Flight deck with automatic stability augmentation of fixed gyroscope and control method of flight deck

Abstract

The invention provides a flight deck with automatic stability augmentation of a fixed gyroscope and a control method of the flight deck, and relates to the technical field of unmanned equipment design. The flight deck with the automatic stability augmentation of the fixed gyroscope comprises a deck body. The at least two gyroscopes are respectively mounted on a deck and a ship; the double-shaft turntable is used for adjusting the attitude angle of the deck; the driving device is used for driving the double-shaft turntable to work; the controller is connected with the gyroscope and the driving device and used for calculating and generating a first control instruction according to the roll angle, the roll angular velocity, the pitch angle, the pitch angular velocity, the roll angle, the roll angular velocity, the pitch angle and the pitch angular velocity, and the driving device drives the double-shaft rotary table according to the first control instruction so that the deck can keep the target posture. In the application, the deck can adjust the attitude in real time according to the actual attitude change of the ship, pitching and rolling of the ship are accurately offset, it is ensured that the deck is kept in a relatively stable state under complex sea conditions, and the safety of aircraft landing is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned equipment design, in particular to a fixed gyro automatic stability-increasing flight deck and a control method of the flight deck. BACKGROUND

[0002] When a ship sails on the sea, it is often affected by wind and waves, resulting in pitch (sway along the front and back direction of the ship) and roll (sway along the left and right direction of the ship). When the sway angle of the ship exceeds a certain range, the sway of the flight deck on the ship will have a great impact on the landing of the aircraft, especially when the pitch and roll both exceed 5 degrees, which may cause the aircraft to crash.

[0003] Currently, the traditional method is to rely on the aircraft to predict the movement of the ship deck, so as to land quickly during the deck rest period, which cannot fundamentally eliminate the physical impact of the ship sway, and there is still a certain risk in the landing of the aircraft.

[0004] Therefore, in order to improve the success rate of aircraft landing, how to propose a flight deck that can increase stability has become a technical problem to be solved at present. SUMMARY

[0005] Therefore, the present application provides a flight deck that can real-time offset the pitch and roll generated during the sailing of a ship, and ensure the stability of the attitude.

[0006] Specifically, the present application is realized by the following technical scheme:

[0007] According to the first aspect of the present application, a fixed gyro automatic stability-increasing flight deck is provided, comprising: a deck; at least two gyroscopes, respectively installed on the deck and the ship to which the deck belongs, for real-time measurement of the roll angle, roll angular velocity, pitch angle and pitch angular velocity of the deck, and the roll angle, roll angular velocity, pitch angle and pitch angular velocity of the ship; a dual-axis turntable arranged on the deck for adjusting the attitude angle of the deck; a driving device connected with the dual-axis turntable for driving the dual-axis turntable to work; a controller connected with the gyroscopes and the driving device respectively for calculating and generating a first control instruction according to the roll angle, roll angular velocity, pitch angle, pitch angular velocity, roll angle, roll angular velocity, pitch angle and pitch angular velocity, and the driving device drives the dual-axis turntable according to the first control instruction to keep the deck in a target attitude.

[0008] In some embodiments, the controller is further configured to receive attitude data of the aircraft during landing and determine the attitude angle of the aircraft based on the attitude data; the controller calculates and generates a second control command based on the roll angle, roll rate, pitch angle, pitch rate, roll angle, roll rate, pitch angle, pitch rate and the attitude angle of the aircraft, and the drive device drives the dual-axis turntable according to the second control command.

[0009] In some embodiments, the target pose includes a horizontal state.

[0010] In some embodiments, the controller includes a P-PID cascaded PID controller.

[0011] In some embodiments, the dual-axis turntable includes: a roll turntable, disposed on the deck, for adjusting the roll attitude angle of the deck; and a pitch turntable, disposed on the deck, for adjusting the pitch attitude angle of the deck.

[0012] In some embodiments, the flight deck of the fixed gyroscope automatic stabilization further includes: a Kalman filter for filtering the roll angle, roll rate, pitch angle, pitch rate, roll angle, roll rate, pitch angle, and pitch rate to generate filtered angular data; and the controller calculates and generates a first control command based on the filtered angular data.

