RU2707091C1 - Aircraft flight-and-navigation system - Google Patents

Abstract

FIELD: flight control and navigation systems.

SUBSTANCE: invention relates to a flight-and-navigation system of a transport aircraft. Digital flight-and-navigation system of transport aircraft comprises equipment of current flight-navigation parameters (ACF) for determination of gyroscope, measurement of air speed, barometric height, relative height from radio altimeter, heading measurement equipment based on a gyroscopic sensor and an on-board digital computer (OBDC) for calculating coordinates of air-borne numbering and performing piloting and navigation, a channel switching unit (CSU), a command execution unit (CEU), an aircraft (AC) control system, a two-way radio communication receiver-transmitter system (RTS) with a control panel at the initial route point (IRP) and a control panel at the final route point (FRP). Digital flight-and-navigation system of transport aircraft additionally includes direction gyroscope (DG), detachable initial parking course (EUC) exhibition unit, course setting / magnetic declination setting device (CS/MDSD), course correction unit (CCU), flight navigation data unit (FDU), cargo release unit (CRU), cargo release node (CRN).

EFFECT: providing unmanned control of a transport aircraft, high accuracy and independence of a pilot-navigation system of an aircraft and safety of its piloting.

1 cl, 3 dwg

Description

The invention relates to the field of instrumentation, namely, to flight and navigation equipment of transport unmanned aerial vehicles, airplanes and helicopters intended for services of the Ministry of Emergencies, forestry complex and as a backup for manned aircraft in the absence of radio correction means [1].

Known aeronautical navigation system of a transport aircraft [2], containing designed to perform the functions of two pilots equipment current aeronautical navigation parameters (ATPN) for measuring heading, roll and pitch angles, airspeed, barometric altitude, altitude by means of a radio altimeter, to determine coordinates by means of radio systems, an indicator of the flight-navigation situation (IPNO) and a command generation unit (BFC) in the cockpit, a switching unit (BC), a command execution unit (BIC), a system in radio communication with the transmitter-receiver (PP), the communication with the control panel at the starting point of the route (NPM) and the control panel at the final point of the route (KPM), and the output of the BC is connected to the input of the BIC, while in it as the executor of the functions of the second pilot automatic navigator as part of the course system (CS), satellite navigation system (SSS), route program block (BPM), on-board digital computer (BTsVM), first signal converter (PS-1), second signal converter (PS-2), moreover, the output of BFK p connected to one of the inputs of the BC, the outputs of the ATPN devices are connected to the inputs of PS-1, the outputs of PS-1, BPM, SNS, KS, and PP are connected to the inputs of the digital computer, the output of the digital computer is connected to the input of PS-2, the output of PS-2 is connected to IPNO and the second input of the BC.

 Such a flight navigation system of a transport aircraft is characterized by the presence of crew members for solving piloting problems.

The closest in technical essence is the flight-navigation system of a transport aircraft [3], which contains digital equipment for the current flight-navigation parameters for measuring heading, roll angles, pitch, inertial speeds (IS-1), (IS-2), airspeed , barometric altitude (SHS), relative altitude from a radio altimeter (RV), for determining coordinates by inertial and radio systems, a switching unit (BC), a digital-to-analog converter (DAC), a command execution unit (BIC), a p system the communication with the receiver-transmitter (PP) of communication with the control panel at the starting point of the route (NPM) and the control panel at the final point of the route (KPM), and the output of the BC is connected to the input of the DAC, the output of which is connected to the input of the BIC, while satellite navigation system (SNA), route program block (BPM), landing take-off block (BVP), the first and second automatic navigators (AN) are made, while the first AN is made as part of the first on-board digital computer (BTsVM-1), the first inertial system IS-1 and first channel of the BVP take-off and landing block, the second AN is made up of the second onboard digital computer (BTsVM-2), the second inertial system IS-2 and the second channel of the BVP take-off and landing block, the SVS, RV outputs are connected to the BTsVM-1 inputs, BTsVM-2, the output of IS-1 is connected to the BTsVM-1 and to the first input of the BVP, and some of the outputs of the BPM, SNA and PP are connected to the inputs of the BTsVM-1, the output of IS-2 is connected to the BTsVM-2 and to the second input of the BVP, and the other outputs of the BMP, SNA and PP are connected to the inputs of the BTsVM-2, the output of the BVP is connected to the inputs of the BTsVM-1, BTsVM-2, PP: BTsVM-1 is connected to the first input of the BC, the output is BTsV M-2 is connected to the second input of the BC, one of the outputs of each of the BTsVM-1 and BTsVM-2 is connected to the input of the other or BTsVM-1, or BTsVM-2. BTsVM-1 and BTsVM-2 are connected to the PP with two-way communication.

