Flight verification processing method and system of land-based navigation system

Abstract

The invention relates to the technical field of flight verification, and discloses a flight verification processing method and system for a land-based navigation system, and the method comprises the steps: creating a flight verification task of land-based navigation equipment, and configuring a self-positioning device for verifying an airplane; the autonomous positioning information of the verification aircraft under the autonomous positioning device is collected, the real-time signal data of the land-based navigation equipment in the verification flight task is collected, and the signal deviation of the land-based navigation equipment is detected in real time; setting a signal deviation early warning mechanism of the land-based navigation equipment, configuring a multi-index monitoring network of the land-based navigation equipment, identifying and verifying the flight interval of an airplane, and creating a parameter dynamic calibration system of the land-based navigation equipment; and in combination with an autonomous positioning device, a multi-index monitoring network, a signal deviation early warning mechanism and a parameter dynamic calibration system, executing flight verification processing of the land-based navigation equipment to obtain a flight verification result. According to the invention, the accuracy of land-based navigation system performance evaluation can be improved.

Description

Technical Field

[0001] The invention relates to a flight verification processing method and system for a land-based navigation system, belonging to the technical field of flight verification. Background Art

[0002] A land-based navigation system refers to a system that transmits radio signals through navigation stations located on land to provide aircraft with direction, distance and altitude information. It mainly includes instrument landing systems, rangefinders, omnidirectional beacons, non-directional beacons, etc. With the increase in air traffic, land-based navigation systems provide key navigation support for the safe flight of aircraft. However, the performance of land-based navigation systems will be affected by many factors, such as equipment aging, environmental interference, electromagnetic changes, etc. In order to ensure that the land-based navigation system can always provide accurate and reliable navigation services for aircraft, flight calibration work is essential.

[0003] Traditional flight calibration methods mainly rely on the signals of the land-based navigation system itself to evaluate performance, but do not have independent positioning information as a reference. They cannot promptly reflect the real-time performance changes of the navigation equipment, and cannot promptly detect instantaneous signal anomalies or deviations, resulting in inaccurate evaluation of the navigation equipment performance.

[0004] Therefore, a solution is urgently needed to improve the accuracy of performance evaluation of land-based navigation systems. Summary of the invention

[0005] The present invention provides a flight verification processing method and system for a land-based navigation system, the main purpose of which is to improve the accuracy of performance evaluation of the land-based navigation system.

[0006] To achieve the above-mentioned purpose, the present invention provides a flight verification processing method for a land-based navigation system, comprising: Acquire a land-based navigation device to be verified and its corresponding verification aircraft, identify the device type and functional attributes of the land-based navigation device, and determine the verification parameters of the land-based navigation device based on the device type and the functional attributes; Generate flight verification conditions for the verification aircraft according to the verification parameters, create a verification flight mission for the land-based navigation equipment based on the verification flight mission, and configure the autonomous positioning device of the verification aircraft according to the verification flight mission; Collecting the autonomous positioning information of the verification aircraft under the autonomous positioning device, and collecting the real-time signal data of the land-based navigation equipment in the verification flight mission, and detecting the signal deviation of the land-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information; Based on the signal deviation, a signal deviation early warning mechanism of the land-based navigation device is set, and according to the signal deviation early warning mechanism, a multi-index monitoring network of the land-based navigation device is configured; Retrieving the real-time airspace monitoring data of the verification aircraft, identifying the flight interval of the verification aircraft based on the real-time airspace monitoring data, and establishing a parameter dynamic calibration system of the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism; In combination with the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system, the flight verification processing of the land-based navigation equipment is performed to obtain a flight verification result.

[0007] Optionally, determining the verification parameters of the land-based navigation device based on the device type and the functional attributes includes: Extracting key performance indicators of the land-based navigation equipment based on the equipment type and the functional attributes; According to the key performance indicators, setting an optimal indicator measurement method for the land-based navigation equipment; Based on the optimal indicator measurement method, simulating the verification scenario of the land-based navigation equipment; Identifying performance requirements of the land-based navigation equipment according to the verification scenario and the functional attributes; Based on the performance requirement, a calibration parameter of the land-based navigation device is determined.

[0008] Optionally, generating the flight verification condition of the verification aircraft according to the verification parameter includes: Extracting the land-based navigation equipment corresponding to the verification parameter, and calculating the signal coverage range of the land-based navigation equipment; Based on the signal coverage range, determining the critical flight area of ​​the verification aircraft, and calculating the aircraft flight altitude in the critical flight area; Extracting a signal update frequency of the land-based navigation device from the verification parameter, and determining a signal sampling frequency of the land-based navigation device based on the signal update frequency; Calculating the flight speed of the verification aircraft according to the signal sampling frequency and the signal coverage range; Creating a flight path for the verification aircraft by combining the key flight area, the aircraft flight altitude, and the flight speed; Setting a calibration frequency of the calibration aircraft based on equipment parameters and the flight path; A flight verification condition of the verification aircraft is generated according to the flight path and the verification frequency.

[0009] Optionally, configuring the autonomous positioning device of the verification aircraft according to the verification flight mission includes: Extracting the accuracy requirements and environmental parameters in the verification flight mission; Based on the accuracy requirement, a multi-modal positioning system of the verification aircraft is established; According to the accuracy requirement and the environmental parameters, real-time monitoring of the performance indicators of the multimodal positioning system; Based on the performance indicator, setting a mode switching condition of the multi-modal positioning system; According to the multi-modal positioning system and the mode switching condition, configuring the multi-modal positioning device of the verification aircraft; Based on the environmental parameters, setting a parameter adaptive adjustment mechanism of the multimodal positioning device; In combination with the multi-modal positioning device, the parameter adaptive adjustment mechanism and the mode switching condition, the autonomous positioning device of the verification aircraft is configured.

[0010] Optionally, the detecting the signal deviation of the land-based navigation device in real time according to the real-time signal data and the autonomous positioning information includes: Performing time synchronization processing of the real-time signal data and the autonomous positioning information to obtain time synchronization data; Based on the time synchronization data, spatially aligning the real-time signal data with the autonomous positioning information to obtain spatial calibration data; identifying a signal propagation path of the land-based navigation device based on the spatial calibration data; extracting a signal propagation index of the land-based navigation device based on the signal propagation path; collecting historical signal propagation data of the land-based navigation equipment according to the signal propagation indicator; Based on the historical signal propagation data, identifying a normal fluctuation range of the signal propagation indicator; According to the normal fluctuation range, setting the signal deviation standard of the signal propagation indicator; Based on the signal deviation standard, the signal deviation of the land-based navigation equipment is detected in real time.

[0011] Optionally, the setting of a signal deviation early warning mechanism of the land-based navigation device based on the signal deviation includes: Collecting historical signal change data corresponding to the signal deviation, and identifying the signal change factor of the land-based navigation device from the historical signal change data; Based on the historical signal change data, extracting the time series characteristics and spatial characteristics of the signal change factor; Analyzing the signal deviation law of the signal change factor according to the time series characteristics and the spatial characteristics; Based on the signal deviation law, determining an early warning indicator of the signal deviation; According to the historical signal change data and the signal deviation law, a dynamic warning threshold of the warning indicator is set; Based on the signal variation factor, identifying the severity of the signal deviation; According to the severity, the warning level of the signal deviation is divided; In combination with the warning indicator, the dynamic warning threshold and the warning level, a signal deviation warning mechanism of the land-based navigation equipment is set.

