Automatic reconstruction method and device for flight parameter sensor

Abstract

The invention provides an automatic reconstruction method and device for flight parameter sensors. The method comprises the following steps: step 1, acquiring data of each sensor of the same flight parameter and confidence of each sensor; step 2, acquiring a reference value of a flight parameter according to the sensor data and the corresponding confidence coefficient; 3, judging the data validity of each sensor according to the reference value of the flight parameter; the validity comprises invalid, valid and undetermined; 4, when the data validity of the sensor is invalid, setting the confidence coefficient of the sensor to be 0; when the validity of the sensor data is undetermined, prompt information is sent to a pilot, and when a shielding instruction input by the pilot is received, the confidence coefficient of the sensor is set to be 0. By adopting the automatic sensor reconstruction method provided by the invention, the fault sensor can be effectively discriminated, the normal sensor can be correctly selected to provide flight parameters for the pilot, the operation load of the pilot can be effectively reduced, and the flight safety can be improved.

Description

Technical Field

[0001] The present application belongs to the field of avionics system design, and in particular, relates to a method and device for automatically reconstructing a flight parameter sensor. Background Art

[0002] During helicopter flight, the pilot needs to pay attention to attitude, heading and atmospheric data parameters to ensure that the helicopter flies correctly in the expected direction within the normal flight envelope. Attitude, heading and atmospheric data are key parameters to ensure helicopter flight. To ensure flight safety, the helicopter is equipped with multiple sets of attitude, heading and atmospheric data sensors to provide flight parameter information to the pilot.

[0003] The following flight parameter sensors are generally installed on helicopters:

[0004] 2 sets of attitude reference units provide pitch and roll angle data;

[0005] 2 sets of magnetic heading sensors provide heading data;

[0006] Two air data units provide airspeed, altitude and vertical speed data.

[0007] A backup flight display provides pitch, roll, airspeed, altitude and vertical speed data.

[0008] One or two satellite positioning systems provide latitude, longitude, heading and altitude information.

[0009] One or two radio altimeters provide altitude information.

[0010] Existing helicopter sensors can only select flight parameter sensors by shielding faulty sensors after the sensors themselves actively report faults, or by manually reconstructing sensors by letting pilots manually judge the validity of sensor data. Pilots cannot always take into account the validity of data from many flight parameter sensors, and sensors may not be able to judge their own faults and provide pilots with incorrect flight parameters, endangering flight safety. Summary of the invention

[0011] The present invention proposes an automatic reconstruction method and device for a flight parameter sensor, which solves the problem that the existing sensor failure only relies on the sensor itself to actively report the failure and the pilot's judgment leads to reduced data validity.

[0012] The present invention provides an automatic reconstruction method of a flight parameter sensor, comprising:

[0013] Step 1: Obtain the sensor data and confidence level of each sensor for the same flight parameters;

[0014] Step 2: Use the formula based on the sensor data and the corresponding confidence level Get reference values ​​of flight parameters;

[0015] Step 3: Determine the validity of each sensor data based on the reference value of the flight parameters; the validity includes: invalid, valid and pending;

[0016] Step 4: When the validity of the sensor data is invalid, the confidence of the sensor is set to 0; when the validity of the sensor data is pending, a prompt message is sent to the pilot, and when the shielding command input by the pilot is received, the confidence of the sensor is set to 0.

[0017] Optionally, when the number of sensors for the same flight parameter is two, judging the validity of the data of each sensor according to the reference value of the flight parameter includes:

[0018] Subtract the data of each sensor from the reference value of the flight parameter to determine whether the difference exceeds the threshold;

[0019] If so, and if after removing the sensor, there is still a valid sensor, the validity of the sensor is invalid;

[0020] If so, and if there are no valid sensors after removing the sensor, the validity of the sensor is pending.

[0021] Optionally, the threshold of the pitch angle is 3°;

[0022] The threshold of the roll angle is 3°;

[0023] The threshold for magnetic heading is 5°;

[0024] The threshold of lifting speed is 1m / s;

[0025] The height threshold is 10m;

[0026] The airspeed threshold is 10km / h.

[0027] Optionally, the automatic reconstruction method of the flight parameter sensor further includes:

[0028] When a cancel muting command input by the pilot is received, the confidence level of the sensor in the cancel muting command is restored.

[0029] Optionally, when the flight parameters are pitch angle and roll angle, the main sensor includes: a first heading reference unit, a second heading reference unit and a backup flight display;

[0030] When the flight parameter is heading, the main sensor includes: a first magnetic heading sensor and a second magnetic heading sensor; the reference sensor includes: a heading reference unit and a global positioning system;

[0031] When the flight parameter is altitude, the main sensors include: first atmospheric data unit, second atmospheric data unit, backup flight display; the reference sensors include: global positioning system, radio altimeter;

[0032] When the flight parameter is vertical speed, the main sensors include: first atmospheric data unit, second atmospheric data unit, backup flight display; the reference sensors include: heading reference unit, global positioning system, radio altimeter;

[0033] When the flight parameter is airspeed, the main sensor includes: a first atmospheric data unit, a second atmospheric data unit and a backup flight display; the reference sensor includes: a global positioning system.

