Method and device for determining distance information of flight equipment and storage medium

Abstract

The invention discloses a method and device for determining distance information of flight equipment and a storage medium, and relates to the technical field of microwave landing system measurement. The method comprises the following steps: acquiring initial distance information of target flight equipment; predicting a target position of the target flight equipment at the next moment based on the initial distance information; based on the target position, determining updated distance information of the target flight device, the updated distance information being used for indicating information from the target flight device to the ground when the target flight device is located at the target position; based on the updated distance information, pulse time difference information of the target flight equipment is determined, and the pulse time difference information is used for indicating time difference information of a pulse signal sent by the target flight equipment to the ground beacon station and a corresponding response pulse signal; and determining target distance information of the target flight equipment relative to the ground beacon station based on the pulse time difference information. According to the invention, the precision of distance measurement of the flight equipment is improved.

Description

Technical Field

[0001] This application relates to the field of microwave landing system measurement technology, and in particular to a method, apparatus and storage medium for determining distance information of flight equipment. Background Technology

[0002] Currently, in modern flight equipment radio navigation, the distance measuring equipment (DME) is a very important component. The distance measuring equipment, as a sensor of the automatic control system, provides distance information and sends it to the flight management computer system (FMCS) for the precise positioning of the flight equipment.

[0003] In related technologies, positioning mostly relies on Global Navigation Satellite Systems (GNSS) and Inertial Navigation Systems. However, GNSS systems are susceptible to natural and human interference, as well as signal blockage, leading to inaccurate positioning. Meanwhile, inertial navigation systems suffer from poor zero-bias stability due to mechanical gyroscopes, causing positioning deviations in flight equipment. Therefore, there is a technical problem of low distance measurement accuracy for flight equipment. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, and storage medium for determining distance information of flight equipment, so as to improve the technical effect of distance measurement accuracy of flight equipment and solve the technical problem of low distance measurement accuracy of flight equipment.

[0005] To achieve the above objectives, this application provides a method for determining distance information of a flight device, comprising: Obtain the initial distance information of the target flight equipment, wherein the initial distance information includes at least the information of the target flight equipment's distance from the ground; Based on the initial distance information, predict the target position of the target flying device at the next moment; Based on the target location, the updated distance information of the target flight equipment is determined, wherein the updated distance information is used to indicate the distance of the target flight equipment from the ground when it is at the target location; Based on the updated distance information, the pulse time difference information of the target flight equipment is determined. The pulse time difference information is used to indicate the time difference between the pulse signal sent by the target flight equipment to the ground beacon and the corresponding response pulse signal. Based on pulse time difference information, the target distance information of the target flight equipment relative to the ground beacon station is determined.

[0006] Optionally, based on the updated distance information, determining the pulse time difference information of the target flight equipment includes: acquiring first pulse information sent by the target flight equipment to the ground beacon; in response to the ground beacon receiving the first pulse information, acquiring second pulse information received by the target flight equipment from the ground beacon, wherein the sending ends of the first pulse information and the second pulse information are different; performing a difference calculation between the pulse time corresponding to the first pulse information and the pulse time corresponding to the second pulse information to determine the pulse time difference information of the target flight equipment.

[0007] Optionally, the method for determining the distance information of the flight equipment further includes: determining calibration parameters based on pulse time difference information, wherein the calibration parameters are used to calibrate the device that transmits pulse signals on the target flight equipment; and calibrating the first pulse information based on the calibration parameters.

[0008] Optionally, obtaining the initial distance information of the target flight device includes: obtaining the input signal of the target flight device; determining the monitoring point location of the target flight device based on the input signal; and determining the initial distance information of the target flight device based on the monitoring point location.

[0009] Optionally, based on the initial distance information, predicting the target position of the target flight device at the next moment includes: obtaining the navigation point distance between the target flight device and the nearest target navigation point; determining the radio frequency information between the target flight device and the target navigation point based on the navigation point distance; and predicting the target position of the target flight device at the next moment based on the radio frequency information.

[0010] Optionally, predicting the target position of the target flying device in the next moment based on radio frequency information includes: determining the delay information of the radio frequency signal based on the radio frequency information; and predicting the target position of the target flying device in the next moment based on the delay information.

[0011] Optionally, determining the target distance information of the target flight equipment relative to the ground beacon station based on the pulse time difference information includes: converting the pulse time difference information into pulse distance information, wherein the pulse distance information is used to indicate the distance information corresponding to the pulse signal transmitted between the target flight equipment and the ground beacon station; and determining the pulse distance information as the target distance information.

[0012] Furthermore, to achieve the above objectives, this application also provides a device for determining the distance information of a flight device, comprising: an acquisition module for acquiring initial distance information of a target flight device, wherein the initial distance information includes at least information about the distance of the target flight device from the ground; a prediction module for predicting the target position of the target flight device at the next moment based on the initial distance information; a first determination module for determining updated distance information of the target flight device based on the target position, wherein the updated distance information indicates the distance of the target flight device from the ground when it is at the target position; a second determination module for determining pulse time difference information of the target flight device based on the updated distance information, wherein the pulse time difference information indicates the time difference between the pulse signal sent by the target flight device to the ground beacon and the corresponding response pulse signal; and a third determination module for determining the target distance information of the target flight device relative to the ground beacon based on the pulse time difference information.

[0013] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a method for determining distance information of the flight device as described above.

[0014] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for determining distance information of a flight device as described above.

[0015] The method for determining the distance information of a flight device disclosed in this application involves acquiring the initial distance information of the target flight device, predicting the target position of the target flight device at the next moment based on the initial distance information, and then updating the distance information of the target flight device based on the target position. Furthermore, based on the updated distance information, the pulse time difference information of the pulse signals transmitted between the target flight device and the ground beacon is determined, and then the target distance information of the target flight device relative to the ground beacon is determined based on the pulse time difference information. Because this application updates the distance information of the target flight device based on the predicted target position and determines the distance information of the target flight device from multiple angles, it achieves the technical effect of improving the distance measurement accuracy of the flight device and solves the technical problem of low distance measurement accuracy of flight devices. Attached Figure Description

[0016] Figure 1 This is one of the flowcharts for a method of determining distance information of a flight device according to an embodiment of this application; Figure 2 This is the second flowchart of the method for determining distance information of the flight equipment according to an embodiment of this application; Figure 3This is the third flowchart of the method for determining distance information of the flight equipment according to an embodiment of this application; Figure 4 This is the fourth flowchart of the method for determining distance information of the flight equipment according to an embodiment of this application; Figure 5 This is the fifth flowchart of the method for determining distance information of the flight equipment according to an embodiment of this application; Figure 6 This is the sixth flowchart of the method for determining distance information of the flight equipment according to an embodiment of this application; Figure 7 This is a flowchart of the DME / P microwave navigation distance measurement method according to an embodiment of this application; Figure 8 This is a schematic diagram illustrating the relationship between time measurement, delay time, and attenuation in an embodiment of this application; Figure 9 This is a schematic diagram illustrating the working principle of the digital modulation technology in the embodiments of this application; Figure 10 This is a schematic diagram of a distance information determination device for a flight device according to an embodiment of this application; Figure 11 A schematic diagram of the physical structure of an electronic device is provided; In the diagram: 1000, distance information determination device for flight equipment; 1010, acquisition module; 1020, prediction module; 1030, first determination module; 1040, second determination module; 1050, third determination module; 1110, processor; 1120, communication interface; 1130, memory; 1140, communication bus.

