with the first slope distance information and the first true azimuth information at the first moment.
In addition, complementary filtering fusion is carried out on the second slant distance information, the second true azimuth information and the first slant distance information and the first true azimuth information after wild value elimination, and the specific implementation of obtaining the estimated values of the slant distance information and the true azimuth information is as follows:
inputting second slope distance information and second true azimuth information into a preset low-pass filter so as to filter high-frequency components in the second slope distance information and the second true azimuth information; inputting the first slant distance information and the first true azimuth information with the wild values removed into a preset high-pass filter so as to filter low-frequency components in the first slant distance information and the first true azimuth information; and adding the outputs of the preset low-pass filter and the preset high-pass filter to obtain the estimated values of the slant range information and the true azimuth information.
It should be noted that the default low-pass filter and the default high-pass filter are complementary
And S500, navigating the target flight equipment according to the estimated values of the slant range information and the true azimuth information.
And based on the step of estimating the slant range information and the true azimuth information, the estimated values of the slant range information and the true azimuth information can be obtained, and the target flight equipment is navigated according to the estimated values.
Specifically, the estimated value of the slope distance and the estimated value of the azimuth are displayed on a display and control interface as the final slope distance and azimuth for guiding the flight.
In this embodiment, with the assistance of the position information output by the onboard inertial navigation system, the accurate position of the tacan station is combined, and the inertial navigation system and the tacan system are fused through the information fusion strategy of complementary filtering, so that the measurement accuracy of the tacan slant range and the orientation is improved, the slant range and the magnetic orientation accuracy of the tacan system can be effectively improved, the flight guidance quality in the airway stage is improved, and the flight safety is guaranteed.
The proposal of the invention has the following beneficial effects:
the scheme has low implementation cost and simple and reliable design principle. The design scheme is realized by loading a software algorithm module in a communication, navigation and identification subsystem, the position information output by airborne inertial navigation and the measured value of the Takang system are received through a reserved function module interface, the function of the module is executed, the existing hardware design scheme of the Takang airborne equipment is not required to be modified, the design principle is simple and reliable, and the implementation cost is greatly reduced.
The scheme has good universality and strong transportability. The design idea of the scheme is suitable for all current airborne platforms, the function of improving the measurement precision of the Tacan be executed only by controlling the output of the sensor to be input according to the mode defined by the function module interface, the scheme is good in universality and strong in transportability, and the later-stage software algorithm can be conveniently debugged and maintained.
The guide data has strong robustness and high reliability. Based on the designed wild value eliminating strategy, the Tacon measurement wild value is eliminated by utilizing the characteristic of good continuity of the inertial navigation system, and the robustness and reliability of the measuring slant distance and the direction of the Tacon are improved.
And the flight guidance quality is improved. Based on a complementary filtering information fusion strategy, the measurement precision of the slant range and the direction is improved by using different frequency characteristics of inertial navigation calculation errors and Tacon measurement errors, the flight guidance quality is improved, and the accuracy and the reliability of the flight are ensured.
The method is suitable for data fusion by using the airborne inertial navigation information and the TACAN measurement information in the flight process, can effectively eliminate the TACAN system measurement wild value, improves the accuracy of the slant range and the direction of the TACAN system, and enriches the related research in the field. The designed scheme is realized through a software algorithm, the design principle is simple and reliable, the design cost is reduced, the algorithm has strong universality and good transportability, the flight guidance quality of the TACAN is improved based on information fusion, the accuracy and the reliability of the flight guidance are ensured, and the method has strong engineering application value.
For easy understanding, referring to fig. 3, fig. 3 is a schematic diagram of an application example of the tacan system high-precision navigation method according to the present invention, which is specifically as follows:
the airborne avionics system comprises an inertial navigation system and a TACAN airborne terminal. The real-time input required by the data fusion center in the software algorithm comprises airplane position information output by an inertial navigation system and the slant distance and magnetic azimuth information relative to a certain station output by a Takang system. The station parameter preloading module in the figure is used for pre-configuring station position information and station magnetic difference information before information fusion.
The data fusion center comprises a data conversion module, a wild value eliminating module and a complementary filtering module. The data conversion module is used for completing two types of data conversion: (1) converting the magnetic orientation output by the Takang into a true orientation relative to geographical north; (2) and calculating the slant distance and the true azimuth from the airplane to the Takong station according to the airplane position output by the inertial navigation.
