Automatic reconstruction method and device for flight parameter sensor

Abstract

The application provides an automatic reconstruction method and device of a flight parameter sensor, comprising the following steps: step 1, acquiring sensor data of the same flight parameter and confidence of each sensor; step 2, acquiring a reference value of the flight parameter according to the sensor data and the corresponding confidence; step 3, judging validity of the sensor data according to the reference value of the flight parameter; the validity includes invalid, valid and pending; step 4, when the validity of the sensor data is invalid, setting the confidence of the sensor as 0; when the validity of the sensor data is pending, sending a prompt information to the pilot, and setting the confidence of the sensor as 0 when a shielding instruction input by the pilot is received. The sensor automatic reconstruction method provided by the application can effectively identify a faulty sensor, correctly select a normal sensor to provide a flight parameter to the pilot, effectively reduce the operation load of the pilot and improve the flight safety.

Description

Technical Field

[0001] This application belongs to the field of avionics system design, and in particular relates to an automatic reconfiguration method and apparatus for flight parameter sensors. Background Technology

[0002] During helicopter flight, pilots need to constantly monitor attitude, heading, and atmospheric data parameters to ensure the helicopter flies correctly within its flight envelope and along the intended orientation. Attitude, heading, and atmospheric data are critical parameters for helicopter flight. To ensure flight safety, helicopters are equipped with multiple attitude, heading, and atmospheric data sensors that provide pilots with flight parameter information.

[0003] Helicopters are typically equipped with the following flight parameter sensors:

[0004] Two attitude reference units provide pitch and roll angle data;

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

[0006] Two air data units provide airspeed, altitude, and climb / fall rate data.

[0007] One backup flight display provides pitch, roll, airspeed, altitude, and climb / fall rate data.

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

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

[0010] Existing helicopter sensors can only select flight parameter sensors by either actively reporting a fault and then disabling the faulty sensor, or by having the pilot manually assess the validity of the sensor data and perform manual sensor reconfiguration. Pilots cannot constantly monitor the validity of data from numerous flight parameter sensors, and sensors may fail to recognize their own malfunctions, providing incorrect flight parameters and jeopardizing flight safety. Summary of the Invention

[0011] This invention proposes an automatic reconfiguration method and apparatus for flight parameter sensors, which solves the problem that existing sensor faults rely solely on the sensor itself to actively report faults and the reduced data validity caused by the pilot's subjective judgment.

[0012] This invention provides an automatic reconfiguration method for a flight parameter sensor, comprising:

[0013] Step 1: Obtain sensor data and confidence levels for the same flight parameter from each sensor;

[0014] Step 2: Apply the formula based on the sensor data and the corresponding confidence level. Obtain reference values ​​for flight parameters;

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

[0016] Step 4: When the sensor data validity is invalid, set the sensor confidence level to 0; when the sensor data validity is pending, send a prompt message to the pilot. When the pilot inputs a shielding command, set the sensor confidence level to 0.

[0017] Optionally, when there are two sensors for the same flight parameter, the validity of each sensor data is determined based on the reference value of the flight parameter, including:

[0018] The difference between each sensor data and the reference value of the flight parameters is calculated to determine whether the difference exceeds the threshold.

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

[0020] If so, and if no valid sensor is found after removing the sensor, then the validity of the sensor is pending.

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

[0022] The roll angle threshold is 3°;

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

[0024] The threshold for acceleration and deceleration speed is 1 m / s;

[0025] The height threshold is 10m;

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

[0027] Optionally, the automatic reconstruction method for flight parameter sensors also includes:

[0028] When a demasking command is received from the pilot, the confidence level of the sensor in the demasking command is restored.

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

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

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

[0032] When the flight parameter is the rate of ascent and descent, the main sensors include: a first atmospheric data unit, a second atmospheric data unit, and a backup flight display; the reference sensors include: an attitude reference unit, a global positioning system, and a radio altimeter.

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

[0034] Optionally, the confidence level of the primary sensor can be higher than that of the reference sensor.

[0035] Optionally, the automatic reconstruction method for flight parameter sensors also includes:

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

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

[0038] A second aspect of the present invention provides an automatic reconfiguration apparatus for a flight parameter sensor, for performing the method as described in any of the first aspects.

[0039] The beneficial technical effects of this application are as follows:

[0040] This invention proposes an automatic reconfiguration method and apparatus for flight parameter sensors. Based on sensor measurement data and equipment confidence levels, it automatically reconfigures sensors and facilitates the acquisition of measurement data and equipment status from all sensors. This effectively reduces pilot workload, correctly isolates faulty sensors, and improves flight safety. The automatic sensor reconfiguration method proposed in this invention can effectively identify faulty sensors and correctly select normal sensors to provide flight parameters to the pilot, thus significantly reducing pilot workload and improving flight safety. This invention is applicable to flight parameter sensor reconfiguration for all helicopter models and has universal applicability. Attached Figure Description

[0041] Figure 1 A schematic diagram of the automatic reconfiguration method for flight parameter sensors provided by the present invention;

[0042] Figure 2 This is a schematic diagram of the display page for the automatic reconstruction method of flight parameter sensors provided by the present invention. Detailed Implementation

[0043] The specific details of the technical solution provided by the present invention will now be described in conjunction with the accompanying drawings.

