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Method and system for turning control under automatic driving

A turning control and automatic driving technology, applied in the control/adjustment system, non-electric variable control, two-dimensional position/channel control and other directions, which can solve the problem of inability to achieve precise turning cut-in, large turning yaw distance, large adjustment distance, etc. problem, to achieve the effect of short adjustment time, fast turning and small overshoot

Active Publication Date: 2020-06-09
BEIJING AEROSPACE ERA LASER NAVIGATION TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0003] The existing inertial navigation control pilot's automatic turning control method is relatively simple. The turning angle is calculated according to the predetermined waypoint, and the turning elements are calculated according to the flight ground speed, which cannot realize the function of precise turning cut-in
There are three disadvantages in the following aspects: 1) When the flight segment is switched, when the turning angle is greater than 120°, the turning yaw distance can reach 800m ~ 1000m, and the turning yaw distance is large; 2) The adjustment time to adjust to the next flight segment after turning Long, the maximum can reach 20S ~ 60S, the adjustment distance is large, the adjustment distance is about 3 ~ 5km

Method used

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  • Method and system for turning control under automatic driving
  • Method and system for turning control under automatic driving
  • Method and system for turning control under automatic driving

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Embodiment Construction

[0044] In order to make the object, technical solution and advantages of the present invention clearer, the embodiments disclosed in the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0045] In the natural coordinate system, assuming that the aircraft can maintain the altitude and true air speed, then in the two-dimensional plane natural coordinate system, the tangential acceleration a τ , centripetal acceleration a n . Assuming that at any moment, the ideal slope angle is The acceleration due to gravity is g, then:

[0046] During the turning process of the aircraft disc, let the heading angle rate be ω, and the true speed be V 空 , then there are:

[0047] In this example, refer to figure 1 , shows a schematic diagram of a whole turning process in an embodiment of the present invention. Such as figure 1 , in this embodiment, according to the characteristics of the aircraft's coordinated turning, the tur...

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Abstract

The invention discloses a turning control method and system under automatic driving. The method comprises the following steps of calculating and acquiring the coordinate of a predetermined point P1 according to time T1 from a turning start point to the predetermined point P1; according to the coordinate of the predetermined point P1, solving and acquiring the coordinate of a predetermined point P2and the coordinate of a predetermined point P3; according to the coordinate of the predetermined point P2 and the coordinate of the predetermined point P3, solving and acquiring an advance turning distance; and according to the solved and acquired advance turning distance, making an airplane start turning at an assigned point. In the invention, high precision turning control under automatic driving is realized.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and in particular relates to a turning control method and system under automatic driving. Background technique [0002] At present, the existing special aircraft navigation and control methods in my country mainly include automatic program navigation, manual navigation and route navigation, and the turning methods are divided into tangential turns and pressure point turns. The navigation methods are divided into two ways: the pilot manually controls the pilot to turn and the inertial navigation controls the pilot to automatically turn. With the increase of flight missions and flight time, the automatic navigation realized by the inertial navigation control pilot has become more and more the main mode of flight, especially when performing combat missions, long-term circling in designated areas has become a normal mode during combat. [0003] The existing inertial navigation control pilo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G05D1/02
CPCG05D1/0202G05D1/101
Inventor 张林王雷付宇辉陈善秋国刚李丹华邵志
Owner BEIJING AEROSPACE ERA LASER NAVIGATION TECH CO LTD
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