Let the slant distance and the azimuth of the output of the Takang station be d and psi' respectively, and the station position be: (
Figure RE-GDA0003671831670000123
λS hS) The station magnetic difference is theta, and the position of the aircraft output by inertial navigation is (
Figure RE-GDA0003671831670000124
λA hA). The magnetic orientation of the tacon output can be converted to a true orientation by the following equation:
ψ＝ψ'-θ
the calculated slant distance from the aircraft to the TACAN station according to the aircraft position output by the inertial navigation is as follows:
Figure RE-GDA0003671831670000121
the true azimuth from the aircraft to the tacang station calculated according to the aircraft position output by the inertial navigation is as follows:
Figure RE-GDA0003671831670000122
after data conversion is completed, the slant range and the true azimuth output by the Takang system and the slant range and the true azimuth calculated according to the inertial navigation position are sent to a wild value removing module, and the wild value removing module is used for removing the slant range and the azimuth measurement wild value of the Takang system. After the wild value is eliminated, the slope distance and the true position output by the TACAN system without the measured wild value and the slope distance and the true position calculated according to inertial navigation are sent to a complementary filtering module, and the complementary filtering module completes the fusion of two kinds of information with different error characteristics of the same measured value according to different frequency characteristics of errors of the TACAN system output and the calculated slope distance and the calculated position, so that the final flight guiding information is determined. And after the complementary filtering module is finished, the task of the whole data fusion module is finished, and the final slope distance and the final azimuth estimation value are sent to the airborne display and control equipment to finish flight guidance.
See fig. 4. FIG. 4 shows a schematic diagram of the present invention implementing TACAN measurement value outlier rejection. In FIG. 4, at two adjacent times t1And t2The calculated slant range and the calculated azimuth obtained after the aircraft position calculated by inertial navigation is subjected to parameter conversion are
Figure RE-GDA0003671831670000125
And
Figure RE-GDA0003671831670000126
and
Figure RE-GDA0003671831670000127
and
Figure RE-GDA0003671831670000128
the slope distance and the azimuth d are obtained after the measurement parameters output by the Tacan are subjected to parameter conversion1And d2And psi1And psi2。
Calculating the variation of the slope distance and the azimuth according to the slope distance and the azimuth calculated according to the inertial navigation position at adjacent moments to obtain:
Figure RE-GDA0003671831670000131
according to the slant distance and the azimuth output by the TACAN system at the adjacent moment, the variable quantity of the slant distance and the azimuth is calculated to obtain:
Figure RE-GDA0003671831670000132
further, the judgment amount of wild value elimination is calculated according to the two formulas:
Figure RE-GDA0003671831670000133
according to a preset judgment threshold value t2The slope distance and the azimuth output value of the time TACAN system are as follows:
Figure RE-GDA0003671831670000134
the formula indicates that when the wild value elimination judgment quantity is larger than the judgment threshold value, t is considered to be2The measured value output by the TACAN system at the moment is a wild value, and then t is used1Measured value at time instant replacing t2A measured value of time of day; when the wild value elimination judgment quantity is smaller than the judgment threshold value, considering t2The measured value output by the TACAN system at the moment does not belong to the wild value and can be normally output. In the formula: rho is an inclined distance wild value elimination judgment threshold; alpha is an orientation outlier rejection judgment threshold. Setting of actual outlier rejection judgment thresholdThe device needs to be determined according to the measurement accuracy of airborne inertial navigation and TACAN airborne equipment, if the judgment threshold is set to be too large, part of small jump thresholds cannot be effectively eliminated, and if the judgment threshold is set to be too small, part of normal measurement values are eliminated, so that the system is easy to cause instability. The invention combines the measurement precision conditions of common airborne inertial navigation and TACAN airborne equipment, sets the slope distance wild value rejection judgment threshold rho to be 400m, and sets the azimuth wild value rejection judgment threshold alpha to be 1 degree.
See fig. 5. FIG. 5 is a schematic diagram of the present invention for performing inertial navigation/tacan complementary filtering.
FIG. 5 is a schematic diagram of a slope compensation filtering, where d is a theoretical true value of slope, E1 is a slope error calculated according to the inertial navigation output, and correspondingly, D(s) is a frequency domain representation of the theoretical true value of slope, E1(s) is a frequency domain representation of the slope error calculated according to the inertial navigation output, and has a low frequency characteristic; e2 is the pitch error of the Tacon system, E2(s) is the frequency domain expression of the pitch error of the Tacon system, and has high frequency characteristics. G(s) is a low pass filter, and correspondingly, 1-G(s) is a high pass filter, and the specific form of G(s) is as follows:
Figure RE-GDA0003671831670000135
after D(s) + E1(s) passes through a high-pass filter, the low-frequency slope measurement error is eliminated, and after D(s) + E2(s) passes through a low-pass filter, the high-frequency slope measurement error is eliminated. The filtered outputs of the two branches are added, the result being an estimate of the slope d of their common signal component
Figure RE-GDA0003671831670000141
(the frequency domain is expressed as
Figure RE-GDA0003671831670000142
). The mathematical derivation process is shown as follows:
Figure RE-GDA0003671831670000143
the above equation shows that if an appropriate low pass filter G(s) can be selected, the entire filter output can be made
Figure RE-GDA0003671831670000144
Is the optimal estimate of the slant d.
