CN114689054B - Takang system high-precision navigation method and device, flight equipment and storage medium - Google Patents
Takang system high-precision navigation method and device, flight equipment and storage medium Download PDFInfo
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- 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
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- G—PHYSICS
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- 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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Abstract
The invention discloses a high-precision navigation method, a device, flight equipment and a storage medium of a Takang system. According to the invention, by combining the accurate position of the Takang station under the assistance of the position information output by the airborne inertial navigation system, the inertial navigation and Takang system are fused through the information fusion strategy of complementary filtering, so that the measurement precision of the pitch and the azimuth of the Takang system is improved, the precision of the pitch and the magnetic azimuth of the Takang system can be effectively improved, the flight guidance quality in the course stage is improved, and the flight safety is ensured.
Description
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
Takang is a Chinese translated sound name of the English abbreviation TACAN for tactical air navigation (Tactical Air Navigation). The Takang system is developed from a Vol system of a civil navigation system and a Dimei instrument system by a army according to military requirements, so that the Vol works on the L frequency band of the Dimei instrument after the original U/V frequency band is improved, the volume of a Vol beacon is reduced, and the Vol beacon is convenient to install on a carrier. The tacon system components generally comprise two basic devices, namely a tacon beacon and an on-board device. The complete Takang system is provided with a beacon monitor, a beacon simulator, a Takang indication control device and the like besides a beacon and airborne equipment. The Takang beacon transmits radio signals to an acting airspace in the form of a directional pattern of a rotary antenna, provides azimuth measurement information for an aircraft provided with Takang airborne equipment, and simultaneously serves as a ranging transponder to receive and answer ranging inquiry signals sent by the airborne equipment. The Takang airborne equipment receives the azimuth signal emitted by the Takang beacon, so that the measurement of azimuth angle is realized, meanwhile, the Takang airborne equipment is used as a ranging interrogator to emit and receive ranging signals, so that the measurement of distance data is realized, the measured azimuth and distance data can be visually displayed through an airborne equipment indicator, and position coordinate data can be obtained through calculation of a navigation computer for display or navigation assistance. The tacon beacons are typically mounted at known geographic locations at airports or waypoints to provide azimuth signals and ranging response signals for the tacon-board equipment. The precision of the Takang system refers to the distance measurement and direction measurement precision which can be achieved by the system under the specified use condition, and the data is generally obtained by a statistical method. The ranging precision of the modern Takang system is not more than +/-200 m (2 sigma) in the whole working area, and the ranging precision is not more than +/-0.5 degrees (2 sigma). In addition, the ranging and direction finding errors of the Takang system can generate large jump to generate wild values under the influence of various influences such as hardware design, waveform system, external interference and the like, and the ranging and direction finding information of the system is not available at the moment. From the standpoint of improving the flight guidance quality and guaranteeing the flight safety, it is necessary to further improve the ranging and direction-finding accuracy of the Takang navigation.
In order to improve the ranging and direction-finding precision of the Takang system, researchers at home and abroad propose 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) The improved software resolving scheme improves the resolving precision of the system, and usually adopts advanced information fusion algorithms such as Kalman filtering algorithm, sinusoidal curve fitting, huber criterion based on maximum likelihood function and the like to complete azimuth or ranging information resolving; and (3) designing an anti-interference algorithm to improve the data reliability. For the first category of improved hardware design schemes, the scheme needs to be specific to a specific model of Takang system, is based on point-to-point design, and has no universality; in the second category of ideas for improving the measurement accuracy, an additional data processing process is added after the calculation, so that the problems of calculation lag and the like are new factors for influencing the measurement accuracy; for the third category, the thinking of improving the data reliability by designing an anti-interference algorithm is that the scheme can only inhibit large jump errors to a certain extent, but cannot play a role in error inhibition on measured values in a normal error range. Therefore, how to improve the ranging and direction-finding precision of the Takang system so as to realize high-precision navigation based on the Takang system is a technical problem to be solved urgently.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a high-precision navigation method and device for 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 low.
In order to achieve the above purpose, the present invention provides a high-precision navigation method for a tacon system, the method comprising the following steps:
collecting flight position information of target flight equipment; the flight position information comprises first position information output by an airborne inertial navigation system, first slant distance information and magnetic azimuth information output by an airborne Takang system;
correcting magnetic azimuth information output by the airborne Takang system by utilizing magnetic difference information of a Takang station to obtain first true azimuth information;
determining second oblique distance information and second true azimuth information from the target flight equipment to the Takara station currently according to the second position information and the first position information of the Takara station;
performing outlier rejection on the first oblique distance information and the first true azimuth information, and performing complementary filtering fusion on the second oblique distance information, the second true azimuth information and the outlier-rejected first oblique distance information and the first true azimuth information to obtain estimated values of the oblique distance information and the true azimuth information;
And navigating the target flight equipment according to the estimated values of the slant distance information and the true azimuth information.
