RU2030754C1 - Method of forming path of flying vehicle at its landing on watercraft runway - Google Patents

Abstract

FIELD: flying vehicles. SUBSTANCE: device for realization of method has one interrogator 1, n responders 2, two repeaters 3 and 4, computer 5, radio altimeter 6, control console 7 and matrix indicator 8. EFFECT: enhanced reliability. 2 dwg

Description

 The invention relates to air navigation and can be used in systems for ensuring the landing of aircraft on the runway of a sea vessel, floating drilling rig, etc.

 The purpose of the invention is improving accuracy.

 Figure 1 shows a diagram of a device explaining the proposed method; figure 2 - geometric relationships in the implementation of the method.

 A device that implements the proposed method (Fig. 1) contains an interrogator 1, transponders 2, a first and second relay 3 and 4, a calculator 5, a radio altimeter 6, a control panel 7 and a matrix indicator 8, an on-board complex 9, a first relay 10, a second relay 11, base transponder 12, remote transponder 13, base transponder 15.

 The proposed method of forming the trajectory of the aircraft when landing on the runway of the craft works as follows.

 In normal mode, the interrogator 1 and the transponders 4 are installed at ground points with known coordinates, and the transponders 2 are installed on the aircraft, the coordinates of which are determined. The number of defendants and repeaters can be arbitrary and is determined by the needs of the problem being solved.

 In the case shown in Fig. 1, the use of one transponder and two relays in each measuring cycle forms the range "1-2" and two total ranges "1-2-3-1" and "1-2-4-1". Having, as known in each total range, in addition to the range “1-2”, one more known base (for example, the base “2-3” or “2-4”), it is possible to determine unknown distances of the total range.

 The interrogator 1 is triggered by the pulses generated by the calculator 5, and transmits codes of the above ranges in response to it. In addition, with the radio altimeter 6, with respect to the proposed method, the current aircraft altitude is received. As a computer for this method, a commercially available on-board computer is used.

 Input data and control the operation of the rangefinder system is carried out from the control panel 7. Information is displayed on the matrix indicator 8.

 Blocks 1, 5, 6, 7, 8 form a separate airborne complex 9 of the rangefinder system, installed on the ground console. In relation to this method, the module is installed on board the aircraft.

The range of the system is up to 400 km. The duration of the measurement cycle in relation to the proposed scheme is 200 ms. Range accuracy 10 ^-5 .

 The method is as follows.

 On the deck of the craft are installed (see figure 2) with the maximum possible separation in plan of the two transponders PT1 10 and PT2 11 so as to provide direct visibility from them to the runway (runway).

With the maximum separation from the opening PT1 and PT2 in plan and height on the technical superstructures of the watercraft, a basic transponder BO 12 is installed, from which direct visibility of the runway zone is also provided. The tools measure the bases S ₁ and S ₂ (distances "10-12" and "11-12"). The distance from the base transponder (BO) to the most distant tip of the craft and in the horizontal plane is measured. The coordinates of the repeaters PT1, PT2, the landing point of the aircraft on the runway and the transponder B0 are calculated in the coordinate system of the craft X, Y, Z, the plane of which XZ coincides with the plane of the runway, and the axis passes through the base transponder. The data obtained are entered into (memory) of the calculator 5 from the remote control 7 installed in the cockpit of the aircraft.

 When flying, an auxiliary watercraft (for example, a boat, an anchored or non-anchored buoy, etc.) with a remote transponder BO 13 is withdrawn. Since the most probable case is that the maximum separation with respect to the vessel is possible for PT1 and PT2, it is most advantageous, but optionally, place the aircraft in the area of the beam of the boat (i.e., a direction perpendicular to the ship’s diametrical plane).

 If the boat is moving, then it is desirable (but not necessary) to move the auxiliary boat on a parallel course.

 Aircraft 14 with an airborne complex and an airborne interrogator included in it БЗ 15 takes off and performs a flight along the required route using standard navigation aids.

 When approaching a watercraft at the entrance to the area where the watercraft is located, which is determined by the working area of the system, which, in turn, is determined by the distances between the transponders and the transponders, the pilot starts the system from the console 7, as a result of which they continuously and cyclically begin to be measured and transmitted to the computer codes of the following ranges "BZ-BO" 15-12, "BZ-BO-RT1-BZ" 15-12-10-15, "BZ-BO-RT2-BZ" 15-12-11-15 and "BZ-VO "15-13, BZ-VO-RT1-BZ 15-13-10-15, BZ-VO-RT2-BZ 15-13-11-15.