[0013] In some embodiments, at least two gyroscopes include a mechanical gyroscope and an electronic gyroscope, with one type of mechanical gyroscope and electronic gyroscope installed on the deck and the other type of mechanical gyroscope and electronic gyroscope installed on the ship.

[0014] According to a second aspect of the present invention, a control method for a flight deck is provided for a flight deck with fixed gyroscope automatic stabilization as described in any of the technical solutions of the first aspect. The control method for the flight deck includes: acquiring and measuring attitude angles and attitude angular velocities in real time, and transmitting them to a controller; the controller acquiring and determining a target attitude angle of the deck, and calculating and generating control commands based on the target attitude angle, the measured attitude angle, and the measured attitude angular velocities; a drive device receiving the control commands and driving a dual-axis turntable to adjust the attitude angle of the deck according to the control commands; wherein the measured attitude angles include the roll angle of the deck, the pitch angle of the deck, the roll angle of the ship, and the pitch angle of the ship, and the measured attitude angular velocities include the roll angular velocity of the deck, the pitch angular velocity of the deck, the roll angular velocity of the ship, and the pitch angular velocity of the ship.

[0015] In some embodiments, the controller includes a P-PID cascaded PID controller. The step of calculating and generating control commands based on the target attitude angle, the measured attitude angle, and the measured attitude angular velocity includes: based on the measured attitude angle, using the P-PID cascaded PID controller to calculate the difference between the target attitude angle and the measured attitude angle and processing it through a P-loop to generate the target angular velocity; and calculating the difference between the target angular velocity and the measured attitude angular velocity and processing it through a PID loop to generate control commands.

[0016] According to a third aspect of the invention, a ship is provided, including a flight deck with fixed gyroscope automatic stabilization as described in any of the technical solutions of the first aspect.

[0017] The technical solution provided by this invention offers at least the following beneficial effects: It accurately and in real-time counteracts pitch and roll based on the ship's actual attitude, improving flight deck stability. By counteracting hull rolling in real time, it achieves flight deck attitude stability, thereby increasing the success rate of aircraft landings. This is particularly suitable for ships navigating for extended periods in rough seas, ensuring safe landings. Furthermore, the flight deck provided in this application can be used on various types of vessels, especially in applications requiring aircraft such as maritime patrol ships, military vessels, and research vessels. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of a flight deck with fixed gyroscope automatic stabilization provided in an embodiment of the present invention;

[0021] Figure 2 A top view of a flight deck with fixed gyroscope automatic stabilization provided in an embodiment of the present invention;

[0022] Figure 3 A side view of a flight deck with fixed gyroscope automatic stabilization provided in an embodiment of the present invention;

[0023] Figure 4 A front view of a flight deck with fixed gyroscope automatic stabilization provided in an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of a P-PID cascaded PID controller provided in an embodiment of the present invention;

[0025] Figure 6 This is a flowchart illustrating the flight deck control method provided in an embodiment of the present invention.

[0026] in, Figure 1 , Figure 2 , Figure 3 and Figure 4 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0027] 10. Deck, 11. Gyroscope, 12. Dual-axis turntable, 122. Roll turntable, 124. Pitch turntable, 13. Drive unit, 14. Controller, 15. Harpoon grille. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] See Figure 1 and Figure 2 This invention provides a fixed gyroscope-based automatic stabilization flight deck, comprising: a deck 10; at least two gyroscopes 11, respectively installed on the deck 10 and the ship to which the deck 10 belongs, for real-time measurement of the roll angle, roll rate, pitch angle, and pitch rate of the deck 10, as well as the roll angle, roll rate, pitch angle, and pitch rate of the ship; a dual-axis turntable 12, disposed on the deck 10, for adjusting the attitude angle of the deck 10; a drive device 13, connected to the dual-axis turntable 12, for driving the dual-axis turntable 12 to work; and a controller 14, connected to the gyroscopes 11 and the drive device 13, for calculating and generating a first control command based on the roll angle, roll rate, pitch angle, pitch rate, roll angle, roll rate, pitch angle, and pitch rate, wherein the drive device 13 drives the dual-axis turntable 12 according to the first control command to keep the deck 10 in a target attitude.

