Method, device and medium for checking land-based aviation radio navigation signals

Abstract

The present invention discloses a method, device and medium for checking land-based aviation radio navigation signals. The method comprises the following steps: receiving navigation measurement data and navigation station information data, performing validity check on the land-based navigation measurement data; if the data is invalid, issuing an alarm and tuning to other navigation stations to reacquire the data; if the data is valid, performing rationality check on the land-based navigation measurement data; if the data is unreasonable, issuing an alarm and tuning to other navigation stations to reacquire the data; if the data is reasonable, maintaining the current navigation station and reacquiring the data; after completing the validity check, the present invention infers the navigation measurement data based on the positions of the aircraft and the navigation station, and then performs rationality check on the actual measurement data; if there is invalid or unreasonable data, issuing an alarm and notifying the radio tuning module to tune to other navigation stations, thereby realizing a secondary check on the validity and rationality of the land-based navigation radio signal.

Description

Technical Field

[0001] The present invention relates to the field of civil aviation passenger aircraft, and in particular to a method, device and medium for checking land-based aviation radio navigation signals. Background Art

[0002] The main function of the onboard flight management system (FMS) of modern civil airliners is to support performance-based navigation (PBN) operations to implement area navigation technology (RNAV). It allows aircraft to fly along any desired path within the coverage of the navigation system signal or within the operating capabilities of the onboard navigation equipment.

[0003] The signal sources mainly include: VOR / DME (Very High Frequency Omnidirectional Range / Distance Meter), DME / DME, GNSS (Satellite Navigation System), IRS (Inertial Reference System), etc. Among them,

[0004] VOR / DME and DME / DME are land-based navigation modes that use the aircraft's azimuth relative to the navigation station measured by VOR signals and the slant distance between the aircraft and the navigation station measured by DME signals for navigation positioning.

[0005] The radio tuning module of the FMS is responsible for tuning the onboard VOR and DME equipment so that they receive the signals from the navigation stations required for navigation; the integrated navigation module integrates all navigation measurement data including land-based navigation, GNSS and IRS to obtain the precise aircraft position.

[0006] According to ICAO Document 9613, "PBN Manual," and ARINC 702, "Advanced Flight Management Computer Systems," for safety reasons, a secondary check should be performed when using land-based radio navigation signals such as VOR and DME:

[0007] (1) First, check the validity of the positioning calculation before calculation, that is, the original measurement data changes regularly over time, changes smoothly within the allowable error range, and there are no "outliers".

[0008] (2) After obtaining the positioning result, check its rationality (Reasonableness), that is, the difference between the measurement data inferred based on the aircraft position and the actual measurement data is within the allowable range.

[0009] Major domestic universities and research institutes have carried out preliminary research on integrated navigation technologies (including aviation radio navigation technology) to support regional navigation, but they have not involved methods to check the validity and rationality of radio navigation signals that meet relevant standards.

[0010] Therefore, a method for secondary checking of land-based aviation radio navigation signals is urgently needed. Summary of the Invention

[0011] The technical problem to be solved by the present invention is how to perform a secondary inspection on land-based aviation radio signals. Therefore, a method, device and medium for inspecting land-based aviation radio navigation signals are provided to solve the above problem.

[0012] The present invention is achieved through the following technical solutions:

[0013] A method for checking land-based aviation radio navigation signals, comprising:

[0014] Receive navigation measurement data and navigation station information data;

[0015] Check the validity of land-based navigation measurement data. If the data is invalid, issue an alarm and tune to another navigation station to reacquire the data.

[0016] If the data is valid, the land-based navigation measurement data will be checked for rationality. If the data is unreasonable, an alarm will be issued and the data will be re-acquired after tuning to another navigation station.

[0017] If the data is reasonable, keep the current navigation station and reacquire the data.

[0018] Specifically, the navigation measurement data is obtained by the FMS after fusing and positioning the land-based navigation measurement data, the GNSS navigation measurement data, and the IRS navigation measurement data;

[0019] The navigation station information data includes the navigation station latitude and longitude, and the DME antenna elevation;

[0020] After receiving the land-based navigation measurement data, the VOR signal and DME signal are cached separately in a first-in-first-out queue;

[0021] After receiving the navigation measurement data, the navigation measurement data is cached in a first-in-first-out queue.

