Dual-channel-based ILS navigation method, apparatus and device, and storage medium

Abstract

The invention discloses an ILS navigation method, device and equipment based on double channels and a storage medium, and relates to the field of aviation navigation. The specific implementation scheme comprises the following steps: receiving a radio frequency signal; performing frequency mixing processing on the radio frequency signal through a radio frequency processing module to obtain an intermediate frequency signal; respectively processing the intermediate frequency signal through a first processing module and a second processing module to respectively obtain first navigation data and second navigation data; determining a first comparison result through a first processing module according to the first navigation data, the second navigation data and a preset threshold value; determining a second comparison result through a second processing module according to the first navigation data, the second navigation data and a preset threshold value; and determining navigation data output by the ILS system according to the first comparison result and the second comparison result. The risk of navigation information error caused by single-channel failure of the ILS system can be reduced, the safety requirement is met, and the reliability of aviation safety is improved.

Description

Technical Field

[0001] The present application relates to the field of aviation navigation technology, and in particular to an ILS navigation method, device, equipment and storage medium based on dual channels. Background Art

[0002] The Instrument Landing System (ILS) is a key navigation device for precise approach and landing of aircraft. It mainly provides accurate heading and glide path information to aircraft through radio signals transmitted by ground navigation equipment. The ILS system plays an important role in ensuring the safe operation of aircraft, so the reliability and safety of its functions are required to be high.

[0003] At present, the single-channel architecture adopted by the ILS system cannot effectively detect or correct failure conditions when faced with problems such as signal interference and hardware failure, which can easily lead to navigation information errors and fail to meet safety requirements. Summary of the invention

[0004] The embodiments of the present application provide an ILS navigation method, apparatus, device and storage medium based on a dual-channel, thereby solving the problem in the prior art that the failure state cannot be effectively detected or corrected, which easily leads to navigation information errors and cannot meet safety requirements. The risk of navigation information errors caused by single-channel failure in the ILS system is reduced, safety requirements are met, and the reliability of aviation safety is improved.

[0005] In a first aspect, an embodiment of the present application provides an ILS navigation method based on a dual channel, comprising:

[0006] Receive a radio frequency signal; perform mixing processing on the radio frequency signal through a radio frequency processing module to obtain an intermediate frequency signal; process the intermediate frequency signal through a first processing module and a second processing module, respectively, to obtain first navigation data and second navigation data, respectively; determine a first comparison result through the first processing module based on the first navigation data, the second navigation data and a preset threshold; determine a second comparison result through the second processing module based on the first navigation data, the second navigation data and the preset threshold; wherein the first comparison result and the second comparison result are both used to indicate whether the difference between the first navigation data and the second navigation data meets the preset threshold; determine the navigation data output by the ILS system based on the first comparison result and the second comparison result.

[0007] Further, the radio frequency signal includes a LOC radio frequency signal and a GS radio frequency signal; the intermediate frequency signal includes a LOC intermediate frequency signal and a GS intermediate frequency signal; the first navigation data includes first LOC navigation data and first GS navigation data; the second navigation data includes second LOC navigation data and second GS navigation data; and the preset threshold includes a first preset threshold corresponding to the LOC navigation data and a second preset threshold corresponding to the GS navigation data.

[0008] Furthermore, the preset threshold is determined according to pre-acquired simulation data and safety requirements.

[0009] Furthermore, the method also includes: updating the preset threshold value according to actual flight data and safety requirements.

[0010] Further, determining the navigation data output by the ILS system according to the first comparison result and the second comparison result includes:

[0011] When the first comparison result does not meet the preset threshold, it is determined that the navigation data output by the ILS system is empty; when the first comparison result meets the preset threshold and the second comparison result does not meet the preset threshold, it is determined that the navigation data output by the ILS system includes fault warning information and the first navigation data; when both the first comparison result and the second comparison result meet the preset threshold, it is determined that the navigation data output by the ILS system includes the first navigation data.

[0012] Furthermore, the radio frequency signal is mixed by the radio frequency processing module to obtain an intermediate frequency signal, including: the radio frequency signal is de-interferenced and mixed by the radio frequency processing module to obtain an intermediate frequency signal.