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] DME is a non-autonomous pulse (time-based) short-range ranging and navigation system. It consists of an airborne interrogator (airborne DME interrogator) and ground transponders (DME antenna and ground DME station). Its operation differs significantly from primary radar; it operates by transponding signals and obtains distance information by measuring the propagation time of radio waves in space. The distance information provided by DME ensures that aircraft flying along designated routes maintain specified altitudes and distance intervals.

[0020] Currently, positioning relies mostly on Global Navigation Satellite Systems (GNSS) and inertial navigation systems. However, GNSS systems are susceptible to natural and human interference, as well as signal blockage, leading to inaccurate positioning. Meanwhile, inertial navigation systems suffer from poor zero-bias stability due to mechanical gyroscopes, causing positioning errors in flight equipment. Therefore, improving the distance measurement accuracy of flight equipment has become a research hotspot.

[0021] Against this backdrop, the DME system emerged as an alternative to route navigation equipment. Flight equipment can simultaneously receive azimuth information based on magnetic north from VOR or Doppler VOR and distance information from DME ground beacons. The flight equipment then determines its position by measuring the distances to both DME ground beacons. Nevertheless, since conventional DMEs are primarily used to measure the distances between flight equipment and ground stations for route navigation and approach / landing guidance, users have high requirements for the accuracy of distance measurements. Multipath interference is the most significant factor affecting the accuracy of DME distance measurements. Therefore, effectively improving the accuracy of distance measurements for flight equipment within a DME system has become a pressing technical challenge.

[0022] Based on this, embodiments of this application provide a method, apparatus, and storage medium for determining distance information of a flight device. By predicting the target position of the flight device in the next moment and calibrating the pulse information, the accuracy of distance measurement of the flight device is improved.

[0023] Figure 1 This is one of the flowcharts for a method of determining distance information of a flight device according to an embodiment of this application. This method of determining distance information of a flight device can be executed by a processor of an electronic device, such as... Figure 1 As shown, the method for determining the distance information of the flight equipment may include the following steps: Step 110: Obtain the initial distance information of the target flight equipment, wherein the initial distance information includes at least the information of the target flight equipment's distance from the ground.

[0024] Step 120: Based on the initial distance information, predict the target position of the target flying device at the next moment.

[0025] Step 130: Based on the target location, determine the updated distance information of the target flight equipment, wherein the updated distance information is used to indicate the distance of the target flight equipment from the ground when it is located at the target location.

[0026] Step 140: Based on the updated distance information, determine the pulse time difference information of the target flight equipment, wherein the pulse time difference information is used to indicate the time difference between the pulse signal sent by the target flight equipment to the ground beacon and the corresponding response pulse signal.

[0027] Step 150: Based on the pulse time difference information, determine the target distance information between the target flight equipment and the ground beacon station.

[0028] First, it should be noted that the method for determining the distance information of the flight equipment in this application embodiment can be applied to any scenario of flight equipment descent and landing. The application scenario is not specifically limited here. For example, the scenario of determining the distance information of the aircraft during the descent, landing and departure of the aircraft.

[0029] In step 110, the flying equipment can also be referred to as an airplane.

[0030] In this embodiment, the initial distance information of the target flight device is obtained, for example, by monitoring the signal parameters of the target aircraft, thereby determining the position of the monitoring point of the target aircraft based on the signal parameters, and then tracking the target aircraft according to the position of the monitoring point to obtain the initial distance information of the target aircraft. This is only an example and does not limit the specific content of the initial distance information of the target flight device.

[0031] Specifically, when the airborne equipment transmitter is turned on, the system obtains input signals from the antenna and the test interrogator connected to the monitor through the monitor, and sequentially monitors the parameters of the signal to be tested (e.g., pulse amplitude, pulse width, etc.). Based on the parameters of the signal to be tested, the monitoring point position is determined. When the signal strength of the monitoring point is greater than the preset strength threshold, the system is triggered to enter the tracking state, and then continuously tracks the target aircraft to obtain the initial distance information of the target aircraft.

[0032] In this embodiment, by acquiring the initial distance information of the target flying device, a benchmark reference can be provided for subsequent measurements, measurement algorithm parameters can be optimized, the system's dynamic response capability can be improved, anti-interference performance can be enhanced, and error compensation and calibration can be supported, thereby comprehensively improving the overall accuracy of the ranging system.

[0033] In step 120, based on the acquired initial distance information, the target position of the target flying device at the next moment is predicted. For example, the distance between the target flying device and the previous or next navigation point is determined by the DME rangefinder, thereby predicting the target position of the target flying device at the next moment. This is only an example and does not limit the specific method for predicting the target position of the target flying device at the next moment.

[0034] Specifically, after the system enters the tracking period, the distance between the aircraft and the previous or next navigation point is measured using a DME rangefinder. Then, the round-trip time of the radio frequency signal between the navigation point and the aircraft is measured, thereby predicting the dynamic position of the aircraft at the next moment, that is, the target position, based on the delay time.

[0035] In this embodiment, when the target flying device is moving at high speed, the predicted position can help the system avoid measurement blind spots caused by the target moving too fast, and ensure that the measurement data at the next moment is valid.

[0036] In step 130, after predicting the target position of the target flying device at a certain time, the updated distance information of the target flying device is determined based on the target position, that is, the distance information between the target flying device and the ground is updated.

[0037] Specifically, the transmitter driver generates a pair of pulses (such as a pair of short pulses) at a specific excitation frequency as interrogation pulses. The interrogation pulse pair generator sends out the pulse pair. After the receiver detects the response pulse pair returned by the target flying equipment, it encodes the synchronous response trigger pulse pair through the encoder (such as timestamp marking, pulse interval measurement).

[0038] Furthermore, after the output response pulse pair passes through the receiving circuit, the digital-to-analog converter (DAC) uses the first pulse timing method to generate a timing trigger signal. That is, the first pulse of the response pulse pair is used as the trigger signal to generate a precise timing signal, which is then used to start the distance counter. The pilot pulse loop technology is used to trigger the digital modulator on the transmitter driver module. In other words, the digital modulator of the transmitter driver is adjusted through the feedback loop to control the power output of the RF power amplifier module and modulate the power amplifier of the transmitter. After the modulation value is converted from digital to analog, it is restored to a control signal by the decoder to adjust the power amplifier gain or phase. After the receiving circuit converts the response signal into a digital signal, the ground simulator calculates the distance information.

