Method, system and equipment for measuring and calculating aircraft ground speed during operation of hand wheel

Abstract

To solve such a conventional problem that, in the prior art belonging to the field of data analysis, particularly relates to a method, a system and equipment for measuring and calculating an aircraft ground speed during operation of a hand wheel, the actual operation condition of the aircraft cannot be checked when the aircraft taxies because the aircraft only enters from a front wheel turning system and the influence on the operation of the front wheel turning system is ignored.SOLUTION: The present invention includes the steps of: collecting aircraft hand wheel parameter data and a taxiing data segment as initial data; on the basis of the initial data, performing data cleaning and standardization to obtain preprocessed data; and on the basis of the preprocessed data, positioning a key control hand wheel parameter point, and obtaining a ground speed corresponding to the key control hand wheel parameter point, and recording the ground speed as a key point ground speed. The present invention can accurately evaluate a safe operation condition during a taxiing stage of an operated flight, and can provide basis for aircraft safety incident investigation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention belongs to the field of data analysis, and specifically relates to a method, system, and device for measuring the ground speed of an airplane during handwheel operation.

Background Art

[0002] The nose wheel steering system of an airplane is one of the main forms of direction control when the airplane is driving on the ground. If there is a problem with the nose wheel steering system, it will directly affect the driving and steering direction control of the airplane, and the airplane will deviate from the runway. Based on the safety guarantee of the airplane, the nose wheel steering system is usually designed to perform small-angle corrections at high speeds and large-angle steering at low speeds. The steering hand wheel, as the main component of the nose wheel steering system, can only be controlled at low speeds. Using the hand wheel during high-speed driving may cause the direction to go wrong and increase the risk of deviating from the runway. In order to ensure the stable driving of the airplane, analyzing the ground speed when using the steering hand wheel of the airplane in combination with the design characteristics of the nose wheel steering system of the airplane is very meaningful for reducing the safety risk of the airplane deviating from the runway.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The prior art achieves the purpose of controlling the steering angle of the nose wheel steering system by executing a large and small angle control law switching logic according to the airplane wheel speed signal or ground speed signal received by the steering control unit of the nose wheel steering system of the airplane. This method starts from the nose wheel steering system itself, does not consider the operational influence of the nose wheel steering system, and cannot check the actual operating situation of the airplane during driving.

Means for Solving the Problems

[0004] To solve the above problems in the prior art, that is, in the prior art, only the front-wheel steering system itself is considered, the operational impact of the front-wheel steering system is not taken into account, and the actual operating conditions during the taxiing of the aircraft cannot be checked. In the present invention, Step S1 of collecting the handwheel parameter data and the taxiing data segment of the aircraft as initial data; Step S2 of performing data cleansing and standardization based on the initial data to obtain preprocessed data; Step S3 of, based on the preprocessed data, locating the key handwheel operation parameter points, obtaining the ground speed corresponding to the key handwheel operation parameter points, and recording it as the key ground speed for the points, Based on the preprocessed data, calculating the standard deviation std of the handwheel parameters for the entire taxiing process of the target flight and the maximum value val_max_abs of the handwheel parameter travel for the entire taxiing process of the target flight, Among them, the maximum value val_max_abs of the handwheel parameter travel is val_max_abs = max(abs(val_max), abs(val_min)), where val_max represents the maximum value of the input angle in the left direction of the handwheel, val_min represents the maximum value of the input angle in the right direction of the handwheel, the maximum value val_max_abs of the handwheel parameter travel calculates the absolute value to obtain the maximum value, max represents the maximum value, and abs represents taking the absolute value. This is step S301; Based on the standard deviation std of the handwheel parameters for the entire taxiing process of the target flight and the maximum value of the handwheel parameter travel for the entire taxiing process of the target flight, setting the handwheel operation threshold thr; When the standard deviation of the handwheel parameters for the entire taxiing process of the target flight is < 1 degree, setting 1 degree as the determination threshold for handwheel operation; When the standard deviation of the handwheel parameters for the entire taxiing process of the target flight ≧ 1 degree, setting 1 times the standard deviation as the determination threshold for handwheel operation. This is step S302; Step S3 is as described above. Based on the target ground speed, compare it with the reference range of the ground speed for the set handwheel operation, and if the target ground speed exceeds the reference range of the ground speed for the set handwheel operation, perform step S4 of issuing an alarm; including Provide a method for measuring the ground speed of an airplane during handwheel operation.

[0005] Furthermore, the data cleaning and standardization are configured to perform cleaning, deletion, and replacement on abnormal data by a data cleaning algorithm based on the initial data to obtain the data after cleaning, and based on the data after cleaning, preprocessed data is obtained by interpolation, smoothing, and fitting.

