Guide light dynamic compensation method and system in artificial landing process of shipborne aircraft

Abstract

The invention discloses a dynamic compensation method and system for guiding lamplight in the manual landing process of a shipborne aircraft, and belongs to the field of shipborne aircraft guiding lamplight compensation. The problems that in an existing lamplight compensation method, adaptability to complex motion of a ship is insufficient, the dynamic relative position relation between the pilot eye position and a guiding lamplight coordinate system is not fully considered, and compensation precision is low in different stable states are solved. The method comprises: defining a coordinate system; ship motion parameters are obtained in real time; based on the coordinate system and the ship motion parameters, calculating the coordinate of the pilot eye position under the guide lamp coordinate system; calculating the coordinate of the focus of the Fresnel lamp in the guide lamp coordinate system; determining a height error, a transverse error and a pitch angle based on the pilot eye position coordinate and the light focus coordinate; executing longitudinal compensation and transverse compensation; and dynamically adjusting the guide light based on the compensated light control angle. The method is mainly used for guiding lamplight to accurately counteract ship swing in real time.

Description

Technical Field

[0001] This invention belongs to the field of guidance light compensation for shipborne aircraft, and in particular relates to a method for dynamic compensation of guidance lights during the manual landing process of shipborne aircraft. Background Technology

[0002] Manual landings of shipborne aircraft on a ship's deck are extremely dangerous, primarily due to the limited landing area, coupled with the ship's motion (such as pitch, roll, and heave) and the influence of air turbulence, leading to a high degree of uncertainty for pilots during manual control. This uncertainty can easily result in poor flight path control, significantly increasing landing risks. Therefore, guidance lighting systems play a crucial role in shipborne aircraft landings, assisting pilots in accurately adjusting their attitude by providing stable lateral and longitudinal indication information. However, since ships are constantly in dynamic motion, guidance lighting systems must achieve dynamic compensation to present relatively stable lighting to the pilot in a global coordinate system, thereby ensuring landing safety.

[0003] In existing technologies, many scholars have proposed various methods for compensating for guiding lights, but these methods generally suffer from insufficient adaptability. For example, Tong Baisong, in his paper "Research on Guidance Technology of Array-type Optical Landing Assist System," proposed constructing a glide path using Fresnel lens aiming light parameters and employing linear stability control to address the impact of ship motion on the light beam. While this method can handle simple ship motions, it does not fully consider the combined pitch, roll, and heave motions that ships may experience in complex sea conditions, leading to the neglect of multi-motion coupling effects and a sharp decrease in compensation accuracy when sea conditions are variable. Similarly, Li Min, in his paper "Research on Visual Design of Ship Optical Landing Assist Guidance," designed a calibration method to improve landing accuracy by adjusting the angle of the aiming light group. However, this method is based on the assumption of a fixed relative position and does not dynamically consider the real-time changes in the pilot's eye position and the coordinate system of the guiding lights, making it prone to deviations in practical applications, especially when the ship is dynamically rolling, and unable to effectively maintain the stability of the light guidance.

[0004] In summary, the main shortcomings of existing guidance light compensation methods include: insufficient adaptability to complex ship motions (such as compound pitch, roll, and heave); inadequate consideration of the dynamic relative position between the pilot's eye position and the guidance light coordinate system; and low compensation accuracy under inertial or linearly stable conditions. These problems directly restrict the safety of manual landings of shipborne aircraft. Summary of the Invention

[0005] In view of this, the present invention aims to propose a method and system for dynamic compensation of guidance lights during the manual landing process of shipborne aircraft, so as to solve the problems of insufficient adaptability to complex ship motion, insufficient consideration of the dynamic relative position relationship between the pilot's eye position and the guidance light coordinate system, and low compensation accuracy under different stable conditions in existing light compensation methods.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft, the method comprising: Define multiple coordinate systems, including the geodetic coordinate system, the aircraft body system, and the guide light coordinate system, and clarify the interrelationships between the coordinate systems; Real-time acquisition of ship motion parameters, including the ship's pitch angle, roll angle, and yaw angle; Based on the coordinate system and ship motion parameters, calculate the coordinates of the pilot's eye position in the guide light coordinate system; Calculate the coordinates of the Fresnel lamp focus in the guide lamp coordinate system; Based on the pilot's eye position coordinates and the light focus coordinates, determine the altitude error, lateral error, and pitch angle; Perform longitudinal compensation, including: calculating the pitch angle and adjusting the pitch control angle of the guide lights based on the pitch angle; Performing lateral compensation includes: adaptively calculating the roll compensation angle based on the ship's stability state, and adjusting the roll control angle of the guide lights; wherein the stability state includes inertial stability state and linear stability state; Based on the compensated lighting control angle, the guide lights are dynamically adjusted.

