A beidou auxiliary navigation switching system and method for a civil aircraft

Abstract

The application discloses a Beidou auxiliary navigation switching system and method for a civil aircraft, and solves the problems of unavailable GPS navigation, navigation precision decline, loss of integrity and continuity, and route error caused by a deceptive signal in the flight stage of the civil aircraft by taking the Beidou auxiliary navigation as an emergency navigation source when all GPS modules are determined to be invalid by a navigation switching module and an airborne flight management module in cooperation, and only needs to install the Beidou auxiliary navigation module and the navigation switching module in the civil aircraft itself, without changing the civil aircraft itself, so that the process is simple and not complicated.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation, specifically to a BeiDou-assisted navigation switching system and method for civil aircraft. Background Technology

[0002] Navigation for civil aircraft is the pinnacle of avionics system development. It has high safety requirements and high technical barriers. The relevant core technologies are still relatively weak in China. Currently, civil aircraft mainly use GPS for navigation.

[0003] However, during flight, satellite coverage or fuselage / wing obstruction may cause GPS to become unusable or malfunction due to GPS blockage or interference. This can lead to decreased navigation accuracy, loss of integrity and continuity, and when deceived by spoofed signals, it can cause flight path errors, posing a significant safety hazard. Summary of the Invention

[0004] In view of this, the present invention provides a BeiDou-assisted navigation switching system and method for civil aircraft, which can avoid the safety hazards caused by GPS navigation link interruption and ensure the continuity and safety of civil aircraft navigation systems.

[0005] This invention provides a BeiDou-assisted navigation switching system for civil aircraft, the system comprising:

[0006] The system comprises a first GPS module, a second GPS module, a BeiDou-assisted navigation module, an airborne flight management module, and a navigation switching module. The first GPS module is connected to the airborne flight management module, and the BeiDou-assisted navigation module and the second GPS module are connected to the navigation switching module. The navigation switching module is connected to the airborne flight management module and is used to determine the operating status of the second GPS module and the BeiDou-assisted navigation module and switch between them.

[0007] Preferably, the system further includes other avionics modules, which are connected to the navigation switching module and the airborne flight management module.

[0008] The present invention also provides a method for switching BeiDou-assisted navigation for civil aircraft, the method comprising:

[0009] S1: The navigation switching module determines whether both the first GPS module and the second GPS module have failed based on the failure conditions. If so, it executes step S2.

[0010] S2: The navigation switching module determines whether the currently running navigation module contains a second GPS module. If yes, it switches the second GPS module to the Beidou assisted navigation module and then executes step S3. If no, it executes step S3.

[0011] S3: Determine whether the Beidou assisted navigation module has failed based on the failure conditions. If it has, after confirmation, switch the Beidou assisted navigation module to the second GPS module, stop the operation of the Beidou assisted navigation module and execute step S4. If not, maintain the operation of the Beidou assisted navigation module and execute step S4.

[0012] S4: After saving the current navigation state data packet, repeat step S1.

[0013] Preferably, step S1 further includes:

[0014] S11: The navigation switching module determines whether the second GPS module has failed based on the failure conditions. If not, proceed to step S12.

[0015] S12: The airborne flight management module determines whether both the first GPS module and the second GPS module have failed based on the failure conditions. If so, it confirms the currently running navigation module, switches the currently running navigation module to the Beidou assisted navigation module, maintains the operation of Beidou assisted navigation, and executes step S4. If not, it confirms the currently running navigation module, switches the currently running navigation module to the second GPS module, shuts down the Beidou assisted navigation module, and executes step S4.

[0016] Preferably, the method further includes the following steps before step S1:

[0017] S01: The airborne flight management module performs a validity assessment of the first GPS module and the second GPS module based on the failure conditions, generates preliminary validity data, sends it to the navigation switching module, and proceeds to step S1.

[0018] Preferably, the step S3 of maintaining the operation of the BeiDou assisted navigation module specifically includes:

[0019] After the BeiDou-assisted navigation module has been running for a period of time, determine whether the BeiDou-assisted navigation module is functioning normally. If it is, continue the operation of the BeiDou-assisted navigation module and execute step S4. If not, after confirmation, switch the BeiDou-assisted navigation module to the second GPS module, stop the operation of the BeiDou-assisted navigation module and execute step S4.

[0020] Preferably, the failure condition is that any one or more of the following judgment results are met:

[0021] Alarms indicating height value exceeding normal threshold, no calculated data, or failure.

