Flight Calibration Processing Method and System for a Ground-Based Navigation System

Abstract

The present invention relates to the technical field of flight inspection, and discloses a flight inspection processing method and system for a ground-based navigation system, including: creating a flight inspection task for a ground-based navigation device and configuring an autonomous positioning device for the inspection aircraft; collecting the autonomous positioning information of the inspection aircraft under the autonomous positioning device, and collecting the real-time signal data of the ground-based navigation device in the inspection flight task to detect the signal deviation of the ground-based navigation device in real time; setting up a signal deviation early warning mechanism for the ground-based navigation device, configuring a multi-index monitoring network for the ground-based navigation device, identifying the flight interval of the inspection aircraft, and creating a parameter dynamic calibration system for the ground-based navigation device; combining 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 inspection processing of the ground-based navigation device and obtain the flight inspection result. The present invention can improve the accuracy of the performance evaluation of the ground-based navigation system.

Description

Technical Field

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

[0002] A ground-based navigation system refers to a system that transmits radio signals through navigation stations located on land to provide aircraft with azimuth, distance, and altitude information. It mainly includes instrument landing systems, distance measuring equipment, very high frequency omnidirectional range, non-directional beacons, etc. With the increase in air traffic volume, the ground-based navigation system provides crucial navigation support for the safe flight of aircraft. However, the performance of the ground-based navigation system is affected by various factors, such as equipment aging, environmental interference, electromagnetic changes, etc. To ensure that the ground-based navigation system can always provide accurate and reliable navigation services for aircraft, flight inspection work is essential.

[0003] Traditional flight inspection methods mainly rely on the signals of the ground-based navigation system itself to evaluate performance, without independent positioning information as a reference. They cannot timely reflect the real-time performance changes of navigation equipment and cannot detect signal anomalies or deviations that occur instantaneously, resulting in inaccurate evaluation of the performance of navigation equipment.

[0004] Therefore, there is an urgent need for a solution to improve the accuracy of performance evaluation of ground-based navigation systems. Summary of the Invention

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

[0006] To achieve the above purpose, a flight inspection processing method for a ground-based navigation system provided by the present invention includes:

[0007] Obtain the ground-based navigation equipment to be inspected and its corresponding inspection aircraft, identify the equipment type and functional attributes of the ground-based navigation equipment, and determine the inspection parameters of the ground-based navigation equipment based on the equipment type and the functional attributes;

[0008] Generate the flight inspection conditions for the inspection aircraft according to the inspection parameters, create the inspection flight task for the ground-based navigation equipment based on the flight inspection conditions, and configure the autonomous positioning device of the inspection aircraft according to the inspection flight task;

[0009] Collect the autonomous positioning information of the inspection aircraft under the autonomous positioning device, and collect the real-time signal data of the ground-based navigation equipment during the inspection flight task. Detect the signal deviation of the ground-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information;

[0010] Based on the signal deviation, set up a signal deviation warning mechanism for the ground-based navigation equipment, and configure a multi-index monitoring network for the ground-based navigation equipment according to the signal deviation warning mechanism;

[0011] Retrieve the real-time airspace monitoring data of the calibration aircraft. Based on the real-time airspace monitoring data, identify the flight interval of the calibration aircraft. According to the flight interval, the multi-index monitoring network, and the signal deviation warning mechanism, create a parameter dynamic calibration system for the ground-based navigation equipment;

[0012] Combine the autonomous positioning device, the multi-index monitoring network, the signal deviation warning mechanism, and the parameter dynamic calibration system to perform the flight calibration process of the ground-based navigation equipment and obtain a flight calibration result.

[0013] Optionally, the determining the calibration parameters of the ground-based navigation equipment based on the equipment type and the functional attributes includes:

[0014] Extract the key performance indicators of the ground-based navigation equipment based on the equipment type and the functional attributes;

[0015] Set the optimal index measurement method for the ground-based navigation equipment according to the key performance indicators;

[0016] Simulate the calibration scenario of the ground-based navigation equipment based on the optimal index measurement method;

[0017] Identify the performance requirements of the ground-based navigation equipment according to the calibration scenario and the functional attributes;

[0018] Determine the calibration parameters of the ground-based navigation equipment based on the performance requirements.

[0019] Optionally, the generating the flight calibration conditions for the calibration aircraft according to the calibration parameters includes:

[0020] Extract the ground-based navigation equipment corresponding to the calibration parameters and calculate the signal coverage range of the ground-based navigation equipment;

[0021] Based on the signal coverage range, determine the key flight area of the calibration aircraft and calculate the flight altitude of the aircraft in the key flight area;

[0022] Extract the signal update frequency of the ground-based navigation equipment from the calibration parameters and determine the signal sampling frequency of the ground-based navigation equipment based on the signal update frequency;

[0023] Calculate the flight speed of the calibration aircraft according to the signal sampling frequency and the signal coverage range;

[0024] Create the flight path of the calibration aircraft in combination with the critical flight area, the flight altitude of the aircraft, and the flight speed;

[0025] Set the calibration frequency of the calibration aircraft based on the equipment parameters and the flight path;

[0026] Generate the flight calibration conditions of the calibration aircraft according to the flight path and the calibration frequency.

[0027] Optionally, configuring the autonomous positioning device of the calibration aircraft according to the calibration flight mission includes:

[0028] Extract the accuracy requirements and environmental parameters in the calibration flight mission;

[0029] Create a multi-modal positioning system for the calibration aircraft based on the accuracy requirements;

[0030] Monitor the performance indicators of the multi-modal positioning system in real time according to the accuracy requirements and the environmental parameters;

[0031] Set the mode switching conditions of the multi-modal positioning system based on the performance indicators;

[0032] Configure the multi-modal positioning device of the calibration aircraft according to the multi-modal positioning system and the mode switching conditions;

[0033] Set the parameter adaptive adjustment mechanism of the multi-modal positioning device based on the environmental parameters;

[0034] Configure the autonomous positioning device of the calibration aircraft in combination with the multi-modal positioning device, the parameter adaptive adjustment mechanism, and the mode switching conditions.

[0035] Optionally, the real-time detection of the signal deviation of the ground-based navigation equipment according to the real-time signal data and the autonomous positioning information includes:

[0036] Perform time synchronization processing on the real-time signal data and the autonomous positioning information to obtain time synchronization data;

[0037] Perform spatial alignment processing on the real-time signal data and the autonomous positioning information based on the time synchronization data to obtain spatial calibration data;

[0038] Identify the signal propagation path of the ground-based navigation equipment according to the spatial calibration data;

[0039] Extract the signal propagation indicators of the ground-based navigation equipment based on the signal propagation path;

[0040] Collect the historical signal propagation data of the ground-based navigation equipment according to the signal propagation indicators;

[0041] Based on the historical signal propagation data, identify the normal fluctuation range of the signal propagation metrics;

[0042] According to the normal fluctuation range, set the signal deviation standard of the signal propagation metrics;

[0043] Based on the signal deviation standard, detect the signal deviation of the land-based navigation device in real time.

