Mobile platform ship surface motion estimation signal simulation and compensation verification method

Abstract

The invention belongs to the technical field of motion estimation signal simulation generation, and particularly relates to a mobile platform ship surface motion estimation signal simulation and compensation verification method, which comprises the following steps: designing a deck motion estimation signal based on a deck motion model, inputting the deck motion estimation signal into ground automatic landing guide control equipment, and generating a control estimation signal; setting a virtual ideal carrier landing point in the ground automatic carrier landing guide control equipment, determining a numerical range of lifting of an ideal route according to the virtual ideal carrier landing point, and giving an initial value of the ideal carrier landing point according to the numerical range; a simulated deck motion estimation signal is sent to an aircraft through a land-based airport, an aircraft flight control system carries out deck motion compensation instruction resolving and deck motion compensation effect evaluation, deck motion compensation algorithm verification is completed, and a ship-based function verification risk is released in advance. The deck motion compensation verification can be completed without actual verification, the efficiency is high, and the cost is low.

Description

Technical Field

[0001] The present application belongs to the technical field of motion prediction signal simulation and generation, and in particular relates to a method for simulating and compensating a motion prediction signal of a mobile platform deck. Background Art

[0002] The landing deck of an aircraft carrier at sea experiences six degrees of freedom (DOF) motion due to wave motion. This deck motion causes the ideal landing point for carrier-based aircraft to shift in three dimensions. This shift in the ideal landing point significantly increases the difficulty of landing, and can even make it impossible for an aircraft to land safely. Therefore, deck motion estimation and compensation technology is often incorporated into automatic landing control. By predicting deck motion, deck motion compensation commands are generated during the landing phase, aligning the aircraft and deck motion, minimizing landing deviations and preventing landing accidents.

[0003] Deck motion prediction information is measured by inertial sensors installed on ships, while deck motion compensation commands are generated by aircraft control systems. Typically, deck motion prediction and compensation flight tests require dedicated at-sea test flights using real ships, aircraft, and data links. However, these tests are limited by ship resources and sea conditions, resulting in demanding conditions and high costs, making them unsuitable for verifying the effectiveness of deck motion compensation under different sea conditions.

[0004] Therefore, how to effectively verify the deck motion compensation effect is a problem that needs to be solved. Summary of the Invention

[0005] The purpose of this application is to provide a method for simulating and verifying the estimated signal of the deck motion of a mobile platform, so as to solve the problem that it is difficult for existing facilities to effectively verify the deck motion compensation effect.

[0006] The technical solution of this application is: a method for simulating and compensating a mobile platform deck motion prediction signal, comprising:

[0007] Acquire the ship's surface motion data to establish a deck motion model, design a deck motion prediction signal based on the deck motion model, and input the deck motion prediction signal into the ground-based automatic landing guidance control equipment to generate a control prediction signal;

[0008] A virtual ideal landing point is set in the ground-based automatic landing guidance control device, a numerical range of an ideal route elevation is determined based on the virtual ideal landing point, and an initial value of the ideal landing point is given based on the numerical range;

[0009] The system obtains the control prediction signal from the ground-based automatic landing guidance control equipment, sends it to the ground data link terminal via a network cable, and then sends it to the onboard data link terminal via radio. The system uses the automatic landing precision guidance radar to measure the aircraft's flight trajectory after executing the deck motion compensation command.

[0010] The control prediction signal is compared with the aircraft flight trajectory signal measured by the radar. The predicted signal is shifted backward according to the phase advanced by the deck motion prediction algorithm to obtain the altitude trajectory response of the actual deck motion signal. It is determined whether the altitude trajectory response coincides with the initial altitude of the ideal landing point. If so, it indicates that the compensation system is correct.

[0011] Preferably, the deck motion model Zs(m) is:

[0012]

[0013] Where A is the heave displacement amplitude of the deck motion; w is the deck motion frequency, is the initial phase.

