Telemetering antenna multi-data fusion automatic guiding device

Abstract

The invention relates to a telemetering antenna multi-data fusion automatic guiding device, which comprises an antenna guiding unit, a flight data optimization processing unit, a flight data conversion unit, a data acquisition unit, a driving management unit, a configuration management analysis unit and a signal simulation unit, the antenna guide unit, the flight data optimization processing unit, the flight data conversion unit and the data acquisition unit are respectively connected with the driving management unit through a data bus, the driving management unit is connected with the configuration management analysis unit and the signal simulation unit, and the configuration management analysis unit is connected with the signal simulation unit. Various different types of guide data are provided for the guide of the telemetering antenna, various mutually redundant data are preferentially selected, analyzed and processed, the tracking quality of the test flight telemetering antenna is further improved, the flight safety can be ensured through real-time monitoring of the flight data, meanwhile, the flight test result can be rapidly judged, and the flight test efficiency is improved. The efficiency and quality of a flight test are improved, and the period of the flight test is greatly shortened.

Description

Technical Field

[0001] The invention relates to the technical field of telemetry data fusion, and in particular to a telemetry antenna multi-data fusion automatic guidance device. Background Art

[0002] Traditional telemetry antenna tracking mainly adopts four methods: directional, program control, automatic tracking and digital. The directional method is used to track moving targets with little change in pitch and azimuth; the program control method presets the movement trajectory of the telemetry data receiving antenna according to the moving target's running route. Once the moving target deviates from the preset movement trajectory, it will affect the reception quality of the telemetry data. In severe cases, the moving target cannot be tracked, resulting in the loss of telemetry signal; the self-tracking method is suitable for tracking slow-moving moving targets, but when the moving target performs large maneuvers and high-speed movements, the self-tracking method is prone to signal loss, thus affecting the reception quality of telemetry data; digital guidance uses external data to guide the antenna to track the moving target under test. Currently, external data provides guidance information from radar data or received moving target telemetry data, but since the radar tracking distance is limited by the terrain, there is a problem that the moving target under test cannot be tracked throughout the entire process. Summary of the invention

[0003] The technical problem solved by the present invention is to provide a telemetry antenna multi-data fusion automatic guidance device to solve the problems in the above-mentioned background technology.

[0004] The technical problem solved by the present invention is achieved by adopting the following technical solutions:

[0005] A telemetry antenna multi-data fusion automatic guidance device comprises an antenna guidance unit, a flight data optimization processing unit, a flight data conversion unit, a data acquisition unit, a drive management unit, a configuration management analysis unit and a signal simulation unit, wherein the antenna guidance unit, the flight data optimization processing unit, the flight data conversion unit and the data acquisition unit are respectively connected to the drive management unit through a data bus, the drive management unit is connected to the configuration management analysis unit and the signal simulation unit, and the configuration management analysis unit is connected to the signal simulation unit. The specific structures of each part are as follows:

[0006] Data acquisition unit

[0007] First, a network socket is created, and then multiple types of data related to the aircraft are received in real time from the designated ports, and then the received data is saved in the raw data queue; the designated ports include GPS signal ports, radar signal ports, ADS-B signal ports, data link signal ports, and telemetry data signal ports;

[0008] First, select the collection task on the main window of the data collection unit. The collection task includes multiple data streams. Each data stream corresponds to an aircraft and a data source. After the collection task is started, it starts to receive data from the designated data source corresponding to the designated port. A data indicator light is set on the data collection unit. When there is data collection, the data indicator light is always on, and when there is no data collection, the data indicator light is off.

[0009] Each data channel in the data acquisition unit is set up with an independent receiving thread, which is controlled by the main program alone. There is no data communication between the threads, and they do not affect each other. Even if a data channel is blocked or other abnormal conditions occur, it will not affect the normal reception of other data channels.

[0010] Each data channel corresponds to a data queue, and the writing and reading are controlled based on the first-in-first-out principle. The user controls the output of each data channel through the main program.

[0011] Flight data optimization processing unit

[0012] The data bus receives flight data in real time through multiple links, such as flight telemetry data, secondary radar, ADS-B, data link data, Beidou short messages, etc. The messages included in the data streams sent by different links are different. According to the actual data processing needs, the flight telemetry data, secondary radar, ADS-B, data link data, Beidou short messages in the link are selected according to the optimal logic.

