An aircraft landing control solution parameter calculation method and system, and electronic equipment thereof

Abstract

This application belongs to the field of aircraft landing control technology, specifically relating to an aircraft landing control solution parameter calculation method, system and electronic equipment, wherein the aircraft landing control solution parameter calculation method includes: ; where is the glide path angle; is the aircraft angular velocity calculated by inertial navigation; is the aircraft ground speed calculated by inertial navigation; glide path angular rate calculation: ; where is the aircraft angular acceleration calculated by inertial navigation; is the aircraft horizontal acceleration.

Description

Technical Field

[0001] This application belongs to the field of aircraft landing control technology, specifically relating to a method, system and electronic equipment for calculating aircraft landing control solution parameters. Background Technology

[0002] During aircraft landing, the inertial navigation system needs to provide two important parameters, glide path angle and trajectory angular rate, for control calculation. In particular, during the landing control of aircraft on mobile platforms at sea, the requirements for the real-time performance, stability and accuracy of glide path angular rate are extremely high.

[0003] During the landing process, the glide path angle and trajectory angular rate cannot be measured by the aircraft itself, so it is necessary to clarify the calculation methods for these two parameters.

[0004] Currently, during aircraft landing, the glide path angle is often calculated by simply subtracting the pitch angle from the angle of attack. However, the angle of attack and pitch angle are in different coordinate systems. When the aircraft has a certain amount of roll, the glide path angle is not actually equal to the difference between the pitch angle and the angle of attack. In addition, the calculation of the angle of attack requires multiple transformations, while the pitch angle is directly measured inside the inertial navigation system. The two are generated at different periods. In order to keep them synchronized, a certain period of delay alignment is required, which has a certain impact on the quality of aircraft landing control.

[0005] During aircraft landing, the glide path angular rate is usually obtained by differentiating the glide path angle. This requires calculating the glide path angle of the current cycle and the previous cycle, which lags behind the calculation of the glide path angle. This results in a one-cycle data delay, increasing system latency. In addition, it can cause large fluctuations when the data changes, further amplifying the error and significantly impacting the control accuracy of aircraft landing.

[0006] In view of the aforementioned technical deficiencies, this application is hereby filed. Summary of the Invention

[0007] The purpose of this application is to provide a method, system and electronic equipment for calculating aircraft landing control parameters, so as to provide real-time, stable and accurate glide trajectory angle and trajectory angular rate for aircraft landing process control, thereby reducing the risk of aircraft landing.

[0008] The technical solution of this application is:

[0009] A method for calculating aircraft landing control parameters, comprising:

[0010] ;

[0011] in,

[0012] The angle of the glide path;

[0013] The aircraft's azimuth velocity calculated for inertial navigation;

[0014] The aircraft's ground speed calculated for inertial navigation;

[0015] Calculation of angular rate of glide trajectory:

[0016] ;

[0017] in,

[0018] The aircraft's axial acceleration calculated using inertial navigation;

[0019] This refers to the horizontal acceleration of the aircraft.

[0020] Optionally, in the above-mentioned method for calculating aircraft landing control parameters, ;

[0021] in,

[0022] The eastward acceleration of the aircraft calculated by the inertial navigation system;

[0023] The northbound acceleration of the aircraft is calculated using inertial navigation.

[0024] Optionally, in the above-mentioned method for calculating aircraft landing control parameters, the inertial navigation system calculates the aircraft's yaw velocity. Horizontal acceleration Specifically:

[0025] ;

[0026] ;

[0027] ;

[0028] ;

[0029] in,

[0030] For the first Intermediate calculation parameters for each calculation cycle;

[0031] Weighted by barometric altitude;

[0032] For the first The inertial navigation system calculates its own altitude in each calculation cycle;

[0033] For the first Each calculation cycle includes atmospheric pressure and altitude.

[0034] For the first GNSS satellite altitude per calculation cycle;

[0035] For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle;

[0036] For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle;

[0037] For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle;

[0038] Take 0.05s;

[0039] Take 0.05;

[0040] For the first The inertial navigation system calculates its own altitude in each calculation cycle;

[0041] Take 0.0025;

[0042] For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle;

[0043] Pick rad / s;

[0044] Take 0.4;

[0045] = (k+1);

[0046] = (k+1).

