Method for calculating the target vertical speed of an aircraft following a glide path

Abstract

The application relates to a method for calculating the target vertical speed of the height difference required by an aircraft tracking glide path, which comprises the following steps: step one, lifting the starting point LD of a landing runway to obtain a landing calculation position point TLD; step two, calculating the horizontal distance and course angle of the landing calculation position point TLD directed by a landing approach point FAF; step three, calculating the horizontal distance and course angle of the landing calculation position point TLD directed by a real-time position point PLANE of the aircraft; step four, calculating the course angle difference and correcting the horizontal distance; step five, calculating the expected glide angle; and step six, calculating the real-time height difference of the aircraft.

Description

Technical Field

[0001] This application belongs to the field of aircraft automatic landing control design technology, specifically relating to a method for calculating the vertical velocity of the target altitude difference required for an aircraft to track the glide path. Background Technology

[0002] The descent phase of an aircraft's landing is one of the most critical stages of flight, involving complex aviation technology and stringent safety requirements. During this phase, the aircraft gradually descends from cruising altitude to runway altitude, requiring precise control of its flight path, speed, and attitude to ensure a safe touchdown.

[0003] Modern aircraft typically rely on advanced navigation systems to provide precise positional information, combined with autopilot technology to automatically adjust the aircraft's glide path. Simultaneously, pilots monitor the aircraft's status through the flight management system to ensure it flies along the predetermined glide path.

[0004] To ensure that an aircraft flies along a predetermined glide path, it is necessary to calculate in real time the altitude difference and target vertical velocity required for the aircraft to track the glide path. This provides a key input for the automatic control of the aircraft to land safely on the given glide path. However, current technical solutions cannot accurately calculate the altitude difference and target vertical velocity required for the aircraft to track the glide path in real time, making it difficult to guarantee a safe landing under automatic control.

[0005] This application is made in view of the aforementioned technical deficiencies. Summary of the Invention

[0006] The purpose of this application is to provide a method for calculating the vertical velocity of an aircraft based on the altitude difference required to track a glide path target, in order to overcome or mitigate at least one of the known technical defects.

[0007] The technical solution of this application is:

[0008] A method for calculating the vertical velocity of a target at the altitude difference required for an aircraft to track a glide path includes:

[0009] Step 1: Raise the starting point LD of the landing runway to obtain the landing calculation position point TLD;

[0010] Step 2: Calculate the horizontal distance between the landing approach point (FAF) and the landing calculation position point (TLD). Flight path angle ;

[0011] Step 3: Calculate the horizontal distance between the aircraft's real-time position point PLANE and the landing calculation position point TLD. Flight path angle ;

[0012] Step 4: Using the flight path angle Flight path angle Calculate the angle difference of the flight path For horizontal distance Make corrections;

[0013] Step 5: Calculate the TLD height based on the landing location. Landing approach point FAF altitude Horizontal distance Calculate the expected glide angle ;

[0014] Step 6: Calculate the TLD height of the landing location point. Real-time aircraft position (Plane altitude) Horizontal distance Expected glide angle Calculate the real-time altitude difference of the aircraft .

[0015] According to at least one embodiment of this application, the above-described method for calculating the vertical velocity of the target due to the altitude difference required for an aircraft to track a glide path further includes:

[0016] Step 7: Determine the desired glide angle Real-time ground speed of aircraft Calculate the vertical velocity of the aircraft target

[0017] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of the target due to the altitude difference required for an aircraft to track a glide path, in step one, the land starting point LD position is (longitude) ,latitude ,high ).

[0018] The landing calculation location point TLD is located at (longitude) ,latitude ,high ),in:

[0019] ;

[0020] in,

[0021] To increase the height.

[0022] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of the target at the altitude difference required for an aircraft to track the glide path, in step one, the elevation height is taken as 12 to 20 meters.

[0023] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of the target due to the altitude difference required for an aircraft to track the glide path, in step two, the land approach point (FAF) is determined by inverse geodetic solution, pointing to the landing calculation location point (TLD), to obtain the horizontal distance. Flight path angle .

[0024] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of the target due to the altitude difference required for an aircraft to track the glide path, in step three, the aircraft's real-time position point PLANE is pointed to the landing calculation position point TLD using the geodetic inverse kinematics method to obtain the horizontal distance. Flight path angle .

[0025] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of a target with the required altitude difference for an aircraft to track a glide path, step four involves calculating the flight path angle difference. Specifically:

[0026] .

[0027] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of a target with the required altitude difference for an aircraft to track a glide path, in step four, the horizontal distance... The specific corrections are as follows:

[0028] If the flight path angle difference Greater than 90 degrees, then for horizontal distance To take the negative value, multiply by -1.