[0022] A negative horizontal position accuracy factor (HDOP), no calculated data, or a failure alarm;

[0023] Vertical position accuracy factor (VDOP) is negative, there is no calculated data, or a failure alarm occurs;

[0024] Current location latitude value exceeds 90°, no calculated data, or failure alarm;

[0025] Current location longitude greater than 180°, no calculated data, or failure alarm;

[0026] The Autonomous Level Integrity Limit (HIL) is negative, there is no calculated data, or a failure alarm is triggered;

[0027] Autonomous Vertical Integrity Limit (VIL) is negative, there is no calculated data, or a failure alarm is triggered;

[0028] Vertical positioning quality factor is negative, no calculation data is available, or a failure alarm is triggered.

[0029] Vertical velocity has no calculated data or a failure alarm;

[0030] Northspeed has no data calculation or data failure alarm;

[0031] Dongsu has no data or is experiencing a failure alarm;

[0032] Level uncertainty limit has no calculated data or failure alarm;

[0033] The horizontal position quality factor is negative, there is no calculated data, or a failure alarm occurs.

[0034] The navigation module operates in an abnormal mode, with no calculated data or a failure alarm.

[0035] The primary improvement of this invention is that by having the navigation switching module work in conjunction with the airborne flight management module, and by determining the failure conditions when all GPS modules have failed, the BeiDou-assisted navigation is switched to the emergency navigation source. This solves the problem of reduced navigation accuracy, loss of integrity, and loss of continuity when GPS navigation is unavailable, fails, or is spoofed by deceptive signals during the flight phase of civil aircraft. Moreover, it only requires the addition of the BeiDou-assisted navigation module and the navigation switching module to the civil aircraft's own navigation system, without changing the civil aircraft's own navigation system. The process is simple and uncomplicated. Attached Figure Description

[0036] Figure 1 A schematic diagram of a BeiDou-assisted navigation switching method system for civil aircraft;

[0037] Figure 2 A flowchart of a BeiDou-assisted navigation switching method for civil aircraft. Figure I ;

[0038] Figure 3 A flowchart of a BeiDou-assisted navigation switching method for civil aircraft. Figure II . Detailed Implementation

[0039] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to specific embodiments.

[0040] This invention provides a BeiDou-assisted navigation switching system for civil aircraft, such as... Figure 1 As shown, the system includes:

[0041] The system comprises a first GPS module, a second GPS module, a BeiDou-assisted navigation module, an airborne flight management module, and a navigation switching module. The first GPS module is connected to the airborne flight management module, and the BeiDou-assisted navigation module and the second GPS module are connected to the navigation switching module. The navigation switching module is connected to the airborne flight management module and is used to determine the operating status of the second GPS module and the BeiDou-assisted navigation module and switch between them.

[0042] In this embodiment, the second GPS module is connected to the airborne flight management module via the navigation switching module, and the first GPS module is also connected to the airborne flight management module. This embodiment, as a preferred system architecture design, does not restrict whether other coupled components are provided between the navigation switching module and the airborne flight management module, or between the first GPS module and the airborne flight management module. This solution aims to achieve unilateral switching of the second GPS module through the navigation switching module. In the event of at least the failure of the second GPS module, the second GPS module is switched to the BeiDou-assisted navigation module to maintain navigation accuracy and prevent a decrease in navigation precision.

[0043] The navigation switching module and the first GPS module can also be connected to an airborne avionics module. The navigation switching module can transmit the navigation data of the currently running navigation module (such as the second GPS module or the Beidou-assisted navigation module) to the airborne avionics module for storage, display and control. At the same time, under the condition that the first GPS is working normally, the signal of the first GPS module can also be transmitted to the airborne avionics module.

[0044] In another preferred embodiment of the present invention, the Beidou navigation module is integrated with the second GPS device and connected to the navigation switching module.

[0045] This invention also provides a method for switching BeiDou-assisted navigation for civil aircraft, such as... Figure 1 As shown, the method includes the following steps:

[0046] S1: Determine whether both the first GPS module and the second GPS module have failed based on the failure conditions. If so, proceed to step S2.

[0047] S2: The navigation switching module determines whether the currently running navigation module contains a second GPS module. If yes, it switches the second GPS module to the Beidou assisted navigation module and then executes step S3. If no, it executes step S3.

[0048] S3: Determine whether the Beidou assisted navigation module has failed based on the failure conditions. If it has, after confirmation, switch the Beidou assisted navigation module to the second GPS module, stop the operation of the Beidou assisted navigation module and execute step S4. If not, maintain the operation of the Beidou assisted navigation module and execute step S4.

[0049] S4: After saving the current navigation state data packet, repeat step S1.

[0050] The following may also be included before performing step S1:

[0051] S01: The airborne flight management module performs validity checks on the first GPS module and the second GPS module according to the failure conditions, generates preliminary validity data, and proceeds to step S1.

[0052] Specifically, the first GPS module and the second GPS module operate by default. The airborne flight management module collects the operating data of the first GPS module and the second GPS module obtained through the navigation switching module, compares the collected operating data with the failure conditions, generates preliminary validity data, and sends it to the navigation switching module.

