Implementation method and system for modifying and setting preselected channel of helicopter

Abstract

The invention provides an implementation method and system for modifying and setting a preselected channel of a helicopter, and the method comprises the steps: when a first integrated display sets a CRS value, transmitting a CRS interlocking amount to a second integrated display, after the second integrated display receives the CRS interlocking amount, not setting the CRS value, after the first integrated display finishes setting the CRS value, transmitting a CRS unlocking amount to the second integrated display, and after the second integrated display receives the CRS unlocking amount, transmitting the CRS unlocking amount to the second integrated display; the CRS value setting function is recovered, and mutual exclusion setting of the CRS values between the two comprehensive displays is ensured; when the CRS value is set by the first comprehensive display, the synchronous CRS value is sent to the second comprehensive display after preset delay; performing damping processing on display data of the CRS pointer of the preselected channel; through an interlocking mechanism, a CRS value is only set and modified on any one single-side comprehensive display; synchronous CRS value sending delay is set, and it is guaranteed that the comprehensive display on the other side does not jump or get stuck in the CRS value receiving process; the CRS pointer is prevented from shaking back and forth by improving the composite filtering algorithm.

Description

Technical Field

[0001] The invention belongs to the technical field of computer software, and in particular relates to a method and system for implementing modification and setting of a helicopter preselected flight path. Background Art

[0002] VOR Navigation System VOR is a short-range radio navigation system consisting of ground VOR stations and airborne equipment.

[0003] The pilot's main flight page PFD display of the existing helicopter integrated processing display unit (abbreviated as integrated display) includes a horizontal situation indicator (HSI). The HSI indicator centrally displays VOR navigation information and adopts a display layout similar to that of the remote magnetic indicator RMI, such as Figure 1 As shown, two VOR azimuth pointers, preselected courses, heading and departure indications, and course deviation indications are superimposed on the magnetic compass. There is a preselected course CRS knob at the lower right of the integrated processing display unit: rotate the CRS knob to set the preselected course. When the helicopter is not on the preselected course, the yaw bar deviates to the left or right, and the deviation is displayed by the yaw scale; when the aircraft is on the preselected course, the yaw bar is located in the middle of the preselected course pointer. Turn the CRS knob, and the preselected course pointer rotates relative to the compass until it is aligned with the desired angle of the aircraft heading, that is, the preselected heading. The PFD page displays a navigation indication diagram to guide the pilot to control the helicopter flight according to the displayed navigation diagram.

[0004] The setting of the CRS value of the pre-selected course of most existing helicopters is completed by the integrated control unit (ICU). Since the two ICUs have no direct bus interconnection, the setting process requires confirmation and reply from the integrated task processor. Therefore, if the two ICUs set the CRS value at the same time, since the integrated task processor will only respond to and reply to the CRS value set by one ICU, it will cause the CRS value set by the other ICU to be inconsistent with that set by itself; and the pre-selected course pointer will shake back and forth and instantly reverse 180°; in addition, if the two ICUs set the CRS value one after the other, the CRS value of the ICU set later will be changed before the setting is completed, resulting in poor user operation experience and poor human-computer interaction. Summary of the invention

[0005] In order to solve the technical problems that the CRS values of the comprehensive displays on both sides of the pre-selected channel are inconsistent due to the cross setting of the comprehensive displays on both sides, the pre-selected channel pointer shakes back and forth, and instantly reverses 180°, and the user operation experience and human-computer interaction are poor, the present invention provides a method and system for modifying and setting the pre-selected channel of a helicopter, and the technical solution is as follows:

[0006] In a first aspect, a method for modifying and setting a preselected route of a helicopter is provided. When a first integrated processing and display unit sets a CRS value of a preselected route, a CRS interlock value is sent to a second integrated processing and display unit. After receiving the CRS interlock value, the second integrated processing and display unit does not set the CRS value, but only displays the CRS value through a PFD page. After the first integrated processing and display unit sets the CRS value, a CRS unlock value is sent to the second integrated processing and display unit. After receiving the CRS unlock value, the second integrated processing and display unit restores the CRS value setting function to ensure that the CRS values between the two integrated processing and display units are mutually exclusive.