FIG. 5 shows a schematic diagram of magnetic bearing complementary filtering, in which ψ is a theoretical true value of magnetic bearing, F1 is a magnetic bearing error calculated from the inertial navigation output, accordingly ψ(s) is a frequency domain expression of the theoretical true value of magnetic bearing, F1(s) is a frequency domain expression of the magnetic bearing error calculated from the inertial navigation output, and has a low frequency characteristic; f2 is the magnetic azimuth error of the Tacon system, F2(s) is the frequency domain expression of the magnetic azimuth error of the Tacon system, and the frequency domain expression has high-frequency characteristics. G(s) is a low pass filter, and correspondingly, 1-G(s) is a high pass filter, and the specific form of G(s) is as follows:
Figure RE-GDA0003671831670000145
after ψ(s) + F1(s) is passed through a high-pass filter, its low-frequency magnetic azimuth measurement error is eliminated, and after ψ(s) + F2(s) is passed through a low-pass filter, its high-frequency magnetic azimuth measurement error is eliminated. The filtered outputs of the two branches are added to obtain an estimate of the magnetic orientation ψ of their common signal component
Figure RE-GDA0003671831670000146
(the frequency domain is expressed as
Figure RE-GDA0003671831670000147
). The mathematical derivation process is shown as follows:
Figure RE-GDA0003671831670000148
the above equation shows that if an appropriate low pass filter G(s) can be selected, the entire filter output can be made
Figure RE-GDA0003671831670000149
Is the optimal estimate of the skew distance.
Referring to fig. 6, fig. 6 is a block diagram of an embodiment of a tacan system high-precision navigation apparatus of the present invention.
As shown in fig. 6, the high-precision navigation device of the tacan system according to the embodiment of the present invention includes:
the acquisition module 10 is used for acquiring flight position information of the target flight equipment; the flight position information comprises first position information output by an airborne inertial navigation system, first slope distance information output by an airborne TACAN system and magnetic azimuth information;
the correction module 20 is configured to correct the magnetic azimuth information output by the airborne tacan system by using the magnetic difference information of the tacan station to obtain first true azimuth information;
a determining module 30, configured to determine, according to second location information of a tacan station and the first location information, second slant distance information and second true azimuth information from the current target flight device to the tacan station;
the estimation module 40 is configured to perform outlier rejection on the first slant-distance information and the first true-orientation information, and perform complementary filtering fusion on the second slant-distance information, the second true-orientation information, and the outlier-rejected first slant-distance information and the first true-orientation information to obtain an estimated value of the slant-distance information and the true-orientation information;
and the navigation module 50 is used for navigating the target flight equipment according to the estimated values of the slant range information and the true azimuth information.
In this embodiment, with the assistance of the position information output by the onboard inertial navigation system, the accurate position of the tacan station is combined, and the inertial navigation system and the tacan system are fused through the information fusion strategy of complementary filtering, so that the measurement accuracy of the tacan slant range and the orientation is improved, the slant range and the magnetic orientation accuracy of the tacan system can be effectively improved, the flight guidance quality in the airway stage is improved, and the flight safety is guaranteed.
Other embodiments or specific implementation manners of the tacon system high-precision navigation device of the present invention may refer to the above method embodiments, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a tacan system high-precision navigation program, and the tacan system high-precision navigation program, when executed by a processor, implements the steps of the tacan system high-precision navigation method described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus necessary general hardware, and may also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, the implementation of a software program is a more preferable embodiment for the present invention. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, where the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-only memory (ROM), a random-access memory (RAM), a magnetic disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

Claims (10)

1. A high-precision navigation method of a Tacan system is characterized by comprising the following steps:
acquiring flight position information of target flight equipment; the flight position information comprises first position information output by an airborne inertial navigation system, first slope distance information output by an airborne Tacan system and magnetic azimuth information;
correcting the magnetic azimuth information output by the airborne Takang system by using the magnetic difference information of the Takang station to obtain first true azimuth information;
determining second slant distance information and second true azimuth information from the current target flight equipment to the Takon station according to second position information and the first position information of the Takon station;
carrying out wild value elimination on the first slant distance information and the first true azimuth information, and carrying out complementary filtering fusion on the second slant distance information, the second true azimuth information and the wild value eliminated first slant distance information and the first true azimuth information to obtain an estimated value of the slant distance information and the true azimuth information;
and navigating the target flight equipment according to the estimated values of the slant range information and the true azimuth information.