[0006] During the taxiing stage of the flight operation, the standard deviation of the handwheel stroke is close to 0. As a determination condition for having a handwheel, setting the standard deviation to 0 degrees results in an overly small range and may lead to misjudgment. To avoid such a situation, a standard deviation limit is set for correction.

[0007] In step S303, locate the target handwheel operation parameter point and obtain the ground speed corresponding to the target handwheel operation parameter point.

[0008] Furthermore, in step S303, specifically, including the target point in the takeoff taxiing stage and the target point in the landing taxiing stage, set the target handwheel operation parameter point, the target point in the takeoff taxiing stage is the end point of the last handwheel operation before liftoff of the target flight operation, the target point in the landing taxiing stage is the starting point of the first handwheel operation after touchdown of the target flight operation, step S3031, including step S3032 of obtaining the ground speed corresponding to the target handwheel operation parameter point.

[0009] Furthermore, the step S3032 includes the ground speed corresponding to the case without handwheel operation, the ground speed corresponding to the case where the maximum value val_max_abs of the handwheel parameter stroke in the entire taxiing process of the target flight is less than or equal to the handwheel operation threshold thr, or the ground speed corresponding to the case where the maximum value val_max_abs of the handwheel parameter stroke in the entire taxiing process of the target flight is greater than the handwheel operation threshold thr.

[0010] Furthermore, for the ground speed corresponding to the case without handwheel operation, the acquisition method is as follows: The handwheel parameter in the entire taxiing process of the target flight is 1 or less, the handwheel parameter duplicate elimination value is less than 3, the maximum value of the handwheel parameter is 5 or less, and the standard deviation std of the handwheel parameter in the entire taxiing process of the target flight is 5 or less. The ground speed corresponding to the case without handwheel operation is: The handwheel parameter data last_val1 at the takeoff starting point kp_l, the handwheel parameter data first_val1 at the landing end point kp_r, the ground speed end_gs1 at the takeoff starting point kp_l, and the ground speed start_gs1 at the landing end point kp_r. The takeoff taxiing calculation is such that end_index1 = kp_l.time1 and end_gs1 = GS[end_index1] and last_val1 = abs(param[end_index1]), and so on. The landing taxiing calculation is such that start_index1 = kp_r.time1 and start_gs1 = GS[start_index1] and first_val1 = abs(param[start_index1]), and so on. param is the handwheel parameter dataset, end_index1 represents the takeoff starting point position, kp_l.time1 represents the takeoff starting point time, start_index1 represents the landing end point position, kp_r.time1 represents the landing end point time, GS represents the ground speed, last_val1 represents the handwheel parameter data at the takeoff starting point position, first_val1 represents the handwheel parameter data at the landing end point position, and abs represents the absolute value.

[0011] Furthermore, for the ground speed corresponding to the case where the maximum value val_max_abs of the handwheel parameter travel during the entire taxiing process of the target flight is less than or equal to the handwheel operation threshold thr, the acquisition method is as follows: All maximum value positions list_idx of the target flight, the maximum value of the handwheel parameter travel at the key point in the takeoff taxiing stage list_idx[-1], and the maximum value of the handwheel parameter travel at the key point in the landing taxiing stage list_idx[0] are collected. The takeoff taxiing calculation is such that end_index2 = list_idx[-1], end_gs2 = GS[end_index2], last_val2 = abs(param[end_index2]), and so on. The landing taxiing calculation is such that start_index2 = list_idx[0], start_gs2 = GS[start_index2], first_val2 = abs(param[start_index2]), and so on. param is the handwheel parameter dataset, end_index2 represents the position of the maximum value of the handwheel parameter stroke in the last round of takeoff roll, start_index2 represents the position of the maximum value of the handwheel parameter stroke in the first round of landing roll, GS represents the ground speed, last_val2 represents the handwheel parameter data corresponding to the position of the maximum value of the handwheel parameter stroke in the last round of takeoff roll, first_val2 represents the handwheel parameter data corresponding to the position of the maximum value of the handwheel parameter stroke in the first round of landing roll, start_gs2 represents the ground speed of the handwheel parameter in the first round of landing roll, end_gs2 represents the ground speed of the handwheel parameter in the last round of takeoff roll, and abs represents the absolute value.

