RU2394264C2 - Device to control flight above water surface (versions) - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: in compliance with first version, proposed device comprises geometrical height metre and coordinate metre. Additionally, it comprises memory unit, interference elimination unit and dynamic estimation unit. Note here that memory unit first and second inputs are connected with geometrical height metre output and coordinate metre output. Third input of memory unit is connected with interference elimination unit output. Input of the latter is connected with memory unit first output. Memory unit second output is connected with dynamic estimation unit input. Output of the latter is connected with memory unit fourth input and memory unit third output is connected with external control system input. Second version of proposed device differs from first one in that dynamic estimation unit output is connected with coordinate metre input.

EFFECT: higher reliability of control system.

2 cl, 2 dwg

Description

The invention relates to control systems for unmanned objects and can be used in control systems for the movement of an object in a vertical plane.

A control device [1] is known, containing up to three location altimeters, up to three inertial sensors of vertical acceleration, an interference elimination unit, and a height correction device. The outputs of the location altimeters and inertial sensors are connected to the corresponding inputs of the interference elimination unit, the output of which is connected to the input of the height correction device. The outputs of the height correction device are connected to the third input of the interference elimination unit and the input of an external control system.

A disadvantage of the known device is the high cost of the control system built on its basis. This disadvantage is caused by the fact that in the specified device the elimination of interference in the height channel is achieved due to the redundancy of the meters, which increases the cost of technical implementation.

A known control device [2], adopted as a prototype and containing a coordinate meter of a controlled object, a radio altimeter / PB /, a comparison unit, a height correction device. Moreover, the output of the PB is connected to the input of the comparison unit, the output of which is connected to the first input of the height correction device, the second input of which is connected to the output of the coordinate measuring instrument of the controlled object. The output of the height correction device is connected to the input of an external control device.

The disadvantage of the device adopted for the prototype is the lack of reliability of the control system, because control of the measurements of radioactive substances is carried out according to current measurements, which allows you to identify only gross errors in the measurements of radioactive substances and exclude them from further use. Other superficial errors of the RV are further processed in the correction device and affect the operation of the control system.

The problem to which the invention is directed is to increase the reliability of a flight control system above a water surface due to improved identification of failures and false information in measurements of geometric height without additional meters.

The problem for the first embodiment of a device for controlling flight over a water surface, including a geometric height meter and a coordinate meter, is solved due to the fact that according to the invention, a memory unit, an interference elimination unit and a dynamic estimation unit are additionally introduced into it, and the output of the geometric height meter and the output of the coordinate meter is connected to the first and second inputs of the memory unit, the third input of which is connected to the output of the interference elimination unit, the input of which is connected to the first output home storage unit, the second output of the storage unit is connected to the input of the dynamic estimation output dynamic estimation unit coupled to a fourth input of the storage unit, the third output of the storage unit is coupled to the input of an external control system. Thus, the first option, in which the output of the dynamic estimation unit is closed to the input of the memory unit, is made according to an open circuit. The second option, made in a closed circuit, differs from the first in that the output of the dynamic estimation unit is connected to the input of the coordinate meter.

Significant differences between the claimed device and the known one include the fact that it additionally contains a memory unit, an interference elimination unit, and a dynamic estimation unit. The claimed device, due to the operation of the memory unit and the interference elimination unit, improves the identification of failures and false information in geometric height measurements without introducing additional meters, while the operating conditions of the dynamic estimation unit are improved and thereby the reliability of the flight control system over the water surface is improved. Therefore, the proposed method is of significant practical importance.

Figure 1 shows a block diagram of a first variant of the proposed device for controlling flight over a water surface, figure 2 shows a block diagram of a second embodiment of a device for controlling flight over a water surface.

The device for controlling flight over a water surface according to the first embodiment comprises a geometrical height meter 1, a coordinate meter 2, a memory unit 3, an interference elimination unit 4, and a dynamic estimation unit 5. The output of the geometric height meter 1 and the coordinate 2 meter output are connected to the first and second inputs of the memory unit 3, the third input of the memory unit 3 is connected to the output of the interference elimination unit 4, the input of which is connected to the first output of the memory unit 3, the second output of the memory unit 3 is connected to the input of the dynamic evaluation unit 5, the output of the dynamic evaluation unit 5 is connected to the fourth input of the memory unit 3, the third output of the memory unit 3 is connected to the input of an external control system.

