Navigation sensor monitoring method based on flight management system

Abstract

The invention belongs to the technical field of flight management systems, and relates to a navigation sensor monitoring method based on a flight management system. The method comprises the following steps: firstly, carrying out input validity judgment according to a working state word and navigation data of an airborne navigation sensor; then stability judgment is carried out on the navigation data; effectiveness judgment is carried out according to input effectiveness judgment and stability judgment results, and a sliding window filter is introduced in effectiveness judgment to carry out smoothing processing on local outliers to reduce false alarms; and finally, performing redundancy voting judgment, and voting sensor data which can be used for navigation data fusion through data comparison among navigation sensors. And when monitoring that the navigation data is invalid, sending out alarm information. According to the method, navigation sensor data monitoring is carried out from three dimensions of sensor states, single sensor data and multi-sensor voting, the reliability of sensor monitoring results is improved by fully utilizing multi-sensor redundant information, fault sensor information can be identified, and the fault-tolerant capability of the system is improved. The method is easy to implement, has high engineering practical value, and has been applied to civil aircraft flight management system projects.

Description

Technical Field

[0001] This invention belongs to the field of integrated navigation technology for flight management systems, and specifically relates to a navigation sensor monitoring method based on a flight management system. Background Technology

[0002] Modern civil aircraft navigation systems are typically equipped with multiple sensors, including inertial reference systems, Global Navigation Satellite Systems (GNSS), air data systems, VHF omnidirectional range (VOR) systems, and distance measuring machines (DMEs). Measurement data from these sensors is output to the flight management system via the ARINC 429 bus, providing crucial input for integrated navigation calculations and trajectory guidance. The flight management system employs multi-sensor integrated navigation technology in integrated navigation calculations, leveraging the complementary strengths of each sensor to improve navigation accuracy and integrity.

[0003] Navigation sensor malfunctions or data anomalies can lead to decreased navigation accuracy and even erroneous guidance commands, causing flight accidents. Traditional navigation sensor monitoring methods only perform threshold detection on the sensor's operating status or data from a single navigation sensor, lacking monitoring of the rationality and stability of data changes. Furthermore, this method fails to use sliding window filtering to reduce false alarms and does not leverage multi-sensor redundancy information for voting judgment to improve the reliability of sensor monitoring. Summary of the Invention

[0004] The technical problem solved by this invention is to provide a navigation sensor monitoring method based on a flight management system, which solves the problems of existing monitoring methods being singular and easily affected by local outliers, and not fully utilizing redundant information from multiple sensors.

[0005] The technical solution of this invention: A navigation sensor monitoring method based on a flight management system, wherein the navigation sensors include an inertial reference system, a satellite navigation system, an atmospheric data system, and a radio navigation system, comprising the following steps: Step 1: Read navigation sensor data and determine the validity of the input; if the input validity is passed, proceed to Step 2; otherwise, increment the counter value and jump to Step 3. Step 2: Based on the navigation data obtained in Step 1 that has passed the input validity check, perform a stability check. If it fails, the counter value is increased. Step 3: Determine the validity of the navigation data and counter value obtained in Step 1 or Step 2. If the stability judgment is passed, set the navigation data output validity to valid, set the navigation data to input data, and set the counter to 0. If the counter value increases and is less than or equal to 5, maintain the value and validity of the navigation data output in the previous state. If the counter value increases and is greater than 5, set the navigation data output validity to invalid and set the navigation data to 0. Step 4: Perform redundancy voting based on the navigation data obtained in Step 3, and output the voting results and alarm information.

[0006] In one possible embodiment, step 1, specifically reading navigation sensor data and performing input validity judgment, involves determining that the navigation data fails the input validity judgment if one of the following conditions is met; otherwise, it passes the input validity judgment: 1) The navigation sensor's operating status word is not normal; the navigation sensor's own status parameters are either normal or faulty. 2) The validity discrete value of the navigation data is not valid; the validity status of specific data from the navigation sensor, whether valid or invalid; 3) Navigation data exceeds the functional range defined in the data definition; the functional range defined in the navigation sensor interface control file; 4) No navigation data was received.

[0007] In one possible embodiment, step 2, the stability determination, specifically involves: A. Continuously record navigation data that has been judged by input validity for 10 consecutive times, and calculate the average value of the absolute value of the change of the data in each of the 10 times, NAV_DATA_average_delta; B. Record the absolute value of the change in the current data compared to the previous data as NAV_DATA_delta; C. Calculate the stability parameter NAV_DATA_Stability according to Formula 1. NAV_DATA_Stability = |NAV_DATA_delta - NAV_DATA_average_delta| / Data Period Formula 1 D. Set a stability threshold T1 based on the characteristics of the navigation data; if the stability judgment parameter is greater than the stability threshold T, the stability judgment fails; otherwise, the stability judgment passes.