[0053] S1: The airborne flight management module determines whether both the first GPS module and the second GPS module have failed based on the failure conditions. If so, proceed to step S2.

[0054] After the airborne flight management module sends the preliminary validity data to the navigation switching module, the navigation switching module performs a validity assessment on the first GPS device and the second GPS device. The airborne flight management module has a higher priority than the navigation switching module; that is, when the preliminary validity assessment data does not match the validity assessment result of the navigation switching module, the preliminary validity assessment data of the airborne flight management module prevails. Through multiple assessments by the airborne flight management system and the navigation switching module, the accuracy of the navigation system is improved.

[0055] S1 includes:

[0056] S11: The navigation switching module determines whether the second GPS module has failed based on the failure conditions. If not, proceed to step S12.

[0057] S12: The airborne flight management module determines whether both the first GPS module and the second GPS module have failed based on the failure conditions. If so, it confirms the currently running navigation module, switches the currently running navigation module to the Beidou assisted navigation module, maintains the operation of Beidou assisted navigation, and executes step S4. If not, it confirms the currently running navigation module, switches the currently running navigation module to the second GPS module, shuts down the Beidou assisted navigation module, and executes step S4.

[0058] S2: The navigation switching module determines whether the currently running navigation module contains a second GPS module. If yes, it switches the second GPS module to the Beidou assisted navigation module and then executes step S3. If no, it executes step S3.

[0059] S3: Determine whether the Beidou assisted navigation module has failed based on the failure conditions. If it has, after confirmation, switch the Beidou assisted navigation module to the second GPS module, stop the operation of the Beidou assisted navigation module and execute step S4. If not, maintain the operation of the Beidou assisted navigation module and execute step S4.

[0060] It should be noted that step S3, which involves maintaining the operation of the BeiDou-assisted navigation module, specifically includes:

[0061] After the BeiDou-assisted navigation module has been running for a period of time, determine whether the BeiDou-assisted navigation module is functioning normally. If it is, continue the operation of the BeiDou-assisted navigation module and execute step S4. If not, after confirmation, switch the BeiDou-assisted navigation module to the second GPS module, stop the operation of the BeiDou-assisted navigation module and execute step S4.

[0062] S4: After saving the current navigation state data packet, repeat step S1.

[0063] In the method described in this application, the navigation switching module is bidirectionally connected to the second GPS module and the Beidou-assisted navigation module, and is also connected to the airborne flight management module. The navigation switching module is not only used to switch the link between the terminal used for navigation (such as the second GPS module or the Beidou-assisted navigation module) and the airborne flight management module, but also used to convert the bidirectional communication data between the Beidou-assisted navigation module and the second GPS module and the airborne flight management module, so that the Beidou-assisted navigation module is compatible with the existing airborne flight management module (FMS system), thus achieving compatibility with the existing aircraft airborne system.

[0064] When both the first and second GPS modules fail, the navigation switching module will determine the validity of the BeiDou-assisted navigation module. If BeiDou-assisted navigation is effective, the navigation switching module will switch the currently running navigation module to BeiDou-assisted navigation. After the BeiDou navigation module has been running for a certain period, the navigation switching module will determine whether the second GPS module is functioning correctly based on the failure condition. If it is, the system will shut down the BeiDou-assisted navigation module and switch to the second GPS module. If not, the system will continue to maintain BeiDou-assisted navigation until it fails or malfunctions. If the BeiDou-assisted navigation module is confirmed to have failed, the system will maintain the second GPS navigation module and shut down the BeiDou-assisted navigation module.

[0065] like Figure 2 As shown, when neither the first GPS module nor the second GPS module is completely unresponsive, the navigation switching module resends the judgment data to the airborne flight management module. The airborne flight management module then re-judges the validity of the first GPS module and the second GPS module. If the airborne flight management module's judgment confirms that neither the first GPS module nor the second GPS module is completely unresponsive, the currently running navigation module is switched to the second GPS module, and the BeiDou-assisted navigation module is shut down. If the airborne flight management module's judgment confirms that both the first GPS module and the second GPS module are completely unresponsive, the currently running navigation module is switched to the BeiDou-assisted navigation module, and the BeiDou-assisted navigation module is kept running.