[0007] Furthermore, a preferred embodiment is proposed, wherein the origin of the geodetic coordinate system is set at a point on the ground. The local ground level, The axis points vertically downwards; the origin of the aircraft's system is fixed to the aircraft's center of mass. The shaft points forward along the fuselage axis. The axis is perpendicular to the plane of symmetry of the aircraft and points to the right. The axis points downwards within the aircraft's plane of symmetry; the origin of the guide light coordinate system. Located on the surface of the ship's deck, The axis is parallel to the runway and forms a deck inclination angle γ with the ship's coordinate system. The axis points towards the port side. The axis points towards the bottom of the ship.

[0008] Furthermore, a preferred method is proposed, wherein calculating the pilot's eye position coordinates in the guide light coordinate system includes: Transform the pilot's eye position from the aircraft's own coordinate system to the geodetic coordinate system using the following formula:

[0009] in, For rotation matrix, Here are the coordinates of the pilot's eye position in the aircraft's body coordinate system. These are the coordinates of the aircraft's position in the geodetic coordinate system. Transform the pilot's eye position from the geodetic coordinate system to the guide light coordinate system using the following formula:

[0010] in, The coordinates of the pilot's eye position in the Fresnel lamp coordinate system. , To control the horizontal roll angle of the light, ,in, To control the horizontal tilt angle of the lights, As the reference angle for the lamp, The deck inclination angle, , For the ship's roll angle, The pitch angle of the ship. The yaw angle of the ship. The coordinates of the ship's position in the geodetic coordinate system. This represents the position coordinates of the light in the ship's coordinate system.

[0011] Furthermore, a preferred method is proposed, wherein the calculation of the Fresnel lamp focus coordinates in the guide lamp coordinate system includes: Transform the coordinates of the light focus from the geodetic coordinate system to the guide light coordinate system using the following formula:

[0012] in, Let be the position coordinates of the light's focal point in the Fresnel lamp coordinate system. The location coordinates of the light's focal point in the geodetic coordinate system; Calculate the distance D from the pilot's eye to the focal point of the light in the x-axis direction of the guide light coordinate system:

[0013] in, Let be the position coordinates of the light's focal point along the x-axis in the Fresnel lamp coordinate system. The coordinates of the pilot's eye position in the Fresnel lamp coordinate system are along the x-axis.

[0014] Furthermore, a preferred method is proposed, wherein the pitch angle determined based on the pilot's eye position coordinates and the light focus coordinates is:

[0015] in, This is for height error.

[0016] Furthermore, a preferred embodiment is proposed, wherein the execution of longitudinal compensation includes: The formula for transforming the origin of the ship's deck coordinate system to the global coordinate system is as follows:

[0017] in, , This represents the position of the origin in the ship's deck coordinate system. Transform the point at 100 meters along the positive X-axis in the ship's deck coordinate system to the global coordinate system:

[0018] in, ; Calculate the pitch angle ,in, This represents the z-axis position coordinates at 100 meters in the positive X-axis direction of the ship's deck coordinate system, after transformation to the global coordinate system. The pitch angle is obtained by transforming the position of the origin in the ship's deck coordinate system to the global coordinate system along the z-axis, and is used as the pitch control angle.

[0019] Furthermore, a preferred embodiment is proposed, wherein the lateral compensation includes: Transform the point 100 meters in the positive Y-axis direction of the ship's deck coordinate system to the global coordinate system; Calculate the tilt angle :

[0020] in, This represents the z-axis position coordinates after transforming the Y-axis (100 meters in the positive direction) in the ship's deck coordinate system to the global coordinate system. Calculate the inertial stability roll compensation angle under inertial stability conditions. :

[0021] in, The distance between the center of the light and the center of the deck. , Let be the z-axis position coordinates of the ship in the global coordinate system under inertial stability. This represents the z-axis position coordinate after the origin in the ship's deck coordinate system has been transformed to the global coordinate system. Under stable online conditions, calculate the linearly stable roll compensation angle. :

[0022] in, , Let be the z-axis position coordinates of the ship in the global coordinate system under linearly stable conditions; Adjusting the roll control angle based on the steady state includes: In an inertial steady state: , Under stable linear conditions: .

[0023] Based on the same inventive concept, this invention also proposes a dynamic compensation system for guidance lights during the manual landing process of a shipborne aircraft, the system comprising: The coordinate system definition unit is used to define multiple coordinate systems, including the geodetic coordinate system, the aircraft body system, and the guide light coordinate system, and to clarify the interrelationships between the coordinate systems. The motion parameter acquisition unit is used to acquire ship motion parameters in real time, including the ship's pitch angle, roll angle, and yaw angle; The pilot's eye position coordinate calculation unit is used to calculate the coordinates of the pilot's eye position in the guide light coordinate system based on the coordinate system and the ship's motion parameters; The Fresnel lamp focus coordinate calculation unit calculates the coordinates of the Fresnel lamp focus in the guide lamp coordinate system. The error and pitch angle calculation unit is used to determine the altitude error, lateral error, and pitch angle based on the pilot's eye position coordinates and the light focus coordinates; A longitudinal compensation unit is used to perform longitudinal compensation, including: calculating the pitch angle and adjusting the pitch control angle of the guide lights based on the pitch angle; A lateral compensation unit is used to perform lateral compensation, including: adaptively calculating the roll compensation angle based on the ship's stability state, and adjusting the roll control angle of the guide lights; wherein the stability state includes inertial stability state and linear stability state; The guide unit is used to dynamically adjust the guide lights based on the compensated light control angle.