[0014] Preferably, according to the deck motion model, the deck motion prediction signal is tested with different deck motion heave displacement amplitudes A = 0.2m-1.5m; different deck motion frequencies w = 0.3-0.8rad / s; initial phase

[0015] Preferably, the ideal route elevation ranges from 60m to 100m.

[0016] Preferably, a step size for raising the ideal landing point is set. When the altitude trajectory response does not coincide with the initial value of the ideal landing point, the ideal landing point is re-given according to the step size, and the comparison is repeated until a suitable ideal landing point is obtained.

[0017] The proposed method for simulating and verifying deck motion prediction signals from a mobile platform uses a land-based airport to send simulated deck motion prediction signals to an aircraft. The aircraft's flight control system then interprets the deck motion compensation instructions and evaluates the deck motion compensation effect to complete the deck motion compensation algorithm verification, mitigating the risk of ship-based verification of this function. This method eliminates the need for actual verification, resulting in high efficiency and low cost, and accurately verifies the deck motion compensation effect under different sea conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions provided by this application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application.

[0019] Figure 1 This is a schematic diagram of the overall process of this application;

[0020] Figure 2 This is a schematic diagram of the automatic landing route elevation for this application;

[0021] Figure 3 This is a schematic diagram of deck motion estimation and compensation data for this application. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] A method for simulating and compensating the estimated signal of a mobile platform deck motion, such as Figure 1 , including the following steps:

[0024] Step S100, deck motion estimation simulation:

[0025] Acquire the ship's surface motion data to establish a deck motion model, design a deck motion prediction signal based on the deck motion model, and input the deck motion prediction signal into the ground-based automatic landing guidance control equipment to generate a control prediction signal;

[0026] Preferably, the deck motion model Zs(m) is:

[0027]

[0028] A=0.2m-1.5mw=0.3-0.8rad / s;

[0029] Where A is the heave displacement amplitude of the deck motion; w is the deck motion frequency, is the initial phase.

[0030] Preferably, according to the deck motion model, the deck motion prediction signal can be tested with different deck motion heave displacement amplitudes A (0.2m-1.5m), different deck motion frequencies w (0.3-0.8rad / s), and initial phases The value range is 0-360°. In this design, the deck movement displacement amplitude A is selected as 1.2m, the deck movement frequency w is selected as 0.6rad / s, and the initial phase We obtain: Zs(m)=1.2sin(0.6t).

[0031] A sinusoidal signal is used to simulate the estimated signal (the estimated signal usually requires an estimate of 2 to 3 seconds, and Ts is used here to represent the estimation time. The compensation system needs to be designed according to the estimated signal Ts). The accuracy of the compensation algorithm is verified by measuring the phase difference Tm between the actual tracking trajectory of the carrier-based aircraft and the simulated estimated signal. If Ts = Tm and the amplitudes are consistent, it means that the compensation is accurate and the compensation system verification is completed.

[0032] And according to the sine formula, a sinusoidal signal is generated in the automatic landing ground guidance control equipment.

[0033] Step S200: Automatic landing route control:

[0034] A virtual ideal landing point is set in the ground-based automatic landing guidance control device, a numerical range of an ideal route elevation is determined based on the virtual ideal landing point, and an initial value of the ideal landing point is given based on the numerical range;

[0035] During a deck motion estimation and compensation test flight, the aircraft will rise and fall following the deck motion estimation signal. Since land-based airports are fixed, it is extremely dangerous for the aircraft to touch down at the ideal landing point. Therefore, the ideal flight path in the ground-based automatic landing guidance and control system is raised by 60-100 meters to improve flight safety. During the test flight, the ideal landing point can be crossed. The specific test flight elevation principle is shown in Figure 2: Adding 60 meters to the ideal flight path altitude yields the ideal landing point. A step size for the ideal landing point elevation is also set, such as 5-10 meters. If the initial ideal landing point value fails to coincide with the altitude trajectory response, a new ideal landing point parameter value is assigned based on the step size.