[0022] Specifically, the method for checking the validity of land-based navigation measurement data includes:

[0023] Establish an N-order polynomial relationship between land-based navigation measurement data and time: Where, is the predicted value of the land-based navigation measurement data at time t, and N is the order of the prediction model;

[0024] Construct an optimal regression model: Where M is the length of the first-in-first-out queue, x(t m ) is t mLand-based navigation measurement data at all times, t m The predicted value of the land-based navigation measurement data at time, m=1,2,3,…,M,x(t M ) is the latest queued data, a is the coefficient vector, a=[a0,a1,…,a N ] T ;

[0025] Solve the optimal regression model to obtain t M Predicted value of land-based navigation measurement data at time Receive t M The land-based navigation measurement data x(t M );

[0026] Set the decision threshold T to judge Is it true? If not, then determine that the navigation data source is valid; if so, then receive the new x(t M+1 ) and let x(t M )=x(t M+1 ), and solve to obtain a new

[0027] judge Whether it is established, until Q consecutive "yes" judgment results appear, it is determined that the navigation data source is invalid.

[0028] Solve the optimal regression model using the least squares method, including:

[0029] Constructing a Matrix

[0030] Construct vector x=[x(t1),x(t2),…,x(t M )] T ;

[0031] Calculate the least squares solution a=(B T B) -1 B T x;

[0032] Set the N value and get

[0033] Specifically, the decision thresholds include an azimuth error decision threshold and a slant range error decision threshold. The method for obtaining the decision thresholds includes:

[0034] Establish a decision threshold calculation model: T = kσ, where k is a parameter related to the false alarm rate and missed alarm rate, and σ is the upper limit of the standard deviation;

[0035] Under normal circumstances, the measurement error follows a normal distribution The false alarm rate is

[0036] When the measured data contains a deviation of nσ, the measurement error follows a normal distribution. Missed detection rate Where erfc is the complementary error function, n is the ratio of the measurement bias to the standard deviation of the measurement error;

[0037] Calculate the k value;

[0038] Establish an upper limit on the standard deviation of the VOR measurement azimuth error: Among them, the standard deviation of the angle error of the navigation station transmission signal σ GS =0.0122×R, standard deviation of the angle error introduced by signal spatial transmission σ air1 =0.0175×R, R is the reverse slant distance;

[0039] Establish the upper limit of the standard deviation of the DME measurement slope range error: Among them, the standard deviation of the angle error of the navigation station transmission signal σ sis = max{0.085 nm, 0.00125 × R}, standard deviation of the angular error introduced by signal spatial transmission σ air2 =0.05 nautical miles.

[0040] Optionally, the k value calculation method includes:

[0041] (1) If the system requires the false alarm rate not to exceed P f , k satisfies The value of P f is the maximum false alarm rate required by the airborne navigation system;

[0042] (2) If the system requires that the missed alarm rate for measurement data with at least nσ deviation does not exceed P m , k should satisfy The value of P m is the maximum value of the missed alarm rate required by the airborne navigation system;

[0043] If there is an intersection between the k values that satisfy (1) and (2), then the k value that satisfies both (1) and (2) is selected;

[0044] If the k values that satisfy (1) and (2) do not intersect, then the k value that satisfies (2) is selected.

[0045] Specifically, the calculation method of the reverse slant distance includes:

[0046] Get the coordinate parameters of the aircraft and navigation station in the ECEF coordinate system: Where λ is the longitude of the aircraft or navigation station in the WGS-84 coordinate system, is the latitude of the aircraft or navigation station in the WGS-84 coordinate system, h is the altitude of the aircraft or navigation station in the WGS-84 coordinate system, R N is the radius of curvature of the Maoyou circle, Re is the radius of the major axis of the WGS-84 earth model, and f is the flattening of the WGS-84 earth model;

[0047] Calculate the reverse slope distance: Among them, the aircraft coordinates (X F , Y F , Z F ), navigation station coordinates (X i , Y i , Z i ).

