Flight navigation channel selection method and device

Abstract

The embodiment of the invention discloses a flight navigation channel selection method, which comprises the following steps of: at an initial node, calculating an actual navigation performance calculation result of each current available navigation channel combination, determining an optimal navigation channel combination according to the actual navigation performance calculation result of each current available navigation channel combination, and applying the optimal navigation channel combination to flight navigation, the navigation station ID of the optimized navigation station combination is stored; judging whether a navigation station combination for flight navigation needs to be switched or not at any node after the initial node according to the required navigation performance and a calculation result of the actual navigation performance of the optimal navigation station combination determined by the previous node at the node; if yes, recalculating the actual navigation performance calculation result of each current available navigation station combination, determining a preferred navigation station combination according to the actual navigation performance calculation result of each current available navigation station combination, and storing the navigation station ID of the preferred navigation station combination; and if not, combining the preferable navigation stations determined by the previous node for flight navigation.

Description

Technical Field

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

[0002] In order to reduce the route intervals in air traffic, improve airspace utilization, optimize flight tracks and reduce operating costs, the International Civil Aviation Organization (ICAO) proposed the concept of performance-based navigation (PBN) and required airworthiness verification to be completed in accordance with the airworthiness management system. PBN includes two basic navigation specifications: area navigation (RNAV) and required navigation performance (RNP). RNAV is a navigation method that enables aircraft to fly along any desired path within the coverage of the navigation system signal, within the working capability of the onboard navigation equipment, or a combination of the two. When an aircraft uses the regional navigation system for navigation, in order to reduce the workload of the crew, the onboard equipment is required to automatically select the land-based radio navigation station.

[0003] In the RNAV land-based radio navigation mode, it mainly relies on distance measuring equipment (DME) and very high frequency omnidirectional range (VOR). Since there are many ground navigation stations, they use different identification and frequencies, so it is necessary to select the most suitable land-based navigation station for navigation. In order to reduce the workload of the crew, the flight management system (FMS) can automatically select the land-based navigation station that needs to be tuned, and then complete the position solution based on the measurement information. At present, the FMS of foreign civil aircraft (such as Boeing and Airbus) already has the function of automatic radio tuning and positioning. Domestic scholars have also conducted corresponding research, proposed a DME station selection algorithm, and used positioning accuracy as a consideration for the station selection algorithm.

[0004] However, the existing automatic channel selection technology has a relatively simple logic and does not consider the continuity of channel selection, resulting in frequent switching of navigation stations during use, affecting the accuracy and continuity of regional navigation.

[0005] In addition, the existing automatic channel selection technology still has some problems in the engineering implementation process. On the one hand, the actual calculation methods of ANP for navigation station pairs are different, and the application effects are uneven; on the other hand, due to the randomness of actual tuning, the navigation station list jumps, and the calculation based on the sorting sequence cannot guarantee the correct real-time ANP calculation results of the current navigation station pair, resulting in misjudgment. Summary of the invention

[0006] The embodiments of this specification provide a flight navigation channel selection method and device to solve the technical problem of how to perform flight navigation channel selection more effectively and efficiently.

[0007] To solve the above technical problems, the embodiments of this specification provide the following technical solutions:

[0008] The embodiment of this specification provides a flight navigation channel selection method, the method comprising:

[0009] At the initial node, calculate the actual navigation performance calculation results of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination;

[0010] At any node after the initial node, determine the preferred navigation station combination determined at the previous node according to the latest stored navigation station ID; determine whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node;

[0011] If it is necessary to switch the navigation station combination used for flight navigation, recalculate the actual navigation performance calculation results of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination;

[0012] If there is no need to switch the navigation station combination used for flight navigation, the preferred navigation station combination determined at the previous node will be used for flight navigation.

[0013] Optionally, before calculating the actual navigation performance calculation results of each currently available navigation station combination, the method further includes:

[0014] Determine the current available navaid combinations.

[0015] Optionally, determine the currently available navaid combinations including:

[0016] Determine the current navigation station combinations, determine the angle between any navigation station in the navigation station combination and the aircraft, and determine whether the navigation station is available according to the angle between the navigation station and the aircraft;

[0017] For any navigation station combination, if there is an unavailable navigation station in the navigation station combination, the navigation station combination is unavailable;

[0018] If there is no unavailable navigation station in the navigation station combination, whether the navigation station combination is available is determined based on the angle formed by each navigation station in the navigation station combination and the aircraft.