[0012] Furthermore, for the ground speed corresponding to the case where the maximum value val_max_abs of the handwheel parameter stroke in the entire sliding process of the target flight is greater than the handwheel operation threshold thr, the acquisition method is as follows: Locate the position exceeding the threshold, collect consecutive segments list_rp and list_lp exceeding the threshold, record the maximum stroke value list_val for each segment exceeding the threshold, record the position list_rp[-1] exceeding the threshold at the key point in the takeoff roll stage, and record the position list_lp[0] exceeding the threshold at the key point in the landing roll stage. The takeoff roll calculation is such that end_index3 = list_rp[-1], end_gs3 = GS[end_index3], last_val3 = list_val[-1], and so on. The landing roll calculation is such that start_index3 = list_lp[0], start_gs3 = GS[start_index3], first_val3 = list_val[0], and so on. param is a handwheel parameter dataset, end_index3 represents the over-threshold position of the last wave of takeoff roll, start_index3 represents the over-threshold position of the first wave of landing roll, GS represents the ground speed, last_val3 represents the maximum travel value of the over-threshold position of the last wave of takeoff roll, first_val3 represents the maximum travel value of the over-threshold position of the first wave of landing roll, list_val[0] represents the maximum travel value of the over-threshold segment of the key point in the landing roll stage, end_gs3 represents the ground speed at the over-threshold position of the last wave of takeoff roll, start_gs3 represents the ground speed corresponding to the over-threshold position of the first wave of landing roll, and list_val[-1] represents the maximum travel value of the over-threshold of the key point in the takeoff roll stage.

[0013] In another aspect of the present invention, A data acquisition module configured to collect the handwheel parameter data and the taxi data segment of the airplane as initial data, A data preprocessing module configured to perform data cleansing and standardization based on the initial data to obtain preprocessed data, A key point ground speed acquisition module configured to locate the key handwheel operation parameter points based on the preprocessed data, obtain the ground speed corresponding to the key handwheel operation parameter points, and record it as the key point ground speed. Specifically, Based on the preprocessed data, calculate the standard deviation std of the handwheel parameters for the entire taxiing process of the target flight and the maximum value val_max_abs of the handwheel parameter travel for the entire taxiing process of the target flight, Among them, the maximum value val_max_abs of the handwheel parameter travel is val_max_abs = max(abs(val_max), abs(val_min)), val_max represents the maximum value of the input angle in the left direction of the handwheel, val_min represents the maximum value of the input angle in the right direction of the handwheel, the maximum value val_max_abs of the handwheel parameter stroke calculates the absolute value to obtain the maximum value, max represents the maximum value, and abs represents taking the absolute value. Based on the standard deviation std of the handwheel parameters in the entire coasting process of the target flight operation and the maximum value of the handwheel parameter stroke in the entire coasting process of the target flight operation, set the handwheel operation threshold thr. When the standard deviation of the handwheel parameters in the entire coasting process of the target flight operation is <1 degree, set 1 degree as the determination threshold for handwheel operation. When the standard deviation of the handwheel parameters in the entire coasting process of the target flight operation ≧1 degree, set 1 times the standard deviation as the determination threshold for handwheel operation. In step S303, there is a key point ground speed acquisition module configured to locate the key handwheel operation parameter points and obtain the ground speed corresponding to the key handwheel operation parameter points. Based on the key point ground speed, compare it with the set reference range of the ground speed for handwheel operation, and an alarm module is configured to issue an alarm when the key point ground speed exceeds the set reference range of the ground speed for handwheel operation. Comprising. Submit a system for measuring the ground speed of an airplane during handwheel operation.

[0014] In the third aspect of the present invention, At least one processor, At least one memory communicatively connected to the at least one processor, and comprising. Instructions executable by the processor are stored in the memory, and when the instructions are executed by the processor, an electronic device is submitted in which the method for measuring the ground speed of an airplane during handwheel operation as described above is realized.

Effect of the Invention

[0015] The beneficial effects of the present invention are as follows.

[0016] (1) In the present invention, by calculating the standard deviation of the handwheel parameters and the handwheel operation threshold during the entire taxiing process of the target flight operation, the handwheel parameter values are corrected according to the boundary values, the maximum value of the handwheel parameters is calculated, and based on the standard deviation of the handwheel parameters, the handwheel operation threshold, and the maximum value of the handwheel parameters of the target flight operation, the handwheel operation parameters of the key points are located, and the ground speed of the handwheel operation is collected.

[0017] (2) In the present invention, preprocessing is performed on the handwheel parameter data and the taxiing data segment of the aircraft by means of data standardization and data cleansing algorithms to enhance the effectiveness of the data and provide a database for determining the handwheel operation threshold and the maximum value subsequently.