[0030] According to the present invention, a fixed gyroscope-based automatic stabilization flight deck is provided. At least two gyroscopes 11 are installed on the deck 10 and the ship, respectively. The gyroscopes 11 acquire comprehensive and accurate attitude information of the deck 10 and the ship, including the roll angle, roll rate, pitch angle, and pitch rate of the deck 10, and the roll angle, roll rate, pitch angle, and pitch rate of the ship. Based on this information, the controller 14 generates precise first control commands to drive the dual-axis turntable 12 to adjust the attitude of the deck 10, maintaining the deck 10 in a target attitude, which is suitable for aircraft landing. This effectively reduces the impact of ship swaying on the deck 10 and improves the stability of the deck 10. In this application, the deck 10 is the flight deck for aircraft landing or takeoff. The flight deck can adjust its own attitude in real time according to the actual attitude changes of the ship, accurately counteracting the ship's pitch and roll, ensuring that the flight deck maintains a relatively stable state under complex sea conditions, providing a reliable platform for aircraft landing. This is especially suitable for ships sailing for extended periods in adverse sea conditions, thereby improving the safety and success rate of aircraft landing.

[0031] In some embodiments, the controller 14 is further configured to receive attitude data of the aircraft during landing and determine the attitude angle of the aircraft based on the attitude data; the controller 14 calculates and generates a second control command based on the roll angle, roll rate, pitch angle, pitch rate, roll angle, roll rate, pitch angle, pitch rate and the attitude angle of the aircraft, and the drive device 13 drives the dual-axis turntable 12 according to the second control command.

[0032] In this embodiment, the controller 14 is used to confirm the attitude angle of the aircraft during landing and uses this attitude angle as the target attitude angle of the deck 10. Based on this, a second control command is generated to drive the dual-axis turntable 12. This can actively control the flight deck to always be parallel to the aircraft's landing gear, so that the aircraft can better dock with the flight deck during landing, further reducing the difficulty of landing and improving the success rate of landing the aircraft on the flight deck.

[0033] In some embodiments, the target pose includes a horizontal state.

[0034] In this embodiment, the target attitude of the deck 10 is set to a horizontal state, which is an ideal condition for the safe and smooth landing of the aircraft. In this application, the flight deck is automatically adjusted by the dual-axis turntable 12 to keep the flight deck as horizontal as possible, effectively reducing the risk to the aircraft landing caused by the tilt of the deck 10, improving the accuracy and reliability of the aircraft landing, and ensuring the safety of the aircraft.

[0035] In some embodiments, such as Figure 5 As shown, controller 14 includes a P-PID cascaded PID controller.

[0036] In this embodiment, a P-PID cascaded PID controller is employed, which can more accurately calculate and output control commands based on attitude measurement data. This controller structure can quickly and accurately calculate the control signal required for the flight deck to adjust from its current attitude to the target attitude based on the difference between the real-time attitude of the flight deck and the ship and the target attitude of the flight deck. This makes the attitude adjustment of the flight deck smoother and more efficient, further improving the control accuracy and stability of the flight deck.

[0037] In some embodiments, such as Figure 2 , Figure 3 and Figure 4 As shown, the dual-axis turntable 12 includes: a roll turntable 122, which is disposed on the deck 10 and used to adjust the roll attitude angle of the deck 10; and a pitch turntable 124, which is disposed on the deck 10 and used to adjust the pitch attitude angle of the deck 10.

[0038] In this embodiment, the dual-axis turntable 12 consists of a roll turntable 122 and a pitch turntable 124, which are used to adjust the roll and pitch attitude angles of the flight deck 10, respectively. This dual-axis turntable 12 enables the flight deck to make independent attitude adjustments in two directions, thereby more effectively counteracting the ship's rolling in different directions, ensuring that the flight deck remains stable under both pitch and roll conditions, providing a smoother landing surface for the aircraft, and improving the adaptability and success rate of aircraft landing.

[0039] In some embodiments, the flight deck of the fixed gyroscope automatic stabilization further includes: a Kalman filter for filtering the roll angle, roll rate, pitch angle, pitch rate, roll angle, roll rate, pitch angle, and pitch rate to generate filtered angular data; and the controller 14 calculates and generates a first control command based on the filtered angular data.

