Spraying tower test safety distance monitoring system and method

Abstract

The invention provides a spraying tower test safety distance monitoring system, which comprises a spraying tower arranged on the ground; the first moving station is arranged on the spraying tower; a second mobile station disposed near the helicopter hub; the terminal is arranged in a measurement and control room, and the terminal is connected with the first mobile station and the second mobile station; the base station is arranged above the measurement and control room, and the base station is connected with the first mobile station and the second mobile station; the satellite is connected with the first mobile station, the second mobile station and the base station; meanwhile, the invention further provides a spraying tower test safety distance monitoring method.

Description

Technical Field

[0001] This application belongs to the technical field of helicopter test and measurement systems, and particularly relates to a safety distance monitoring system and method for spray tower tests. Background Art

[0002] In order to efficiently verify the performance of the helicopter rotor anti-icing system, a ground spray tower is often used to simulate a specific icing cloud environment to conduct performance tests on the helicopter anti-icing system under different icing conditions. In the test, the spray tower generates icing clouds with different water droplet diameters and different liquid water contents to simulate the natural icing cloud environment. Generally, the position where the helicopter hovers is about 20 m from the tower in the longitudinal center. The distance between the rotor and the tower is 10 - 12 m. Therefore, the helicopter is under thick fog and very close to the spray tower. It is very important to keep the position of the helicopter, and the flight position reference system must be improved.

[0003] Currently, the flight position reference is usually maintained by devices such as ground lights and landmarks to keep the relative position of the aircraft fixed. This requires the test pilot to concentrate at all times, and it is also difficult for the commander in the measurement and control room to clearly see the position of the helicopter and the landmark. Summary of the Invention

[0004] Object of the Invention: To reduce the risks of the test system, the present invention provides a safety distance monitoring system and method for spray tower tests, which can better avoid the risks brought by the helicopter being too close to the tower body and provide safety guarantee for spray tower tests.

[0005] In a first aspect, the present application provides a safety distance monitoring system for spray tower tests, including:

[0006] A spray tower, arranged on the ground;

[0007] A first mobile station, arranged on the spray tower;

[0008] A second mobile station, arranged near the helicopter hub;

[0009] A terminal, arranged in the measurement and control room, and the terminal is connected to the first mobile station and the second mobile station;

[0010] A reference station, arranged above the measurement and control room, and the reference station is connected to the first mobile station and the second mobile station;

[0011] A satellite, connected to the first mobile station, the second mobile station, and the reference station.

[0012] Preferably, the reference station includes:

[0013] A first GPS antenna, used for receiving satellite signals;

[0014] The first board card, connected to the first GPS antenna, is used to obtain differential calibration information;

[0015] The first radio module, connected to the first board card.

[0016] Preferably, the first mobile station is the same as the second mobile station.

[0017] Preferably, the first and second mobile stations include:

[0018] The second GPS antenna, used to receive satellite signals;

[0019] The single-chip microcomputer, used to control the transceiver of the radio;

[0020] The second radio module, connected to the first radio module;

[0021] The second board card, connected to the second radio module, the second GPS antenna, and the single-chip microcomputer, is used to perform differential calculation.

[0022] Preferably, the terminal includes:

[0023] The third radio module, connected to the second radio module;

[0024] The server, connected to the third radio module.

[0025] In a second aspect, the present application also provides a method for monitoring the safety distance in a spraying tower test. The method is applied to the system as described above, and the method includes:

[0026] Step 1: The first GPS antenna of the reference station receives the signal sent by the satellite, and transmits it to the first board card through a cable. The first board card compares the received satellite measurement value of the reference station with the known accurate position value to obtain differential calibration information;

[0027] Step 2: The differential calibration information obtained at the reference station is used as the position information calibration signal for the first mobile station and the second mobile station, and is sent to the second radio module through the first radio module for use by the first mobile station and the second mobile station;

[0028] Step 3: The second GPS antenna receives the satellite measurement value. The first mobile station and the second mobile station use the calibration information in Step 2, and through the differential operation rule inside the second board card, output the accurate position information of the spraying tower and the helicopter;

[0029] Step 4: The second radio sends the accurate position information of the spraying tower and the helicopter to the third radio module, and provides it to the server for calculation;

[0030] Step 5: The server receives the longitude, latitude, and altitude coordinates of the positions of the spraying tower and the helicopter through the third radio station, and converts them into a three-dimensional Cartesian coordinate system through the monitoring software. The circular range formed by adding the blade length to the helicopter position coordinate point is used as the actual target range. The vertical plane formed by the coordinate position of the spraying tower is used as the warning surface, and a safety distance warning threshold is set for real-time monitoring.

