Flight navigation processing method and device based on navigation change

Abstract

The embodiment of the invention discloses a flight navigation processing method based on navigation change, and the method comprises the following steps: determining an available navigation source, and determining a navigation scheme according to the available navigation source; performing navigation calculation according to the navigation scheme, and determining an original navigation result at a certain moment or some moments according to a navigation calculation result; and determining a corresponding smoothing operation according to the change condition of the navigation scheme, and executing the smoothing operation on the original navigation result to determine a target navigation result.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a flight navigation processing method and device based on navigation changes. Background Art

[0002] In the prior art, a variety of navigation methods can be used for flight navigation, including configuring a flight management system (FMS) to achieve integrated navigation functions. The flight management system is an onboard avionics system that assists pilots in completing various tasks during the entire flight phase of the aircraft, and can manage, monitor and automatically control the aircraft to a certain extent. The FMS has the function of integrated navigation, relying on the inertial reference system (IRS), satellite navigation system (GNSS) and radio navigation system to provide pilots with continuous and real-time three-dimensional aircraft information, including estimated aircraft position, aircraft speed, actual navigation performance (ANP), etc.

[0003] However, the quality of existing aircraft navigation results needs to be optimized. For example, when the FMS navigation mode is switched manually or automatically, or when the sensor status of the navigation source fails or switches, the output navigation results may drift, have errors, mutations, oscillations, etc. Summary of the invention

[0004] The embodiments of this specification provide a flight navigation processing method and device based on navigation changes, so as to solve the technical problem of how to improve the quality of flight navigation.

[0005] To solve the above technical problems, the embodiments of this specification provide the following technical solutions:

[0006] The embodiment of this specification provides a flight navigation processing method based on navigation change, the method comprising:

[0007] Determining available navigation sources, and determining a navigation solution according to the available navigation sources;

[0008] Perform navigation calculation according to the navigation scheme, and determine original navigation results at one or more moments according to the navigation calculation results;

[0009] A corresponding smoothing operation is determined according to a change in the navigation solution, and the smoothing operation is performed on the original navigation result to determine a target navigation result.

[0010] Optionally, determining a navigation solution according to the available navigation source includes:

[0011] If it is determined according to the operation information that a navigation mode is selected, a navigation scheme is determined according to the selected navigation mode and available navigation sources;

[0012] and / or,

[0013] If it is determined according to the operation information that an available navigation source is selected, a navigation solution is determined according to the selected available navigation source;

[0014] and / or,

[0015] The navigation scheme is determined based on the priority of available navigation sources.

[0016] Optionally, determine the available navigation sources including:

[0017] The rationality of each navigation source is judged, and the available navigation sources are determined based on the rationality judgment results.

[0018] Optionally, the rationality judgment of each navigation source includes:

[0019] For any navigation source, the rationality of the navigation source is judged based on the navigation output results before and after the navigation source.

[0020] Optionally, judging the rationality of the navigation source according to the navigation output results before and after the navigation source includes:

[0021] The residual calculation is performed on the navigation output results before and after the navigation source, and the rationality of the navigation source is judged based on the residual calculation results.

[0022] Optionally, the residual calculation includes navigation state vector error calculation and / or speed error calculation and / or sensor error calculation.

[0023] Optionally, determining a corresponding smoothing operation according to a change in the navigation scheme includes:

[0024] According to the number of changes of the navigation scheme within a preset time, the corresponding smoothing operation is determined.

[0025] Optionally, determining a corresponding smoothing operation according to a change in the navigation scheme includes:

[0026] If the number of navigation scheme changes within the first preset time satisfies the first preset condition, the corresponding smoothing operation includes a simple moving average;

[0027] and / or,

[0028] If the number of navigation scheme changes within the second preset time meets the second preset condition, the corresponding smoothing operation includes exponential moving average;

[0029] and / or,

[0030] If the number of navigation scheme changes meets a third preset condition within a third preset time, the corresponding smoothing operation includes weighted moving average.