[0040] In this embodiment, by setting a Kalman filter to filter the various angle and angular velocity data obtained from the measurements, noise interference can be effectively removed, ensuring the smoothness and accuracy of the measurement signal. The filtered angular data provides the controller 14 with a more accurate and reliable input, enabling the controller 14 to calculate control commands more precisely, thereby improving the accuracy and stability of flight deck attitude control and reducing unnecessary attitude adjustments caused by data noise.

[0041] In some embodiments, at least two gyroscopes 11 include a mechanical gyroscope and an electronic gyroscope, with one of the mechanical gyroscope and electronic gyroscope installed on the deck 10 and the other of the mechanical gyroscope and electronic gyroscope installed on the ship.

[0042] In this embodiment, the gyroscope 11 includes a mechanical gyroscope and an electronic gyroscope, which can be installed on the deck 10 and the ship, respectively. This allows users to flexibly configure the gyroscope according to actual application scenarios and needs, thereby improving the accuracy and reliability of attitude measurement.

[0043] like Figure 6 As shown, another embodiment of the present invention provides a control method for a flight deck, used for a flight deck with fixed gyroscope automatic stabilization in any embodiment of the first aspect. The control method may include the following steps:

[0044] S102. Real-time acquisition of attitude angles and attitude angular velocities, and transmission to the controller; wherein, the attitude angles include the deck roll angle, deck pitch angle, ship roll angle and ship pitch angle, and the attitude angular velocities include the deck roll angular velocity, deck pitch angular velocity, ship roll angular velocity and pitch angular velocity.

[0045] S104. The controller acquires and determines the target attitude angle of the deck, and calculates and generates control commands based on the target attitude angle, the measured attitude angle, and the measured attitude angular velocity.

[0046] S106. The drive unit receives the control command and drives the dual-axis turntable to adjust the attitude angle of the deck according to the control command.

[0047] The flight deck control method provided by this invention acquires and transmits the measured attitude angle and angular velocity to a controller. The controller then calculates and generates control commands based on the target attitude angle, the measured attitude angle, and the measured angular velocity. Finally, a drive unit drives a dual-axis turntable to adjust the flight deck's attitude angle, ensuring the deck remains in the target attitude. This method can automatically and in real-time adjust the flight deck's attitude precisely according to the ship's attitude changes and target attitude requirements, maintaining the flight deck in the target attitude and creating favorable conditions for aircraft landing, thus ensuring the safety of aircraft landing.

[0048] In some embodiments, the P-PID cascaded PID controller includes a P-attitude angle controller and a PID attitude angular velocity controller. Control commands are generated based on the P-PID cascaded PID controller. The difference between the target attitude angle and the measured attitude angle is processed through the P-stage to generate the target angular velocity, which is then subtracted from the measured attitude angular velocity and processed through the PID stage to generate control adjustment commands. This application fully utilizes the advantages of proportional, integral, and derivative control to accurately process the differences between the target and measured attitude angles, as well as the differences between the target and measured angular velocities, generating control commands that better meet actual needs. This reduces overshoot and steady-state error, improves the accuracy and response speed of attitude control, and further enhances flight deck stability and aircraft landing success rate.

[0049] Another embodiment of the present invention provides a ship including a flight deck with fixed gyroscope automatic stabilization as described in any of the embodiments of the first aspect.

[0050] The ship provided by the present invention, having included a fixed gyro-stabilized flight deck as provided in any embodiment of the first aspect, thus possesses all the beneficial effects of the fixed gyro-stabilized flight deck as provided in any embodiment of the first aspect, which will not be repeated here.

[0051] The following describes the fixed gyroscope automatic stabilization flight deck, flight deck control method, and ship of this application in conjunction with a specific embodiment.

[0052] This invention designs a fixed gyro-based automatic stabilization flight deck. By installing a gyro-based automatic stabilization system with two rotational degrees of freedom, pitch and roll, on the outside of the flight deck, the pitch and roll generated during the ship's navigation are counteracted in real time, ensuring the attitude stability of the flight deck.