[0018] (3) According to the method of the present invention, the operations during the execution of the flight operation by the pilot can be calculated and monitored, the lack of skills of the pilot can be quantified, the usage habits of the handwheel steering during the pilot's driving can be grasped, and those who do not use the handwheel regularly can be found for technical improvement.

[0019] (4) According to the method of the present invention, the safe operating state during the taxiing stage of the flight operation can be accurately evaluated, providing a basis for the investigation of aviation safety incidents.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

[0021] Other features, objects, and advantages of the present application will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0022] Hereinafter, the present application will be described in more detail in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only for interpreting the related invention and do not limit the invention. Also, for the sake of simplicity of description, only the parts related to the related invention are shown in the drawings.

[0023] Note that if there is no contradiction, the embodiments in the present application and the features in the embodiments may be combined with each other. Hereinafter, the present application will be described in detail in conjunction with the embodiments with reference to the drawings.

[0024] To more clearly explain the method for measuring the ground speed of an airplane during handwheel operation of the present invention, the following steps in the embodiments of the present invention will be developed and described in detail in conjunction with FIG. 1.

[0025] The method for measuring the ground speed of an airplane during handwheel operation in the first embodiment of the present invention includes steps S1 to S4, and the detailed description of each step is as follows.

[0026] The present invention intends to numerically evaluate and predict whether the ground speed of an airplane is within the speed range for accurately using the handwheel, and to perform early prevention and post-flight reproduction analysis for the airplane deviating from the runway.

[0027] In step S1, as initial data, collect the handwheel parameter data and the taxi data segment of the airplane. In this embodiment, it further includes a step of inspecting the initial data to check whether there are necessary standard parameters.

[0028] In step S2, based on the initial data, data cleansing and standardization are performed to obtain preprocessed data.

[0029] In this embodiment, the data cleansing and standardization are configured to perform cleansing, outlier deletion and replacement on abnormal data by a data cleansing algorithm based on the initial data to obtain the cleansed data, and based on the cleansed data, preprocessed data is obtained by interpolation, smoothing and fitting.

[0030] As shown in FIG. 2, in the outlier deletion, the method for determining whether data is an outlier is as follows: If the difference between adjacent recorded values of the handwheel parameter exceeds 50 degrees, it is determined that there is hopping in the handwheel parameter value. If the handwheel parameter stroke at the grounding time is greater than 5 degrees, it is determined that there is a deviation in the handwheel parameter. If the absolute value of the handwheel parameter is greater than 75 degrees, it is determined that the handwheel parameter exceeds the effective range. When an outlier appears, the corresponding flight operation data is deleted.

[0031] In step S3, based on the preprocessed data, the key handwheel operation parameter points are located, the ground speed corresponding to the key handwheel operation parameter points is obtained, and it is recorded as the key point-to-ground speed.

[0032] In this embodiment, in step S3, Based on the preprocessed data, the standard deviation std of the handwheel parameter of the entire taxiing process of the target flight operation and the maximum value val_max_abs of the handwheel parameter stroke of the entire taxiing process of the target flight operation are calculated. Among them, the maximum value val_max_abs of the handwheel parameter stroke is val_max_abs = max(abs(val_max), abs(val_min)), and val_max represents the maximum value of the input angle in the left direction of the handwheel, val_min represents the maximum value of the input angle in the right direction of the handwheel. The maximum value val_max_abs of the handwheel parameter stroke calculates the absolute value and takes the maximum value. max represents the maximum value, and abs represents taking the absolute value. Step S301, and Based on the standard deviation std of the handwheel parameters in the entire taxiing process of the target flight operation and the maximum value of the handwheel parameter stroke in the entire taxiing process of the target flight operation, set the handwheel operation threshold thr. When the standard deviation of the handwheel parameters in the entire taxiing process of the target flight operation < 1 degree, set 1 degree as the determination threshold for handwheel operation. When the standard deviation of the handwheel parameters in the entire taxiing process of the target flight operation ≧ 1 degree, set 1 times the standard deviation as the determination threshold for handwheel operation. Step S302, and Locate the key handwheel operation parameter points and obtain the ground speed corresponding to the key handwheel operation parameter points in step S303, including.

[0033] In this embodiment, in step S303, specifically, Including the key points in the takeoff taxiing stage and the key points in the landing taxiing stage, set the key handwheel operation parameter points. The key point in the takeoff taxiing stage is the end point of the last handwheel operation before the target flight operation leaves the ground. The key point in the landing taxiing stage is the starting point of the first handwheel operation after the target flight operation touches down. Step S3031, and Obtain the ground speed corresponding to the key handwheel operation parameter points in step S3032, including.