[0047] Optionally, in the above-mentioned method for calculating aircraft landing control parameters, the pressure-altitude weighting is included. When the satellite is functioning normally, the value is 0.7; when the satellite signal is weak, the value is 0.9; and when the satellite is invalid, the value is 1.

[0048] An aircraft landing control solution parameter calculation system, used to implement the above-mentioned aircraft landing control solution parameter calculation method, includes:

[0049] The glide path angle calculation module is used to calculate the glide path angle.

[0050] ;

[0051] in,

[0052] The angle of the glide path;

[0053] The aircraft's azimuth velocity calculated for inertial navigation;

[0054] The aircraft's ground speed calculated for inertial navigation;

[0055] The glide trajectory angular rate calculation module is used to calculate the glide trajectory angular rate.

[0056] ;

[0057] in,

[0058] The aircraft's axial acceleration calculated using inertial navigation;

[0059] This refers to the horizontal acceleration of the aircraft.

[0060] Optionally, in the above-mentioned aircraft landing control solution parameter calculation system, wherein, ;

[0061] in,

[0062] The eastward acceleration of the aircraft calculated by the inertial navigation system;

[0063] The northbound acceleration of the aircraft is calculated using inertial navigation.

[0064] Optionally, in the above-mentioned aircraft landing control parameter calculation system, the inertial navigation system calculates the aircraft's yaw velocity. Horizontal acceleration Specifically:

[0065] ;

[0066] ;

[0067] ;

[0068] ;

[0069] in,

[0070] For the first Intermediate calculation parameters for each calculation cycle;

[0071] Weighted by barometric altitude;

[0072] For the first The inertial navigation system calculates its own altitude in each calculation cycle;

[0073] For the first Each calculation cycle includes atmospheric pressure and altitude.

[0074] For the first GNSS satellite altitude per calculation cycle;

[0075] For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle;

[0076] For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle;

[0077] For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle;

[0078] Take 0.05s;

[0079] Take 0.05;

[0080] For the first The inertial navigation system calculates its own altitude in each calculation cycle;

[0081] Take 0.0025;

[0082] For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle;

[0083] Pick rad / s;

[0084] Take 0.4;

[0085] = (k+1);

[0086] = (k+1).

[0087] Optionally, in the above-mentioned aircraft landing control solution parameter calculation system, the barometric altitude weight is... When the satellite is functioning normally, the value is 0.7; when the satellite signal is weak, the value is 0.9; and when the satellite is invalid, the value is 1.

[0088] This application has at least the following beneficial technical effects:

[0089] This invention provides a method, system, and electronic equipment for calculating aircraft landing control parameters. The calculated glide trajectory angle is more objective and accurate, without the problem of large deviations during the roll process. It has strong synchronization, and the glide trajectory angular rate is directly calculated using parameters directly measured by inertial navigation. The glide trajectory angular rate has low delay and good stability and accuracy. It can effectively improve the efficiency of aircraft landing closed-loop control, enhance the aircraft landing control response performance and landing point accuracy, and reduce the risk of aircraft landing. Attached Figure Description

[0090] Figure 1 This is a schematic diagram of the aircraft landing control calculation method provided in the embodiments of this application.

[0091] 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

[0092] 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.

[0093] 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.

[0094] A method for calculating aircraft landing control solution parameters, such as Figure 1 As shown.

[0095] ;

[0096] in,

[0097] The angle of the glide path;

[0098] The aircraft's yaw velocity is calculated by inertial navigation system after damping, in km / h.

[0099] The aircraft ground speed calculated for inertial navigation, in km / h.

[0100] By analyzing the definition of the glide trajectory angle, the angle problem is transformed into a velocity problem, which is more objective and accurate in principle.

[0101] Calculation of angular rate of glide trajectory:

[0102] ;

[0103] ;

[0104] in,

[0105] The aircraft's axial acceleration is calculated by inertial navigation system after damping, excluding G, and the unit is m / s2;

[0106] The horizontal acceleration of the aircraft, in m / s².

[0107] The eastward acceleration of the aircraft calculated by inertial navigation system, in m / s².

[0108] The northbound acceleration of the aircraft is calculated using inertial navigation, in m / s².