[0039] In this embodiment, by updating the position of the target flying equipment, the predicted position can be compared with the actual measurement value, thereby determining the time of pulse transmission in the air, and then calculating the distance between the aircraft and the ground beacon station, ensuring that the measured distance is accurate and effective.

[0040] In step 140, after determining the updated distance information of the target flight equipment, the calculation circuit calculates the time difference between the transmitted interrogation pulse pair and the received response pulse pair, i.e., the pulse time difference information, which can also be called the time difference.

[0041] Specifically, the transmitter driver generates interrogation pulse pairs at a specific frequency (e.g., L-band, 962-1213 MHz). After receiving the interrogation pulse pairs, the ground beacon transmits response pulse pairs after a fixed delay (e.g., 50 μs). The receiver detects the response pulse pairs and uses a Frequency Error Reduction and Identification System (FERIS) to convert time into distance, measuring the time delay t between the interrogation and response pulses.

[0042] In this embodiment, if only single pulse time difference measurement is relied upon, the system may cause subsequent calculation errors to accumulate due to initial distance estimation deviations (such as sensor noise and environmental interference). Therefore, after determining the updated distance information of the target flight equipment, the distance can be calculated by using the pulse time difference information (i.e., the time delay from transmitting the interrogation pulse pair to receiving the response pulse pair), which can significantly improve the distance measurement accuracy of the flight equipment.

[0043] In step 150, after determining the pulse time difference information, the slant distance from the aircraft to the ground beacon is calculated, that is, the target distance information of the target flight equipment relative to the ground beacon is determined.

[0044] Specifically, during flight, the DME interrogator continuously measures the slant distance from the aircraft to the selected ground station and measures the rate of change of the slant distance to determine the speed at which the aircraft approaches or leaves the beacon station, thereby determining the aircraft's final measured distance information, that is, the target distance information.

[0045] In this embodiment, traditional open-loop measurement relies solely on the time difference of a single pulse, which is susceptible to environmental noise and equipment nonlinear errors (such as inconsistent transmission / reception channel delays), causing errors to accumulate over time. By calculating the slant range through the pulse time difference and optimizing the distance measurement accuracy, accumulated errors can be eliminated, continuous calibration can be achieved, and the distance measurement accuracy of the flight equipment can be improved.

[0046] The steps described above will be explained in detail below.

[0047] Figure 2 This is the second flowchart of a method for determining distance information of a flight device according to an embodiment of this application. Figure 2 As shown, step 140, based on the updated distance information, determines the pulse time difference information of the target flight equipment, which may include the following steps: Step 210: Obtain the first pulse information sent by the target flight equipment to the ground beacon station.

[0048] Step 220: In response to the ground beacon receiving the first pulse information, acquire the second pulse information received by the target flight equipment from the ground beacon, wherein the sending ends of the first pulse information and the second pulse information are different; Step 230: Perform a difference calculation between the pulse time corresponding to the first pulse information and the pulse time corresponding to the second pulse information to determine the pulse time difference information of the target flight equipment.

[0049] In this embodiment, the first pulse information can also be called an interrogation pulse or interrogation signal, and the second pulse information can also be called a response pulse or response signal. By acquiring the interrogation pulse sent by the target flight equipment to the ground beacon station, after the ground beacon station receives the interrogation pulse, it acquires the response pulse sent by the ground beacon station to the target flight equipment. The difference between the transmission time of the interrogation pulse and the response pulse is calculated to determine the pulse time difference information of the target flight equipment, that is, the time delay t between the interrogation pulse and the response pulse.

[0050] Specifically, during flight, the onboard equipment on the aircraft sends interrogation pulses to the ground beacon station. The FERIS discriminator automatically switches modes to convert time into distance based on the time delay t between the interrogation pulse and the response pulse.

[0051] Furthermore, to achieve high accuracy, the DME / P system adds a COS / COS2 waveform to the existing COS2 / COS2 waveform, employing a combination of COS / COS2 and COS2 / COS2 waveforms. This allows for the measurement of the time difference between the transmitted interrogation pulse pair and the received response pulse pair, identifying the response signal from the airborne interrogator responding to the DME / P ground beacon transponder. The use of a combination of COS / COS2 and COS2 / COS2 waveforms results in a steeper rising edge (i.e., a steep rising edge with a local rise time of 250ns ± 50ns for 5%–30%), thus enhancing the waveform's resistance to multipath interference.

[0052] It should be noted that the transmitter includes: a pulse repetition frequency (PRF) generator, a modulation cavity oscillator, a pulse width conversion circuit, a time reference signal generator, and a high-frequency filter. In this embodiment, the transmitter generates a pulse envelope radio frequency signal from the PRF generator, which is amplified by the radio frequency power amplifier module and transmitted as a response pulse pair. The antenna is connected to the radio frequency board on the distance measuring machine (DME) equipment. The output of the radio frequency power amplifier module is sent back to the radio frequency board, and then transmitted to the antenna through a circulator and a directional coupler. The signal is then transmitted to the transmitting antenna and radiated to the ground to send a response signal to the aircraft.

[0053] After receiving the response signal, the system continuously uses pilot pulse loop technology to measure and eliminate the delay of the signal in the equipment loop. The monitor performs open field monitoring of the frequency domain parameters of the DME ground station response signal. By continuously monitoring the fixed delay of the transponder, the monitoring results are sent to the controller, which continuously adjusts the delay circuit to keep the fixed delay of the transponder at its nominal value.

[0054] Figure 3 This is the third flowchart of the method for determining distance information of the flight equipment according to an embodiment of this application. Figure 3 As shown, the method for determining the distance information of flight equipment may also include the following steps: Step 310: Based on the pulse time difference information, determine the calibration parameters, wherein the calibration parameters are used to calibrate the device that sends pulse signals on the target flight equipment; Step 320: Based on the calibration parameters, calibrate the first pulse information.

[0055] In this embodiment, in order to eliminate multipath interference, this application uses delay calibration technology to perform digital delay calibration based on pulse time difference information, calibrating the clock signal of the device that transmits pulse signals on the aircraft, thereby adjusting the output signal timing and eliminating multipath interference.

[0056] Specifically, this application adds a COS / COS2 waveform to the existing COS2 / COS2 waveform for DME / P, and uses a waveform that combines COS / COS2 and COS2 / COS2 to measure the time difference between the transmitted interrogation pulse pair and the received response pulse pair, identify the response signal of the airborne interrogator itself responding from the DME / P ground beacon transponder, and use delay calibration technology to perform digital delay calibration in the selection of timing points, calibrate the corresponding clock signal, adjust the timing of the output signal, and eliminate multipath interference.