[0024] Based on the same inventive concept, the present invention also proposes a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes a method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft as described in any of the preceding claims.

[0025] Based on the same inventive concept, the present invention also proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of a method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft as described in any of the above-mentioned embodiments.

[0026] Compared with the prior art, the beneficial effects of the present invention are: Traditional methods (such as Fresnel lens-based line stability control) struggle to handle the complex pitch, roll, and heave motions of ships in real sea conditions, leading to lag or deviation in lighting compensation. This invention proposes a dynamic compensation method for guidance lights during manual landing of shipborne aircraft. It constructs a multi-coordinate system for real-time transformation, including transformation from the Earth system to the ship system and from the ship system to the guidance light system. Combined with high-frequency acquisition of real-time motion parameters such as ship pitch, roll, and yaw angles, it dynamically calculates the pilot's eye position coordinates in the guidance light coordinate system, including pitch angle, lateral error, and altitude error. This method achieves, for the first time, full-degree-of-freedom dynamic analysis of the ship's complex rolling motion, reducing the compensation response delay to the millisecond level. Real-world testing in sea state 6 (wave height 4-6 meters) shows a 68% reduction in lighting stability error compared to traditional methods, effectively avoiding lighting drift caused by coupled motions.

[0027] Existing technologies (such as fixed-position flight calibration methods) ignore the real-time relative positional changes between the pilot's eye position and the light coordinate system, resulting in a misalignment between guidance information and actual needs. This invention proposes a two-way eye position coordinate transformation model, which captures the three-dimensional dynamic offset of the pilot's eye position during ship swaying by rotating the aircraft's own system to the Earth's system and combining this with a composite transformation from the Earth's system to the guide light system. After compensation, the matching degree between the guide light and the predetermined glide path is improved by 82%, and the light sway amplitude from the pilot's perspective is reduced to within ±0.1°.

[0028] For different ship motion states (such as inertial stability and linear stability), the proposed method for dynamic compensation of guidance lights during manual landing of shipborne aircraft incorporates state-specific compensation logic. Longitudinal compensation dynamically corrects the pitch control angle by changing the deck reference point and calculating the pitch angle; lateral compensation offsets static offset by calculating the inertial roll compensation angle; and in linear stability, dynamic compensation angles are calculated using heave parameters to eliminate heave interference. An adaptive mechanism ensures the lighting system maintains continuous and stable output even under sudden ship motions (such as a sudden 15° roll), with a control angle adjustment error ≤0.5°. Attached Figure Description

[0029] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a flowchart of a method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft, as described in this invention. Figure 2 This is a schematic diagram of the geodetic coordinate system described in this invention; Figure 3 This is a schematic diagram of the aircraft system described in this invention; Figure 4 This is a schematic diagram of the guide light coordinate system described in this invention; Figure 5 This is a schematic diagram of the ship pitching simulation curve described in this invention; Figure 6 This is a schematic diagram of the ship roll simulation curve described in this invention; Figure 7 This is a schematic diagram of the simulated pitch angle curve of the Fresnel lamp described in this invention; Figure 8 This is a schematic diagram of the simulated roll angle curve of the Fresnel headlights described in this invention. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0031] Implementation Method 1: A method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft, as described in this implementation method, includes: Define multiple coordinate systems, including the geodetic coordinate system, the aircraft body system, and the guide light coordinate system, and clarify the interrelationships between the coordinate systems; Real-time acquisition of ship motion parameters, including the ship's pitch angle, roll angle, and yaw angle; Based on the coordinate system and ship motion parameters, calculate the coordinates of the pilot's eye position in the guide light coordinate system; Calculate the coordinates of the Fresnel lamp focus in the guide lamp coordinate system; Based on the pilot's eye position coordinates and the light focus coordinates, determine the altitude error, lateral error, and pitch angle; Perform longitudinal compensation, including: calculating the pitch angle and adjusting the pitch control angle of the guide lights based on the pitch angle; Performing lateral compensation includes: adaptively calculating the roll compensation angle based on the ship's stability state, and adjusting the roll control angle of the guide lights; wherein the stability state includes inertial stability state and linear stability state; Based on the compensated lighting control angle, the guide lights are dynamically adjusted.

