A radar-laser cooperative designation device

Abstract

This utility model discloses a radar-laser coordinated indication device, including a fixed cylinder, a reference indication module, and a dynamic tracking system. The fixed cylinder is mounted on the nose landing gear of an aircraft. The reference indication module is mounted on the fixed cylinder, and the reference laser line emitted by it is located on the centerline of the aircraft and points forward. The dynamic tracking system includes a two-dimensional gimbal, a radar sensing unit, a laser tracking indication module, and a drive control unit. The two-dimensional gimbal is mounted on the fixed cylinder, the radar sensing unit is tilted and mounted on the moving end of the two-dimensional gimbal, and the laser tracking indication module is mounted on the frame of the radar sensing unit, with its laser projection surface coplanar with the calibration surface of the radar sensing unit. The reference indication module provides a static reference benchmark, and the dynamic tracking system detects and tracks the runway centerline in real time. The two work together to solve the technical problems of lacking intuitive dynamic alignment indication means in the prior art and the difficulty in quickly and accurately judging the alignment relationship between the aircraft and the runway under low visibility conditions.

Description

Technical Field

[0001] This utility model relates to the field of avionics and flight assistance technology, and more specifically to a radar-laser coordinated indication device. Background Technology

[0002] During the approach and landing phase, accurately aligning the aircraft with the runway centerline is a crucial step in ensuring a safe landing. Currently, pilots primarily rely on ground navigation and visual aids such as the Instrument Landing System (ILS) and Precision Approach Path Indicator (PAPI), combining cockpit instrument readings with external visual references to comprehensively assess the aircraft's centering status. In addition, some aircraft are also equipped with heading guidance systems based on inertial navigation or satellite positioning.

[0003] However, existing technological solutions have several inherent limitations. First, ground equipment such as instrument landing systems rely on external signals and are susceptible to terrain, weather conditions, and electromagnetic interference, and their deployment is limited in non-standard airports or specific environments. Second, while the data provided by in-cabin instruments is relatively accurate, it is indirect information that requires pilots to mentally translate and interpret, which may increase cognitive burden and prolong reaction time in emergency situations or during periods of high workload. Furthermore, traditional visual references, such as runway lights and markings, have significantly reduced visibility in low visibility, at night, or in rainy or snowy weather, severely impacting the accuracy of pilots' judgment of the runway centerline.

[0004] Most importantly, current technology lacks a means to present the relative positional relationship between the aircraft's axis and the runway centerline in a real-time, intuitive, and visual manner. Pilots cannot quickly obtain a visual reference that is directly projected onto the ground and can be dynamically tracked by the runway centerline, resulting in a lag and lack of intuitiveness in their perception of deviations, which in turn affects the precision of control and decision-making efficiency during manual landing.

[0005] Therefore, how to provide a new radar-laser coordinated designation device that can track the runway centerline while providing pilots with an intuitive visual centering reference that does not require interpretation is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] In view of this, the present invention provides a radar-laser coordinated indication device, which aims to solve the technical problems of high cognitive load caused by pilots' reliance on instrument interpretation and lack of intuitive dynamic centering indication means.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A radar-laser coordinated designation device, mounted on the nose landing gear of an aircraft, is used to assist the aircraft in aligning with the runway centerline during landing, comprising: Fixed cylinder, which is fixedly connected to the front landing gear; The reference indicator module is mounted on a fixed cylinder, and the reference laser line emitted by it is located on the central axis of the aircraft and corresponds to the front of the aircraft. The dynamic tracking system comprises a two-dimensional gimbal, a radar sensor unit, a laser tracking indicator module, and a drive control unit. The two-dimensional gimbal is mounted on a fixed cylinder, and its moving end has rotational degrees of freedom along both the axial and radial directions of the fixed cylinder. The radar sensor unit is tilted and mounted on the moving end of the two-dimensional gimbal, with its lateral center plane serving as a calibration surface to identify the runway position during aircraft landing. The drive control unit controls the movement of the moving end of the two-dimensional gimbal to keep the calibration surface continuously aligned with the centerline. The laser tracking indicator module is mounted on the frame of the radar sensor unit, and its laser projection surface is coplanar with the calibration surface. During the process of keeping the calibration surface continuously aligned with the centerline, the tracking laser line projected by the laser tracking indicator module onto the runway coincides with the centerline.