[0048] Specifically, the method for performing a rationality check on land-based navigation measurement data includes:

[0049] Get the latest actual measurement value x(t M ), M is the length of the first-in-first-out queue, t M For the latest moment;

[0050] Get the inverse value The reversed value includes reversed azimuth and reversed slant range;

[0051] Set the threshold S and judge Is it true? If not, then determine that the measurement data of the navigation data source is reasonable; if so, let x(t M )=x(t M+1 ), and solve to obtain a new And order

[0052] judge Whether it is established, until P consecutive "yes" judgment results appear, it is determined that the measurement data of the navigation data source is unreasonable.

[0053] Specifically, the method for obtaining the inverse value of the inverse azimuth includes:

[0054] The WGS-84 Earth Reference Ellipsoid is used as the reference system;

[0055] Determine the location point A1 indicated by the latitude and longitude of the navigation station, and determine the location point A2 indicated by the latitude and longitude of the aircraft;

[0056] The departure heading of the great circle route from point A1 to point A2 is used as the reverse azimuth.

[0057] Specifically, the method for obtaining the reversed value of the reversed slant range includes:

[0058] Get the coordinate parameters of the aircraft and navigation station in the ECEF coordinate system: Where λ is the longitude of the aircraft or navigation station in the WGS-84 coordinate system, is the latitude of the aircraft or navigation station in the WGS-84 coordinate system, h is the altitude of the aircraft or navigation station in the WGS-84 coordinate system, R N is the radius of curvature of the Maoyou circle, Re is the radius of the major axis of the WGS-84 earth model, and f is the flattening of the WGS-84 earth model;

[0059] Calculate the reverse slope distance: Among them, the aircraft coordinates (X F , Y F , Z F ), navigation station coordinates (X i , Y i , Z i ).

[0060] A device for checking land-based aviation radio navigation signals, comprising:

[0061] A receiving module, which is used to receive navigation measurement data and navigation station information data;

[0062] A first checking module, which is used to check the validity of land-based navigation measurement data;

[0063] A second checking module is used to check the rationality of the land-based navigation measurement data after the first checking module determines that the data is valid;

[0064] an output module configured to issue an alarm when the first inspection module or the second inspection module determines that the data is invalid;

[0065] A tuning module, configured to tune to another navigation station when the first checking module or the second checking module determines that the data is invalid;

[0066] The maintaining module maintains communication with the current navigation station when the first checking module or the second checking module determines that the data is valid.

[0067] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0068] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0069] The present invention performs validity check based on polynomial regression and least squares algorithm. After completing the validity check, the navigation measurement data is inferred according to the positions of the aircraft and the navigation station, and then the rationality of the actual measurement data is checked. If there is invalid or unreasonable data, an alarm needs to be issued and the radio tuning module is notified to tune to other navigation stations, thereby realizing a secondary check on the validity and rationality of the land-based navigation radio signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention, and the accompanying drawings are included in and constitute a part of this specification and do not constitute a limitation of the embodiments of the present invention.

[0071] Figure 1 The figure is a flow chart of a method for checking land-based aviation radio navigation signals according to the present invention.

[0072] Figure 2 It is the probability density function and area distribution diagram of the normal distribution according to the present invention. DETAILED DESCRIPTION

[0073] To make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the relevant content and are not intended to limit the present invention.

[0074] It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings.

[0075] In the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0076] Example 1

[0077] like Figure 1 As shown, a method for checking land-based aviation radio navigation signals comprises:

[0078] The first step is to receive navigation measurement data and navigation station information data. In this embodiment, the navigation measurement data is obtained by the FMS by fusing and positioning the land-based navigation measurement data, GNSS navigation measurement data, and IRS navigation measurement data. The navigation station information data includes the latitude and longitude of the navigation station and the DME antenna elevation.

[0079] After receiving the land-based navigation measurement data, the VOR signal and the DME signal are cached in a first-in-first-out queue respectively; after receiving the navigation measurement data, the navigation measurement data is cached in a first-in-first-out queue.

[0080] For each VOR and DME measurement channel, a first-in first-out (FIFO) queue with a length of M is used to queue the received land-based navigation measurement data x(t m ) is cached, where x(t m ) is t m The land-based navigation measurement data at time t0 (m=0,1,…,M) can be the measured azimuth of VOR or the measured slant range of DME, and t0 <t1<…<t M , that is, x(t M ) is the latest queue data.