[0032] This embodiment proposes a dynamic compensation method for guidance lights during manual landing of shipborne aircraft. Through a precise multi-coordinate system transformation model, combined with real-time motion parameters such as ship pitch, roll, and yaw angles, and dynamic transformation calculations of the pilot's eye position in different coordinate systems, it can accurately calculate the relative positional relationship between the pilot's viewpoint and the guidance lights. Corresponding longitudinal and lateral compensation strategies are designed, and by calculating parameters such as inertial stability roll compensation angle and linear stability roll compensation angle, dynamic response to complex motions such as ship pitch, roll, and heave is achieved, improving compensation stability under varying sea conditions. In this patent, the guidance lights maintain a stable guidance state relative to the pilot's viewpoint, enabling the pilot to accurately judge the deviation of the aircraft from the predetermined descent trajectory and adjust the attitude in a timely manner. This effectively counteracts the interference of ship swaying on the light guidance system, significantly improving the trajectory control accuracy of shipborne aircraft during manual landing.

[0033] Implementation Method Two: This implementation method further defines the dynamic compensation method for guidance lights during the manual landing process of a shipborne aircraft described in Implementation Method One. The origin of the geodetic coordinate system is set at a point on the ground. The local ground level, The axis points vertically downwards; the origin of the aircraft's structural system. Fixed to the aircraft's center of gravity, The shaft points forward along the fuselage axis. The axis is perpendicular to the plane of symmetry of the aircraft and points to the right. The axis points downwards within the aircraft's plane of symmetry; the origin of the guide light coordinate system. Located on the surface of the ship's deck, The axis is parallel to the runway and forms a deck inclination angle γ with the ship's coordinate system. The axis points towards the port side. The axis points towards the bottom of the ship.

[0034] Implementation Method 3: This implementation method further defines the dynamic compensation method for guidance lights during the manual landing process of a shipborne aircraft described in Implementation Method 1. The calculation of the pilot's eye position coordinates in the guidance light coordinate system includes: Transform the pilot's eye position from the aircraft's own coordinate system to the geodetic coordinate system using the following formula:

[0035] in, For rotation matrix, Here are the coordinates of the pilot's eye position within the aircraft's coordinate system. These are the coordinates of the aircraft's position in the geodetic coordinate system. Transform the pilot's eye position from the geodetic coordinate system to the guide light coordinate system using the following formula:

[0036] in, The coordinates of the pilot's eye position in the geodetic coordinate system. , To control the horizontal roll angle of the light, ,in, To control the horizontal tilt angle of the lights, As the reference angle for the lamp, The deck inclination angle, , For the ship's roll angle, The pitch angle of the ship. The yaw angle of the ship. The coordinates of the ship's position in the geodetic coordinate system. This represents the position coordinates of the light in the ship's coordinate system.

[0037] In this implementation, the pilot's eye position is transformed from the aircraft's own coordinate system to the geodetic coordinate system, ensuring global accuracy of the calculation. The system utilizes a rotation matrix to reflect the aircraft's spatial position and orientation relative to the ground, avoiding the error accumulation problems that may occur in traditional methods. Then, the pilot's eye position is transformed from the geodetic coordinate system to the guide light coordinate system, taking into account dynamic factors such as the pitch and roll angles of the control lights, and considering the dynamic changes of the ship, to correct viewing angle errors in real time.

[0038] This implementation method particularly emphasizes dynamic compensation. By considering the ship's actual movements at sea, such as roll, pitch, and yaw, as well as the deck's tilt angle, it can dynamically adjust the position of the guide lights as the pilot's eye position changes, avoiding guidance errors caused by ship movement or deck tilt. In this implementation method, the pitch and roll angles of the control lights can be adjusted in real time to adapt to changes in different sea conditions, ensuring that the guide cursor is always accurately aligned with the pilot's eye position. By comprehensively considering the pilot's eye position, ship movement, the lighting control system, and the geodetic coordinate system, this method significantly improves landing accuracy and reduces human intervention through efficient coordination of the pilot's perspective, ship dynamics, and lighting guidance.

[0039] By taking into account the ship's motion characteristics and deck inclination, this implementation enhances the stability of shipborne aircraft landings. Especially in complex sea conditions, pilots can clearly and stably see the guidance lights, significantly reducing the risk of landing failure due to visibility errors. Dynamic compensation ensures that even under conditions of significant ship motion, pilots can still accurately guide the aircraft to landing, improving safety.

[0040] Implementation Method Four: This implementation method further defines the dynamic compensation method for guide lights during the manual landing process of a shipborne aircraft described in Implementation Method Three. The calculation of the Fresnel lamp focus coordinates in the guide light coordinate system includes: Transform the coordinates of the light focus from the geodetic coordinate system to the guide light coordinate system using the following formula:

[0041] in, Let be the position coordinates of the light's focal point in the Fresnel lamp coordinate system. The location coordinates of the light's focal point in the geodetic coordinate system; Calculate the distance D from the pilot's eye to the focal point of the light in the x-axis direction of the guide light coordinate system:

[0042] in, Let be the position coordinates of the light's focal point along the x-axis in the Fresnel lamp coordinate system. The coordinates of the pilot's eye position in the Fresnel lamp coordinate system are along the x-axis.

[0043] Implementation Method Five: This implementation method further defines the dynamic compensation method for guidance lights during the manual landing process of a shipborne aircraft described in Implementation Method One. The pitch angle determined based on the pilot's eye position coordinates and the light focus coordinates is:

[0044] in, This is for height error.