[0013] Furthermore, the first preset threshold is 0.005613278, and the second preset threshold is 0.007377292.

[0014] In a second aspect, an embodiment of the present application provides an ILS navigation device based on a dual channel, including: a receiving module, a radio frequency processing module, a first processing module, a second processing module and a navigation determination module.

[0015] The receiving module is used for receiving radio frequency signals.

[0016] The radio frequency processing module is used to mix the radio frequency signal to obtain an intermediate frequency signal.

[0017] The first processing module is used to process the intermediate frequency signal to obtain the first navigation data; the second processing module is used to process the intermediate frequency signal to obtain the second navigation data.

[0018] The first processing module is further used to determine a first comparison result based on the first navigation data, the second navigation data and a preset threshold; the second processing module is further used to determine a second comparison result based on the first navigation data, the second navigation data and the preset threshold; wherein the first comparison result and the second comparison result are both used to indicate whether the difference between the first navigation data and the second navigation data meets the preset threshold.

[0019] The navigation determination module is used to determine the navigation data output by the ILS system according to the first comparison result and the second comparison result.

[0020] In a third aspect, an embodiment of the present application provides a device, comprising: a processor; a memory for storing processor executable instructions; and a method for implementing the first aspect or any possible implementation of the first aspect when the processor executes the executable instructions.

[0021] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, which includes a device for storing a computer program or instruction. When the computer program or instruction is executed, the method of the first aspect or any possible implementation method of the first aspect is implemented.

[0022] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0023] The embodiment of the present application processes the obtained intermediate frequency signal through the first processing module and the second processing module respectively, so as to obtain the first navigation data and the second navigation data respectively; determines the first comparison result through the first processing module according to the first navigation data, the second navigation data and the preset threshold value; determines the second comparison result through the second processing module according to the first navigation data, the second navigation data and the preset threshold value; determines the navigation data output by the ILS system according to the first comparison result and the second comparison result, thereby realizing the output of the navigation data of the dual-channel ILS system, reducing the risk of navigation information error caused by the failure of a single channel of the ILS system, meeting the safety requirements, and improving the reliability of aviation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the module architecture of the ILS system provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a dual-channel ILS navigation method flow chart provided in an embodiment of the present application;

[0027] Figure 3 It is a schematic diagram of the processing link of LOC radio frequency signal;

[0028] Figure 4 It is a schematic diagram of the processing link of GS radio frequency signal;

[0029] Figure 5 A schematic diagram of a processing circuit for achieving intermodulation suppression;

[0030] Figure 6 A schematic diagram of a processing circuit for realizing sensitivity reduction suppression;

[0031] Figure 7 A schematic diagram of the composition of a dual-channel ILS navigation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The following describes some of the techniques involved in the embodiments of the present application to facilitate understanding, and they should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0034] The Instrument Landing System (ILS) is a key navigation device for precise approach and landing of aircraft. It mainly provides accurate heading and glide path information to aircraft through radio signals transmitted by ground navigation equipment. The ILS system plays an important role in ensuring the safe operation of aircraft, so the reliability and safety of its functions are required to be high.

[0035] At present, the single-channel architecture adopted by the ILS system cannot effectively detect or correct failure conditions when faced with problems such as signal interference and hardware failure, which can easily lead to navigation information errors and fail to meet safety requirements.

[0036] Against this background technology, the present disclosure provides an ILS navigation method based on dual channels, which can reduce the risk of navigation information errors caused by single-channel failure of the ILS system, meet safety requirements, and improve the reliability of aviation safety.

[0037] The execution subject of the dual-channel ILS navigation method provided by the embodiment of the present disclosure may be a computer or a server, or may also be other electronic devices with data processing capabilities; or, the execution subject of the method may also be a processor (e.g., a central processing unit (CPU)) in the above electronic device; or, the execution subject of the method may also be an application (Application, APP) installed in the above electronic device that can implement the functions of the method; or, the execution subject of the method may be a functional module or unit in the above electronic device that has the functions of the method, etc. There is no limitation on the execution subject of the method herein.

[0038] Figure 1 A schematic diagram of the module architecture of the ILS system provided in an embodiment of the present application.