[0007] The first integrated processing and display unit sends a synchronized CRS value to the second integrated processing and display unit after a preset delay during the process of setting the CRS value;

[0008] The first integrated processing and display unit and the second integrated processing and display unit use a composite filtering algorithm to perform damping processing on the display data of the CRS pointer of the pre-selected channel, and the display data of the CRS pointer is the CRS value.

[0009] Among them, when the first comprehensive processing and display unit sets the CRS value, it first determines whether the value of the CRS receiving lock is true. If it is true, the CRS value cannot be set, so that the display color of the CRS value is gray; if the value of the CRS receiving lock is false, the CRS sending lock is sent to the second comprehensive processing and display unit through the 422 bus. After the second comprehensive processing and display unit receives the CRS sending lock, it updates the CRS receiving lock to a locked state and sets the display color of the CRS value to gray;

[0010] Each integrated processing and display unit sets the local CRS transmission lock to true when sending the CRS transmission lock. If the value of the CRS transmission lock is determined to be true during transmission, it will not be sent repeatedly;

[0011] After each integrated processing and display unit sends the CRS send lock, after the CRS value setting is completed, the CRS send lock is reset to false and sent to another integrated processing and display unit for unlocking.

[0012] Among them, when the CRS value is sent with delay, the preset delay is 300ms.

[0013] The process of using the composite filtering algorithm to perform damping processing on the display data of the pre-selected channel display pointer is as follows:

[0014] Step 1: Calculate the maximum allowable increment between two adjacent CRS values:

[0015] set up is the nth CRS value, is the nth filtering value, is the n-1th filtering value, is the sampling period, is the filtering period, the maximum allowable increment between two adjacent CRS values The calculation formula is as follows:

[0016] (1)

[0017] In formula (1), the filtering period is a fixed empirical value. There are four types of data, which are: 0.25, 0.5, 1, 2, The unit of is seconds;

[0018] Step 2: Calculate the difference between the CRS value and the filtered value according to the following formula :

[0019] (2)

[0020] Step 3: Determine the nth filtered value using the difference between the CRS value and the filtered value according to the following formula :

[0021] (3).

[0022] Among them, the sampling period is 0.02s, and the maximum data value is 180°.

[0023] In the second aspect, an implementation system for modifying and setting the preselected airway of a helicopter is provided, which consists of a VOR navigation system and two integrated processing and display units. The two integrated processing and display units are cross-linked through a 422 bus, and the VOR navigation system and the two integrated processing and display units are cross-linked through a 429 bus; the integrated processing and display unit is used to execute the method described in the first aspect. After one integrated processing and display unit sets the CRS value, it compares the CRS value with the VOR angle sent by the VOR navigation system to obtain the airway deviation.

[0024] The beneficial effects of the present invention are at least as follows:

[0025] The present invention can be applied to the design of the CRS value setting function of the VOR equipment by the crew. Through the interlock mechanism, the crew can only set and modify the CRS value on any one-sided integrated display, and cannot set and modify the CRS value on the other side. The other side of the integrated display can only synchronously display the CRS value through the PFD page; during the CRS value setting process, the transmission delay of the synchronized CRS value is set to ensure that there will be no jumps or jams during the process of the other side of the integrated display receiving the CRS value; the improved composite filtering algorithm is used to avoid the CRS pointer from jittering back and forth, and the CRS pointer can rotate smoothly. The user operation experience and the human-computer interaction experience are improved. Description of the Drawings​

[0026] Figure 1 Schematic diagram of arrow map for Vol's pre-selected route;

[0027] Figure 2 It is a cross-link diagram of the system of the present invention;

[0028] Figure 3 The schematic diagram of the preselected channel modification setting of the present invention;

[0029] Figure 4 This is a schematic diagram of the mutually exclusive setting of the pre-selected waterway of the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below through specific implementation modes and drawings.