[0044] Optionally, based on the signal deviation, set up a signal deviation early warning mechanism for the land-based navigation device, including:

[0045] Collect the historical signal change data corresponding to the signal deviation, and identify the signal change factors of the land-based navigation device from the historical signal change data;

[0046] Based on the historical signal change data, extract the time series characteristics and spatial features of the signal change factors;

[0047] According to the time series characteristics and the spatial features, analyze the signal deviation law of the signal change factors;

[0048] Based on the signal deviation law, determine the early warning indicators of the signal deviation;

[0049] According to the historical signal change data and the signal deviation law, set the dynamic early warning threshold of the early warning indicators;

[0050] Based on the signal change factors, identify the severity of the signal deviation;

[0051] According to the severity, divide the early warning levels of the signal deviation;

[0052] Combining the early warning indicators, the dynamic early warning threshold and the early warning levels, set up a signal deviation early warning mechanism for the land-based navigation device.

[0053] Optionally, the setting of the dynamic early warning threshold of the early warning indicators according to the historical signal change data and the signal deviation law includes:

[0054] According to the historical signal change data, determine the signal change mode corresponding to the early warning indicators;

[0055] Based on the signal deviation law, identify the deviation signals of the early warning indicators in the signal change mode, and analyze the deviation characteristics of the deviation signals;

[0056] According to the deviation characteristics, extract the signal turning points of the early warning indicators;

[0057] Identify the key features of the signal turning points based on the signal change pattern;

[0058] Set a buffer interval for the signal turning points according to the key features;

[0059] Combine the buffer interval, the signal turning points and the signal change pattern to set the dynamic warning threshold of the warning index.

[0060] Optionally, configuring a multi-index monitoring network for the land-based navigation device according to the signal deviation warning mechanism includes:

[0061] Extract the key signal indexes of the land-based navigation device according to the signal deviation warning mechanism;

[0062] Identify the composition structure and signal transmission channels of the land-based navigation device, and set a multi-point monitoring layout for the land-based navigation device based on the composition structure and the signal transmission channels;

[0063] Configure monitoring devices corresponding to the key signal indexes according to the multi-point monitoring layout;

[0064] Build a real-time communication network between the monitoring devices, and set an abnormal feedback node for the monitoring devices based on the real-time communication network;

[0065] Combine the real-time communication network, the multi-point monitoring layout and the abnormal feedback node to configure the multi-index monitoring network of the land-based navigation device.

[0066] Optionally, creating a parameter dynamic calibration system for the land-based navigation device according to the flight interval, the multi-index monitoring network and the signal deviation warning mechanism includes:

[0067] Determine the signal accuracy level of the land-based navigation device according to the flight interval;

[0068] Identify the current signal state of the land-based navigation device based on the multi-index monitoring network;

[0069] Analyze the signal deviation type of the land-based navigation device according to the signal deviation warning mechanism;

[0070] Set calibration parameters for the land-based navigation device based on the signal deviation type;

[0071] Generate a parameter calibration rule for the calibration parameters by combining the signal accuracy level and the current signal state;

[0072] Create a parameter dynamic calibration system for the land-based navigation device according to the signal deviation type and the parameter calibration rule.

[0073] To solve the above problems, the present invention also provides a flight verification processing system for a ground-based navigation system, which includes:

[0074] A verification parameter setting module, configured to obtain the ground-based navigation equipment to be verified and its corresponding verification aircraft, identify the equipment type and functional attributes of the ground-based navigation equipment, and determine the verification parameters of the ground-based navigation equipment based on the equipment type and the functional attributes;

[0075] An aircraft autonomous positioning module, configured to generate flight verification conditions for the verification aircraft according to the verification parameters, create a verification flight mission for the ground-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;

[0076] A signal deviation detection module, configured to collect the autonomous positioning information of the verification aircraft under the autonomous positioning device, and collect the real-time signal data of the ground-based navigation equipment during the verification flight mission, and detect the signal deviation of the ground-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information;

[0077] A multi-index monitoring module, configured to set a signal deviation warning mechanism for the ground-based navigation equipment based on the signal deviation, and configure a multi-index monitoring network for the ground-based navigation equipment according to the signal deviation warning mechanism;

[0078] A verification parameter calibration module, configured 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 ground-based navigation equipment according to the flight interval, the multi-index monitoring network, and the signal deviation warning mechanism;

[0079] A flight verification result module, configured to perform flight verification processing on the ground-based navigation equipment by combining the autonomous positioning device, the multi-index monitoring network, the signal deviation warning mechanism, and the parameter dynamic calibration system, and obtain a flight verification result.

[0080] Compared with the problems described in the background art, in the embodiments of the present invention, by determining the calibration parameters of the ground-based navigation device based on the device type and the function attributes, it can be ensured that the calibration result can truly reflect the reliability of the device in actual use, generate the flight calibration conditions of the calibration aircraft, accurately evaluate the device performance of the ground-based navigation device, and ensure flight safety; further, in the embodiments of the present invention, by creating the calibration flight task of the ground-based navigation device based on the flight calibration conditions and configuring the autonomous positioning device of the calibration aircraft, independent and real-time accurate position information can be provided for the calibration aircraft to ensure that the collected data is accurately associated with the actual position of the aircraft; in the embodiments of the present invention, by collecting the autonomous positioning information of the calibration aircraft under the autonomous positioning device and collecting the real-time signal data of the ground-based navigation device during the calibration flight task, it can help the staff understand the changes of various parameters during the calibration flight process, so as to optimize and adjust the flight route, altitude, speed, etc., and improve the efficiency and quality of the calibration flight; further, in the embodiments of the present invention, by setting the signal deviation warning mechanism of the ground-based navigation device based on the signal deviation, an alarm can be issued in time when there is a problem with the navigation system, reminding relevant personnel to take measures, thereby ensuring flight safety and improving the reliability and stability of the navigation system; in the embodiments of the present invention, by configuring the multi-index monitoring network of the ground-based navigation device according to the signal deviation warning mechanism, the actual situation of the signal can be more comprehensively reflected, and the trend and degree of the signal deviation can be accurately predicted; further, in the embodiments of the present invention, by retrieving the real-time airspace monitoring data of the calibration aircraft and identifying the flight interval of the calibration aircraft, the real-time traffic conditions of the airspace around the calibration aircraft can be provided, helping the calibration personnel to reasonably arrange the time and order of the calibration tasks and reducing the number of calibration interruptions; in the embodiments of the present invention, by creating the parameter dynamic calibration system of the ground-based navigation device according to the flight interval, the multi-index monitoring network and the signal deviation warning mechanism, it can dynamically adapt to environmental changes, accurately locate the device parameter problems, and achieve more comprehensive and accurate calibration; finally, in the embodiments of the present invention, by combining the autonomous positioning device, the multi-index monitoring network, the signal deviation warning mechanism and the parameter dynamic calibration system, performing the flight calibration process of the ground-based navigation device, and obtaining the flight calibration result, the output signal of the ground-based navigation device can be compared in real time, its performance can be dynamically evaluated, momentary signal anomalies can be discovered and recorded in time, ensuring the accuracy of the signal output, improving the reliability of the flight calibration result. At the same time, the real-time monitoring and dynamic calibration functions reduce the need for manual intervention, shorten the calibration time, and improve the flight calibration efficiency of the ground-based navigation system. Therefore, a flight calibration processing method and system for a ground-based navigation system provided by the embodiments of the present invention can improve the accuracy of the performance evaluation of the ground-based navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1Schematic flowchart of a flight verification processing method for a ground-based navigation system provided by an embodiment of the present invention;

[0082] Figure 2 Module schematic diagram for implementing the flight verification processing method of the ground-based navigation system provided by an embodiment of the present invention.

