A method and system for modifying and setting a helicopter preselected flight path

Abstract

The present invention provides a method and system for modifying and setting a preselected channel of a helicopter. In the method, when a first comprehensive display sets a CRS value, a CRS interlocking amount is sent to a second comprehensive display. After the second display receives the CRS interlocking amount, the CRS value is not set. After the first comprehensive display completes setting of the CRS value, a CRS unlocking amount is sent to the second comprehensive display. After the second comprehensive display receives the CRS unlocking amount, the CRS value setting function is restored to ensure that the CRS values ​​of the two comprehensive displays are mutually exclusive. When the first comprehensive display sets the CRS value, a synchronous CRS value is sent to the second comprehensive display after a preset delay. Display data of a CRS pointer of the preselected channel is damped. Through an interlocking mechanism, the CRS value is set and modified only on any one side comprehensive display. A delay in sending the synchronous CRS value is set to ensure that the comprehensive display on the other side does not jump or get stuck during the process of receiving the CRS value. An improved composite filtering algorithm is used to avoid jittering of the CRS pointer.

Description

Technical Field

[0001] The present invention belongs to the technical field of computer software, and in particular relates to a method and system for modifying and setting a preselected flight path of a helicopter. 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 bearing pointers, a preselected course, a heading and departure indication, and a course deviation indication 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 stick deviates to the left or right, and the amount of deviation is displayed by the yaw scale; when the aircraft is on the preselected course, the yaw stick 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 aligns with the desired aircraft heading angle, i.e., the preselected heading. The PFD page displays a navigation instruction diagram, guiding the pilot to control the helicopter flight according to the displayed navigation diagram.

[0004] The CRS value for the preselected course on most existing helicopters is set by the Integrated Control Unit (ICU). Because the two ICUs lack a direct bus connection, the setting process requires confirmation and a response from the integrated mission processor. Therefore, if two ICUs set the CRS value at the same time, the integrated mission processor will only respond to and reply to the CRS value set by one ICU. This will cause the CRS value set by the other ICU to be inconsistent with its own. Furthermore, the preselected course pointer will oscillate back and forth, and momentarily reverse 180 degrees. Furthermore, 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 complete, resulting in a poor user experience and poor human-computer interaction. Summary of the Invention

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

[0006] In a first aspect, a method for modifying and setting a preselected flight path of a helicopter is provided. When a first integrated processing and display unit sets a CRS value for the preselected flight path, the first integrated processing and display unit sends a CRS interlock value 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 on a PFD page. After the first integrated processing and display unit completes setting the CRS value, the first integrated processing and display unit sends a CRS unlock value 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, thereby ensuring that the CRS values ​​of 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 preselected channel, and the display data of the CRS pointer is the CRS value.

[0009] Among them, when the first integrated processing and display unit sets the CRS value, it first determines whether the value of the CRS receive lock is true. If it is true, the CRS value cannot be set, and the display color of the CRS value is gray; if the value of the CRS receive lock is false, the CRS send 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 send lock, it updates the CRS receive lock to the 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 delaying the sending of the CRS value, 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, The maximum allowable increment of two adjacent CRS values ​​is the filtering period The calculation formula is as follows:

[0016] (1)

[0017] In formula (1), the filtering period is For fixed experience values, there are four types of data: 0.25, 0.5, 1, 2, The unit 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: Use the difference between the CRS value and the filtered value according to the following formula Determine the nth filter value :

[0021] (3).

[0022] Among them, the sampling period The maximum value of the data is 180°.

[0023] In the second aspect, a system for implementing the modification and setting of the pre-selected course of a helicopter is provided, which consists of a Vol navigation system and two integrated processing and display units. The two integrated processing and display units are interconnected via a 422 bus, and the Vol navigation system and the two integrated processing and display units are interconnected via a 429 bus; the integrated processing and display units are used to execute the method described in the first aspect. After an integrated processing and display unit sets the CRS value, it compares the CRS value with the Vol angle sent by the Vol navigation system to obtain the course deviation.

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

[0025] The present invention can be applied to the design of the CRS value setting function for Volt equipment by the crew. Through an interlocking mechanism, the present invention allows crew members to set and modify the CRS value only on one side of the comprehensive display, and cannot set and modify the CRS value on the comprehensive display on the other side. The comprehensive display on the other side can only display the CRS value synchronously through the PFD page. During the CRS value setting process, the transmission delay of the synchronized CRS value is set to ensure that the comprehensive display on the other side does not jump or get stuck when receiving the CRS value. An improved composite filtering algorithm is used to prevent the CRS pointer from jittering back and forth, and the CRS pointer can rotate smoothly. This improves the user operation experience and human-computer interaction experience. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0027] Figure 2 It is a cross-linking 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 mutual exclusion setting principle of the pre-selected channels of the present invention. DETAILED DESCRIPTION

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

[0031] In the prior art, a ground VOR station transmits a radio frequency signal containing angle information, and an airborne VOR receiver receives the radio frequency signal transmitted by the ground VOR station to obtain the angle information of the VOR station and the meaning of the commonly used 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 from the magnetic north direction of the aircraft's location to the line connecting the aircraft and the VOR station, that is, the geographical direction of the VOR station observed from the aircraft;

[0033] 2) Preselected course: Usually a route is pre-set based on a navigation chart, and a bearing line to be flown is selected using an OBS (omnidirectional bearing selector) or similar device. Course preselection is accomplished using the photoelectric CRS knob on the PFD screen.

