RU181020U1 - A device for determining navigation information for automatic landing of an aircraft on the deck of a ship - Google Patents

Abstract

The utility model relates to the field of aviation technology, in particular to on-board equipment, specifically to means of automatic landing of aircraft (LA), which ensures the landing of an aircraft (manned and unmanned) on the deck of a ship in automatic mode. The technical result achieved by the implementation of this utility model is to increase the accuracy and safety of the automatic landing of manned and unmanned aerial vehicles on the deck of the ship. The specified technical result is achieved by the use of a device for determining navigation information for automatic landing of an aircraft on the deck of a ship, which includes an information processing unit consisting of a radio and a computer designed to receive and process navigation signals of radio beacons installed on the deck of the ship in order to determine the necessary navigation information while processing information and calculating the coordinates of the aircraft occurs in the processing unit with p using filtering algorithms, the information received goes to the trajectory block, where the deviations of the aircraft from the calculated approach path are calculated, which, in turn, go to the flight control block, while the processing unit is connected to the first output of the navigation system by its first input , the second input of the processing unit is connected to the second output of the on-board navigation receiver, the third output of the processing unit is connected to the third input of the trajectory unit, the fourth output of which is connected to the fourth course management systems.

Description

The utility model relates to the field of aviation technology, in particular to on-board equipment, specifically to means of automatic landing of aircraft (LA), which ensures the landing of an aircraft (manned and unmanned) on the deck of a ship in automatic mode.

A known aircraft landing system (patent No. RU 2287838), consisting of a receiving unit of the GLONASS and / or GSP satellite radio navigation system located on the aircraft, as well as n (where n> 3) ground-based phase navigation receivers located next to the takeoff and landing band, which form the pseudo-phases and pseudorange values obtained from the navigation satellites at the same time, which are transmitted to the reception and formation center of the navigation frame using the transmission unit, where From the received messages, an information frame is formed, which is transmitted to the aircraft, in which the signals received from all navigation satellites within sight are processed together with the signals of the ground-based phase navigation receivers. The principle of operation of the satellite radio navigation system used in this aircraft landing system is called the differential mode.

The disadvantages of this system are the insufficient accuracy of determining the flight altitude of the aircraft at low landing meteorological minimums and the requirement for a data exchange channel between the ground and airborne equipment of the aircraft, which complicates the implementation of the differential mode in practice.

The closest technical solution is the aircraft landing system (patent No. RU 2284058), consisting of an on-board receiver of the satellite radio navigation system, integrated with an inertial navigation system, a block for generating trajectory parameters, an automatic control computer, the outputs of which are connected to the electrohydraulic drive of the pitch and course mechanically associated with the corresponding steering gears, sensors of the angular position of the aircraft, with yazannymi calculator with automatic control system. A pilot indicator is connected to the receiver of the satellite radio navigation system. The system includes a radio altimeter, a comparator, a course and glide path receiver connected with it through radio channels, a glide path and a course beacon, a filtering unit for linear trajectory parameters of the SNA and angular deviations from equal signal zones of radio equipment, two circuits not connected in series with a comparator, two inputs of which are connected to a height adjuster 70-60 m and a radio altimeter, two blocks of multiplication.

The disadvantage of this system using radio beacon landing systems and a satellite radio navigation system is that the accuracy of radio beacon landing systems significantly depends on the terrain in the area of the aerodrome, which means that there are restrictions on the use of these systems at aerodromes with complex terrain.

The technical result achieved by the implementation of this utility model is to increase the accuracy and safety of automatically landing manned and unmanned aerial vehicles on the deck of the ship through the use of an information processing unit using filtering algorithms.

The specified technical result is achieved by the use of a device for determining navigation information for automatic landing of an aircraft on the deck of a ship, which includes an information processing unit consisting of a radio and a computer designed to receive and process navigation signals of radio beacons installed on the deck of the ship in order to determine the necessary navigation information while processing information and calculating the coordinates of the aircraft occurs in the processing unit with p using filtering algorithms, the information received goes to the trajectory block, where the deviations of the aircraft from the calculated approach path are calculated, which, in turn, go to the flight control block, while the processing unit is connected to the first output of the navigation system by its first input , the second input of the processing unit is connected to the second output of the on-board navigation receiver, the third output of the processing unit is connected to the third input of the trajectory unit, the fourth output of which is connected to the fourth course management systems.

This device has high accuracy and ease of implementation, provide landing on the deck of ships.

The technical nature of the proposed utility model is illustrated by graphic images. In FIG. 1 shows a schematic diagram of the proposed method of landing an aircraft on a ship; in FIG. 2 is a functional diagram of an aircraft landing system on a ship.