[0083] The implementation, functional features, and advantages of the present invention will be further described in conjunction with embodiments with reference to the accompanying drawings. Detailed implementation manners

[0084] 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.

[0085] The embodiments of the present application provide a flight verification processing method for a ground-based navigation system. The execution subject of the flight verification processing method for the ground-based navigation system includes, but is not limited to, at least one of electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by the embodiments of the present application. In other words, the flight verification processing method for the ground-based navigation system can be executed by software or hardware installed on 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. Embodiment

[0086] Refer to Figure 1 As shown, it is a schematic flowchart of a flight verification processing method for a ground-based navigation system provided by an embodiment of the present invention. In this embodiment, the flight verification processing method for the ground-based navigation system includes:

[0087] S1. Obtain the ground-based navigation device to be verified and its corresponding verification aircraft, identify the device type and functional attributes of the ground-based navigation device, and determine the verification parameters of the ground-based navigation device based on the device type and the functional attributes.

[0088] In the embodiment of the present invention, by obtaining the ground-based navigation device to be verified and its corresponding verification aircraft, the target and implementation carrier of the verification work can be clarified. The ground-based navigation device refers to a series of devices set on the ground for providing navigation services to aircraft, such as an instrument landing system. The verification aircraft refers to an aircraft specially used for performance detection and calibration of ground-based navigation devices or other aviation navigation systems, such as a Citation C560 verification aircraft.

[0089] Furthermore, by identifying the device type and functional attributes of the ground-based navigation device in the embodiments of the present invention, the specific parameters that need to be verified for the device can be determined to carry out targeted verification tasks. The device type refers to different categories of ground-based navigation devices obtained by classifying according to the working principle, technical characteristics, and uses of the ground-based navigation device. For example, the very high frequency omnidirectional range (VOR) belongs to an angle measurement device, while the distance measuring equipment (DME) belongs to a distance measurement device. The functional attribute refers to the functional characteristics of the ground-based navigation device in the process of realizing the navigation function. For example, the very high frequency omnidirectional range can be used to determine the position of an aircraft on the route and guide the aircraft to fly along a predetermined route.

[0090] Optionally, the device type and functional attributes of the ground-based navigation device can be identified through the specific content in the device operation manual.

[0091] In the embodiments of the present invention, by determining the verification parameters of the ground-based navigation device based on the device type and the functional attribute, it can be ensured that the verification result can truly reflect the reliability of the device in actual use. The verification parameter refers to a quantitative index or characteristic parameter used to evaluate and verify whether the performance of the ground-based navigation device meets the specified standards and requirements, such as accuracy parameters and signal parameters.

[0092] As an embodiment of the present invention, determining the verification parameters of the ground-based navigation device based on the device type and the functional attribute includes: extracting the key performance indicators of the ground-based navigation device based on the device type and the functional attribute; setting the optimal index measurement method for the ground-based navigation device according to the key performance indicators; simulating the verification scenario of the ground-based navigation device based on the optimal index measurement method; identifying the performance requirements of the ground-based navigation device according to the verification scenario and the functional attribute; and determining the verification parameters of the ground-based navigation device based on the performance requirements.

[0093] Among them, the key performance indicator refers to a specific parameter that can reflect the core performance and functional performance of the ground-based navigation device. For example, the key performance indicators of the very high frequency omnidirectional range (VOR) include azimuth accuracy, signal coverage range, signal stability, etc. The optimal index measurement method refers to a method that can measure the key performance indicators most accurately and efficiently under specific conditions. For example, the signal power is measured by a high-precision receiver to measure the signal strength. The verification scenario refers to a virtual flight verification test environment of the ground-based navigation system created by computer simulation technology, such as simulating the approach and go-around routes of the instrument landing system. The performance requirement refers to the performance standard that the device must meet according to the functional attribute and application scenario of the device. For example, in the instrument landing system (ILS), when the runway visual range is not less than 550 meters, the accuracy of the glide path and the localizer should be maintained with the glide path angle error not exceeding ±0.2°, and the localizer deviation not exceeding ±3 meters.

[0094] Optionally, according to the key performance indicators, the optimal index measurement method of the ground-based navigation device can be set by using an intelligent optimization algorithm. Based on the optimal index measurement method, the calibration scenario of the ground-based navigation device can be simulated by using digital twin technology, such as constructing a digital model of the calibration scenario by using digital twin technology to simulate the calibration scenario of the ground-based navigation device.

[0095] S2. Generate the flight calibration conditions of the calibration aircraft according to the calibration parameters. Based on the flight calibration conditions, create the calibration flight mission of the ground-based navigation device. According to the calibration flight mission, configure the autonomous positioning device of the calibration aircraft.

[0096] In the embodiment of the present invention, by generating the flight calibration conditions of the calibration aircraft according to the calibration parameters, the device performance of the ground-based navigation device can be accurately evaluated to ensure flight safety. The flight calibration conditions refer to the specific flight parameters and requirements that the calibration aircraft needs to meet when performing flight calibration on the ground-based navigation device, including flight route, altitude, speed, attitude, etc.

[0097] As an embodiment of the present invention, generating the flight calibration conditions of the calibration aircraft according to the calibration parameters includes: extracting the ground-based navigation device corresponding to the calibration parameters and calculating the signal coverage range of the ground-based navigation device; based on the signal coverage range, determining the key flight area of the calibration aircraft and calculating the flight altitude of the aircraft in the key flight area; extracting the signal update frequency of the ground-based navigation device from the calibration parameters and determining the signal sampling frequency of the ground-based navigation device based on the signal update frequency; calculating the flight speed of the calibration aircraft according to the signal sampling frequency and the signal coverage range; combining the key flight area, the flight altitude of the aircraft and the flight speed to create the flight path of the calibration aircraft; setting the calibration frequency of the calibration aircraft based on the device parameters and the flight path; and generating the flight calibration conditions of the calibration aircraft according to the flight path and the calibration frequency.

