RU2353552C1 - Aircraft landing method - Google Patents

Abstract

FIELD: aircraft industry.

SUBSTANCE: invention refers to aircraft landing procedure, and is meant for being used in independent airborne systems of landing on runways which are not equipped with radio equipment, including level sections of roads and ground surface. At the runway deployment, there determined are geographical coordinates of two points on the longitudinal symmetry axis of the runway along its edges, and coordinates of those points are transmitted to the landing aircraft, where they are stored. Aboard the aircraft there determined are geographical aircraft position coordinates, northern and eastern speed components, heading, pitch angle, roll angle, flight altitude and vertical speed. Based on that data, runway heading angle, aircraft heading angle, glide slope angle and speed of change of those angles are computed on the board. Thus, signals of aircraft control in horizontal and vertical planes are generated. The effect is improving reliable and safe aircraft landing on the runway as well as improving efficiency of runway deployment thanks to simplified landing system.

EFFECT: possibility of aircraft landing is provided irrespective of aircraft distance to the runway and flight altitude, at any time of the year and day, and at any meteorological conditions, including at instrumental landing.

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Description

The invention relates to aircraft landing systems (LA) used in autonomous on-board landing systems (SP), on radio equipment not equipped with radio equipment, runways, including even sections of roads and the earth's surface.

, курс ЛА ψ_ла, угол тангажа ЛА υ_ЛА, угол крена ЛА γ_ЛА и, используя бортовую радиолокационную станцию (БРЛС), измеряют дальности до каждого HO и скорости изменения этих дальностей. По измеренным значениям дальностей до НО и скоростей изменения этих дальностей, высоты полета ЛА Н_ЛА, вертикальной скорости ЛА

и запомненным координатам НО вычисляют курсовой угол ЛА ε_К - угол между осевой линией ВПП и проекцией на горизонтальную плоскость линии, соединяющей ЛА с центром начала ВПП, угол наклона глиссады ε_Г - угол между осевой линией ВПП и проекцией на вертикальную плоскость линии, соединяющей ЛА с центром начала ВПП, скорости изменения углов

По вычислительным значениям

измеренным значениям курсаThe closest in technical essence to the claimed invention is a method of landing aircraft according to the patent of Russian Federation No. 2214943, published on 10.27.2003, which is selected as a prototype. The prototype method involves the following actions: equip the runway with four landmarks (BUT), for example passive radar corner reflectors or beacon transponders, which are placed on the longitudinal and transverse axes of symmetry of the runway at its edges; they measure the coordinates of four BUT relative to the center of the start of the runway and the obtained coordinates of the BUT, as well as the value of the runway heading angle ψ _runway and the recommended landing direction, are transmitted to the aircraft landing, where they are remembered. On board the aircraft measured height H _aircraft flight aircraft, the vertical speed of the aircraft

, LA ψ _la course, pitch angle υ LA _LA, LA angle γ _LA roll and using onboard radar (radar), measured range to each HO and rate of change of these ranges. According to the measured values of the ranges to BUT and the speed of change of these ranges, flight altitude LA N _LA , vertical speed LA

and the stored coordinates of the BUT calculate the aircraft heading angle ε _K - the angle between the center line of the runway and the projection onto the horizontal plane of the line connecting the aircraft with the center of the start of the runway, the slope angle ε _Г - the angle between the center line of the runway and the projection onto the vertical plane of the line connecting the aircraft with the center of the start of the runway, the rate of change of angles

By computational values

measured course values

ψ _LA , angles υ of the _aircraft, γ of the _aircraft and the stored value of the runway angle ψ _runway in the automatic control system (ACS) of the aircraft generate control signals of the aircraft in horizontal and vertical planes and control the aircraft at the stages of descent and landing.

The disadvantages of the prototype are:

- the need for runway equipment with four BUTs, the determination of the course runway angle ψ _runway on the ground and the aircraft landing direction;

- the presence on board the aircraft of a very complex and expensive radar for working with NS, with a limited range of work, as well as the dependence of the accuracy of the measurements on the range of the aircraft to the NO and the flight altitude, on the effective scattering area (EPR) of the angular radar reflectors of the NO, as well as on weather conditions.

All this complicates the aircraft landing system on the runway, reduces the reliability and safety of the aircraft landing, as well as the speed of deployment of the runway, which is especially important in wartime.

The problem to which the invention is directed, is to increase the reliability and safety of aircraft landing on the runway, as well as to increase the efficiency of deployment of the runway by simplifying the landing system. The possibility of landing the aircraft is provided regardless of the aircraft's range to the runway and flight altitude, at any time of the year or day, under any weather conditions, including blind landing.