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

[0035] 4) Toward / away 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 mutual exclusion 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. 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] Alternatively, press the L3 button and press "PAR" to display the parameter setting window. Rotate the "CRSR" knob to select the "SYNC" parameter item. Press the left knob. Rotate the "DATA" knob to select "CRS". Press the left knob to preselect 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 channel synchronization

[0043] During the CRS value setting process, the CRS values ​​on 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 to make the CRS values ​​displayed on both comprehensive displays consistent.

[0044] When setting the CRS value 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 comprehensive display to keep the CRS value display consistent.

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

[0046] c) Preselected course and deviation display

[0047] The CRS value is displayed as 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, such as 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's center of rotation coincides with the compass center. The hollow circle represents the yaw indicator scale. The distance between the helicopter symbol and the outermost circle represents the yaw indicator range. When the yaw exceeds the range, the yaw indicator stops outside the outermost circle. The yaw indicator disappears when the yaw data is invalid.

[0051] like Figure 2 As shown, the system involved in the embodiment of the present invention is composed of a VOR navigation system and two integrated processing and display units (abbreviated as integrated display). The VOR navigation system and the two integrated displays are interconnected via a 429 bus, and the two integrated displays are interconnected via a 422 bus. Figure 2 The left comprehensive display in the middle can also be called the first comprehensive display, and the right comprehensive display can also be called the second comprehensive display.

[0052] The comprehensive display has a large CRS knob at the bottom right of the display panel for setting the CRS value. The CRS value is displayed in the PFD page horizontal indicator, such as Figure 1 As shown in the figure, the angle indicated by the CRS pointer with yaw rod is the CRS value.

[0053] In order to solve the current problem of setting CRS values, the embodiment of the present invention sets the CRS value directly through the CRS knob, and the comprehensive display determines the CRS value to be set through the knob amount of the CRS knob; and introduces an interlocking amount method, that is, when the CRS value is set on one side of the comprehensive display, the CRS interlocking amount is sent to the comprehensive display on the other side. After the comprehensive display on the other side receives the CRS interlocking amount, the CRS value is not set, and the CRS value is only displayed on the PFD page. After the CRS value setting is completed, for example, the comprehensive display may determine that the CRS value setting is completed when it detects that the CRS knob has not been operated for 3 seconds, and then unlock the CRS value setting, and send the CRS unlocking amount 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 that the CRS values ​​between the two comprehensive displays are mutually exclusive. In the embodiment of the present invention, the comprehensive display is a comprehensive processing display unit. See Figure 3 To prevent CRS value jumps and lags caused by excessively rapid rotation of the CRS knob, the first integrated display sends a synchronized CRS value to the second integrated display after a preset delay during CRS value setting. To prevent the CRS pointer from jittering or reversing 180°, a composite filtering algorithm is used on both the first and second integrated displays to damp the CRS pointer's display data. The CRS pointer displays the CRS value.

[0054] For the Volt navigation system, set the CRS value by rotating the CRS knob (only when the navigation source is VOR). Each rotation of the CRS knob changes the CRS value by 1°. The CRS value setting range is 0° to 359°, with the initial value being 0°. Once set, the CRS value is displayed synchronously on the left and right PFD pages.

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

[0056] a) CRS values ​​between two comprehensive displays are mutually exclusive and an interlocking mechanism is added

[0057] On one side of the PFD page, use the CRS knob to set the CRS value. To prevent the other side of the PFD page from setting the CRS value at the same time, set an interlock mechanism for the two 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 quantity* /

[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 one embodiment, see Figure 4 When setting the CRS value on a single-side comprehensive display, first determine whether the value of the CRS receiving lock is true. If it is true, the CRS value cannot be set. In one embodiment, in order to enable the pilot to intuitively feel whether the CRS value can be set, if the value of the comprehensive display CRS receiving lock is true, the display color of the CRS value is gray, and gray represents that the CRS value cannot be set. If the value of the CRS receiving lock is false, the CRS sending lock is sent to the comprehensive display on the other side through the 422 bus. After the comprehensive display on the other side receives the CRS sending lock, the CRS receiving lock is updated to a locked state, and the display color of the CRS value is set to gray. In order to avoid repeated transmission of the CRS sending lock during the setting process, each comprehensive display sets the local CRS sending lock to true when sending the CRS sending lock. If the value of the sending lock is determined to be true during sending, it will not be sent repeatedly.

[0067] In addition, after the CRS transmission lock is sent and the setting is completed, the CRS transmission lock must be reset to false and sent to the other side of the comprehensive display for unlocking. The comprehensive display determines that the CRS value setting is completed if the CRS knob is not operated for 3 seconds. If the CRS knob is turned again within 3 seconds, the 3-second timer is reset and the timing is restarted.