The system contains:

1. the runway of the ship;

2. aircraft;

3. a beacon;

4. artificial satellites of the Earth;

5. navigation system;

6. airborne receiver of satellite radio navigation systems (hereinafter - airborne receiver);

7. inertial system;

8. first exit;

9. first entry;

10. a processing unit, which is a unit for the complex processing of information and calculating the exact coordinates of the aircraft in the ship coordinate system, the information in which is processed using filtering algorithms, (hereinafter referred to as the processing unit)

11. third exit;

12. airborne navigation receiver;

13. designed to receive and process navigation signals of radio beacons in order to determine the necessary navigation information, the second output;

14. second entrance;

15. third entrance;

16. trajectory block;

17. fourth exit;

18. fourth entrance;

19. management system;

20. fifth exit.

The landing system of aircraft 2 (i.e., a set of technical equipment for landing aircraft 2) consists of the following main parts: beacons 3 located on the deck of the ship, and equipment located on board the aircraft 2. Aircraft 2 may be an unmanned aircraft, airplane, helicopter, etc. Navigational determinations are made on the basis of non-query measurements in the aircraft apparatus of ranges and radial speeds.

Beacons 3 are rangefinder beacons 3, forming and transmitting multicomponent phase-shifted radio navigation signals. In order to obtain high accuracy in measuring the signal delay, the emitted signal must be modulated by a rangefinder code. The navigation information should be a converted digital sequence of data transmitted by the beacon equipment to the aircraft. The navigation message transmitted in the radio beacon signals contains a rangefinder code, a time stamp code, service information, navigation data, installation coordinates of radio beacons on the deck of a ship, etc. Beacons 3 are placed at a certain distance from the axis of the runway and at different heights on the deck of the ship.

Equipment located on board the aircraft 3 includes: a navigation system 5, a processing unit 10, an on-board navigation receiver 12, a trajectory unit 16, a control system 19.

The navigation system 5 consists of an inertial system 7 and / or an on-board receiver 6 (can be excluded from the navigation system). Inertial system 7 - inertial navigation system 5, providing the determination of the velocity vector of aircraft 2. On-board receiver 6 - receiver of signals from satellite radio navigation systems such as GLONASS and / or GPS. The information processing unit 10 and the calculation of the exact coordinates of the aircraft 2 in the ship coordinate system, the processing of information in which is performed using filtering algorithms. The on-board navigation receiver 12 is a device for measuring the distance from the aircraft 2 to the beacons 3 on the deck of the ship. Trajectory unit 16 is a unit for calculating deviations of the aircraft 2 from the calculated approach path and generating signals corresponding to them. Control system 19 - control system 19 flight and approach of the aircraft 2, connected to the actuators on board the aircraft 2.

All blocks that make up the equipment located on board the aircraft 2 are interconnected as follows. The navigation system 5, with its first output 8, is connected to the first input 9 of the processing unit 10. The on-board navigation receiver 13, with its second output 13, is connected to the second input 14 of the processing unit 10. The processing unit 10, with its third output 11, is connected to the third input 15 of the trajectory unit 16. Trajectory block 16 with its fourth output 17 is connected to the fourth input 18 of the control system 19. The control system 19 with its fifth output 20 is connected with actuators located on board the aircraft 2. The connection of the blocks is made through tion of electrical connections, for example wire.

The utility model is as follows.

On the deck of the ship at some distance from the runway place beacons 3, with known coordinates of their installation. The increase in the number of beacons 3 increases the accuracy of determining the coordinates of the location and speed of the aircraft 2.

To accurately determine the location and speed of the aircraft 2, the on-board receiver 6 must receive a signal from at least four artificial Earth satellites 4 of the satellite radio navigation system 5. The accuracy of determining the location and speed of the aircraft 2 in the satellite radio navigation system 5 depends on many factors, such as location geometry satellites relative to airborne receiver 6, radio wave propagation in the ionosphere and troposphere, clock drift, on the type of signal processing in a particular receiver and other factors. At the same time, the accuracy of the satellite radio navigation system 5 under any conditions must meet the requirements imposed on them, with respect to GPS for the C / A code, accessible to all consumers, the error in determining the location for 95% of measurements should not exceed 30 m, speed - 0.1 m / from.

.From the first output 8 of the navigation system 5, the first input 9 of the processing unit 10 receives signals corresponding to the components of the velocity vector of the aircraft 2: V _x , V _y , V _z .. In the processing unit 10, the components of the velocity vector of the aircraft 2 are converted into components of the velocity vector aircraft 2 in the ship coordinate system V _xa , V _уa , V _za , for which a device of this purpose of any type can be used. Also, the second input 14 of the processing unit 10 receives signals from the second output 13 of the on-board navigation receiver 12, corresponding information about the range to the beacons 3 D ₁ , ..., D _n located on the deck of the ship, the speed of the aircraft, the coordinates of the installation of beacons on the deck of the ship and other navigation information. In the processing unit 10, information about the range to the beacons 3, the speed of the aircraft in the associated and ship coordinate systems are processed using filtering algorithms. At the third output 11 of the processing unit 10, signals are obtained corresponding to accurate estimates of the location of the aircraft 2 in the ship coordinate system:

.