[0098] Among them, the signal coverage range refers to the spatial range within which the navigation signals transmitted by the ground-based navigation equipment can be effectively transmitted and normally received and used by the receiving equipment (such as the navigation receiver on an aircraft). The key flight area refers to the area that the calibration aircraft needs to enter and focus on testing during the calibration process. For example, when performing the ILS glide slope calibration, the key flight area is within the range from 0.45θ (or 0.3θ) below the glide path to 2θ above it. The aircraft flight altitude refers to the altitude that the calibration aircraft needs to maintain during the flight calibration within the key flight area. The signal update frequency refers to the number of times the signal content (such as navigation information) of the ground-based navigation equipment is updated per unit time. The signal sampling frequency refers to the number of times the calibration equipment samples the navigation signals per unit time during the calibration process. The flight speed refers to the flight speed that the calibration aircraft needs to maintain during the calibration process. The flight path refers to the specific flight route that the calibration aircraft needs to follow during the flight calibration process. The calibration frequency refers to the number of times the calibration aircraft calibrates the ground-based navigation equipment per unit time set according to the equipment parameters and the flight path.

[0099] Optionally, the signal coverage range of the ground-based navigation equipment can be calculated through the free space propagation model. Based on the signal coverage range, the key flight area of the calibration aircraft can be determined by identifying the signal edges and key navigation points within the coverage range using a Geographic Information System (GIS). Based on the signal coverage range, the aircraft flight altitude in the key flight area can be calculated through the antenna altitude and coverage range of the equipment. Based on the signal update frequency, the signal sampling frequency of the ground-based navigation equipment can be determined by the Nyquist sampling theorem, such as the sampling rate = equipment signal update rate × 2. According to the signal sampling frequency and the signal coverage range, the flight speed of the calibration aircraft can be calculated using the formula flight speed = (coverage range length × signal update frequency) / number of sampling points. Combining the key flight area, the aircraft flight altitude, and the flight speed, the flight path of the calibration aircraft can be created through a path planning algorithm.

[0100] Furthermore, in the embodiment of the present invention, by creating the calibration flight task for the ground-based navigation equipment based on the flight calibration conditions, data of the ground-based navigation equipment at different positions and different signal states can be accurately collected, thereby comprehensively and meticulously detecting various performance indicators of the equipment. The calibration flight task refers to a series of flight operations and data collection work that the calibration aircraft performs according to specific flight calibration conditions for the performance detection and evaluation of the ground-based navigation equipment.

[0101] In an optional embodiment of the present invention, based on the flight calibration conditions, the calibration flight task for the ground-based navigation equipment is created using the following formula:

[0102]

[0103] Among them, P represents the calibration flight mission of the ground-based navigation equipment, E represents the set of mission starting points under flight calibration conditions, represents the set of mission ending points under flight calibration conditions, represents the set of flight paths under flight calibration conditions, N represents the total number of corresponding elements in the E, F, R sets, and n represents the element index in the E, F, R sets, represents an element in the set of mission starting points, f represents an element in the set of mission ending points, and r represents an element in the set of flight paths, represents the distance function, represents the path cost function.

[0104] It should be noted that in the present application, the calibration flight mission obtained through the above formula can determine the optimal calibration flight mission parameters, improving the comprehensiveness of calibration. In particular, it should be noted that the formula is used to find the starting point that minimizes the total distance from this point to all other points (or regions), and the formula is used to find the ending point that maximizes the total distance from all other points (or regions) to this point, and the formula is used to find the flight path that minimizes the total cost (such as distance, time, fuel consumption, etc.).

[0105] In an embodiment of the present invention, by configuring the autonomous positioning device of the calibration aircraft according to the calibration flight mission, independent and real-time precise position information can be provided for the calibration aircraft, ensuring the precise association of the collected data with the actual position of the aircraft. The autonomous positioning device refers to a device or system installed on the calibration aircraft that can independently determine information such as the position and attitude of the aircraft, such as an inertial navigation system.

[0106] As an embodiment of the present invention, configuring the autonomous positioning device of the calibration aircraft according to the calibration flight mission includes: extracting the accuracy requirements and environmental parameters in the calibration flight mission; creating a multi-modal positioning system for the calibration aircraft based on the accuracy requirements; monitoring the performance indicators of the multi-modal positioning system in real time according to the accuracy requirements and the environmental parameters; setting the modal switching conditions of the multi-modal positioning system based on the performance indicators; configuring the multi-modal positioning device of the calibration aircraft according to the multi-modal positioning system and the modal switching conditions; setting a parameter adaptive adjustment mechanism for the multi-modal positioning device based on the environmental parameters; and configuring the autonomous positioning device of the calibration aircraft by combining the multi-modal positioning device, the parameter adaptive adjustment mechanism, and the modal switching conditions.

[0107] Among them, the accuracy requirement refers to the specific requirements for positioning accuracy in the calibration flight mission. For example, when calibrating a VOR station, the positioning accuracy is required to reach a horizontal direction error of no more than ±5 meters and a vertical direction error of no more than ±2 meters. The environmental parameters refer to various external conditions and factors that affect the execution of the calibration flight mission and the calibration results during the flight calibration process, such as meteorological conditions and electromagnetic environment. The multi-modal positioning system refers to a positioning system architecture that combines multiple different positioning technologies or methods. For example, integrating multiple positioning means such as the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), barometric altimeter, and magnetic compass to form a comprehensive positioning system. The performance indicators refer to the parameters used to measure the working state and performance of the multi-modal positioning system, such as positioning accuracy and signal strength. The mode switching condition refers to the rule or condition for switching from one positioning mode to another set according to the performance indicators of the multi-modal positioning system. For example, when the GNSS signal is severely interfered and the positioning accuracy drops below the preset threshold, it triggers the switch from the GNSS positioning mode to the mode combining INS and other auxiliary positioning means. The multi-modal 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 multi-modal positioning device to automatically adjust its own parameters to optimize the positioning performance according to the changes in environmental parameters and positioning tasks.

[0108] Optionally, the creation of the multi-modal positioning system of the calibration aircraft based on the accuracy requirement can be realized by using the multi-sensor fusion method, such as combining multiple positioning technologies such as GPS, RTK-GPS, visual positioning, Light Detection and Ranging (LiDAR), and Inertial Navigation (INS). According to the accuracy requirement and the environmental parameters, the performance indicators of the multi-modal positioning system can be real-time monitored through ground station software, such as QGroundControl software. Based on the performance indicators, the setting of the mode switching condition of the multi-modal positioning system can be achieved by setting the threshold of the switching condition according to the task requirements and environmental parameters. Based on the environmental parameters, the setting of the parameter adaptive adjustment mechanism of the multi-modal positioning device can be realized by using the adaptive filtering algorithm.

[0109] S3. Collect the autonomous positioning information of the calibration aircraft under the autonomous positioning device, and collect the real-time signal data of the ground-based navigation equipment during the calibration flight mission. According to the real-time signal data and the autonomous positioning information, detect the signal deviation of the ground-based navigation equipment in real time.