[0081] The second step is to check the validity of the land-based navigation measurement data. The methods for checking the validity of the land-based navigation measurement data include:

[0082] (1) Based on the polynomial regression method, the navigation measurement data already stored in the FIFO is used to predict the new navigation measurement data.

[0083] Establish an N-order polynomial relationship between land-based navigation measurement data and time: Where, is the predicted value of the land-based navigation measurement data at time t, N is the order of the prediction model; a is the coefficient vector, a=[a0,a1,…,a N ] T .

[0084] (2) Using the M navigation measurement data cached in the FIFO, the coefficient vector a=[a0,a1,…,a N ] T Perform estimation and solve the following optimal regression model.

[0085] Construct an optimal regression model: Where M is the length of the first-in-first-out queue, x(t m ) is t m Land-based navigation measurement data at all times, t m The predicted value of the land-based navigation measurement data at time, m=1,2,3,…,M,x(t M ) is the latest queue data;

[0086] In this embodiment, the optimal regression model is solved by the least squares method, including:

[0087] Constructing a Matrix

[0088] Construct vector x=[x(t1),x(t2),…,x(t M )] T ;

[0089] Calculate the least squares solution a=(B T B) -1 B T x;

[0090] Set the N value and get

[0091] In the present invention, N=2 is selected to fit the temporal variation patterns of the azimuth measured by the VOR and the slant range measured by the DME, so as to prevent the occurrence of overfitting.

[0092] (3) Solve the optimal regression model to obtain t M Predicted value of land-based navigation measurement data at time Receive t M The land-based navigation measurement data x(t M );

[0093] (4) Set the decision threshold value T, and judge Is it true? If not, the navigation data source is determined to be valid;

[0094] (5) If If it holds, then accept the new x(t M+1 ) and let x(t M )=x(t M+1 ), and solve to obtain a new Re-judge Whether it is established, until Q consecutive "yes" judgment results appear, it is determined that the navigation data source is invalid.

[0095] That is: the new land-based navigation measurement data x(t M+1 ) and the results inferred from the regression model When there are at least Q consecutive When the actual measurement data is not available, the navigation data source is considered invalid.

[0096] In this embodiment, Q is selected based on the frequency at which the navigation device outputs measurement data, so that the time it takes for the navigation device to output Q data is approximately 5 seconds. For example, when the navigation device outputs measurement data at 5 Hz, Q=25.

[0097] Step 3: If the data is invalid, an alarm is issued and the navigation station is tuned to another station to reacquire the data.

[0098] If the data is valid, the land-based navigation measurement data is checked for rationality.

[0099] The fourth step is to conduct a rationality check on the land-based navigation measurement data. The rationality check is divided into two steps: "measurement data back-calculation" and "rationality judgment based on threshold value".

[0100] (1) Based on the aircraft position information output by the fusion positioning calculation module and the navigation station position information in the navigation database, the VOR azimuth and DME slant range are reversed.

[0101] Get the latest actual measurement value x(t M ), M is the length of the first-in-first-out queue, t M For the latest moment;

[0102] Get the inverse value The inverse value includes the inverse azimuth and the inverse slant range.

[0103] The method for obtaining the inverse value of the inverse azimuth angle includes:

[0104] The WGS-84 Earth Reference Ellipsoid is used as the reference system;

[0105] Determine the location point A1 indicated by the latitude and longitude of the navigation station, and determine the location point A2 indicated by the latitude and longitude of the aircraft;

[0106] The departure heading of the great circle route from point A1 to point A2 is used as the reverse azimuth.

[0107] The methods for obtaining the reversed value of the reversed slant range include:

[0108] Get the coordinate parameters of the aircraft and navigation station in the ECEF coordinate system: Where λ is the longitude of the aircraft or navigation station in the WGS-84 coordinate system, is the latitude of the aircraft or navigation station in the WGS-84 coordinate system, h is the altitude of the aircraft or navigation station in the WGS-84 coordinate system, R N is the radius of curvature of the Maoyou circle, Re is the radius of the major axis of the WGS-84 earth model, and f is the flattening of the WGS-84 earth model;

[0109] Calculate the reverse slope distance: The aircraft coordinates (X F , Y F , Z F ), the coordinates of the navigation station (X i , Y i , Z i ).