[0031] Optionally, performing navigation calculation according to the navigation scheme includes:

[0032] performing navigation calculations on data collected by the navigation solution based on a Kalman filter;

[0033] and / or,

[0034] Calculate the actual navigation performance based on the navigation solution.

[0035] The embodiment of this specification provides a flight navigation processing device based on navigation change, the device comprising:

[0036] A solution selection module, used to determine available navigation sources and determine a navigation solution according to the available navigation sources;

[0037] A navigation calculation module, used to perform navigation calculation according to the navigation scheme, and determine the original navigation result at one or more times according to the navigation calculation result;

[0038] The smoothing processing module is used to determine a corresponding smoothing processing operation according to a change in the navigation solution, and perform the smoothing processing operation on the original navigation result to determine a target navigation result.

[0039] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0040] Based on the available navigation sources, a more reasonable navigation scheme can be determined. According to the change of the navigation scheme (i.e., navigation change), targeted smoothing operations are used to determine the target navigation result, which can effectively improve the fluctuation and error of the navigation result caused by the switching of the navigation scheme, thereby improving the navigation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings required for use in the embodiments of this specification or the prior art description are briefly described below. Obviously, the following only describes the drawings required for use in some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0042] Figure 1 It is a flowchart of the flight navigation processing method based on navigation changes in the first embodiment of this specification.

[0043] Figure 2 It is a schematic diagram of the flight navigation processing flow in the first embodiment of this specification.

[0044] Figure 3 It is a schematic diagram of the navigation scheme and navigation result determination process in the first embodiment of this specification.

[0045] Figure 4 It is a structural diagram of a flight navigation processing device based on navigation changes in the second embodiment of this specification. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments involved in the specific implementation methods are only part of the embodiments of this application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the specific implementation methods without making creative work should belong to the scope of protection of this application.

[0047] The first embodiment of this specification (hereinafter referred to as "embodiment one") provides a flight navigation processing method based on navigation changes. The execution subject of embodiment one can be a terminal (including but not limited to mobile phones, computers, pads, wearable devices, televisions) or a server or an operating system or an application or a platform or system, etc., that is, the execution subject can be diverse and can be set, used or changed as needed. In addition, there can also be a third-party application to assist the execution subject in executing embodiment one. For example, the method in embodiment one can be executed by a server, and an application corresponding to the server can be installed on the terminal (held by the user), and data can be transmitted between the terminal or application and the server, and data can be collected or input or output or processed through the terminal or application, thereby assisting the server in executing the method in embodiment one.

[0048] like Figure 1 and Figure 2 As shown, the flight navigation processing method based on navigation change provided in the first embodiment may include:

[0049] S101: Determine available navigation sources, and determine a navigation solution according to the available navigation sources;

[0050] In actual scenarios, the aircraft may be configured with multiple navigation methods, such as Figure 3 Inertial reference system, global navigation satellite system, radio navigation sensor, etc. shown in . Each navigation method can collect the data required for navigation through one or more corresponding sensors, and these sensors can be called navigation sensors. Each navigation method can be called a navigation source, and the navigation sensor corresponding to each navigation method can also be called a navigation source.

[0051] In the first embodiment, the available navigation source is a reference factor for determining the navigation scheme, that is, to determine the available navigation source (a navigation source becomes an available navigation source, which means that the navigation effect or navigation accuracy of the navigation source can meet the reasonable or available standards), and determine the navigation scheme according to the available navigation source. Among them, determining the available navigation source may include: making a rationality judgment on each navigation source, and determining the available navigation source according to the rationality judgment result. For example, after the rationality judgment, a navigation source that meets the preset conditions (including but not limited to the rationality conditions) can be used as an available navigation source; a navigation source that does not meet the preset conditions is an unavailable navigation source.

[0052] The rationality judgment of each navigation source may include: for any navigation source, judging the rationality of the navigation source according to the navigation output results before and after the navigation source. For example, after obtaining a specific instruction (including but not limited to an instruction to determine a navigation solution, which may be generated according to a manual operation), the rationality of the navigation output results before and after the navigation source may be judged.