[0034] In this embodiment, the step S3032 includes the ground speed corresponding to the case without handwheel operation, the ground speed corresponding to the case where the maximum value val_max_abs of the handwheel parameter stroke in the entire taxiing process of the target flight is less than or equal to the handwheel operation threshold thr, or the ground speed corresponding to the case where the maximum value val_max_abs of the handwheel parameter stroke in the entire taxiing process of the target flight is greater than the handwheel operation threshold thr.

[0035] In this embodiment, for the ground speed corresponding to the case without handwheel operation, the acquisition method is as follows: The handwheel parameter in the entire taxiing process of the target flight is 1 or less, the handwheel parameter duplicate elimination value is less than 3, the maximum value of the handwheel parameter is 5 or less, and the standard deviation std of the handwheel parameter in the entire taxiing process of the target flight is 5 or less. The ground speed corresponding to the case without handwheel operation is: The handwheel parameter data last_val1 at the takeoff starting point kp_l, the handwheel parameter data first_val1 at the landing end point kp_r, the ground speed end_gs1 at the takeoff starting point kp_l, and the ground speed start_gs1 at the landing end point kp_r. The takeoff taxiing calculation is as follows: end_index1 = kp_l.time1, end_gs1 = GS[end_index1], last_val1 = abs(param[end_index1]). The landing taxiing calculation is as follows: start_index1 = kp_r.time1, start_gs1 = GS[start_index1], first_val1 = abs(param[start_index1]). param is the handwheel parameter dataset, end_index1 represents the takeoff starting point position, kp_l.time1 represents the takeoff starting point time, start_index1 represents the landing end point position, kp_r.time1 represents the landing end point time, GS represents the ground speed, last_val1 represents the handwheel parameter data at the takeoff starting point position, first_val1 represents the handwheel parameter data at the landing end point position, and abs represents the absolute value.

[0036] In this embodiment, for the ground speed corresponding to the case where the maximum value val_max_abs of the handwheel parameter stroke in the entire taxiing process of the target flight is below the handwheel operation threshold thr, the acquisition method is as follows: All maximum value positions list_idx of the target flight, the maximum value list_idx[-1] of the handwheel parameter stroke at the key point in the takeoff taxiing stage, and the maximum value list_idx[0] of the handwheel parameter stroke at the key point in the landing taxiing stage are collected. In this embodiment, all maximum value positions list_idx represent the set of the locations of all maximum values of the handwheel parameter stroke in the entire taxiing process of the target flight.

[0037] The takeoff taxiing calculation is such that end_index2 = list_idx[-1], end_gs2 = GS[end_index2], last_val2 = abs(param[end_index2]), The landing taxiing calculation is such that start_index2 = list_idx[0], start_gs2 = GS[start_index2], first_val2 = abs(param[start_index2]). param is the handwheel parameter dataset, end_index2 represents the position of the maximum value of the handwheel parameter stroke in the last round of takeoff roll, start_index2 represents the position of the maximum value of the handwheel parameter stroke in the first round of landing roll, GS represents the ground speed, last_val2 represents the handwheel parameter data corresponding to the position of the maximum value of the handwheel parameter stroke in the last round of takeoff roll, first_val2 represents the handwheel parameter data corresponding to the position of the maximum value of the handwheel parameter stroke in the first round of landing roll, start_gs2 represents the ground speed of the handwheel parameter in the first round of landing roll, end_gs2 represents the ground speed of the handwheel parameter in the last round of takeoff roll, and abs represents the absolute value.

[0038] In this embodiment, for the ground speed corresponding to the case where the maximum value val_max_abs of the handwheel parameter stroke in the entire takeoff and landing process of the target flight is greater than the handwheel operation threshold thr, the acquisition method is as follows: Locate the position of the over-threshold value, collect consecutive over-threshold value segments list_rp and list_lp, record the maximum stroke value list_val for each over-threshold value segment, record the over-threshold value position list_rp[-1] of the key point in the takeoff roll stage, and record the over-threshold value position list_lp[0] of the key point in the landing roll stage. The takeoff roll calculation is such that end_index3 = list_rp[-1], end_gs3 = GS[end_index3], last_val3 = list_val[-1]. The landing roll calculation is such that start_index3 = list_lp[0], start_gs3 = GS[start_index3], first_val3 = list_val[0]. param is the handwheel parameter dataset, end_index3 represents the threshold-crossing position of the last wave of takeoff roll, start_index3 represents the threshold-crossing position of the first wave of landing roll, GS represents the ground speed, last_val3 represents the maximum travel value of the threshold-crossing position of the last wave of takeoff roll, first_val3 represents the maximum travel value of the threshold-crossing position of the first wave of landing roll, list_val[0] represents the maximum travel value of the threshold-crossing segment of the key point in the landing roll stage, end_gs3 represents the ground speed at the threshold-crossing position of the last wave of takeoff roll, start_gs3 represents the ground speed corresponding to the threshold-crossing position of the first wave of landing roll, and list_val[-1] represents the maximum travel value of the threshold-crossing of the key point in the takeoff roll stage.

