JPS59180421A - Hybrid navigation apparatus - Google Patents

Abstract

PURPOSE:To combine navigation devices, which can determine a two-dimensional position on a horizontal plane and an inertial navigation device automatically, by measuring a relative range and a bearing with respect to a ground station. CONSTITUTION:A station range and station bearing signal S1 to a station, which is selected by a TACAN device, and an air altitude signal S2 from an air data device 3 are converted into a two-dimensional signal S5 in a horizontal plane by a position computing part 5 based on station position data S4 of a memory 6. A position-error estimating part 7 estimates the position error included in the signal S5, based on the signal S1, i.e., relative positional relationship between the present position of own aircraft and a ground TACAN station, and an estimated position error signal S6 of the TACAN device is outputted. A nearest point detecting part 10 monitors whether the aircraft has passed the nearest point to the ground TACAN station or not based on the signal S5, which represents the present position of the aircraft and the station position data S4 and outputs a combination releasing pulse signal S9 when the aircraft passes the nearest point.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is an installation that combines a navigation device and an inertial navigation device that measures the relative distance and direction to a ground station and determines the entire two-dimensional position on a horizontal plane based on these measured values. The present invention relates to a hybrid navigation device.

When an aircraft attempts to position itself, a TACAN device detects the VOW/DME equipment, measures the relative distance and bearing of the aircraft to the ground station, and then ``Measurement values and ground'' Method for determining the two-dimensional position on the horizontal plane of the model from the position of three circumferences, Tsumaji P ~
A method called the θ method is used. However, the relative distance and azimuth measurements include errors, and according to integrated analysis, the position error is minimum at the closest point of the aircraft to the ground station, and the larger the p1 range, the smaller the position error is. It will increase, and there is a limit to its coverage area.

= On the other hand, inertial navigation devices include gyros and accelerometers,
There is a method for positioning by lengthening the increment of the two-dimensional position on the horizontal plane and integrating it! Since the position is L, the positional error accumulates and increases over time, and we are waiting for the unstable current to diverge.

In general, TACAN equipment f6 Rui l-1:V(J i</
u1aii? g. Combining direct and inertial navigation equipment
In the hybrid navigation system, the combination is at
When entering the zone, set the combination mode gold setting, and in this mode, the inertial navigation system's 2D s device is edge dated to the 2D position determined by the ρ-θ method. The method is to correct all errors in the :fi range, and to divide the combination by km outside the coverage area.

However, in this case, the TACAN device is
Even if the OR/DME device is within the area where it can be used and vIt is reached to the extent that it can be set to combination mode, the error in the two-dimensional position determined by the ρ-θ method is the lf of the inertial navigation system. The effect of the combination can only be expected when it is in the region where the error is smaller than the error, and the combination outside this region has a strong "J-layer property" that reduces accuracy.

Historically, the correction effect of accumulated errors is greatest at the closest point to the ground station, and after passing this point, it is desirable to cancel the combination and stop the 1st reference function.

For this reason, in conventional hybrid navigation devices, the start of the combination mode and ′! 4tI mode can be performed manually - Selection and execution of this mode is at the discretion of the operator. However, the start and end of the combination must be performed accurately and at the right time, which is a disadvantage in that it increases the operator's workload.The purpose of the present invention is to solve the above-mentioned disadvantages.
'Do not modify the J device, VOR/DM, or E device, add the relative distance and direction to the ground station, and use the measured calm to calculate the IC.
It'e is a hybrid navigation device that performs a combination of an inertial navigation device and an inertial navigation device that allows you to locate the pheasant in two dimensions on a plane in 7! It is to provide.

The present invention uses P-
Estimate the error included in the two-dimensional position *eli@i determined by the θ method and the error included in the two-dimensional position information of the inertial navigation device,
In addition to calculating the comparison of each estimation error, we also monitor the passage of the closest point fi to the ground station, and compare the estimation errors and the closest point passing rumor f'l: change, start combination, and divide y4. The present invention is characterized in that it automatically performs the following.Next, embodiments of the present invention will be described with reference to the drawings.

The figure shows the relationship between a hybrid navigation device 1 of the present invention, a TACAN device 2, an air data device 3, and an inertial navigation device 4 coupled to the device. 5, memory 6, error estimating sections 7 and 8, comparing section 9, nearest point finding section 10, error correction Ig generation section 11; #I is made from In the figure, the operation of the hybrid navigation system of the present invention will be explained by following the arrows indicating the control system.

At the start of the operation of this device, the pairing permission status signal S8 output from the comparator 9 is set to an unauthorized state, and the signal S 8 Vcj, ! :l, Ig14 running signal generator 11
, RiJ is in the error independent mode in which the error 1-positive signal SIO is not fully output, and in this mode, the error correction of the two-dimensional position of the inertial navigation device by the two-dimensional position signal obtained from TACANil & and the air data device is Not done. Historically, when this device starts operating, it is assumed that the inertial navigation device lf is adjusted and the error is 0, and the output S7 of the error estimator 8 of the inertial navigation device, that is, the output S7 of the integrator 13 is OV.
Assuming that the aircraft is set to C, the navigation island on which this device is installed shall take a flight course that approaches the TACAN station after takeoff.