[0057] This application adjusts the output signal timing of DME / P devices by calibrating the corresponding clock signal, achieving more precise signal control. Digital delay calibration, in particular, is simple to implement, highly accurate, and reliable. It can adjust the phase error of the clock in the DME / P device and align data from multiple cycles, improving the accuracy and stability of the DME / P device. This delay calibration utilizes the attenuation characteristics of intermediate and high frequency amplitudes to shift the amplitude across the frequency range towards lower frequencies, while keeping the phase characteristics of the intermediate and high frequencies essentially unchanged, thus ensuring the system's phase margin meets requirements.

[0058] Figure 4 This is the fourth flowchart of the method for determining distance information of the flight equipment according to an embodiment of this application. Figure 4 As shown, obtaining the initial distance information of the target flight device in step 110 may include the following steps: Step 410: Acquire the input signal of the target flight equipment.

[0059] Step 420: Based on the input signal, determine the location of the monitoring point of the target flight equipment.

[0060] Step 430: Determine the initial distance information of the target flight equipment based on the location of the monitoring point.

[0061] In this embodiment, when the transmitter of the airborne equipment on the target aircraft is turned on, the input signal is obtained from the antenna and the connected test interrogator through the monitor, and the parameters of the signal to be tested (such as time delay, amplitude, phase, etc.) are monitored in sequence according to the input signal.

[0062] After detecting the signal parameters to be measured, the location of the monitoring point of the target aircraft is determined by the positioning method, and the system enters the search state. When the system displays that the search is successful, the system switches to the tracking state to track the target aircraft and thus determine the initial distance information of the target aircraft.

[0063] It should be noted that the pulse leading edge tracking technology used in this application can track the leading edge of the nearest echo. Therefore, when the aircraft is flying over complex ground, the measured altitude is the distance to the nearest point target, which can better ensure flight safety and overcome the measurement deviation caused by the use of the average altitude on the antenna illumination area by the FM altimeter.

[0064] Figure 5 This is the fifth flowchart of the method for determining distance information of a flight device according to an embodiment of this application. Figure 5 As shown, step 120, based on the initial distance information, predicts the target position of the target flying device at the next moment, which may include the following steps: Step 510: Obtain the navigation point distance between the target flight device and the nearest target navigation point.

[0065] Step 520: Based on the distance to the navigation point, determine the radio frequency information between the target flight equipment and the target navigation point; Step 530: Based on radio frequency information, predict the target position of the target flying device at the next moment.

[0066] In this embodiment, during system tracking, the distance between the target aircraft and the previous or next navigation point is measured using a DME rangefinder, i.e., the navigation point distance. After determining the navigation point distance, the delay time between the radio frequency signal and the navigation point and the target aircraft is measured, i.e., the delay information. Based on the delay information, the dynamic position of the aircraft at the next moment is predicted. The radio frequency information can also be referred to as the radio frequency signal.

[0067] Specifically, when the airborne equipment on the aircraft sends an interrogation pulse to the ground beacon, the ground beacon, after receiving the interrogation pulse, emits a response pulse after a predetermined delay. When the airborne equipment on the aircraft receives the ground response pulse, it measures the round-trip time of the radio frequency signal and predicts the dynamic position of the aircraft at the next moment, that is, the target position.

[0068] It should be noted that the radio frequency pulse signals emitted by the ranging beacon can be divided into three categories: the first category is the response pulse pairs triggered by the interrogation signal, and the number of these response pulse pairs depends on the number of airborne ranging devices that issue the interrogation; the second category is the intermittent transmission pulse pairs triggered by the noise of the ranging beacon receiver; and the third category is the fixed identification signal pulse pairs. The first and second categories of signals are randomly spaced pulse pairs, while the identification signals are equally spaced pulse pairs.

[0069] This application utilizes a DME rangefinder to measure the distance to the previous or next navigation point. Compared with conventional rangefinders (DME / N), navigation precision distance measurement eliminates factors affecting distance measurement accuracy and improves measurement accuracy.

[0070] Figure 6 This is the sixth flowchart of the method for determining distance information of the flight equipment according to an embodiment of this application. Figure 6 As shown, step 150, based on the pulse time difference information, determines the target distance information of the target flight equipment relative to the ground beacon station, which may include the following steps: Step 610: Convert the pulse time difference information into pulse distance information, wherein the pulse distance information is used to indicate the distance information corresponding to the pulse signal transmitted between the target flight equipment and the ground beacon station.

[0071] Step 620: Determine the target distance information based on the pulse distance information.

[0072] In this embodiment, the FERIS discriminator automatically converts time into distance, that is, it converts pulse time difference information into pulse distance information, thereby calculating the slant distance from the aircraft to the ground beacon and determining the target distance information.

[0073] Specifically, the FERIS discriminator is used for pulse width discrimination. The rising edge of the first pulse is used as the precise timing point to detect the position of the half-amplitude point of the rising and falling edges of the pulse. A square wave signal is formed between the half-amplitude points of the rising and falling edges of the pulse. After each pair of interrogation pulses is transmitted, the airborne rangefinder switches to receiving mode. The received signal may include the response signal from the ranging beacon to the local interrogation, as well as the response pulses from the beacon to numerous other aircraft rangefinders. In addition, it also includes the intermittent transmission pulse signal and identification transmission signal from the beacon. The FERIS discriminator converts time into distance, calculates the slant distance from the aircraft to the ground beacon, and then determines the target distance information.

[0074] In summary, this application employs the first-pulse timing method and utilizes delay calibration technology (primarily for eliminating multipath interference), pilot pulse loop technology (primarily for eliminating channel jitter), and a FERIS discriminator for automatic mode switching in the selection of timing points. The discriminator identifies parameter types and can perform different query operations based on different results, effectively handling incomplete data. It achieves or even surpasses the classification accuracy of other mature algorithms and exhibits strong anti-interference capabilities against noisy data.

[0075] The embodiments of this application will be further described below.

[0076] Figure 7 This is a flowchart of the DME / P microwave navigation distance measurement method according to an embodiment of this application, as follows: Figure 7 As shown, the DME / P microwave navigation distance measurement method includes the following steps: Step 701: Obtain the input signal and the system performs search and tracking.

[0077] In this embodiment, when the aircraft's onboard equipment transmitter is turned on, the monitor receives input signals from the antenna and the connected test interrogator, sequentially monitors the parameters of the signal to be tested, determines the location of the monitoring point, enters the search state, and if the search is successful, it switches to tracking, continuously tracks and displays distance information.

[0078] It should be noted that the monitor detects the performance of the distance measuring machine (DME) and continues to interrogate it. The transmitter responds to these signals, and the monitor then detects and processes the response signals, performing threshold comparisons on various parameters. The resulting interrogation pulses are transmitted to the beacon receiver via a directional coupler. When the number of received pulse pairs exceeds 450 pairs per second, it indicates that the aircraft has entered the effective distance measurement range, and the DME switches from automatic waiting mode to search mode, utilizing automatic stabilization technology with response delay.