[0012] Optionally, setting a dynamic warning threshold of the warning indicator according to the historical signal change data and the signal deviation law includes: Determining the signal change pattern corresponding to the early warning indicator according to the historical signal change data; Based on the signal deviation law, identifying the deviation signal of the early warning indicator in the signal change mode, and analyzing the deviation characteristics of the deviation signal; Extracting the signal turning point of the early warning indicator according to the deviation characteristics; Based on the signal change pattern, identifying key features of the signal turning point; According to the key features, setting a buffer zone of the signal turning point; In combination with the buffer zone, the signal turning point and the signal change pattern, a dynamic warning threshold of the warning indicator is set.

[0013] Optionally, configuring a multi-index monitoring network of the land-based navigation device according to the signal deviation early warning mechanism includes: Extracting key signal indicators of the land-based navigation equipment according to the signal deviation early warning mechanism; Identifying the component structure and signal transmission channel of the land-based navigation equipment, and setting a multi-point monitoring layout of the land-based navigation equipment based on the component structure and the signal transmission channel; According to the multi-point monitoring layout, configure the monitoring equipment corresponding to the key signal indicators; Building a real-time communication network between the monitoring devices, and setting abnormal feedback nodes of the monitoring devices based on the real-time communication network; In combination with the real-time communication network, the multi-point monitoring layout and the abnormal feedback node, a multi-index monitoring network of the land-based navigation equipment is configured.

[0014] Optionally, the step of creating a dynamic parameter calibration system for the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism includes: Determining a signal accuracy level of the land-based navigation equipment according to the flight interval; Based on the multi-indicator monitoring network, identifying the current signal status of the land-based navigation device; Analyzing the signal deviation type of the land-based navigation equipment according to the signal deviation early warning mechanism; Based on the signal deviation type, setting calibration parameters of the land-based navigation device; generating a parameter calibration rule for the calibration parameter in combination with the signal accuracy level and the current signal state; A parameter dynamic calibration system for the land-based navigation device is established according to the signal deviation type and the parameter calibration rule.

[0015] In order to solve the above problems, the present invention also provides a flight verification processing system for a land-based navigation system, the system comprising: A verification parameter setting module, used to obtain a land-based navigation device to be verified and its corresponding verification aircraft, identify the device type and functional attributes of the land-based navigation device, and determine the verification parameters of the land-based navigation device based on the device type and the functional attributes; An aircraft autonomous positioning module, used to generate a flight verification condition of the verification aircraft according to the verification parameters, create a verification flight mission of the land-based navigation equipment based on the flight verification conditions, and configure an autonomous positioning device of the verification aircraft according to the verification flight mission; A signal deviation detection module is used to collect the autonomous positioning information of the verification aircraft under the autonomous positioning device, and collect the real-time signal data of the land-based navigation equipment in the verification flight mission, and detect the signal deviation of the land-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information; A multi-indicator monitoring module, used to set a signal deviation early warning mechanism for the land-based navigation device based on the signal deviation, and configure a multi-indicator monitoring network for the land-based navigation device according to the signal deviation early warning mechanism; A verification parameter calibration module is used to retrieve the real-time airspace monitoring data of the verification aircraft, identify the flight interval of the verification aircraft based on the real-time airspace monitoring data, and create a parameter dynamic calibration system for the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism; The flight verification result module is used to combine the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system to perform flight verification processing of the land-based navigation equipment and obtain a flight verification result.

[0016] Compared with the problems described in the background technology, the embodiments of the present invention determine the calibration parameters of the land-based navigation device based on the device type and the functional attributes, thereby ensuring that the calibration results can truly reflect the reliability of the device in actual use, generate the flight calibration conditions of the calibration aircraft, accurately evaluate the equipment performance of the land-based navigation device, and ensure flight safety; further, the embodiments of the present invention create the calibration flight mission of the land-based navigation device based on the flight calibration conditions, and configure the autonomous positioning device of the calibration aircraft, so as to provide the calibration aircraft with independent and real-time accurate location information, ensuring that the collected data is accurately associated with the actual location of the aircraft; the embodiments of the present invention collect the autonomous positioning information of the calibration aircraft under the autonomous positioning device, and collect the real-time signal data of the land-based navigation device in the calibration flight mission, so as to help the staff understand the changes of various parameters during the calibration flight, thereby optimizing and adjusting the flight route, altitude, speed, etc., and improving the efficiency and quality of the calibration flight; further, the embodiments of the present invention set the signal deviation early warning mechanism of the land-based navigation device based on the signal deviation, so as to promptly issue an alarm when a problem occurs in the navigation system, and remind relevant personnel to take measures, thereby ensuring flight safety and improving the reliability and stability of the navigation system; the embodiments of the present invention According to the signal deviation early warning mechanism, the multi-index monitoring network of the land-based navigation equipment is configured to more comprehensively reflect the actual situation of the signal and accurately predict the trend and degree of signal deviation. Furthermore, the embodiment of the present invention can provide real-time traffic conditions in the airspace around the verification aircraft by retrieving the real-time airspace monitoring data of the verification aircraft and identifying the flight interval of the verification aircraft, thereby helping the verification personnel to reasonably arrange the time and sequence of the verification tasks and reduce the number of verification interruptions. The embodiment of the present invention can dynamically adapt to the dynamic calibration system of the parameters of the land-based navigation equipment by creating the dynamic calibration system according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism. Environmental changes, accurately locate equipment parameter problems, and achieve more comprehensive and accurate calibration; finally, the embodiment of the present invention combines the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system to perform the flight verification processing of the land-based navigation equipment and obtain the flight verification results. It can compare the output signal of the land-based navigation equipment in real time, dynamically evaluate its performance, and promptly discover and record instantaneous signal anomalies to ensure the accuracy of signal output and improve the reliability of flight verification results. At the same time, the real-time monitoring and dynamic calibration functions reduce the need for manual intervention, shorten the verification time, and improve the flight verification efficiency of the land-based navigation system. Therefore, the flight verification processing method and system of a land-based navigation system provided by the embodiment of the present invention can improve the accuracy of the performance evaluation of the land-based navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1A schematic diagram of a flow chart of a flight verification processing method for a land-based navigation system provided by one embodiment of the present invention; Figure 2 A schematic diagram of modules for implementing a flight verification processing method for a land-based navigation system provided in one embodiment of the present invention.

[0018] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0019] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0020] The embodiment of the present application provides a flight verification processing method for a land-based navigation system. The execution subject of the flight verification processing method for a land-based navigation system includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the flight verification processing method for a land-based navigation system can be executed by software or hardware installed in a terminal device or a server device. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. Example

[0021] Reference Figure 1 FIG. 1 is a flow chart of a flight verification processing method for a land-based navigation system provided by an embodiment of the present invention. In this embodiment, the flight verification processing method for a land-based navigation system includes: S1. Acquire a land-based navigation device to be verified and its corresponding verification aircraft, identify the device type and functional attributes of the land-based navigation device, and determine the verification parameters of the land-based navigation device based on the device type and the functional attributes.