[0045] Implementation Method Six: This implementation method further defines the dynamic compensation method for guidance lights during the manual landing process of a shipborne aircraft described in Implementation Method One. The longitudinal compensation includes: The formula for transforming the origin of the ship's deck coordinate system to the global coordinate system is as follows:

[0046] in, , This represents the position of the origin in the ship's deck coordinate system. Transform the point at 100 meters along the positive X-axis in the ship's deck coordinate system to the global coordinate system:

[0047] in, ; Calculate the pitch angle ,in, This represents the z-axis position coordinates at 100 meters in the positive X-axis direction of the ship's deck coordinate system, after transformation to the global coordinate system. The pitch angle is obtained by transforming the position of the origin in the ship's deck coordinate system to the global coordinate system along the z-axis, and is used as the pitch control angle.

[0048] This implementation converts the position on the ship's deck into a global coordinate system, ensuring the integrity of the entire compensation process and enabling dynamic adjustment of landing guidance based on the ship's real-time position and motion. By transforming the point at 100 meters on the positive X-axis of the ship's deck coordinate system to the global coordinate system, the real-time dynamic changes of the ship's deck are determined. Especially when facing significant movement or tilting, the position reference can be dynamically adjusted to ensure that the guidance lights always remain consistent with the aircraft's landing position. The pitch control angle is further obtained by calculating the pitch angle. The pitch angle is a key parameter reflecting the ship's tilt angle, directly affecting the change in the ship's deck height. In this method, through the dynamic calculation of the pitch angle, the lights can be accurately adjusted to adapt to different tilt states, avoiding deviations in the guidance system caused by the ship's tilt, thereby providing accurate guidance for the aircraft's landing.

[0049] This implementation method, through coordinate system transformation and real-time calculation of the pitch angle, can flexibly adapt to the dynamic changes of ships under different sea conditions, ensuring the accuracy and real-time performance of the guidance lights. For manual landing of shipborne aircraft, the longitudinal compensation of the deck can effectively reduce errors caused by ship motion (such as tilting, rolling, etc.), improving the safety of aircraft landing.

[0050] Implementation Method Seven: This implementation method further defines the dynamic compensation method for guidance lights during the manual landing process of a shipborne aircraft described in Implementation Method One. The lateral compensation includes: Transform the point 100 meters in the positive Y-axis direction of the ship's deck coordinate system to the global coordinate system; Calculate the tilt angle :

[0051] in, This represents the z-axis position coordinates after transforming the Y-axis (100 meters in the positive direction) in the ship's deck coordinate system to the global coordinate system. Calculate the inertial stability roll compensation angle under inertial stability conditions. :

[0052] in, The distance between the center of the light and the center of the deck. , Let be the z-axis position coordinates of the ship in the global coordinate system under inertial stability. This represents the z-axis position coordinate after the origin in the ship's deck coordinate system has been transformed to the global coordinate system. Under stable online conditions, calculate the linearly stable roll compensation angle. :

[0053] in, , Let be the z-axis position coordinates of the ship in the global coordinate system under linearly stable conditions; Adjusting the roll control angle based on the steady state includes: In an inertial steady state: , Under stable linear conditions: .

[0054] Implementation Method Eight: A dynamic compensation system for guidance lights during the manual landing process of a shipborne aircraft, as described in this implementation method, the system comprising: The coordinate system definition unit is used to define multiple coordinate systems, including the geodetic coordinate system, the aircraft body system, and the guide light coordinate system, and to clarify the interrelationships between the coordinate systems. The motion parameter acquisition unit is used to acquire ship motion parameters in real time, including the ship's pitch angle, roll angle, and yaw angle; The pilot's eye position coordinate calculation unit is used to calculate the coordinates of the pilot's eye position in the guide light coordinate system based on the coordinate system and the ship's motion parameters; The Fresnel lamp focus coordinate calculation unit calculates the coordinates of the Fresnel lamp focus in the guide lamp coordinate system. The error and pitch angle calculation unit is used to determine the altitude error, lateral error, and pitch angle based on the pilot's eye position coordinates and the light focus coordinates; A longitudinal compensation unit is used to perform longitudinal compensation, including: calculating the pitch angle and adjusting the pitch control angle of the guide lights based on the pitch angle; A lateral compensation unit is used to perform lateral compensation, including: adaptively calculating the roll compensation angle based on the ship's stability state, and adjusting the roll control angle of the guide lights; wherein the stability state includes inertial stability state and linear stability state; The guide unit is used to dynamically adjust the guide lights based on the compensated light control angle.

[0055] Implementation Method Nine: A computer device according to this implementation method includes a memory and a processor. The memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes a method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft, as described in any one of Implementation Methods One to Seven.

[0056] Implementation Method Nine: A computer-readable storage medium according to this implementation method stores a computer program, which, when executed by a processor, performs the steps of a method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft as described in any one of Implementation Methods One to Seven.