[0019] Optionally, determine the currently available navaid combinations including:

[0020] Determine the current navigation stations, and for any navigation station, determine the angle between the navigation station and the aircraft, and determine whether the navigation station is available based on the angle between the navigation station and the aircraft;

[0021] For any navigation station combination formed by available navigation stations, whether the navigation station combination is available is determined based on the angle formed by each navigation station in the navigation station combination and the aircraft.

[0022] Optionally, for any navigation station, determining the angle between the navigation station and the aircraft includes:

[0023] Determine the coordinates of the navigation station and the aircraft in a unified geocentric coordinate system;

[0024] Calculating the distance between the navigation station and the aircraft based on the coordinates of the navigation station and the aircraft in a unified geocentric coordinate system;

[0025] The angle between the navigation station and the aircraft is determined according to the altitude of the navigation station, the altitude of the aircraft, and the distance between the navigation station and the aircraft.

[0026] Optionally, for any navigation station combination, the angle formed by each navigation station in the navigation station combination and the aircraft is calculated based on the distance between each navigation station in the navigation station combination and the aircraft and the distance between each pair of navigation stations in the navigation station combination.

[0027] Optionally, judging whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node, includes:

[0028] If the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node is not greater than the preset value, there is no need to switch the navigation station combination used for flight navigation;

[0029] or,

[0030] If the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node is greater than the preset value, it is necessary to switch the navigation station combination used for flight navigation;

[0031] Wherein, the preset value is determined according to the required navigation performance.

[0032] Optionally, the preset value is half of the required navigation performance.

[0033] Optionally, the node is a time node or a waypoint.

[0034] The embodiment of this specification provides a flight navigation station selection device, the device comprising:

[0035] An initial station selection module is used to calculate the actual navigation performance calculation results of each currently available navigation station combination at the initial node, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination;

[0036] A station selection and switching module is used to determine, at any node after the initial node, the preferred navigation station combination determined at the previous node according to the latest stored navigation station ID; determine whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node; if it is necessary to switch the navigation station combination used for flight navigation, recalculate the actual navigation performance calculation result of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation result of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination; if it is not necessary to switch the navigation station combination used for flight navigation, use the preferred navigation station combination determined at the previous node for flight navigation.

[0037] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0038] At the initial node, the navigation station combination is selected through the actual navigation performance calculation results of the current available navigation station combinations to determine the preferred navigation station combination. The preferred navigation station combination is used for flight navigation, which can quickly and effectively realize automatic flight navigation station selection, improve the accuracy and reliability of station selection, and achieve better station selection effect.

[0039] The navigation station ID of the preferred navigation station combination determined each time is stored. At the nodes after the initial node, the navigation station selected by the previous node is accurately determined by the navigation station ID, avoiding navigation station identification errors and calculation errors caused by refreshing the navigation station list or changing the order, and further improving the accuracy and reliability of station selection.

[0040] At the nodes after the initial node, a comprehensive judgment is made as to whether it is necessary to switch the navigation station combination used for flight navigation by calculating the actual navigation performance of the preferred navigation station combination determined at the previous node based on the required navigation performance and the actual navigation performance of the preferred navigation station combination determined at the previous node. This balances the two needs of selecting the preferred navigation station and avoiding frequent channel changes, thus avoiding frequent channel changes and improving channel selection efficiency. 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 station selection method provided in the first embodiment of this specification.

[0043] Figure 2 It is a schematic diagram of the channel selection process in the first embodiment of this specification.

[0044] Figure 3 It is a schematic diagram of the ANP calculation submodule in the first embodiment of this specification.

[0045] Figure 4 It is a schematic diagram of the automatic channel selection model architecture in the first embodiment of this specification.

[0046] Figure 5 It is a structural diagram of the flight navigation station selection device provided in the second embodiment of this specification. DETAILED DESCRIPTION

[0047] 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.

[0048] The first embodiment of this specification (hereinafter referred to as "embodiment one") provides a flight navigation station selection method. The execution subject of embodiment one includes but is not limited to a terminal or a server or an operating system or an application, that is, the execution subject can be various and can be set, used or changed as needed. In addition, a third-party application can also assist the execution subject in executing embodiment one. For example, the method in embodiment one can be executed by a server, and a corresponding application can be installed on a terminal (the terminal can be held by a user), and data can be transmitted between the terminal or the application and the server, thereby assisting the server in executing the method in embodiment one.

