An automatic tuning method for aircraft radio navigation

Abstract

The present invention provides an automatic tuning method for aircraft radio navigation, which includes obtaining the estimated position A of the aircraft and K navigation stations within a preset range; calculating the distances between the aircraft and each navigation station; forming navigation station pairs in pairs, and calculating the angles between each pair of navigation station pairs and the estimated position A of the aircraft; calculating the distances between the navigation station pairs and the estimated position A of the aircraft, and selecting the navigation station pair with the shortest distance from the estimated position A of the aircraft; calculating the navigation performance ANP value β of each group of navigation station pairs; obtaining a new navigation station pair for automatic tuning; comparing the new navigation station pair with the current navigation station pair to determine whether to switch to the new navigation station pair. The method designed by the present invention has rigorous logic and strong practicability, avoids the parameters for calculating the effective navigation distance in the traditional method, reduces the calculation amount, and can avoid the frequent switching problem of the navigation station pair during tuning.

Description

Technical Field

[0001] The present invention relates to the technical field of airborne flight management systems, and particularly to an automatic tuning method for aircraft radio navigation. Background Art

[0002] Aircraft radio navigation is one of the ways to ensure the safe and punctual navigation of an aircraft from one place to another using radio. It realizes the automatic tuning of radio navigation stations through the tuning algorithm carried by the aircraft itself to ensure the navigation performance required for navigation.

[0003] Currently, there are the following two traditional methods for automatic tuning of radio navigation:

[0004] One method is: Select 10 navigation stations not within the navigation range. Determine the navigation stations that meet the conditions based on the angle and distance between the navigation stations and the aircraft. If there are more than two that meet the conditions, calculate the effective navigation distance of the navigation station pairs; Determine the switching condition (the availability of the navigation station pairs, and compare the effective navigation distance of the newly formed navigation station pairs with the effective navigation distance of the current navigation pairs to determine whether to switch to the navigation station pairs).

[0005] Another method is: First, select 100 navigation stations not within the navigation range, select the available navigation stations, determine whether the number of navigation stations is greater than 2, and determine the switching condition.

[0006] When the above two methods are applied, in the first method, the method of calculating the effective navigation distance of the navigation station pairs is complex, and the amount of calculation is large after permutation and combination; In the second method, the number of selected navigation stations is large, and the navigation station pairs are switched too frequently without calculating the effective navigation distance. Summary of the Invention

[0007] The purpose of the present invention is to solve the problems of complex calculation method, large calculation amount of the effective navigation distance of navigation station pairs, and too frequent switching of navigation stations, and provides an automatic tuning method for aircraft radio navigation.

[0008] The technical solution for achieving the invention purpose is as follows: An automatic tuning method for aircraft radio navigation includes the following steps:

[0009] S1. Obtain the estimated position A of the aircraft and K navigation stations within a preset range, and define natural numbers m and n, where m ≤ K and n ≤ K;

[0010] S2. Calculate the distances between the aircraft and each navigation station;

[0011] S3. Pair the K navigation stations in pairs to form navigation station pairs, and calculate the angles between each group of navigation station pairs and the estimated position A of the aircraft;

[0012] S4. Calculate the distances between each pair of navigation stations and the estimated position A of the aircraft based on the included angles between them, and select the pair of navigation stations with the shortest distance to the estimated position A of the aircraft;

[0013] S5. Calculate the ANP value β of the navigation performance of each pair of navigation stations;

[0014] S6. Based on the distances between each pair of navigation stations and the estimated position A of the aircraft, the pair of navigation stations with the shortest distance to the estimated position A of the aircraft, and the β value, obtain a new pair of navigation stations for automatic tuning;

[0015] S7. Compare the new pair of navigation stations with the current pair of navigation stations. If the comparison result meets the switching condition, switch to the new pair of navigation stations; if the comparison result does not meet the switching condition, do not switch;

[0016] S8. Loop through steps S2 to S7, and update step S1 according to the set time interval until the aircraft completes its flight mission.

[0017] In one embodiment, in step S1 above, the method for obtaining the navigation stations within the preset range of the aircraft is as follows: Taking the estimated position A of the aircraft as the center, read the navigation database to obtain all the navigation stations whose distances from the estimated position A of the aircraft are within the range of 3 nm to 150 nm.

[0018] In one embodiment, in step S2 above, before calculating the distances between the aircraft and each navigation station, first screen the navigation stations. The screening method is: Select the navigation stations that are closest to the aircraft and meet the preset conditions from the K navigation stations.

[0019] Further, the above preset conditions to be met are (Formula 1).