[0053] For any navigation source, judging the rationality of the navigation source according to the navigation output results before and after the navigation source may include: performing residual calculation on the navigation output results before and after the navigation source, and judging the rationality of the navigation source according to the residual calculation result. The residual calculation may include navigation state vector error calculation and / or speed error calculation and / or sensor error calculation.

[0054] For any navigation source, the navigation source can output a corresponding navigation result (called a navigation output result, and each navigation mode or navigation sensor can output a navigation result). The navigation output result of the navigation source at a certain moment (which can be a certain moment after obtaining a specific instruction) and the navigation output result of the navigation source at the next moment can be calculated by residual, specifically, the navigation state vector of the navigation source at a certain moment and the navigation state vector at the next moment can be calculated by residual. The navigation output result may include position, speed, actual navigation performance (ANP), etc. The navigation state vector may include a position vector and / or a speed vector, etc. The residual calculation result may include position error δx, δy, δz and / or speed error δvE, δvN, δvU and / or sensor error, etc.

[0055] Specifically, the state equation residual can be obtained by residual calculation. Specifically, the state equation residual can be calculated by the following formula: δXi = Xki-Xki_1. Wherein, Xki_1 is the navigation state vector (which can be a position vector and / or a velocity vector) of the navigation source (representing the i-th navigation source in the formula) at a certain moment, and Xki is the navigation state vector of the navigation source at the next moment.

[0056] For different navigation sources, the navigation state vector used for residual calculation may be different. For example, some navigation sources may only consider the position vector, while navigation sources such as GPS or IRS may also consider the velocity vector.

[0057] For any navigation source, whether the navigation source is an available navigation source can be determined based on the rationality judgment result. For example, if the residual calculation result of the navigation output result before and after the navigation source does not exceed a threshold value (the threshold value can be determined based on various relevant data, such as aircraft model, test flight data, etc.), the navigation source is determined to be an available navigation source; if the residual calculation result of the navigation output result before and after the navigation source exceeds the threshold value, the navigation source is determined to be an unavailable navigation source.

[0058] In addition to the above-mentioned method of determining available navigation sources, available navigation sources may also be determined based on operation information (manual operation information), etc. For example, if one or some navigation sources are selected, the selected navigation sources may be used as available navigation sources, and unselected navigation sources may be used as unavailable navigation sources.

[0059] In the first embodiment, multiple methods may be combined to comprehensively determine the available navigation sources.

[0060] In determining a navigation scheme, in addition to the available navigation sources, other reference factors may also be used. For example, determining a navigation scheme based on the available navigation sources includes: if it is determined that a navigation mode is selected based on the operation information (i.e., the reference factor may include the operation information), determining a navigation scheme based on the selected navigation mode and the available navigation sources; and / or, if it is determined that an available navigation source is selected based on the operation information, determining a navigation scheme based on the selected available navigation source; and / or, determining a navigation scheme based on the priority of the available navigation sources (i.e., the reference factor may include the priority).

[0061] like Figure 3 As shown, multiple navigation modes can be provided for selection (generally selected by pilots and other relevant personnel), for example, the navigation mode can include an automatic mode and a specified mode. Specifically, these navigation modes and other information that needs to be manually selected or viewed in the first embodiment (such as the status information of various sensors) can be displayed through the cockpit display screen and other methods.

[0062] If it is determined based on the operation information (of the relevant personnel) that the designated mode is selected, the relevant personnel have the super-control authority for selecting the navigation scheme, and can determine the scheme selected by the relevant personnel (including the selected navigation source) as the navigation scheme. Of course, even if the designated mode is selected, the available navigation sources can be determined, and an alarm can be issued for unavailable navigation sources, thereby providing the status of various navigation sources to the relevant personnel, providing a reference for the relevant personnel, and prompting the relevant personnel to select an available navigation source, thereby determining the navigation scheme based on the selected navigation mode and the selected available navigation source.