[0039] The dual-channel based ILS navigation method is exemplarily described below with reference to the accompanying drawings.

[0040] Figure 2 : is a flowchart of a dual-channel ILS navigation method provided in an embodiment of the present application. Figure 2 This is only an execution order shown in the embodiment of the present application, and does not represent the only execution order of the dual-channel ILS navigation method. If the final result can be achieved, Figure 2 The steps shown can be performed in parallel or in reverse. Figure 2 As shown, the method may include:

[0041] S201: Receive a radio frequency signal.

[0042] Specifically, the radio frequency signal includes a LOC radio frequency signal and a GS radio frequency signal.

[0043] For example, it can be achieved by Figure 1 The interface module shown receives LOC RF (ie, LOC RF signal) and GS RF (ie, GS RF signal) and sends them to the ILS / VDB RF board.

[0044] S202: Perform mixing processing on the radio frequency signal through the radio frequency processing module to obtain an intermediate frequency signal.

[0045] Furthermore, the radio frequency signal is mixed by the radio frequency processing module to obtain an intermediate frequency signal, including: the radio frequency signal is de-interferenced and mixed by the radio frequency processing module to obtain an intermediate frequency signal.

[0046] Exemplarily, the RF processing module may process the LOC RF signal by: Figure 3 The link schematic diagram shown is performed to achieve interference removal and mixing processing of the LOC radio frequency signal to obtain a LOC intermediate frequency signal corresponding to the LOC radio frequency signal.

[0047] Similarly, the RF processing module can process the GS RF signal by Figure 4 The link schematic diagram shown is performed to achieve interference removal and mixing processing of the GS RF signal to obtain a GS intermediate frequency signal corresponding to the GS RF signal.

[0048] For example, it can be achieved by Figure 1 The LOC RF channel (i.e., the RF processing module) in the ILS / VDB RF board (i.e., the RF processing module) shown in FIG. Figure 3 link shown) and the GS RF channel (i.e. Figure 4 The link shown in the figure) performs interference removal and mixing processing on the LOC RF and the GS RF respectively, and obtains the LOC intermediate frequency (i.e., the LOC intermediate frequency signal) and the GS intermediate frequency (i.e., the GS intermediate frequency signal) respectively, and sends the obtained LOC intermediate frequency and GS intermediate frequency to the main processing channel (i.e., the first processing module) and the monitoring processing channel (i.e., the second processing module).

[0049] It should be noted that, through Figure 3 and Figure 4 When the link shown processes the RF signal, intermodulation suppression of the interference signal and sensitivity reduction suppression can be achieved, and dual-carrier suppression can also be achieved through the FFT algorithm.

[0050] For example, the RF processing module is fed with an interference signal with a frequency of 107.7 MHz and a power of -24 dBm, an interference signal with a frequency of 107.3 MHz and a power of -24 dBm, and a desired signal with a frequency of 108.1 MHz and a power of -86 dBm (i.e., the RF signal that needs to be mixed). The generated intermodulation signal is -118.742 dBm, and the output desired signal is -87.421 dBm. The schematic diagram is shown in FIG. Figure 5 The difference between the generated intermodulation signal and the desired signal is -87.421-(-118.742)=31.321dB, and the intermodulation suppression is greater than the demodulation signal-to-noise ratio SNR requirement (31.321dB>30dB), indicating that the interference signal has no intermodulation effect on the desired signal, and intermodulation suppression is achieved.

[0051] For example, the RF processing module inputs an interference signal with a frequency of 107.9MHz and a power of -10dBm, and a desired signal with a frequency of 108.1MHz and a power of -86dBm (i.e., the RF signal that needs to be mixed), and outputs an intermediate frequency signal with a frequency of 21.4MHz and a power of -87.336dBm and an intermediate frequency signal with a frequency of 21.6MHz and a power of -11.512dBm, and the latter can be filtered out by the crystal filter. The schematic diagram is shown in FIG. Figure 6 As shown in the figure, the sensitivity decreases by -87.325dBm-(-87.336dBm)=0.011dB, and the useful signal is -86.011dBm, which is better than -88dBm. Within the sensitivity range, the sensitivity decrease suppression is achieved.