Optionally, the correcting the magnetic azimuth information output by the airborne tacon system by using the magnetic difference information of the tacon station obtains the expression of the first true azimuth information as follows:
ψ＝ψ'-θ
wherein, psi is the first true azimuth information, psi' is the magnetism azimuth information that the airborne tacon system outputted, and θ is the magnetic difference information of tacon station.
Optionally, the first true bearing information is a true bearing with respect to geographic north.
Optionally, the determining, according to the second position information of the tacon station and the first position information, the expression of the second slant distance information and the second true azimuth information from the target flight device to the tacon station is:
wherein d c Second pitch information, ψ, for the target flying apparatus to the tacon station c Second true azimuth information of the target flight equipment to the Takang station
λ A h A ) Position coordinates of the second position information output by the onboard inertial navigation system, (-) respectively>
λ S h S ) And the position coordinates of the first position information of the Takara station are respectively.
Optionally, the step of performing outlier rejection on the first oblique distance information and the first true azimuth information specifically includes:
Determining a wild value rejection judgment amount according to the variation of the first oblique distance information and the first true azimuth information and the variation of the second oblique distance information and the second true azimuth information between the first moment and the second moment;
and if the outlier rejection judgment quantity is larger than a preset judgment threshold value, replacing the first oblique distance information and the first true azimuth information at the second moment with the first oblique distance information and the first true azimuth information at the first moment.
Optionally, the step of performing complementary filtering fusion on the second pitch information, the second true azimuth information and the first pitch information after the outlier is removed, and the first true azimuth information to obtain an estimated value of the pitch information and the true azimuth information specifically includes:
inputting second oblique distance information and second true azimuth information into a preset low-pass filter to filter high-frequency components in the second oblique distance information and the second true azimuth information;
inputting the first oblique distance information and the first true azimuth information after the outlier rejection into a preset high-pass filter to filter low-frequency components in the first oblique 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 addition, in order to achieve the above object, the present invention also provides a high-precision navigation device of a tacon system, the high-precision navigation device of a tacon system comprising:
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 slant distance information and magnetic azimuth information output by an airborne Takang system;
the correction module is used for correcting the magnetic azimuth information output by the airborne Takang system by utilizing the magnetic difference information of the Takang station to obtain first true azimuth information;
the determining module is used for determining second oblique distance information and second true azimuth information from the target flight equipment to the Takara station currently according to the second position information and the first position information of the Takara station;
the estimation module is used for performing outlier rejection on the first oblique distance information and the first true azimuth information, and performing complementary filtering fusion on the second oblique distance information, the second true azimuth information and the first oblique distance information after outlier rejection and the first true azimuth information to obtain estimated values of the oblique 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 distance information and the true azimuth information.
In addition, in order to achieve the above object, the present invention also provides a flight apparatus configured with a tacon system high-precision navigation apparatus including: the system comprises a memory, a processor and a Takara system high-precision navigation program which is stored in the memory and can run on the processor, wherein the Takara system high-precision navigation program realizes the steps of the Takara system high-precision navigation method according to any one of the above when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a storage medium, on which a high-precision navigation program of a tacon system is stored, which when executed by a processor, implements the steps of the high-precision navigation method of a tacon system as set forth 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 Takang system in target flight equipment, removing wild values of the flight position information by utilizing magnetic difference information and position information prestored by a Takang station, and carrying out complementary filtering fusion with the position information of the Takang station to finally obtain slant distance information and true azimuth information for navigation of the flight equipment. According to the invention, by combining the accurate position of the Takang station under the assistance of the position information output by the airborne inertial navigation system, the inertial navigation and Takang system are fused through the information fusion strategy of complementary filtering, so that the measurement precision of the pitch and the azimuth of the Takang system is improved, the precision of the pitch and the magnetic azimuth of the Takang system can be effectively improved, the flight guidance quality in the course stage is improved, and the flight safety is ensured.