[0063] If it is determined that the automatic mode is selected, the relevant personnel have the override authority to select the navigation plan, and can provide the determined available navigation sources to the relevant personnel for selection, and can also issue an alarm for unavailable navigation sources. If it is determined based on the (relevant personnel's) operating information that an available navigation source is selected, the navigation sources to be used are screened out, and the navigation plan can be determined based on the selected available navigation sources. For example, the GNSS navigation mode corresponds to two navigation sensors, GNSS1 and GNSS2. If the relevant personnel manually choose not to use GNSS1 and GNSS2, or GNSS1 and GNSS2 are unavailable navigation sensors (i.e., unavailable navigation sources), then none of the GNSS-related plans will be provided to the relevant personnel for selection.

[0064] In the first embodiment, the priorities of different navigation sources or combinations of different navigation sources may be preset, for example, the priorities of different navigation sources or combinations of different navigation sources may be determined based on the application experience and principle characteristics of the navigation sensor. Figure 3 For example, the scheme involving the inertial reference system (i.e., the scheme including the inertial reference system) can be determined as the first priority. Further, in the scheme involving the inertial reference system, the scheme in which the inertial navigation sensor and the satellite navigation sensor are tightly coupled is given priority, followed by the scheme in which the inertial navigation sensor and the satellite navigation sensor are loosely coupled, otherwise the scheme not including the satellite navigation sensor is selected. In the scheme not including the inertial reference system, the scheme including the satellite navigation sensor is given priority, otherwise the scheme based on the radio sensor is given priority. In this way, after the available navigation sources are determined, the navigation scheme can be automatically determined (generally in automatic mode) according to the priority of the available navigation sources and / or various combinations of various available navigation sources (including combinations of different available navigation sensors and / or combinations of different available navigation methods), or the available navigation sources of different priorities and / or various combinations of various available navigation sources are provided to relevant personnel for selection, and the navigation scheme is determined according to the selection.

[0065] In the first embodiment, the selection of the navigation mode and the determination of the available navigation sources may be performed in parallel. The determined navigation scheme may be a navigation scheme formed by one navigation source, or may be a navigation scheme formed by multiple navigation sources, i.e., navigation by a combination of multiple navigation sources. For example, whether it is manual selection or automatic selection (e.g., automatically selecting the available navigation source or the combination of available navigation sources with the highest priority according to the above priority), the selected available navigation source or the combination of available navigation sources may be used as the navigation scheme.

[0066] In the first embodiment, only one navigation scheme may be determined in each preset period, which can also play a role in limiting the switching of navigation schemes. For example, if the FMS working cycle is 100ms, the preset period may be 1s.

[0067] S103: performing navigation calculation according to the navigation scheme, and determining original navigation results at one or more moments according to the navigation calculation results;

[0068] In the first embodiment, navigation calculation may be performed through a navigation solution, and navigation results at one or more times may be determined according to the navigation calculation results. The determined navigation results may be referred to as original navigation results.

[0069] In the first embodiment, the original navigation result may include information such as the position, speed, and actual navigation performance (ANP) of the aircraft. Among them, the position, speed and other information may be obtained through navigation calculation based on the Kalman filter. That is, performing navigation calculation according to the navigation scheme may include: performing navigation calculation on the data collected by the navigation scheme based on the Kalman filter, and / or calculating the actual navigation performance according to the navigation scheme. The data collected by the navigation scheme here includes the data collected by the navigation sensor involved in the navigation scheme. Specifically, the actual navigation performance may be calculated based on factors such as the FMS working mode, the navigation scheme, and the working characteristics of the navigation sensor. For example, in the case where the navigation scheme is GNSS / IRS combined navigation, the arithmetic square root of the quality factor and the bias constant of the GNSS sensor (i.e., navigation sensor) device may be used as the ANP of the GNSS / IRS combined navigation scheme, i.e., ANP_GNSS=sqrt(FOM^2+C^2). Among them, FOM is the quality factor of the GNSS sensor device, and C is the bias constant of the GNSS sensor device.

[0070] If the navigation solution is a combination of multiple navigation sources, the above navigation calculation is multi-source navigation calculation.

[0071] S105: Determine a corresponding smoothing operation according to a change in the navigation solution, and perform the smoothing operation on the original navigation result to determine a target navigation result.