[0020] In one embodiment, in step S4 above, the method for obtaining the distance between a pair of navigation stations and the estimated position A of the aircraft is as follows:

[0021] Calculate the distances between each navigation station in the pair of navigation stations and the estimated position A of the aircraft;

[0022] Compare the magnitudes of the two distances;

[0023] Select the larger distance as the distance between the pair of navigation stations and the estimated position A of the aircraft.

[0024] In one embodiment, in step S7 above, the switching condition for switching the aircraft's navigation station to a new navigation station is:

[0025] The current pair of navigation stations is unavailable;

[0026] Or the previous navigation station pair is available, but the distance between the current navigation station pair and the estimated position A of the aircraft is greater than the distance between the new navigation station pair and the estimated position A of the aircraft.

[0027] In one embodiment, the time for the above steps S2 to S7 to be executed in a loop is less than the set time interval updated in step S1.

[0028] In one embodiment, in the above step S1, when the number K of navigation stations is 1, the VOR / DME navigation method is used for navigation. When the distance between the VOR / DME and the aircraft is greater than the set value, a warning signal is issued.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] 1. The method of the present invention adds a time dimension through automatic tuning of the top-level logic design. Through a double time loop (for example: search the navigation database every 3 minutes and update the navigation station; and within 3 minutes, re-group every 10 seconds), and determines whether to switch through the designed navigation station switching algorithm. The method of the present invention has rigorous logic and strong practicability, can avoid the parameters for calculating the effective navigation distance of the traditional method, and reduces the calculation amount.

[0031] 2. The method of the present invention designs a navigation station switching algorithm under the new rule tuning logic. By using the included angle formed by the navigation station and the estimated position A of the aircraft and the navigation station and the estimated position A of the aircraft as variables, a switching algorithm is designed, and the navigation station information near the aircraft is updated every 3 minutes, avoiding the problem of frequent switching of the navigation station pair during tuning.

[0032] 3. The calculation of the navigation performance ANP value β is added to the navigation station switching function, which is used for the first time. The navigation performance of the navigation station is added to the self-tuning. And from the simulation results, the effect is good, and the optimal navigation station can be effectively screened. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below.

[0034] Figure 1 It is a flowchart of the aircraft radio navigation automatic tuning method in the specific embodiment;

[0035] Figure 2 It is a schematic diagram of the included angle between the navigation station pair and the estimated position A of the aircraft in the specific embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The present invention will be further described below in conjunction with specific embodiments, and the advantages and features of the present invention will become clearer as the description progresses. However, these embodiments are merely exemplary and do not constitute any limitation to the scope of the present invention. Those skilled in the art should understand that modifications or substitutions can be made to the details and forms of the technical solutions of the present invention without departing from the spirit and scope of the present invention, but such modifications and substitutions all fall within the protection scope of the present invention.

[0037] This specific embodiment designs an automatic tuning method for aircraft radio navigation, including the following steps:

[0038] S1. Obtain the estimated position A of the aircraft and K navigation stations within a preset range, and define natural numbers m and n, where m ≤ K and n ≤ K.

[0039] In one embodiment, the method for obtaining the navigation stations within the preset range of the aircraft is as follows: Taking the estimated position A of the aircraft as the center, read the navigation database to obtain all the navigation stations whose distance from the estimated position A of the aircraft is within the range of 3 nm to 150 nm.

[0040] In one embodiment, since it may be impossible to search for a navigation station or only one navigation station can be searched within the preset range, at this time, a navigation pair cannot be formed, and thus the following steps cannot be used to calculate the new navigation station pair for automatic tuning. When this situation occurs, perform the following operations:

[0041] On the one hand, when the number of navigation stations K = 1, the VOR / DME navigation method is used for navigation. When the distance between the VOR / DME and the aircraft is greater than a set value (for example, 100 NM), a warning signal is issued.

[0042] On the other hand, when the number of navigation stations K = 0, a warning signal is issued and the end operation is executed.

[0043] S2. Calculate the distances between the aircraft and each navigation station;

[0044] S3. Pair the K navigation stations in pairs to form navigation station pairs, and calculate the angle between each group of navigation station pairs and the estimated position A of the aircraft;

[0045] S4. Based on the angles between each navigation station pair and the estimated position A of the aircraft, calculate the distances between the navigation station pairs and the estimated position A of the aircraft, and select the navigation station pair with the closest distance to the estimated position A of the aircraft;

[0046] In one embodiment, in the above step S4, the method for obtaining the distance between the navigation station pair and the estimated position A of the aircraft is as follows:

[0047] Calculate the distances between each navigation station in the navigation station pair and the estimated position A of the aircraft;

[0048] Compare the magnitudes of two distances;

[0049] Select the one with the larger distance as the distance between the navigation aid pair and the estimated position A of the aircraft.