 Information processing is carried out in the initial time scale in the digital computer 5.

After entering permanent corrections and meteorological corrections, the calculation of the missing ranges is performed:
BZ-RT1 = BZ-BO-RT1-BZ-S ₁ -BZ-BO
BZ-RT2 = BZ-BO-RT2-BZ-S ₂ -BZ-BO,
VO-RT1 = BZ-VO-RT1-BZ-BZ-RT1-BZ-VO,
VO-RT2 = BZ-VO-RT2-BZ-BZ-RT2-BZ-VO.

 Formed ranges are filtered using parabolic alignment and are given at a single point in time.

 At the approach and most of the approach areas, the coordinates PT1, PT2 and BO from the coordinate system XY are transferred by parallel transfer to the system X ', Y', Z ', the plane X'-Z', which coincides with the waterline of the craft, and the Y axis ', goes through BO.

 Transfer errors due to the current roll and trim of the watercraft in the presence of aircraft height measurements do not affect the accuracy of determining the location of the aircraft in these areas.

The coordinate Z 'VO is considered equal to the distance VO from the waterline of the auxiliary craft. With this in mind and the readings of the aircraft altimeter, a system of six equations is formed (according to the number of formed ranges)
A ₁ Δ X _BO '+ B ₁ Δ Z _BO ' + C ₁ Δ X _BZ '+ D ₁ Δ Z _BZ ' + K ₁ Δ Y _BZ '+ D ₁ = 0
A ₂ Δ X _BO '+ B ₂ Δ Z _BO ' + + L ₂ = 0
A ₃ Δ X _BO '+ B ₃ Δ Z _BO ' + + L ₃ = 0 (1)
C ₄ Δ X _BZ '+ D ₄ Δ Z _BZ ' + K ₄ Δ Y _BZ '+ L ₄ = 0
C ₅ Δ X _BZ '+ D ₅ Δ Z _BZ ' + K ₅ Δ Y _BZ '+ L ₅ = 0
C ₆ Δ X _BZ '+ D ₆ Δ Z _BZ ' + K ₆ Δ Y _BZ '+ L ₆ = 0
where XY ₁ - corrections to the determined coordinates.

As a result of solving this system by the least squares method using iterations, the current coordinates of the aircraft LA X _BZ 'Y _BZ ' Z _BZ 'are determined. In this case, the coordinates of VO are not determined (as unnecessary).

 The calculator generates the optimal path of approach and landing at a given runway point with output to the matrix screen in accordance with the requirements of aviation ergonomics of aircraft lateral deviation from a given path, corrections to the actual course, measured height, aircraft deviation in height from a given path, range to points turning on approach and the landing point, as well as a number of other parameters, including signals of dangerous proximity with the hull and superstructures of the craft, the failure of the rangefinder system. Moreover, the correction to the actual rate, issued by the standard equipment of the aircraft, is formed as the difference between the set and the current rate of the aircraft in the coordinate system X'Y'Z '. As a result of this, the current angle is not affected by the current angle again.

≅ 0
(2) где b - расстояние от БО до наиболее удаленной надводной части плавсредства;
t - время на принятие летчиком решения о посадке;
Т - время между текущим (i) и предшествующим (i-1) моментами определения дальности "БЗ-БО".In each measuring cycle, the condition is checked
"BZ-BO _i " - b -

≅ 0
(2) where b is the distance from the BO to the most distant surface part of the craft;
t - time for the pilot to make a decision to land;
T is the time between the current (i) and previous (i-1) moments of determining the range of "BZ-BO".

 If the condition is not met, then processing continues in the coordinate system X'Y'Z '.

 If it is done, this means that at a given landing speed, after t seconds, the aircraft can collide with the hull or superstructure of the craft. From this moment, the spatial position of the aircraft instead of the coordinate system X'Y'Z 'with the XZ plane attached to the sea level is calculated in the coordinate system of the XYZ watercraft, rigidly attached to the runway surface and taking into account the current roll and trim of the watercraft. Since the measured altitude of the aircraft above sea level becomes not only unnecessary, but also harmful, its measurement and display cease. In addition, as mentioned above, even a low-altitude radio altimeter does not measure heights of less than 4 meters and it is not possible to use it on the most critical part of an aircraft landing on a runway under rolling and moving conditions.

 The time a pilot makes a decision about landing t is approximately 5 seconds and is set depending on the type of aircraft.