[0008] Therefore, this utility model provides a stable installation base by fixing the fixed cylinder to the nose landing gear, and uses the reference indicator module to project a reference laser line representing the aircraft's centerline forward. At the same time, with the help of the dynamic tracking system—whose core is the drive control unit that automatically controls the movement of the two-dimensional gimbal based on the detection data of the radar sensing unit, so that the laser tracking indicator module, which is coplanar with the radar, continuously aligns with and projects the runway centerline laser—this collaborative structure solves the technical problem that pilots cannot intuitively and in real time judge the alignment relationship between the aircraft and the runway centerline during the landing phase. Ultimately, it realizes the transformation of abstract flight deviations into a direct comparison of two visible laser lines, one static and one moving, thereby significantly improving the technical effect of landing alignment accuracy and flight safety.

[0009] Preferably, the reference indicator module includes a laser mounting base and a linear laser. The laser mounting base is fixedly connected to the outer cylinder surface of the fixed cylinder, the fixed end of the linear laser is fixedly connected to the laser mounting base, and the projection surface of the linear laser is coplanar with the central axis surface of the aircraft.

[0010] Preferably, the laser tracking indicator module includes a laser mounting base two and a linear laser two. The laser mounting base two is fixedly connected to the radar sensing unit, the fixed end of the linear laser two is fixedly connected to the laser mounting base two, and the projection surface of the linear laser two is coplanar with the lateral center surface of the radar sensing unit.

[0011] Preferably, the two-dimensional gimbal includes a rotating ring, a mounting plate, a servo motor one, and a servo motor two. The rotating ring is coaxially arranged and rotatably connected to the outer cylinder surface of the fixed cylinder. The mounting plate is rotatably connected to the rotating ring along the radial direction of the rotating ring. The radar sensing unit is obliquely mounted on the mounting plate. The servo motor one and the servo motor two are used to drive the rotating ring and the mounting plate to rotate, respectively.

[0012] Preferably, the two-dimensional gimbal also includes a rotating connecting column, with rotating disks arranged coaxially with both ends of the rotating connecting column, and the two rotating disks are rotatably connected to the rotating ring and the mounting disk, respectively.

[0013] Preferably, a toothed ring is fixedly connected to the bottom end of the rotating ring, the fixed end of the servo motor is fixedly connected to the outer surface of the fixed cylinder, and the power output end of the servo motor is connected to the toothed ring for transmission.

[0014] Preferably, a gear ring two is fixedly connected to the side wall of the mounting plate, the fixed end of the servo motor two is fixedly connected to the rotating ring, and the power output end of the servo motor two is connected to the gear ring two for transmission.

[0015] Preferably, the reference indication module and the dynamic tracking system are activated after the aircraft landing gear has deployed and the aircraft has descended to a preset altitude.

[0016] Preferably, the laser colors of linear laser one and linear laser two are different.

[0017] Preferably, the radar sensing unit is a millimeter-wave radar.