[0110] (2) Set the threshold S and judge Is it true? If not, it is determined that the measurement data of the navigation data source is reasonable.

[0111] (3) If If x(t M )=x(t M+1 ), and solve to obtain a new And order judge Whether it is established, until P consecutive "yes" judgment results appear, it is determined that the measurement data of the navigation data source is unreasonable.

[0112] In this embodiment, the selection of P is determined according to the frequency at which the navigation device outputs measurement data, so that the time for the navigation device to output P data is approximately 5 seconds. For example, when the navigation device outputs measurement data at 5 Hz, P is set to 25.

[0113] Step 5: If the data is unreasonable, an alarm is issued and the navigation station is tuned to another station to obtain data again.

[0114] If the data is reasonable, keep the current navigation station and reacquire the data.

[0115] Example 2

[0116] The decision threshold T is determined based on the statistical characteristics of the measurement error and needs to be calculated in real time. It is divided into the following two steps:

[0117] (1) Error model estimation

[0118] Establish an upper limit on the standard deviation of the VOR measurement azimuth error: Among them, the standard deviation of the angle error of the navigation station transmission signal σ GS =0.0122×R, standard deviation of the angle error introduced by signal spatial transmission σ air1 =0.0175×R, R is the reverse slant distance;

[0119] Establish the upper limit of the standard deviation of the DME measurement slope range error: Among them, the standard deviation of the angle error of the navigation station transmission signal σ sis = max{0.085 nm, 0.00125 × R}, standard deviation of the angular error introduced by signal spatial transmission σ air2 =0.05 nautical miles.

[0120] The calculation method of the reverse slant distance is the same as that in Example 1 and includes:

[0121] Get the coordinate parameters of the aircraft and navigation station in the ECEF coordinate system: Where λ is the longitude of the aircraft or navigation station in the WGS-84 coordinate system, is the latitude of the aircraft or navigation station in the WGS-84 coordinate system, h is the altitude of the aircraft or navigation station in the WGS-84 coordinate system, R N is the radius of curvature of the Maoyou circle, Re is the radius of the major axis of the WGS-84 earth model, and f is the flattening of the WGS-84 earth model;

[0122] Calculate the reverse slope distance: Among them, the aircraft coordinates (X F , Y F , Z F ), navigation station coordinates (X i , Y i , Z i ).

[0123] (2) Calculation of decision thresholds. The decision thresholds include the azimuth error decision threshold and the slant range error decision threshold. Methods for obtaining the decision thresholds include:

[0124] A decision threshold calculation model is established: T = kσ, where k is a parameter related to the false alarm rate and missed alarm rate, and σ is the upper limit of the standard deviation. The upper limit of the standard deviation includes the upper limit of the standard deviation of the azimuth error and the upper limit of the standard deviation of the slant range error.

[0125] Under normal circumstances, the measurement error follows a normal distribution The false alarm rate is

[0126] When the measured data contains a deviation of nσ, the measurement error follows a normal distribution. Missed detection rate Where erfc is the complementary error function, and n is the ratio of the measurement bias to the standard deviation of the measurement error.

[0127] The value of k is determined by the system's requirements for false alarm rate and missed alarm rate:

[0128] (1) If the system requires the false alarm rate not to exceed Pf(P f is the maximum false alarm rate required by the airborne navigation system. Civil aviation navigation standards usually require Pf≤0.001 to avoid excessive false alarms interfering with pilot operations). Since the measurement error under normal circumstances follows the normal distribution N(0,σ 2 ), so k satisfies The numerical value of .

[0129] (2) If the system requires that the missed alarm rate for measurement data with at least nσ deviation does not exceed Pm(P mis the maximum value of the missed alarm rate required by the airborne navigation system. Civil aviation navigation standards usually require that Pm≤10-7 for nσ deviation that can cause serious safety impact. Under abnormal conditions where the measurement deviation is nσ, the measurement error obeys the normal distribution N(nσ,σ 2 ), so if k should satisfy The numerical value of .