[0110] In the embodiments of the present invention, by collecting the autonomous positioning information of the calibration aircraft under the autonomous positioning device and acquiring the real-time signal data of the ground-based navigation equipment during the calibration flight mission, it can help the staff understand the changes of various parameters during the calibration flight process, so as to optimize and adjust the flight route, altitude, speed, etc., improving the efficiency and quality of the calibration flight. The autonomous positioning information refers to the information about the position, attitude, etc. of the calibration aircraft obtained through the autonomous positioning device carried by itself, such as the coordinates of the aircraft in three-dimensional space. The real-time signal data refers to the data contained in the signals for navigation and positioning emitted by the ground-based navigation equipment in real time during the calibration flight mission, such as the frequency, amplitude, phase, etc. of the signals.

[0111] Furthermore, in the embodiments of the present invention, by detecting the signal deviation of the ground-based navigation equipment in real time according to the real-time signal data and the autonomous positioning information, the accuracy of the navigation signal can be directly verified. The signal deviation refers to the difference between the position determined by the autonomous positioning information of the calibration aircraft and the position of the aircraft indicated by the signal of the ground-based navigation equipment. For example, in the VOR (Very High Frequency Omnidirectional Range) calibration, by comparing the autonomous positioning information of the aircraft and the azimuth of the aircraft indicated by the VOR signal, the accuracy and reliability of the VOR equipment can be judged.

[0112] As an embodiment of the present invention, the detecting the signal deviation of the ground-based navigation equipment in real time according to 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-synchronized data; based on the time-synchronized data, performing spatial alignment processing on the real-time signal data and the autonomous positioning information to obtain spatially calibrated data; according to the spatially calibrated data, identifying the signal propagation path of the ground-based navigation equipment; based on the signal propagation path, extracting the signal propagation index of the ground-based navigation equipment; according to the signal propagation index, collecting the historical signal propagation data of the ground-based navigation equipment; based on the historical signal propagation data, identifying the normal fluctuation range of the signal propagation index; according to 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 ground-based navigation equipment in real time.

[0113] Among them, the time synchronization process refers to the process of aligning the time stamps of real-time signal data and autonomous positioning information. The space alignment process refers to the process of unifying the space coordinates of real-time signal data and autonomous positioning information into the same reference system. The signal propagation path refers to the propagation trajectory of the signal from the transmitting end to the receiving end of the ground-based navigation device, including the straight-line path and the reflection and scattering paths caused by multipath effects. The signal propagation index refers to the parameters quantifying 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 over a period of time in the past. 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 the fluctuation range of the signal strength should be within ±5 dB under normal conditions, and the frequency change does not exceed ±10 Hz, etc. The signal deviation standard refers to the threshold or rule for judging whether the signal propagation index is abnormal. For example, if the fluctuation range of the signal strength exceeds ±5 dB, it can be understood that the signal has a deviation in terms of stability.

[0114] Optionally, the time synchronization process of the real-time signal data and the autonomous positioning information can be implemented by using a time synchronization algorithm. The space alignment process of the real-time signal data and the autonomous positioning information can be determined by a space matching algorithm, such as the nearest neighbor matching algorithm. According to the space calibration data, the signal propagation path identification of the ground-based navigation device can be realized by using a ray tracing algorithm to simulate the signal propagation path in a complex environment. Based on the historical signal propagation data, the identification of the normal fluctuation range of the signal propagation index can be obtained by an anomaly detection algorithm, such as the isolation forest algorithm.

[0115] S4. Based on the signal deviation, set up a signal deviation warning mechanism for the ground-based navigation device, and configure a multi-index monitoring network for the ground-based navigation device according to the signal deviation warning mechanism.

[0116] In the embodiment of the present invention, by setting up a signal deviation warning mechanism for the ground-based navigation device based on the signal deviation, an alarm can be sent in time when there is a problem in the navigation system, reminding relevant personnel to take measures, thereby ensuring flight safety and improving the reliability and stability of the navigation system. The signal deviation warning mechanism refers to a system or method for monitoring and coping with the signal deviation of the ground-based navigation device.

[0117] As an embodiment of the present invention, the signal deviation early warning mechanism of the ground-based navigation device is set based on the signal deviation, including: collecting historical signal change data corresponding to the signal deviation, and identifying signal change factors of the ground-based navigation device from the historical signal change data; extracting the time series characteristics and spatial characteristics of the signal change factors based on the historical signal change data; analyzing the signal deviation law of the signal change factors according to the time series characteristics and the spatial characteristics; determining early warning indicators of the signal deviation based on the signal deviation law; setting a dynamic early warning threshold of the early warning indicators according to the historical signal change data and the signal deviation law; identifying the severity of the signal deviation based on the signal change factors; dividing the early warning levels of the signal deviation according to the severity; and setting the signal deviation early warning mechanism of the ground-based navigation device in combination with the early warning indicators, the dynamic early warning threshold and the early warning levels.

[0118] Among them, the historical signal change data refers to the dynamic change records of the signals of the ground-based navigation device in the past period of time. For example, the changes in parameters such as signal strength, frequency, and phase over time. The signal change factor refers to the key factors or variables that affect signal changes, such as environmental interference (such as electromagnetic interference), equipment aging, and changes in meteorological conditions (such as temperature, humidity), etc. The time series characteristics refer to the laws and characteristics of the signal change factors changing over time, including periodicity, trendiness, randomness, etc. The spatial characteristics refer to the distribution and change laws of the signal change factors in space, including the signal change conditions at different positions within the signal coverage area. The change law refers to the generation, development, and extinction laws of the signal deviation. The early warning indicator refers to the specific parameters or indicators used to measure whether the signal deviation reaches the early warning standard. For example, the signal strength drops by more than a certain percentage, or the signal frequency deviates by more than a certain range, etc. The dynamic early warning threshold refers to the early warning threshold dynamically adjusted according to the historical signal change data and the change law. For example, according to historical data, when the signal strength drops by more than 10%, an early warning is triggered, but as the equipment ages, the threshold may be adjusted to a drop of 8%. The severity refers to the degree of impact of the signal deviation on the performance of the navigation device and flight safety, including different levels such as minor, medium, and severe. The early warning level refers to the different early warning levels divided according to the severity of the signal deviation. The early warning levels can be divided into three levels: low, medium, and high, corresponding to different response measures. For example, a low-level early warning only requires recording and observation, and a high-level early warning requires immediately notifying relevant personnel for handling.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] Optionally, based on the signal deviation law, the deviation signal of the warning index under the signal change mode can be identified through the residual analysis method. According to the deviation characteristics, the signal turning points of the warning index can be extracted by using the change point detection algorithm. Based on the signal change mode, the key features of the signal turning points can be identified through the statistical analysis method, such as calculating the mean and standard deviation of the turning points. According to the key features, the buffer interval of the signal turning points can be set by using the fluctuation range of the historical signals.