[0053] The present invention also provides a control method that uses a mechanical / electronic gyroscope to measure the attitude angle and angular velocity of the ship and flight deck in real time, and outputs a control signal through an automatic stabilization controller to drive the mechanical actuator to rotate the flight deck, thereby ensuring that its attitude remains horizontal.

[0054] The core idea of ​​this invention is to utilize the stabilization principle of a drone gimbal by installing a fixed gyro-based automatic stabilization system on the exterior of the flight deck. This system has two rotational degrees of freedom and, through a combination of mechanical structure and electronic control, automatically adjusts the flight deck's attitude to maintain a level position, thereby improving the aircraft's landing success rate.

[0055] Specifically, the core components of this invention include mechanical / electronic gyroscopes, an automatic stabilization controller, a power system, and a mechanical structure. There are two types of mechanical / electronic gyroscopes: one installed on the ship to measure the ship's roll angle, roll rate, pitch angle, and pitch rate at the location of the flight deck; the other installed inside the flight deck to measure the current roll angle, roll rate, pitch angle, and pitch rate of the flight deck in real time. All measurements are filtered by a Kalman filter to ensure the smoothness and accuracy of the measurement signals. The automatic stabilization controller is based on a P-PID cascaded PID controller, which calculates and outputs control commands based on real-time attitude data. The power system provides the necessary power to the stabilization device to ensure its rapid response to the ship's rolling motion. The power system is driven by an electric motor, ensuring that the stabilization device can operate continuously in complex sea conditions. The mechanical structure includes a dual-axis turntable and a standard flight deck. The dual-axis turntable consists of a roll turntable and a pitch turntable. The mechanical structure executes control commands to adjust the attitude angle of the flight deck in real time to maintain stability.

[0056] The specific implementation method is as follows:

[0057] like Figure 1 As shown, the mechanical structure includes a dual-axis turntable 12 and a conventional flight deck 10. The dual-axis turntable 12 consists of a roll turntable 122 and a pitch turntable 124, possessing two rotational degrees of freedom, used to counteract the ship's pitch and roll respectively. The roll turntable 122 executes roll control commands, adjusting the roll attitude angle of the flight deck 10 in real time, while the pitch turntable 124 executes pitch control commands, adjusting the pitch attitude angle of the flight deck 10 in real time. This dual-axis turntable is fixedly connected to the flight deck and can quickly and accurately adjust the flight deck's attitude under the controller's commands, making it opposite to the ship's rolling motion, thereby maintaining the flight deck's balance. Furthermore, a harpoon grille 15 for helicopter landing is installed on the flight deck.

[0058] There are two types of mechanical / electronic gyroscopes: one is installed inside the flight deck to measure the current roll angle, roll rate, pitch angle, and pitch rate of the flight deck in real time; the other is installed on the ship to measure the ship's roll angle, roll rate, pitch angle, and pitch rate at the ship's location where the flight deck is located.

[0059] The power system (drive unit 13) provides the necessary power for the stability augmentation device to ensure that it responds quickly to the ship's rolling motion. The power system is driven by an electric motor to ensure that the stability augmentation device can work continuously in complex sea conditions.

[0060] The automatic stabilization controller (controller 14) is installed inside the dual-axis turntable 12. Based on a P-PID cascaded PID controller, it calculates and outputs control commands based on real-time attitude data. The automatic stabilization controller uses attitude data transmitted from the gyroscope, and all measured values ​​are filtered by a Kalman filter to ensure the smoothness and accuracy of the measurement signals. Subsequently, based on the P-PID cascaded PID controller, the target attitude of the flight deck is set to 0 degrees. The controller calculates the control commands to adjust the flight deck attitude based on the difference between the actual attitude and the target attitude. Furthermore, the controller 14 can also analyze the ship's roll trend in real time using a ship roll prediction algorithm and employ feedforward control to drive the stabilization device to make corresponding adjustments, ensuring the flight deck remains level.

[0061] Furthermore, the automatic stability augmentation controller can also receive the aircraft's attitude data at the end of landing, set the target attitude of the flight deck to the current attitude angle of the aircraft, and actively control the flight deck to always be parallel to the aircraft's landing gear, further improving the success rate of landing on the automatic stability augmentation flight deck.