[0013] The flight data optimization processing unit will receive telemetry data, secondary radar, ADS-B, data link data, Beidou short message and other data, and judge the data quality according to the characteristics of each data. At the same time, after optimizing the multiple data, a fused data stream is formed in real time.

[0014] The flight data optimization processing unit calculates the aircraft's longitude, latitude, and altitude information from the fused data stream and removes outlier data to ensure the validity of calculating the telemetry antenna attitude information;

[0015] Outlier data elimination is used to ensure the smoothness of flight data and prevent outlier data from affecting the correct calculation results, thereby causing incorrect control of the telemetry antenna. The flight data optimization processing unit uses a seven-point second-order algorithm to predict and eliminate outlier data;

[0016] Flight Data Conversion Unit

[0017] Using the longitude, latitude, and altitude parameters of the telemetry antenna receiving station and the longitude, latitude, and altitude parameters of the aircraft, the telemetry antenna's azimuth and pitch angle are calculated through the telemetry tracking coordinate system, the positioning system coordinate system, the station center coordinate system, and the coordinate conversion theory; the aircraft's longitude, latitude, and altitude parameters are then converted from the WGS-84 coordinate system to the station center coordinate system to calculate the telemetry antenna's attitude parameters in real time;

[0018] Driver Management Unit

[0019] An antenna controller is provided in the drive management unit, and the antenna controller is connected to the antenna guiding unit;

[0020] Antenna guide unit

[0021] The antenna guidance unit is connected to the antenna controller through the network or serial port, and sends the real-time calculated telemetry antenna attitude data to the antenna controller. The antenna controller adjusts the tracking attitude of the telemetry antenna in real time, and the telemetry antenna receives the telemetry data sent by the moving target in real time.

[0022] In the present invention, a method for automatic guidance of a telemetry antenna multi-data fusion automatic guidance device is provided, and the specific steps are as follows:

[0023] The data acquisition unit first obtains the flight data source format information and the aircraft's longitude, latitude, altitude and other parameter information from the configuration file and transmits the parameter information to the data bus; the flight data optimization processing unit receives multiple different types of data streams in real time through the data bus, and merges them to generate an optimal data stream through the real-time data optimization algorithm, and then solves the physical quantity information of the aircraft's longitude, latitude and altitude; the flight data conversion unit uses the longitude, latitude, altitude parameters of the telemetry antenna receiving station and the longitude, latitude and altitude parameters of the aircraft, and calculates the azimuth and pitch parameters of the telemetry antenna based on the telemetry tracking coordinate system, positioning system coordinate system, station center coordinate system and coordinate conversion theory, and sends the azimuth and pitch angle values ​​of the telemetry antenna to the antenna guidance unit. The drive management unit drives the antenna guidance unit to adjust the antenna tracking posture in real time, thereby realizing multi-target tracking, detection and precise guidance.

[0024] Beneficial effects: The present invention provides a variety of different types of guidance data for the guidance of the telemetry antenna, and selects and analyzes a variety of mutually redundant data, further improving the tracking quality of the test flight telemetry antenna. Through real-time monitoring of flight data, flight safety can be ensured, and the results of the flight test can also be quickly judged, thereby improving the efficiency and quality of the flight test and greatly shortening the flight test cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of a preferred embodiment of the present invention.

[0026] Figure 2 It is a structural schematic diagram of a preferred embodiment of the present invention.

[0027] Figure 3 It is a schematic diagram of the real-time data receiving and outputting process of the data acquisition unit in the preferred embodiment of the present invention.

[0028] Figure 4 Schematic diagram of the priority timing flow of the flight data preferred processing unit in the preferred embodiment of the present invention.

[0029] Figure 5 It is a schematic diagram of the WGS-84 coordinate system of the flight data conversion unit in the preferred embodiment of the present invention.