[0123] Furthermore, in the embodiment of the present invention, by configuring the multi-index monitoring network of the land-based navigation device according to the signal deviation warning mechanism, the actual situation of the signal can be more comprehensively reflected, and the trend and degree of the signal deviation can be accurately predicted. The multi-index monitoring network refers to a system that monitors the operating state of the navigation device from multiple aspects based on multiple signal-related indexes.

[0124] As an embodiment of the present invention, configuring the multi-index monitoring network of the land-based navigation device according to the signal deviation warning mechanism includes: extracting the key signal indexes of the land-based navigation device according to the signal deviation warning mechanism; identifying the composition structure and signal transmission channels of the land-based navigation device, and setting the multi-point monitoring layout of the land-based navigation device based on the composition structure and the signal transmission channels; configuring the monitoring devices corresponding to the key signal indexes according to the multi-point monitoring layout; constructing a real-time communication network between the monitoring devices, and setting the abnormal feedback nodes of the monitoring devices based on the real-time communication network; and configuring the multi-index monitoring network of the land-based navigation device by combining the real-time communication network, the multi-point monitoring layout and the abnormal feedback nodes.

[0125] Among them, the key signal indicators refer to specific parameters selected from the signals of ground-based navigation equipment according to the signal deviation warning mechanism, which can most directly and effectively reflect the operating state and signal quality of the equipment, such as phase deviation parameters. The composition structure refers to each component of the ground-based navigation equipment, including transmitters, receivers, antennas, signal processing units, power modules, etc. The signal transmission channel refers to the path that the signal passes from the transmitting end to the receiving end. The multi-point monitoring layout refers to the arrangement method of setting monitoring points at multiple key positions according to the composition structure and signal transmission channel of the ground-based navigation equipment. The monitoring equipment refers to instruments or devices used to measure and collect key signal indicators. For example, a signal strength meter is used to measure signal strength, a frequency meter is used to monitor signal frequency, and a phase measuring instrument is used to detect phase deviation, etc. The real-time communication network refers to a communication system that connects each monitoring device to achieve real-time data transmission and interaction. It can use wired communication methods (such as optical fibers, cables, etc.) or wireless communication methods (such as ZigBee, GPRS, 4G / 5G, etc.) to achieve 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 equipment and timely feedback this information to relevant personnel or systems. For example, when the monitoring equipment detects that the key signal indicators exceed the normal range or abnormal conditions occur, it will notify the operation and maintenance personnel to conduct fault troubleshooting and repair.

[0126] Optionally, the signal transmission channel of the ground-based navigation equipment can be identified by the change of signal strength. For example, multiple test points are set at different directions and distances around the equipment to measure the signal strength, and the main propagation direction and channel of the signal are determined according to the change of 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 node of the monitoring equipment can be set through abnormal detection algorithms, such as statistical process control algorithms.

[0127] S5. Retrieve the real-time airspace monitoring data of the calibration aircraft. Based on the real-time airspace monitoring data, identify the flight interval of the calibration aircraft. According to the flight interval, the multi-index monitoring network, and the signal deviation warning mechanism, create a parameter dynamic calibration system for the ground-based navigation equipment.

[0128] In an embodiment of the present invention, by retrieving the real-time airspace monitoring data of the calibration aircraft, the real-time traffic conditions of the airspace around the calibration aircraft can be provided, helping the calibration personnel to reasonably arrange the time and order of calibration tasks. The real-time airspace monitoring data refers to the data on the status and environmental information of aircraft in the airspace collected in real time through various sensors and devices, including the dynamic information of the aircraft (such as position, speed, altitude, etc.), the airspace environmental information (such as meteorological conditions, electromagnetic environment), and the airspace management information (such as restricted areas, information of other aircraft).

[0129] Optionally, the real-time airspace monitoring data of the calibration aircraft can be retrieved through a radar system, such as a primary radar and a secondary radar.

[0130] Furthermore, in an embodiment of the present invention, by identifying the flight intervals of the calibration aircraft based on the real-time airspace monitoring data, it can help the calibration personnel to anticipate possible airspace conflict situations in advance, adjust the calibration flight plan in advance, and reduce the number of calibration interruptions. 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, there must be a certain number of minutes or nautical miles of interval between two consecutive aircraft.

[0131] In an optional embodiment of the present invention, based on the real-time airspace monitoring data, the following formula is used to identify the flight intervals of the calibration aircraft:

[0132]

[0133] where D represents the flight interval of the calibration aircraft, M represents the number of monitoring data points in the real-time airspace monitoring data, k represents an adjustment parameter, represents the position difference between the calibration aircraft and other aircraft on the x-axis at the i-th data point, represents the position difference between the calibration aircraft and other aircraft on the y-axis at the i-th data point, represents the position difference between the calibration aircraft and other aircraft on the z-axis at the i-th data point, and i represents the data point index in the real-time airspace monitoring data.

[0134] It should be noted that in this application, the flight intervals calculated through the above formula can take into account the position differences of the aircraft in three-dimensional space and the periodic changes of the flight paths, improving the accuracy of the flight interval calculation results. In particular, it should be noted that in this formula, represents a cosine function, which can be used to adjust the contribution of each data point to ensure that the recent data points have a greater impact on the flight interval.

[0135] In the embodiments of the present invention, by 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 warning mechanism, it can dynamically adapt to environmental changes, accurately locate equipment parameter problems, and achieve more comprehensive and accurate calibration. The parameter dynamic calibration system refers to a system that enables intelligent calibration of parameters for land-based navigation equipment under various complex environments and usage conditions.

[0136] As an embodiment of the present invention, creating the parameter dynamic calibration system for the land-based navigation equipment according to the flight interval, the multi-index monitoring network, and the signal deviation warning mechanism includes: determining the signal accuracy level of the land-based navigation equipment according to the flight interval; identifying the current signal state of the land-based navigation equipment based on the multi-index monitoring network; analyzing the signal deviation type of the land-based navigation equipment according to the signal deviation warning mechanism; setting the calibration parameters of the land-based navigation equipment based on the signal deviation type; generating a parameter calibration rule for the calibration parameters by combining the signal accuracy level and the current signal state; and creating the parameter dynamic calibration system for the land-based navigation equipment according to the signal deviation type and the parameter calibration rule.

[0137] Among them, the signal accuracy level refers to different requirement levels for the signal accuracy of the land-based navigation equipment according to the flight interval. For example, during the flight cruise stage, the flight interval is relatively large, and the requirement for signal accuracy is relatively low. The current signal state refers to the current working state information of the equipment obtained by real-time monitoring of the land-based navigation equipment through the multi-index 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 according to the signal deviation warning mechanism. For example, frequency deviation, phase deviation. The calibration parameters refer 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 emitted 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 the adjustment of the calibration parameters according to the signal accuracy level and the current signal state.

[0138] Optionally, the signal accuracy level of the land-based navigation equipment can be determined by the flight stage and scene according to the flight interval. The parameter calibration rule for the calibration parameters can be generated using a rule engine by combining the signal accuracy level and the current signal state. The analysis of the signal deviation type of the land-based navigation equipment can be determined by the Kalman filtering algorithm according to the signal deviation warning mechanism.