Drawings
FIG. 1 is a schematic structural diagram of a Takang system high-precision navigation device in an embodiment of the invention;
FIG. 2 is a schematic flow chart of a Takang system high-precision navigation method in an embodiment of the invention;
FIG. 3 is a schematic diagram of an example of a method for high-precision navigation of a Takang system according to the embodiments of the present invention;
FIG. 4 is a schematic diagram of the present invention for performing Takang measured value outlier rejection;
FIG. 5 is a schematic diagram of the present invention performing inertial navigation/Takang complementary filtering;
fig. 6 is a block diagram of a high-precision navigation device of a tacon system according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to improve the ranging and direction-finding precision of the Takang system, researchers at home and abroad propose 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) The improved software resolving scheme improves the resolving precision of the system, and usually adopts advanced information fusion algorithms such as Kalman filtering algorithm, sinusoidal curve fitting, huber criterion based on maximum likelihood function and the like to complete azimuth or ranging information resolving; and (3) designing an anti-interference algorithm to improve the data reliability. For the first category of improved hardware design schemes, the scheme needs to be specific to a specific model of Takang system, is based on point-to-point design, and has no universality; in the second category of ideas for improving the measurement accuracy, an additional data processing process is added after the calculation, so that the problems of calculation lag and the like are new factors for influencing the measurement accuracy; for the third category, the thinking of improving the data reliability by designing an anti-interference algorithm is that the scheme can only inhibit large jump errors to a certain extent, but cannot play a role in error inhibition on measured values in a normal error range. Therefore, how to improve the ranging and direction-finding precision of the Takang system so as to realize high-precision navigation based on the Takang system is a technical problem to be solved urgently.
To solve this problem, various embodiments of the Takang system high-precision navigation method of the present invention are presented. The high-precision navigation method of the Takang system combines the accurate position of the Takang station under the assistance of the position information output by the airborne inertial navigation system, and fuses the inertial navigation and the Takang system through the information fusion strategy of complementary filtering, so that the measurement precision of the pitch and the azimuth of the Takang system is improved, the pitch and the magnetic azimuth precision of the Takang system can be effectively improved, the flight guidance quality of a navigation stage is improved, and the flight safety is ensured.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a high-precision navigation device of a tacon system according to an embodiment of the present invention.
The device may be a Mobile phone, a smart phone, a notebook computer, a digital broadcast receiver, a Personal Digital Assistant (PDA), a tablet computer (PAD), or other User Equipment (UE), a handheld device, an on-board device, a wearable device, a computing device, or other processing device connected to a wireless modem, a Mobile Station (MS), or the like, configured to the flight device. The device may be referred to as a user terminal, portable terminal, desktop terminal, etc.
Generally, an apparatus comprises: at least one processor 301, a memory 302, and a tacon system high-precision navigation program stored on the memory and executable on the processor, the tacon system high-precision navigation program being configured to implement the steps of the tacon system high-precision navigation method as described above.
In some embodiments, the terminal may further optionally 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. The respective peripheral devices may be connected to the communication interface 303 through 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 supply 306.
The communication interface 303 may be used to connect at least one peripheral device associated with an I/O (Input/Output) to the processor 301 and the memory 302. The communication interface 303 is used to receive the movement tracks of the plurality of mobile terminals and other data uploaded by the user 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, either or both of the processor 301, the memory 302, and the communication interface 303 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.
The Radio Frequency circuit 304 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 304 communicates with a communication network and other communication devices through electromagnetic signals, so that movement trajectories and other data of a plurality of mobile terminals can be acquired. The radio frequency circuit 304 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuitry 304 may also include NFC (Near Field Communication ) related circuitry, which is 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 305 is a touch screen, the display 305 also has the ability to collect touch signals at or above the surface of the display 305. The touch signal may be input as a control signal to the processor 301 for processing. At this point, the display 305 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display 305 may be one, the front panel of an electronic device; in other embodiments, the display screen 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 305 may be a flexible display disposed on a curved surface or a folded surface of the electronic device. Even more, the display screen 305 may be arranged in an irregular pattern other than rectangular, i.e., a shaped screen. The display 305 may be made of LCD (LiquidCrystal Display ), OLED (Organic Light-Emitting Diode) or other materials.
The power supply 306 is used to power the various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 comprises a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the high-precision navigation apparatus of the tacon system, and may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.
The embodiment of the invention provides a high-precision navigation method of a Takang system, and referring to FIG. 2, FIG. 2 is a flow chart of an embodiment of the high-precision navigation method of the Takang system.
In this embodiment, the high-precision navigation method of the tacon system includes the following steps:
step S100, acquiring flight position information of target flight equipment; the flight position information comprises first position information output by an airborne inertial navigation system, first slant distance information and magnetic azimuth information output by an airborne Takang system.