[0072] In actual scenarios, various situations may occur that cause the navigation scheme to switch, such as manual operation (such as better navigation mode, changing navigation source) causing the navigation scheme to switch, or changes in the state of the navigation sensor causing the navigation scheme to be re-determined and switched to the newly determined navigation scheme.

[0073] In the first embodiment, the change of the navigation scheme can be monitored, and the corresponding smoothing operation can be determined according to the change of the navigation scheme. The determined smoothing operation is performed on the original navigation result to determine the target navigation result. The smoothing operation can be a moving average (Mean Average, MA), and the moving average can include a simple moving average (SMA), a weighted moving average (WMA) or an exponential moving average (EMA).

[0074] In the first embodiment, determining the corresponding smoothing operation according to the change of the navigation scheme may include: determining the corresponding smoothing operation according to the number of changes of the navigation scheme within a preset time.

[0075] Determining the corresponding smoothing operation according to the change of the navigation scheme includes:

[0076] If the number of changes in the navigation scheme meets the first preset condition within the first preset time, the corresponding smoothing operation includes a simple moving average. For example, the number of changes in the navigation scheme meeting the first preset condition may include that the navigation scheme does not change. In this case, the system error of the navigation result mainly comes from the drift error within the sensor update cycle, which shows a periodic oscillation trend in the time series. The SMA method with a shorter time window can be used for smoothing operations. That is, based on the historical navigation results within the time window, the SMA method is used to generate the navigation result of the next moment (i.e., the target navigation result).

[0077] and / or,

[0078] If the number of changes in the navigation scheme meets the second preset condition within the second preset time, the corresponding smoothing operation includes exponential moving average. For example, the number of changes in the navigation scheme meeting the second preset condition may include that the navigation scheme changes but the number of changes is less than the first preset value. In this case, the navigation results (especially the speed and ANP results) may show large, approximately step-like result changes. In order to meet the continuous airworthiness compliance requirements of the FMS navigation results, the EMA method can be used for smoothing operations. That is, based on the moving average and navigation results at time t and the weight parameters, the EMA method is used to generate the navigation results (i.e., the target navigation results) at the next moment, and the moving average and weight parameters can be customized.

[0079] and / or,

[0080] If the number of changes in the navigation scheme meets the third preset condition within the third preset time, the corresponding smoothing operation includes weighted moving average. For example, the number of changes in the navigation scheme meeting the third preset condition may include that the navigation scheme changes and the number of changes is not less than the second preset value or a continuous change occurs. In this case, the navigation quality of both the GPS and the radio sensor may be poor, or the aircraft may be in a transitional stage of segment conversion near a waypoint, and the errors of the periodic term and the mutation term of the navigation result may be large. The WMA method with a larger time window can be used for smoothing operations. That is, based on the historical navigation results and preset weights within the time window, the navigation result of the next moment (i.e., the target navigation result) is generated by the WMA method.

[0081] After the navigation scheme is determined, the original navigation result can be output at one or more times at the beginning. At the same time, the change of the navigation scheme is monitored, the corresponding smoothing operation is determined according to the change of the navigation scheme, and the target navigation result is output at a subsequent time.

[0082] The navigation result (including position or longitude and latitude, speed, ANP) can be decomposed into horizontal items, trend items, periodic items and mutation items. According to the actual operation of the aircraft, the horizontal items and trend items are often the true values ​​of the navigation information generated by the flight, and the periodic items and mutation items are system errors caused by sensor errors or mode switching transients, which are navigation result components that are expected to be avoided from being output. Through the description of the above smoothing operation, it is proved that the first embodiment can avoid outputting navigation result components such as periodic items and mutation items.

[0083] The above-mentioned various changes may occur once or multiple times or alternately. Then, after a certain change occurs, a corresponding smoothing operation may be determined, thereby determining a target navigation result.

[0084] The execution subject of the first embodiment may be an FMS, an onboard computer or other onboard equipment, or multiple equipments may cooperate to execute the first embodiment.