Such a digital navigation and navigation system is characterized by the need to have inertial systems and

a satellite navigation system receiver for correcting the flight of an aircraft along a given route with a guarantee of automatic safe landing of a heavy transport aircraft at the end point of the route, while such a flight navigation system has a significant weight and cost of instrumentation.

The technical result of the proposed solution is to provide unmanned control of a transport aircraft using a single-channel digital flight-navigation system based on the use of a gyroscopic heading sensor stabilized in space to increase the accuracy and autonomy of navigation, reduce the weight and cost of instrumentation, and increase the safety of flight of an aircraft into the zone operation of the control panel at the final destination

This technical result is achieved in the flight-navigation system of a transport aircraft containing digital equipment of the current flight-navigation parameters for determining the horizon, measuring airspeed, barometric altitude, relative altitude from the radio altimeter (ATP), heading measuring equipment based on a gyroscopic sensor and on-board digital a computer (BCM) for calculating the coordinates of the heading, calculating and navigating, transfer unit channels (BOD), command execution unit (BIC), aircraft control system (LA), command reception and transmission unit (PPC), control panel at the initial (NPK) and control panel at the final (KPM) route point, reset unit cargo (BSG), cargo dumping unit (USG), while the output of the BOD is connected to the input of the BIC, the output of the BIC is connected to the control system of the aircraft, the output of the BCVM is connected to the first input of the BOD and to the input of the control panel, the first output of the control panel is connected to the first input BTsVM, the second output of the control panel is connected to the second input of the BOD, the third output of the control panel is connected to the third input of the BOD and to the input of the BSG, the control panel and the control panel of the NPM, the control panel and the control panel of the CPM are interconnected by two-way radio communication, a directional gyroscope (GN) is inserted into it, a removable block of the exhibition of the initial parking course (BVC) is introduced ,block

heading device / heading device of magnetic declination (ZK / ZMS), heading correction block (BKK), block of flight and navigation data (BPS), while the design of the BVK block is mechanically rigidly connected with the help of the BVK fixed pins to the reference openings of the aircraft, output The BVK is connected to the input of the ZK / ZMS block, the output of which is connected to the first input of the GN, the output of the BKK is connected to the second input of the GN, the output of the GN is connected to the second input of the digital computer, the output of the BPD is connected to the third input of the digital computer, the output of the ATP is connected to the fourth input of the digital computer.

By introducing a gyroscope of direction, an exhibition block of an initial parking course, a block of a heading setter / a setter of magnetic declination, a block of course correction, a block of flight and navigation data, together with the equipment of the current flight and navigation parameters, piloting, autonomous navigation and flight safety of a transport aircraft are ensured route to the control panel operating area at the final destination of the route without the participation of operator pilots, which turns a transport aircraft option autonomous unmanned aerial vehicle.

The presence of a removable (not used in flight) block of the exhibition of the initial parking course, a separate directional gyroscope, the introduction of latitudinal correction of the Earth's rotation speed in the flight zone and compensation of the gyroscope’s own drift from the course correction block, the introduction of the coordinates of the starting and ending points of the route, set course values, altitude , speed and drift angle from the flight and navigation data block will provide piloting and navigation of the aircraft to the control panel operating area at the final point of the route, when om will significantly reduce the weight and cost of instrumentation, improve the safety of the flight of the transport aircraft.