Specifically, first, pre-loading position information and magnetic difference information of a Takara station, and collecting flight position information of target flight equipment, wherein the flight position information comprises first position information output by an airborne inertial navigation system, first pitch information and magnetic azimuth information output by the airborne Takara system. In this embodiment, the tacon station location information is the second location information.
And step 200, 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 the embodiment, the position information and the magnetic difference information of the Takara station are preloaded, the airborne inertial navigation position information and the slant distance and the azimuth information output by the Takara system are acquired in real time, data are sent to a data conversion module, the distance and the azimuth of the aircraft to the Takara station are calculated in real time by the module mainly according to the position of the aircraft output by inertial navigation and the position of the Takara station, and the magnetic azimuth output by the Takara station is corrected by using the magnetic difference of the station to obtain the true azimuth relative to the geographic north.
Specifically, the expression for obtaining the first true azimuth information by using the tacon station to correct the magnetic azimuth information is: and psi = psi '-theta, wherein psi is the first true azimuth information, psi' is the magnetic azimuth information output by the airborne tacon system, and theta is the magnetic difference information of the tacon station.
Further, the first true bearing information is a true bearing relative to geographic north.
And step S300, determining second oblique distance information and second true azimuth information from the target flight equipment to the Takara station currently according to the second position information and the first position information of the Takara station.
Specifically, according to the second position information and the first position information of the Takara station, determining the expression of the second slant distance information and the second true azimuth information from the target flight equipment to the Takara station is:
wherein d c Second pitch information, ψ, for the target flying apparatus to the tacon station c Second true azimuth information of the target flight equipment to the Takang station
λ A h A ) Position coordinates of the second position information output by the onboard inertial navigation system, (-) respectively>
λ S h S ) And the position coordinates of the first position information of the Takara station are respectively.
Step S400, performing outlier rejection on the first oblique distance information and the first true azimuth information, and performing complementary filtering fusion on the second oblique distance information, the second true azimuth information and the outlier-rejected first oblique distance information and the first true azimuth information to obtain estimated values of the oblique distance information and the true azimuth information.
In this embodiment, the pitch measured by the tacon and the true azimuth information after conversion and the calculated pitch and azimuth information are sent to the wild value eliminating module, and the wild value output by the tacon system is eliminated by the module by utilizing the characteristic that the inertial navigation output of two adjacent moments has continuity, and when the wild value is identified as the wild value according to the wild value eliminating strategy, the tacon measured value at the previous moment replaces the tacon measured value at the current moment.
After outlier rejection is completed, the pitch and azimuth information measured by the Takara after outlier rejection and the calculated pitch and azimuth information are sent to a complementary filtering module, the high-frequency characteristics of the pitch and azimuth errors output by the Takara and the low-frequency characteristics of the pitch and azimuth errors obtained by calculation are utilized, the two types of navigation information are fused through complementary filtering, namely, the high-frequency components in the measurement errors are removed from the pitch and azimuth output by the Takara through a preset low-pass filter, the low-frequency components in the calculation errors are removed from the calculated pitch and azimuth through a high-pass filter complementary with the high-frequency components, and the filtering outputs of the two branches are added to obtain the estimated value of the common signal pitch and azimuth true value of the two branches.
Specifically, performing outlier rejection on the first pitch information and the first true azimuth information may determine an outlier rejection criterion by determining a variation of the first pitch information and the first true azimuth information and a variation of the second pitch information and the second true azimuth information between the first time and the second time; and if the outlier rejection judgment quantity is larger than a preset judgment threshold value, replacing the first oblique distance information and the first true azimuth information at the second moment with the first oblique distance information and the first true azimuth information at the first moment.
In addition, the second oblique distance information, the second true azimuth information and the first oblique distance information with the outlier removed are subjected to complementary filtering fusion, and the specific implementation of obtaining the estimated value of the oblique distance information and the true azimuth information is as follows:
inputting second oblique distance information and second true azimuth information into a preset low-pass filter to filter high-frequency components in the second oblique distance information and the second true azimuth information; inputting the first oblique distance information and the first true azimuth information after the outlier rejection into a preset high-pass filter to filter low-frequency components in the first oblique 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.
The preset low-pass filter and the preset high-pass filter are complementary
And S500, navigating the target flight equipment according to the estimated values of the slant distance information and the true azimuth information.
Based on the step of estimating the slant distance information and the true azimuth information, an estimated value of the slant distance information and the true azimuth information can be obtained, and the target flying equipment is navigated according to the estimated value.
Specifically, the estimated value of the pitch and the azimuth is used as the final pitch and the azimuth to be displayed on a display control interface for guiding the flying.