[0049] In particular, the execution subject of the first embodiment may be a flight management system or an onboard computer.

[0050] like Figure 1 and Figure 2 As shown, the flight navigation channel selection method provided in the first embodiment includes:

[0051] S101: At the initial node, calculating actual navigation performance calculation results of each currently available navigation station combination, determining a preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, using the preferred navigation station combination for flight navigation, and storing the navigation station ID of the preferred navigation station combination;

[0052] In the first embodiment, nodes can be set as needed, for example, a specific time point can be used as a node, or a waypoint can be used as a node, that is, the node can be a time node or a waypoint. The node includes an initial node, for example, the first moment when a navigation station needs to be selected can be used as the initial node, or first determine whether the current waypoint is the starting waypoint, and the moment of determining the starting waypoint can be used as the initial node, or the initial waypoint can be used as the initial node. Figure 2 In the example, if the waypoint is used as a node, it is necessary to determine whether the current waypoint is the initial waypoint. If it is the initial waypoint, it means that the current node is the initial node; if it is not the initial waypoint, it means that the current node is not the initial node.

[0053] At the initial node, the actual navigation performance calculation results of the current available navigation station combinations can be calculated, and the preferred navigation station combination can be determined based on the actual navigation performance calculation results of the current available navigation station combinations. The left and right navigation station combinations can be used for flight navigation.

[0054] Before calculating the actual navigation performance calculation results of each currently available navigation station combination, the currently available navigation station combination can be determined. The currently available navigation station combination can be determined in the following manner 1 or manner 2 (embodiment 1 is not limited to manner 1 or manner 2):

[0055] Method 1

[0056] In the first method, determining the currently available navigation station combination may include:

[0057] Determine the current navigation station combinations, determine the angle between any navigation station in the navigation station combination and the aircraft, and determine whether the navigation station is available according to the angle between the navigation station and the aircraft;

[0058] For any navigation station combination, if there is an unavailable navigation station in the navigation station combination, the navigation station combination is unavailable;

[0059] If there is no unavailable navigation station in the navigation station combination, whether the navigation station combination is available is determined based on the angle formed by each navigation station in the navigation station combination and the aircraft.

[0060] The following example further illustrates method 1:

[0061] In actual situations, the current navigation stations can be obtained based on tuning, and the current navigation stations form a navigation station list. The obtained navigation stations can form various navigation station combinations through traversal matching. Generally, each navigation station combination contains two navigation stations, that is, each navigation station combination is a navigation station pair. For example, based on tuning, a total of six DME navigation station information on the left and right are obtained, namely DME_L1, DME_L2, ​​DME_L3, DME_R1, DME_R2, and DME_R3 (other navigation station information can also be used in actual situations, not limited to embodiment 1). For the DME / DME mode radio navigation mode, these six navigation stations are matched in pairs, with a total of 15 combinations, that is, 15 navigation station combinations are determined.

[0062] In the first embodiment, for any navigation station in any navigation station combination, the angle between the navigation station and the aircraft is calculated. The angle calculation method is as follows:

[0063] (1) Convert longitude and latitude coordinates to geocentric coordinates

[0064] The latitude and longitude coordinates of the navigation station and the aircraft position are converted into unified geocentric earth-fixed coordinates, that is, the coordinates of the navigation station and the aircraft are determined in a unified geocentric coordinate system. The coordinate conversion facilitates the calculation of the angle and distance between the navigation station and the aircraft, and also facilitates the unification of the position parameters and the distance measurement values. The coordinate conversion can be completed uniformly using the "LLA to ECEF Position" module in Simulink.

[0065] (2) Calculate the distance between the navigation station and the aircraft

[0066] According to the coordinates of the navigation station and the aircraft in the unified geocentric coordinate system, the distance between the navigation station and the aircraft can be calculated. For example, the following calculation formula is used to calculate the distance d between any i-th navigation station and the aircraft: ip :

[0067]

[0068] In this formula, x, y, and z are the coordinate components of the aircraft in the geocentric coordinate system; i ,y i , z i is the coordinate component of the ith navigation station in the geocentric coordinate system.

[0069] (3) Calculate the angle between the navigation station and the aircraft

[0070] The angle between the navigation station and the aircraft is determined based on the navigation station height, the aircraft height, and the distance between the navigation station and the aircraft. For example, the following calculation formula is used to calculate the angle v between any i-th navigation station and the aircraft: ip :

[0071]

[0072] In this formula, h is the current altitude of the aircraft; h i is the height of the i-th navigation station.