The operation of this device under the above-mentioned poor initial condition at the start of operation and under continuous use is as follows.

The station distance and direction signal Sl of the TACAN equipment f2 in the equipment part 2 and the air altitude 100 S2 of the air data device 3 are calculated by the position calculation part 5 based on the circumferential position data S4 of the memory 6. Based on the signal Sl, the 0-position and 1-division difference estimating unit 7, which is converted into a two-dimensional position in the horizontal plane, calculates the relative positional relationship between the current position of the own aircraft and the TACAN ground station. to signal S51'? : Estimates the included position ri error and outputs the estimated position f meidan ig No. 86.
0 is the signal S5 indicating the current position t of the model and the circumferential position data S
Based on 4, is your aircraft the closest point to the TACAN ground station?
It determines whether it has passed or not, and outputs the combination cancellation signal S9' when the closest point has passed.

- 10,000, the error estimating unit 80 meter 12 stores the inertial navigation device's speed lantern data S11, and the integral a=i
:i divides the signal 5iii time into an estimated position error signal S7τ of the inertial navigation device while the combination permission status fgg is not permitted, that is, not in the combination mode but in the independent mode. No. 16 S6 and No. 1g No. 87 are in comparison section 9
The magnitudes of the absolute values of S6 and S7 are compared, and while the signal S7 is small, the output of the comparator 9, the combinational status signal 88, is in the prohibited vT state, and the signal S
If 7 becomes p-inu like S6, then S8 will be in a permission state.

When the device starts operating, the signal S7V! , is smaller than the signal S6, so the combination permission status signal S8 is in an unreliable state, and the error correction function based on the signal 5LOK is disabled. In this state, as the aircraft approaches the TACAN ground station, the signal 86 gradually decreases, and conversely, the VC of signal S7 increases with time.When S7 becomes thicker than signal S6, the signal S7 becomes larger than signal S6. Output No. 1g S8 of f capital 9 enters the state of combination If+- town, transitions from independent mode to combination mode VC, and returns to anonymous No. 1g generating section]
1, the = signal S5 and signal S3 are run, and the error code 1 is
gQS10 is an inertial navigation system 4. K-feedback is completed and error correction is performed. The error correction is done when No. 16 S8 is in a bad combination.
The state is canceled by the combination cancellation pulse 1 word S9 generated when the acid point contact S overdetection unit 10 passes the highest point of the ground station V. Soze is threaded. The above operating principle enables automation of combinations.

As explained above, according to the present invention, the operations related to combinations of devices in the conventional method that were previously performed manually according to the judgment of the 9L rice operator can be visualized, and the following young fruits are produced.

(1) Due to the misrun of Higeki warfare, the operation of igniting the combination only when the combination is effective, and otherwise turning the sails off and on, is
Since it is carried out directly, in a timely manner, and automatically, it is possible to correct the ramming setup difference to the inertial navigation system as described above, and to prevent the shadow 11' on the inertial navigation system.

(Since 21m production can be automated, the operator's workload will be reduced.

(3) The error comparison results can also be used for failure monitoring, and an improvement in reliability can be expected.

[Brief explanation of the drawing]

The figure shows an embodiment of the present invention. 1.../Ibrid navigation device, 2...
・TACAN device, 3... Air data device, 4
. . . Inertial navigation device, 5 to 13 are components of the hybrid navigation device of the present invention, and 5.
it, bafyu: part, 6... memo 1, 7 and 8.
...Position error estimation section, 9...Comparison section, 1
0...Nearest point finding unit, 11...Error correction No. 16 generation unit, 12...Memory, 13...
...Integrator O81 to S10 are the names of the signals flowing between the above components, Sl...T
Distance between ACAN devices and 14 direction signals, S2...
・Air altitude code of air data device, S3...
Inertial navigation device 2 (K original position 1b, S4...
TACAN ground station position data・S5”-=-TACAN
2-dimensional position 1 word obtained from the device and air data device,
S6...Estimated position error signal of TACAN device,
S7... Inertial navigation device rejected position error Hakata, S
8... Combined liver pJ status signal, S9...
...Combination ps removal pulse No. 1g, SIO...
・Error 1, correct number, Sll... This is the fast fart error data of inertia @ method wrinkle. My agent is Mr. Uchihara, a masu burial specialist. \\J

Claims (1)

[Claims] A navigation device and an inertial navigation device are combined to determine the relative distance and direction to the ground station, and the two-dimensional position ti on the horizontal plane is determined by the measurement unit, and the MJ is recorded using the two-dimensional position. In a hybrid navigation device that corrects a two-dimensional position error of an inertial navigation device, the error estimation between the aforementioned navigation device and the previous inertial navigation device is carried out, and the closest point between each error ratio plate and the ground station is passed. , and controls the combination of the fgFJ navigation device and the inertial navigation device based on the error comparison result and the reconnaissance report of the previous approach point passing. .