[0018] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a radar-laser coordinated indication device, which has the following beneficial effects: intuitive visual assistance: by projecting the reference laser line and the tracking laser line in a dual-line manner, the alignment relationship between the aircraft and the runway is transformed into a ground view, which greatly reduces the cognitive load of the pilot; the radar sensing unit and the two-dimensional gimbal work together to ensure that the laser line always tracks the runway centerline, adapting to changes in aircraft attitude and runway position deviation; all modules are integrated on the nose landing gear fixing cylinder, which is installed firmly, does not affect the aerodynamic layout of the aircraft, and is easy to maintain. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 The attached diagram is a schematic diagram showing the position of the aircraft and the runway (when the aircraft is landing) provided by this utility model; Figure 2 The attached figure is a structural schematic diagram of the radar-laser coordinated indication device and the nose landing gear provided by this utility model under assembly. Figure 3 The attached figure is a partial cross-sectional view of the radar-laser coordinated indication device and the nose landing gear provided by this utility model under assembly. Figure 4 for Figure 3 A magnified view of a section at point A; Figure 5 The attached figure is a schematic diagram of the radar sensing unit and laser mounting base II provided by this utility model in the assembled state; Figure 6 The attached figure is a schematic diagram of the installation disk provided by this utility model; Figure 7 The attached figure is a schematic diagram of the rotating ring provided by this utility model; Figure 8 The attached figure is a schematic diagram illustrating the principle of the radar-laser coordinated indication device provided by this utility model when an aircraft deviates from the runway. Figure 9 for Figure 8 A magnified view of section B.

[0021] Wherein: 1-Aircraft; 2-Runway; 3-Fixed cylinder; 4-Reference indicating module; 5-Dynamic tracking system; 11-Nose landing gear; 31-Positioning ring; 21-Centerline; 40-Reference laser line; 41-Laser mounting base one; 42-Linear laser one; 50-Tracking laser line; 51-Two-dimensional gimbal; 52-Radar sensing unit; 53-Laser tracking indicating module; 511-Rotating ring; 512-Mounting plate; 513-Servo motor one; 514-Servo Motor II; 515-Rotating Connecting Column; 516-Rotating Disc; 517-Gear Ring I; 518-Gear Ring II; 519-Electric Telescopic Rod; 521-Hinge Seat I; 522-Hinge Seat II; 531-Laser Mounting Seat II; 532-Linear Laser II; 5111-Rotating Slot I; 5112-Mounting Platform; 5113-Rotating Slot II; 5121-Hinge Seat III; 5122-Hinge Seat IV; 5123-Rotating Slot III. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] See appendix Figure 1 To be continued Figure 4 and appendix Figure 8 and attached Figure 9This utility model discloses a radar-laser cooperative indication device, which is installed on the nose landing gear 11 of an aircraft 1 to assist the aircraft 1 in aligning with the centerline 21 of the runway 2 during landing. The device includes: a fixed cylinder 3, a reference indication module 4, and a dynamic tracking system 5. The fixed cylinder 3 is fixedly connected to the front landing gear 11; The reference indicator module 4 is mounted on the fixed cylinder 3, and the reference laser line 40 emitted by it is located on the central axis surface of the aircraft 1 and corresponds to the front of the aircraft 1. The dynamic tracking system 5 includes a two-dimensional gimbal 51, a radar sensing unit 52, a laser tracking indicator module 53, and a drive control unit. The two-dimensional gimbal 51 is mounted on a fixed cylinder 3, and the moving end of the two-dimensional gimbal 51 has rotational degrees of freedom along the axial and radial directions of the fixed cylinder 3. The radar sensing unit 52 is tilted and mounted on the moving end of the two-dimensional gimbal 51. The lateral center plane of the radar sensing unit 52 is the calibration plane to identify the position of the runway 2 during the landing of the aircraft 1. The drive control unit controls the movement of the moving end of the two-dimensional gimbal 51 to keep the calibration plane continuously aligned with the centerline 21. The laser tracking indicator module 53 is mounted on the frame of the radar sensing unit 52, and its laser projection surface is coplanar with the calibration surface to keep the calibration surface continuously aligned with the centerline 21. During this process, the tracking laser line 50 projected by the laser tracking indicator module 53 onto the runway 2 coincides with the centerline 21.

[0024] In one embodiment, the reference indicator module 4 includes a laser mounting base 41 and a linear laser 42. The laser mounting base 41 is fixedly connected to the outer cylinder surface of the fixed cylinder 3, and the fixed end of the linear laser 42 is fixedly connected to the laser mounting base 41. The projection surface of the linear laser 42 is coplanar with the central axis surface of the aircraft 1.