As a measuring device 1 of geometric height, a radio altimeter can be used, and as a measuring device 2 of absolute height, an inertial navigation system / ANN / can be used. As a memory block 3, a microcontroller can be used, computational-logical blocks 4 interference elimination and 5 dynamic evaluation can be performed, for example, in the form of single-processor computers, information exchange between the input-output blocks is carried out over communication lines shown in the thin block diagram solid line. Communication lines are known lines of communication and information exchange, for example, by serial code, by parallel code, multiplex, etc.

The device operates as follows.

The measurements of the geometric height meter 1 and the absolute height meter 2 are sent to the memory unit 3, in which a continuously updated sequence of delayed measurements with the FILO list property is formed. The measurements from the memory unit 3 are fed to the input of the interference elimination unit 4, in which threshold control, reliability control and exclusion of false data from the sequence of delayed measurements of the geometric height meter 1 formed in the memory unit 3 are performed. Information about the reliability of the measurements is returned to the memory unit 3, reliable measurements of the geometric height meter 1 are mixed with the data of the coordinate coordinate meter 2 at the same time and fed to the input of the dynamic estimation unit 5. The error estimates for determining the height by the 2 coordinate measuring device obtained in the dynamic estimation unit 5 are input to the memory unit 3, where the height and vertical speed of the 2 coordinate measuring device are corrected according to the results of the dynamic estimation unit 5, and then the extrapolation of this height and vertical speed to the current point in time using measurements of a 2-coordinate meter. From the memory unit 3, estimates of the geometric height in the form of the height and vertical speed extrapolated at the current time are fed to the input of an external control system.

In the second version of the device for controlling the flight of an object above a water surface, the output of the dynamic estimation unit 5 is connected to the input of the coordinate measuring device 2. The error estimation of the height measurement by the coordinate 2 meter from the dynamic estimation unit 5 is input to the coordinate 2 meter. At the input of the memory unit 3, the corrected data of the coordinate measuring device 2 are supplied. From the memory unit 3, estimates of the geometric height in the form of an extrapolated height are fed to the input of an external control system.

SUMMARY OF THE INVENTION

The problem of identifying false information is usually solved by threshold tests of current measurements to eliminate gross malfunctions [2] or by dynamic filtering to reduce the effect of missed interference. Another well-known method for identifying false measurements is the comparison of the same type of measurements from different sources [1].

The first method does not provide sufficient reliability for eliminating false information. False information passes into the system after the filter, which reduces the potential capabilities of the control system.

The second method provides a higher quality for eliminating false measurements. However, this quality is provided by hardware redundancy, which in many cases is an unacceptable price.

It is known that in flight above the water surface the radioactive substances are used as an ANN corrector, and control is carried out according to the ANN information.

The claimed technical solution is based on the following.

1. The reliability of the assessment of false measurements of RS in single measurements is lower than in measurements on a time interval (a consecutive group of measurements).

2. The quality of correction of the vertical channel of the ANN according to the measurements of the RS is higher, the less is the false information in the measurements of the RS.

3. The more reliable the ANN correction, the longer the time interval for a safe flight over the water surface according to the ANN.

In the memory block, in accordance with the proposed solution, a sequence of N measurements of PB and ANN is formed over a certain time interval. The organization of the measurement sequence is carried out according to the FILO principle (first come - first leave). Each measurement goes through a sequence from the beginning to the end and is pushed by the current measurement from the end of the queue into the dynamic estimation unit.

The dynamic estimation unit operates on measurements delayed in the memory unit and cleared of interference in the interference avoidance unit. The dynamic estimation block is constructed according to the Kalman dynamic filtering method and is designed to correct the vertical channel of the ANN. Kalman filtering is usually carried out according to current measurements. In the proposed device, filtering is performed according to deferred measurements that have passed the exclusion of interference in the measurements of the RS. In an open circuit, state vector estimates obtained from measurements with delay are returned to the memory block, where extrapolation is performed at the current time. In a closed circuit, the possibility of delayed filtering is based on the use of ANN measurements in the control system that have passed corrections from previously performed measurements.