[0030] Figure 6 Schematic diagram of the station-centered rectangular coordinate system of the flight data conversion unit in the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0032] See also Figures 1-2 A telemetry antenna multi-data fusion automatic guidance device, comprising an antenna guidance unit, a flight data optimization processing unit, a flight data conversion unit, a data acquisition unit, a drive management unit, a configuration management analysis unit and a signal simulation unit, wherein the antenna guidance unit, the flight data optimization processing unit, the flight data conversion unit and the data acquisition unit are respectively connected to the drive management unit through a data bus (Data Bus), the drive management unit is connected to the configuration management analysis unit and the signal simulation unit, and the configuration management analysis unit is connected to the signal simulation unit. The specific structure of each part is as follows:

[0033] Data acquisition unit

[0034] First, a network socket is created, and then multiple types of data related to the aircraft are received in real time from the designated port. The received data is stored in the original data queue; the designated ports include GPS signal port, radar signal port, ADS-B signal port, data link signal port and telemetry data signal port;

[0035] First, select the collection task on the main window of the data collection unit. The collection task includes multiple data streams. Each data stream corresponds to an aircraft and a data source. After the collection task is started, it starts to receive data from the designated data source corresponding to the designated port. A data indicator light is set on the data collection unit. When there is data collection, the data indicator light is always on, and when there is no data collection, the data indicator light is off.

[0036] Each data channel in the data acquisition unit is equipped with an independent receiving thread, which is controlled by the main program separately. There is no data communication between the threads, and they do not affect each other. Even if a data channel is blocked or other abnormal conditions occur, it will not affect the normal reception of other data channels.

[0037] Each data channel corresponds to a data queue, and is written and read based on the first-in-first-out principle. Users can control the output of each data channel through the main program. The logical relationship between data reception and output control is as follows: Figure 3 As shown;

[0038] Flight data optimization processing unit

[0039] The data bus receives flight data in real time through multiple links, such as flight telemetry data, secondary radar, ADS-B, data link data, Beidou short messages, etc. The messages included in the data streams sent by different links are different. According to the actual data processing needs, the flight telemetry data, secondary radar, ADS-B, data link data, Beidou short messages in the link are selected according to the optimization logic. The priority sequence is as follows: Figure 4 As shown;

[0040] The flight data optimization processing unit will receive telemetry data, secondary radar, ADS-B, data link data, Beidou short message and other data, and judge the data quality according to the characteristics of each data. At the same time, after optimizing the multiple data, a fused data stream is formed in real time.

[0041] The flight data optimization processing unit calculates the aircraft's longitude, latitude, and altitude information from the fused data stream and removes outlier data to ensure the validity of the antenna attitude information calculation;

[0042] Outlier data elimination is used to ensure the smoothness of flight data and prevent outlier data from affecting the correct calculation results, thereby erroneously controlling the telemetry antenna. The flight data optimization processing unit uses a seven-point second-order algorithm to predict and eliminate outlier data. The seven-point second-order formula is as follows:

[0043]

[0044] Among them, y i is the original flight data, The data obtained after the difference calculation of the original flight data is first checked to see if the first six points of the original flight data are normal, and then the formulas (1) to (7) are used to calculate point by point in chronological order. and For outlier data v i , its v i Much larger than the normal value; experience shows that data that meet formula (8) are wild value data:

[0045]

[0046] The values ​​of continuous outlier data in the flight data are close. Formula (9) is used to remove continuous outlier data. When formula (9) is satisfied, the data is an outlier:

[0047] |y k+1 -y k |<E (i=1, 2,...,m) (9)

[0048] In the flight data, the number of consecutive outlier data rarely exceeds 4 points, so m=3;

[0049] Flight Data Conversion Unit

[0050] Using the longitude, latitude, and altitude parameters of the telemetry antenna receiving station and the longitude, latitude, and altitude parameters of the aircraft, the telemetry tracking coordinate system, the positioning system coordinate system, the station center coordinate system, and the coordinate conversion theory are used to calculate the azimuth and pitch angle of the telemetry antenna; then the longitude, latitude, and altitude parameters of the aircraft are converted from the WGS-84 coordinate system to the station center coordinate system to calculate the attitude parameters of the telemetry antenna, such as Figure 5 As shown:

[0051] The origin of the WGS-84 coordinate system is the Earth's center of mass M, the Z axis points to the agreed pole CTP, the X axis points to the intersection of the zero meridian plane and the equator corresponding to the CTP, the Y axis is perpendicular to the XMZ plane, and forms a right-handed coordinate system with the Z axis and the X axis;

[0052] The WGS-84 coordinate system uses the earth as an ellipsoid, and the four main parameters are as follows:

[0053] Semi-major axis a = 6378137 ± 2 m;