[0052] S203 . Process the intermediate frequency signal through the first processing module and the second processing module respectively to obtain first navigation data and second navigation data respectively.

[0053] Exemplarily, the first processing module and the second processing module can perform analog-to-digital conversion, digital filtering, digital extraction, digital down-conversion, digital demodulation, and data processing on the received intermediate frequency signal to finally obtain the corresponding navigation data. It is a conventional technical means in the art to process the LOC intermediate frequency signal and the GS intermediate frequency signal respectively by one processing module to obtain the corresponding LOC navigation data and GS navigation data, which will not be described in detail here.

[0054] Exemplarily, the first processing module (i.e. Figure 1 The main processing channel shown in the figure can process the LOC intermediate frequency signal and the GS intermediate frequency signal respectively to obtain the first LOC navigation data and the first GS navigation data respectively. That is, the first navigation data includes the first LOC navigation data and the first GS navigation data.

[0055] Similarly, the second processing module (i.e. Figure 1 The monitoring processing channel shown in the figure can process the LOC intermediate frequency signal and the GS intermediate frequency signal respectively to obtain the second LOC navigation data and the second GS navigation data respectively, that is, the second navigation data includes the second LOC navigation data and the second GS navigation data.

[0056] The following is a description of the LOC navigation data. The carrier frequencies of the signals of the two antennas (left antenna and right antenna) under the localizer of the ILS system are fed at the same frequency and phase, so the radiation fields of the two beams can be directly added in space. The resultant spatial radiation field is:

[0057]

[0058] Where m represents the amplitude modulation of the 90 Hz modulation signal and the 150 Hz modulation signal, f1(θ) represents the directivity diagram of the 90 Hz modulation signal, f2(θ) represents the directivity diagram of the 150 Hz modulation signal, Ω1 represents the angular frequency of the 90 Hz modulation signal, Ω2 represents the angular frequency of the 150 Hz modulation signal, and U m represents the carrier signal amplitude, ω represents the angular frequency of the synthetic spatial radiation field, and t represents the time variable.

[0059] It can be seen that the synthesized spatial radiation field is still an amplitude modulated wave, and its amplitude is modulated by two frequencies. The modulation degree of these two frequencies increases with the change direction of the angle θ, while the other decreases.

[0060] The modulation degree of the 90Hz modulation signal is:

[0061]

[0062] The modulation degree of the 150Hz modulation signal is:

[0063]

[0064] In any receiving direction, the modulation depth difference DDM between the two frequencies is:

[0065]

[0066] DDM is also a function of the angular coordinates. When the aircraft deviates from the course, DDM is not equal to zero. If it deviates to the left, f1(θ)>f2(θ), that is, the 90Hz signal modulation is greater than the 150Hz signal modulation; if it deviates to the right, f1(θ)<f2(θ), and the 90Hz signal modulation is less than the 150Hz signal modulation.

[0067] S204, determining a first comparison result through a first processing module according to the first navigation data, the second navigation data and a preset threshold; determining a second comparison result through a second processing module according to the first navigation data, the second navigation data and the preset threshold.

[0068] The first comparison result and the second comparison result are both used to indicate whether the difference between the first navigation data and the second navigation data meets a preset threshold.

[0069] Exemplarily, the second processing module may send the second navigation data to the first processing module, and the first processing module may send the first navigation data to the second processing module.

[0070] It is understandable that Figure 1 As shown, the main processing channel (ie, the first processing module) can communicate with the monitoring processing channel (ie, the second processing module) to achieve synchronous signal processing.

[0071] Exemplarily, when the first navigation data includes first LOC navigation data and first GS navigation data, and the second navigation data includes second LOC navigation data and second GS navigation data, the preset threshold includes a first preset threshold corresponding to the LOC navigation data and a second preset threshold corresponding to the GS navigation data.

[0072] Exemplarily, when the difference between the first LOC navigation data and the second LOC navigation data calculated by the first processing module satisfies the first preset threshold, and the difference between the first GS navigation data and the second GS navigation data satisfies the second preset threshold, it indicates that the first comparison result satisfies the preset threshold; otherwise, it indicates that the first comparison result does not meet the preset threshold.