[0044] Please see Figure 1-2 This invention provides a sensor reconstruction method that comprehensively considers multi-sensor data and sensor confidence, including the following:

[0045] Step 1: Determine the sources of pitch angle, roll angle, heading, airspeed, altitude, and climb / deceleration rate data available to the pilot.

[0046] The main sensors that provide pitch and roll angle data are: First Attitude Reference Unit (AHRU1), Second Attitude Reference Unit (AHRU2), and Backup Flight Display 1ES1.

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

[0048] The main sensors providing lift-off speed data are the first atmospheric data unit (ADU1), the second atmospheric 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 primary sensors providing altitude data are the First Atmospheric Data Unit (ADU1), the Second Atmospheric Data Unit (ADU2), and the Backup Flight Display (IESI); the reference sensors are the Global Positioning System and the Radio Altimeter.

[0050] The primary sensors providing 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 the Global Positioning System (GPS).

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

[0052] Examples of confidence levels for 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 levels: 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] Climb / deceleration data sensor confidence levels: First Atmospheric Data Unit (ADU1) = 1, Second Atmospheric Data Unit (ADU2) = 1, Backup Flight Display (IESI) = 0.8, First Attitude and Bearing Reference Unit (AHRU1) = 0.6, Second Attitude and Bearing Reference Unit (AHRU2) = 0.6, Global Positioning System = 0.6.

[0056] Altitude data sensor confidence levels: First Atmospheric Data Unit (ADU1) = 1, Second Atmospheric Data Unit (ADU2) = 1, Backup Flight Display (IESI) = 0.8, Global Positioning System = 0.6, Radio Altimeter = 0.6.

[0057] Airspeed data sensor confidence levels: 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's data based on the data reference value. Sensor data is compared to the data reference value; sensors exceeding the judgment threshold have their confidence level set to 0.

[0061] Examples of threshold values ​​for various flight parameters 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 = 10 km / h.

[0068] The difference between each sensor data point and the reference value of the flight parameters is calculated, and it is determined whether the difference exceeds the threshold.

[0069] If not, then the sensor is valid;

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

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

[0072] Step 5: If the system is unable to determine the validity of the data, the pilot should manually disable 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 understandable that when a pilot receives a sensor whose validity is pending, they will choose the sensor that needs to be shielded.

[0075] For example, such as Figure 2 As shown, some relevant sensor data for airspeed (IAS), roll (ROLL), pitch (PI TCH), yaw (MAG), climb / climb rate (VS), and altitude (ALT) are displayed.

[0076] The sensor status indication is defined as follows:

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

[0078] White: The sensor is operating normally.

[0079] Gray: The sensor is invalid.

[0080] Amber color: Sensor malfunction, no data output. (e.g.) Figure 2 (Color of MAG under China Aviation, color of IES I under IAS)

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

Claims

1. An automatic reconfiguration method for a flight parameter sensor, characterized in that, include: Step 1: Obtain sensor data and confidence levels for the same flight parameter from each sensor; Step 2: Apply the formula based on the sensor data and the corresponding confidence level. Obtain reference values ​​for flight parameters; Step 3: Determine the validity of the data from each sensor based on the reference values ​​of the flight parameters; Validity includes: invalid, valid, and pending; Step 4: When the sensor data validity is invalid, set the sensor confidence level to 0; when the sensor data validity is pending, send a prompt message to the pilot. When the pilot inputs a shielding command, set the sensor confidence level to 0.

2. The automatic reconfiguration method for flight parameter sensors 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: The difference between each sensor data and the reference value of the flight parameters is calculated to determine whether the difference exceeds the threshold. If so, and if there are still valid sensors after removing the sensor, then the validity of the sensor is invalid; If so, and if no valid sensor is found after removing the sensor, then the validity of the sensor is pending.

3. The automatic reconfiguration method for flight parameter sensors according to claim 2, characterized in that, The threshold for pitch angle is 3°; The roll angle threshold is 3°; The threshold for magnetic heading is 5°; The threshold for acceleration and deceleration speed is 1 m / s; The height threshold is 10m; The airspeed threshold is 10 km / h.

4. The automatic reconfiguration method for flight parameter sensors according to claim 1, characterized in that, The method further includes: When a demasking command is received from the pilot, the confidence level of the sensor in the demasking command is restored.

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

6. The automatic reconfiguration method for flight parameter sensors according to claim 5, characterized in that, The confidence level of the main sensor is higher than that of the reference sensor.

7. The automatic reconfiguration method for flight parameter sensors according to claim 5, characterized in that, The method further includes: The reconstruction page displays the operating status and output data of all main sensors for each flight parameter: The running status is used to indicate the validity of the data and whether the data has been adopted.

8. An automatic reconfiguration device for a flight parameter sensor, characterized in that, Used to perform the method as claimed in any one of claims 1-7.

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