[0029] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of the target due to the altitude difference required for an aircraft to track a glide path, step five specifically comprises:

[0030] .

[0031] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of the target due to the altitude difference required for an aircraft to track a glide path, step six specifically comprises:

[0032] .

[0033] According to at least one embodiment of this application, in the above-described method for calculating the vertical velocity of the target due to the altitude difference required for an aircraft to track a glide path, step seven specifically comprises:

[0034] .

[0035] This application has at least the following beneficial technical effects:

[0036] This paper provides a method for calculating the vertical velocity of the target target based on the altitude difference required for an aircraft to track the glide path. Using the landing approach (FAF) position, the runway initiation (LD) position, the aircraft's real-time longitude, its real-time position (PLANE), and its ground speed as inputs, the method generates the aircraft's desired longitudinal glide path trajectory and provides the real-time altitude difference required for longitudinal glide path tracking. and target vertical velocity This ensures that the aircraft tracks the glide path with a fixed trajectory inclination and vertical speed during the descent phase, and reaches the desired altitude at the starting point of the landing runway, thereby achieving a safe leveling and landing. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the method for calculating the vertical velocity of the target at the altitude difference required for an aircraft to track the glide path, as provided in an embodiment of this application.

[0038] To better illustrate this embodiment, some content in the accompanying drawings may be omitted, enlarged, or reduced. They are for illustrative purposes only and should not be construed as limiting the scope of this application. Detailed Implementation

[0039] To make the technical solution and advantages of this application clearer, the technical solution of this application will be described in a clearer and more complete manner below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some embodiments of this application, and are only used to explain this application, not to limit this application. It should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, and other related parts can be referred to the general design.

[0040] Furthermore, unless otherwise defined, the technical or scientific terms used in this application description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The word "comprising" as used in this application description indicates that the concept preceding the word encompasses the concepts listed following the word and their equivalents, without excluding other related concepts.

[0041] A method for calculating the vertical velocity of an aircraft based on the altitude difference required to track a target on a glide path, such as... Figure 1 As shown.

[0042] Step 1: Raise the starting point LD of the landing runway to obtain the landing calculation position point TLD.

[0043] The starting point LD position is (longitude) ,latitude ,high ).

[0044] The landing calculation location point TLD is located at (longitude) ,latitude ,high ),in:

[0045] ;

[0046] in,

[0047] To increase the height, i.e., to level it, the height can be 12 to 20 meters, and usually 16 meters is acceptable.

[0048] Step 2: Calculate the horizontal distance between the landing approach point (FAF) and the landing calculation position point (TLD). Flight path angle .

[0049] The landing approach point (FAF) position is (longitude) ,latitude ,high ).

[0050] The horizontal distance is obtained by pointing the landing approach point (FAF) to the landing calculation location point (TLD) using the inverse ground solution. Flight path angle .

[0051] Step 3: Calculate the horizontal distance between the aircraft's real-time position point PLANE and the landing calculation position point TLD. Flight path angle .

[0052] The aircraft's real-time location is PLANE (longitude). ,latitude ,high ).

[0053] The horizontal distance is obtained by pointing the aircraft's real-time position point PLANE to the landing calculation position point TLD using the inverse ground solution. Flight path angle .

[0054] Step 4: Using the flight path angle Flight path angle Calculate the angle difference of the flight path For horizontal distance Make corrections.

[0055] .

[0056] If the flight path angle difference Greater than 90 degrees, then for horizontal distance To take the negative value, multiply by -1.

[0057] Step 5: Calculate the TLD height based on the landing location. Landing approach point FAF altitude Horizontal distance Calculate the expected glide angle .

[0058] .

[0059] Step 6: Calculate the TLD height of the landing location point. Real-time aircraft position (Plane altitude) Horizontal distance Expected glide angle Calculate the real-time altitude difference of the aircraft .

[0060] .

[0061] Step 7: Determine the desired glide angle Real-time ground speed of aircraft Calculate the vertical velocity of the aircraft target .

[0062] .

[0063] The method for calculating the vertical velocity of the target altitude difference required for an aircraft to track the glide slope disclosed in the above embodiments involves raising and leveling the landing runway initiation point LD. Obtain the landing calculation location point (TLD) and the height of the landing calculation location point (TLD). FAF altitude of landing approach Divide by the difference and the horizontal distance from the landing approach point (FAF) to the landing runway terminus (LD). The desired glide angle is obtained by using the arctangent of trigonometric functions. The landing location point TLD height is calculated. Subtract the horizontal distance of the aircraft pointing towards the landing calculation point TLD With expected glide angle The product of the tangents, minus the PLANE altitude of the aircraft's real-time position. Obtain the real-time altitude difference of the aircraft Real-time ground speed of aircraft With expected glide angle Multiplying the tangents gives the vertical velocity of the aircraft target. .