[0130] k is chosen to satisfy both the requirements of (1) and (2). If there is no intersection, the value that satisfies the missed alarm rate requirement of (2) is preferred.

[0131] Figure 2 The probability density function and area distribution of the normal distribution are shown. For example, according to the 3σ criterion to determine the decision threshold, the false alarm rate under normal circumstances is no higher than (1-99.7%). Q , the missed detection rate for measurement deviations of at least 5σ is not higher than [(1-95%) / 2] Q , the missed detection rate for measurement deviations of at least 6σ is not higher than [(1-99.7%) / 2] Q .

[0132] Example 3

[0133] A device for checking land-based aviation radio navigation signals, comprising:

[0134] A receiving module, which is used to receive navigation measurement data and navigation station information data;

[0135] A first checking module, which is used to check the validity of land-based navigation measurement data;

[0136] A second checking module is used to check the rationality of the land-based navigation measurement data after the first checking module determines that the data is valid;

[0137] an output module configured to issue an alarm when the first inspection module or the second inspection module determines that the data is invalid;

[0138] A tuning module, configured to tune to another navigation station when the first checking module or the second checking module determines that the data is invalid;

[0139] The maintaining module maintains communication with the current navigation station when the first checking module or the second checking module determines that the data is valid.

[0140] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0141] Without loss of generality, computer-readable media may include computer storage media and communication media. Computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instruction data structures, program modules, or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid-state storage technologies, CD-ROM, DVD or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media is not limited to the aforementioned types. The aforementioned system memory and mass storage devices may be collectively referred to as memory.

[0142] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples, unless they are contradictory.

[0143] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0144] It should be understood by those skilled in the art that the above embodiments are merely for the purpose of illustrating the present invention clearly, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above invention, and these changes or modifications are still within the scope of the present invention.

Claims

1. A method for checking land-based aviation radio navigation signals, characterized in that: include: Receive navigation measurement data and navigation station information data; Check the validity of land-based navigation measurement data. If the data is invalid, issue an alarm and tune to another navigation station to reacquire the data. If the data is valid, the land-based navigation measurement data will be checked for rationality. If the data is unreasonable, an alarm will be issued and the data will be re-acquired after tuning to another navigation station. If the data is reasonable, keep the current navigation station and reacquire the data; Among them, the methods for checking the validity of land-based navigation measurement data include: Establish an N-order polynomial relationship between land-based navigation measurement data and time: Where, is the predicted value of the land-based navigation measurement data at time t, and N is the order of the prediction model; Construct an optimal regression model: Where M is the length of the first-in-first-out queue, x(t m ) is t m Land-based navigation measurement data at all times, t m The predicted value of the land-based navigation measurement data at time, m=1,2,3,…,M,x(t M ) is the latest queued data, a is the coefficient vector, a=[a0,a1,…,a N ] T ; Solve the optimal regression model to obtain t M Predicted value of land-based navigation measurement data at time Receive t M The land-based navigation measurement data x(t M ); Set the decision threshold T to judge Is it true? If not, then determine that the navigation data source is valid; if so, then receive the new x(t M+1 ) and let x(t M )=x(t M+1 ), and solve to obtain a new ; judge Is it established, until Q consecutive "yes" judgment results appear, it is determined that the navigation data source is invalid; Among them, the optimal regression model is solved by the least squares method, including: Constructing a Matrix Construct vector x=[x(t1),x(t2),…,x(t M )] T ; Calculate the least squares solution a=(B T B) -1 B T X; Set the N value and get 2. A method for checking land-based aviation radio navigation signals according to claim 1, characterized in that: The navigation measurement data is obtained by the FMS after fusing and positioning the land-based navigation measurement data, GNSS navigation measurement data, and IRS navigation measurement data; The navigation station information data includes the navigation station latitude and longitude, and the DME antenna elevation; After receiving the land-based navigation measurement data, the VOR signal and DME signal are cached separately in a first-in-first-out queue; After receiving the navigation measurement data, the navigation measurement data is cached in a first-in-first-out queue.