[0039] In step S4, based on the ground speed of the key point, compare it with the reference range of the ground speed of the set handwheel operation. If the ground speed of the key point exceeds the reference range of the ground speed of the set handwheel operation, an alarm is issued.

[0040] In the above embodiments, each step is described in the form of the above front-to-back order. However, as can be understood by those skilled in the art, in order to achieve the effects of this embodiment, between different steps, it is not necessarily executed in such an order, and they may be executed simultaneously (in parallel) or in the reverse order, and any of these simple changes are within the protection scope of the present invention.

[0041] Regarding the system for measuring the ground speed of an airplane during handwheel operation according to the second embodiment of the present invention, the system includes a data acquisition module configured to collect the handwheel parameter data and the taxiing data segment of the airplane as initial data, a data preprocessing module configured to perform data cleansing and standardization based on the initial data to obtain preprocessed data, Based on the preprocessing data, the key handwheel operation parameter points are located, the ground speed corresponding to the key handwheel operation parameter points is obtained, and it is configured to record it as the key point ground speed, specifically, Based on the preprocessing data, calculate the standard deviation std of the handwheel parameters in the entire taxiing process of the target flight and the maximum value val_max_abs of the handwheel parameter travel in the entire taxiing process of the target flight. Among them, the maximum value val_max_abs of the handwheel parameter travel is val_max_abs = max(abs(val_max), abs(val_min)), val_max represents the maximum value of the input angle in the left direction of the handwheel, val_min represents the maximum value of the input angle in the right direction of the handwheel, the maximum value val_max_abs of the handwheel parameter travel calculates the absolute value and takes the maximum value, max represents the maximum value, and abs represents taking the absolute value. Based on the standard deviation std of the handwheel parameters in the entire taxiing process of the target flight and the maximum value of the handwheel parameter travel in the entire taxiing process of the target flight, set the handwheel operation threshold thr. When the standard deviation of the handwheel parameters in the entire taxiing process of the target flight is <1 degree, set 1 degree as the determination threshold for handwheel operation. When the standard deviation of the handwheel parameters in the entire taxiing process of the target flight ≥1 degree, set 1 times the standard deviation as the determination threshold for handwheel operation. In step S303, there is a key point ground speed acquisition module configured to locate the key handwheel operation parameter points and obtain the ground speed corresponding to the key handwheel operation parameter points. Based on the key point ground speed, compare it with the set reference range of the ground speed for handwheel operation, and be configured to issue an alarm when the key point ground speed exceeds the set reference range of the ground speed for handwheel operation. It is equipped with an alarm module.

[0042] As will be clearly understood by those skilled in the art, for the sake of simplicity and conciseness of the description, the specific operation process and related explanations of the system described above can refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0043] It should be noted that the system for measuring the ground speed of an airplane during handwheel operation according to the above embodiment only takes the allocation of the above functional modules as an example for explanation. In actual applications, the above functions can be assigned to different functional modules to be completed as needed, that is, the modules or steps in the embodiments of the present invention can be re-decomposed or combined. For example, the modules in the above embodiment can be combined as one module to complete all or part of the functions described above, or further divided into a plurality of sub-modules. The names of the modules and steps related to the embodiments of the present invention are only for distinguishing each module or step, and are not considered to inappropriately limit the present invention.

[0044] The electronic device according to the third embodiment of the present invention is provided with at least one processor, and a memory communicatively connected to at least one of the processors. The memory stores instructions executable by the processor, and when the instructions are executed by the processor, the method for measuring the ground speed of an airplane during handwheel operation as described above is realized.