[0031] In the prior art, the ground VOR station sends a radio frequency signal containing angle information, and the airborne VOR receiver receives the radio frequency signal sent by the ground VOR station to obtain the angle information of the VOR station and the meaning of the common parameters related to VOR navigation. In order to make the reader more clearly understand the technical solution of the present invention, the following definitions are briefly explained:

[0032] 1) VOR azimuth: the clockwise angle between the magnetic north direction of the aircraft's location and the line connecting the aircraft and the VOR station, that is, the geographical location of the VOR station observed from the aircraft as the reference;

[0033] 2) Pre-selected route: Usually a route is pre-set according to the navigation chart, and a current azimuth line to be flown is selected through the OBS (omnidirectional bearing selector) or similar equipment. The route pre-selection is completed through the photoelectric CRS knob on the PFD page;

[0034] 3) Course deviation: the direction and angle in which the aircraft deviates from the pre-selected course;

[0035] 4) Towards and away from the station indication: used to distinguish whether the aircraft is flying away from (from) or towards (to) the VOR station when flying over it.

[0036] The CRS value setting function includes three contents: pre-selected channel exclusive setting, pre-selected channel synchronization, pre-selected channel and deviation display.

[0037] a) Pre-selected channel mutually exclusive setting

[0038] Mutually exclusive settings: When setting the CRS value on one side, the other side cannot be set and the CRS value can only be displayed on the PFD page. During the CRS value setting process, use the CRS knob to set the corresponding CRS value.

[0039] Modification process: CRS value can be set only when the navigation source is VOR; when the navigation source is GNSS, CRS value cannot be set. Details are as follows:

[0040] Rotate the "CRS" knob once, and the CRS value changes by 1°; the setting range is 0° to 359°, and the initial value is 0°;

[0041] Or, press the L3 button "PAR", display the parameter setting window, rotate the "CRSR" knob, corresponding to the "SYNC" parameter item, press the left knob, rotate the "DATA" knob to select "CRS", press the left knob, and pre-select the course consistent with the VOR azimuth (when the navigation source is VOR, you can fly directly to the navigation station);

[0042] b) Pre-selected course synchronization

[0043] During the process of setting the CRS value, the CRS values in the PFD pages of the left and right comprehensive displays need to be consistent. Therefore, when setting the CRS value on one comprehensive display, it is necessary to send the set CRS value to the other comprehensive display; after the other comprehensive display receives the CRS value, it updates the local CRS value so that the CRS values of the comprehensive displays on both sides are displayed consistently.

[0044] When the CRS value is set on one comprehensive display, the other comprehensive display is not powered on. The CRS value can still be set on this comprehensive display. After the other comprehensive display is powered on again, this comprehensive display will send the set CRS value to the newly powered on comprehensive display to keep the CRS value display consistent.

[0045] The two comprehensive displays are powered off and then on again, and restarted at the same time, and the CRS value returns to 0°.

[0046] c) Pre-selected course and deviation display

[0047] The CRS value is displayed in the form of a CRS pointer in the horizontal indicator on the PFD page. When the CRS value changes, the CRS pointer will rotate synchronously, and the rotation process must be smooth.

[0048] When the navigation source is VOR, "VOR" is displayed in the upper left corner of the helicopter symbol. Figure 1 shown.

[0049] The yaw indicator shows the yaw angle, which is the difference between the yaw angle and the pre-selected course angle.

[0050] The yaw indicator rotation center is consistent with the compass center. The hollow circle is the yaw indicator scale. The outermost circle of the helicopter symbol represents the yaw indicator range. When the yaw distance exceeds the range, the yaw indicator stops outside the outermost circle. The yaw indicator disappears when the yaw data is invalid.

[0051] likeFigure 2 As shown in the figure, the system involved in the embodiment of the present invention consists of a VOR (VHF Omnidirectional Range) navigation system and two integrated processing and display units (referred to as integrated displays for short). Among them, the VOR navigation system is cross-connected with the two integrated displays through a 429 bus, and the two integrated displays are cross-connected through a 422 bus. Figure 2 The left integrated display on the left can also be called the first integrated display, and the right integrated display on the right can also be called the second integrated display.

[0052] There is a large CRS knob at the lower right of the display panel of the integrated display for setting the CRS value. The CRS value is displayed in the horizontal indicator on the PFD page, as Figure 1 shown in the figure, the angle value indicated by the CRS pointer with the yaw bar in the figure is the CRS value.