[0025] In one embodiment, the laser tracking indicator module 53 includes a laser mounting base 531 and a linear laser 532. The laser mounting base 531 is fixedly connected to the radar sensing unit 52, and the fixed end of the linear laser 532 is fixedly connected to the laser mounting base 531. The projection surface of the linear laser 532 is coplanar with the lateral center surface of the radar sensing unit 52.

[0026] In this embodiment, the two-dimensional gimbal 51 includes a rotating ring 511, a mounting plate 512, a servo motor 1 513, and a servo motor 2 514. The rotating ring 511 is coaxially arranged and rotatably connected to the outer cylindrical surface of the fixed cylinder 3. The mounting plate 512 is rotatably connected to the rotating ring 511 along the radial direction of the rotating ring 511. The radar sensing unit 52 is obliquely mounted on the mounting plate 512. The servo motor 1 513 and the servo motor 2 514 are used to drive the rotating ring 511 and the mounting plate 512 to rotate, respectively.

[0027] See appendix Figure 4 and attached Figure 7The outer cylinder surface of the fixed cylinder 3 is fixedly connected to a positioning ring 31 arranged coaxially, and the inner ring surface of the rotating ring 511 is provided with a rotating groove 5111 that is rotatably connected to the positioning ring 31.

[0028] In some specific embodiments, the two-dimensional gimbal 51 further includes a rotating connecting column 515, with rotating disks 516 arranged coaxially with both ends of the rotating connecting column 515. The two rotating disks 516 are rotatably connected to the rotating ring 511 and the mounting disk 512, respectively.

[0029] See appendix Figure 7 A mounting platform 5112 is fixedly connected to the outer ring surface of the rotating ring 511. The platform surface of the mounting platform 5112 is arranged perpendicular to the radial direction of the rotating ring 511. A second rotating groove 5113 is opened on the platform surface of the mounting platform 5112. A retaining ring is fixedly connected to the groove opening of the second rotating groove 5113 and a rotating cavity is formed inside it. The inner ring surface of the retaining ring is arranged corresponding to the outer diameter of the rotating connecting column 515. The rotating disk 516 corresponding to the rotating ring 511 is rotatably connected to the rotating cavity.

[0030] See appendix Figure 6 The opposite surface of the mounting plate 512 and the mounting platform 5112 is the first plate surface. The first plate surface is provided with a rotating groove 5123 with the same structure as the rotating groove 5113. The rotating plate 516 corresponding to the mounting plate 512 is rotatably connected to its corresponding rotating cavity.

[0031] Specifically, it also includes an electric telescopic rod 519, the two ends of which are hinged to the second surface of the mounting plate 512 and the back of the radar sensing unit 52, respectively.

[0032] More specifically, a hinge seat 1 521 is fixedly connected to the back of the radar sensing unit 52 near its bottom end, and a hinge seat 2 522 is fixedly connected to the back of the radar sensing unit 52 near its top end. A hinge seat 4 5122 is fixedly connected to the center of the second plate surface of the mounting plate 512, and a hinge seat 3 5121 is fixedly connected below the hinge seat 4 5122. The two ends of the electric telescopic rod 519 are hinged to the hinge seat 4 5122 and the hinge seat 2 522 respectively, and the hinge seat 1 521 is hinged to the hinge seat 3 5121.

[0033] In some embodiments, a toothed ring 517 is fixedly connected to the bottom end of the rotating ring 511, the fixed end of the servo motor 513 is fixedly connected to the outer cylinder surface of the fixed cylinder 3, and the power output end of the servo motor 513 is connected to the toothed ring 517 for transmission.

[0034] In some specific embodiments, a gear ring 518 is fixedly connected to the side wall of the mounting plate 512, the fixed end of the servo motor 514 is fixedly connected to the rotating ring 511, and the power output end of the servo motor 514 is connected to the gear ring 518 for transmission.