[0109] Using data directly measured by sensors can effectively avoid data jump problems caused by digital differentiation, while ensuring the synchronization of glide trajectory angular rate and glide trajectory angle.

[0110] Aircraft yaw velocity calculated by inertial navigation system with damping Horizontal acceleration Damping correction shall be performed as follows:

[0111] ;

[0112] ;

[0113] ;

[0114] ;

[0115] in,

[0116] For the first Intermediate calculation parameters for each calculation cycle;

[0117] The weighting is based on barometric altitude, with a value of 0.7 when the satellite signal is normal, 0.9 when the satellite signal is weak, and 1 when the satellite is invalid.

[0118] For the first The inertial navigation system calculates its own altitude in each calculation cycle;

[0119] For the first Each calculation cycle includes atmospheric pressure and altitude.

[0120] For the first GNSS satellite altitude per calculation cycle;

[0121] For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle;

[0122] For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle;

[0123] For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle;

[0124] Take 0.05s;

[0125] Take 0.05;

[0126] For the first The inertial navigation system calculates its own altitude in each calculation cycle;

[0127] Take 0.0025;

[0128] For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle;

[0129] Pick rad / s;

[0130] Take 0.4;

[0131] have:

[0132] = (k+1);

[0133] = (k+1).

[0134] The aircraft landing control calculation method disclosed in the above embodiments yields a more objective and accurate glide trajectory angle, eliminating the problem of large deviations during roll. It also exhibits strong synchronization. The glide trajectory angular rate is directly calculated using parameters measured directly by inertial navigation. Based on data feedback from actual flight, the glide trajectory angular rate has low delay, demonstrating good stability and accuracy. This effectively improves the efficiency of aircraft landing closed-loop control, enhances aircraft landing control response performance and landing point accuracy, and reduces the risk of aircraft landing.

[0135] A system for calculating aircraft landing control parameters includes a glide path angle calculation module and a glide path angular rate calculation module.

[0136] The glide path angle calculation module is used to calculate the glide path angle.

[0137] ;

[0138] in,

[0139] The angle of the glide path;

[0140] The aircraft's azimuth velocity calculated for inertial navigation;

[0141] The aircraft's ground speed calculated for inertial navigation;

[0142] The glide trajectory angular rate calculation module is used to calculate the glide trajectory angular rate.

[0143] ;

[0144] in,

[0145] The aircraft's axial acceleration calculated using inertial navigation;

[0146] This refers to the horizontal acceleration of the aircraft.

[0147] Optionally, in the above-mentioned aircraft landing control solution parameter calculation system, wherein, ;

[0148] in,

[0149] The eastward acceleration of the aircraft calculated by the inertial navigation system;

[0150] The northbound acceleration of the aircraft is calculated using inertial navigation.

[0151] The aircraft landing control solution parameter calculation system disclosed in the above embodiments is described in a relatively simple manner since it corresponds to the aircraft landing control solution parameter calculation method disclosed in the above embodiments. For specific details, please refer to the relevant description in the section on aircraft landing control solution parameter calculation method. Its technical effects can also be referred to the technical effects in the relevant section on aircraft landing control solution parameter calculation method, and will not be repeated here.

[0152] Furthermore, those skilled in the art should recognize that the various modules of the aircraft landing control calculation parameter calculation system disclosed in the embodiments of this application can be implemented in electronic hardware, computer software, or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, they are generally described in terms of function in this application. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can choose different methods to implement the described functions for each specific application and its actual constraints, but such implementation should not be considered to be beyond the scope of this application.

[0153] An electronic device, comprising:

[0154] processor;

[0155] The memory stores a computer program configured to, when executed by the processor, implement any of the aforementioned methods for calculating aircraft landing control parameters.

[0156] In some alternative embodiments, the processor may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, may be a general-purpose processor or a special-purpose processor, and may control other components in the compensation electronics to perform the desired functions.

[0157] In some alternative embodiments, the memory may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may be random access memory (RAM) and / or cache memory, while non-volatile memory may be read-only memory (ROM), hard disk, flash memory, etc. Computer programs may be stored on the memory, and the processor runs these programs to implement the functions described in the embodiments of this application and / or other desired functions. Furthermore, various application programs and various data may also be stored on the memory.