[0008] In one possible embodiment, step 3, the validity determination, specifically includes: A. When the navigation data passes the stability test, the navigation data is considered valid and its value is the sensor input data, and the counter is reset to zero; B. When navigation data fails the input validity or stability check, the timer for that data is incremented by 1, and it is checked whether the counter is less than or equal to 5.

[0009] In one possible embodiment, in step 3... b1: If the counter is less than or equal to 5, the validity and value of the navigation data shall remain the same as those of the previous step. b2: If the counter is greater than 5, the navigation data is invalid and the output value is set to 0.

[0010] In one possible embodiment, in step 4, the redundancy voting judgment specifically involves: when the number of sensors measuring the same parameter is less than 3, redundancy voting cannot be performed, and the result is passed by default; when the number of sensors measuring the same parameter is greater than or equal to 3 and all of them have passed the validity judgment described in step 3, three sensors, Sensor1, Sensor2, and Sensor3, are selected each time, and the differences between each pair of sensors are calculated according to Formula 2. Formula 2 A threshold T2 is set based on the characteristics of the navigation data. If two pairs of difference values ​​both exceed the threshold T2, the sensor in the two pairs of difference comparisons is considered faulty, while the other two sensors are normal. If all three pairs of difference values ​​are less than or equal to T2, all three sensors are normal. If all three pairs of difference values ​​exceed the threshold, the comparison is considered to have failed and an alarm message is entered.

[0011] According to a second aspect of the present invention, a computer-readable storage medium is provided, comprising computer program instructions that, when executed by a computing device or processor, perform the method as described above.

[0012] According to a third aspect of the invention, a computer program product comprising instructions that, when executed by a computing device or processor, cause the computing device or processor to perform the method as described above.

[0013] The beneficial effects of this invention are as follows: It monitors navigation sensors in the flight management system from three dimensions: sensor status, single-sensor data, and multi-sensor voting. This eliminates the problem of false alarms caused by local outliers, fully utilizes redundant information from multiple sensors to improve the reliability of sensor monitoring results, and thus enhances the system's fault tolerance. The method employed in this invention effectively improves the accuracy and comprehensiveness of navigation sensor monitoring and is easy to implement in engineering. Attached Figure Description

[0014] 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 the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1A flowchart illustrating a navigation sensor monitoring method based on a flight management system provided by this invention; Figure 2 This is a schematic diagram of the aircraft flight trajectory of a preferred embodiment of the present invention; Figure 3A The preferred embodiment of the present invention uses three sensors to measure latitude data; Figure 3B The preferred embodiment of the present invention uses three sensors to measure longitude data; Figure 4A The preferred embodiment of the present invention uses three sensors to output latitude data. Figure 4B The preferred embodiment of the present invention uses three sensors to output longitude data. Figure 5 shows the redundancy voting results of the preferred embodiment 1 of the present invention; Figure 6 The preferred embodiment 2 of the present invention uses three sensors to measure longitude data; Figure 7 This is the alarm information input result of the preferred embodiment 2 of the present invention. Detailed Implementation

[0016] 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.

[0017] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0018] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0020] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0022] Example 1 like Figure 1 As shown, a navigation sensor monitoring method based on a flight management system includes the following steps: Step 1: Obtain flight trajectory information such as Figure 2 Read the latitude of inertial navigation system 1, inertial navigation system 2, and inertial navigation system 3. Figure 3A ) and longitude ( Figure 3B The data is processed and its validity is checked; if the input validity is passed, proceed to step 2; otherwise, proceed to step 3. Step 2: Perform a stability assessment on the navigation data obtained in Step 1 that has passed the input validity check. A. Record navigation data for 10 consecutive cycles, based on the input validity assessment, and calculate the average value of the absolute value of the change in this data for each of the 10 cycles: NAV_DATA_average_delta. B. Let the absolute value of the change in the current data compared to the previous data be NAV_DATA_delta. C. Calculate the stability judgment parameter NAV_DATA_Stability according to Formula 1, and perform stability judgment. If the stability judgment parameter is greater than the stability threshold T1 (0.001° in the example), the stability judgment fails; otherwise, the stability judgment passes.

[0023] NAV_DATA_Stability = |NAV_DATA_delta - NAV_DATA_average_delta| / Data Period Formula 1 Step 3: Determine the validity of the navigation data and counter value obtained in Step 2. If the stability judgment is passed, set the navigation data output validity to valid, set the navigation data to input data, and set the counter to 0. If the counter value increases and is less than or equal to 5, maintain the value and validity of the navigation data output in the previous state. If the counter value increases and is greater than 5, set the navigation data output validity to invalid and set the navigation data to 0.