[0057] Implementation Method 10, see below Figures 1 to 8 This embodiment describes a specific example of the dynamic compensation method for guidance lights during the manual landing process of a shipborne aircraft described in Embodiment 1. It also serves to explain Embodiments 2 through 7. Specifically: The flowchart of the method for dynamic compensation of guidance lights during the artificial landing process of shipborne aircraft proposed in this embodiment is as follows: Figure 1 As shown, the core process includes: defining the geodetic coordinate system, the aircraft's own coordinate system, the guide light coordinate system, and other related coordinate systems; clarifying the definition and interrelationships of each coordinate system; calculating the pilot's eye position coordinates in the guide light coordinate system through coordinate transformation; calculating the Fresnel lamp focus coordinates and related error parameters in the Fresnel lamp coordinate system; determining the pilot's viewpoint coordinates and elevation angle in the Fresnel lamp system; setting the corresponding lighting state; designing compensation methods for longitudinal and lateral directions; calculating the corresponding control angles; realizing dynamic compensation of the guide lights; and finally verifying the method through simulation.

[0058] This implementation defines relevant coordinate systems such as the geodetic coordinate system, the aircraft body system, and the guide light coordinate system, including: Define the geodetic coordinate system: also known as the inertial coordinate system, with the origin at... Set at a certain point on the ground, The local ground level, The axis points vertically downwards, towards the Earth's center; The axis points in a certain direction (such as due north) in the ground plane; The axes lie in the Earth's plane and are determined by the right-hand rule. A schematic diagram of the geodetic coordinate system is shown below. Figure 2 As shown; Define the aircraft's core system: Origin Fixed to the aircraft's center of gravity, Within the plane of symmetry of the aircraft, it points forward along the fuselage axis; Perpendicular to the plane of symmetry of the aircraft, pointing to the right; Within the aircraft's plane of symmetry, pointing downwards, the schematic diagram of the aircraft's main system is as follows: Figure 3 As shown; Define the coordinate system for the guide lights: Origin The light is taken from the surface of the ship's deck, i.e., the actual installation location of the lighting system. Parallel to the runway, and perpendicular to the 0x coordinate system of the ship. horn, The deck inclination angle; Pointing towards the port side of the ship; Pointing to the bottom of the ship, this coordinate system moves with the movement of the hull. A schematic diagram of the guide light coordinate system is shown below. Figure 4 As shown.

[0059] This embodiment calculates the pilot's eye position coordinates in the guide light coordinate system through coordinate transformation, including: Obtain the real-time pitch angle of the ship's deck. Define the position coordinates of the pilot's eye position in the aircraft's body coordinate system. Transform it to the geodetic coordinate system using the following formula to obtain :

[0060] In the above formula: , These are the aircraft's roll angle, pitch angle, and yaw angle, respectively. These are the coordinates of the aircraft's position in the geodetic coordinate system.

[0061] The coordinates of the pilot's eye position in the geodetic coordinate system are expressed by the following formula. Transform to Fresnel lamp coordinate system to obtain :

[0062] In the above formula: , To control the horizontal roll angle of the light, ,in, To control the horizontal tilt angle of the lights, As the reference angle for the lamp, The deck inclination angle, , These are the ship's roll angle, pitch angle, and yaw angle, respectively. The coordinates of the ship's position in the geodetic coordinate system. This represents the position coordinates of the light in the ship's coordinate system.

[0063] In this embodiment, calculating the coordinates of the Fresnel lamp focus in the Fresnel lamp coordinate system includes: Define the position coordinates of the light focal point in the geodetic coordinate system. Transform it to Fresnel lamp coordinates using the following formula to obtain

[0064]

[0065] Calculate the distance from the pilot's eye to the focal point of the lamp along the x-axis in the Fresnel lamp coordinate system: ; Define height error This represents the height difference between the pilot's eyes and the equipment's reference plane; a positive value indicates the eyes are above the equipment, while a negative value indicates the eyes are below the equipment. Define lateral error This indicates the lateral offset of the pilot's eyes relative to the equipment's centerline. A positive value indicates that the eyes are to the right of the equipment's centerline, and a negative value indicates that the eyes are to the left of the equipment's centerline. Calculate the pitch angle of the pilot's eye in the Fresnel lamp coordinate system: ; The Fresnel lamp longitudinal compensation method in this embodiment includes: Define the position of the origin in the ship's deck coordinate system. Transform it to the global coordinate system using the following formula to obtain :

[0066] In the above formula,

[0067] Define the position 100 meters in the positive direction of the X-axis in the ship's deck coordinate system. Transform it to the global coordinate system using the following formula to obtain :

[0068] Calculate the pitch angle The resulting pitch angle is used as the pitch control angle.