[0045] In the fourth embodiment of the present invention, Create a pilot individual training file, which includes the pilot's behavior data, personal characteristics, flight environment data, etc. The behavior data includes data such as the handwheel usage speed, handwheel usage intensity, handwheel operation time, handwheel operation form, and operations on other flight control devices. The personal characteristics include data such as age, years of service, flight hours, psychological quality, and stress coping ability. The flight environment data includes data such as flight missions, weather, and aircraft conditions, but is not limited thereto. Step A1 and, Step A2 of obtaining the ground speed of the point that is crucial for the past flights of the target pilot by the method described in Steps S1 to S4; Construct an LSTM model using the Keras library. The LSTM model includes an input layer, an LSTM layer, a fully connected layer, and an activation function. In the LSTM model, train with a training set, set the batch size and the number of training iterations, calculate the predicted output to calculate the loss value, train the model by the stochastic gradient descent algorithm according to the loss value, and repeat the iteration until the loss function is lower than the preset threshold value to obtain a trained LSTM model. Step A3, including, providing a method for pilot training based on the method for measuring the ground speed of an aircraft during handwheel operation described above.

[0046] Input the pilot individual training file and the ground speed of the point that is crucial for the past flights of the target pilot into the trained LSTM model to obtain the probability of exceeding the reference interval of the ground speed of the set handwheel operation when the target pilot steers the handwheel of the aircraft during the taxiing stage.

[0047] Perform actual training certification according to the probability of exceeding the reference interval of the ground speed of the set handwheel operation when the target pilot steers the handwheel of the aircraft during the taxiing stage, judge the probability of exceeding the actually trained and certified reference interval, and adjust the model.

[0048] As will be clearly understood by those skilled in the art, for the sake of facilitating and simplifying the description, the specific operation processes and related descriptions of the memory device and the processing device described above can refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0049] As should be aware to those skilled in the art, each exemplary module and method step described in connection with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. The programs corresponding to the software modules and method steps can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the technical field. To clearly explain the interchangeability of electronic hardware and software, the above description has generally described each exemplary configuration and step according to their functions. Whether these functions are finally executed in the form of electronic hardware or in the form of software is determined by the specific application and design constraints of the technical solution. A person skilled in the art can realize the functions described by using different methods for each specific application, but such realization should not be considered as exceeding the scope of the present invention.

[0050] The terms "first", "second", etc. are for distinguishing similar objects and are not for describing or representing a specific order or sequence.

[0051] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a series of elements includes not only those elements but also other elements not expressly listed, or further includes elements inherent to these processes, methods, articles, or apparatus / device.

[0052] So far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings. However, as can be easily understood by those skilled in the art, the protection scope of the present invention is clearly not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the related technical features, and all the technical solutions after these changes or substitutions fall within the protection scope of the present invention.

Claims

1. Step S1 of collecting handwheel parameter data and runway data segments of an airplane as initial data; Step S2 of performing data cleansing and standardization based on the initial data to obtain pre-processed data; Step S3 of locating key hand wheel steering parameter points based on the pre-processed data, obtaining ground speeds corresponding to the key hand wheel steering parameter points and marking them as key point ground speeds, in particular, Calculate the standard difference std of the handwheel parameter for the entire taxiing process of the target flight and the maximum value val_max_abs of the handwheel parameter for the entire taxiing process of the target flight based on the pre-processed data; Among them, the hand wheel parameter stroke maximum value val_max_abs is: val_max_abs=max(abs(val_max), abs(val_min)), Step S301, where val_max represents the maximum value of the input angle of the hand wheel in the left direction, val_min represents the maximum value of the input angle of the hand wheel in the right direction, and the hand wheel parameter travel maximum value val_max_abs is calculated to obtain the maximum value by absolute value calculation, where max represents the maximum value and abs represents the absolute value; A handwheel operation threshold value thr is set based on the handwheel parameter standard difference std of the entire taxiing process of the target flight and the handwheel parameter stroke maximum value of the entire taxiing process of the target flight; If the standard difference of the handwheel parameters during the entire runway of the target flight is less than 1 degree, set 1 degree as the judgment threshold of the handwheel operation; Step S302: if the standard difference of the hand wheel parameters during the entire taxiing process of the target flight is ≧1 degree, set the standard difference of 1 as the judgment threshold of the hand wheel operation; S303 locating key hand wheel steering parameter points and obtaining ground speeds corresponding to the key hand wheel steering parameter points; Step S3: Step S4: comparing the critical point ground speed with a reference interval of the ground speed of the hand wheel operation set based on the critical point ground speed, and issuing an alarm when the critical point ground speed exceeds the reference interval of the ground speed of the hand wheel operation set; Including, A method for measuring aircraft ground speed during hand wheel control, comprising:

2. The data cleansing and standardization includes: Based on the initial data, a data cleansing algorithm is used to cleanse, remove and replace the abnormal data to obtain cleansed data; and obtaining pre-processed data by interpolating, smoothing, and fitting based on the cleansed data.