[0024] Step 4: For the navigation data obtained in Step 3, calculate the differences between each pair of sensor data according to Formula 2. If two pairs of difference values ​​both exceed the threshold T2 (0.005° in the example), then the common sensor in the two pairs of difference comparisons is faulty, and the other two sensors are normal. If all three pairs of difference values ​​are less than or equal to T2, then all three sensors are normal. If all three pairs of difference values ​​exceed the threshold, then the comparison is considered to have failed and an alarm message is input.

[0025] Formula 2 Figure 4A , Figure 4B The output latitude and longitude data are processed by the sensor monitoring algorithm. Figure 5A , Figure 5B The results of the latitude and longitude redundancy judgments are shown respectively. It can be seen that the local outliers of inertial navigation 1 (appearing intermittently 3 times starting from the 20th beat) were effectively filtered out, and the abnormal data of inertial navigation 2 under steady state and the abnormal data of inertial navigation 3 under dynamic state were successfully detected.

[0026] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A navigation sensor monitoring method based on a flight management system, characterized in that, The method includes the following steps: Step 1: Read navigation sensor data and determine the validity of the input; if the input validity is passed, proceed to Step 2; otherwise, increment the counter value and jump to Step 3. Step 2: Based on the navigation data obtained in Step 1 that has passed the input validity check, perform a stability check. If it fails, the counter value is increased. Step 3: Determine the validity of the navigation data and counter value obtained in Step 1 or Step 2; if the stability judgment is passed, set the navigation data output validity to valid, set the navigation data to input data, and set the counter to 0; if the counter value increases and is less than or equal to 5, maintain the value and validity of the navigation data output in the previous state. If the counter value increases and is greater than 5, the validity of the navigation data output will be set to invalid and the navigation data will be set to 0. Step 4: Perform redundancy voting based on the navigation data obtained in Step 3, output the voting results and alarm information, and the process ends.

2. The navigation sensor monitoring method based on a flight management system according to claim 1, characterized in that: Step 1, which involves reading navigation sensor data and determining its input validity, specifically means: if one of the following conditions is met, the navigation data is determined to have failed the input validity check; otherwise, it is determined to have passed the input validity check: 1) The navigation sensor's operating status text is not normal; 2) The validity discreteness of the navigation data is not valid; 3) The navigation data exceeds the functional scope defined by the data definition; 4) No navigation data was received.

3. The navigation sensor monitoring method based on a flight management system according to claim 1, characterized in that: Step 2, which involves determining stability, specifically includes: A. Record navigation data for 10 consecutive cycles, based on the input validity assessment, and calculate the average value of the absolute value of the change in this data for each of the 10 cycles: NAV_DATA_average_delta. B. Let the absolute value of the change in the current data compared to the previous data be NAV_DATA_delta. C. Calculate the stability parameter NAV_DATA_Stability according to Formula 1. NAV_DATA_Stability = |NAV_DATA_delta - NAV_DATA_average_delta| / Data Period Formula 1 D. Set a stability threshold T1 based on the characteristics of the navigation data; if the stability judgment parameter is greater than the stability threshold T, the stability judgment fails; otherwise, the stability judgment passes.

4. The navigation sensor monitoring method based on a flight management system according to claim 1, characterized in that: Step 3, which involves determining validity, specifically includes: A. When the navigation data passes the stability test, the navigation data is considered valid and its value is the sensor input data, and the counter is reset to zero; B. When navigation data fails the input validity or stability check, the timer for that data is incremented by 1, and it is checked whether the counter is less than or equal to 5.

5. The navigation sensor monitoring method based on a flight management system according to claim 4, characterized in that: In step 3, b1: If the counter is less than or equal to 5, the validity and value of the navigation data shall remain the same as those of the previous step. b2: If the counter is greater than 5, the navigation data is invalid and the output value is set to 0.

6. The navigation sensor monitoring method based on a flight management system according to claim 1, characterized in that: Step 4, which involves redundancy voting, specifically: when the number of sensors measuring the same parameter is less than 3, redundancy voting cannot be performed, and the result is passed by default; when the number of sensors measuring the same parameter is greater than or equal to 3, three sensors (Sensor1, Sensor2, and Sensor3) are selected each time, and the differences between each pair of sensors are calculated according to Formula 2. Official 2 A threshold T2 is set based on the characteristics of the navigation data. If two pairs of difference values ​​both exceed the threshold T2, the common sensor data in the two pairs of difference comparisons is invalid, while the data from the other two sensors is valid. If all three pairs of difference values ​​are less than or equal to T2, the data from all three sensors is valid. If all three pairs of difference values ​​exceed the threshold, the comparison is considered to have failed and an alarm message is output.

7. A computer-readable storage medium, characterized in that, Includes computer program instructions, which, when executed by a computing device or processor, perform the method as described in any one of claims 1-6.

8. A computer program product containing instructions, characterized in that, When the instructions are executed by a computing device or processor, the computing device or processor performs the method as described in any one of claims 1-6.

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