From the moment condition (2) is satisfied, the coordinates of the aircraft are calculated over the ranges "BZ-BO", "BZ-RT1" and "BZ-RT2" by solving the following system of equations: C ₄ Δ X _BZ + D4 Δ Z _BZ + K ₄ Δ Y _БЗ + L ₄ = 0 C ₅ Δ X _БЗ + D ₅ Δ Z _БЗ + K ₅ Δ Y _БЗ + L ₅ = 0 C ₆ Δ X _БЗ + D ₆ Δ Z _БЗ + K ₆ Δ Y _БЗ + L ₆ = 0
(3)
Given the importance of reliable measurements when the aircraft is above the runway in cases when one of the three ranges disappears for some reason, the equations of the VO in the XYZ coordinate system are additionally introduced into the calculations
A ₁ Δ X _BO + B ₁ Δ Z _BO + C ₁ Δ X _BZ + D ₁ Δ Z _BZ + K ₁ Δ Y _BZ + L ₁ = 0
A ₂ Δ X _BO + B ₂ Δ Z _BO + + L ₂ = 0 (4)
A ₃ Δ X _BO + B ₃ Δ Z _BO + + L ₃ = 0
When determining the position of the aircraft according to formulas (3), (4), the coordinate Z of the _BS is the current height of the aircraft above the surface of the runway, independent of the effect of the rolling of the craft. This value is displayed on the matrix indicator instead of height.

 Since in all sections the parameters are formed in the coordinate system associated with the craft, the movement of the latter does not affect the accuracy of the formation of these parameters.

 In order to increase the working area of the approach of the aircraft, as well as in the case of possible measurement errors due to the blocking runway of the technological equipment, an additional watercraft with an additional remote transponder (DVO) is launched (preferably at the heading of the vessel). In this case, the ranges "BZ-DVO", "BZ-DVO-RT1-BZ", "BZ-DVO-RT2-BZ" are added to the indicated measurement scheme.

 During processing, the above equations are supplemented with similar equations (4).

 Moreover, due to the large redundancy of measurements, their reliability increases sharply.

Thus, the approach and landing is divided into three sections. In the first section, when performing aircraft to the area where the vehicle is located (see R ₁ , Fig. 2), navigation parameters are formed either by the usual manual navigational padding, or using the ANK-11 used in the prototype.

After entering the aircraft location area (not moving the aircraft from it less _than R ₁ ), navigation parameters are formed according to the proposed method in the X'Y'Z coordinate system using altimeter readings (plot R ₁ -R ₂ , see FIG. 2).

When the aircraft enters the zone of the pilot's decision to land, i.e. when condition (2) is fulfilled, navigation parameters are formed in the XYZ coordinate system without measuring the current height (see zone with radius R ₂ , figure 2). In this case, the navigation parameters are tied only to the runway of the craft and are not dependent on its movements. The radius of this approach section depends according to (2) on the speed of the aircraft relative to the BO, but cannot be less than "c" (see R ₂ min, figure 2).

Claims (1)

METHOD FOR FORMING A TRAJECTORY OF Aircraft during landing on the runway of the aircraft, including the formation and display in real time of navigation parameters in the form of lateral compaction from a given trajectory, a given course, measured altitude and range from the point of upcoming rotation, which differs from the point of upcoming rotation In order to increase accuracy, measure the bases between those installed on the boat with the maximum possible planned separation of the first and second repeaters and the maximum offset In particular, their alignment in plan and in height by the base transponder of the rangefinder system, as well as the horizontal distance from the base transponder to the most remote part of the craft, enter the received data into the calculator of the aircraft’s on-board interrogator, during flights, they are transmitted to the traverse of the craft within the line of sight to the first and the second repeater auxiliary craft with a remote transponder, when approaching an aircraft in the area of the craft and before landing on it measure the distance basic interrogator (BZ) - basic transponder (BO), basic interrogator - basic transponder - first repeater - basic interrogator, basic interrogator - basic transponder - second repeater - basic interrogator, basic interrogator - remote transponder, basic interrogator - remote transponder - first repeater - basic interrogator, basic interrogator - remote transponder - second repeater - basic interrogator, form the approach and approach trajectory calculated for a given position of the aircraft, form navigation parameters ry, form and indicate the deviation of the aircraft from a given trajectory in height, form a correction to the actual course of the aircraft, when the condition

altitude measurement is stopped and, starting from this moment before landing, they additionally form the height above the runway surface from the measured distances, where b is the distance from the base object to the most distant surface part of the craft, T is the time between the current (i-m) and the previous (i - 1st) moments of determining the range of the basic interrogator - the basic transponder.

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