[0139] S6. Combine the autonomous positioning device, the multi-index monitoring network, the signal deviation warning mechanism, and the parameter dynamic calibration system to perform flight verification processing on the ground-based navigation equipment and obtain a flight verification result.

[0140] In the embodiment of the present invention, by combining the autonomous positioning device, the multi-index monitoring network, the signal deviation warning mechanism, and the parameter dynamic calibration system, performing flight verification processing on the ground-based navigation equipment, and obtaining a flight verification result, it is possible to compare the output signals of the ground-based navigation equipment in real time, dynamically evaluate its performance, timely detect and record instantaneous signal anomalies, ensure the accuracy of signal output, improve the reliability of the flight verification result. 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 ground-based navigation system. The flight verification processing refers to the process of evaluating and calibrating the performance of the ground-based navigation equipment, and the flight verification result refers to the evaluation conclusion of the performance of the navigation equipment obtained through flight verification processing. For example, after flight verification processing, it is concluded that the localizer signal of the ground-based navigation equipment is stable and there is no obvious fluctuation.

[0141] Compared with the problems described in the background art, in the embodiments of the present invention, by determining the calibration parameters of the ground-based navigation device based on the device type and the functional attributes, it can be ensured that the calibration result can truly reflect the reliability of the device in actual use, generate the flight calibration conditions for the calibration aircraft, accurately evaluate the device performance of the ground-based navigation device, and ensure flight safety; further, in the embodiments of the present invention, by creating a calibration flight task for the ground-based navigation device and configuring an autonomous positioning device for the calibration aircraft based on the flight calibration conditions, independent and real-time accurate position information can be provided for the calibration aircraft to ensure that the collected data is accurately associated with the actual position of the aircraft; in the embodiments of the present invention, by collecting the autonomous positioning information of the calibration aircraft under the autonomous positioning device and collecting the real-time signal data of the ground-based navigation device during the calibration flight task, it can help the staff understand the changes in various parameters during the calibration flight process, so as to optimize and adjust the flight route, altitude, speed, etc., and improve the efficiency and quality of the calibration flight; further, in the embodiments of the present invention, by setting a signal deviation warning mechanism for the ground-based navigation device based on the signal deviation, an alarm can be issued in time when there is a problem with the navigation system, reminding relevant personnel to take measures, thereby ensuring flight safety and improving the reliability and stability of the navigation system; in the embodiments of the present invention, by configuring a multi-index monitoring network for the ground-based navigation device according to the signal deviation warning mechanism, the actual situation of the signal can be more comprehensively reflected, and the trend and degree of signal deviation can be accurately predicted; further, in the embodiments of the present invention, by retrieving the real-time airspace monitoring data of the calibration aircraft and identifying the flight interval of the calibration aircraft, the real-time traffic conditions in the airspace around the calibration aircraft can be provided, helping the calibration personnel to reasonably arrange the time and order of the calibration tasks and reducing the number of calibration interruptions; in the embodiments of the present invention, by creating a parameter dynamic calibration system for the ground-based navigation device according to the flight interval, the multi-index monitoring network and the signal deviation warning mechanism, it can dynamically adapt to environmental changes, accurately locate device parameter problems, and achieve more comprehensive and accurate calibration; finally, in the embodiments of the present invention, by combining the autonomous positioning device, the multi-index monitoring network, the signal deviation warning mechanism and the parameter dynamic calibration system, performing the flight calibration process of the ground-based navigation device, and obtaining the flight calibration result, the output signal of the ground-based navigation device can be compared in real time, its performance can be dynamically evaluated, instantaneous signal anomalies can be detected and recorded in time, ensuring the accuracy of signal output, improving the reliability of the flight calibration result. At the same time, the real-time monitoring and dynamic calibration functions reduce the need for manual intervention, shorten the calibration time, and improve the flight calibration efficiency of the ground-based navigation system. Therefore, a flight calibration processing method and system for a ground-based navigation system provided by the embodiments of the present invention can improve the accuracy of performance evaluation of the ground-based navigation system.

[0142] Embodiment 2:

[0143] Such asFigure 2 As shown, it is a functional module diagram of the flight inspection processing system of a ground-based navigation system according to the present invention.

[0144] The flight inspection processing system 200 of the ground-based navigation system according to the present invention can be installed in an electronic device. According to the functions achieved, the flight inspection processing system of the ground-based navigation system may include a calibration parameter setting module 201, an aircraft autonomous positioning module 202, a signal deviation detection module 203, a multi-index monitoring module 204, a calibration parameter calibration module 205, and a flight inspection result module 206. The modules in the present invention can also be referred to as units, which refer to a series of computer program segments that can be executed by the processor of the electronic device and can complete fixed functions, and are stored in the memory of the electronic device.

[0145] In the embodiments of the present invention, the functions of each module / unit are as follows:

[0146] The calibration parameter setting module 201 is used to obtain the ground-based navigation device to be calibrated and its corresponding calibration aircraft, identify the device type and functional attributes of the ground-based navigation device, and determine the calibration parameters of the ground-based navigation device based on the device type and the functional attributes.

[0147] The aircraft autonomous positioning module 202 is used to generate flight inspection conditions for the calibration aircraft according to the calibration parameters, create a calibration flight task for the ground-based navigation device based on the flight inspection conditions, and configure the autonomous positioning device of the calibration aircraft according to the calibration flight task.

[0148] The signal deviation detection module 203 is used to collect the autonomous positioning information of the calibration aircraft under the autonomous positioning device, collect the real-time signal data of the ground-based navigation device in the calibration flight task, and detect the signal deviation of the ground-based navigation device in real time according to the real-time signal data and the autonomous positioning information.

[0149] The multi-index monitoring module 204 is used to set a signal deviation warning mechanism for the ground-based navigation device based on the signal deviation, and configure a multi-index monitoring network for the ground-based navigation device according to the signal deviation warning mechanism.

[0150] The calibration parameter calibration module 205 is used to retrieve the real-time airspace monitoring data of the calibration aircraft, identify the flight interval of the calibration aircraft based on the real-time airspace monitoring data, and create a parameter dynamic calibration system for the ground-based navigation device according to the flight interval, the multi-index monitoring network, and the signal deviation warning mechanism.

[0151] The flight inspection result module 206 is configured to perform flight inspection processing on the land-based navigation device by combining the autonomous positioning device, the multi-index monitoring network, the signal deviation warning mechanism, and the parameter dynamic calibration system, so as to obtain a flight inspection result.

[0152] Specifically, when the modules in the flight inspection processing system 200 of the land-based navigation system according to the embodiments of the present invention are used, they adopt the same technical means as those in the Figure 1 flight inspection processing method of a land-based navigation system described above, and can produce the same technical effects, which will not be elaborated here.