[0073] Exemplarily, when the difference between the first LOC navigation data and the second LOC navigation data calculated by the second processing module satisfies the first preset threshold, and the difference between the first GS navigation data and the second GS navigation data satisfies the second preset threshold, it indicates that the second comparison result satisfies the preset threshold; otherwise, it indicates that the second comparison result does not meet the preset threshold.

[0074] It should be noted that the first preset threshold corresponding to the LOC navigation data and the second preset threshold corresponding to the GS navigation data may be the same or different, and there is no limitation on this.

[0075] Specifically, the first preset threshold is 0.005613278, and the second preset threshold is 0.007377292.

[0076] It should be noted that both LOC navigation data and GS navigation data are amplitude modulated signals. The first processing module and the second processing module use dual-channel synchronization technology when sampling and processing signals, which can ensure the synchronization of data sampling and processing. However, the inconsistency of sampling phase makes the white noise superimposed on the two channels have the same distribution, but different real-time values. Therefore, the main source of dual-channel data error is random noise, and the signal expression is as follows:

[0077] y(t)=(1+u1 cos(2πf a t)+1+u2 cos(2πf b t))cos(2πf c t+θ c )+n c

[0078] In the formula, f a 、f b 、f c They are 90Hz modulation frequency, 150Hz modulation frequency, and carrier frequency respectively; u1 and u2 are modulation coefficients; n c is the noise signal; θc is the initial phase of the carrier, and t represents the time variable.

[0079] The modulation signal (90Hz, 150Hz) is a single carrier plus narrowband Gaussian white noise signal:

[0080] y a (t) = Acos(2πf a t+θ a )

[0081] y b (t) = Bcos(2πf b t+θ b )

[0082] Where A is the amplitude of the 90Hz plus narrowband Gaussian white noise signal, B is the amplitude of the 150Hz plus narrowband Gaussian white noise signal, θ a is the initial phase of the 90Hz narrowband Gaussian white noise signal, θ b is the initial phase of the 150Hz narrowband Gaussian white noise signal. Among them, A and B conform to the Rice distribution:

[0083]

[0084] In the formula, f A (A) represents the probability density distribution function of a single carrier plus narrowband Gaussian white noise signal with amplitude a, a is the amplitude of the single carrier signal, σ is the standard deviation of the noise, and I0 is the zero-order Bessel function. Under the condition of large signal-to-noise ratio (such as ≥10), we have Then there is

[0085] Near a, A can be approximated as a normal distribution:

[0086]

[0087] set up:

[0088]

[0089] And X and Y are independent of each other.

[0090] Wherein, X represents a single carrier plus narrowband Gaussian white noise signal with an amplitude of a, Y represents a single carrier plus narrowband Gaussian white noise signal with an amplitude of b, x represents the amplitude of X plus narrowband Gaussian white noise signal, y represents the amplitude of Y plus narrowband Gaussian white noise signal, and b represents the amplitude of the single carrier signal.

[0091] According to the probability density formula of the difference of two independent random variables, the distribution of Z=YX is:

[0092]

[0093] In the formula, f z (z) represents the probability density distribution function of the difference between two single carriers plus narrowband Gaussian white noise signals, and z represents the probability density distribution function f z (z) variable.

[0094] f z (z) is a non-analytical expression, and f is calculated using numerical calculation method z (z), where the integral step is 1E-10, and the f obtained by fitting is z The probability density distribution function of (z) is shown as follows:

[0095]

[0096] Z1, Z2 meet f z (z) distribution, the dual channel difference D = Z1-Z2 approximately conforms to the normal distribution:

[0097]

[0098] In the formula, f d (d) indicates two z (z) is the probability density distribution function of the difference of the distributed signal, and d represents the probability density distribution function f d (d) variables.

[0099] Furthermore, the preset threshold is determined according to pre-acquired simulation data and safety requirements.

[0100] For example, the dual-channel ILS system can be simulated by simulation software to obtain the simulation data of the navigation data corresponding to the first processing module and the second processing module (i.e., the first navigation data and the second navigation data), calculate the difference between the simulation data of the first navigation data and the second navigation data, and calculate the difference between the simulation data of the first navigation data and the second navigation data according to the safety requirements (such as the loss rate ≤ 10 -7 ), the minimum difference between the simulation data of the first navigation data and the second navigation data that meets the safety requirement is determined as a preset threshold.