[0022] The embodiment of the present invention can clarify the objectives and implementation carriers of the verification work by acquiring the land-based navigation equipment to be verified and its corresponding verification aircraft. The land-based navigation equipment refers to a series of equipment set on the ground for providing navigation services for aircraft, such as an instrument landing system. The verification aircraft refers to an aircraft specifically used for performance testing and calibration of land-based navigation equipment or other aviation navigation systems, such as the Citation C560 verification aircraft.

[0023] Furthermore, the embodiments of the present invention can clarify the specific parameters of the equipment that need to be calibrated by identifying the equipment type and functional attributes of the land-based navigation equipment, so as to perform targeted calibration tasks. The equipment type refers to different categories of land-based navigation equipment obtained after classification according to the working principle, technical characteristics and purpose of the land-based navigation equipment, such as the very high frequency omnidirectional range (VOR) is an angle measurement device, and the distance meter (DME) is a distance measurement device. The functional attributes refer to the functional characteristics of the land-based navigation equipment in the process of realizing the navigation function, such as the very high frequency omnidirectional range can be used to determine the position of the aircraft on the route and guide the aircraft to fly along the predetermined route.

[0024] Optionally, the device type and functional attributes of the land-based navigation device can be identified through specific content in the device operation manual.

[0025] The embodiment of the present invention determines the verification parameters of the land-based navigation device based on the device type and the functional attributes, thereby ensuring that the verification results can truly reflect the reliability of the device in actual use. The verification parameters refer to quantitative indicators or characteristic parameters used to evaluate and verify whether the performance of the land-based navigation device meets the specified standards and requirements, such as accuracy parameters and signal parameters.

[0026] As an embodiment of the present invention, determining the verification parameters of the land-based navigation device based on the device type and the functional attributes includes: extracting key performance indicators of the land-based navigation device based on the device type and the functional attributes; setting an optimal indicator measurement method for the land-based navigation device according to the key performance indicators; simulating a verification scenario of the land-based navigation device based on the optimal indicator measurement method; identifying performance requirements of the land-based navigation device according to the verification scenario and the functional attributes; and determining the verification parameters of the land-based navigation device based on the performance requirements.

[0027] Among them, the key performance indicators refer to specific parameters that can reflect the core performance and functional performance of land-based navigation equipment, such as the key performance indicators of very high frequency omnidirectional range (VOR) include azimuth accuracy, signal coverage, signal stability, etc. The optimal indicator measurement method refers to the method that can most accurately and efficiently measure key performance indicators under specific conditions, for example, measuring signal power by a high-precision receiver to measure signal strength. The verification scenario refers to a virtual flight verification test environment of a land-based navigation system created by computer simulation technology, such as simulating the approach and go-around route of an instrument landing system. The performance requirements refer to the performance standards that must be met by the equipment according to the functional attributes and application scenarios of the equipment. For example, in an instrument landing system (ILS), when the runway visual range is not less than 550 meters, the accuracy of the glide path and localizer should be maintained at a glide path angle error of no more than ±0.2°, and a localizer deviation of no more than ±3 meters.

[0028] Optionally, based on the key performance indicators, the optimal indicator measurement method of the land-based navigation equipment can be set using an intelligent optimization algorithm, and based on the optimal indicator measurement method, the verification scenario of the land-based navigation equipment can be simulated through digital twin technology, such as using digital twin technology to construct a digital model of the verification scenario to simulate the verification scenario of the land-based navigation equipment.

[0029] S2. Generate flight verification conditions for the verification aircraft according to the verification parameters, create a verification flight mission for the land-based navigation equipment based on the verification flight mission, and configure the autonomous positioning device of the verification aircraft according to the verification flight mission.

[0030] The embodiment of the present invention can accurately evaluate the equipment performance of land-based navigation equipment and ensure flight safety by generating the flight verification conditions of the verification aircraft according to the verification parameters. The flight verification conditions refer to the specific flight parameters and requirements that the verification aircraft needs to meet when performing flight verification on the land-based navigation equipment, including flight route, altitude, speed, attitude, etc.

[0031] As an embodiment of the present invention, generating the flight verification conditions of the verification aircraft according to the verification parameters includes: extracting the land-based navigation equipment corresponding to the verification parameters, and calculating the signal coverage range of the land-based navigation equipment; determining the key flight area of ​​the verification aircraft based on the signal coverage range, and calculating the aircraft flight altitude in the key flight area; extracting the signal update frequency of the land-based navigation equipment from the verification parameters, and determining the signal sampling frequency of the land-based navigation equipment based on the signal update frequency; calculating the flight speed of the verification aircraft according to the signal sampling frequency and the signal coverage range; creating the flight path of the verification aircraft in combination with the key flight area, the aircraft flight altitude and the flight speed; setting the verification frequency of the verification aircraft based on the equipment parameters and the flight path; generating the flight verification conditions of the verification aircraft according to the flight path and the verification frequency.

[0032] Among them, the signal coverage range refers to the spatial range in which the navigation signal emitted by the land-based navigation equipment can be effectively transmitted and can be normally received and used by the receiving equipment (such as the navigation receiver on the aircraft); the key flight area refers to the area that the verification aircraft needs to enter and focus on testing during the verification process. For example, when conducting ILS glide path beacon verification, the key flight area is within the range of 0.45θ (or 0.3θ) below the glide path to 2θ above the glide path; the aircraft flight altitude refers to the altitude that the verification aircraft needs to maintain when performing flight verification in the key flight area; the signal update frequency refers to the number of times the signal content (such as navigation information) of the land-based navigation equipment is updated per unit time; the signal sampling frequency refers to the number of times the verification equipment collects navigation signals per unit time during the verification process; the flight speed refers to the flight speed that the verification aircraft needs to maintain during the verification process; the flight path refers to: the specific flight route that the verification aircraft needs to follow during the flight verification process; and the verification frequency refers to the number of times the verification aircraft verifies the land-based navigation equipment per unit time, which is set according to the equipment parameters and the flight path.

[0033] Optionally, the signal coverage range of the land-based navigation device can be calculated by a free space propagation model, and based on the signal coverage range, the critical flight area of ​​the verification aircraft can be determined by using a geographic information system (GIS) to identify signal edges and key navigation points within the coverage range, and based on the signal coverage range, the aircraft flight altitude in the critical flight area can be calculated by the antenna height and coverage range of the device, and based on the signal update frequency, the signal sampling frequency of the land-based navigation device can be determined by the Nyquist sampling theorem, such as sampling rate = device signal update rate × 2, and based on the signal sampling frequency and the signal coverage range, the flight speed of the verification aircraft can be calculated using the formula of flight speed = (coverage range length × signal update frequency) / number of sampling points, and in combination with the critical flight area, the aircraft flight altitude and the flight speed, the flight path of the verification aircraft can be created by a path planning algorithm.

[0034] Furthermore, the embodiment of the present invention can accurately collect data of the land-based navigation equipment in different positions and under different signal states by creating a verification flight mission for the land-based navigation equipment based on the flight verification conditions, thereby comprehensively and meticulously detecting various performance indicators of the equipment. The verification flight mission refers to a series of flight operations and data collection work performed by the verification aircraft according to specific flight verification conditions in order to perform performance testing and evaluation on the land-based navigation equipment.