The actions carried out in the memory blocks, the elimination of interference and dynamic estimation can be carried out, for example, as follows.

на вход системы управления. Эта же высота

и текущая измеренная РВ высота h_PB поступают из блока памяти на вход блока исключения помех. Блок исключения помех находит невязкуThe memory unit continuously generates the output height.

to the input of the control system. Same height

and actual measured height h _PB PB received from the memory unit to the input of the interference elimination unit. Block interference elimination finds the residual

.

.

используется для исключения помех, например, по следующей схеме.

used to eliminate interference, for example, as follows.

1. On a sliding interval of length m steps, the number s of measurements satisfying the condition

.

.

2. If s> 0.7 m, then the measurements on the interval are considered false and are excluded from further processing.

The numbers m and Δ _DOP are selected from the following conditions:

- the frequency of taking good measurements as false should be acceptable and not affect the process of correcting the ANN;

- skipping unrecognized false measurements should not distort the correction of the ANN and influence the processes and safety of management.

In necessary cases, a multi-level interference elimination scheme is implemented at intervals of various durations.

From the block of elimination of interference to the memory block, there are signs of reliability of the measurements of the RS.

If the RV measurement is false, then such a measurement does not pass into the dynamic estimation unit. The dynamic assessment unit at the step of the false measurement of RV does not work and does not change its state.

If the PB measurement is correct, then a measurement is formed

,

,

и

- измерения РВ и ИНС с прошлого момента времени.Where

and

- measurements of RV and ANN from the last moment of time.

The measurement is input to the dynamic evaluation unit.

, где Δh - ошибка по высоте, ΔV_y - ошибка по скорости, Δa_Y - ошибка по ускорению ИНС.The filter state vector is usually

, where Δh is the error in height, ΔV _y is the error in speed, Δa _Y is the error in accelerating the ANN.

используется текущая h_ИНС.Error estimates in a closed estimation scheme (option 2) are sent to the ANN. In a closed evaluation circuit as the height at the input of the control system

the current h _{ANN is used} .

Error estimates in an open evaluation scheme (option 1) are received in the memory block. In the memory block, the ANN measurements are extrapolated using the obtained error estimates, for example, according to the scheme

,

,

where τ is the extrapolation interval.

Thus, the physical justification of the claimed technical solution and a variant of its implementation are given. The technical feasibility of the claimed solution is shown, its novelty and the attainability of the claimed technical result without the use of additional meters.

Literature.

1. “Measurement of flight parameters near the sea surface”, A.V. Nebylov, SPBGAAP. St. Petersburg, 1994, p. 234.

2. RF patent No. 2062503, IPC G05D 1/04, published 1996.06.20 (prototype).

Claims (2)

1. A device for controlling flight over a water surface, comprising a geometric height meter and a coordinate meter, characterized in that it further includes a memory unit, an interference elimination unit and a dynamic estimation unit, the output of the height meter and the output of the coordinate meter are connected to the first and second the inputs of the memory unit, the third input of which is connected to the output of the interference elimination unit, the input of which is connected to the first output of the memory unit, the second output of the memory unit is connected to the input of the dynamic unit tsenivaniya, yield dynamic estimation unit coupled to a fourth input of the storage unit, the third output of the storage unit is coupled to the input of an external control system. 2. A device for controlling flight over a water surface, including a geometric height meter and a coordinate meter, characterized in that it additionally includes a memory unit, an interference exclusion unit and a dynamic estimation unit, the output of the height meter and the output of the coordinate meter connected to the first and second inputs a memory unit, the third input of which is connected to the output of the interference elimination unit, whose input is connected to the first output of the memory unit, the second output of the memory unit is connected to the input of the dynamic valuation, the output of the dynamic estimation unit is connected to the input of the coordinate meter, the third output of the memory unit is connected to the input of an external control system.

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