[0079] When the system enters search mode, the interrogator generates a series of interrogation pulse pairs with randomly varying repetition frequencies for a short period after the interrogation begins. The ground station's response pulse pairs to the aircraft also exhibit random repetition frequencies according to a certain pattern. The aircraft's rangefinder's response signal and the ground beacon's interrogation signal are intermittently transmitted pulses and identification signals. To identify the ground transponder's response signal, the airborne interrogator uses a stroboscopic moving search gate to capture the ground station's response signal and recognize the response to its own interrogation. Because the variation pattern of the repetition frequency of the response pulse pairs is random and has a unique variation pattern, it can be distinguished from the random variations of the repetition frequency of other aircraft interrogations and ground station response pulse pairs, thus enabling the interrogator to recognize the response to its own interrogation.

[0080] Furthermore, since the average repetition frequency of the interrogation signal is relatively high, if the 7 / 15 criterion is met, the rangefinder can end the search and enter the pre-tracking state. The locking AGC circuit is set so that the system only enters tracking when it receives about 10 echo pulses in a row, thus preventing instantaneous large-amplitude interference. After entering the pre-tracking state, the rangefinder continues the above-mentioned interrogation-reception identification process.

[0081] After the pre-tracking state, the rangefinder enters the normal tracking state. During tracking, if the "7 / 15" criterion is not met for any reason, the rangefinder interrogator will enter the memory state. Upon entering the memory state, the prediction algorithm begins outputting the predicted distance value. The distance reading displayed on the distance monitor continues to update. Once the signal is regained, it returns to the tracking state. If a valid response signal cannot be obtained again after 4–12 seconds in the memory state, the rangefinder will enter the search state.

[0082] Meanwhile, if the radio waves are blocked by obstacles or other aircraft, or if the interrogation signal from the aircraft is received by the antenna of the distance measuring machine (DME), the signal flows through a directional coupler and a circulator to a pre-selection filter. The pre-selection filter contains three coupled resonant cavities tuned to the receiving frequency, isolates the intermediate frequency image frequency and pseudo-frequency, and further attenuates the transmitter output frequency. Then, the interrogation signal is sent to the receiver, which receives the interrogation signal amplified by the RF power amplifier module and decoded by the interrogation pulse. After a certain time delay, the encoder generates coded response pulse pairs, uses the time interval of the pulse pairs to encode the DME transmission, and amplifies and shapes them before applying them to the antenna.

[0083] Step 702: Measure the round-trip delay of the radio frequency signal.

[0084] In this embodiment, during tracking, a DME rangefinder is used to measure the distance to the previous or next navigation point, measure the round-trip time of the radio frequency signal, predict the dynamic position of the aircraft at the next moment, and measure the distance value.

[0085] This invention can predict the aircraft position at the updated time based on predicted values ​​and previously measured values, thus improving prediction accuracy. Its pulse leading-edge tracking technology tracks the leading edge of the most recent echo, ensuring that the measured altitude is the distance to the nearest point target when the aircraft is flying over complex terrain. This better guarantees flight safety and overcomes the measurement deviation caused by FM altimeters which use the average altitude over the antenna illumination area.

[0086] Step 703: Calculate the distance information.

[0087] In this embodiment, the excitation frequency of the transmitter driver is generated by the interrogation pulse pair generator. After detection by the receiver, the encoder encodes the synchronous response trigger pulse pair. The output response pulse pair is then passed through the receiving circuit. The digital-to-analog converter (DAC) uses the first pulse timing method to generate a timing trigger signal, which is then used to start the distance counter. The digital modulator on the transmitter driver module is triggered using pilot pulse loop technology and sent to the RF power amplifier module to modulate the transmitter's power amplifier. After the modulation value is converted from digital to analog and decoded, the distance information is calculated from the ground simulator.

[0088] It should be noted that the airborne ranging device can operate normally after being powered on, i.e., it operates in automatic waiting mode. When many aircraft outside the transponder's service range are on the transponder's channel and interrogating the transponder, it may overload the transponder receiver, affecting its ability to respond to interrogating aircraft within the service range. Therefore, the airborne interrogator should have an "automatic waiting mode." The airborne equipment transmits an interrogation pulse, which is received by the ground transponder. After a fixed time delay, the ground transponder transmits a response signal to the airborne interrogator.

[0089] The airborne interrogator sends an interrogation pulse pair signal to the ground station. Upon receiving the interrogation signal, the ground ranging beacon station sends a response pulse pair via its transponder. After receiving the response signal, the airborne receiver calculates the time difference between sending the interrogation signal and receiving the response signal, based on the time interval between the interrogation transmission and the response reception, and calculates the straight-line distance between the interrogator and the transponder, converting the time to distance. Typically, the ground ranging beacon station generates a corresponding response signal after a delay of 30μs to 50μs, which is then transmitted by the airborne ranging device for distance calculation; this is the interrogation-response signal. Like the interrogation signal, the response signal is also a radio frequency pulse pair signal.

[0090] It should be noted that even if the aircraft is within the range of the distance measurement system, not all interrogations will be answered. This is because, in the case of multiple aircraft interrogations, each time the ranging beacon receives an interrogation signal, its receiver enters a 60μs suppression period, thus preventing subsequent interrogation signals arriving within the next 60μs from being answered. Setting an echo suppression time can further eliminate synchronous multipath interference. After the ground transponder decodes the aircraft interrogation pulse pair, it immediately enters a silent state. The silence time is a period of closure introduced into the ground transponder. This protects the receiver during the response transmission and prevents the receiver from responding to multipath echo signals during this period. Only signals exceeding a certain relative threshold (i.e., relative to the direct signal) during the echo suppression time are considered valid interrogation signals; otherwise, they will be suppressed.

[0091] Step 704, Digital Delay Calibration.

[0092] In this embodiment, the DME / P adds a COS / COS2 waveform to the original COS2 / COS2 waveform, using a waveform that combines COS / COS2 and COS2 / COS2. It measures the time difference between the transmitted interrogation pulse pair and the received response pulse pair, identifies the response signal of the airborne interrogator itself responding from the DME / P ground beacon transponder, and uses delay calibration technology to perform digital delay calibration in the selection of timing points, calibrating the corresponding clock signal, adjusting the output signal timing, and eliminating multipath interference.

[0093] This application adjusts the output signal timing of DME / P devices by calibrating the corresponding clock signal, achieving more precise signal control. Digital delay calibration, in particular, is simple to implement, highly accurate, and reliable. It can adjust the phase error of the clock in the DME / P device and align data from multiple cycles, improving the accuracy and stability of the DME / P device. This delay calibration utilizes the attenuation characteristics of intermediate and high frequency amplitudes to shift the amplitude across the frequency range towards lower frequencies, while keeping the phase characteristics of the intermediate and high frequencies essentially unchanged, thus ensuring the system's phase margin meets requirements.

[0094] Step 705: Calculate the slant distance from the aircraft to the ground beacon and output the measured data.