, курс ЛА ψ_ЛА, угол тангажа ЛА υ_ЛА, угол крена ЛА γ_ЛА, вычисляют курсовой угол ЛА ε_К - угол между осевой линией ВПП и проекцией на горизонтальную плоскость линии, соединяющей ЛА с центром начала ВПП, вычисляют угол наклона глиссады ε_Г - угол между осевой линией ВПП и проекцией на вертикальную плоскость линии, соединяющей ЛА с центром начала ВПП, вычисляют скорости изменения углов

вычисленным значениям

измеренным значениямThe essence of the invention lies in the fact that in the proposed method of landing, the aircraft, as well as in the prototype, set two points of the runway (runway) located on the longitudinal axis of symmetry of the runway at its edges, determine their coordinates, determine the course angle of the runway ψ _runway , transmit to the landing aircraft the obtained coordinates of the given runway points, where they are stored, on board the aircraft determine the distance from the aircraft to the specified runway points, measure the flight altitude of the aircraft, the _aircraft , the vertical speed of the aircraft

, heading LA ψ _LA , pitch angle LA υ _LA , roll angle LA γ _LA , calculate the heading angle of the aircraft ε _K - the angle between the center line of the runway and the projection onto the horizontal plane of the line connecting the aircraft with the center of the start of the runway, calculate the angle of inclination of the glide path ε _G - the angle between the axial line of the runway and the projection on the vertical plane of the line connecting the aircraft with the center of the start of the runway, calculate the rate of change of angles

calculated values

measured values

ψ _LA , υ _LA , γ _LA and course angle ψ _runway in the automatic control system of the aircraft generate control signals of the aircraft in the horizontal and vertical planes and control the aircraft at the stages of descent and landing, unlike the prototype, determine the geographical coordinates of two given points runway - _VPP1 latitude φ and longitude λ _VPP1 first point, the latitude φ and longitude λ _{VPP2 VPP2} second point on board the aircraft on the stored values of geographic coordinates _VPP1 φ, λ _{VPP1, VPP2} φ, λ _VPP2 calculated heading angle ψ _runway for runway formula

Where

_VPPφ L = (φ _VPP1 -φ _VPP2) · R _s,

R _s - the radius of the Earth;

и долготу λ_ЛА, северную V_N и восточную V_E составляющие скорости ЛА, по полученным значениям географических координат ЛА φ_ЛА, λ_ЛА и запомненным значениям географических координат двух заданных точек ВПП φ_ВПП1, λ_ВПП1, φ_ВПП2, λ_ВПП2 вычисляют горизонтальные дальности d_i от ЛА до этих точек и пеленги П_i на эти точки по формуламdetermine the geographical coordinates of the location of the aircraft latitude φ _aircraft

and longitude λ _LA northern V _N and eastern V _E components of aircraft speed, the obtained values of LA φ _LA geographic coordinate, λ _{the aircraft} and the stored values of the geographical coordinates of two predetermined points runway φ _VPP1, λ _VPP1, φ _VPP2, λ _VPP2 calculated horizontal distance d _i from LA to these points and bearings П _i to these points according to the formulas

where L _φi = (φ _ЛА -φ _ВППi ) · R _з ,

determine the center of the start of the runway at the shortest distance d = d _{i min} from the aircraft to two given points and determine the bearing to the center of the start of the runway P at d = d _{i min} , from the obtained values of the heading angle of the runway φ of the _runway , range d and bearing P constituting the speed V _N , V _E , as well as the measured values of the flight altitude

вычисляют углы ε_К, ε_Г и скорости изменения углов

по формуламLA N _LA and vertical speed LA

calculate the angles ε _K , ε _G and the rate of change of angles

according to the formulas

where X _LA = dcosε _K ;

Where

Where

In the formulas (1) - (6) are indicated:

L _{Runway φ} , L _{Runway w} - components of the distance between two given points of the runway in the geographical coordinate system;

- составляющие горизонтальной дальности d_i от ЛА до двух заданных точек ВПП в географической системе координат;

- the components of the horizontal range d _i from the aircraft to two given points of the runway in the geographical coordinate system;

L _φ , L _W - components of the distance d from the aircraft to the center of the start of the runway in the geographical coordinate system;

X _LA - component of the range d on the longitudinal axis of symmetry of the runway;

- скорость изменений составляющей Х_ЛА дальности d на продольной оси симметрии ВПП;

- the rate of change of the component X _LA range d on the longitudinal axis of symmetry of the runway;

- скорость изменения дальности d от ЛА до центра начала ВПП.