[0073] For any navigation station, whether the navigation station is available can be determined based on the angle between the navigation station and the aircraft. For example, if the angle between the navigation station and the aircraft is greater than or equal to 40°, the navigation station is determined to be unavailable and can be eliminated. If the angle between the navigation station and the aircraft is less than 40°, the navigation station is determined to be available.

[0074] The specific judgment rules for whether the navigation station is available are variable and are not limited to the first embodiment. For example, in addition to the judgment rule of the angle between the navigation station and the aircraft, the distance between the navigation station and the aircraft can also be considered. For example, the coordinate distance between the navigation station and the aircraft should be greater than 3nm (5556m). If it is not satisfied, the navigation station is unavailable. Or the ranging value of the navigation station should be greater than 0 (to ensure that the navigation station data value is valid). If it is not satisfied, the navigation station is unavailable. Of course, multiple judgment rules can also be used in combination to accurately determine whether the navigation station is available.

[0075] In the first embodiment, for any navigation station combination, if there is an unavailable navigation station in the navigation station combination, the navigation station combination is unavailable; if there is no unavailable navigation station in the navigation station combination, the angle formed by each navigation station in the navigation station combination and the aircraft is calculated (the aircraft is the vertex of the angle). The angle formed by each navigation station in the navigation station combination and the aircraft can be calculated based on the distance between each navigation station in the navigation station combination and the aircraft, and the distance between each navigation station in the navigation station combination.

[0076] For example, if the navigation station combination includes the ith navigation station and the jth navigation station, the following calculation formula can be used to calculate the angle θ formed by the ith navigation station, the jth navigation station and the aircraft. ipj :

[0077]

[0078] In this formula, d ip d jp are the distances between the i-th and j-th navigation stations and the aircraft respectively; dij is the distance between the i-th navigation station and the j-th navigation station.

[0079] For any combination of navigation stations, the angle formed by each navigation station in the combination and the aircraft can be used to determine whether the combination of navigation stations is available. ipj <150°, then the navigation station combination formed by the ith navigation station and the jth navigation station is an available navigation station combination. The specific judgment rule of whether the navigation station combination is available is variable and is not limited to the first embodiment.

[0080] Method 2

[0081] In the second method, determining the currently available navigation station combination may include:

[0082] Determine the current navigation stations. For any navigation station, determine the angle between the navigation station and the aircraft, and judge whether the navigation station is available based on the angle between the navigation station and the aircraft. For any navigation station combination formed by available navigation stations, judge whether the navigation station combination is available based on the angle formed by each navigation station in the navigation station combination and the aircraft.

[0083] The following example further illustrates method 1:

[0084] Referring to the first method, each navigation station can be obtained based on tuning. Referring to the second method, the angle between each navigation station and the aircraft can be determined respectively. For any navigation station, whether the navigation station is available can be determined based on the angle between the navigation station and the aircraft. For each available navigation station selected, each navigation station combination can be formed by traversal matching.

[0085] For any navigation station combination formed by available navigation stations, you can refer to method one to calculate the angle formed by each navigation station in the navigation station combination and the aircraft (with the aircraft as the vertex of the angle), and judge whether the navigation station combination is available based on the angle formed by each navigation station in the navigation station combination and the aircraft.

[0086] Through the above method, the current available navigation station combinations, that is, the "combinations formed by available navigation stations", are determined, and then the actual navigation performance (or ANP result or ANP value) of each available navigation station combination can be calculated. The calculation formula of the ANP value is:

[0087] σ DME =(0.05NM) 2 +MAX{(0.085) 2 , (0.00125*D) 2};

[0088] In this formula, D is the distance between the navigation station and the aircraft.

[0089] Continuing with the above example, assuming that all 15 navigation station combinations are available navigation station combinations, 15 ANP values ​​can be determined.

[0090] Preferably, the calculation of the ANP value can be implemented by an ANP calculation submodule in Simulink, and the calculation of the ANP value of each available navigation station combination can be implemented by an independent ANP calculation submodule corresponding thereto, such as Figure 3 shown.

[0091] After determining the actual navigation performance calculation results of each currently available navigation station combination, the preferred navigation station combination can be determined according to the actual navigation performance calculation results of each currently available navigation station combination. Among them, the navigation station combination with the smallest ANP value can be used as the preferred navigation station combination, that is, the preferred navigation station combination corresponding to the initial node.