In the embodiment, the inertial navigation and the Takang system are fused through the information fusion strategy of complementary filtering under the assistance of the position information output by the airborne inertial navigation system and the accurate position of the Takang station, so that the accuracy of the pitch and the magnetic azimuth of the Takang system can be effectively improved, the flight guidance quality in the course stage is improved, and the flight safety is ensured.
The invention has the following beneficial effects:
the scheme has low realization cost and simple and reliable design principle. The design scheme of the invention is realized by loading a software algorithm module in the communication, navigation and identification subsystem, the position information output by the airborne inertial navigation and the measured value of the Takang system are received through the reserved function module interface, the module function is executed, the modification of the hardware design scheme of the existing Takang airborne equipment is not needed, the design principle is simple and reliable, and the realization cost is greatly reduced.
The scheme has good universality and strong portability. The scheme design idea is suitable for all current airborne platforms, and the function of improving the TACAN measurement accuracy can be executed by only controlling the output of the sensor to input according to the mode defined by the interface of the function module.
The guiding data has strong robustness and high reliability. Based on the designed outlier rejection strategy, the feature of good continuity of the inertial navigation system is utilized to reject the Takang measurement outlier, so that the robustness and reliability of the Takang measurement inclined distance and azimuth are improved.
Improving the flight guiding quality. Based on a complementary filtering information fusion strategy, different frequency characteristics of inertial navigation calculation errors and Takang measurement errors are utilized, so that measurement accuracy of the slant distance and the azimuth is improved, flight guiding quality is improved, and flight accuracy and reliability are guaranteed.
The method is suitable for carrying out data fusion by using the airborne inertial navigation information and the Takang measurement information in the flying process, can effectively remove the measurement wild value of the Takang system, improves the accuracy of the slant distance and the azimuth of the Takang system, and enriches the related research in the field. The design 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 portability, the flight guidance quality of the Takang is improved based on information fusion, the accuracy and the reliability of flight guidance are ensured, and the method has strong engineering application value.
For easy understanding, referring to fig. 3, fig. 3 presents a schematic diagram of an application example of the high-precision navigation method of the tacon system according to the present invention, specifically as follows:
The airborne avionics system comprises an inertial navigation system and a Takang airborne terminal. The real-time input needed by the data fusion center in the software algorithm comprises airplane position information output by the inertial navigation system and slant distance and magnetic azimuth information output by the Takang system relative to a certain station. In the figure, a station parameter preloading module 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 outlier rejection module and a complementary filtering module. The data conversion module is used for completing two types of data conversion: (1) The magnetic orientation of the Takang output is converted into a true orientation relative to geographic north; (2) And calculating the slant distance and true azimuth of the aircraft to the Takara station according to the aircraft position output by inertial navigation.
The output slant distance and azimuth of the Takang station are respectively d and psi', and the station position is #
λ S h S ) The station magnetic difference is theta, and the airplane position outputted by inertial navigation is (/ so)>
λ A h A ). The conversion of the magnetic orientation of the tacan output to true orientation can be calculated as follows:
ψ＝ψ'-θ
the pitch of the aircraft to the Takara station calculated according to the aircraft position output by inertial navigation is:
the true position of the aircraft to the Takangtai station calculated according to the aircraft position output by inertial navigation is as follows:
After the data conversion is completed, the slant distance and true azimuth output by the Takang system and the slant distance and true azimuth calculated according to the inertial navigation position are sent to an outlier removing module, and the outlier removing module is used for removing the slant distance and azimuth measurement outlier of the Takang system. After the outlier is removed, the slant distance and true azimuth output by the Takang system without the measured outlier and the slant distance and true azimuth calculated according to inertial navigation are sent to a complementary filtering module, and the complementary filtering module fuses information of two different error characteristics of the same measured value according to different frequency characteristics of errors of the slant distance and the azimuth output by the Takang system and calculated, so that final flight guidance information is determined. And after the complementary filtering module is completed, the task of the whole data fusion module is completed, and the final estimated value of the pitch and the azimuth is sent to the on-board display and control equipment to complete flight guidance.