[0054] The Earth's gravitational constant GM = (39686005 × 10 8 ±0.6×10 8 )m 3 / s 2 ;

[0055] Normal second-order harmonic coefficient C2.0 = -484.16685 × 10 -6 ±0.6×10 -6 ;

[0056] The angular velocity of the earth's rotation ω=(7292115×10 -11 ±0.1500×10 -11 )rad / s;

[0057] Using the above four basic parameters, the flattening of the WGS-84 coordinate system ellipsoid is calculated as:

[0058] f = 1 / 298.257223563;

[0059] The station center coordinate system adopts the station center rectangular coordinate system of the telemetry antenna base station, with the telemetry antenna base station as the coordinate origin, the normal direction of the ellipsoid of the telemetry antenna base station as the z-axis, the intersection line of the north end of the geodetic meridian of the telemetry antenna base station and the geodetic plane as the x-axis, and the intersection line of the geodetic parallel circle (east direction) and the geodetic plane as the y-axis, forming a left-handed coordinate system, such as Figure 6 As shown, z-uxy is the station center coordinate system;

[0060] The data output by GPS is the GPS-84 coordinate system information. The final moving target p is displayed in the station center coordinate system z-uxy, and coordinate conversion is required. In the target tracking solution, the three-dimensional coordinates of the moving target in the new station center coordinate system are obtained, that is, the height and azimuth of the target relative to the center of the telemetry antenna base station are obtained. For this purpose, the original geocentric coordinate system is rotated twice and translated once. The two rotations include a rotation of L° along the longitude of the tracking center and a rotation of B° along the latitude of the tracking center.

[0061] Assuming that the GPS-84 coordinate system and the station center coordinate system have the same origin but different directions, you can rotate from one coordinate system to another by rotating three times around the coordinate axis. Each rotation is represented by a rotation matrix. In the right-handed coordinate system, the rotation matrices for rotations along the x, y, and z axes can be represented as follows:

[0062] Rotation around the x-axis:

[0063]

[0064] Rotation around the y-axis:

[0065]

[0066] Rotation around the z-axis:

[0067]

[0068] The earth coordinate system is transformed to the station center coordinate system by rotating L° around the Z axis, then rotating (90°+B) around Y', and finally rotating 90° around X'. The coordinate transformation matrix is:

[0069]

[0070] The spatial rectangular coordinates of the moving target p in the station center coordinate system can be calculated from the coordinate rotation matrix. The calculation process is as follows:

[0071]

[0072] Among them, X, Y, Z are the coordinates of the moving target p in the station center coordinate system; X s , Y s , Z s is the coordinate of the moving target in the geocentric rectangular coordinate system; X u , Y u , Z u It is the coordinate in the geocentric rectangular coordinate system corresponding to the longitude and latitude of the station tracking center in the station center coordinate system;

[0073] After calculating the position coordinates of the moving target p relative to the tracking center, the azimuth angle α and pitch angle β of the moving target at the tracking center can be calculated. The conversion process is as follows:

[0074]

[0075] Antenna guide unit

[0076] The antenna guidance unit is connected to the antenna controller set in the drive management unit through the network or serial port (RS232 / RS422 / RS485, etc.), and sends the real-time calculated telemetry antenna attitude data (antenna tracking azimuth, pitch angle value, etc.) to the antenna controller, and the antenna controller adjusts the tracking attitude of the telemetry antenna. The telemetry antenna receives the telemetry data sent by the moving target in real time;

[0077] Through the control of the above-mentioned units, a variety of different types of redundant data can be selected for analysis and processing, so as to achieve real-time adjustment of the telemetry antenna tracking attitude, further improve the tracking quality of the test flight telemetry antenna, effectively ensure the safety of the test flight, and improve the quality of the test flight.

[0078] In this embodiment, a method for automatic guidance of a telemetry antenna multi-data fusion automatic guidance device includes the following specific steps:

[0079] The data acquisition unit first obtains the flight data source format information and the aircraft's longitude, latitude, altitude and other parameter information from the configuration file and transmits the parameter information to the data bus. The flight data optimization processing unit receives multiple different types of data streams in real time through the data bus, and merges them to generate an optimal data stream through the real-time data optimization algorithm, and then solves the physical quantity information of the aircraft's longitude, latitude and altitude. The flight data conversion unit uses the longitude, latitude, altitude parameters of the telemetry antenna receiving station and the longitude, latitude and altitude parameters of the aircraft, and calculates the azimuth and pitch parameters of the telemetry antenna based on the telemetry tracking coordinate system, positioning system coordinate system, station center coordinate system and coordinate conversion theory, and sends the azimuth and pitch angle values ​​of the telemetry antenna to the antenna guidance unit. The drive management unit drives the antenna guidance unit to adjust the telemetry antenna tracking posture in real time, thereby realizing multi-target tracking, detection and precise guidance.