[0053] In the embodiment of the present invention, aiming at the current problem of setting the CRS value, the CRS value is directly set through the CRS knob, and the integrated display determines the CRS value to be set according to the rotation amount of the CRS knob; and an interlock amount method is introduced, that is, when one-sided integrated display sets the CRS value, it sends a CRS interlock amount to the other integrated display. After the other integrated display receives the CRS interlock amount, it does not set the CRS value, but only displays the CRS value through the PFD page. After the CRS value setting is completed, for example, it can be determined that the CRS value setting is completed when the integrated display detects that the CRS knob has not been operated for 3 seconds, and then unlocks the CRS value setting and sends a CRS unlock amount to the other integrated display. After the other integrated display receives the CRS unlock amount, it restores the CRS value setting function to ensure mutually exclusive setting of the CRS value between the two integrated displays. In the embodiment of the present invention, the integrated display is the integrated processing and display unit. See Figure 3 In order to avoid the CRS value from jumping and jamming due to the too-fast rotation of the CRS knob, during the process of setting the CRS value by the first integrated display, it sends the synchronized CRS value to the second integrated display after a preset delay. To ensure that the CRS pointer does not shake too fast and reverse by 180°, the first integrated display and the second integrated display use a composite filtering algorithm to damp the display data of the CRS pointer, and the display data of the CRS pointer is the CRS value.

[0054] For the VOR navigation system, when setting the CRS value, the CRS value is set by rotating the CRS knob (only when the navigation source is VOR). Rotating the CRS knob once, the CRS value changes by 1°; the setting range of the CRS value is 0° to 359°, the initial value is 0°, and after setting, the CRS value is synchronously displayed in the PFD pages of the left and right integrated displays.

[0055] The setting of the CRS value can include the following aspects:

[0056] a) Mutually exclusive setting of the CRS value between the two integrated displays, adding an interlock mechanism

[0057] Set the CRS value on the single - side integrated display PFD page. To prevent the CRS value from being set simultaneously on the other integrated display, an interlock mechanism is set for the two integrated display PFD pages. The specific implementation is as follows:

[0058] First, define the CRS interlock structure send lock and receive lock:

[0059] typedef enum

[0060] {

[0061] LOCK_NAME_CRS_NONE = 0, / * Unlock amount * /

[0062] LOCK_NAME_CRS, / * Interlock amount * /

[0063] } SYNC_LOCK_VALUE_CRS;

[0064] CRS send lock: SYNC_LOCK_VALUE_CRS crs_send_sycn_lock_value;

[0065] CRS receive lock: SYNC_LOCK_VALUE_CRS crs_rev_sycn_lock_value;

[0066] In an embodiment, refer to Figure 4 , when setting the CRS value on the single - side integrated display, first determine whether the value of the CRS receive lock is true. If it is true, the CRS value cannot be set. In an embodiment, to enable the pilot to intuitively feel whether the CRS value can be set, if the value of the integrated display CRS receive lock is true, set the display color of the CRS value to gray, where gray means the CRS value cannot be set. If the value of the CRS receive lock is false, send the CRS send lock to the other integrated display through the 422 bus. After the other integrated display receives the CRS send lock, update the CRS receive lock to the locked state and set the display color of the CRS value to gray. To avoid repeated sending of the CRS send lock during the setting process, each integrated display sets the local CRS send lock to true when sending the CRS send lock. If it is determined that the value of the send lock is true during sending, do not send it repeatedly.

[0067] In addition, after the CRS send lock is sent and the setting is completed, the CRS send lock needs to be reset to false and sent to the other integrated display for unlocking. If the integrated display detects that the CRS knob has not been operated for 3 seconds, it is determined that the CRS value setting is completed. If the CRS knob is rotated again within 3 seconds, reset the 3 - second timer and start timing again.

[0068] b) During the setting process of the CRS value, send the set CRS value to the other display unit to achieve synchronous display

[0069] Interlocking is used to ensure that the CRS values on both sides of the comprehensive display are mutually exclusive. To meet the requirement that the CRS values displayed in the left and right display PFD pages of the driver's operating procedure are consistent, during the setting process, the set CRS value needs to be synchronized to the comprehensive display on the other side. After the comprehensive display on the other side receives it, the CRS value is updated so that the CRS values displayed on both sides of the comprehensive display are consistent and the pre-selected course pointers rotate synchronously.