[0062] Specifically, the controller 14 used in this invention has the following structure: Figure 5As shown, the control method of the present invention includes the following steps:

[0063] Attitude measurement: Taking roll as an example, the principles of pitch and roll are the same. Mechanical / electronic gyroscopes are used to measure the current roll angle θ and roll angular velocity of the flight deck. The ship's roll angle θ1 and roll rate at the location of the flight deck All measurements are filtered by a Kalman filter to prevent noise interference and ensure the smoothness and accuracy of the measurement signal.

[0064] Control Calculation: Based on attitude measurement data, the automatic stabilization controller employs a P-PID cascade controller based on feedforward control, consisting of a P-attitude angle controller and a PID attitude angular velocity controller. The difference between the target attitude angle and the measured attitude angle is passed through the P-terminal to generate the target angular velocity, as shown in the following structure:

[0065]

[0066] In the formula, For the target roll rate, For the proportional gain of the P-type element, θ g Let θ be the target roll angle, θ be the current deck roll angle, and θ1 be the current ship roll angle. is the feedforward coefficient.

[0067] The difference between the measured attitude angular velocity and the PID controller is then used to generate control adjustment commands. The structure of the PID controller designed in this application is as follows:

[0068]

[0069] δ t =u(k)=K(u) p (k)+u i (k)+u d (k));

[0070] Where e(k) is the error term, For the target roll rate, The current deck roll rate, The current roll rate of the ship. Forward coefficients; k pi For the gain of the proportional element, k i For the gain of the integral element, k d For the gain of the differential element, P div The proportional term error threshold is calculated piecewise based on the relationship between the error term and the error threshold. ε is the integral term error threshold, also calculated piecewise based on the relationship between the error term and the error threshold. T is the time constant of the differential term, y(k) is the current value of the differential term, and u...p (k) is the proportional term, u i (k) is the integral term, u d (k) is the differential term, u(k) is the control quantity, and K is the total coefficient.

[0071] Attitude adjustment: Based on the instructions of the automatic stabilization controller, the two-degree-of-freedom stabilization device is driven to adjust the attitude and counteract the effect of the ship's roll on the flight deck.

[0072] Real-time feedback: Based on feedback data from attitude sensors, the automatic stabilization controller continuously adjusts the working state of the stabilization device to ensure that the flight deck remains stable at all times.

[0073] The above process completes the closed-loop control of the fixed gyroscope automatic stabilization flight deck, maintaining the attitude angle near 0 degrees.

[0074] Through the above design, such as Figure 1 As shown, this ensures that the aircraft can land safely on the automatically stabilized flight deck provided by this invention.

[0075] The present invention has the following advantages:

[0076] 1) Real-time dynamic stabilization: The system can accurately counteract pitch and roll in real time according to the actual attitude of the ship, thereby improving the stability of the flight deck.

[0077] 2) Improved aircraft landing success rate: By counteracting ship roll in real time, the attitude stability of the flight deck is achieved, thereby improving the aircraft landing success rate, which is especially suitable for ships that sail for long periods of time in rough sea conditions.

[0078] 3) Simple structure and easy maintenance: Based on the principle of UAV gimbal, it adopts a combination of mechanical and electronic methods, with a relatively simple structure, high reliability and easy maintenance.

[0079] 4) Wide applicability: This stabilization system can be used on various types of ships, especially in application scenarios that require aircraft to be carried, such as maritime patrol vessels, military ships and scientific research vessels.

[0080] In embodiments of the present invention, the terms "first," "second," and "third" are used only for descriptive purposes and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise expressly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in embodiments of the present invention according to the specific circumstances.

[0081] Furthermore, although the operations are described in a specific order, this should be understood as requiring that such operations be performed in a specific order or sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the invention. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0082] Although the subject matter has been described using language describing specific structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

[0083] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Those skilled in the art will recognize that various modifications and variations are possible with respect to the embodiments of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of the present invention should be included within the protection scope of the embodiments of the present invention.