[0085] In the first embodiment, the output navigation result can be displayed on a display screen in the cockpit.

[0086] Embodiment 1 can achieve the following beneficial effects:

[0087] Based on the available navigation sources, a more reasonable navigation scheme can be determined. According to the changes in the navigation scheme, the corresponding smoothing operation is used to determine the target navigation result, which can smooth the navigation result data in a targeted manner, improve the navigation result fluctuation and error caused by the switching of the navigation scheme, and remove unreasonable navigation data fluctuation and error, thereby improving the navigation quality, making the output navigation result closer to the true value of the aircraft state, so that pilots and others can understand the navigation results of the aircraft more accurately.

[0088] Using moving average as a smoothing operation method can not only predict the target navigation results, but also smooth the navigation result sequence fluctuations, reveal the trend characteristics of the navigation result time series, further smooth the navigation result data, improve the navigation result fluctuations and errors caused by navigation scheme switching, remove unreasonable navigation data fluctuations and errors, and improve navigation quality.

[0089] Combining factors such as manual operation and navigation source status (including rationality judgment) to determine available navigation sources can improve the accuracy of available navigation source judgment and is conducive to determining the best navigation solution.

[0090] Using residuals as a means to evaluate the availability and accuracy performance of navigation sources in order to judge and screen the rationality of navigation sources can monitor the status and rationality of navigation sources, more accurately determine the available navigation sources, and help determine the best navigation solution, thereby further improving the navigation quality.

[0091] By determining the available navigation sources, the status of the navigation sources can be monitored, which is beneficial to reducing the deviation between the navigation results and the actual status of the aircraft, and avoiding problems such as frequent switching of navigation modes and obvious oscillation of navigation results due to unreasonable or unavailable sensor navigation sources.

[0092] The navigation processing effect (including the smoothing control effect) of Example 1 was verified through software closed-loop testing stimulated by passenger aircraft test flight data, proving that compared with the prior art, the method described in Example 1 can effectively reduce the error and fluctuation of navigation results in typical flight phases.

[0093] The effectiveness of Example 1 was verified through software code resident testing in the FMS real-time simulation environment. By comparing the true value of the aircraft in the simulation environment with the processing results, it was proved that Example 1 effectively improved the flight navigation accuracy.

[0094] like Figure 4 As shown, the second embodiment of this specification provides a flight navigation processing device based on navigation changes corresponding to the method described in the first embodiment, and the device includes:

[0095] A solution selection module 202 is used to determine available navigation sources and determine a navigation solution according to the available navigation sources;

[0096] A navigation calculation module 204, configured to perform navigation calculation according to the navigation scheme, and determine original navigation results at one or more times according to the navigation calculation results;

[0097] The smoothing processing module 206 is used to determine a corresponding smoothing processing operation according to the change of the navigation solution, and perform the smoothing processing operation on the original navigation result to determine a target navigation result.

[0098] Optionally, determining a navigation solution according to the available navigation source includes:

[0099] If it is determined according to the operation information that a navigation mode is selected, a navigation scheme is determined according to the selected navigation mode and available navigation sources;

[0100] and / or,

[0101] If it is determined according to the operation information that an available navigation source is selected, a navigation solution is determined according to the selected available navigation source;

[0102] and / or,

[0103] The navigation scheme is determined based on the priority of available navigation sources.

[0104] Optionally, determine the available navigation sources including:

[0105] The rationality of each navigation source is judged, and the available navigation sources are determined based on the rationality judgment results.

[0106] Optionally, the rationality judgment of each navigation source includes:

[0107] For any navigation source, the rationality of the navigation source is judged based on the navigation output results before and after the navigation source.

[0108] Optionally, judging the rationality of the navigation source according to the navigation output results before and after the navigation source includes:

[0109] The residual calculation is performed on the navigation output results before and after the navigation source, and the rationality of the navigation source is judged based on the residual calculation results.

[0110] Optionally, the residual calculation includes navigation state vector error calculation and / or speed error calculation and / or sensor error calculation.