[0034] Optionally, the confidence level of the primary sensor is higher than the confidence level of the reference sensor.

[0035] Optionally, the automatic reconstruction method of the flight parameter sensor further includes:

[0036] The reconstructed page displays the operating status and output data of all main sensors for each flight parameter:

[0037] The operation status is used to indicate the validity of the data and whether the data is adopted.

[0038] A second aspect of the present invention provides an automatic reconstruction device of a flight parameter sensor, which is used to execute any method as described in the first aspect.

[0039] Beneficial technical effects of this application:

[0040] The present invention proposes a method and device for automatically reconstructing a flight parameter sensor, which automatically reconstructs the sensor based on the sensor measurement data and the equipment confidence, and can conveniently obtain the measurement data and equipment status of all sensors, which can effectively reduce the pilot's operating load, correctly isolate faulty sensors, and improve flight safety. The automatic sensor reconstruction method proposed by the present invention can effectively identify faulty sensors and correctly select normal sensors to provide flight parameters to the pilot, which can effectively reduce the pilot's operating load and improve flight safety. The present invention is applicable to the reconstruction of flight parameter sensors of all helicopter models and has universal applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic flow chart of the automatic reconstruction method of the flight parameter sensor provided by the present invention;

[0042] Figure 2 A schematic diagram of a display page of the automatic reconstruction method of a flight parameter sensor provided by the present invention. DETAILED DESCRIPTION

[0043] The specific contents of the technical solution provided by the present invention are introduced below in conjunction with the accompanying drawings.

[0044] See also Figure 1-2 The present invention provides a sensor reconstruction method that comprehensively considers multi-sensor data and sensor confidence, including the following contents:

[0045] Step 1: Determine the sources of pitch, roll, heading, airspeed, altitude, and vertical speed data available to the pilot.

[0046] The main sensors that provide pitch and roll angle data are: the first attitude reference unit (AHRU1), the second attitude reference unit (AHRU2), and the backup flight display IESI.

[0047] The main sensors that provide heading data are: the first magnetic heading sensor (HDG1) and the second magnetic heading sensor (HDG2); the reference sensors are: the heading reference unit and the global positioning system.

[0048] The main sensors that provide vertical speed data are the first air data unit (ADU1), the second air data unit (ADU2), and the backup flight display (IESI); the reference sensors are the attitude reference unit, the global positioning system, and the radio altimeter.

[0049] The main sensors that provide altitude data are the first air data unit (ADU1), the second air data unit (ADU2), and the backup flight display (IESI); the reference sensors are: Global Positioning System, Radio Altimeter.

[0050] The main sensors that provide airspeed data are the first air data unit (ADU1), the second air data unit (ADU2), and the backup flight display (IESI); the reference sensor is: Global Positioning System.

[0051] Step 2: Determine the confidence level of each parameter of each sensor based on equipment reliability and data accuracy. The confidence level of a faulty sensor is 0, and the confidence level of a sensor manually blocked by the pilot is 0.

[0052] Examples of the confidence levels of various flight parameter sensors are as follows:

[0053] Pitch and roll angle data sensor confidence: first attitude reference unit (AHRU1) = 1, second attitude reference unit (AHRU2) = 1, backup flight display I ESI = 0.8.

[0054] Heading data sensor confidence: first magnetic heading sensor (HDG1) = 1, second magnetic heading sensor (HDG2) = 1, first attitude reference unit (AHRU1) = 0.5, second attitude reference unit (AHRU2) = 0.5, global positioning system = 0.6.

[0055] Vertical speed data sensor confidence: first air data unit (ADU1) = 1, second air data unit (ADU2) = 1, backup flight display (IESI) = 0.8, first attitude reference unit (AHRU1) = 0.6, second attitude reference unit (AHRU2) = 0.6, global positioning system = 0.6.

[0056] Altitude data sensor confidence: first air data unit (ADU1) = 1, second air data unit (ADU2) = 1, backup flight display (IESI) = 0.8, global positioning system = 0.6, radio altimeter = 0.6.

[0057] Airspeed data sensor confidence: first air data unit (ADU1) = 1, second air data unit (ADU2) = 1, backup flight display (IESI) = 0.8, global positioning system = 0.6.

[0058] Step 3: Calculate the data reference value based on the sensor data and confidence level.