[0092] Specifically, the preferred navigation station combination can be determined and output by sorting, that is, the actual navigation performance calculation results of each available navigation station combination are sorted from small to large, and the index number corresponding to the navigation station combination with the smallest ANP value is output, and then the navigation station information contained in the navigation station combination is output, including but not limited to the navigation station ID, ranging value, navigation station validity flag, navigation station latitude, longitude, and altitude information contained. For example, the actual navigation performance calculation results of each available navigation station combination can be connected in series through VectorConcatenate to create an array of continuous output signals, and then the number corresponding to the minimum value in the index array is indexed by Multi-port Switch to obtain the navigation station information of the preferred navigation station combination.

[0093] In the first embodiment, the determined preferred navigation station combination is used for flight navigation, thereby realizing automatic station selection of the aircraft radio navigation system.

[0094] After the preferred navigation station combination is determined, the navigation station IDs included in the preferred navigation station combination are stored. For example, the navigation station IDs can be stored through the Data Store Memory module in Simulink.

[0095] S103: At any node after the initial node, determine the preferred navigation station combination determined at the previous node according to the latest stored navigation station ID; determine whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node; if it is necessary to switch the navigation station combination used for flight navigation, recalculate the actual navigation performance calculation results of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination; if it is not necessary to switch the navigation station combination used for flight navigation, use the preferred navigation station combination determined at the previous node for flight navigation.

[0096] After the initial node, new nodes will continue to appear as the aircraft navigates. At each node, the navigation station combination used for flight navigation needs to be determined, including determining whether the navigation station combination used for flight navigation needs to be switched.

[0097] The following describes how to determine the navigation station combination used for flight navigation at any node after the initial node, including how to determine whether it is necessary to switch the navigation station combination used for flight navigation.

[0098] In actual situations, as the aircraft flies, the navigation stations obtained based on tuning at different nodes will change, so the list of current navigation stations will also be updated and the order will also change.

[0099] 1. The next node after the initial node is used as the second node. Since the navigation station ID of the preferred navigation station combination corresponding to the initial node has been stored, at the second node, the preferred navigation station combination determined by the previous node (i.e. the initial node) (including each navigation station in the preferred navigation station combination determined by the initial node) is located according to the latest stored navigation station ID.

[0100] 2. Determine whether it is necessary to switch the navigation station combination used for flight navigation based on the required navigation performance and the actual navigation performance calculation results of the preferred navigation station combination determined at the previous node at this node.

[0101] Specifically, the ANP value of the preferred navigation station combination determined at the previous node at the second node is calculated (the calculation method is the same as the aforementioned ANP value calculation formula, and the distance between the navigation station and the aircraft involved in the formula can be calculated with reference to the aforementioned method 1), and then the current required navigation performance (RNP) is compared with the ANP value of the preferred navigation station combination determined at the previous node at the second node to determine whether it is necessary to switch the navigation station combination used for flight navigation.

[0102] Further, judging whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node may include:

[0103] If the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node is not greater than the preset value, it means that the preferred navigation station combination determined at the previous node still meets the current navigation accuracy requirement, and there is no need to switch the navigation station combination used for flight navigation;

[0104] or,

[0105] If the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node is greater than the preset value, it means that the preferred navigation station combination determined at the previous node does not meet the current navigation accuracy requirements, and it is necessary to switch the navigation station combination used for flight navigation;

[0106] The preset value is determined according to the required navigation performance. For example, the preset value is half of the currently required navigation performance.

[0107] 3. Depending on whether it is necessary to switch the navigation station combination used for flight navigation, the following situations are explained:

[0108] Case 1: No need to switch the navigation station combination used for flight navigation

[0109] In this case, the preferred navigation station combination determined by the previous node (ie, the initial node) is continued to be used for flight navigation. In this case, the latest stored navigation station ID is still the navigation station ID stored last time, that is, the navigation station ID of the preferred navigation station combination corresponding to the initial node.

[0110] Case 2: Need to switch the navigation station combination used for flight navigation

[0111] In this case, refer to S101, recalculate the actual navigation performance calculation results of each available navigation station combination of the second node (the each available navigation station combination of the second node may be different from the each available navigation station of the initial node), determine the preferred navigation station combination based on the actual navigation performance calculation results of each current available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination (as the latest stored navigation station ID).