In FIG. 1 shows a block diagram of a digital flight navigation system of an unmanned aerial vehicle; FIG. 2 - course parameters of the aircraft at the start point, in FIG. 3 is a sketch of a flight map of an aircraft with maintaining a given course.

Legend to figure 2, figure 3:

– стояночный курс,

– стояночный магнитный курс,

– магнитное склонение,

– заданный курс,

– текущий курс,

– вычисляемый курсовой угол доворота на КПМ,

– азимут на топографический знак Т,

– угол сноса, V – вектор скорости, по – продольная ось; D₁, D₂ – дальность; λ, φ – географические долгота и широта, А1 – координаты в автономном полёте, параметры курсо-воздушной навигации –

, С1 – координаты фактические, погрешность автономного полёта -

.

- parking course

- parking magnetic course,

- magnetic declination,

- set course

- current rate,

- the calculated heading angle of the dovor on KPM,

- azimuth to the topographic sign T,

- drift angle, V - velocity vector, along - longitudinal axis; D ₁ , D ₂ - range; λ, φ - geographical longitude and latitude, A1 - coordinates in an autonomous flight, parameters of course-air navigation -

, C1 - actual coordinates, autonomous flight error -

.

The navigation and navigation system of a transport aircraft (Fig. 1), contains a system for connecting input and output signals 1, 2, 3, 4, a head unit / head unit for magnetic declination (ZK / ZMS) 5, a removable unit for exhibiting an initial parking course (IAC) ) 6, control system of the aircraft (LA) 7, heading correction unit (BCC) 8, directional gyroscope (GN) 9, command execution unit (BIC) 10, flight navigation data unit (BAP) 11, heading measuring equipment based on gyro sensor and on-board digital computer inu (BTsVM) 12 for calculating the coordinates of airborne flight numbers, piloting and navigation, channel switching unit (BOD) 13, digital equipment for the current flight and navigation parameters for determining the horizon, measuring airspeed, barometric altitude, relative height from the radio altimeter (ATP ) 14, a command receiving-transmitting unit (PPK) 15, a cargo dumping unit (BSG) 16, a control panel at the initial (NPM) 17, a control panel at the final (KPM) 18 route point, a cargo dumping unit (USG) 19.

The output of the BOD 13 is connected to the input of the BIC 10, the output of the BIC 10 is connected to the control system of the aircraft LA 7, the output of the BCVM 12 is connected to the first input of the BOD 13 and to the input of the BPC 15, the first output of the BPC 15 is connected to the first input of the BCVM 12, the second the output of PPK 15 is connected to the second input of BOD 13, the third output of PPK 15 is connected to the third input of BOD 13 and to the input of BSG 16, the output of BSG 16 is connected to the input of USG 19, block PPK 15 and the control panel NPM 17, block PPK 15 and the control panel KPM 19 are interconnected by two-way radio communication, the design of the BVK 6 unit is mechanically rigidly Connects with the help of the BVK 6 reference pins to the reference

the holes of the aircraft LA 7, the output of the BVK 6 is connected to the input of the ZK / ZMS 5 block, the output of which is connected to the first input of the GN 9, the output of the BKK 8 is connected to the second input of the GN 9, the output of the GN 9 is connected to the second input of the BTsVM 12, the output of the BJP 11 connected to the third input of the computer 12, the output of the ATP 14 is connected to the fourth input of the computer 12.

In preparation for flight, BVK 6 is installed with the help of fixed pins on the reference holes of LA 7, while ensuring the alignment of the longitudinal axes of BVK 6 and LA 7. Structurally, the combination of the zero value of the angle of the heading sensor installed on the BVK 6 and the zero value of the longitudinal axis of the BVK 6.