[0035] In an optional embodiment of the present invention, based on the flight verification condition, the verification flight mission of the land-based navigation equipment is created using the following formula:

[0036] Among them, P represents the verification flight mission of land-based navigation equipment, E represents the mission starting point set under flight verification conditions, represents the set of mission endpoints under flight verification conditions, represents the flight path set under the flight verification condition, N represents the total number of elements in the E, F, and R sets, and n represents the corresponding element index in the E, F, and R sets. represents an element in the mission starting point set, f represents an element in the mission end point set, and r represents an element in the flight path set. represents the distance function, represents the path cost function.

[0037] It should be noted that, in this application, the calibration flight mission obtained by the above formula can determine the best calibration flight mission parameters to improve the comprehensiveness of the calibration. In particular, it should be noted that the formula It is used to find the starting point that minimizes the total distance from this point to all other points (or regions). Used to find the end point that maximizes the total distance from all other points (or regions) to that point. The formula Used to find the flight path that minimizes total cost (such as distance, time, fuel consumption, etc.).

[0038] The embodiment of the present invention can provide the verification aircraft with independent and real-time accurate position information by configuring the autonomous positioning device of the verification aircraft according to the verification flight mission, thereby ensuring that the collected data is accurately associated with the actual position of the aircraft. The autonomous positioning device refers to a device or system installed on the verification aircraft that can independently determine the aircraft's position, attitude and other information, such as an inertial navigation system.

[0039] As an embodiment of the present invention, configuring the autonomous positioning device of the verification aircraft according to the verification flight mission includes: extracting the accuracy requirements and environmental parameters in the verification flight mission; creating a multimodal positioning system of the verification aircraft based on the accuracy requirements; monitoring the performance indicators of the multimodal positioning system in real time according to the accuracy requirements and the environmental parameters; setting the modal switching conditions of the multimodal positioning system based on the performance indicators; configuring the multimodal positioning device of the verification aircraft according to the multimodal positioning system and the modal switching conditions; setting a parameter adaptive adjustment mechanism of the multimodal positioning device based on the environmental parameters; and configuring the autonomous positioning device of the verification aircraft in combination with the multimodal positioning device, the parameter adaptive adjustment mechanism and the modal switching conditions.

[0040] Among them, the accuracy requirement refers to the specific requirements of the verification flight mission for positioning accuracy. For example, when verifying the VOR station, the positioning accuracy is required to achieve a horizontal error of no more than ±5 meters and a vertical error of no more than ±2 meters. The environmental parameters refer to various external conditions and factors that affect the execution of the verification flight mission and the verification results during the flight verification process, such as meteorological conditions and electromagnetic environment. The multimodal positioning system refers to a positioning system architecture that combines multiple different positioning technologies or methods. For example, the global navigation satellite system (GNSS), inertial navigation system (INS), barometric altimeter, magnetic compass and other positioning means are integrated into a comprehensive positioning system. The performance indicators refer to the performance indicators used to measure the multimodal positioning system. The mode switching condition refers to the rules or conditions for switching from one positioning mode to another, which are set according to the performance indicators of the multimodal positioning system. For example, when the GNSS signal is severely interfered and the positioning accuracy drops below a preset threshold, it triggers the switching from the GNSS positioning mode to the mode combining INS with other auxiliary positioning means. The multimodal positioning device refers to a specific device that integrates multiple positioning sensors and related hardware and software modules such as signal processing and data fusion. The parameter adaptive adjustment mechanism refers to a mechanism that enables the multimodal positioning device to automatically adjust its own parameters to optimize the positioning performance according to changes in environmental parameters and positioning tasks.

[0041] Optionally, based on the accuracy requirement, the creation of the multimodal positioning system of the verification aircraft can be achieved by using a multi-sensor fusion method, such as combining multiple positioning technologies such as GPS, RTK-GPS, visual positioning, laser radar (LiDAR), inertial navigation (INS), etc.; based on the accuracy requirement and the environmental parameters, the performance indicators of the multimodal positioning system can be monitored in real time by ground station software, such as QGroundControl software; based on the performance indicators, the mode switching condition setting of the multimodal positioning system can be achieved by setting the threshold of the switching condition according to the mission requirements and environmental parameters; based on the environmental parameters, the parameter adaptive adjustment mechanism setting of the multimodal positioning device can be achieved by using an adaptive filtering algorithm.

[0042] S3. Collect the autonomous positioning information of the verification aircraft under the autonomous positioning device, and collect the real-time signal data of the land-based navigation equipment in the verification flight mission, and detect the signal deviation of the land-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information.

[0043] The embodiment of the present invention can help staff understand the changes in various parameters during the verification flight by collecting the autonomous positioning information of the verification aircraft under the autonomous positioning device and collecting real-time signal data of the land-based navigation equipment in the verification flight mission, so as to optimize and adjust the flight route, altitude, speed, etc., and improve the efficiency and quality of the verification flight. The autonomous positioning information refers to the information about the aircraft's position, posture, etc. obtained by the verification aircraft through the autonomous positioning device carried by the verification aircraft, such as the coordinates of the aircraft in three-dimensional space. The real-time signal data refers to the data contained in the signal for navigation and positioning emitted in real time by the land-based navigation equipment during the verification flight mission, such as the frequency, amplitude, phase, etc. of the signal.

[0044] Furthermore, the embodiments of the present invention can directly verify the accuracy of the navigation signal by detecting the signal deviation of the land-based navigation device in real time according to the real-time signal data and the autonomous positioning information. The signal deviation refers to the difference between the position determined by the autonomous positioning information of the verification aircraft and the aircraft position indicated by the signal of the land-based navigation device. For example, in VOR (very high frequency omnidirectional range) verification, the accuracy and reliability of the VOR device can be determined by comparing the aircraft's autonomous positioning information and the aircraft's direction indicated by the VOR signal.

[0045] As an embodiment of the present invention, the real-time detection of the signal deviation of the land-based navigation device based on the real-time signal data and the autonomous positioning information includes: performing time synchronization processing on the real-time signal data and the autonomous positioning information to obtain time synchronization data; based on the time synchronization data, performing spatial alignment processing on the real-time signal data and the autonomous positioning information to obtain spatial calibration data; based on the spatial calibration data, identifying the signal propagation path of the land-based navigation device; based on the signal propagation path, extracting the signal propagation index of the land-based navigation device; based on the signal propagation index, collecting historical signal propagation data of the land-based navigation device; based on the historical signal propagation data, identifying the normal fluctuation range of the signal propagation index; based on the normal fluctuation range, setting the signal deviation standard of the signal propagation index; based on the signal deviation standard, detecting the signal deviation of the land-based navigation device in real time.

[0046] Among them, the time synchronization processing refers to the process of aligning the timestamp of real-time signal data with the timestamp of autonomous positioning information, the space alignment processing refers to the process of unifying the spatial coordinates of real-time signal data and autonomous positioning information to the same reference system, the signal propagation path refers to the propagation trajectory of the signal from the transmitter to the receiver of the land-based navigation equipment, including a straight path and reflection and scattering paths caused by multipath effects, the signal propagation index refers to a parameter that quantifies the signal propagation characteristics, including signal propagation time, signal strength, phase deviation, multipath delay, etc., the historical signal propagation data refers to the signal propagation index data recorded in the past period of time, the normal fluctuation range refers to the statistical distribution range of the signal propagation index under normal conditions, for example, by analyzing a large amount of historical data, it is determined that under normal circumstances the fluctuation range of the signal strength should be within ±5dB, the frequency change should not exceed ±10Hz, etc., the signal deviation standard refers to the threshold or rule used to determine whether the signal propagation index is abnormal, for example, if the fluctuation range of the signal strength exceeds ±5dB, it can be understood that the signal has deviated in stability.