[0070] The most important thing about synchronous display is the timing of sending synchronous data. If the method of resynchronization is adopted after the setting is completed (2s after the CRS knob is released), the CRS value display of the other side will be delayed, and the CRS value in the intermediate setting process (continuous rotation of the CRS knob) cannot be displayed synchronously. If the method of setting and synchronizing is adopted, if the rotation speed of the CRS knob is too fast, there will be a faster jump when the CRS value is displayed. In order to solve the above problem, in an embodiment of the present invention, during the process of setting the CRS value, the first comprehensive display sends a synchronized CRS value to the second comprehensive display after a preset delay. That is, during the process of setting the CRS value of the comprehensive display on one side, a delay is added when the set CRS value is sent to the comprehensive display on the other side. In this embodiment, the delay is 6 software scheduling cycles, that is, 300ms. The first comprehensive display sends a synchronized CRS value to the second comprehensive display after a delay of 300ms. If the CRS value changes, the 300ms delay timer will be reset.

[0071] c) Prevent the CRS pointer from jittering too fast and design a composite filtering algorithm

[0072] In addition to displaying the CRS value, the comprehensive display also indicates the corresponding CRS value through the arrow with yaw bar on the horizontal indicator, see Figure 1 In the process of setting the CRS value, the frequency of CRS value change is related to the rotation rate of the CRS knob. If the CRS knob rotates too fast, the frequency of CRS value change will be fast, causing the CRS pointer to rotate too fast and jitter. To prevent the CRS pointer from jittering back and forth, a composite filtering algorithm is used to damp the display data of the CRS pointer. The algorithm is as follows:

[0073] 1. Set is the nth sampling value, i.e., the CRS value (input value), is the nth filtering value (output value), is the n-1th filtering value, is the sampling period (in seconds), is the filtering period (in seconds), the maximum allowable increment of two adjacent CRS values The calculation is as follows:

[0074] (1)

[0075] In formula (1), the filtering period is It is a fixed experience value. There are four types of data (0.25, 0.5, 1, 2). The maximum allowable increment is yes The increasing function of .

[0076] Sampling period The maximum value of the data depends on the specific filtering parameters. For example, the sampling period is 50 , the data range is: -108°~180°, so is 0.02, and the maximum value of the data is 180°.

[0077] 2. Let d be the difference between the CRS value and the filtered value, and calculate as follows:

[0078] (2)

[0079] 3. Use the difference d to get the nth filter value :

[0080] (3)

[0081] In the embodiment of the present invention, the composite filtering algorithm determines the difference Less than or equal to When , the filter value is the current sample value; otherwise, the filter value is the current sample value minus the natural exponential of The product of the power and the difference d.

[0082] If the input value exceeds the difference between the maximum and minimum values, an additional cycle can be added to process it to prevent the pointer from reversing 180°.

[0083] Aiming at the functional requirements of helicopter pre-selected course setting, the present invention proposes an interlocking mechanism, that is, when setting the CRS value, the comprehensive display on one side sends the CRS interlocking amount to the comprehensive display on the other side. After the comprehensive display on the other side receives the CRS interlocking amount, the CRS value cannot be set, and the CRS value can only be displayed through the PFD page. After the CRS value setting is completed, the CRS unlocking amount is sent to the comprehensive display on the other side. After the comprehensive display on the other side receives the CRS unlocking amount, the CRS value setting function is restored to ensure the mutually exclusive setting of the pre-selected course between the comprehensive displays on both sides. In the process of setting the CRS value, the operation of sending the CRS value synchronized to the comprehensive display on the other side increases the sending delay to avoid the CRS value jumping and stagnation caused by the CRS knob rotating too fast. The display data of the CRS pointer is damped by an improved composite filtering algorithm to ensure that the CRS pointer will not jitter too fast and reverse 180°.

[0084] The results of a large amount of display data simulation and test flight verification show that the interlocking setting of the CRS on both sides provided by the present invention has a better user operation experience and human-computer interaction experience; the improved composite filtering algorithm avoids the back and forth jitter of the CRS pointer, and the CRS pointer can rotate smoothly.