See fig. 4. Fig. 4 shows a schematic diagram of the present invention for performing the field value elimination of the tacan measurement value. In fig. 4, at two adjacent times t 1 And t 2 The calculated pitch and azimuth obtained after the inertial navigation calculation of the aircraft position is converted into parameters are as follows
And->
And +.>
And->
The slant distance and the azimuth obtained by converting the measured parameters of the Takang output are d 1 And d 2 Psi-shaped material 1 Sum phi 2 。
Calculating the variation of the pitch and the azimuth according to the pitch and the azimuth calculated by the inertial navigation position at adjacent moments, and obtaining:
calculating the variation of the slant distance and the azimuth according to the slant distance and the azimuth output by the Takang system at adjacent moments, and obtaining:
further, the judgment of outlier rejection is calculated according to the two formulas:
then t is according to the preset judgment threshold value 2 Slope distance and azimuth transmission of time Takang systemThe output values are as follows:
the method is characterized in that when the outlier rejection judgment quantity is larger than the judgment threshold value, t is considered as 2 The measured value output by the time Takang system is an wild value, and then t is taken as 1 Time measurement instead of t 2 A measurement of time of day; when the outlier rejection judgment quantity is smaller than the judgment threshold value, then considering t 2 The measured value output by the time Takang system does not belong to the wild value and can be normally output. Wherein: ρ is an oblique distance outlier rejection judgment threshold; alpha is the azimuth wild value eliminating judgment threshold value. The actual wild value eliminating and judging threshold value is set according to the measurement precision of airborne inertial navigation and Takang airborne equipment, if the judging threshold value is set too large, part of small jump threshold values cannot be effectively eliminated, if the judging threshold value is set too small, part of normal measured values are eliminated, and system instability is easily caused. According to the invention, by combining the measurement accuracy conditions of general airborne inertial navigation and Takang airborne equipment, the inclined distance outlier rejection judgment threshold value rho is set to 400m, and the azimuth outlier rejection judgment threshold value alpha is set to 1 degree.
See fig. 5. Fig. 5 shows a schematic diagram of the present invention performing inertial navigation/tacan complementary filtering.
FIG. 5 shows a schematic diagram of complementary filtering of the pitch, in which D is a theoretical true value of the pitch, E1 is a pitch error calculated according to the inertial navigation output, and correspondingly, D(s) is a frequency domain representation of the theoretical true value of the pitch, and E1(s) is a frequency domain representation of the pitch error calculated according to the inertial navigation output, with low frequency characteristics; e2 is the error of the cone system, E2(s) is the frequency domain expression of the error of the cone system, and the method 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:
d(s) +E1(s) is passed through high-pass filter, its low-frequency skew measurement error is eliminated, D(s) +E2(s) is passed through low-pass filter,its high frequency skew measurement error is eliminated. The filtered outputs of the two branches are added to obtain the result that the common signal component skew d is estimated
(frequency domain expressed as +.>
). The mathematical derivation process is shown as follows:
the above equation shows that if an appropriate low pass filter G(s) can be selected, the entire filter can be made to output
Is the optimal estimation value of the skew distance d.
FIG. 5 shows a magnetic orientation complementary filtering schematic diagram, wherein psi is a magnetic orientation theoretical true value, F1 is a magnetic orientation error calculated according to inertial navigation output, and correspondingly, psi(s) is a frequency domain representation of the magnetic orientation theoretical true value, and F1(s) is a frequency domain representation of the magnetic orientation error calculated according to inertial navigation output, and has low-frequency characteristics; f2 is the magnetic azimuth error of the Takang system, F2(s) is the frequency domain representation of the magnetic azimuth error of the Takang system, and the high-frequency characteristic is realized. 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:
The low-frequency magnetic azimuth measurement error of the psi(s) +F1(s) is eliminated after the psi(s) +F1(s) passes through a high-pass filter, and the high-frequency magnetic azimuth measurement error of the psi(s) +F2(s) is eliminated after the psi(s) +F2(s) passes through the low-pass filter. The filtered outputs of the two branches are added to obtain the result that the estimates of the magnetic azimuth ψ of their common signal components
(frequency domain expressed as +.>
). The mathematical derivation process is shown as follows:
the above equation shows that if an appropriate low pass filter G(s) can be selected, the entire filter can be made to output
Is the optimal estimate of the skew distance ψ.
Referring to fig. 6, fig. 6 is a block diagram of a high-precision navigation device of the tacon system according to an embodiment of the present invention.
As shown in fig. 6, a high-precision navigation device for a tacon system according to an embodiment of the present invention includes:
an acquisition module 10, configured to acquire flight position information of a target flight device; the flight position information comprises first position information output by an airborne inertial navigation system, first slant distance information and magnetic azimuth information output by an airborne Takang system;
the correction module 20 is configured to correct magnetic azimuth information output by the airborne tacon system by using magnetic difference information of the tacon station to obtain first true azimuth information;
a determining module 30, configured to determine, according to the second position information of the tacon station and the first position information, second pitch information and second true azimuth information of the target flight device to the tacon station currently;
The estimation module 40 is configured to perform outlier rejection on the first pitch information and the first true azimuth information, and perform complementary filtering fusion on the second pitch information, the second true azimuth information, and the outlier-removed first pitch information and the first true azimuth information to obtain estimated values of the pitch information and the true azimuth information;
and the navigation module 50 is used for navigating the target flight equipment according to the estimated values of the pitch information and the true azimuth information.