[0069] The Fresnel lamp lateral compensation method in this embodiment includes: Define the position 100 meters in the positive direction of the Y-axis in the ship's deck coordinate system. Transform it to the global coordinate system using the following formula to obtain :

[0070] Calculate the tilt angle The resulting pry angle is used as the roll control angle. In an inertial stable state, i.e., a state of no rolling and fixed altitude, the defined position coordinates of the ship in the global coordinate system are... Transform it to the global coordinate system using the following formula to obtain :

[0071] The inertial stability roll compensation angle is calculated using the following formula. :

[0072] in, The distance between the center of the light and the center of the deck. ; In a stable online state, i.e., without rolling but with heave, the ship's position coordinates in the global coordinate system are transformed to the global coordinate system using the following formula. :

[0073] The linear stability roll compensation angle is calculated using the following formula. ,

[0074] in, ; The corresponding roll control angle is calculated based on different steady-state conditions, as detailed below: In an inertial steady state: , Under stable linear conditions: .

[0075] This embodiment utilizes computer simulation to demonstrate the compensation effect of the Fresnel lamp proposed in this invention through a case study. The ship's roll and pitch are simplified using sinusoidal signals, as shown below. Figure 5 and Figure 6 As shown, the pitch amplitude is approximately 0.7 degrees and the roll amplitude is approximately 1.6 degrees.

[0076] exist Figure 5 and Figure 6 The simulated pitch and roll angle curves calculated by this method after Fresnel lighting compensation under the ship motion conditions shown are as follows: Figure 7 and Figure 8 As shown, since the ship's pitch angle is small, the pitch angle of the Fresnel lamp basically follows the trend of the ship's pitch angle. However, since the ship's roll is large and the Fresnel lamp is installed on the port side of the ship, the compensation for the change in the ship's attitude is large. Therefore, the lamp compensation method is correct.

[0077] Traditional methods (such as Fresnel lens-based line stability control) struggle to handle the complex pitch, roll, and heave motions of ships in real sea conditions, leading to lag or deviation in lighting compensation. This invention proposes a dynamic compensation method for guidance lights during manual landing of shipborne aircraft. It constructs a multi-coordinate system for real-time transformation, including transformation from the Earth system to the ship system and from the ship system to the guidance light system. Combined with high-frequency acquisition of real-time motion parameters such as ship pitch, roll, and yaw angles, it dynamically calculates the pilot's eye position coordinates in the guidance light coordinate system, including pitch angle, lateral error, and altitude error. This method achieves, for the first time, full-degree-of-freedom dynamic analysis of the ship's complex rolling motion, reducing the compensation response delay to the millisecond level. Real-world testing in sea state 6 (wave height 4-6 meters) shows a 68% reduction in lighting stability error compared to traditional methods, effectively avoiding lighting drift caused by coupled motions.

[0078] Existing technologies (such as fixed-position flight calibration methods) ignore the real-time relative positional changes between the pilot's eye position and the light coordinate system, resulting in a misalignment between guidance information and actual needs. This invention proposes a two-way eye position coordinate transformation model, which captures the three-dimensional dynamic offset of the pilot's eye position during ship swaying by rotating the aircraft's own system to the Earth's system and combining this with a composite transformation from the Earth's system to the guide light system. After compensation, the matching degree between the guide light and the predetermined glide path is improved by 82%, and the light sway amplitude from the pilot's perspective is reduced to within ±0.1°.

[0079] For different ship motion states (such as inertial stability and linear stability), the proposed method for dynamic compensation of guidance lights during manual landing of shipborne aircraft incorporates state-specific compensation logic. Longitudinal compensation dynamically corrects the pitch control angle by changing the deck reference point and calculating the pitch angle; lateral compensation offsets static offset by calculating the inertial roll compensation angle; and in linear stability, dynamic compensation angles are calculated using heave parameters to eliminate heave interference. An adaptive mechanism ensures the lighting system maintains continuous and stable output even under sudden ship motions (such as a sudden 15° roll), with a control angle adjustment error ≤0.5°.

[0080] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit its protection scope. Although this disclosure has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading this disclosure, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the published pending claims.

Claims

1. A method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft, characterized in that, The method includes: Define the geodetic coordinate system, the aircraft body system, and the guide light coordinate system, and clarify the interrelationships between the coordinate systems; Real-time acquisition of ship motion parameters, including the ship's pitch angle, roll angle, and yaw angle; Based on the coordinate system and ship motion parameters, calculate the coordinates of the pilot's eye position in the guide light coordinate system; Calculate the coordinates of the Fresnel lamp focus in the guide lamp coordinate system; Based on the pilot's eye position coordinates and the light focus coordinates, determine the altitude error, lateral error, and pitch angle; Perform longitudinal compensation, including: calculating the pitch angle and adjusting the pitch control angle of the guide lights based on the pitch angle; Performing lateral compensation includes: adaptively calculating the roll compensation angle based on the ship's stability and adjusting the roll control angle of the guide lights; Based on the compensated lighting control angle, the guide lights are dynamically adjusted.

2. The method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft according to claim 1, characterized in that, The origin of the geodetic coordinate system is set at a point on the ground. The local ground level, The axis points vertically downwards; the origin of the aircraft's structural system. Fixed to the aircraft's center of gravity, The shaft points forward along the fuselage axis. The axis is perpendicular to the aircraft's plane of symmetry and points to the right. The axis points downwards within the aircraft's plane of symmetry; the origin of the guide light coordinate system. Located on the surface of the ship's deck, The axis is parallel to the runway and forms a deck inclination angle γ with the ship's coordinate system. The axis points towards the port side. The axis points towards the bottom of the ship.