[0095] In this embodiment, the interrogator distance calculation circuit converts time into distance based on the time difference between transmitting the interrogation pulse pair and receiving the response pulse pair, and uses the FERIS discriminator for automatic mode switching. Based on the time delay t between the interrogation pulse and the response pulse, it calculates the slant distance from the aircraft to the ground beacon. The measured value of the waveform is formed by a precision detector, and the DME distance indicator displays the slant distance from the aircraft to the ground DME station.

[0096] For precision distance measurement, this invention does not employ conventional half-amplitude timing triggering technology for pulse arrival time. Instead, it uses DAC triggering technology (delay attenuation and comparison triggering technology). A pulse pair is generated from the interrogation pulse pair generator, detected by the receiver, and the encoder encodes the synchronous response trigger pulse pair. The output response pulse pair is then triggered by the DAC after passing through the receiving circuit to generate a timing trigger signal. The core of this invention is the use of low threshold triggering (reducing the timing point from the previous 50% to about 10%). In this way, the time measurement is independent of the pulse amplitude and leading edge, and only depends on the delay time and attenuation.

[0097] This application employs DAC delay attenuation and comparison triggering to determine the pulse arrival time, improving measurement accuracy and eliminating multipath echo interference. A pilot pulse loop is used to eliminate channel jitter. The pilot pulse loop technology continuously uses pilot pulses to measure the signal delay in the device loop, measuring and eliminating the internal delay of the device in real-time or near real-time, thereby eliminating distance measurement errors caused by changes in ambient temperature, device aging, and signal amplitude and strength. The delay attenuation and comparison triggering technologies, along with the pilot pulse loop technology, provide a reliable basis for improving the precision distance measurement accuracy of the receiver.

[0098] It should be noted that the FERIS discriminator performs pulse width discrimination, using the rising edge of the first pulse as a precise timing point to detect the position of the half-amplitude point of the rising and falling edges of the pulse. A square wave signal is formed between the half-amplitude points of the rising and falling edges of the pulse. After each pair of interrogation pulses is transmitted, the airborne rangefinder switches to receiving mode. The received signal may include the response signal from the ranging beacon to the local interrogation, as well as the response pulses from the beacon to numerous other aircraft rangefinders. In addition, it also includes the intermittent transmission pulse signal and identification transmission signal from the beacon.

[0099] In other words, the radio frequency pulse signals emitted by the ranging beacon can be divided into three categories: the first category is the response pulse pairs triggered by the interrogation signal, and the number of these response pulse pairs depends on the number of airborne ranging devices that issue the interrogation; the second category is the intermittent transmission pulse pairs triggered by the noise of the ranging beacon receiver; and the third category is the fixed identification signal pulse pairs. The first and second categories of signals are randomly spaced pulse pairs, while the identification signals are equally spaced pulse pairs.

[0100] Furthermore, a fixed delay is introduced between the reception of the interrogation pulse pair and the transmission of the corresponding response pulse pair by the ground transponder. This is to allow the ground transponder sufficient signal processing time. The distance counter counts the rising edges of the clock signal and calculates the delay time between the rising edges of the clock signal. In this state, the count value corresponding to the set control word is compared with the standard count value. Within one clock cycle, the corresponding ideal delay value is selected, the corresponding ideal count value within one clock cycle is calculated, and the control word is dynamically adjusted accordingly. The calculated count value is stored in a register. When the delay time ends and the number of pulses in the gate reaches a certain number, the arrival time of the synchronization response pulse is identified. The correlation processing algorithm is applied to determine that the signal in the correlation gate is the synchronization response signal. This can greatly shorten the acquisition time.

[0101] The DME / P analog intermediate frequency signal generation module directly generates the DME / P analog intermediate frequency signal. The input intermediate frequency analog signal is sampled by an A / D converter to obtain the DME / P digital intermediate frequency signal. The DME / P digital intermediate frequency signal is converted into a DME / P analog intermediate frequency signal through a D / A converter. Then, standard instruments are used for calibration to complete the calibration of the DME / P digital intermediate frequency signal.

[0102] The intermediate frequency (IF) digital signal is multiplied by the digital carrier signal generated by the DDS to obtain the zero-IF quadrature (Q) and in-phase (I) branch signals, respectively. The I and Q branch signals are then processed by a CIC decimation filter and format conversion to obtain a broadband baseband signal with reduced data rate. The broadband baseband signal is split into two paths: the narrowband baseband signal is triggered and one path is sent to a correlator to capture the synchronization response signal; the other path, triggered by a DAC, is sent to a selection switch, which is controlled by the processor to select the trigger timing mode. Finally, a Kalman filter is used to obtain filtered and more accurate distance and speed information. In the decimation CIC, the input signal sequentially passes through integration, downsampling, and a comb filter with the same number of integration stages. In the interpolation CIC, the input signal sequentially passes through a comb filter, upsampling, and an integration stage with the same number of comb stages.

[0103] After capturing the response signal, the distance calculation filter processor performs half-amplitude point detection in IA mode and partial rise amplitude detection in FA mode. It controls the selection switch based on whether the system is currently operating in initial approach mode (IA) or final approach mode (FA). When the system is operating in IA mode, the selected trigger signal is used to calculate the distance at a time. When the system is operating in FA mode, the selected DAC trigger signal is used to calculate the distance at a time. This signal is also passed through a detector and used as a time reference signal. After amplification, it is added to the distance calculator as a synchronization signal for measurement. The distance calculator receives the reference pulse T0A from the transmitter and the echo pulse from the receiver, determines the time interval between T0A and the leading edge of the reflected echo from the nearest distance point, and predicts the aircraft distance value within the memory time through the distance calculation software.

[0104] To ensure real-time comparison between ideal and measured values ​​and corresponding modulator control, a precision detector generates the measured waveform. At a certain position of the transmitted waveform, if the measured value is less than the theoretical value, the modulator output increases the modulation value at that position in the random access memory (RAM) to increase the output power at that position. If the measured value is greater than the theoretical value, the comparator output decreases the modulation value at that position to decrease the output power at that position, thus automatically maintaining the output pulse shape identical to the ideal pulse shape. The address counter of the read-only memory (RAM) is started by a pulse generated by a pulse generator and shuts down after a predetermined time interval and a predetermined count address. The RAM modulated waveform is then converted from digital to analog and input to the frequency synthesizer. The exciter component modulates and amplifies the L-band signal from the frequency synthesizer, supplying the RF output signal of the RF power amplifier module and the receiver continuous wave (CW) excitation signal. The frequency synthesizer selects the DME channel to generate the correct transmitter signal. Exciter and RF power amplifier module trigger pulses are generated for the DME transmitter; the time interval between the first interrogation pulse and the first received video pulse is measured.

[0105] The receiver transmits the RF pulse pairs received from the antenna to the CPU to calculate the slant range. The pulse pairs are then sent to the pulse pair decoder, which sends audio to the DME to obtain the heading and distance to a specific waypoint. After calculating the slant range, the CPU sends it to two transmitters. One transmitter sends the range data to the decoding encoder (DEU) for cockpit display and other systems, while the second transmitter sends the range data to the flight control computer.