[0101] In this way, a preset threshold for determining failure of the navigation data output by the ILS system can be determined.

[0102] S205 . Determine the navigation data output by the ILS system according to the first comparison result and the second comparison result.

[0103] Specifically, determining the navigation data output by the ILS system according to the first comparison result and the second comparison result may include:

[0104] When the first comparison result does not meet the preset threshold, it is determined that the navigation data output by the ILS system is empty.

[0105] When the first comparison result meets the preset threshold and the second comparison result does not meet the preset threshold, it is determined that the navigation data output by the ILS system includes the fault warning information and the first navigation data.

[0106] When both the first comparison result and the second comparison result satisfy a preset threshold, it is determined that the navigation data output by the ILS system includes the first navigation data.

[0107] In this way, the preset threshold can be used as a judgment condition to determine whether the ILS system is in a failed state, and fault warning information can be added to the navigation data output in the failed state to meet safety requirements.

[0108] For example, Figure 1 As shown, S205 can be executed by the main processing channel to obtain ILS data (ie, navigation data output by the ILS system) and send it to the integrated processing module.

[0109] The embodiment of the present application receives a radio frequency signal; performs mixing processing on the radio frequency signal through a radio frequency processing module to obtain an intermediate frequency signal; processes the intermediate frequency signal through a first processing module and a second processing module, respectively, to obtain first navigation data and second navigation data, respectively; determines a first comparison result through the first processing module according to the first navigation data, the second navigation data and a preset threshold; determines a second comparison result through the second processing module according to the first navigation data, the second navigation data and the preset threshold; determines the navigation data output by the ILS system based on the first comparison result and the second comparison result, thereby reducing the risk of navigation information errors caused by single-channel failure of the ILS system, meeting safety requirements, and improving the reliability of aviation safety.

[0110] Furthermore, the method also includes: updating the preset threshold value according to actual flight data and safety requirements.

[0111] It can be understood that the specific implementation of updating the preset threshold according to actual flight data and safety requirements is similar to the specific implementation of determining the preset threshold according to pre-acquired simulation data and safety requirements, and will not be repeated here.

[0112] In this way, the preset threshold can be updated, thereby obtaining a preset threshold that is more valuable for reference in failure judgment, and further improving the reliability of aviation safety.

[0113] Although the present application provides method operation steps such as embodiments or flow charts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in this embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in the order of the method shown in this embodiment or the accompanying drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0114] like Figure 7 As shown, the embodiment of the present application further provides an ILS navigation device based on dual channels. The device includes: a receiving module 701 , a radio frequency processing module 702 , a first processing module 703 , a second processing module 704 and a navigation determination module 705 .

[0115] The receiving module 701 is used to receive radio frequency signals.

[0116] The radio frequency processing module 702 is used to perform mixing processing on the radio frequency signal to obtain an intermediate frequency signal.

[0117] The first processing module 703 is used to process the intermediate frequency signal to obtain the first navigation data; the second processing module 704 is used to process the intermediate frequency signal to obtain the second navigation data.

[0118] The first processing module 703 is further used to determine a first comparison result based on the first navigation data, the second navigation data and a preset threshold; the second processing module 704 is further used to determine a second comparison result based on the first navigation data, the second navigation data and the preset threshold; wherein the first comparison result and the second comparison result are both used to indicate whether the difference between the first navigation data and the second navigation data meets the preset threshold.

[0119] The navigation determination module 705 is used to determine the navigation data output by the ILS system according to the first comparison result and the second comparison result.

[0120] The beneficial effects and specific implementation methods of the device embodiment can be referred to the aforementioned method embodiment, and will not be described in detail here.

[0121] Some modules in the apparatus described in the present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0122] The devices or modules described in the above application embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0123] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) that can be executed by the (micro) processor, logic gates, switches, application-specific integrated circuits (English: Application Specific Integrated Circuit; Abbreviation: ASIC), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included in it for implementing various functions can also be regarded as structures within the hardware component. Or even, the means for realizing various functions may be regarded as both a software module for realizing the method and a structure within a hardware component.

