A method and system for filtering true angle of attack and sideslip angle after voting

Abstract

The present application belongs to the field of flight navigation technology, and particularly relates to a method and system for filtering the true angle of attack and sideslip angle after voting. The method comprises: step S1, obtaining the true angle of attack and sideslip angle after voting to form the current input value; step S2, obtaining the true angle of attack and sideslip angle after voting in the previous beat to form the input value of the previous beat, and simultaneously obtaining the true angle of attack and sideslip angle after filtering in the previous beat to form the output value of the previous beat; step S3, filtering the current input value through a filtering formula to obtain the current output value, wherein the filtering formula is: wherein x is the current input value, y is the current output value, x is the current input value, and y is the current output value. ‑1 Input value for the previous beat, y ‑1 This application solves the problem of velocity vector jump caused by the true angle of attack and the sideslip angle after voting.

Description

Technical Field

[0001] The present application belongs to the field of flight navigation technology, and in particular relates to a method and system for filtering true angle of attack and sideslip angle after voting. Background Art

[0002] For an aircraft, the angle of attack is the angle between the aircraft's lift vector and its longitudinal axis. The sideslip angle is the angle between the aircraft's velocity vector and its longitudinal plane of symmetry. If the velocity vector V is to the right of the plane of symmetry, the corresponding sideslip angle is positive; if it is not, the corresponding sideslip angle is negative. The aircraft's angle of attack and sideslip are crucial to flight navigation and typically require voting logic. The resulting angles of attack and sideslip are then used for subsequent calculations.

[0003] The velocity vectors driven by the true angle of attack and sideslip angle after voting measured by current airborne sensors usually have jump problems, which have a serious impact on flight navigation. Summary of the Invention

[0004] In order to solve the above problems, the present application provides a method and system for filtering the true angle of attack and sideslip angle after voting, which makes the output more stable by filtering the true angle of attack and sideslip angle after voting.

[0005] The first aspect of the present application provides a method for filtering true angle of attack and sideslip angle after voting, mainly comprising:

[0006] Step S1: Obtain the true angle of attack and sideslip angle after voting to form the current input value;

[0007] Step S2: Obtain the true angle of attack and sideslip angle after voting in the previous beat to form the input value of the previous beat, and simultaneously obtain the true angle of attack and sideslip angle after filtering in the previous beat to form the output value of the previous beat;

[0008] Step S3: Filter the current input value using a filtering formula to obtain a current output value. The filtering formula is:

[0009]

[0010] Among them, x is the current input value, y is the current output value, x -1 Input value for the previous beat, y -1 Output value for the previous beat.

[0011] Preferably, at the beginning of the iteration, the current input value and the current output value are both 0.

[0012] Preferably, the parameters of the filtering formula are determined in the following manner:

[0013] Set the filtering link to:

[0014] Solve the corresponding parameters a, b, c;

[0015] Bilinear transformation method Then modify the filtering link to:

[0016]

[0017] Convert the above equation into a difference equation:

[0018] According to the given period T, the parameters of the filtering formula are determined.

[0019] Preferably, the period T is 0.025.

[0020] A second aspect of the present application provides a post-voting true angle of attack and sideslip angle filtering system, mainly comprising:

[0021] The current input value acquisition module is used to obtain the true angle of attack and sideslip angle after voting to form the current input value;

[0022] The previous beat parameter acquisition module is used to obtain the true angle of attack and sideslip angle after voting in the previous beat to form the input value of the previous beat, and at the same time obtain the true angle of attack and sideslip angle after filtering in the previous beat to form the output value of the previous beat;

[0023] The filtering module is used to filter the current input value through the filtering formula to obtain the current output value. The filtering formula is:

[0024]

[0025] Among them, x is the current input value, y is the current output value, x -1 Input value for the previous beat, y -1 Output value for the previous beat.

[0026] Preferably, at the beginning of the iteration, the current input value and the current output value are both 0.

[0027] Preferably, the filtering module further comprises a filtering formula parameter determination unit, configured to determine the parameters of the filtering formula through a given period T;

[0028] Among them, the filtering link is set as:

[0029] Solve the corresponding parameters a, b, c;

[0030] Bilinear transformation method Then modify the filtering link to:

[0031]

[0032] Convert the above equation into a difference equation:

[0033] Preferably, the period T is 0.025.

[0034] This application solves the problem of velocity vector sign jump caused by the true angle of attack after voting and the sideslip angle after voting. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a flow chart of a preferred embodiment of the true angle of attack and sideslip angle filtering method after voting in this application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the implementation of this application will be described in more detail below in conjunction with the drawings in the implementation of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described implementation is a part of the implementation of this application, not all of the implementations. The implementation described below with reference to the drawings is exemplary and is intended to be used to explain this application, and should not be understood as a limitation on this application. Based on the implementation in this application, all other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The implementation of this application is described in detail below in conjunction with the drawings.