[0068] b) During the CRS value setting process, the set CRS value is sent to the display unit on the other side for 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 on the PFD pages of the left and right displays of the pilot'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 aspect of synchronized display is the timing of sending the synchronized data. If synchronization is performed after the setting is completed (2 seconds after releasing the CRS knob), the CRS value displayed on the other integrated display will lag, and the CRS value displayed during the intermediate setting process (continuously rotating the CRS knob) will not be synchronized. If synchronization is used while setting, if the CRS knob is rotated too quickly, the CRS value display will experience rapid jumps. To address this issue, in an embodiment of the present invention, during the CRS value setting process, the first integrated display sends the synchronized CRS value to the second integrated display after a preset delay. This means that when the CRS value is set on one integrated display, a delay is added before the set CRS value is sent to the other integrated display. In this embodiment, the delay is six software scheduling cycles, or 300ms. The first integrated display sends the synchronized CRS value to the second integrated display after a 300ms delay. If the CRS value changes, the 300ms delay timer is reset.

[0071] c) Prevent 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 When setting the CRS value, the frequency of CRS value changes is related to the rotation rate of the CRS knob. If the CRS knob is rotated too quickly, the frequency of CRS value changes will be fast, causing the CRS pointer to rotate too quickly and jitter. To prevent the CRS pointer from jittering back and forth, a composite filtering algorithm is used to damp the displayed data of the CRS pointer. The algorithm is as follows:

[0073] 1. Set is the nth sampling value, namely the CRS value (input value), is the nth filtering value (output value), is the n-1th filtering value, is the sampling period (in seconds), The filter period (in seconds), the maximum allowable increment between 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 sampling value; otherwise, the filter value is the current sampling 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 pre-selected channel setting of helicopters, the present invention proposes an interlocking mechanism, that is, when setting the CRS value on one side of the comprehensive display, the CRS interlocking amount is sent 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 mutual exclusion setting of the pre-selected channel between the comprehensive displays on both sides. During the CRS value setting process, the operation of sending the CRS value to the synchronous comprehensive display on the other side is delayed to avoid the CRS value jumping and getting stuck due to 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 does not jitter too fast and reverse 180°.

[0084] The results of a large amount of display data simulation and flight test verification show that the interlocking CRS settings on both sides of the comprehensive display provided by the present invention have a better user operation experience and human-computer interaction experience; the improved composite filtering algorithm avoids the CRS pointer from jittering back and forth, 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's preselected course. The system comprises a Vol navigation system and two integrated displays. After setting the CRS value on one integrated display, the system compares the CRS value with the Vol angle sent by the Vol device to determine the course deviation. The Vol navigation system and the two integrated displays are interconnected via the 429 bus, and the two integrated displays are interconnected via the 422 bus. The CRS value is set using the method for modifying and setting a helicopter's preselected course described in the present invention.

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

[0087] The above merely describes the embodiments of the present invention, and while the description is relatively specific and detailed, it should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the scope of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Furthermore, any portions not described in detail herein are conventional techniques.

Claims

1. A method for modifying and setting a helicopter preselected flight path, characterized in that: When the first integrated processing display unit sets the CRS value of the preselected channel, it sends the CRS interlock value to the second integrated processing display unit. After receiving the CRS interlock value, the second integrated processing display unit does not set the CRS value, but only displays the CRS value through the PFD page. After the first integrated processing display unit completes setting the CRS value, it sends the CRS unlock value to the second integrated processing display unit. After receiving the CRS unlock value, the second integrated processing display unit restores the CRS value setting function to ensure that the CRS values ​​between the two integrated processing 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 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 preselected channel, and the display data of the CRS pointer is the CRS value.

2. The method according to claim 1, characterized in that When the first integrated processing and display unit sets the CRS value, it first determines whether the value of the CRS receive lock is true. If it is true, the CRS value cannot be set, and the display color of the CRS value is gray. If the value of the CRS receive lock is false, the CRS send lock is sent to the second integrated processing and display unit via the 422 bus. After the second integrated processing and display unit receives the CRS send lock, it updates the CRS receive lock to the 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 CRS values, the preset delay is 300ms.

4. The method according to claim 1, wherein 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: Step 1: Calculate the maximum allowable increment between two adjacent CRS values: set up is the nth CRS value, is the nth filtering value, is the n-1th filtering value, is the sampling period, The maximum allowable increment of two adjacent CRS values ​​is the filtering period The calculation formula is as follows: （1） In formula (1), the filtering period is For fixed experience values, there are four types of data: 0.25, 0.5, 1, 2, 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: Use the difference between the CRS value and the filtered value according to the following formula Determine the nth filter value : （3）。 5. The method according to claim 4, characterized in that Sampling period The maximum value of the data is 180°.

6. A system for modifying and setting a helicopter preselected flight path, 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 via the 422 bus. The Vol navigation system and the two integrated processing and display units are interconnected via 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.

Images