[0031] Preferably, the single-chip microcomputer is used to control the transceiver of the second radio station module.

[0032] Preferably, the first mobile station is the same as the second mobile station.

[0033] The present application has the following technical effects:

[0034] The present invention provides a spraying tower test safety distance monitoring system and method. By building a reference station and mobile stations and using the GPS differential ranging principle, it can effectively obtain the accurate distance and position relationship between the helicopter and the spraying tower during the test, and monitor in real time, effectively reducing the test risk and providing decision-making support for test pilots and commanders. Description of the Drawings

[0035] Figure 1 is a schematic diagram of the spraying tower test safety distance monitoring system provided by an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of the composition of each system provided by an embodiment of the present application. Detailed Embodiments

[0037] Please refer to Figure 1 - Figure 2 , a spraying tower test safety distance monitoring system and method are provided. The monitoring system includes a reference station, a first mobile station at the position of the spraying tower, a second mobile station on the helicopter, and a terminal. The reference station is installed on the top of the side control room, the first mobile station on the spraying tower is installed on its top layer, and the second mobile station on the helicopter is installed near the hub. Through the GPS differential ranging principle, the real-time accurate positions between the spraying tower and the helicopter are obtained.

[0038] The reference station in the system receives the signals sent by the satellites through the first GPS antenna, and transmits them to the first board card through a coaxial cable. The received reference station satellite measurement values are compared with the known accurate position values to obtain differential calibration information. This differential calibration information will be used as a correction signal for the mobile station position information and sent to the mobile station through the first radio station module.

[0039] The first mobile station and the second mobile station respectively receive satellite measurement values through the second GPS antenna, and the second radio module receives the calibration information sent by the reference station. After passing through the differential operation rules inside the second board, the accurate position information of the spraying tower and the helicopter is output. Among them, a single-chip microcomputer is used to control the radio transceiver of the second radio module. Finally, the accurate position information of the spraying tower and the helicopter is sent to the terminal through the radio of the second radio module.

[0040] Differential ranging selects three-dimensional carrier phase differential for real-time positioning. The carrier phase information measured by the reference station is sent to the first and second mobile stations, and then the observation equation is established with the double-difference model to solve the coordinates by taking the difference, as shown in the following formula.

[0041]

[0042] In the formula, φur (ij) is the double-difference carrier phase measurement value, Nur (ij) is the double-difference integer ambiguity, b ur is the three-dimensional baseline vector ε φ，ur (ij) is the carrier phase measurement noise, λ is the carrier wavelength, and I is the ionospheric delay error. When the two mobile stations observe M satellites at the same time, M - 1 effective double-difference observation equations can be obtained and synthesized into a matrix equation:

[0043]

[0044] By solving the value of the double-difference integer ambiguity, the target position vector can be obtained. By solving with double-difference, satellite clock error, receiver clock error, and satellite orbit error are eliminated. At the same time, the negative effects of ionospheric delay and tropospheric delay on the positioning result are further reduced.

[0045] The terminal receives the longitude, latitude, and altitude coordinates of the positions of the spraying tower and the helicopter through the third radio module and converts them into a three-dimensional Cartesian coordinate system through the monitoring software. The coordinate conversion formula is as follows.

[0046] X = (h + r)cos n cos m

[0047] Y = (h + r)cos n sin m

[0048] Z = [h + r(1 - e 2 )]sin n

[0049] Among them, m and n are longitude and latitude, h is the geodetic height of the point relative to the ellipsoid surface, r is the radius of curvature at latitude n: e is the first eccentricity of the ellipsoid.