[0066] In any of the above steps, the failure condition is that one or more of the following judgment results are met:

[0067] Altitude value exceeds normal threshold, no calculated data, or failure alarm; Horizontal position accuracy factor (HDOP) is negative, no calculated data, or failure alarm; Vertical position accuracy factor (VDOP) is negative, no calculated data, or failure alarm; Current position latitude value exceeds 90°, no calculated data, or failure alarm; Current position longitude is greater than 180°, no calculated data, or failure alarm; Autonomous horizontal integrity limit (HIL) is negative, no calculated data, or failure alarm; Autonomous vertical integrity limit (VIL) is negative, no calculated data, or failure alarm. The following conditions are considered failures: Calculated data or failure alarm; negative vertical positioning quality factor, no calculated data or failure alarm; no calculated vertical velocity or failure alarm; no calculated north velocity or failure alarm; no calculated east velocity or failure alarm; no calculated horizontal uncertainty limit or failure alarm; negative horizontal position quality factor, no calculated data or failure alarm; navigation module operating mode is abnormal, no calculated data or failure alarm; The navigation module is judged to be in failure if it meets any one or more of the above failure conditions.

[0068] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for switching BeiDou-assisted navigation for civil aircraft, characterized in that, The method is applied to a BeiDou-assisted navigation switching system for civil aircraft, and the method includes: S1: The navigation switching module determines whether both the first GPS module and the second GPS module have failed based on the failure conditions. If so, it executes step S2. S11: The navigation switching module determines whether the second GPS module has failed based on the failure conditions. If not, proceed to step S12. S12: The airborne flight management module determines whether both the first GPS module and the second GPS module have failed based on the failure conditions. If so, it confirms the currently running navigation module, switches the currently running navigation module to the Beidou assisted navigation module, maintains the operation of Beidou assisted navigation, and executes step S4. If not, it confirms the currently running navigation module, switches the currently running navigation module to the second GPS module, shuts down the Beidou assisted navigation module, and executes step S4. S2: The navigation switching module determines whether the currently running navigation module contains a second GPS module. If yes, it switches the second GPS module to the Beidou assisted navigation module and then executes step S3. If no, it executes step S3. S3: Determine whether the Beidou assisted navigation module has failed based on the failure conditions. If it has, after confirmation, switch the Beidou assisted navigation module to the second GPS module, stop the operation of the Beidou assisted navigation module and execute step S4. If not, maintain the operation of the Beidou assisted navigation module and execute step S4. S4: After saving the current navigation state data packet, repeat step S1; The system includes a first GPS module, a second GPS module, a BeiDou-assisted navigation module, an airborne flight management module, and a navigation switching module. The first GPS module is connected to the airborne flight management module, and the BeiDou-assisted navigation module and the second GPS module are connected to the navigation switching module. The navigation switching module is connected to the airborne flight management module and is used to determine the operating status of the second GPS module and the BeiDou-assisted navigation module and switch between them.

2. The BeiDou-assisted navigation switching method for civil aircraft according to claim 1, characterized in that, The procedure preceding step S1 also includes: S01: The airborne flight management module performs a validity assessment of the first GPS module and the second GPS module based on the failure conditions, generates preliminary validity data, sends it to the navigation switching module, and proceeds to step S1.

3. The BeiDou-assisted navigation switching method for civil aircraft according to claim 1, characterized in that, The step S3 of maintaining the operation of the BeiDou-assisted navigation module specifically includes: After the BeiDou-assisted navigation module has been running for a period of time, determine whether the BeiDou-assisted navigation module is functioning normally. If it is, continue the operation of the BeiDou-assisted navigation module and execute step S4. If not, after confirmation, switch the BeiDou-assisted navigation module to the second GPS module, stop the operation of the BeiDou-assisted navigation module and execute step S4.

4. The BeiDou-assisted navigation switching method for civil aircraft according to claim 1, characterized in that, The system also includes other avionics modules, which are connected to the navigation switching module and the first GPS module.

5. The BeiDou-assisted navigation switching method for civil aircraft according to any one of claims 1-3, characterized in that, The failure condition is that any one or more of the following judgment results are met: Alarms indicating height value exceeding normal threshold, no calculated data, or failure. A negative horizontal position accuracy factor (HDOP), no calculated data, or a failure alarm; Vertical position accuracy factor (VDOP) is negative, there is no calculated data, or a failure alarm occurs; Current location latitude value exceeds 90°, no calculated data, or failure alarm; Current location longitude greater than 180°, no calculated data, or failure alarm; The Autonomous Level Integrity Limit (HIL) is negative, there is no calculated data, or a failure alarm is triggered; Autonomous Vertical Integrity Limit (VIL) is negative, there is no calculated data, or a failure alarm is triggered; Vertical positioning quality factor is negative, no calculation data is available, or a failure alarm is triggered. Vertical velocity has no calculated data or a failure alarm; Northspeed has no data calculation or data failure alarm; Dongsu has no data or is experiencing a failure alarm; Level uncertainty limit has no calculated data or failure alarm; The horizontal position quality factor is negative, there is no calculated data, or a failure alarm occurs. The navigation module operates in an abnormal mode, with no calculated data or a failure alarm.

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