The accuracy of estimating the coordinates of the aircraft 2 in the processing unit 10 depends on the accuracy of measuring the range D to the beacons 3, components of the velocity vector of the aircraft 2 V _xa , V _уa , V _za and the angular speed of rotation of the range line “beacon 3 - aircraft 2”. The higher the angular speed of rotation of the range line “beacon 3 - aircraft 2”, the higher the accuracy of estimating the coordinates of aircraft 2 and the higher the speed of cancellation of the initial error of the coordinates of the location of aircraft 2. The maximum accuracy is achieved when flying aircraft 2 traverse beacons 3. The potential accuracy of determining the coordinates of the location of the aircraft 2 can be determined by the following formulas:

where σ _d is the standard deviation along the range line;

σ _r is the standard deviation perpendicular to the range line;

S _z is the noise intensity of the range meter, m ² ⋅ s;

,S _x - noise intensity of the speed meter,

,

(Лебедев А.В., Пасюк В.П. «Влияние доплеровского канала на точность оценивания координат в монодальномерных системах» Научно-методические материалы по алгоритмическому обеспечению бортовых комплексов. Под ред. Букова В.Н. - М.: ВВИА им. проф. Н.Е. Жуковского, 1987 г.).And 'is the angular velocity of rotation of the range line,

(Lebedev A.V., Pasyuk V.P. “Influence of the Doppler channel on the accuracy of coordinate estimation in monodalming systems” Scientific and methodological materials on the algorithmic support of airborne systems. Edited by V.N. Bukov - M .: VVIA named after prof. N.E. Zhukovsky, 1987).

In accordance with the above formulas, the maximum accuracy of coordinate estimation will be achieved at the time of flight of the aircraft 2 traverse beacons 3, when the angular speed of rotation of the range line "beacon 3 - aircraft 2" will be maximum. The angular speed of rotation of the range line “beacon 3 - aircraft 2” depends on the distance from the aircraft 2 to beacon 3 and the speed of the aircraft 2 approaching, which can be from tens to hundreds of meters per second, depending on the type of aircraft 2.

The signals corresponding to the exact coordinates of the location of the aircraft 2 from the third output 11 of the processing unit 10 are fed to the third input 15 of the trajectory block 16. In the trajectory block 16, the deviations of the aircraft 2 from the calculated approach path are calculated: Δ X, Δ Y, Δ Z and signals corresponding to these deviations are generated. The signals from the fourth output 17 of the trajectory block 16 are fed to the fourth input 18 of the control system 19. The control system 19 according to the deviation signals of the aircraft 2 generates signals that from the fifth output 20 are fed to actuators located on board the aircraft 2.

. Интенсивность шума измерения скорости спутниковой радионавигационной системы 5 S_x<0,2 m²/_c, а точность интенсивность шума измерителя дальности S_z≅1 m²⋅с. Потенциальная точность определения координат местоположения летательного аппарата 2 (среднеквадратическое отклонение) составит менее 1 м.The potential accuracy of this method of landing aircraft 2 is evaluated as follows. At the time of flight of the aircraft 2 traverse beacons 3, depending on its type, the angular speed of rotation of the range line "beacon 3 - aircraft 2" may be in the range

. The noise intensity of the speed measurement of the satellite radio navigation system is 5 S _x <0.2 m ² / _s , and the accuracy is the noise intensity of the range meter S _z ≅ 1 m ² ⋅ s. The potential accuracy of determining the coordinates of the location of the aircraft 2 (standard deviation) will be less than 1 m

This method and device for landing the aircraft have high accuracy and ease of implementation, provide landing on the decks of ships.

Claims (1)

A device for determining navigation information for automatic landing of an aircraft on the deck of a ship is characterized in that it includes an information processing unit consisting of a radio receiver and a computer for receiving and processing navigation signals of beacons installed at different heights of the deck of the ship, in order to determine the necessary navigation information while processing information and calculating the height of the aircraft in the ship's coordinate system occurs in the processing unit and information using filtration algorithms adapted for the deck of the ship, the information received goes to the trajectory block, where the deviations of the aircraft from the calculated approach path are calculated, which, in turn, go to the flight control block, while the processing unit is its first the input is connected to the first output of the navigation system, the second input of the processing unit is connected to the second output of the on-board navigation receiver, the third output of the processing unit is connected to the third input of the trajectory unit eye, the fourth output of which is connected to the fourth input of the control system.

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