[0112] Similarly, the next node after the second node is used as the third node. At the third node, the preferred navigation station combination determined by the previous node (i.e., the second node) is determined according to the latest stored navigation station ID; based on the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined by the previous node at the third node, it is determined whether it is necessary to switch the navigation station combination used for flight navigation.

[0113] If it is necessary to switch the navigation station combination used for flight navigation, refer to S101, recalculate the actual navigation performance calculation results of each available navigation station combination of the third node, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination (as the latest stored navigation station ID);

[0114] If there is no need to switch the navigation station combination used for flight navigation, the preferred navigation station combination determined by the previous node is used for flight navigation. In this case, the latest stored navigation station ID is still the navigation station ID stored last time, that is, the navigation station ID of the preferred navigation station combination corresponding to the initial node.

[0115] By analogy, at any node after the initial node, the preferred navigation station combination determined at the previous node is determined according to the latest stored navigation station ID; based on the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node, it is determined whether it is necessary to switch the navigation station combination used for flight navigation;

[0116] If it is necessary to switch the navigation station combination used for flight navigation, refer to S101, recalculate the actual navigation performance calculation results of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination (as the latest stored navigation station ID);

[0117] If it is not necessary to switch the navigation station combination used for flight navigation, the preferred navigation station combination determined by the previous node is used for flight navigation. In this case, the latest stored navigation station ID is still the navigation station ID stored last time.

[0118] As an example, the first embodiment also constructs a related model, through which the above content of the first embodiment can be executed, including algorithms and logic implementations such as ANP traversal calculation, navigation station pair sorting, navigation station pair ID storage and table lookup, and navigation station switching. The model architecture can be, for example Figure 3 and Figure 4 As shown, Figure 3 The relevant architecture and operation process of the ANP computing submodule are shown. Figure 4 It shows the contents of navigation station pair sorting, navigation station pair ID storage and table lookup, navigation station switching, etc.

[0119] The above model is used for testing and verification. Through route data stimulation, the model outputs the valid navigation station ID (i.e., the navigation station ID of the navigation station combination used for flight navigation, including DME1_ID and DME2_ID) and switching information, as shown in Table 1.

[0120]

[0121]

[0122] Table 1

[0123] Embodiment 1 can achieve the following beneficial effects:

[0124] At the initial node, the actual navigation performance calculation results of the current flight segment RNP and the current available navigation station combinations are sorted, screened, and other operations are performed to determine the preferred navigation station combination. The preferred navigation station combination is used for flight navigation, and can quickly and effectively realize automatic flight navigation station selection, improve the accuracy and reliability of station selection, and achieve better station selection effect.

[0125] In actual situations, as the aircraft flies, the navigation stations obtained based on tuning at different nodes will change, so the list of current navigation stations will also be updated and the order will also change. The navigation station used for flight navigation at the previous node may appear at any position in the navigation station list of the next node. Since the navigation station ID of the preferred navigation station combination determined each time is stored, the ID is read before the ANP and RNP comparison is performed at the subsequent nodes, and the read navigation station ID is compared with the navigation station ID in the current navigation station list one by one by looking up the table to determine the position of the navigation station selected by the previous node in the current navigation station list, that is, the navigation station selected by the previous node is accurately located by the navigation station ID, and then the correct index number of the navigation station selected by the previous node in the current list and the ANP result corresponding to the current node are obtained, which is convenient for subsequent judgment on whether to switch the navigation station, avoiding navigation station identification errors and calculation or switching judgment errors caused by refreshing or jumping or changing the order of the navigation station list, and further improving the accuracy and reliability of station selection.

[0126] At any node after the first node, a comprehensive judgment is made as to whether it is necessary to switch the navigation station combination used for flight navigation based on the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node. This balances the two needs of preferring navigation stations and avoiding frequent channel changes, avoids the impact of frequent channel changes and navigation station list jumps, and improves the efficiency of channel selection and flight navigation.

[0127] Embodiment 1 introduces the effective navigation distance and the ANP calculation result based on the empirical formula when performing automatic station selection and navigation station switching, and comprehensively considers factors such as the distance between the navigation station and the aircraft, the angle, the current RNP, and the size relationship between the ANP and the RNP, so as to ensure accurate and effective automatic selection of the preferred navigation station combination while better avoiding the frequent switching of navigation stations.