2. A method for high-precision navigation of a tacan system according to claim 1, wherein the magnetic difference information of the tacan station is used to correct the magnetic azimuth information output by the airborne tacan system, and the expression for obtaining the first true azimuth information is:
ψ＝ψ'-θ
the psi is first true azimuth information, psi' is magnetic azimuth information output by the airborne tacan system, and theta is magnetic difference information of the tacan station.
3. A method for high precision navigation of a ta kang system according to claim 2, wherein said first true bearing information is a true bearing relative to geographical north.
4. A tacan system high-precision navigation method according to claim 1, wherein the expression for determining the second slant distance information and the second true azimuth information of the current target flying device to the tacan station according to the second position information and the first position information of the tacan station is as follows:
Figure FDA0003518033660000011
Figure FDA0003518033660000021
wherein d iscSecond information of the skew, psi, for the target flying device to said TACAN stationcSecond true location information for flying a device to the tacan station for a targetIn the form of a capsule, the particles,
Figure FDA0003518033660000022
respectively are the position coordinates of the second position information output by the airborne inertial navigation system,
Figure FDA0003518033660000023
respectively are the position coordinates of the first position information of the tacan station.
5. The method for high-precision navigation of a ta kang system according to claim 1, wherein the step of outlier rejection of the first slant-distance information and the first true-orientation information comprises:
determining wild value elimination judgment quantity according to the variable quantity of the first slope distance information and the first real azimuth information between the first moment and the second moment and the variable quantity of the second slope distance information and the second real azimuth information;
and if the wild value elimination judgment quantity is larger than a preset judgment threshold value, replacing the first slope distance information and the first true azimuth information at the second moment with the first slope distance information and the first true azimuth information at the first moment.
6. A method for high-precision navigation of a ta kang system according to claim 1, wherein the step of performing complementary filtering fusion on the second slant-distance information, the second true azimuth information, and the first slant-distance information and the first true azimuth information after outliers are removed to obtain the estimated values of the slant-distance information and the true azimuth information specifically comprises:
inputting second slope distance information and second true azimuth information into a preset low-pass filter so as to filter high-frequency components in the second slope distance information and the second true azimuth information;
inputting the first slant distance information and the first true azimuth information with the wild values removed into a preset high-pass filter so as to filter low-frequency components in the first slant distance information and the first true azimuth information;
and adding the outputs of the preset low-pass filter and the preset high-pass filter to obtain the estimated values of the slant range information and the true azimuth information.
7. A method for high precision navigation of a ta kang system according to claim 1, wherein said predetermined low pass filter and said predetermined high pass filter are complementary.
8. The utility model provides a high accuracy navigation head of TACAN system which characterized in that, TACAN system high accuracy navigation head includes:
the acquisition module is used for acquiring the flight position information of the target flight equipment; the flight position information comprises first position information output by an airborne inertial navigation system, first slope distance information output by an airborne Tacan system and magnetic azimuth information;
the correction module is used for correcting the magnetic azimuth information output by the airborne Takang system by using the magnetic difference information of the Takang station to obtain first true azimuth information;
the determining module is used for determining second skew distance information and second true azimuth information from the current target flight equipment to the TACAN station according to second position information and the first position information of the TACAN station;
the estimation module is used for carrying out wild value elimination on the first slant distance information and the first true azimuth information, and carrying out complementary filtering fusion on the second slant distance information, the second true azimuth information and the first slant distance information and the first true azimuth information after wild value elimination to obtain an estimated value of the slant distance information and the true azimuth information;
and the navigation module is used for navigating the target flight equipment according to the estimated values of the slant range information and the true azimuth information.
9. A flying apparatus, wherein the flying apparatus is provided with a tacan system high-precision navigation apparatus, the tacan system high-precision navigation apparatus comprising: a memory, a processor and a tacon system high precision navigation program stored on the memory and executable on the processor, the tacon system high precision navigation program when executed by the processor implementing the steps of the tacon system high precision navigation method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a tacon system high accuracy navigation program, which when executed by a processor implements the steps of the tacon system high accuracy navigation method according to any one of claims 1 to 7.
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