[0047] Optionally, the time synchronization processing of the real-time signal data and the autonomous positioning information can be achieved using a time synchronization algorithm, the spatial alignment processing of the real-time signal data and the autonomous positioning information can be determined by a spatial matching algorithm, such as a nearest neighbor matching algorithm, the signal propagation path identification of the land-based navigation device based on the spatial calibration data can be achieved by simulating the signal propagation path in a complex environment using a ray tracing algorithm, and the normal fluctuation range of the signal propagation indicator based on the historical signal propagation data can be obtained through an anomaly detection algorithm, such as an isolation forest algorithm.

[0048] S4. Based on the signal deviation, a signal deviation early warning mechanism of the land-based navigation device is set up, and according to the signal deviation early warning mechanism, a multi-index monitoring network of the land-based navigation device is configured.

[0049] The embodiment of the present invention sets up a signal deviation early warning mechanism for the land-based navigation equipment based on the signal deviation, so as to promptly issue an alarm when a problem occurs in the navigation system, and remind relevant personnel to take measures, thereby ensuring flight safety and improving the reliability and stability of the navigation system. The signal deviation early warning mechanism refers to a system or method for monitoring and responding to signal deviations of land-based navigation equipment.

[0050] As an embodiment of the present invention, the signal deviation early warning mechanism of the land-based navigation device is set based on the signal deviation, including: collecting historical signal change data corresponding to the signal deviation, and identifying the signal change factor of the land-based navigation device from the historical signal change data; extracting the time series characteristics and spatial characteristics of the signal change factor based on the historical signal change data; analyzing the signal deviation law of the signal change factor according to the time series characteristics and the spatial characteristics; determining the early warning index of the signal deviation based on the signal deviation law; setting the dynamic early warning threshold of the early warning index according to the historical signal change data and the signal deviation law; identifying the severity of the signal deviation based on the signal change factor; dividing the early warning level of the signal deviation according to the severity; and setting the signal deviation early warning mechanism of the land-based navigation device in combination with the early warning index, the dynamic early warning threshold and the early warning level.

[0051] Among them, the historical signal change data refers to the dynamic change record of the signal of land-based navigation equipment in the past period of time, for example, the change of parameters such as signal strength, frequency, phase, etc. over time; the signal change factor refers to the key factor or variable that affects the signal change, such as environmental interference (such as electromagnetic interference), equipment aging, changes in meteorological conditions (such as temperature, humidity), etc.; the time series characteristics refer to the law and characteristics of the change of signal change factors over time, including periodicity, trend, randomness, etc.; the spatial characteristics refer to the distribution and change law of signal change factors in space, including the signal change situation at different locations within the signal coverage range; the change law refers to the law of generation, development and extinction of signal deviation; the early warning indicator refers to the indicator used to measure whether the signal deviation reaches the early warning standard. The specific parameters or indicators of the standard, for example, the signal strength drops by more than a certain percentage, the signal frequency deviation exceeds a certain range, etc. The dynamic warning threshold refers to the warning threshold dynamically adjusted according to the historical signal change data and the change law. For example, according to historical data, a warning is triggered when the signal strength drops by more than 10%, but as the equipment ages, the threshold may be adjusted to a drop of 8%. The severity refers to the impact of signal deviation on the performance of navigation equipment and flight safety, including different levels such as slight, medium and severe. The warning level refers to the different warning levels divided according to the severity of the signal deviation. The warning level can be divided into three levels: low, medium and high, corresponding to different response measures. For example, low-level warnings only need to be recorded and observed, while high-level warnings need to be notified immediately to relevant personnel for processing.

[0052] Optionally, the identifying of the signal change factor of the land-based navigation device from the historical signal change data can be achieved by principal component analysis, and based on the historical signal change data, the time series characteristics of the signal change factor can be extracted by autocorrelation function (ACF), and the spatial characteristics of the signal change factor can be extracted using inverse distance weighted (IDW), and based on the time series characteristics and the spatial characteristics, the change law of the signal deviation can be analyzed by a spatiotemporal Kriging model, and based on the signal change factor, the severity of the signal deviation can be identified according to the degree of deviation between the deviation value and a threshold.

[0053] As another embodiment of the present invention, the dynamic warning threshold of the warning indicator is set according to the historical signal change data and the signal deviation law, including: determining the signal change pattern corresponding to the warning indicator according to the historical signal change data; identifying the deviation signal of the warning indicator under the signal change pattern based on the signal deviation law, and analyzing the deviation characteristics of the deviation signal; extracting the signal turning point of the warning indicator according to the deviation characteristics; identifying the key features of the signal turning point based on the signal change pattern; setting the buffer zone of the signal turning point according to the key features; and setting the dynamic warning threshold of the warning indicator in combination with the buffer zone, the signal turning point and the signal change pattern.

[0054] Among them, the signal change pattern refers to the regular change characteristics of the warning indicators in the historical signal data, such as the change values ​​of the signal's intensity, frequency, phase and other parameters; the deviation signal refers to the signal that deviates from the normal range or does not conform to the expected pattern during the signal change process; the deviation characteristic refers to the statistical characteristics and change law of the deviation signal, such as the distribution of deviations (normal distribution, skewed distribution), extreme values ​​(maximum deviation, minimum deviation); the signal turning point refers to the key node where the signal changes from one state to another, such as the point where an upward trend turns to a downward trend, or the point where a stable state turns to a violent fluctuation; the key feature refers to the significant characteristics of the signal turning point, such as the amplitude (change amount), duration, frequency, etc. of the turning point; the buffer zone refers to a fault-tolerant range set around the signal turning point to avoid false alarms caused by signal fluctuations.

[0055] Optionally, based on the signal deviation law, the deviation signal of the warning indicator under the signal change pattern can be identified by residual analysis; according to the deviation characteristics, the signal turning point of the warning indicator can be extracted using a change point detection algorithm; based on the signal change pattern, the key features of the signal turning point can be identified by statistical analysis, such as calculating the mean and standard deviation of the turning point; according to the key features, the buffer zone of the signal turning point can be set using the fluctuation range of historical signals.

[0056] Furthermore, the embodiment of the present invention configures a multi-indicator monitoring network of the land-based navigation equipment according to the signal deviation early warning mechanism, thereby more comprehensively reflecting the actual situation of the signal and accurately predicting the trend and degree of signal deviation. The multi-indicator monitoring network refers to a system that monitors the operating status of the navigation equipment in multiple aspects based on multiple signal-related indicators.

[0057] As an embodiment of the present invention, the multi-indicator monitoring network of the land-based navigation equipment is configured according to the signal deviation early warning mechanism, including: extracting key signal indicators of the land-based navigation equipment according to the signal deviation early warning mechanism; identifying the component structure and signal transmission channel of the land-based navigation equipment, and setting a multi-point monitoring layout of the land-based navigation equipment based on the component structure and the signal transmission channel; configuring monitoring equipment corresponding to the key signal indicators according to the multi-point monitoring layout; constructing a real-time communication network between the monitoring equipment, and setting abnormal feedback nodes of the monitoring equipment based on the real-time communication network; configuring the multi-indicator monitoring network of the land-based navigation equipment in combination with the real-time communication network, the multi-point monitoring layout and the abnormal feedback node.