3. The method for checking land-based aviation radio navigation signals according to claim 1, characterized in that: The decision thresholds include the azimuth error decision threshold and the slant range error decision threshold. Methods for obtaining the decision thresholds include: Establish a decision threshold calculation model: T = kσ, where k is a parameter related to the false alarm rate and missed alarm rate, and σ is the upper limit of the standard deviation; Under normal circumstances, the measurement error follows a normal distribution The false alarm rate is When the measured data contains a deviation of nσ, the measurement error follows a normal distribution. Missed detection rate Where erfc is the complementary error function, n is the ratio of the measurement bias to the standard deviation of the measurement error; Calculate the k value; Establish an upper limit on the standard deviation of the VOR measurement azimuth error: Among them, the standard deviation of the angle error of the navigation station transmission signal σ GS =0.0122×R, standard deviation of the angle error introduced by signal spatial transmission σ air1 =0.0175×R, R is the reverse slant distance; Establish the upper limit of the standard deviation of the DME measurement slope range error: Among them, the standard deviation of the angle error of the navigation station transmission signal σ sis = max{0.085 nm, 0.00125 × R}, standard deviation of the angular error introduced by signal spatial transmission σ air2 =0.05 nautical miles.

4. The method for checking land-based aviation radio navigation signals according to claim 1, characterized in that: The calculation method of k value includes: (1) If the system requires the false alarm rate not to exceed P f , k satisfies The value of P f is the maximum false alarm rate required by the airborne navigation system; (2) If the system requires that the missed alarm rate for measurement data with at least nσ deviation does not exceed P m , k should satisfy The value of P m is the maximum value of the missed alarm rate required by the airborne navigation system; If there is an intersection between the k values that satisfy (1) and (2), then the k value that satisfies both (1) and (2) is selected; If the k values that satisfy (1) and (2) do not intersect, then the k value that satisfies (2) is selected.

5. The method for checking land-based aviation radio navigation signals according to claim 3, characterized in that: The calculation methods of reverse slope distance include: Get the coordinate parameters of the aircraft and navigation station in the ECEF coordinate system: Where λ is the longitude of the aircraft or navigation station in the WGS-84 coordinate system, is the latitude of the aircraft or navigation station in the WGS-84 coordinate system, h is the altitude of the aircraft or navigation station in the WGS-84 coordinate system, R N is the radius of curvature of the Maoyou circle, Re is the radius of the major axis of the WGS-84 earth model, and f is the flattening of the WGS-84 earth model; Calculate the reverse slope distance: Among them, the aircraft coordinates (X F , Y F , Z F ), navigation station coordinates (X i , Y i , Z i ).

6. The method for checking land-based aviation radio navigation signals according to claim 2, characterized in that: Methods for performing reasonableness checks on land-based navigation measurement data include: Get the latest actual measurement value x(t M ), M is the length of the first-in-first-out queue, t M For the latest moment; Get the inverse value The reversed value includes reversed azimuth and reversed slant range; Set the threshold S and judge Is it true? If not, then determine that the measurement data of the navigation data source is reasonable; if so, let x(t M )=x(t M+1 ), and solve to obtain a new And order judge The result of "yes" appears continuously for P times, and it is determined that the measurement data of the navigation data source is unreasonable.

7. A method for checking land-based aviation radio navigation signals according to claim 6, characterized in that: The method for obtaining the inverse value of the inverse azimuth angle includes: The WGS-84 Earth Reference Ellipsoid is used as the reference system; Determine the location point A1 indicated by the latitude and longitude of the navigation station, and determine the location point A2 indicated by the latitude and longitude of the aircraft; The departure heading of the great circle route from point A1 to point A2 is used as the reverse azimuth; The methods for obtaining the reversed value of the reversed slant range include: Get the coordinate parameters of the aircraft and navigation station in the ECEF coordinate system: Where λ is the longitude of the aircraft or navigation station in the WGS-84 coordinate system, is the latitude of the aircraft or navigation station in the WGS-84 coordinate system, h is the altitude of the aircraft or navigation station in the WGS-84 coordinate system, R N is the radius of curvature of the Maoyou circle, Re is the radius of the major axis of the WGS-84 earth model, and f is the flattening of the WGS-84 earth model; Calculate the reverse slope distance: Among them, the aircraft coordinates (X F , Y F , Z F ), navigation station coordinates (X i , Y i , Z i ).

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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