- the rate of change of the distance d from the aircraft to the center of the start of the runway.

It should be noted that when determining the geographical coordinates of two runway points located on the longitudinal axis of symmetry of the runway along its edges, the numbering of these points is arbitrary. If the calculated distances to the given runway points are equal, d ₁ = d _{2, the} center of the start of the runway, which is essentially the point of approach of the aircraft, can be any point of the runway, for example, the first one, by choosing which the aircraft maneuvers in the direction of the approach.

Figure 1 shows:

Runway - runway;

О _{1 (2)} , О _{2 (1)} - runway points located on the longitudinal axis of symmetry of the runway along its edges, having geographical coordinates latitude φ _{Runway 1} , φ _{Runway 2} and longitude λ _{Runway 1} , _{Runway 2} ;

NO ₁ , EO ₁ - horizontal axis of the geographical coordinate system NO ₁ E; axis NO ₁ - direction to the north, axis EO ₁ - direction to the east;

X ₃ O ₁ Z ₃ - horizontal non-rotating terrestrial rectangular coordinate system, axis X ₃ O ₁ - direction along the longitudinal axis of symmetry of the runway, axis Z ₃ O ₁ - direction along the transverse axis to the right;

φ _runway - heading angle of the runway;

On _LA - position of the aircraft in a horizontal plane when entering the aircraft on landing;

d ₁ , d ₂ - horizontal distances from LA (O _LA ), respectively, to the points O ₁ , O ₂ ;

L _φ1 , L _w1 - components of the range d ₁ to the center of the start of the runway along the axes of the coordinate system NO ₁ E, respectively, to the north and east;

X _LA , Z _LA - the components of the range d ₁ to the center of the start of the runway along the axes of the coordinate system X ₃ O ₁ Z ₃ respectively along the longitudinal axis of symmetry of the runway and the transverse axis;

L _{Runway φ} , L _{Runway w} - components of the distance between two given points of the runway along the axes of the coordinate system NO ₁ E;

V _N , V _E - components of the speed of the aircraft in the coordinate system NO ₁ E;

P ₁ , P ₂ - bearings from LA to the points O ₁ , O ₂ ;

хО _ЛА - longitudinal axis of the aircraft;

ψ _LA - LA course;

ε _K - heading angle of the aircraft during approach.

Figure 2 shows the structural diagram of the aircraft landing system, where:

1 - means of communication (any connected radio station or data transmission system);

2 - radio altimeter;

3 - inertial-satellite navigation system (ISSN) - inertial navigation system (INS), integrated with satellite navigation system (SNA);

4 - a computer, which includes a storage device (memory);

5 - automatic control system (ACS) of the aircraft;

6 - aircraft.

The aircraft landing system (figure 2) works as follows.

The geographical coordinates of two runway points located on the longitudinal axis of symmetry of the runway along its edges φ of the _{runway i} , λ of the _runway i (i = 1, 2) (points O ₁ , O ₂ in Fig. 1) and which are the centers of the start of the runway and the approach points of the aircraft to landing. The most expeditious determination of the geographical coordinates of the points O ₁ , O _{2 of the} runway can be done by installing at these points for the time of determining the coordinates the equipment of the consumers of the GLONASS / GPS satellite navigation system.

These geographic coordinates are transmitted via communication means 1 on board the LA 6 in advance of the departure of the aircraft to the destination point or when the aircraft approaches, where they are stored in the memory of calculator 4.

_{Using the} stored values of the geographical coordinates φ of the _{runway i} , λ of the _runway i (i = 1, 2) in calculator 4, the course angle of the runway ψ of the _{runway is} calculated by the formula (1).

Using ISSN 3 determine the geographical coordinates of the location of the aircraft φ _LA , λ _LA and speed components V _N , V _E , measure the course of the aircraft ψ _LA , the pitch angle of the aircraft

.υ _LA and the angle of heel of the aircraft γ γ _LA , and using a radio altimeter 2 - the flight height of the aircraft LA N _LA and the vertical speed of the aircraft

.

Based on the obtained values of the geographical coordinates of the aircraft, φ _LA , λ _LA and the stored values of the geographical coordinates of the given points of the runway φ runway _i , λ _runway i (i = 1, 2), the horizontal distances d _i from the aircraft to two points of the runway and bearing П _i ( i = 1, 2) using formulas (2), determine the center of the start of the runway at the shortest distance from the aircraft to one of the given points of the runway d = d _{i min} and determine the bearing to the center of the start of the runway P at d _{i min} .