[0064] Among them, the horizontal distance between the Earth-themed inverse solution landing approach point (FAF) and the landing calculation location point (TLD) is... Flight path angle The horizontal distance between the PLANE (plane) and the TLD (landing calculation point) of the aircraft's real-time position in the inverse ground solution is calculated. Flight path angle , will the flight path angle with flight path angle The difference is obtained by taking the absolute value of the difference. angular difference of the flight path The range is 0 to 180 degrees. For degrees exceeding 180 degrees, the value is inverted and then 360 degrees is added. For degrees greater than 90 degrees, the horizontal distance is calculated. Take the negative.

[0065] The above-described method for calculating the vertical velocity of an aircraft based on the altitude difference required to track a target on the glide path is based on the longitude of the landing approach point (FAF). ,latitude , The longitude of the landing runway starting point LD ,latitude high Real-time aircraft location, PLANE longitude ,latitude ,high Real-time ground speed (VG) and leveling altitude of the aircraft Input: Real-time altitude difference of the aircraft Vertical velocity of the aircraft target The intermediate variable is the TLD height of the landing location point. The horizontal distance between the land approach point (FAF) and the landing calculation point (TLD) Flight path angle The horizontal distance between the aircraft's real-time position point PLANE and the calculated landing position point TLD. Flight path angle angular difference of the flight path Expected glide angle .

[0066] The method for calculating the vertical velocity of the target altitude difference required for an aircraft to track the glide path, as disclosed in the above embodiments, calculates the real-time altitude difference of the aircraft during the glide phase using the landing approach (FAF) position, the landing runway start point (LD) position, the aircraft's real-time position (PLANE), and ground speed. and target vertical velocity It provides a longitudinal automatic flight control law for longitudinal velocity trajectory guidance during glide landing, enabling the target glide path to be tracked at a given trajectory inclination and vertical velocity during the glide phase. This includes raising and leveling the landing runway initiation altitude (LD). It can ensure that after the aircraft reaches the horizontal position of the landing runway starting point LD, there is enough remaining altitude for the aircraft to safely complete the leveling and landing. It can effectively ensure that the longitudinal trajectory of the aircraft is consistent with the desired glide path during the glide phase, and automatically control the aircraft to safely level and land.

[0067] The technical solution of this application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A method for calculating the vertical velocity of a target at the altitude difference required for an aircraft to track a glide path, characterized in that, include: Step 1: Raise the starting point LD of the landing runway to obtain the landing calculation position point TLD; Step 2: Calculate the horizontal distance between the landing approach point (FAF) and the landing calculation position point (TLD). Flight path angle ; Step 3: Calculate the horizontal distance between the aircraft's real-time position point PLANE and the landing calculation position point TLD. Flight path angle ; Step 4: Using the flight path angle Flight path angle Calculate the angle difference of the flight path For horizontal distance Make corrections; Step 5: Calculate the TLD height based on the landing location. Landing approach point FAF altitude Horizontal distance Calculate the expected glide angle ; Step 6: Calculate the TLD height of the landing location point. Real-time aircraft position (Plane altitude) Horizontal distance Expected glide angle Calculate the real-time altitude difference of the aircraft ; In step four, the flight path angle difference is calculated. Specifically: ； In step four, the horizontal distance is... The specific corrections are as follows: If the flight path angle difference Greater than 90 degrees, then for horizontal distance Take the negative; Step five is as follows: ； Step six specifically involves: 。 2. The method for calculating the vertical velocity of a target with the required altitude difference for an aircraft to track a glide path, as described in claim 1, is characterized in that... Also includes: Step 7: Determine the desired glide angle Real-time ground speed of aircraft Calculate the vertical velocity of the aircraft target .

3. The method for calculating the vertical velocity of the target at the required altitude difference for aircraft to track the glide path according to claim 2, characterized in that, In step one, the landing start point LD position is longitude. ,latitude ,high ; The landing calculation location (TLD) is in longitude. ,latitude ,high ,in: ； in, To increase the height.

4. The method for calculating the vertical velocity of the target at the required altitude difference for aircraft to track the glide path according to claim 3, characterized in that, In step two, the land approach point (FAF) of the geodetic inverse kinematics is pointed to the landing calculation location point (TLD) to obtain the horizontal distance. Flight path angle .

5. The method for calculating the vertical velocity of the target at the required altitude difference for aircraft to track the glide path according to claim 4, characterized in that, In step three, the real-time aircraft position point PLANE in the Earth theme inverse kinematics is pointed to the landing calculation position point TLD to obtain the horizontal distance. Flight path angle .

6. The method for calculating the vertical velocity of a target with the required altitude difference for an aircraft to track a glide path, as described in claim 5, is characterized in that... Step seven is as follows: 。

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