[0106] Figure 8 This is a schematic diagram illustrating the relationship between time measurement, delay time, and attenuation in an embodiment of this application, as shown below. Figure 8As shown, in the ranging beacon station, receiver noise is used to trigger the transmitter to generate pulse pair signals. The DME / P pulse pair signals are triggered by a DAC to generate timing pulse pair signals. The correlator divides the DME / P distance into a sequence of time units with a width of μs, and each time unit is connected to a distance counter. When the trigger pulse appears in the corresponding time unit, it is triggered by the DAC. The arrival time t of the pulse is determined by delay, attenuation and comparison triggering. The trigger timing occurs in the linear part of the pulse, and the function expression for the linear part of the leading edge of the pulse is: y=kx+μ.

[0107] When the DAC trigger occurs, x = t0, then at the trigger point t0: k(tO-t)+μ=a(ktO+μ) We can conclude that: t0=t / (1-a)-c / k Wherein, the vertical axis y is the number of relevant pulses falling into the corresponding gate, the horizontal axis x is the signal value in the relevant gate, μ is the rise time, a is the pulse width, k is the pulse interval, and c / k is a constant term.

[0108] Figure 9 This is a schematic diagram illustrating the working principle of the digital modulation technology in the embodiments of this application, as shown below. Figure 9 As shown, in order to ensure that the transmitted pulses on the aircraft and the ground have stable steep leading edge characteristics and linear characteristics of part of the rise time, and to prevent the delay changes in the receiver caused by the change of pulse shape, it is necessary to stabilize the transmitted pulse shape, which requires digital modulation technology.

[0109] Digital modulation technology is a digital method that modulates the transmitter's output waveform to match the ideal waveform. In this embodiment, the digital modulator pre-stores a standard waveform ideal value digitized in a programmable read-only memory (PROM). Simultaneously, it couples some energy from the transmitter output, along with the modem's transmit and receive delays, to modulate the transmitter's output waveform. The ideal waveform undergoes digital-to-analog conversion (DAC). A high-sensitivity comparator continuously compares the DAC-converted ideal value with the measured value, using the comparison result to change the modulation value stored in a random access memory. This modulation value, after DAC conversion, modulates the transmitter's power amplifier. With a digital modulator, instantaneous changes in carrier frequency or operating states essentially do not cause changes in pulse shape, thus minimizing the impact on distance measurement accuracy.

[0110] To achieve high accuracy, this application's DME / P system adds a COS / COS2 waveform to the existing COS2 / COS2 waveform, employing a combined COS / COS2 and COS2 / COS2 waveform. The time difference between the transmitted interrogation pulse pair and the received response pulse pair is measured to identify the response signal from the airborne interrogator responding to the DME / P ground beacon transponder. The combined COS / COS2 and COS2 / COS2 waveform results in a steeper rising edge (i.e., a steep rising edge with a local rise time of 250ns ± 50ns for 5%–30%), enhancing the waveform's resistance to multipath interference. In addition to employing the first pulse timing method, we also utilize delay calibration technology (primarily for eliminating multipath interference), pilot pulse loop technology (primarily for eliminating channel jitter), and a FERIS discriminator for automatic mode switching in the timing point selection. The discriminator identifies parameter types and can perform different query operations based on different results, effectively handling incomplete data. It achieves or even surpasses the classification accuracy of other mature algorithms and exhibits strong anti-interference capabilities against noisy data.

[0111] Based on the above embodiments, this application also provides a device for determining the distance information of a flight device. Figure 10 This is a schematic diagram of a distance information determination device for a flight device according to an embodiment of this application, as shown below. Figure 10 As shown, the distance information determination device 1000 of the flight equipment may include an acquisition module 1010, a prediction module 1020, a first determination module 1030, a second determination module 1040, and a third determination module 1050.

[0112] The system includes the following modules: an acquisition module 1010 for acquiring initial distance information of the target flight equipment, wherein the initial distance information includes at least the distance between the target flight equipment and the ground; a prediction module 1020 for predicting the target position of the target flight equipment at the next moment based on the initial distance information; a first determination module 1030 for determining updated distance information of the target flight equipment based on the target position, wherein the updated distance information indicates the distance between the target flight equipment and the ground when it is at the target position; a second determination module 1040 for determining pulse time difference information of the target flight equipment based on the updated distance information, wherein the pulse time difference information indicates the time difference between the pulse signal sent by the target flight equipment to the ground beacon and the corresponding response pulse signal; and a third determination module 1050 for determining the target distance information of the target flight equipment relative to the ground beacon based on the pulse time difference information.

[0113] Therefore, the initial distance information of the target flight device is obtained by the acquisition module 1010, which includes at least the information of the target flight device's distance from the ground; the prediction module 1020 then uses the initial distance information to predict the target position of the target flight device at the next moment; further, the first determination module 1030 determines the updated distance information of the target flight device based on the target position, whereby the updated distance information indicates the distance of the target flight device from the ground when it is at the target position; then, the second determination module 1040 determines the pulse time difference information of the target flight device based on the updated distance information, whereby the pulse time difference information indicates the time difference between the pulse signal sent by the target flight device to the ground beacon and the corresponding response pulse signal; finally, the third determination module 1050 determines the target distance information of the target flight device relative to the ground beacon based on the pulse time difference information, thereby achieving the technical effect of improving the distance measurement accuracy of the flight device and solving the technical problem of low distance measurement accuracy of the flight device.

[0114] In some embodiments, the second determining module 1040 is specifically used to: acquire first pulse information sent by the target flight equipment to the ground beacon; in response to the ground beacon receiving the first pulse information, acquire second pulse information received by the target flight equipment from the ground beacon, wherein the sending ends of the first pulse information and the second pulse information are different; perform a difference calculation on the pulse time corresponding to the first pulse information and the pulse time corresponding to the second pulse information to determine the pulse time difference information of the target flight equipment.

[0115] In some embodiments, the distance information determination device 1000 for the flight equipment is further specifically used for: determining calibration parameters based on the pulse time difference information, wherein the calibration parameters are used to calibrate the device on the target flight equipment that transmits the pulse signal; and calibrating the first pulse information based on the calibration parameters.

[0116] In some implementations, the acquisition module 1010 is specifically used to: acquire the input signal of the target flight device; determine the monitoring point position of the target flight device based on the input signal; and determine the initial distance information of the target flight device based on the monitoring point position.

[0117] In some implementations, the prediction module 1020 is specifically used to: obtain the navigation point distance between the target flight device and the nearest target navigation point; determine the radio frequency information between the target flight device and the target navigation point based on the navigation point distance; and predict the target position of the target flight device at the next moment based on the radio frequency information.

[0118] In some implementations, the prediction module 1020 is also specifically used to: determine the delay information of the radio frequency signal based on the radio frequency information; and predict the target position of the target flight device at the next moment based on the delay information.