[0158] In some alternative embodiments, the processor and memory can be connected via a bus system, which can be a serial or parallel communication bus, etc.

[0159] It should be noted that, for clarity and brevity, not all the components of the electronic device are shown in the above embodiments. In order to realize the necessary functions of the electronic device, those skilled in the art can provide or set other components not shown according to specific needs.

[0160] For the electronic devices disclosed in the above embodiments, since their processors can implement any of the above-described methods for calculating aircraft landing control parameters when executing computer programs stored in their memory, their technical effects can be referred to the technical effects of the above-described methods for calculating aircraft landing control parameters, and will not be repeated here.

[0161] 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 of calculating parameters for a solution of an aircraft landing control problem, characterized in that, include: ； in, is the glide trajectory angle; aircraft heading velocity calculated for the inertial navigation system; aircraft ground speed calculated for the inertial navigation system; Calculation of angular rate of glide trajectory: ； in, aircraft skyward acceleration calculated for the inertial navigation system; This refers to the horizontal acceleration of the aircraft.

2. The method for calculating aircraft landing control parameters according to claim 1, characterized in that, ； in, The eastward acceleration of the aircraft calculated by the inertial navigation system; The northbound acceleration of the aircraft is calculated using inertial navigation.

3. The method for calculating aircraft landing control parameters according to claim 2, characterized in that, Inertial navigation system calculates aircraft yaw velocity Horizontal acceleration Specifically: ； ； ； ； in, For the first Intermediate calculation parameters for each calculation cycle; Weighted by barometric altitude; For the first The inertial navigation system calculates its own altitude in each calculation cycle; For the first Each calculation cycle includes atmospheric pressure and altitude. For the first GNSS satellite altitude per calculation cycle; For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle; For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle; For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle; Take 0.05s; Take 0.05; For the first The inertial navigation system calculates its own altitude in each calculation cycle; Take 0.0025; For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle; Pick rad / s; Take 0.4; = (k+1)； = (k+1)。 4. The method for calculating aircraft landing control parameters according to claim 3, characterized in that, Barometric Altitude Weight When the satellite is functioning normally, the value is 0.7; when the satellite signal is weak, the value is 0.9; and when the satellite is invalid, the value is 1.

5. A system for calculating aircraft landing control parameters, used to implement the method for calculating aircraft landing control parameters as described in claim 1, characterized in that, include: The glide path angle calculation module is used to calculate the glide path angle. ； in, The angle of the glide path; The aircraft's azimuth velocity calculated for inertial navigation; The aircraft's ground speed calculated for inertial navigation; The glide trajectory angular rate calculation module is used to calculate the glide trajectory angular rate. ； in, The aircraft's axial acceleration calculated using inertial navigation; This refers to the horizontal acceleration of the aircraft.

6. The aircraft landing control parameter calculation system according to claim 1, characterized in that, in, ； in, The eastward acceleration of the aircraft calculated by the inertial navigation system; The northbound acceleration of the aircraft is calculated using inertial navigation.

7. The aircraft landing control parameter calculation system according to claim 6, characterized in that, in, Inertial navigation system calculates aircraft yaw velocity Horizontal acceleration Specifically: ； ； ； ； in, For the first Intermediate calculation parameters for each calculation cycle; Weighted by barometric altitude; For the first The inertial navigation system calculates its own altitude in each calculation cycle; For the first Each calculation cycle includes atmospheric pressure and altitude. For the first GNSS satellite altitude per calculation cycle; For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle; For the first The aircraft's azimuth velocity calculated by the inertial navigation system in one calculation cycle; For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle; Take 0.05s; Take 0.05; For the first The inertial navigation system calculates its own altitude in each calculation cycle; Take 0.0025; For the first The aircraft axial acceleration calculated by the inertial navigation system in one calculation cycle; Pick rad / s; Take 0.4; = (k+1)； = (k+1)。 8. The aircraft landing control parameter calculation system according to claim 7, characterized in that, in, Barometric Altitude Weight When the satellite is functioning normally, the value is 0.7; when the satellite signal is weak, the value is 0.9; and when the satellite is invalid, the value is 1.

9. An electronic device, characterized in that, include: processor; The memory stores a computer program configured to implement the aircraft landing control solution parameter calculation method of claim 1 when executed by the processor.

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