In the embodiment, the inertial navigation and the Takang system are fused through the information fusion strategy of complementary filtering under the assistance of the position information output by the airborne inertial navigation system and the accurate position of the Takang station, so that the accuracy of the pitch and the magnetic azimuth of the Takang system can be effectively improved, the flight guidance quality in the course stage is improved, and the flight safety is ensured.
Other embodiments or specific implementation manners of the high-precision navigation device of the tacon system of the present invention may refer to the above method embodiments, and will not be described herein again.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a Takang system high-precision navigation program, and the Takang system high-precision navigation program realizes the steps of the Takang system high-precision navigation method when being executed by a processor. Therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present application, please refer to the description of the method embodiments of the present application. As an 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.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of computer programs, which may be stored on a computer-readable storage medium, and which, when executed, may comprise the steps 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 (Random AccessMemory, RAM), or the like.
It should be further noted that the above-described apparatus embodiments are merely illustrative, and that the units described as separate units may or may not be physically separate, and that units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the present invention may be implemented by means of software plus necessary general purpose hardware, or of course by means of special purpose hardware including application specific integrated circuits, special purpose CPUs, special purpose memories, special purpose components, etc. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions can be varied, such as analog circuits, digital circuits, or dedicated circuits. However, a software program implementation is a preferred embodiment for many more of the cases of the present invention. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product 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, randomAccessMemory), a magnetic disk or an optical disk of a computer, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
Claims (7)
1. A method for high-precision navigation of a tacon system, the method comprising the steps of:
collecting flight position information of target flight equipment; the flight position information comprises first position information output by an airborne inertial navigation system, first slant distance information and magnetic azimuth information output by an airborne Takang system;
correcting magnetic azimuth information output by the airborne Takang system by utilizing magnetic difference information of a Takang station to obtain first true azimuth information;
determining second oblique distance information and second true azimuth information from the target flight equipment to the Takara station currently according to the second position information and the first position information of the Takara station;
performing outlier rejection on the first oblique distance information and the first true azimuth information, and performing complementary filtering fusion on the second oblique distance information, the second true azimuth information and the outlier-rejected first oblique distance information and the first true azimuth information to obtain estimated values of the oblique distance information and the true azimuth information;
the step of eliminating the wild value of the first oblique distance information and the first true azimuth information specifically comprises the following steps:
determining a wild value rejection judgment amount according to the variation of the first oblique distance information and the first true azimuth information and the variation of the second oblique distance information and the second true azimuth information between the first moment and the second moment;
The amount of change is calculated as follows:
wherein Δd 1 Representing the variation of the first pitch information, Δψ 1 Representing the variation of the first true azimuth information, Δd 2 Representing the amount of change in the second pitch information, Δψ 2 Represents the amount of change in the second true bearing information,
and->
Respectively representing the pitch obtained by converting the inertial navigation calculated aircraft position at the first moment and the second moment through parameters, and the +.>
And->
The directions obtained by converting parameters of the aircraft positions calculated by inertial navigation at the first moment and the second moment are respectively shown, and d 1 And d 2 The first time and the second time respectively represent the skew obtained by converting the measured parameters outputted by Takang at the first time and the second time>
And->
Respectively representing the directions obtained by converting the measured parameters outputted by the Takang at the first moment and the second moment;
the outlier rejection judgment is calculated as follows:
wherein Δd represents the oblique distance outlier rejection judgment quantity, and Δψ represents the azimuth outlier rejection judgment quantity;
if the outlier rejection judgment quantity is larger than a preset judgment threshold value, replacing the first oblique distance information and the first true azimuth information at the second moment with the first oblique distance information and the first true azimuth information at the first moment;
the step of carrying out complementary filtering fusion on the second oblique distance information, the second true azimuth information and the first oblique distance information with the outlier removed and the first true azimuth information to obtain the estimated value of the oblique distance information and the true azimuth information specifically comprises the following steps:
Inputting second oblique distance information and second true azimuth information into a preset low-pass filter to filter high-frequency components in the second oblique distance information and the second true azimuth information;
inputting the first oblique distance information and the first true azimuth information after the outlier rejection into a preset high-pass filter to filter low-frequency components in the first oblique distance information and the first true azimuth information;
the preset low-pass filter is complementary with the preset high-pass filter;
adding the outputs of the preset low-pass filter and the preset high-pass filter 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 distance information and the true azimuth information.