[0050] The circular range formed by adding the blade length to the helicopter's position coordinate points is used as the actual target range. The vertical plane formed by the coordinate position of the spraying tower is used as the warning surface, and a safety distance warning threshold is set for real-time monitoring.

[0051] Key points of the present invention:

[0052] Utilize the GPS differential ranging principle to achieve real-time monitoring of the safety distance of the spraying tower test.

[0053] Make up for the deficiencies and limitations of the traditional flight reference system, and intuitively and accurately obtain the position information of the helicopter and the spraying tower under test conditions.

[0054] Through the setting of the threshold, it can provide early warnings for test commanders and issuers, and further improve safety protection.

[0055] It should be noted that Figure 1 It is a safety distance monitoring system for spraying tower tests. The reference station is installed on the top of the side control room, the first mobile station is installed on the top layer of the spraying tower, and the second mobile station is installed near the helicopter hub. Figure 2 It is about the composition and working mode of each safety distance monitoring system, including the main equipment included in the reference station, mobile station, and terminal.

[0056] To further understand the invention content, features and effects of the present invention, the following embodiments are given and described in detail with the accompanying drawings as follows:

[0057] During the spraying tower test, due to the extremely low visibility environment caused by the helicopter being under the spray, and the helicopter hovering position being very close to the spraying tower, this test has great risks. And the conventional flight position reference systems are such as light landmarks, which are difficult to identify. In order to more intuitively and real-time master the position relationship between the helicopter and the spraying tower.

[0058] The present invention discloses a safety distance monitoring system and method for spraying tower tests. The measuring device includes a reference station, a mobile station on the object to be measured, and a terminal. Among them, the reference station is installed on the top of the side control room, the first mobile station is installed on the top layer of the spraying tower, facing the position where the helicopter hovers, and the second mobile station is installed on the helicopter near the hub.

[0059] The reference station mainly includes a first GPS antenna, a first board card, a first radio module, a power supply, a level converter, etc. The 12V battery is used to supply power to the first board card and the first radio module. The first board card transfers data to the radio through the serial port, converts the signal into an electromagnetic wave and emits it to the first mobile station and the second mobile station for reception.

[0060] The first mobile station and the second mobile station are the same, including devices such as a second GPS antenna, a second board, a second radio module, and a power supply. A single-chip microcomputer is used to control the alternating reception and transmission of data by the second board, thereby realizing radio transceiver control. The terminal mainly includes a third radio module and a server.

[0061] Preferably, the reference station is a dual-frequency and dual-star aviation antenna HX-GS481A connected to the main board through a TNC to MCX adapter cable. The antennas of the first mobile station and the second mobile station are HX-GA482A, which is more suitable for the characteristics of the mobile position of the mobile station.

[0062] Furthermore, the first GPS antenna of the reference station receives the signal sent by the satellite and transmits it to the first board through a coaxial cable. The first board compares the received satellite measurement value of the reference station position with the known accurate position value to obtain differential calibration information. This differential calibration information will be used as a calibration signal for the position information of the first mobile station and the second mobile station, and is sent to the first mobile station and the second mobile station on the helicopter and the spraying tower through the first radio module. Adding the satellite measurement values received by the first mobile station and the second mobile station through the second GPS antenna, the two pass through the differential operation rules inside the board to output the accurate position information of the helicopter and the spraying tower.

[0063] Furthermore, the differential ranging selects three-dimensional carrier phase difference for real-time positioning. The carrier phase information measured by the reference station is sent to the mobile station, and then an observation equation is established with a double-difference model to solve for the coordinates, as shown in the following formula.

[0064]

[0065] In the formula, φur (ij) is the double-difference carrier phase measurement value, Nur (ij) is the double-difference integer ambiguity, b ur is the three-dimensional baseline vector ε φ,ur (ij) is the carrier phase measurement noise, λ is the carrier wavelength, and I is the ionospheric delay error. Through double-difference solution, satellite clock error, receiver clock error, and satellite orbit error can be eliminated, and the negative effects of ionospheric delay and tropospheric delay on the positioning result can be further reduced. When two receivers observe M satellites at the same time, M - 1 effective double-difference observation equations can be obtained and synthesized into a matrix equation:

[0066]

[0067] Since the double-difference measurement noise ε φ,ur (ij) is very small compared to other parameter values, it is ignored. Solving the value of the double-difference integer ambiguity in the equation can obtain the three-dimensional baseline vector, and thus achieve high-precision positioning.