[0124] An embodiment of the present application further provides a device, comprising: a processor; a memory for storing processor executable instructions; when the processor executes the executable instructions, the method described in the embodiment of the present application is implemented.

[0125] The embodiments of the present application also provide a non-volatile computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the embodiments of the present application is implemented.

[0126] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist independently, or two or more modules may be integrated into one module.

[0127] The above storage media include but are not limited to random access memory (RAM), read-only memory (ROM), cache, hard disk (HDD) or memory card. The memory can be used to store computer program instructions.

[0128] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, or it can be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0129] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0130] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A dual-channel ILS navigation method, characterized in that: include: receiving radio frequency signals; The radio frequency signal is mixed by a radio frequency processing module to obtain an intermediate frequency signal; The intermediate frequency signal is processed by a first processing module and a second processing module to obtain first navigation data and second navigation data respectively; Determining, by a first processing module, a first comparison result according to the first navigation data, the second navigation data and a preset threshold; determining, by a second processing module, a second comparison result according to the first navigation data, the second navigation data and a preset threshold; wherein the first comparison result and the second comparison result are both used to indicate whether a difference between the first navigation data and the second navigation data satisfies the preset threshold; Navigation data output by the ILS system is determined according to the first comparison result and the second comparison result.

2. The method according to claim 1, characterized in that The radio frequency signal includes a LOC radio frequency signal and a GS radio frequency signal; the intermediate frequency signal includes a LOC intermediate frequency signal and a GS intermediate frequency signal; the first navigation data includes first LOC navigation data and first GS navigation data; The second navigation data includes second LOC navigation data and second GS navigation data; The preset thresholds include a first preset threshold corresponding to the LOC navigation data and a second preset threshold corresponding to the GS navigation data.

3. The method according to claim 1, characterized in that The preset threshold is determined according to pre-acquired simulation data and safety requirements.

4. The method according to claim 1, characterized in that: The method further comprises: The preset threshold is updated according to actual flight data and safety requirements.

5. The method according to claim 1, characterized in that The determining, according to the first comparison result and the second comparison result, the navigation data output by the ILS system includes: When the first comparison result does not meet the preset threshold, determining that the navigation data output by the ILS system is empty; When the first comparison result satisfies the preset threshold, and the second comparison result does not satisfy the preset threshold, determining that the navigation data output by the ILS system includes the fault warning information and the first navigation data; When both the first comparison result and the second comparison result satisfy the preset threshold, it is determined that the navigation data output by the ILS system includes the first navigation data.

6. The method according to claim 1, characterized in that The step of mixing the radio frequency signal through the radio frequency processing module to obtain an intermediate frequency signal includes: The radio frequency processing module performs interference removal and frequency mixing processing on the radio frequency signal to obtain the intermediate frequency signal.

7. The method according to claim 2, characterized in that The first preset threshold is 0.005613278, and the second preset threshold is 0.007377292.

8. An ILS navigation device based on dual channels, characterized in that: include: A receiving module, used for receiving radio frequency signals; A radio frequency processing module, used for performing mixing processing on the radio frequency signal to obtain an intermediate frequency signal; A first processing module, used for processing the intermediate frequency signal to obtain first navigation data; A second processing module, used for processing the intermediate frequency signal to obtain second navigation data; The first processing module is further used to determine a first comparison result according to the first navigation data, the second navigation data and a preset threshold; the second processing module is further used to determine a second comparison result according to the first navigation data, the second navigation data and the preset threshold; wherein the first comparison result and the second comparison result are both used to indicate whether the difference between the first navigation data and the second navigation data meets the preset threshold; A navigation determination module is used to determine the navigation data output by the ILS system according to the first comparison result and the second comparison result.

9. A device for performing a dual-channel based ILS navigation method, characterized in that: include: processor; a memory for storing processor-executable instructions; When the processor executes the executable instructions, the method according to any one of claims 1 to 7 is implemented.

10. A non-volatile computer-readable storage medium, characterized in that: The device comprises a computer program or an instruction for storing the computer program or the instruction, which, when executed, enables the method according to any one of claims 1 to 7 to be implemented.

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