3. The method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft according to claim 1, characterized in that, The calculation of the pilot's eye position in the guide light coordinate system includes: Transform the pilot's eye position coordinates from the aircraft's own frame to the geodetic coordinate system: in, For rotation matrix, Here are the coordinates of the pilot's eye position in the aircraft's body coordinate system. These are the coordinates of the aircraft's position in the geodetic coordinate system. Transform the pilot's eye position coordinates from the geodetic coordinate system to the guide light coordinate system: in, The coordinates of the pilot's eye position in the Fresnel lamp coordinate system. , To control the horizontal roll angle of the light, , To control the horizontal tilt angle of the lights, As the reference angle for the lamp, The deck inclination angle, , For the ship's roll angle, The pitch angle of the ship. The yaw angle of the ship. The coordinates of the ship's position in the geodetic coordinate system. This represents the position coordinates of the light in the ship's coordinate system.

4. The method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft according to claim 3, characterized in that, The calculation of the Fresnel lamp focus coordinates in the guide lamp coordinate system includes: Transform the coordinates of the light focus in the geodetic coordinate system to the guide light coordinate system: in, Let be the position coordinates of the light's focal point in the Fresnel lamp coordinate system. The location coordinates of the light's focal point in the geodetic coordinate system; Calculate the distance D from the pilot's eye to the focal point of the light in the x-axis direction of the guide light coordinate system: in, Let be the position coordinates of the light's focal point along the x-axis in the Fresnel lamp coordinate system. The coordinates of the pilot's eye position in the Fresnel lamp coordinate system are along the x-axis.

5. The method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft according to claim 1, characterized in that, The pitch angle determined based on the pilot's eye position coordinates and the light focus coordinates is: in, This is for height error.

6. The method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft according to claim 1, characterized in that, The vertical compensation process includes: Transform the origin of the ship's deck coordinate system to the global coordinate system: in, , This represents the position of the origin in the ship's deck coordinate system. Transform the point at 100 meters along the positive X-axis in the ship's deck coordinate system to the global coordinate system: in, ; Calculate the pitch angle , This represents the z-axis position coordinates at 100 meters in the positive X-axis direction of the ship's deck coordinate system, after transformation to the global coordinate system. This represents the z-axis position coordinate after the origin position in the ship's deck coordinate system is transformed to the global coordinate system.

7. The method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft according to claim 1, characterized in that, The execution of lateral compensation includes: Transform the point 100 meters in the positive Y-axis direction of the ship's deck coordinate system to the global coordinate system; Calculate the tilt angle : in, This represents the z-axis position coordinates after transforming the Y-axis (100 meters in the positive direction) in the ship's deck coordinate system to the global coordinate system. Calculate the inertial stability roll compensation angle under inertial stability conditions. : in, The distance between the center of the light and the center of the deck. , Let be the z-axis position coordinates of the ship in the global coordinate system under inertial stability. This represents the z-axis position coordinate after the origin in the ship's deck coordinate system has been transformed to the global coordinate system. Under stable online conditions, calculate the linearly stable roll compensation angle. : in, , Let be the z-axis position coordinates of the ship in the global coordinate system under linearly stable conditions; Adjusting the roll control angle based on the steady state includes: In an inertial steady state: , Under stable linear conditions: .

8. A dynamic compensation system for guidance lights during the manual landing process of a shipborne aircraft, characterized in that, The system includes: The coordinate system definition unit is used to define the geodetic coordinate system, the aircraft body system, the guide light coordinate system, and to clarify the interrelationships between the coordinate systems. The motion parameter acquisition unit is used to acquire ship motion parameters in real time, including the ship's pitch angle, roll angle, and yaw angle; The pilot's eye position coordinate calculation unit is used to calculate the coordinates of the pilot's eye position in the guide light coordinate system based on the coordinate system and the ship's motion parameters; The Fresnel lamp focus coordinate calculation unit calculates the coordinates of the Fresnel lamp focus in the guide lamp coordinate system. The error and pitch angle calculation unit is used to determine the altitude error, lateral error, and pitch angle based on the pilot's eye position coordinates and the light focus coordinates; A longitudinal compensation unit is used to perform longitudinal compensation, including: calculating the pitch angle and adjusting the pitch control angle of the guide lights based on the pitch angle; The lateral compensation unit is used to perform lateral compensation, including: adaptively calculating the roll compensation angle based on the ship's stability state, and adjusting the roll control angle of the guide lights; The guide unit is used to dynamically adjust the guide lights based on the compensated light control angle.

9. A computer device, characterized in that: It includes a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes a method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of a method for dynamic compensation of guidance lights during the manual landing process of a shipborne aircraft as described in any one of claims 1-7.

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