[0058] Among them, the key signal indicator refers to the specific parameter selected from the signal of the land-based navigation equipment according to the signal deviation early warning mechanism, which can most directly and effectively reflect the equipment operation status and signal quality, such as the phase deviation parameter; the component structure refers to the various components of the land-based navigation equipment, including the transmitter, receiver, antenna, signal processing unit, power module, etc.; the signal transmission channel refers to the path that the signal passes from the transmitter to the receiver; the multi-point monitoring layout refers to the arrangement method of setting monitoring points at multiple key positions according to the component structure and signal transmission channel of the land-based navigation equipment; the monitoring equipment refers to an instrument or device used to measure and collect key signal indicators. For example, a signal strength meter is used to measure signal The signal strength is measured by the frequency meter, the signal frequency is monitored by the frequency meter, the phase meter is used to detect the phase deviation, etc. The real-time communication network refers to a communication system that connects various monitoring devices to realize real-time data transmission and interaction. It can use wired communication methods (such as optical fiber, cable, etc.) or wireless communication methods (such as ZigBee, GPRS, 4G / 5G, etc.) to realize the interaction between devices. The abnormal feedback node refers to a specific node set in the real-time communication network, which is used to receive and process the abnormal information sent by the monitoring device, and promptly feed back this information to relevant personnel or systems. For example, when the monitoring device detects that the key signal indicators are out of the normal range or an abnormal situation occurs, it will notify the operation and maintenance personnel to troubleshoot and repair the fault.

[0059] Optionally, the signal transmission channel of the land-based navigation device can be identified by changes in signal strength, such as setting multiple test points in different directions and distances around the device, measuring the signal strength, and determining the main propagation direction and channel of the signal based on changes in signal strength. The real-time communication network between the monitoring devices can be constructed using standard communication protocols, such as the TCP / IP protocol. Based on the real-time communication network, the abnormal feedback nodes of the monitoring devices can be set by an abnormality detection algorithm, such as a statistical process control algorithm.

[0060] S5. Retrieve the real-time airspace monitoring data of the verification aircraft, identify the flight interval of the verification aircraft based on the real-time airspace monitoring data, and create a dynamic parameter calibration system for the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism.

[0061] The embodiment of the present invention can provide real-time traffic conditions in the airspace around the verification aircraft by retrieving the real-time airspace monitoring data of the verification aircraft, and help the verification personnel to reasonably arrange the time and sequence of verification tasks. The real-time airspace monitoring data refers to data about the status and environmental information of aircraft in the airspace collected in real time by various sensors and devices, including dynamic information of the aircraft (such as position, speed, altitude, etc.), airspace environmental information (such as meteorological conditions, electromagnetic environment) and airspace management information (such as restricted areas, other aircraft information).

[0062] Optionally, the real-time airspace monitoring data of the verification aircraft can be retrieved through a radar system, such as a primary radar and a secondary radar.

[0063] Furthermore, the embodiments of the present invention can help verification personnel predict possible airspace conflicts in advance, adjust the verification flight plan in advance, and reduce the number of verification interruptions by identifying the flight interval of the verification aircraft based on the real-time airspace monitoring data. The flight interval refers to the minimum spatial distance that must be maintained between different aircraft in the same airspace to ensure flight safety, including longitudinal interval, lateral interval and vertical interval. For example, the two aircraft in front and behind need to maintain a certain number of minutes or nautical miles of interval in flight.

[0064] In an optional embodiment of the present invention, based on the real-time airspace monitoring data, the flight interval of the verification aircraft is identified using the following formula:

[0065] Where D represents the flight interval of the verification aircraft, M represents the number of monitoring data points in the real-time airspace monitoring data, and k represents the adjustment parameter. Indicates the position difference between the calibration aircraft and other aircraft on the x-axis at the i-th data point. It indicates the position difference between the calibration aircraft and other aircraft on the y-axis at the i-th data point. It indicates the position difference between the verification aircraft and other aircraft on the z-axis at the i-th data point, where i represents the data point index in the real-time airspace monitoring data.

[0066] It should be noted that, in the present application, the flight interval calculated by the above formula can take into account the position difference of the aircraft in three-dimensional space and the periodic change of the flight path, so as to improve the accuracy of the flight interval calculation result. In particular, it should be noted that in the formula, represents a cosine function that can be used to adjust the contribution of each data point, ensuring that recent data points have a greater impact on the flight interval.

[0067] The embodiment of the present invention creates a dynamic parameter calibration system for the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism, so as to dynamically adapt to environmental changes, accurately locate equipment parameter problems, and achieve more comprehensive and accurate calibration. The dynamic parameter calibration system refers to a system for land-based navigation equipment to achieve intelligent parameter calibration in various complex environments and usage conditions.

[0068] As an embodiment of the present invention, the dynamic calibration system for parameters of the land-based navigation device is created according to the flight interval, the multi-indicator monitoring network and the signal deviation early warning mechanism, including: determining the signal accuracy level of the land-based navigation device according to the flight interval; identifying the current signal status of the land-based navigation device based on the multi-indicator monitoring network; analyzing the signal deviation type of the land-based navigation device according to the signal deviation early warning mechanism; setting the calibration parameters of the land-based navigation device based on the signal deviation type; generating parameter calibration rules for the calibration parameters in combination with the signal accuracy level and the current signal status; and creating the dynamic calibration system for parameters of the land-based navigation device according to the signal deviation type and the parameter calibration rules.

[0069] Among them, the signal accuracy level refers to the different levels of requirements for the signal accuracy of land-based navigation equipment according to the flight interval. For example, in the flight cruise phase, the flight interval is large and the signal accuracy requirement is relatively low. The current signal status refers to the current working status information of the equipment obtained by real-time monitoring of the land-based navigation equipment through a multi-indicator monitoring network. The signal deviation type refers to the specific form of signal deviation determined after comparing and analyzing the monitored signal with the standard signal or the expected signal based on the signal deviation early warning mechanism, such as frequency deviation and phase deviation. The calibration parameter refers to various parameters that need to be adjusted and optimized in the land-based navigation equipment. For example, when it is found that the frequency of the signal transmitted by the navigation equipment deviates, resulting in a decrease in signal accuracy, the frequency becomes a parameter that needs to be calibrated. The parameter calibration rule refers to the specific criteria and methods formulated for adjusting the calibration parameters based on the signal accuracy level and the current signal status.

[0070] Optionally, based on the flight interval, the signal accuracy level of the land-based navigation device can be determined by the flight phase and scenario, and in combination with the signal accuracy level and the current signal status, the parameter calibration rules of the calibration parameters can be generated using a rule engine, and based on the signal deviation early warning mechanism, the signal deviation type analysis of the land-based navigation device can be determined by a Kalman filtering algorithm.

[0071] S6. In combination with the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system, the flight verification processing of the land-based navigation equipment is performed to obtain a flight verification result.