2. The method for high-precision navigation of a tacon system according to claim 1, wherein the magnetic azimuth information output by the airborne tacon system is corrected by using the magnetic difference information of the tacon station, and the expression for obtaining the first true azimuth information is:
ψ＝ψ'-θ
wherein, psi is the first true azimuth information, psi' is the magnetism azimuth information that the airborne tacon system outputted, and θ is the magnetic difference information of tacon station.
3. The method of high accuracy navigation of a tacon system of claim 2, wherein the first true position information is a true position relative to geographic north.
4. The method for high-precision navigation of a tacon system according to claim 1, wherein the determining the expression of the second pitch information and the second true azimuth information of the target flying device to the tacon station according to the second position information and the first position information of the tacon station is:
wherein d c Second pitch information, ψ, for the target flying apparatus to the tacon station c Second true position information for the target flying apparatus to the tacon station,
position coordinates of second position information output by the airborne inertial navigation system respectively>
And the position coordinates of the first position information of the Takara station are respectively.
5. The utility model provides a high accuracy navigation head of tower system, its characterized in that, high accuracy navigation head of tower system 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 slant distance information and magnetic azimuth information output by an airborne Takang system;
the correction module is used for correcting the magnetic azimuth information output by the airborne Takang system by utilizing the magnetic difference information of the Takang station to obtain first true azimuth information;
The determining module is used for determining second oblique distance information and second true azimuth information from the target flight equipment to the Takara station currently according to the second position information and the first position information of the Takara station;
the estimation module is used for performing outlier rejection on the first oblique distance information and the first true azimuth information, and performing complementary filtering fusion on the second oblique distance information, the second true azimuth information and the first oblique distance information after outlier rejection and the first true azimuth information to obtain estimated values of the oblique distance information and the true azimuth information;
the step of eliminating the wild value of the first oblique distance information and the first true azimuth information specifically comprises the following steps:
determining a wild value rejection judgment amount according to the variation of the first oblique distance information and the first true azimuth information and the variation of the second oblique distance information and the second true azimuth information between the first moment and the second moment;
the amount of change is calculated as follows:
wherein Δd 1 Representing the variation of the first pitch information, Δψ 1 Representing the variation of the first true azimuth information, Δd 2 Representing the amount of change in the second pitch information, Δψ 2 Representing the variation of the second true azimuth information, d 1 c And
respectively representing the pitch obtained by converting the inertial navigation calculated aircraft position at the first moment and the second moment through parameters, and the +. >
And->
The directions obtained by converting parameters of the aircraft positions calculated by inertial navigation at the first moment and the second moment are respectively shown, and d 1 And d 2 The first time and the second time respectively represent the skew obtained by converting the measured parameters outputted by Takang at the first time and the second time>
And->
Respectively representing the directions obtained by converting the measured parameters outputted by the Takang at the first moment and the second moment;
the outlier rejection judgment is calculated as follows:
wherein Δd represents the oblique distance outlier rejection judgment quantity, and Δψ represents the azimuth outlier rejection judgment quantity;
if the outlier rejection judgment quantity is larger than a preset judgment threshold value, replacing the first oblique distance information and the first true azimuth information at the second moment with the first oblique distance information and the first true azimuth information at the first moment;
the step of carrying out complementary filtering fusion on the second oblique distance information, the second true azimuth information and the first oblique distance information with the outlier removed and the first true azimuth information to obtain the estimated value of the oblique distance information and the true azimuth information specifically comprises the following steps:
inputting second oblique distance information and second true azimuth information into a preset low-pass filter to filter high-frequency components in the second oblique distance information and the second true azimuth information;
Inputting the first oblique distance information and the first true azimuth information after the outlier rejection into a preset high-pass filter to filter low-frequency components in the first oblique distance information and the first true azimuth information;
the preset low-pass filter is complementary with the preset high-pass filter;
adding the outputs of the preset low-pass filter and the preset high-pass filter 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 distance information and the true azimuth information.
6. A flying apparatus characterized in that the flying apparatus is configured with a tacon 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, which when executed by the processor, implements the steps of the tacon system high-precision navigation method of any one of claims 1 to 4.
7. A storage medium, wherein a high-precision navigation program of a tacon system is stored on the storage medium, and the high-precision navigation program of the tacon system, when executed by a processor, implements the steps of the high-precision navigation method of the tacon system as claimed in any one of claims 1 to 4.
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