[0085] See also Figure 2 The present invention also provides a system for modifying and setting a helicopter pre-selected course, which is composed of a Vol navigation system and two integrated displays. After a CRS value is set on an integrated display, the CRS value is compared with the Vol angle sent by the Vol device to obtain a course deviation. The Vol navigation system is interconnected with the two integrated displays via a 429 bus, and the two integrated displays are interconnected via a 422 bus. The setting of the CRS value is implemented by the method for modifying and setting a helicopter pre-selected course described in the present invention.

[0086] The method for modifying and setting the pre-selected flight path of a helicopter provided in the embodiment of the present invention is applicable to any comprehensive display having a processor and a display screen, and the method does not limit other structural components of the comprehensive display.

[0087] The above only expresses the implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. In addition, the parts not detailed in the present invention are all conventional technologies.

Claims

1. A method for implementing the modification and setting of a preselected flight path of a helicopter, characterized in that, When the first integrated processing and display unit sets the CRS value of the pre-selected channel, it sends the CRS interlocking amount to the second integrated processing and display unit. After receiving the CRS interlocking amount, the second integrated processing and display unit does not set the CRS value, but only displays the CRS value through the PFD page. After the first integrated processing and display unit sets the CRS value, it sends the CRS unlocking amount to the second integrated processing and display unit. After receiving the CRS unlocking amount, the second integrated processing and display unit restores the CRS value setting function to ensure that the CRS values between the two integrated processing and display units are mutually exclusive. The first integrated processing and display unit sends a synchronized CRS value to the second integrated processing and display unit after a preset delay during the process of setting the CRS value; The first integrated processing display unit and the second integrated processing display unit use a composite filtering algorithm to perform damping processing on the display data of the CRS pointer of the pre-selected channel, and the display data of the CRS pointer is the CRS value.

2. The method according to claim 1, wherein When the first integrated processing and display unit sets the CRS value, it first determines whether the value of the CRS receiving lock is true. If it is true, the CRS value cannot be set, so that the display color of the CRS value is gray; if the value of the CRS receiving lock is false, the CRS sending lock is sent to the second integrated processing and display unit through the 422 bus. After the second integrated processing and display unit receives the CRS sending lock, it updates the CRS receiving lock to a locked state and sets the display color of the CRS value to gray; Each integrated processing and display unit sets the local CRS transmission lock to true when sending the CRS transmission lock. If the value of the CRS transmission lock is determined to be true during transmission, it will not be sent repeatedly; After each integrated processing and display unit sends the CRS send lock, after the CRS value setting is completed, the CRS send lock is reset to false and sent to another integrated processing and display unit for unlocking.

3. The method according to claim 1, characterized in that When delaying sending the CRS value, the preset delay is 300ms.

4. The method according to claim 1, wherein The process of using the composite filtering algorithm to damp the display data of the pre-selected channel display pointer is as follows: Step 1: Calculate the maximum allowable increment between two adjacent CRS values: Let be the nth CRS value, be the nth filtered value, be the (n - 1)th filtered value, be the sampling period, be the filtering period, the maximum allowable increment between two adjacent CRS values The calculation formula is as follows: （1） In formula (1), the filtering period is a fixed empirical value. There are four types of data, which are: 0.25, 0.5, 1, and 2, and the unit is seconds; Step 2: Calculate the difference between the CRS value and the filtered value according to the following formula : （2） Step 3. Determine the nth filtering value according to the following formula using the difference between the CRS value and the filtering value :​ （3）。 5. The method according to claim 4, wherein Sampling period is 0.02 s, and the maximum data value is 180°.

6. An implementation system for modifying and setting a preselected flight path of a helicopter, characterized in that, It consists of the Vol navigation system and two integrated processing and display units. The two integrated processing and display units are interconnected through the 422 bus. The Vol navigation system and the two integrated processing and display units are interconnected through the 429 bus. The integrated processing and display unit is used to execute the method described in any one of claims 1 to 5. After an integrated processing and display unit sets the CRS value, it compares the CRS value with the Volt angle sent by the Volt navigation system to obtain the course deviation.

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