Claims

1. A fixed-wing flight deck with automatic stability augmentation of a gyro, characterized in that, The fixed gyro automatic stability augmentation flight deck comprises: a deck (10); at least two gyroscopes (11) respectively installed on the deck (10) and a ship to which the deck (10) belongs, for measuring the roll angle, roll angular velocity, pitch angle and pitch angular velocity of the deck (10) and the roll angle, roll angular velocity, pitch angle and pitch angular velocity of the ship in real time; a double-axis turntable (12) arranged on the deck (10) for adjusting the attitude angle of the deck (10); a driving device (13) connected with the double-axis turntable (12) for driving the double-axis turntable (12) to work; a controller (14) connected with the gyroscopes (11) and the driving device (13) respectively, for calculating and generating a first control instruction according to the roll angle, roll angular velocity, pitch angle, pitch angular velocity, roll angle, roll angular velocity, pitch angle and pitch angular velocity, and the driving device (13) drives the double-axis turntable (12) according to the first control instruction, so that the deck (10) maintains a target attitude.

2. The fixed gyro automatic stability augmentation flight deck according to claim 1, wherein the controller (14) is further configured to receive attitude data of the aircraft when landing, and determine an attitude angle of the aircraft according to the attitude data; the controller (14) calculates and generates a second control instruction according to the roll angle, roll angular velocity, pitch angle, pitch angular velocity, roll angle, roll angular velocity, pitch angle, pitch angular velocity and the attitude angle of the aircraft, and the driving device (13) drives the double-axis turntable (12) according to the second control instruction.

3. The fixed-wing deck of claim 1, wherein, The target attitude includes a horizontal state.

4. The fixed-wing deck of claim 1, wherein, The controller (14) comprises a P-PID cascade PID controller.

5. The fixed-wing deck of claim 1, wherein, The double-axis turntable (12) comprises: a roll turntable (122) arranged on the deck (10) for adjusting the roll attitude angle of the deck (10); a pitch turntable (124) arranged on the deck (10) for adjusting the pitch attitude angle of the deck (10).

6. The fixed-wing autopilot-assisted flight deck of any one of claims 1 to 5, wherein, Further comprising: a Kalman filter for filtering the roll angle, roll angular velocity, pitch angle, pitch angular velocity, roll angle, roll angular velocity, pitch angle and pitch angular velocity to generate filtered angle data; the controller (14) calculates and generates the first control instruction according to the filtered angle data.

7. The fixed-wing autopilot-assisted flight deck of any one of claims 1 to 5, wherein, The at least two gyroscopes (11) comprise a mechanical gyroscope and an electronic gyroscope, and the deck (10) is installed with one of the mechanical gyroscope and the electronic gyroscope, and the ship is installed with the other one of the mechanical gyroscope and the electronic gyroscope.

8. A method of controlling a flight deck, characterized by, The control method of the fixed gyro automatic stability augmentation flight deck according to any one of claims 1 to 7 comprises: real-time acquisition of measured attitude angles and measured attitude angular velocities, and transmission to a controller; The controller acquires and determines a target attitude angle of the deck, calculates and generates a control instruction according to the target attitude angle, the measured attitude angle and the measured attitude angular velocity; The driving device receives the control instruction and drives the biaxial turntable to adjust the attitude angle of the deck according to the control instruction; The measured attitude angle includes a roll angle of the deck, a pitch angle of the deck, a yaw angle of the ship and a heave angle of the ship, and the measured attitude angular velocity includes a roll angular velocity of the deck, a pitch angular velocity of the deck, a yaw angular velocity of the ship and a heave angular velocity.

9. The control method of a flight deck according to claim 8, wherein, The controller includes a P-PID cascade PID controller, and the step of calculating and generating the control instruction according to the target attitude angle, the measured attitude angle and the measured attitude angular velocity includes: According to the measured attitude angle, the P-PID cascade PID controller is used to generate a target angular velocity by processing the difference between the target attitude angle and the measured attitude angle through a P link, and the control instruction is generated by processing the difference between the target angular velocity and the measured attitude angular velocity through a PID link.

10. A vessel, characterized in that It includes: The fixed gyroscopically automatically stabilized flight deck of any one of claims 1 to 7.

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