As a parking sensor, a magnetic compass, a compass or an optical compass using the T landmark, a direction finder with a heading scale or a heading sensor with a digital or analogue (SKT) output can be used.

(например, показание шкалы магнитного компаса) вводится в блок ЗК/ЗМС 5, где с учетом магнитного склонения –

формируется сигнал начального стояночного курса –

, после чего при известном значении заданного курса на–

вычисляется курсовой угол доворота летательного аппарата

на заданный курс

вводится с выхода ЗК/ЗМС 5 на первый вход ГН 9, т.е.

(Фиг.2), а затем с выхода ГН 9 поступает на второй вход БЦВМ 12. БВК 6 снимается с летательного аппарата.Flight-navigation system of a transport aircraft operates as follows. At the start, the measured BVK 6 value of the initial parking magnetic course of the aircraft is

(for example, the reading of the scale of the magnetic compass) is entered into the block ЗК / ЗМС 5, where taking into account the magnetic declination -

the signal of the initial parking course is formed -

, after which, at a known value of a given course,

calculates the heading angle of the aircraft

for a given course

is introduced from the output of the ZK / ZMS 5 to the first input of the GN 9, i.e.

(Figure 2), and then from the output of the GN 9 goes to the second input of the BCMV 12. BVK 6 is removed from the aircraft.

sinφ и сигнал компенсации собственного дрейфа гироскопа –

, обеспечивающие стабильность показаний значений курса от ГН 9.At the second input of GN 9, from the output of BKK 8, a signal of latitudinal correction of the Earth's rotation speed is introduced -

sinφ and gyro self-drift compensation signal -

, ensuring the stability of the reading of the course values from GN 9.

), значения заданного курса -

, заданных значений скорости, высоты полета, допустимых углов отклонения от авиагоризонта вводятся с выхода БПД 11 на третий вход БЦВМ 12.The digitally programmed coordinates of the start and end points of the route (

), the value of the given course is

, the specified values of speed, flight altitude, permissible deviation angles from the horizon are entered from the output of the BAP 11 to the third input of the computer 12.

и с выхода АТП 14 вводятся на четвертый вход БЦВМ 12. В БЦВМ 12 происходит сравнение этих сигналов с заданными в БПД 11 параметрами транспортного летательного аппарата и сравнения значений

и

, со списанием сигнала

до нулевого значения.In flight, using the equipment of the current flight and navigation parameters of the ATP 14, the current parameters of the transport aircraft are measured: the deviation angles from the horizon, airspeed, barometric altitude, flight altitude from the radio altimeter, drift angle

and from the output of the ATP 14 are input to the fourth input of the digital computer 12. In the digital computer 12, these signals are compared with the parameters of the transport aircraft specified in the BJP 11 and the values are compared

and

, with signal cancellation

to zero.

. Обнуление директорного сигнала означает, что транспортный летательный аппарат вышел на траекторию полета по заданному курсу -

. Из-за отклонения транспортного летательного аппарата от запрограммированного полета по заданному курсу -

, под действием внешних факторов, изменения в полете угла сноса – β и ошибок курсо-воздушного счисления в полете (А1) необходимо выполнять корректировку текущего курса -

на вычисленное значение заданного курса -

. При этом следует иметь ввиду, что фактическое местонахождение транспортного летательного аппарата - С1, будет отличаться от расчетного – А1, что показано на фиг.3.Based on this, the digital computer 12 generates digital directive signals of deviations of the current values of the parameters of the transport aircraft from the set values, which are converted into director signals for controlling the transport aircraft and are input from the output of the digital computer 12 to the first input of the BOD 13, from the output of the BOD 13 this director the digital signal is fed to the input of the BIC 10, which generates the control and output signals of the BIC 10 are entered into the digital executive control system of the aircraft 7 - steering rods, flaps, etc. until the director signal is reset, incl.