[0035] In one embodiment, the reference indication module 4 and the dynamic tracking system 5 are activated after the landing gear of the aircraft 1 has deployed and the aircraft 1 has descended to a predetermined altitude. This ensures that the device operates only during the critical landing phase, reduces interference to the pilot from the reference laser line 40 and the tracking laser line 50 in irrelevant scenarios, and ensures timely guidance when precise alignment is required, thereby improving the rationality and safety of its use.

[0036] In this embodiment, the laser colors of linear laser 42 and linear laser 532 are different.

[0037] Specifically, in actual airport use scenarios, to facilitate pilots in clearly distinguishing and identifying two laser lines under complex lighting conditions, a combination of green and red lasers can be used. Green lasers have high human visual sensitivity and are suitable as a reference laser line; red lasers have good contrast under various background lights and are suitable as a dynamic tracking laser line.

[0038] In some specific embodiments, the radar sensing unit 52 is a millimeter-wave radar.

[0039] Specifically, millimeter-wave radar is preferably K-band or W-band, possessing high resolution, strong penetration, and anti-jamming capabilities, making it suitable for adverse weather conditions commonly encountered in airport environments, such as rain, snow, and fog. The radar should have angular resolution capabilities, enabling real-time identification of runway boundaries and centerline positions, and outputting high-precision azimuth information. The radar installation angle needs to be preset and calibrated based on the aircraft landing gear height and typical approach angle to ensure continuous coverage of the runway centerline area during landing.

[0040] Specifically, the drive control unit is electrically connected to the electric telescopic pole 519, servo motor 1 513, servo motor 2 514 and radar sensing unit 52.

[0041] The specific principle and usage method of the radar-laser coordinated indication device provided in this embodiment are as follows: 1. As the aircraft enters the approach route and prepares for landing, the pilot lowers the landing gear. When the aircraft descends to the preset initial operating altitude, the drive control unit automatically activates the reference indication module 4 and the dynamic tracking system 5. The linear laser 42 of the reference indication module 4 immediately projects a reference laser line 40 forward. This laser line is fixed within the aircraft's centerline plane, providing the pilot with a direct visual reference for the aircraft's axial direction.

[0042] 2. The radar sensing unit 52 begins operation, scanning the area below and in front of the aircraft. The drive control unit processes the radar echo data, identifying the position information of the runway 2 boundary and centerline 21 in real time. Subsequently, the control unit drives servo motor 1 513 and servo motor 2 514, causing the two-dimensional gimbal 51 to rotate the radar sensing unit 52, quickly aligning its calibration surface with and locking onto the runway centerline 21.

[0043] 3. Since the laser tracking indicator module 53 is fixedly connected to the radar sensing unit 52 and the laser projection surface is coplanar with the calibration surface, when the calibration surface is aligned with the centerline, the tracking laser line 50 projected by the linear laser 532 will accurately fall on the centerline 21 of runway 2. At this time, two laser lines appear on the runway: one is the reference laser line 40 representing the aircraft's own axis, and the other is the tracking laser line 50 representing the actual centerline of the runway; by observing the relative positions of these two laser lines outside the cockpit on the runway, the pilot can intuitively and in real time determine the aircraft's centering status.