[0072] The embodiment of the present invention combines the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system to perform flight verification processing of the land-based navigation equipment to obtain flight verification results. The output signal of the land-based navigation equipment can be compared in real time, its performance can be dynamically evaluated, and instantaneous signal abnormalities can be promptly discovered and recorded to ensure the accuracy of signal output and improve the reliability of flight verification results. At the same time, the real-time monitoring and dynamic calibration functions reduce the need for manual intervention, shorten the verification time, and improve the flight verification efficiency of the land-based navigation system. The flight verification processing refers to the process of performance evaluation and calibration of land-based navigation equipment. The flight verification result refers to the evaluation conclusion of the performance of the navigation equipment obtained through the flight verification processing. For example, after the flight verification processing, it is concluded that the heading channel signal of the land-based navigation equipment is stable without obvious fluctuations.

[0073] Compared with the problems described in the background technology, the embodiments of the present invention determine the calibration parameters of the land-based navigation device based on the device type and the functional attributes, thereby ensuring that the calibration results can truly reflect the reliability of the device in actual use, generate the flight calibration conditions of the calibration aircraft, accurately evaluate the equipment performance of the land-based navigation device, and ensure flight safety; further, the embodiments of the present invention create the calibration flight mission of the land-based navigation device based on the flight calibration conditions, and configure the autonomous positioning device of the calibration aircraft, so as to provide the calibration aircraft with independent and real-time accurate location information, ensuring that the collected data is accurately associated with the actual location of the aircraft; the embodiments of the present invention collect the autonomous positioning information of the calibration aircraft under the autonomous positioning device, and collect the real-time signal data of the land-based navigation device in the calibration flight mission, so as to help the staff understand the changes of various parameters during the calibration flight, thereby optimizing and adjusting the flight route, altitude, speed, etc., and improving the efficiency and quality of the calibration flight; further, the embodiments of the present invention set the signal deviation early warning mechanism of the land-based navigation device based on the signal deviation, so as to promptly issue an alarm when a problem occurs in the navigation system, and remind relevant personnel to take measures, thereby ensuring flight safety and improving the reliability and stability of the navigation system; the embodiments of the present invention According to the signal deviation early warning mechanism, the multi-index monitoring network of the land-based navigation equipment is configured to more comprehensively reflect the actual situation of the signal and accurately predict the trend and degree of signal deviation. Furthermore, the embodiment of the present invention can provide real-time traffic conditions in the airspace around the verification aircraft by retrieving the real-time airspace monitoring data of the verification aircraft and identifying the flight interval of the verification aircraft, thereby helping the verification personnel to reasonably arrange the time and sequence of the verification tasks and reduce the number of verification interruptions. The embodiment of the present invention can dynamically adapt to the dynamic calibration system of the parameters of the land-based navigation equipment by creating the dynamic calibration system according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism. Environmental changes, accurately locate equipment parameter problems, and achieve more comprehensive and accurate calibration; finally, the embodiment of the present invention combines the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system to perform the flight verification processing of the land-based navigation equipment and obtain the flight verification results. It can compare the output signal of the land-based navigation equipment in real time, dynamically evaluate its performance, and promptly discover and record instantaneous signal anomalies to ensure the accuracy of signal output and improve the reliability of flight verification results. At the same time, the real-time monitoring and dynamic calibration functions reduce the need for manual intervention, shorten the verification time, and improve the flight verification efficiency of the land-based navigation system. Therefore, the flight verification processing method and system of a land-based navigation system provided by the embodiment of the present invention can improve the accuracy of the performance evaluation of the land-based navigation system.

[0074] Embodiment 2: like Figure 2The figure shows a functional module diagram of a flight verification processing system of a land-based navigation system of the present invention.

[0075] The flight verification processing system 200 of a land-based navigation system described in the present invention can be installed in an electronic device. According to the functions to be implemented, the flight verification processing system of the land-based navigation system can include a verification parameter setting module 201, an aircraft autonomous positioning module 202, a signal deviation detection module 203, a multi-index monitoring module 204, a verification parameter calibration module 205 and a flight verification result module 206. The module described in the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0076] In the embodiment of the present invention, the functions of each module / unit are as follows: The verification parameter setting module 201 is used to obtain the land-based navigation equipment to be verified and its corresponding verification aircraft, identify the equipment type and functional attributes of the land-based navigation equipment, and determine the verification parameters of the land-based navigation equipment based on the equipment type and the functional attributes; The aircraft autonomous positioning module 202 is used to generate the flight verification conditions of the verification aircraft according to the verification parameters, create the verification flight mission of the land-based navigation equipment based on the flight verification conditions, and configure the autonomous positioning device of the verification aircraft according to the verification flight mission; The signal deviation detection module 203 is used to collect the autonomous positioning information of the verification aircraft under the autonomous positioning device, and collect the real-time signal data of the land-based navigation equipment in the verification flight mission, and detect the signal deviation of the land-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information; The multi-index monitoring module 204 is used to set a signal deviation early warning mechanism for the land-based navigation device based on the signal deviation, and configure a multi-index monitoring network for the land-based navigation device according to the signal deviation early warning mechanism; The verification parameter calibration module 205 is used to retrieve the real-time airspace monitoring data of the verification aircraft, identify the flight interval of the verification aircraft based on the real-time airspace monitoring data, and create a parameter dynamic calibration system for the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism; The flight verification result module 206 is used to perform flight verification processing of the land-based navigation equipment in combination with the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system to obtain a flight verification result.

[0077] In detail, each module in the flight verification processing system 200 of a land-based navigation system described in the embodiment of the present invention is used in the same manner as described above. Figure 1 The flight verification processing method of a land-based navigation system described in the present invention is the same as the technical means and can produce the same technical effects, so it will not be repeated here.

[0078] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A flight verification processing method for a land-based navigation system, characterized in that: The method comprises: Acquire a land-based navigation device to be verified and its corresponding verification aircraft, identify the device type and functional attributes of the land-based navigation device, and determine the verification parameters of the land-based navigation device based on the device type and the functional attributes; Generate flight verification conditions for the verification aircraft according to the verification parameters, create a verification flight mission for the land-based navigation equipment based on the verification flight mission, and configure the autonomous positioning device of the verification aircraft according to the verification flight mission; Collecting the autonomous positioning information of the verification aircraft under the autonomous positioning device, and collecting the real-time signal data of the land-based navigation equipment in the verification flight mission, and detecting the signal deviation of the land-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information; Based on the signal deviation, a signal deviation early warning mechanism of the land-based navigation device is set, and according to the signal deviation early warning mechanism, a multi-index monitoring network of the land-based navigation device is configured; Retrieving the real-time airspace monitoring data of the verification aircraft, identifying the flight interval of the verification aircraft based on the real-time airspace monitoring data, and establishing a parameter dynamic calibration system of the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism; In combination with the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system, the flight verification processing of the land-based navigation equipment is performed to obtain a flight verification result.

2. The flight verification processing method of a land-based navigation system according to claim 1, characterized in that: The step of determining the calibration parameters of the land-based navigation device based on the device type and the functional attributes includes: Extracting key performance indicators of the land-based navigation equipment based on the equipment type and the functional attributes; According to the key performance indicators, setting an optimal indicator measurement method for the land-based navigation equipment; Based on the optimal indicator measurement method, simulating the verification scenario of the land-based navigation equipment; Identifying performance requirements of the land-based navigation equipment according to the verification scenario and the functional attributes; Based on the performance requirement, a calibration parameter of the land-based navigation device is determined.