[0050] S5. Calculate the navigation performance ANP value β of each group of navigation aid pairs;

[0051] S6. Based on the distances between each navigation aid pair and the estimated position A of the aircraft, the navigation aid pair closest to the estimated position A of the aircraft, and the β value, obtain a new navigation aid pair for automatic tuning;

[0052] S7. Compare the new navigation aid pair with the current navigation aid pair. If the comparison result meets the switching condition, switch to the new navigation aid pair; if the comparison result does not meet the switching condition, do not switch;

[0053] In one embodiment, in the above step S7, the switching condition for the aircraft navigation aid to switch to a new navigation aid is:

[0054] The current navigation aid pair is unavailable;

[0055] Or the previous navigation aid pair is available, but the distance between the current navigation aid pair and the estimated position A of the aircraft is greater than the distance between the new navigation aid pair and the estimated position A of the aircraft.

[0056] S8. Loop through steps S2 to S7, and update step S1 according to the set time interval until the aircraft completes the flight mission.

[0057] In one embodiment, the time for looping through steps S2 to S7 is less than the set time interval for updating step S1. For example: the time for looping through steps S2 to S7 can be selected as 10 seconds, and the set time interval for updating step S1 can be selected as 3 minutes.

[0058] Since the number K of navigation aids obtained in step S1 may be large, in order to simplify the calculation amount of subsequent steps S2 to S7, as an improvement to the above embodiment, before calculating the distances between the aircraft and each navigation aid in step S2, first screen the navigation aids, and the screening method is: select the one closest to the aircraft and meeting the preset conditions from the K navigation aids navigation aids.

[0059] Furthermore, the above preset conditions to be met are (Formula 1). If the above preset conditions are not met, then select the VOR / DME navigation method for navigation, but when the distance between VOR / DME and the aircraft is greater than the set value (for example, 100 NM), a warning signal is issued.

[0060] 1. The method of the present invention automatically tunes the top-level logic design, adds a time dimension, and through a time double loop (for example: search the navigation database every 3 minutes and update the navigation station once; and within 3 minutes, re-group every 10 seconds), and determines whether to switch through the designed navigation station switching algorithm. The method of the present invention has rigorous logic and strong practicability, can avoid the parameters for calculating the effective navigation distance of the traditional method, and reduces the calculation amount.

[0061] 2. The method of the present invention designs a navigation station switching algorithm under the new rule tuning logic. By using the included angle formed by the navigation station and the estimated position A of the aircraft and the navigation station and the estimated position A of the aircraft as variables, a switching algorithm is designed, and the navigation station information near the aircraft is updated every 3 minutes, avoiding the problem of frequent switching of the navigation station during tuning.

[0062] 3. The calculation of the ANP value β of the navigation performance is added to the navigation station switching function, which is used for the first time. The navigation performance of the navigation station is added to the self-tuning, and from the simulation results, the effect is good, and the optimal navigation station can be effectively screened.

[0063] The following uses specific examples to illustrate the above aircraft radio navigation automatic tuning method. See Figure 1 As shown, the aircraft radio navigation automatic tuning method includes the following steps:

[0064] (1) Obtain the estimated position of the aircraft , and with the aircraft position as the center, read data from the navigation database to obtain the distance from the estimated position of the aircraft The position is greater than 3 Less than 150 Of the K navigation stations, label the navigation stations of the K navigation stations as , where Is a natural number, and m ≤ K, n ≤ K, and traverse to K respectively, excluding itself.

[0065] (2) When the number of obtained navigation stations satisfies , select the Navigation stations closest to the aircraft from them, and discard the rest, where Needs to meet the following conditions: (Formula 1).

[0066] (3) Calculate the distances between the estimated position of the aircraft And Navigation stations respectively, and record them as .

[0067] Among the Navigation stations, form pairs for every two groups of navigation stations to form For each pair of navigation aids, calculate the angle between the pair of navigation aids and the aircraft, denoted as , where , see Figure 2 as shown.

[0068] (4)For each pair of navigation aids, denote as the navigation aid numbers respectively, where , represent the distances between the estimated position of the aircraft and the two navigation aids respectively, represents the pair of navigation aids.

[0069] Among them, define the distance between the pair of navigation aids and the estimated position of the aircraft as (Formula 2);

[0070] Define the pair of navigation aids closest to the estimated position of the aircraft as , then (Formula 3).

[0071] (5)Calculate the navigation performance of the navigation aids: For each pair of navigation aids, calculate the ANP value of the corresponding pair of navigation aids as (Formula 4), where The smaller the value, the better the navigation performance of the pair of navigation aids.