[0068] Furthermore, the single-chip microcomputers in the first mobile station and the second mobile station are mainly used to control the transceiver of the second radio module, and send the accurate position information of both to the terminal, and the position change situation is displayed through the real-time monitoring software of the server. The positions of the helicopter and the spraying tower obtained by testing are the latitude, longitude and elevation in the WGS84 coordinate system. For more convenient display on the terminal, through the coordinate conversion tool, it is converted into a spatial coordinate system (X, Y, Z) in the three-dimensional Cartesian coordinate system.

[0069] The coordinate conversion formula is as follows.

[0070] X = (h + r)cos n cos m

[0071] Y = (h + r)cos n sin m

[0072] Z = [h + r(1 - e 2 )]sin n

[0073] Wherein, m and n are longitude and latitude, h is the geodetic height of the point relative to the ellipsoid surface, r is the latitude, n is the radius of curvature: e is the first eccentricity of the ellipsoid.

[0074] The circular range formed by adding the blade length to the position coordinate point of the helicopter is used as the actual target range; the vertical plane formed by the coordinate position of the spraying tower is used as the warning surface, and a safety distance warning threshold is set for real-time monitoring.

[0075] The present invention is applicable to the real-time measurement of the distance between the helicopter and the tower body in the spraying tower test. Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A safety distance monitoring system for spray tower tests, characterized in that, include: Spray tower, set on the ground; a first mobile station, disposed on the spray tower; a second mobile station, located near the helicopter's rotor hub; A terminal is provided in the measurement and control room, and the terminal is connected to the first mobile station and the second mobile station; A reference station is arranged above the measurement and control room, and the reference station is connected to the first mobile station and the second mobile station; A satellite is connected to the first mobile station, the second mobile station, and the base station.

2. The system according to claim 1, wherein The reference station comprises: a first GPS antenna, for receiving satellite signals; a first board connected to the first GPS antenna, configured to obtain differential calibration information; The first radio module is connected to the first board.

3. The system according to claim 2, wherein The first mobile station is the same as the second mobile station.

4. The system according to claim 3, characterized in that The first and second mobile stations include: a second GPS antenna for receiving satellite signals; Single chip microcomputer, used to control the radio's transmission and reception; a second radio module connected to the first radio module; The second board is connected to the second radio module, the second GPS antenna and the single chip microcomputer and is used for performing differential calculation.

5. The system according to claim 4, characterized in that The terminal includes: a third radio module connected to the second radio module; The server is connected to the third radio module.

6. A method for monitoring the safety distance in a spray tower test, characterized in that, The method is applied to the system according to any one of claims 1 to 5, and the method includes: Step 1: The first GPS antenna of the base station receives the signal sent by the satellite and transmits it to the first board through the cable. The first board compares the received satellite measurement value of the base station with the known precise position value to obtain differential calibration information; Step 2: The differential calibration information obtained at the base station is used as a position information correction signal for the first mobile station and the second mobile station, and is sent to the second mobile station module via the first radio module for use by the first mobile station and the second mobile station; Step 3: The second GPS antenna receives the satellite measurement value, and the first and second mobile stations use the calibration information described in step 2 and the differential operation rules inside the second board to output the accurate position information of the spray tower and the helicopter; Step 4: The second radio sends the accurate location information of the spray tower and helicopter to the third radio module, which is then provided to the server for calculation. Step 5. The server receives the longitude, latitude, and altitude coordinates of the spray tower and helicopter through the third radio station, and converts them into a three-dimensional Cartesian coordinate system through the monitoring software; the circular range formed by the helicopter position coordinate point plus the blade length is used as the actual target range; the vertical plane formed by the spray tower coordinate position is used as the warning surface, and the safety distance warning threshold is set for real-time monitoring.

7. The method according to claim 6, characterized in that The single chip microcomputer is used to control the transmission and reception of the second radio module.

8. The method according to claim 6, characterized in that, The first mobile station is the same as the second mobile station.

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