[0111] Optionally, determining a corresponding smoothing operation according to a change in the navigation scheme includes:

[0112] According to the number of changes of the navigation scheme within a preset time, the corresponding smoothing operation is determined.

[0113] Optionally, determining a corresponding smoothing operation according to a change in the navigation scheme includes:

[0114] If the number of navigation scheme changes within the first preset time satisfies the first preset condition, the corresponding smoothing operation includes a simple moving average;

[0115] and / or,

[0116] If the number of navigation scheme changes within the second preset time meets the second preset condition, the corresponding smoothing operation includes exponential moving average;

[0117] and / or,

[0118] If the number of navigation scheme changes meets a third preset condition within a third preset time, the corresponding smoothing operation includes weighted moving average.

[0119] Optionally, performing navigation calculation according to the navigation scheme includes:

[0120] performing navigation calculations on data collected by the navigation solution based on a Kalman filter;

[0121] and / or,

[0122] Calculate the actual navigation performance based on the navigation solution.

[0123] The second embodiment can achieve the same beneficial effects as the first embodiment, and the above embodiments can be used in combination.

[0124] The above is only an embodiment of this specification and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A flight navigation processing method based on navigation changes, characterized in that: The method comprises: Determining available navigation sources, and determining a navigation solution according to the available navigation sources; Perform navigation calculation according to the navigation scheme, and determine original navigation results at one or more moments according to the navigation calculation results; A corresponding smoothing operation is determined according to a change in the navigation solution, and the smoothing operation is performed on the original navigation result to determine a target navigation result.

2. The method according to claim 1, characterized in that Determining a navigation solution according to the available navigation source includes: If it is determined according to the operation information that a navigation mode is selected, a navigation scheme is determined according to the selected navigation mode and available navigation sources; and / or, If it is determined according to the operation information that an available navigation source is selected, a navigation solution is determined according to the selected available navigation source; and / or, The navigation scheme is determined based on the priority of available navigation sources.

3. The method according to claim 1, characterized in that Identify available navigation sources including: The rationality of each navigation source is judged, and the available navigation sources are determined based on the rationality judgment results.

4. The method according to claim 3, characterized in that The rationality judgment of each navigation source includes: For any navigation source, the rationality of the navigation source is judged based on the navigation output results before and after the navigation source.

5. The method according to claim 4, characterized in that Judging the rationality of the navigation source based on the navigation output results before and after the navigation source includes: The residual calculation is performed on the navigation output results before and after the navigation source, and the rationality of the navigation source is judged based on the residual calculation results.

6. The method according to claim 5, characterized in that The residual calculation includes navigation state vector error calculation and / or speed error calculation and / or sensor error calculation.

7. The method according to claim 1, characterized in that Determining the corresponding smoothing operation according to the change of the navigation scheme includes: According to the number of changes of the navigation scheme within a preset time, the corresponding smoothing operation is determined.

8. The method according to claim 1 or 7, characterized in that Determining the corresponding smoothing operation according to the change of the navigation scheme includes: If the number of navigation scheme changes within the first preset time satisfies the first preset condition, the corresponding smoothing operation includes a simple moving average; and / or, If the number of navigation scheme changes within the second preset time meets the second preset condition, the corresponding smoothing operation includes exponential moving average; and / or, If the number of navigation scheme changes meets a third preset condition within a third preset time, the corresponding smoothing operation includes weighted moving average.

9. The method according to claim 1, characterized in that Performing navigation calculation according to the navigation scheme includes: performing navigation calculations on data collected by the navigation solution based on a Kalman filter; and / or, Calculate the actual navigation performance based on the navigation solution.

10. A flight navigation processing device based on navigation changes, characterized in that: The device comprises: A solution selection module, used to determine available navigation sources and determine a navigation solution according to the available navigation sources; A navigation calculation module, used to perform navigation calculation according to the navigation scheme, and determine the original navigation result at one or more times according to the navigation calculation result; The smoothing processing module is used to determine a corresponding smoothing processing operation according to a change in the navigation solution, and perform the smoothing processing operation on the original navigation result to determine a target navigation result.

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