In Fig. 1, the center of the start of the runway for the approach of the aircraft for landing is point O ₁ with a horizontal distance from the aircraft d ₁ and the bearing from the aircraft to the center of the start of the runway P ₁ .

в вычислителе 4 вычисляют углы ε_К, ε_Г и скорости изменения углов

по формулам (3)-(6).According to the obtained values of V _N , V _E , the calculated values of the angle φ of the _runway , range d and bearing P and the measured values of N _LA ,

in the calculator 4 calculate the angles ε _K , ε _G and the rate of change of angles

by formulas (3) - (6).

ψ_ВПП и измеренным значениям угловAccording to the calculated values

ψ _runway and measured angles

ψ _LA , υ _LA , γ _LA in the automatic control system (ACS) 5 in the same way as in the prototype, form control signals of the aircraft in the horizontal and vertical planes and control the aircraft 6 at the stages of descent and landing on the runway.

The proposed method of landing aircraft in comparison with the prototype allows you to:

- to create a landing system that is less complex and, therefore, more reliable due to the exclusion from the landing system of four landmarks on the runway, as well as due to the elimination of the complex and expensive radar on board the aircraft;

- create a landing system for non-radio-equipped runways, including even sections of roads and the earth’s surface, providing autonomous landing of the aircraft on the runway at any time of the year or day, under any weather conditions, regardless of the range of the aircraft to the center of the runway's start (aircraft approach point for landing);

- increase landing safety by implementing integrated processing of information generated in the INSN in the landing system, which will allow to generate these navigation parameters in the ANN when information from the SNA disappears from the SNA for the duration of the loss of information from the SNA;

- more quickly deploy the runway, which is especially important in wartime, due to the use at the time of determining the geographical coordinates of the set points of the runway of the consumer equipment of the SNA GLONASS / GPS.

Claims (1)

The method of landing of an aircraft (LA), which consists in setting two points of the runway located on the longitudinal axis of symmetry of the runway along its edges, determining their coordinates, determining the course angle of the runway φ of the _runway , and transmitting it to the aircraft landing the coordinates obtained for the given runway points, where they are stored, on board the aircraft determine the distance from the aircraft to the specified runway points, measure the flight altitude of the aircraft, the _aircraft , and the vertical speed of the aircraft

, heading LA ψ _LA , pitch angle LA υ _LA , roll angle LA γ _LA , calculate the heading angle of the aircraft ε _K - the angle between the center line of the runway and the projection onto the horizontal plane of the line connecting the aircraft with the center of the start of the runway, calculate the angle of inclination of the glide path ε _G - the angle between the axial line of the runway and the projection on the vertical plane of the line connecting the aircraft with the center of the start of the runway, calculate the rate of change of angles

,

, according to the calculated values of ε _K , ε _G ,

,

, the measured values of ψ _LA , υ _LA , γ _LA and the heading angle ψ of the _runway in the automatic control system of the aircraft generate control signals of the aircraft in horizontal and vertical planes and control the aircraft at the stages of descent and landing, characterized in that they determine the geographical coordinates of two setpoints runway - latitude φ _VPP1 and longitude λ _VPP1 first point, latitude φ _VPP2 and longitude λ _VPP2 second point on board the aircraft on the stored values of geographic coordinates φ _VPP1, λ _VPP1, φ _VPP2, λ _VPP2 calculated heading angle runway ψ _WFP for Ole

Where

_VPPφ L = (φ _VPP1 -φ _VPP2) · R _s,
R _s - the radius of the Earth,
determine the geographical coordinates of the location of the aircraft — the latitude φ of the _aircraft and longitude λ of the _aircraft , the northern V _N and eastern V _E components of the speed of the aircraft, based on the obtained values of the geographical coordinates of the aircraft φ _LA , λ _LA and the stored geographical coordinates of two given points of the runway φ runway ₁ , runway ₁ , φ _Runway2 , λ _Runway2 calculate the horizontal range d _i from LA to these points and bearings П _i to these points according to the formulas

Where

determine the center of the start of the runway at the shortest distance from the aircraft d = d _{i min} and determine the bearing P to the center of the start of the runway at d = d _{i min} , from the obtained values of the runway angle ψ of the _runway , range d and bearing P, which make up the speed of the aircraft V V _N , V _E , as well as the measured values of the flight altitude of the aircraft LA N _LA and the vertical speed of the aircraft

calculate the angles ε _K , ε _G and the rate of change of angles

,

according to the formulas
ε _K = P-ψ _runway ,

where X _LA = dcosε _K ,

Where

Where

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