Claims

1. A telemetry antenna multi-data fusion automatic guidance device, comprising an antenna guidance unit, a flight data optimization processing unit, a flight data conversion unit, a data acquisition unit, a drive management unit, a configuration management and analysis unit and a signal simulation unit, characterized in that: The antenna guidance unit, the flight data optimization processing unit, the flight data conversion unit, and the data acquisition unit are respectively connected to the drive management unit through the data bus, the drive management unit is connected to the configuration management and analysis unit and the signal simulation unit, and the configuration management and analysis unit is connected to the signal simulation unit; at the same time, an antenna controller is arranged in the drive management unit.

2. A telemetry antenna multi-data fusion automatic guidance device according to claim 1, characterized in that: The data acquisition unit first creates a network socket, then receives multiple types of aircraft-related data from the specified port in real time, and saves the received data in the raw data queue.

3. The telemetry antenna multi-data fusion automatic guidance device according to claim 2 is characterized in that: Designated ports include GPS signal port, radar signal port, ADS-B signal port, data link signal port and telemetry data signal port.

4. The telemetry antenna multi-data fusion automatic guidance device according to claim 1, characterized in that: The flight data optimization processing unit will judge the data quality of the received telemetry data according to the characteristics of each data, and at the same time, after optimizing multiple data, form a fused data stream in real time.

5. The telemetry antenna multi-data fusion automatic guidance device according to claim 4, characterized in that: The flight data optimization processing unit calculates the aircraft's longitude, latitude, and altitude information from the fused data stream and removes outlier data.

6. The telemetry antenna multi-data fusion automatic guidance device according to claim 5, characterized in that: The flight data optimization processing unit uses a seven-point second-order algorithm to predict and eliminate outlier data.

7. The telemetry antenna multi-data fusion automatic guidance device according to claim 1, characterized in that: The flight data conversion unit uses the longitude, latitude, and altitude parameters of the telemetry antenna receiving station and the longitude, latitude, and altitude parameters of the aircraft to calculate the azimuth and pitch angle of the telemetry antenna through the telemetry tracking coordinate system, positioning system coordinate system, station center coordinate system and coordinate conversion theory; then the longitude, latitude, and altitude parameters of the aircraft are converted from the WGS-84 coordinate system to the station center coordinate system to calculate the telemetry antenna attitude parameters in real time.

8. The telemetry antenna multi-data fusion automatic guidance device according to claim 1, characterized in that: The antenna guidance unit is connected to the antenna controller, and sends the real-time calculated telemetry antenna attitude data to the antenna controller. The antenna controller adjusts the tracking attitude of the telemetry antenna in real time, and the telemetry antenna receives the telemetry data sent by the moving target in real time.

9. A method for automatic guidance using a telemetry antenna multi-data fusion automatic guidance device according to any one of claims 1 to 8, characterized in that: The specific steps are as follows: The data acquisition unit first obtains the flight parameter information from the configuration file and transmits the parameter information to the data bus. The flight data optimization processing unit receives multiple different types of data streams in real time through the data bus, and merges them to generate an optimal data stream through the real-time data optimization algorithm, and then solves the physical quantity information of the aircraft's longitude, latitude, and altitude. The flight data conversion unit uses the longitude, latitude, and altitude parameters of the telemetry antenna receiving station and the longitude, latitude, and altitude parameters of the aircraft, and calculates the azimuth and pitch parameters of the telemetry antenna based on the telemetry tracking coordinate system, the positioning system coordinate system, the station center coordinate system, and the coordinate conversion theory, and sends the azimuth and pitch angle values ​​of the telemetry antenna to the antenna guidance unit. The drive management unit drives the antenna guidance unit to adjust the antenna tracking posture in real time, thereby realizing multi-target tracking, detection, and precise guidance.

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