[0044] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0045] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A radar-laser coordinated designation device, mounted on the nose landing gear (11) of an aircraft (1), for assisting the aircraft (1) in aligning with the centerline (21) of the runway (2) during landing, characterized in that, include: Fixed cylinder (3), the fixed cylinder (3) is fixedly connected to the front landing gear (11); A reference indicator module (4) is mounted on the fixed cylinder (3), and the reference laser line (40) emitted by it is located on the central axis surface of the aircraft (1) and corresponds to the front of the aircraft (1); The dynamic tracking system (5) includes a two-dimensional gimbal (51), a radar sensing unit (52), a laser tracking indicator module (53), and a drive control unit. The two-dimensional gimbal (51) is mounted on the fixed cylinder (3), and the moving end of the two-dimensional gimbal (51) has rotational degrees of freedom along the axial and radial directions of the fixed cylinder (3). The radar sensing unit (52) is obliquely mounted on the moving end of the two-dimensional gimbal (51), and the lateral center plane of the radar sensing unit (52) is the calibration plane, so as to track the aircraft ( 1) During the landing process, the position of the runway (2) is identified, and the movement of the two-dimensional gimbal (51) is controlled by the drive control unit so that the calibration surface is continuously aligned with the centerline (21); the laser tracking indicator module (53) is installed on the frame of the radar sensing unit (52), and its laser projection surface is coplanar with the calibration surface so that the calibration surface is continuously aligned with the centerline (21). During the process, the tracking laser line (50) projected by the laser tracking indicator module (53) on the runway (2) coincides with the centerline (21).

2. The radar-laser coordinated pointing device according to claim 1, characterized in that, The reference indicator module (4) includes a laser mounting base (41) and a linear laser (42). The laser mounting base (41) is fixedly connected to the outer cylinder surface of the fixed cylinder (3). The fixed end of the linear laser (42) is fixedly connected to the laser mounting base (41). The projection surface of the linear laser (42) is coplanar with the central axis surface of the aircraft (1).

3. The radar-laser coordinated pointing device according to claim 2, characterized in that, The laser tracking indicator module (53) includes a laser mounting base two (531) and a linear laser two (532). The laser mounting base two (531) is fixedly connected to the radar sensing unit (52). The fixed end of the linear laser two (532) is fixedly connected to the laser mounting base two (531). The projection surface of the linear laser two (532) is coplanar with the lateral center surface of the radar sensing unit (52).

4. The radar-laser coordinated pointing device according to claim 1, characterized in that, The two-dimensional gimbal (51) includes a rotating ring (511), a mounting plate (512), a servo motor one (513), and a servo motor two (514). The rotating ring (511) is coaxially arranged and rotatably connected to the outer cylinder surface of the fixed cylinder (3). The mounting plate (512) is rotatably connected to the rotating ring (511) along the radial direction of the rotating ring (511). The radar sensing unit (52) is obliquely mounted on the mounting plate (512). The servo motor one (513) and the servo motor two (514) are used to drive the rotating ring (511) and the mounting plate (512) to rotate, respectively.

5. A radar-laser coordinated pointing device according to claim 4, characterized in that, The two-dimensional gimbal (51) also includes a rotating connecting column (515), both ends of which are fixedly connected to a rotating disk (516) arranged coaxially with it. The two rotating disks (516) are rotatably connected to the rotating ring (511) and the mounting disk (512) respectively.

6. The radar-laser coordinated pointing device according to claim 4, characterized in that, The bottom end of the rotating ring (511) is fixedly connected to a toothed ring (517), the fixed end of the servo motor (513) is fixedly connected to the outer cylinder surface of the fixed cylinder (3), and the power output end of the servo motor (513) is connected to the toothed ring (517) for transmission.

7. A radar-laser coordinated designation device according to claim 4, characterized in that, The mounting plate (512) has a toothed ring two (518) fixedly connected to its side wall. The fixed end of the servo motor two (514) is fixedly connected to the rotating ring (511). The power output end of the servo motor two (514) is connected to the toothed ring two (518) for transmission.

8. The radar-laser coordinated designation device according to claim 1, characterized in that, The reference indication module (4) and the dynamic tracking system (5) are activated after the landing gear of the aircraft (1) is deployed and the aircraft (1) descends to the preset altitude.

9. A radar-laser coordinated designation device according to claim 3, characterized in that, The laser colors of the first linear laser (42) and the second linear laser (532) are different.

10. A radar-laser coordinated designation device according to claim 1, characterized in that, The radar sensing unit (52) is a millimeter-wave radar.

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