[0119] In some implementations, the third determining module 1050 is specifically used to: convert the pulse time difference information into pulse distance information, wherein the pulse distance information is used to indicate the distance information corresponding to the pulse signal transmitted between the target flight equipment and the ground beacon station; and determine the target distance information based on the pulse distance information.

[0120] It should be noted that for details not disclosed in the distance information determination device of the flight equipment in this embodiment, please refer to the details disclosed in the embodiment of the distance information determination method of the flight equipment in this specification, which will not be repeated here.

[0121] Based on the above embodiments, Figure 11 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 11 As shown, the electronic device may include: a processor 1110, a communications interface 1120, a memory 1030, and a communication bus 1140, wherein the processor 1110, the communications interface 1120, and the memory 1130 communicate with each other through the communication bus 1140. The processor 1110 can call logical instructions in the memory 1130 to execute a method for determining the distance information of the flight equipment. This method includes: acquiring initial distance information of the target flight equipment, wherein the initial distance information includes at least the information of the target flight equipment's distance from the ground; predicting the target position of the target flight equipment at the next moment based on the initial distance information; determining updated distance information of the target flight equipment based on the target position, wherein the updated distance information indicates the distance of the target flight equipment from the ground when it is at the target position; determining pulse time difference information of the target flight equipment based on the updated distance information, wherein the pulse time difference information indicates the time difference between the pulse signal sent by the target flight equipment to the ground beacon and the corresponding response pulse signal; and determining the target distance information of the target flight equipment relative to the ground beacon based on the pulse time difference information.

[0122] Furthermore, the logical instructions in the aforementioned memory 1130 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0123] Based on the above embodiments, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for determining the distance information of a flight device provided by the above methods. The method includes: acquiring initial distance information of a target flight device, wherein the initial distance information includes at least information about the distance of the target flight device from the ground; predicting the target position of the target flight device at the next moment based on the initial distance information; determining updated distance information of the target flight device based on the target position, wherein the updated distance information is used to indicate the distance of the target flight device from the ground when it is at the target position; determining pulse time difference information of the target flight device based on the updated distance information, wherein the pulse time difference information is used to indicate the time difference information between the pulse signal sent by the target flight device to the ground beacon and the corresponding response pulse signal; and determining the target distance information of the target flight device relative to the ground beacon based on the pulse time difference information.

[0124] Based on the above embodiments, in another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a method for determining distance information of a flight device provided by the methods described above. The method includes: acquiring initial distance information of a target flight device, wherein the initial distance information includes at least information about the distance of the target flight device from the ground; predicting the target position of the target flight device at the next moment based on the initial distance information; determining updated distance information of the target flight device based on the target position, wherein the updated distance information is used to indicate the distance of the target flight device from the ground when it is at the target position; determining pulse time difference information of the target flight device based on the updated distance information, wherein the pulse time difference information is used to indicate the time difference between the pulse signal sent by the target flight device to the ground beacon and the corresponding response pulse signal; and determining the target distance information of the target flight device relative to the ground beacon based on the pulse time difference information.

[0125] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0126] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

Claims

1. A method for determining distance information of a flight device, characterized in that, include: Acquire initial distance information of the target flight equipment, wherein the initial distance information includes at least the information of the target flight equipment's distance from the ground; Based on the initial distance information, predict the target position of the target flight device at the next moment; Based on the target location, updated distance information of the target flight device is determined, wherein the updated distance information is used to indicate the distance of the target flight device from the ground when it is located at the target location; Based on the updated distance information, the pulse time difference information of the target flight equipment is determined, wherein the pulse time difference information is used to indicate the time difference between the pulse signal sent by the target flight equipment to the ground beacon and the corresponding response pulse signal; Based on the pulse time difference information, the target distance information of the target flight equipment relative to the ground beacon station is determined.

2. The method for determining distance information of flight equipment according to claim 1, characterized in that, The step of determining the pulse time difference information of the target flight equipment based on the updated distance information includes: Obtain the first pulse information sent by the target flight equipment to the ground beacon station; In response to the ground beacon receiving the first pulse information, the target flight equipment receives the second pulse information sent by the ground beacon, wherein the sending end of the first pulse information and the second pulse information are different; The pulse time difference information of the target flight device is determined by performing a difference calculation between the pulse time corresponding to the first pulse information and the pulse time corresponding to the second pulse information.

3. The method for determining distance information of flight equipment according to claim 1, characterized in that, The method for determining the distance information of the flight equipment also includes: Based on the pulse time difference information, calibration parameters are determined, wherein the calibration parameters are used to calibrate the device that transmits the pulse signal on the target flight equipment; The first pulse information is calibrated based on the calibration parameters.

4. The method for determining distance information of flight equipment according to claim 1, characterized in that, The acquisition of the initial distance information of the target flight equipment includes: Acquire the input signal of the target flight equipment; Based on the input signal, the location of the monitoring point for monitoring the target flight equipment is determined; Based on the location of the monitoring point, the initial distance information of the target flight equipment is determined.

5. The method for determining distance information of a flight device according to claim 1, characterized in that, The step of predicting the target position of the target flying device at the next moment based on the initial distance information includes: Obtain the navigation point distance between the target flight device and the nearest target navigation point; Based on the distance to the navigation point, determine the radio frequency information between the target flight equipment and the target navigation point; Based on the radio frequency information, the target position of the target flight device at the next moment is predicted.

6. The method for determining distance information of a flight device according to claim 5, characterized in that, The step of predicting the target position of the target flight device at the next moment based on the radio frequency information includes: Based on the radio frequency information, the delay information of the radio frequency signal is determined; Based on the delay information, the target position of the target flight device at the next moment is predicted.

7. The method for determining distance information of a flight device according to claim 1, characterized in that, The step of determining the target distance information of the target flight equipment relative to the ground beacon station based on the pulse time difference information includes: The pulse time difference information is converted into pulse distance information, wherein the pulse distance information is used to indicate the distance information corresponding to the pulse signal transmitted between the target flight equipment and the ground beacon station; Based on the pulse distance information, the target distance information is determined.

8. A device for determining distance information of a flight device, characterized in that, include: An acquisition module is used to acquire initial distance information of the target flight equipment, wherein the initial distance information includes at least the information of the target flight equipment's distance from the ground; The prediction module is used to predict the target position of the target flying device at the next moment based on the initial distance information; The first determining module is used to determine the updated distance information of the target flight device based on the target location, wherein the updated distance information is used to indicate the distance of the target flight device from the ground when it is located at the target location; The second determining module is used to determine the pulse time difference information of the target flight equipment based on the updated distance information, wherein the pulse time difference information is used to indicate the time difference information between the pulse signal sent by the target flight equipment to the ground beacon and the corresponding response pulse signal; The third determining module is used to determine the target distance information of the target flight equipment relative to the ground beacon station based on the pulse time difference information.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the method for determining the distance information of the flight equipment as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method for determining the distance information of the flight equipment as described in any one of claims 1 to 7.

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