[0128] In the first embodiment, a new traversal sorting mechanism is proposed, including ANP calculation of available navigation station combinations of traversing each current valid navigation station, and sorting the navigation station pair IDs based on the ANP calculation results. Through the new traversal sorting mechanism, the navigation station ID and ANP calculation results of the preferred navigation station combination of the previous node are stored, and at the next node, the ID table lookup and ANP result comparison are used to comprehensively determine whether to switch the current navigation station pair, which can achieve the optimization of navigation station pairs when the initial waypoint and navigation station switching conditions are met, ensuring that the selected navigation station for flight navigation meets the positioning geometric conditions while the positioning result is more accurate and reliable, balancing the two requirements of optimizing navigation stations and avoiding frequent station switching, and engineering implementation is carried out based on Simulink.

[0129] In the first embodiment, a navigation station switching logic based on the ANP empirical formula and RNP comparison is proposed, including an engineering implementation method of navigation station pair ID storage, ID indexing, and table lookup calculation. It can reduce the switching frequency of the navigation station as much as possible while the current navigation station pair still meets the navigation requirements, ensuring that the two major requirements of optimizing the navigation station and avoiding frequent channel switching are taken into account.

[0130] The channel selection method provided in the first embodiment meets the following principles:

[0131] 1. The selected DME / DME pair or VOR / DME navigation station is effective, that is, the aircraft is within the signal coverage of the selected navigation station and is not in the overhead blind area of ​​the selected navigation station;

[0132] 2. The navigation station selection and switching will not be too frequent to ensure reliability;

[0133] 3. The algorithm complexity will not be too large and the required computing resources will be moderate.

[0134] like Figure 5 As shown, the second embodiment of this specification provides a flight navigation station selection device corresponding to the method described in the first embodiment, and the device includes:

[0135] The initial station selection module 202 is used to calculate the actual navigation performance calculation results of each currently available navigation station combination at the initial node, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination;

[0136] The station selection and switching module 204 is used to determine, at any node after the initial node, the preferred navigation station combination determined at the previous node according to the most recently stored navigation station ID; determine whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node; if it is necessary to switch the navigation station combination used for flight navigation, recalculate the actual navigation performance calculation result of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation result of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination; if it is not necessary to switch the navigation station combination used for flight navigation, use the preferred navigation station combination determined at the previous node for flight navigation.

[0137] The initial channel selection module 202 may include or deploy the Simulink described in the first embodiment.

[0138] Optionally, the initial station selection module 202 is further configured to determine the current available navigation station combination before calculating the actual navigation performance calculation results of each current available navigation station combination.

[0139] Optionally, determine the currently available navaid combinations including:

[0140] Determine the current navigation station combinations, determine the angle between any navigation station in the navigation station combination and the aircraft, and determine whether the navigation station is available according to the angle between the navigation station and the aircraft;

[0141] For any navigation station combination, if there is an unavailable navigation station in the navigation station combination, the navigation station combination is unavailable;

[0142] If there is no unavailable navigation station in the navigation station combination, whether the navigation station combination is available is determined based on the angle formed by each navigation station in the navigation station combination and the aircraft.

[0143] Optionally, determine the currently available navaid combinations including:

[0144] Determine the current navigation stations, and for any navigation station, determine the angle between the navigation station and the aircraft, and determine whether the navigation station is available based on the angle between the navigation station and the aircraft;

[0145] For any navigation station combination formed by available navigation stations, whether the navigation station combination is available is determined based on the angle formed by each navigation station in the navigation station combination and the aircraft.

[0146] Optionally, for any navigation station, determining the angle between the navigation station and the aircraft includes:

[0147] Determine the coordinates of the navigation station and the aircraft in a unified geocentric coordinate system;

[0148] Calculating the distance between the navigation station and the aircraft based on the coordinates of the navigation station and the aircraft in a unified geocentric coordinate system;

[0149] The angle between the navigation station and the aircraft is determined according to the altitude of the navigation station, the altitude of the aircraft, and the distance between the navigation station and the aircraft.

[0150] Optionally, for any navigation station combination, the angle formed by each navigation station in the navigation station combination and the aircraft is calculated based on the distance between each navigation station in the navigation station combination and the aircraft and the distance between each pair of navigation stations in the navigation station combination.