[0153] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A flight verification processing method for a ground-based navigation system, characterized in that, The method includes: Obtaining a land-based navigation device to be verified and its corresponding verification aircraft, identifying the device type and functional attributes of the land-based navigation device, and determining the verification parameters of the land-based navigation device based on the device type and the functional attributes; Generating flight verification conditions for the verification aircraft according to the verification parameters, creating a verification flight mission for the land-based navigation device based on the flight verification conditions, and configuring 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 device during the verification flight mission, and 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; Setting a signal deviation warning mechanism for the land-based navigation device based on the signal deviation, and configuring a multi-index monitoring network for the land-based navigation device according to the signal deviation warning mechanism; 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 creating a parameter dynamic calibration system for the land-based navigation device according to the flight interval, the multi-index monitoring network and the signal deviation warning mechanism; Combining the autonomous positioning device, the multi-index monitoring network, the signal deviation warning mechanism and the parameter dynamic calibration system, performing the flight verification process of the land-based navigation device, and obtaining a flight verification result.

2. The flight calibration processing method of a ground-based navigation system according to claim 1, characterized in that, The determining the verification parameters of the land-based navigation device based on the device type and the functional attributes includes: Extracting the key performance indicators of the land-based navigation device based on the device type and the functional attributes; Setting the optimal index measurement method for the land-based navigation device according to the key performance indicators; Simulating the verification scenario of the land-based navigation device based on the optimal index measurement method; Identifying the performance requirements of the land-based navigation device according to the verification scenario and the functional attributes; Determining the verification parameters of the land-based navigation device based on the performance requirements.

3. The flight calibration processing method of a ground-based navigation system according to claim 1, characterized in that The generating the flight verification conditions for the verification aircraft according to the verification parameters includes: Extracting the land-based navigation device corresponding to the verification parameters, and calculating the signal coverage range of the land-based navigation device; Determining the key flight area of the verification aircraft based on the signal coverage range, and calculating the flight altitude of the aircraft in the key flight area; Extracting the signal update frequency of the land-based navigation device from the verification parameters, and determining the 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; Combining the key flight area, the flight altitude of the aircraft and the flight speed, creating a flight path for the verification aircraft; Setting the verification frequency of the verification aircraft based on the device parameters and the flight path; Generating the flight verification conditions for the verification aircraft according to the flight path and the verification frequency.

4. A flight calibration processing method for a ground-based navigation system according to claim 1, characterized in that, Configuring the autonomous positioning device of the calibration aircraft according to the calibration flight mission includes: Extracting the accuracy requirements and environmental parameters in the calibration flight mission; Creating a multi-modal positioning system for the calibration aircraft based on the accuracy requirements; Real-time monitoring of the performance indicators of the multi-modal positioning system according to the accuracy requirements and the environmental parameters; Setting the mode switching conditions of the multi-modal positioning system based on the performance indicators; Configuring the multi-modal positioning device of the calibration aircraft according to the multi-modal positioning system and the mode switching conditions; Setting a parameter adaptive adjustment mechanism for the multi-modal positioning device based on the environmental parameters; Configuring the autonomous positioning device of the calibration aircraft by combining the multi-modal positioning device, the parameter adaptive adjustment mechanism and the mode switching conditions.

5. The flight calibration processing method of a ground-based navigation system according to claim 1, characterized in that, Real-time detecting the signal deviation of the ground-based navigation equipment according to the real-time signal data and the autonomous positioning information, including: Performing time synchronization processing on the real-time signal data and the autonomous positioning information to obtain time synchronization data; Performing spatial alignment processing on the real-time signal data and the autonomous positioning information based on the time synchronization data to obtain spatial calibration data; Identifying the signal propagation path of the ground-based navigation equipment according to the spatial calibration data; Extracting the signal propagation index of the ground-based navigation equipment based on the signal propagation path; Collecting the historical signal propagation data of the ground-based navigation equipment according to the signal propagation index; Identifying the normal fluctuation range of the signal propagation index based on the historical signal propagation data; Setting the signal deviation standard of the signal propagation index according to the normal fluctuation range; Real-time detecting the signal deviation of the ground-based navigation equipment based on the signal deviation standard.

6. The flight calibration processing method of a ground-based navigation system according to claim 1, characterized in that Setting a signal deviation warning mechanism for the ground-based navigation equipment based on the signal deviation, including: Collecting the historical signal change data corresponding to the signal deviation and identifying the signal change factor of the ground-based navigation equipment from the historical signal change data; Extracting the time series characteristics and spatial features 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 features; Determining the warning index of the signal deviation based on the signal deviation law; Setting a dynamic warning threshold for the 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 warning level of the signal deviation according to the severity; Setting a signal deviation warning mechanism for the ground-based navigation equipment by combining the warning index, the dynamic warning threshold and the warning level.

7. The flight calibration processing method of a ground-based navigation system according to claim 6, characterized in that, Setting a dynamic warning threshold for the warning index according to the historical signal change data and the signal deviation law, including: Determining the signal change mode corresponding to the warning index according to the historical signal change data; Based on the signal deviation law, identify the deviation signals of the warning indicators in the signal change pattern, and analyze the deviation characteristics of the deviation signals; According to the deviation characteristics, extract the signal turning points of the warning indicators; Based on the signal change pattern, identify the key features of the signal turning points; According to the key features, set the buffer interval of the signal turning points; Combining the buffer interval, the signal turning points and the signal change pattern, set the dynamic warning threshold of the warning indicators.

8. The flight calibration processing method of a ground-based navigation system according to claim 1, characterized in that The multi-index monitoring network of the ground-based navigation equipment is configured according to the signal deviation warning mechanism, including: According to the signal deviation warning mechanism, extract the key signal indicators of the ground-based navigation equipment; Identify the composition structure and signal transmission channels of the ground-based navigation equipment, and based on the composition structure and the signal transmission channels, set the multi-point monitoring layout of the ground-based navigation equipment; According to the multi-point monitoring layout, configure the monitoring equipment corresponding to the key signal indicators; Construct a real-time communication network between the monitoring equipment, and based on the real-time communication network, set the abnormal feedback nodes of the monitoring equipment; Combining the real-time communication network, the multi-point monitoring layout and the abnormal feedback nodes, configure the multi-index monitoring network of the ground-based navigation equipment.

9. The flight calibration processing method of a ground-based navigation system according to claim 1, characterized in that The parameter dynamic calibration system of the ground-based navigation equipment is created according to the flight interval, the multi-index monitoring network and the signal deviation warning mechanism, including: According to the flight interval, determine the signal accuracy level of the ground-based navigation equipment; Based on the multi-index monitoring network, identify the current signal state of the ground-based navigation equipment; According to the signal deviation warning mechanism, analyze the signal deviation type of the ground-based navigation equipment; Based on the signal deviation type, set the calibration parameters of the ground-based navigation equipment; Combining the signal accuracy level and the current signal state, generate the parameter calibration rules of the calibration parameters; According to the signal deviation type and the parameter calibration rules, create the parameter dynamic calibration system of the ground-based navigation equipment.

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

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