3. The flight verification processing method of a land-based navigation system according to claim 1, characterized in that: Generating the flight verification condition of the verification aircraft according to the verification parameter includes: Extracting the land-based navigation equipment corresponding to the verification parameter, and calculating the signal coverage range of the land-based navigation equipment; Based on the signal coverage range, determining the critical flight area of ​​the verification aircraft, and calculating the aircraft flight altitude in the critical flight area; Extracting a signal update frequency of the land-based navigation device from the verification parameter, and determining a signal sampling frequency of the land-based navigation device based on the signal update frequency; Calculating the flight speed of the verification aircraft according to the signal sampling frequency and the signal coverage range; Creating a flight path for the verification aircraft by combining the key flight area, the aircraft flight altitude, and the flight speed; Setting a calibration frequency of the calibration aircraft based on equipment parameters and the flight path; A flight verification condition of the verification aircraft is generated according to the flight path and the verification frequency.

4. The flight verification processing method of a land-based navigation system according to claim 1, characterized in that: The configuring the autonomous positioning device of the verification aircraft according to the verification flight mission includes: Extracting the accuracy requirements and environmental parameters in the verification flight mission; Based on the accuracy requirement, a multi-modal positioning system of the verification aircraft is established; According to the accuracy requirement and the environmental parameters, real-time monitoring of the performance indicators of the multimodal positioning system; Based on the performance indicator, setting a mode switching condition of the multi-modal positioning system; According to the multi-modal positioning system and the mode switching condition, configuring the multi-modal positioning device of the verification aircraft; Based on the environmental parameters, setting a parameter adaptive adjustment mechanism of the multimodal positioning device; In combination with the multi-modal positioning device, the parameter adaptive adjustment mechanism and the mode switching condition, the autonomous positioning device of the verification aircraft is configured.

5. The flight verification processing method of a land-based navigation system according to claim 1, characterized in that: The step of detecting the signal deviation of the land-based navigation device in real time according to the real-time signal data and the autonomous positioning information comprises: Performing time synchronization processing of the real-time signal data and the autonomous positioning information to obtain time synchronization data; Based on the time synchronization data, spatially aligning the real-time signal data with the autonomous positioning information to obtain spatial calibration data; identifying a signal propagation path of the land-based navigation device based on the spatial calibration data; extracting a signal propagation index of the land-based navigation device based on the signal propagation path; collecting historical signal propagation data of the land-based navigation equipment according to the signal propagation indicator; Based on the historical signal propagation data, identifying a normal fluctuation range of the signal propagation indicator; According to the normal fluctuation range, setting the signal deviation standard of the signal propagation indicator; Based on the signal deviation standard, the signal deviation of the land-based navigation equipment is detected in real time.

6. The flight verification processing method of a land-based navigation system according to claim 1, characterized in that: The step of setting a signal deviation early warning mechanism for the land-based navigation device based on the signal deviation includes: Collecting historical signal change data corresponding to the signal deviation, and identifying the signal change factor of the land-based navigation device from the historical signal change data; Based on the historical signal change data, extracting the time series characteristics and spatial characteristics of the signal change factor; Analyzing the signal deviation law of the signal change factor according to the time series characteristics and the spatial characteristics; Based on the signal deviation law, determining an early warning indicator of the signal deviation; According to the historical signal change data and the signal deviation law, a dynamic warning threshold of the warning indicator is set; Based on the signal variation factor, identifying the severity of the signal deviation; According to the severity, the warning level of the signal deviation is divided; In combination with the warning indicator, the dynamic warning threshold and the warning level, a signal deviation warning mechanism of the land-based navigation equipment is set.

7. A flight verification processing method for a land-based navigation system as claimed in claim 6, characterized in that: The step of setting the dynamic warning threshold of the warning indicator according to the historical signal change data and the signal deviation law includes: Determining the signal change pattern corresponding to the early warning indicator according to the historical signal change data; Based on the signal deviation law, identifying the deviation signal of the early warning indicator in the signal change mode, and analyzing the deviation characteristics of the deviation signal; Extracting the signal turning point of the early warning indicator according to the deviation characteristics; Based on the signal change pattern, identifying key features of the signal turning point; According to the key features, setting a buffer zone of the signal turning point; In combination with the buffer zone, the signal turning point and the signal change pattern, a dynamic warning threshold of the warning indicator is set.

8. The flight verification processing method of a land-based navigation system according to claim 1, characterized in that: The multi-index monitoring network of the land-based navigation equipment is configured according to the signal deviation early warning mechanism, including: Extracting key signal indicators of the land-based navigation equipment according to the signal deviation early warning mechanism; Identifying the component structure and signal transmission channel of the land-based navigation equipment, and setting a multi-point monitoring layout of the land-based navigation equipment based on the component structure and the signal transmission channel; According to the multi-point monitoring layout, configure the monitoring equipment corresponding to the key signal indicators; Building a real-time communication network between the monitoring devices, and setting abnormal feedback nodes of the monitoring devices based on the real-time communication network; In combination with the real-time communication network, the multi-point monitoring layout and the abnormal feedback node, a multi-index monitoring network of the land-based navigation equipment is configured.

9. The flight verification processing method of a land-based navigation system according to claim 1, characterized in that: The method of creating a parameter dynamic calibration system for the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism includes: Determining a signal accuracy level of the land-based navigation equipment according to the flight interval; Based on the multi-indicator monitoring network, identifying the current signal status of the land-based navigation device; Analyzing the signal deviation type of the land-based navigation equipment according to the signal deviation early warning mechanism; Based on the signal deviation type, setting calibration parameters of the land-based navigation device; generating a parameter calibration rule for the calibration parameter in combination with the signal accuracy level and the current signal state; A parameter dynamic calibration system for the land-based navigation device is established according to the signal deviation type and the parameter calibration rule.

10. A flight verification processing system for a land-based navigation system, characterized in that: The system comprises: A verification parameter setting module, used to obtain a land-based navigation device to be verified and its corresponding verification aircraft, identify the device type and functional attributes of the land-based navigation device, and determine the verification parameters of the land-based navigation device based on the device type and the functional attributes; An aircraft autonomous positioning module, used to generate a flight verification condition of the verification aircraft according to the verification parameters, create a verification flight mission of the land-based navigation equipment based on the flight verification conditions, and configure an autonomous positioning device of the verification aircraft according to the verification flight mission; A signal deviation detection module is used to collect the autonomous positioning information of the verification aircraft under the autonomous positioning device, and collect the real-time signal data of the land-based navigation equipment in the verification flight mission, and detect the signal deviation of the land-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information; A multi-indicator monitoring module, used to set a signal deviation early warning mechanism for the land-based navigation device based on the signal deviation, and configure a multi-indicator monitoring network for the land-based navigation device according to the signal deviation early warning mechanism; A verification parameter calibration module is used to retrieve the real-time airspace monitoring data of the verification aircraft, identify the flight interval of the verification aircraft based on the real-time airspace monitoring data, and create a parameter dynamic calibration system for the land-based navigation equipment according to the flight interval, the multi-index monitoring network and the signal deviation early warning mechanism; The flight verification result module is used to combine the autonomous positioning device, the multi-index monitoring network, the signal deviation early warning mechanism and the parameter dynamic calibration system to perform flight verification processing of the land-based navigation equipment and obtain a flight verification result.

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