[0151] Optionally, judging whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node, includes:

[0152] If the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node is not greater than the preset value, there is no need to switch the navigation station combination used for flight navigation;

[0153] or,

[0154] If the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node is greater than the preset value, it is necessary to switch the navigation station combination used for flight navigation;

[0155] Wherein, the preset value is determined according to the required navigation performance.

[0156] Optionally, the preset value is half of the required navigation performance.

[0157] Optionally, the node is a time node or a waypoint.

[0158] The contents not described in detail in the second embodiment refer to the first embodiment. The second embodiment can achieve the same beneficial effects as the first embodiment. The above embodiments can be used in combination.

[0159] 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 channel selection method, characterized in that: The method comprises: At the initial node, calculate the actual navigation performance calculation results of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination; At any node after the initial node, determine the preferred navigation station combination determined at the previous node according to the latest stored navigation station ID; determine whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node; If it is necessary to switch the navigation station combination used for flight navigation, recalculate the actual navigation performance calculation results of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination; If there is no need to switch the navigation station combination used for flight navigation, the preferred navigation station combination determined at the previous node will be used for flight navigation.

2. The method according to claim 1, characterized in that Before calculating the actual navigation performance calculation results of each currently available navigation station combination, the method further includes: Determine the current available navaid combinations.

3. The method according to claim 2, characterized in that Determine the currently available navaid combinations include: Determine the current navigation station combinations, determine the angle between any navigation station in the navigation station combination and the aircraft, and determine whether the navigation station is available according to the angle between the navigation station and the aircraft; For any navigation station combination, if there is an unavailable navigation station in the navigation station combination, the navigation station combination is unavailable; If there is no unavailable navigation station in the navigation station combination, whether the navigation station combination is available is determined based on the angle formed by each navigation station in the navigation station combination and the aircraft.

4. The method according to claim 2, characterized in that Determine the currently available navaid combinations include: Determine the current navigation stations, and for any navigation station, determine the angle between the navigation station and the aircraft, and determine whether the navigation station is available based on the angle between the navigation station and the aircraft; For any navigation station combination formed by available navigation stations, whether the navigation station combination is available is determined based on the angle formed by each navigation station in the navigation station combination and the aircraft.

5. The method according to claim 3 or 4, characterized in that For any navigation station, the angle between the navigation station and the aircraft is determined by: Determine the coordinates of the navigation station and the aircraft in a unified geocentric coordinate system; Calculating the distance between the navigation station and the aircraft based on the coordinates of the navigation station and the aircraft in a unified geocentric coordinate system; The angle between the navigation station and the aircraft is determined according to the altitude of the navigation station, the altitude of the aircraft, and the distance between the navigation station and the aircraft.

6. The method according to claim 3 or 4, characterized in that For any navigation station combination, the angle formed by each navigation station in the navigation station combination and the aircraft is calculated based on the distance between each navigation station in the navigation station combination and the aircraft, and the distance between each navigation station in the navigation station combination.

7. The method according to claim 1, characterized in that Based on the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node, it is determined whether it is necessary to switch the navigation station combination used for flight navigation, including: If the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node is not greater than the preset value, there is no need to switch the navigation station combination used for flight navigation; or, If the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at this node is greater than the preset value, it is necessary to switch the navigation station combination used for flight navigation; Wherein, the preset value is determined according to the required navigation performance.

8. The method according to claim 1, characterized in that The preset value is one half of the required navigation performance.

9. The method according to claim 1, characterized in that The node is a time node or a waypoint.

10. A flight navigation station selection device, characterized in that: The device comprises: An initial station selection module is used to calculate the actual navigation performance calculation results of each currently available navigation station combination at the initial node, determine the preferred navigation station combination according to the actual navigation performance calculation results of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination; A station selection and switching module is used to determine, at any node after the initial node, the preferred navigation station combination determined at the previous node according to the latest stored navigation station ID; determine whether it is necessary to switch the navigation station combination used for flight navigation according to the required navigation performance and the actual navigation performance calculation result of the preferred navigation station combination determined at the previous node at the node; if it is necessary to switch the navigation station combination used for flight navigation, recalculate the actual navigation performance calculation result of each currently available navigation station combination, determine the preferred navigation station combination according to the actual navigation performance calculation result of each currently available navigation station combination, use the preferred navigation station combination for flight navigation, and store the navigation station ID of the preferred navigation station combination; if it is not necessary to switch the navigation station combination used for flight navigation, use the preferred navigation station combination determined at the previous node for flight navigation.

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