[0072] (6)Based on Formula 2, Formula 3, and Formula 4, design an automatic tuning station selection algorithm. Since the distance between the optimal pair of navigation aids and the estimated position of the aircraft is related to the angle formed with the aircraft, the optimal navigation aid selection algorithm is designed as: (Formula 5).

[0073] Among them, is the pair of navigation aids selected by tuning, is: (Formula 6), where, is a constant with a value of 200 nm, select the maximum value in as the best pair of navigation aids.

[0074] (7)Navigation aid switching condition judgment: Define as the current pair of navigation aids. Since the position of the aircraft is changing at all times, the maximum value in the newly calculated is named , and this is used as the alternative navigation aid. The navigation aid switching needs to meet the following 2 conditions: (Formula 7); (Formula 8).

[0075] (8) The above steps (3) to (7) are updated every 10 seconds, and regrouping is performed for handover judgment; the navigation station data update in steps (1) to (2) is updated every 3 minutes and loops continuously until the flight ends.

[0076] Among them, in the above steps (1) and (2), if there is only one navigation station, that is , and the navigation conditions are met (for example, the distance between the VOR / DME and the aircraft is greater than 100 NM), then the VOR / DME navigation mode is adopted and the pilot is reminded; if there is no navigation station, that is , then the tuning ends and the system alarms to prompt the pilot.

[0077] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

[0078] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic tuning method for aircraft radio navigation, characterized in that, Including the following steps: S1. Obtain the estimated position A of the aircraft and K navigation stations within a preset range, and define natural numbers m and n, where m ≤ K and n ≤ K; S2. Calculate the distances between the aircraft and each navigation station. Before calculating the distances between the aircraft and each navigation station, first screen the navigation stations by selecting navigation stations that are closest to the aircraft and meet the preset conditions from K navigation stations. The preset conditions to be met are as follows (Formula 1); S3. Pair up the K navigation stations in pairs to form navigation station pairs, and calculate the angle between each pair of navigation station pairs and the estimated position A of the aircraft; S4. Calculate the distances between each pair of navigation aids and the estimated position A of the aircraft based on the angles between them, and select the pair of navigation aids closest to the estimated position A of the aircraft. The optimal navigation aid selection algorithm is as follows: ; where is the pair of navigation aids selected by tuning, is , where is a constant with a value of 200 nm. Select the maximum value in as the best pair of navigation aids. α is the angle between the pair of navigation aids and the aircraft, and β is the ANP value of the navigation performance of the pair of navigation aids. is the pair of navigation aids closest to the estimated position of the aircraft; S5. Calculate the navigation performance ANP value β of each group of navigation station pairs; S6. Based on the distances between each navigation station pair and the estimated position A of the aircraft, the navigation station pair closest to the estimated position A of the aircraft, and the β value, obtain the new navigation station pair for automatic tuning; S7. Compare the new navigation station pair with the current navigation station pair. If the comparison result meets the switching condition, switch to the new navigation station pair; if the comparison result does not meet the switching condition, do not switch; S8. Loop through steps S2 to S7, and update step S1 according to the set time interval until the aircraft completes the flight mission.

2. The aircraft radio navigation automatic tuning method according to claim 1, characterized in that: In step S1, the method for obtaining the navigation stations within the preset range of the aircraft is: taking the estimated position A of the aircraft as the center, reading the navigation database, and obtaining all the navigation stations whose distances from the estimated position A of the aircraft are within the range of 3 nm to 150 nm.

3. The aircraft radio navigation automatic tuning method according to claim 1, characterized in that: In step S4, the method for obtaining the distance between a navigation station pair and the estimated position A of the aircraft is: Calculate the distances between each navigation station in the navigation station pair and the estimated position A of the aircraft; Compare the magnitudes of the two distances; Select the larger distance as the distance between the navigation station pair and the estimated position A of the aircraft.

4. The aircraft radio navigation automatic tuning method according to claim 1, characterized in that: In step S7, the switching condition for the aircraft to switch the navigation station to a new navigation station is: The current navigation station pair is unavailable; Or the previous navigation station pair is available, but the distance between the current navigation station pair and the estimated position A of the aircraft is greater than the distance between the new navigation station pair and the estimated position A of the aircraft.

5. The aircraft radio navigation automatic tuning method according to claim 1, characterized in that: The time for looping through steps S2 to S7 is less than the set time interval for updating step S1.

6. The aircraft radio navigation automatic tuning method according to claim 1, characterized in that: In step S1, when the number of navigation stations K = 1, the VOR / DME navigation method is used for navigation. When the distance between the VOR / DME and the aircraft is greater than the set value, a warning signal is issued.

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