. Zeroing the director signal means that the transport aircraft has entered the flight path at a given heading -

. Due to the deviation of the transport aircraft from the programmed flight at a given course -

, under the influence of external factors, changes in flight of the drift angle - β and errors in the course-of-flight dead reckoning in flight (A1), it is necessary to adjust the current rate -

to the calculated value of a given course -

. It should be borne in mind that the actual location of the transport aircraft - C1, will differ from the calculated - A1, as shown in Fig.3.

In the zone of operation of the NPM 17 and KPM 18 control panels, the command to switch control over radio channels is transmitted from the NPM 17 or KPM 18 control panels to the input of the control panel 15, from the output 1 of the control panel 15, this command is transmitted to the input 1 of the computer 12 and from the output of 3 control panel 15 input 3 BOD 13, while BOD 13 switches the control from the output of the BCM 12 coming to the input 1 of the BOD 13 to the input 2 of the BOD 13 coming from the output 2 of the BPC 15, simultaneously from the output of the BCM 12 to the input

PPK15 receives control signals and coordinates autonomously calculated during flight en route. After that, the control commands from the NPM 17 or KPM 18 control panels are received via the radio communication channel to the control unit 15 and from the output 2 of the control unit 15 through the input 2 of the control unit 13 and then from the output of the control unit 13 to the input of the BIC 10 and from the output of the BIC 10 to the control system of the transport aircraft LA 7 for flight and landing at the CPM point, while the cargo discharge signal comes from output 3 of the control panel 15 to the input of the BSG 16, and from the output of the BSG 16 to the input of the actuator USG 19.

The proposed technical solution provides unmanned control of a transport aircraft, increasing the accuracy and autonomy of navigation, increasing the flight safety of the aircraft.

Information sources

1. Skudneva OV Ensuring flight safety in emergency situations by using transport unmanned aerial vehicles. // Innovations in modern science (vol. 2). Materials of the scientific and practical conference on November 28, 2017. G. Prague, Czech Republic.

2. RF patent No. 145174 for the utility model “Flight-navigation system of a transport aircraft”, 2014.

3. RF patent No. 2597814 C1 for the invention “Flight-navigation system of a transport aircraft”, 2016.

Claims (1)

Flight-navigation system of a transport aircraft containing digital equipment of the current flight-navigation parameters for determining the horizon, airspeed, barometric altitude, relative altitude from the radio altimeter (ATP), heading measuring equipment based on a gyroscopic sensor and an on-board digital computer (BTSC) for calculating the coordinates of the flight reckoning, piloting and navigation, channel switching unit (BPC), command execution unit d (BIC), aircraft control system (LA), command receiving and transmitting unit (PPC), control panel at the initial (NPM) and control panel at the final (KPM) route points, cargo dumping unit (BSG), cargo dumping unit (USG), while the output of the BOD is connected to the input of the BIC, the output of the BIC is connected to the control system of the aircraft, the output of the BCMC is connected to the first input of the BOD and to the input of the control panel, the first output of the BPC is connected to the first input of the BCM, the second output of the BPC is connected to the second the input of the BOD, the third output of the BPC is connected to the third input of the BOD and to the input of the BSG, the BSG output is connected to the USG input, the PPK unit and the NPM control panel, the PPK unit and the KPM control panel are interconnected by a two-way radio communication, characterized in that a gyro directional gyroscope is inserted into it, a removable exhibition unit for the initial parking course (BVC) is introduced, a setter unit heading / adjuster of magnetic declination (ZK / ZMS), heading correction block (BKK), block of flight and navigation data (BPS), while the design of the BVK block is mechanically rigidly connected with the help of the BVK reference pins to the reference holes of the aircraft L , the BVK output is connected to the input of the ZK / ZMS block, the output of which is connected to the first GN input, the BKK output is connected to the second GN input, the GN output is connected to the second input of the digital computer, the BPD output is connected to the third input of the digital computer, the ATP output is connected to the fourth input of the digital main digital computer .

Images