[0036] Step S300, aircraft trajectory data processing after deck motion compensation:

[0037] Obtain the control estimation signal from the ground automatic landing guidance control equipment, send it to the ground data link terminal through the network cable, and then send it to the onboard data link terminal through radio; use the automatic landing precision guidance radar to measure the aircraft flight trajectory after executing the deck motion compensation instruction. The principle is as follows Figure 2 .

[0038] Step S400: Comparison of deck motion estimation and flight trajectory data:

[0039] The control prediction signal is compared with the aircraft flight trajectory signal measured by the radar. According to the phase advance of the deck motion prediction algorithm, the prediction signal is shifted backward to obtain the altitude trajectory response of the actual deck motion signal, such as Figure 3 , determine whether the altitude trajectory response coincides with the initial altitude of the ideal landing point. If so, Ts = Tm and the amplitudes are consistent, indicating that the compensation system is correct. If not, the ideal landing point is re-given according to the step size and the comparison is repeated until a suitable ideal landing point is obtained.

[0040] In summary, this application uses a land-based airport to send simulated deck motion prediction signals to an aircraft. The aircraft's flight control system then interprets the deck motion compensation instructions and evaluates the deck motion compensation effect, completing the verification of the deck motion compensation algorithm. This mitigates the risk of ship-based verification of this function in advance. This verification of deck motion compensation can be completed without actual verification, resulting in high efficiency and low cost, and accurate verification of the deck motion compensation effect under different sea conditions.

[0041] Finally, it should be noted that the drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention. Other structures can refer to common designs. In the absence of conflicts, the same embodiment and different embodiments of the present invention can be combined with each other.

[0042] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for simulating and compensating the estimated signal of a mobile platform deck motion, characterized in that: include: Acquire the ship's surface motion data to establish a deck motion model, design a deck motion prediction signal based on the deck motion model, and input the deck motion prediction signal into the ground-based automatic landing guidance control equipment to generate a control prediction signal; A virtual ideal landing point is set in the ground-based automatic landing guidance control device, a numerical range of an ideal route elevation is determined based on the virtual ideal landing point, and an initial value of the ideal landing point is given based on the numerical range; The system obtains the control prediction signal from the ground-based automatic landing guidance control equipment, sends it to the ground data link terminal via a network cable, and then sends it to the onboard data link terminal via radio. The system uses the automatic landing precision guidance radar to measure the aircraft's flight trajectory after executing the deck motion compensation command. The control prediction signal is compared with the aircraft flight trajectory signal measured by the radar. The predicted signal is shifted backward according to the phase advanced by the deck motion prediction algorithm to obtain the altitude trajectory response of the actual deck motion signal. It is determined whether the altitude trajectory response coincides with the initial altitude of the ideal landing point. If so, it indicates that the compensation system is correct.

2. The method for simulating and compensating a mobile platform deck motion prediction signal according to claim 1, wherein: The deck motion model Zs(m) is: Where A is the heave displacement amplitude of the deck motion; w is the deck motion frequency, is the initial phase.

3. The method for simulating and compensating the mobile platform deck motion prediction signal according to claim 2, wherein: According to the deck motion model, the deck motion prediction signal is tested with different deck motion heave displacement amplitudes A = 0.2m-1.5m; different deck motion frequencies w = 0.3-0.8rad / s; initial phase 4. The method for simulating and compensating a mobile platform deck motion prediction signal according to claim 1, wherein: The numerical range of the ideal route elevation is 60m-100m.

5. The method for simulating and compensating the mobile platform deck motion prediction signal according to claim 1, wherein: Set the step size for raising the ideal landing point. When the altitude trajectory response does not coincide with the initial altitude of the ideal landing point, the ideal landing point is given again according to the step size and the comparison is repeated until a suitable ideal landing point is obtained.

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