[0059]

[0060] Step 4: The system determines the validity of each sensor data based on the data reference value. The sensor data is compared with the data reference value, and the confidence of the sensor that exceeds the judgment threshold is set to 0.

[0061] Examples of the judgment thresholds for each flight parameter are as follows:

[0062] Pitch angle = 3°;

[0063] Roll angle = 3°;

[0064] Magnetic heading = 5°;

[0065] Lifting speed = 1m / s;

[0066] Height = 10m;

[0067] Airspeed = 10km / h.

[0068] Subtract the sensor data from the reference value of the flight parameter to determine whether the difference exceeds the threshold:

[0069] If not, the sensor's validity is valid;

[0070] If so, and after removing the invalid sensor, there are still available sensors, the validity of the sensor is invalid;

[0071] If so, and there are no available sensors after removing the invalid sensor, the validity of the sensor is pending.

[0072] Step 5: When the system cannot determine the validity of the data, the pilot manually blocks the associated sensors.

[0073] Step 6: Reconstruct the page to display the operating status and output data of all main sensors for each flight parameter.

[0074] It is understood that when the pilot receives a sensor whose validity is pending, he selects the sensor to be blocked.

[0075] For example, Figure 2 As shown, some relevant sensor data of airspeed IAS, roll ROLL, pitch PI TCH, heading MAG, vertical speed VS and altitude ALT are displayed.

[0076] The sensor status indications are defined as follows:

[0077] Green: The sensor is functioning normally and is selected as the current data source.

[0078] White: The sensor is operating normally.

[0079] Gray: The sensor's validity is invalid.

[0080] Amber: Sensor failure, no data output. Figure 2 MAG color in the middle direction, I ES I color under IAS)

[0081] Double needle arrow: sensor data discrepancy, sensor validity pending.

Claims

1. A method for automatic reconstruction of a flight parameter sensor, characterized in that: include: Step 1: Obtain the sensor data and confidence level of each sensor for the same flight parameters; Step 2: Use the formula based on the sensor data and the corresponding confidence level Get reference values ​​of flight parameters; Step 3: Determine the validity of each sensor data based on the reference value of the flight parameters; Validity includes: invalid, valid and pending; Step 4: When the validity of the sensor data is invalid, the confidence of the sensor is set to 0; when the validity of the sensor data is pending, a prompt message is sent to the pilot, and when the shielding command input by the pilot is received, the confidence of the sensor is set to 0.

2. The automatic reconstruction method of the flight parameter sensor according to claim 1, characterized in that: When there are two sensors for the same flight parameter, the validity of the data from each sensor is determined based on the reference value of the flight parameter, including: Subtract the data of each sensor from the reference value of the flight parameter to determine whether the difference exceeds the threshold; If so, and if after removing the sensor, there is still a valid sensor, the validity of the sensor is invalid; If so, and if there are no valid sensors after removing the sensor, the validity of the sensor is pending.

3. The automatic reconstruction method of the flight parameter sensor according to claim 2, characterized in that: The threshold for the pitch angle is 3°; The threshold of the roll angle is 3°; The threshold for magnetic heading is 5°; The threshold of lifting speed is 1m / s; The height threshold is 10m; The airspeed threshold is 10km / h.

4. The automatic reconstruction method of the flight parameter sensor according to claim 1, characterized in that: The method further comprises: When a cancel muting command input by the pilot is received, the confidence level of the sensor in the cancel muting command is restored.

5. The automatic reconstruction method of the flight parameter sensor according to claim 1, characterized in that: When the flight parameters are pitch angle and roll angle, the main sensor includes: a first heading reference unit, a second heading reference unit and a backup flight display; When the flight parameter is heading, the main sensor includes: a first magnetic heading sensor and a second magnetic heading sensor; the reference sensor includes: a heading reference unit and a global positioning system; When the flight parameter is altitude, the main sensors include: first atmospheric data unit, second atmospheric data unit, backup flight display; the reference sensors include: global positioning system, radio altimeter; When the flight parameter is vertical speed, the main sensors include: first atmospheric data unit, second atmospheric data unit, backup flight display; the reference sensors include: heading reference unit, global positioning system, radio altimeter; When the flight parameter is airspeed, the main sensor includes: a first atmospheric data unit, a second atmospheric data unit and a backup flight display; the reference sensor includes: a global positioning system.

6. The automatic reconstruction method of the flight parameter sensor according to claim 1, characterized in that: The confidence level of the primary sensor is higher than the confidence level of the reference sensor.

7. The automatic reconstruction method of the flight parameter sensor according to claim 1, characterized in that: The method further comprises: The reconstructed page displays the operating status and output data of all main sensors for each flight parameter: The operation status is used to indicate the validity of the data and whether the data is adopted.

8. An automatic reconstruction device for a flight parameter sensor, characterized in that: For carrying out the method according to any one of claims 1 to 7.

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