[0037] The first aspect of the present application provides a method for filtering the true angle of attack and sideslip angle after voting, such as Figure 1 As shown, it mainly includes:

[0038] Step S1: Obtain the true angle of attack and sideslip angle after voting to form the current input value;

[0039] Step S2: Obtain the true angle of attack and sideslip angle after voting in the previous beat to form the input value of the previous beat, and simultaneously obtain the true angle of attack and sideslip angle after filtering in the previous beat to form the output value of the previous beat;

[0040] Step S3: Filter the current input value using a filtering formula to obtain a current output value. The filtering formula is:

[0041]

[0042] Among them, x is the current input value, y is the current output value, x -1 Input value for the previous beat, y -1 Output value for the previous beat.

[0043] In some optional implementations, at the start of iteration, the current input value and the current output value are both 0.

[0044] In some optional implementations, the parameters of the filtering formula are determined in the following manner:

[0045] Set the filtering link to:

[0046] Solve the corresponding parameters a, b, c;

[0047] Bilinear transformation method Then modify the filtering link to:

[0048]

[0049] Convert the above equation into a difference equation:

[0050] According to the given period T, the parameters of the filtering formula are determined.

[0051] In some optional embodiments, the period T is 0.025.

[0052] A second aspect of the present application provides a post-voting true angle of attack and sideslip angle filtering system corresponding to the above method, mainly comprising:

[0053] The current input value acquisition module is used to obtain the true angle of attack and sideslip angle after voting to form the current input value;

[0054] The previous beat parameter acquisition module is used to obtain the true angle of attack and sideslip angle after voting in the previous beat to form the input value of the previous beat, and at the same time obtain the true angle of attack and sideslip angle after filtering in the previous beat to form the output value of the previous beat;

[0055] The filtering module is used to filter the current input value through the filtering formula to obtain the current output value. The filtering formula is:

[0056]

[0057] Among them, x is the current input value, y is the current output value, x -1 Input value for the previous beat, y -1 Output value for the previous beat.

[0058] In some optional implementations, at the start of iteration, the current input value and the current output value are both 0.

[0059] In some optional embodiments, the filtering module further includes a filtering formula parameter determination unit, configured to determine the parameters of the filtering formula through a given period T;

[0060] Among them, the filtering link is set as:

[0061] Solve the corresponding parameters a, b, c;

[0062] Bilinear transformation method Then modify the filtering link to:

[0063]

[0064] Convert the above equation into a difference equation:

[0065] In some optional embodiments, the period T is 0.025.

[0066] This application filters the post-voting true angle of attack and sideslip angle to address the jumps in the velocity vector measured by the onboard sensors. While adding a filtering step introduces a lag in the filtered output, it can eliminate the jumps to a certain extent.

[0067] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for filtering true angle of attack and sideslip angle after voting, characterized in that: include: Step S1: Obtain the true angle of attack and sideslip angle after voting to form the current input value; Step S2: Obtain the true angle of attack and sideslip angle after voting in the previous beat to form the input value of the previous beat, and simultaneously obtain the true angle of attack and sideslip angle after filtering in the previous beat to form the output value of the previous beat; Step S3: Filter the current input value using a filtering formula to obtain a current output value. The filtering formula is: Among them, x is the current input value, y is the current output value, x -1 Input value for the previous beat, y -1 Output value for the previous beat; Among them, at the beginning of the iteration, the current input value and the current output value are both 0; The parameters of the filtering formula are determined in the following way: Set the filtering link to: Solve the corresponding parameters a, b, c; Bilinear transformation method Then modify the filtering link to Convert the above equation into a difference equation According to the given period T, determine the parameters of the filtering formula; The period T is 0.

025.

2. A post-voting true angle of attack and sideslip angle filtering system, characterized in that: include: The current input value acquisition module is used to obtain the true angle of attack and sideslip angle after voting to form the current input value; The previous beat parameter acquisition module is used to obtain the true angle of attack and sideslip angle after voting in the previous beat to form the input value of the previous beat, and at the same time obtain the true angle of attack and sideslip angle after filtering in the previous beat to form the output value of the previous beat; The filtering module is used to filter the current input value through the filtering formula to obtain the current output value. The filtering formula is: Among them, x is the current input value, y is the current output value, x -1 Input value for the previous beat, y -1 Output value for the previous beat; Among them, at the beginning of the iteration, the current input value and the current output value are both 0; The filtering module further includes a filtering formula parameter determination unit, which is used to determine the parameters of the filtering formula through a given period T; Among them, the filtering link is set as: Solve the corresponding parameters a, b, c; Bilinear transformation method Then modify the filtering link to Convert the above equation into a difference equation: The period T is 0.025.

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