2. The method for measuring aircraft ground speed during hand wheel steering as claimed in claim 1.

3. Specifically, in step S303, establishing key hand wheel control parameter points, including key points during the takeoff run phase and key points during the landing run phase; The pivotal point of the takeoff run phase is the end of the final handwheel maneuver before takeoff of the subject flight; The key point of the landing run phase is the start of the first handwheel maneuver after the subject flight touches down, step S3031; obtaining ground speeds corresponding to key hand wheel steering parameter points S3032; Including, 2. The method for measuring aircraft ground speed during hand wheel steering as claimed in claim 1.

4. Step S3032 includes a ground speed corresponding to a case where there is no hand wheel operation, a ground speed corresponding to a case where the hand wheel parameter maximum value val_max_abs of the entire runway of the target flight is equal to or smaller than the hand wheel operation threshold value thr, or a ground speed corresponding to a case where the hand wheel parameter maximum value val_max_abs of the entire runway of the target flight is greater than the hand wheel operation threshold value thr.

2. The method for measuring aircraft ground speed during hand wheel steering as claimed in claim 1.

5. Regarding the ground speed corresponding to the case without hand wheel operation, the method of obtaining the ground speed is as follows: The handwheel parameter of the entire taxiing process of the target flight is less than or equal to 1 degree, and the handwheel parameter deduplication value is less than 3, the handwheel parameter maximum value is less than or equal to 5, and the handwheel parameter standard difference std of the entire taxiing process of the target flight is less than or equal to 5; The corresponding ground speed without hand wheel control is: The hand wheel parameter data of the takeoff start point kp_l is last_val1, the hand wheel parameter data of the landing end point kp_r is first_val1, the ground speed of the takeoff start point kp_l is end_gs1, and the ground speed of the landing end point kp_r is start_gs1. Takeoff run calculation is as follows: end_index1 = kp_l.time1, end_gs1=GS[end_index1], last_val1 = abs(param[end_index1]), The landing run calculation is as follows: start_index1 = kp_r.time1, start_gs1=GS[start_index1]; first_val1 = abs(param[start_index1]), param is the hand wheel parameter data set, end_index1 represents the takeoff origin position, kp_l.time1 represents the takeoff origin time, start_index1 represents the landing end position, kp_r.time1 represents the landing end time, GS represents the ground speed, last_val1 represents the hand wheel parameter data of the takeoff origin position, first_val1 represents the hand wheel parameter data of the landing end position, and abs represents the absolute value.

5. The method for measuring aircraft ground speed during hand wheel steering as claimed in claim 4.

6. The method of obtaining the ground speed corresponding to the case where the handwheel parameter stroke maximum value val_max_abs of the entire taxiing process of the subject flight is equal to or less than the handwheel operation threshold value thr is as follows: All maximum value positions list_idx of the target flight, handwheel parameter maximum stroke values ​​list_idx[-1] of key points in the takeoff run phase, and handwheel parameter maximum stroke values ​​list_idx[0] of key points in the landing run phase are collected. Takeoff run calculation is: end_index2 = list_idx[-1], end_gs2=GS[end_index2], last_val2 = abs(param[end_index2]), For the landing run calculation, start_index2 = list_idx[0], start_gs2=GS[start_index2]; first_val2 = abs(param[start_index2]), param is a hand wheel parameter data set, end_index2 represents the position of the maximum value of the hand wheel parameter stroke in the last takeoff run, start_index2 represents the position of the maximum value of the hand wheel parameter stroke in the first takeoff run, GS represents the ground speed, last_val2 represents the hand wheel parameter data corresponding to the position of the maximum value of the hand wheel parameter stroke in the last takeoff run, first_val2 represents the hand wheel parameter data corresponding to the position of the maximum value of the hand wheel parameter stroke in the first takeoff run, start_gs2 represents the ground speed of the hand wheel parameter in the first takeoff run, end_gs2 represents the ground speed of the hand wheel parameter in the last takeoff run, and abs represents the absolute value.

5. The method for measuring aircraft ground speed during hand wheel steering as claimed in claim 4.

7. The method of obtaining the ground speed corresponding to the case where the hand wheel parameter stroke maximum value val_max_abs of the entire taxiing process of the target flight is greater than the hand wheel operation threshold value thr is as follows: Locating the super-threshold position, taking consecutive super-threshold segments list_rp and list_lp, recording the maximum travel value list_val for each super-threshold segment, recording the super-threshold position of the key point of the takeoff run phase list_rp[-1], and recording the super-threshold position of the key point of the landing run phase list_lp[0]. Takeoff run calculation: end_index3 = list_rp[-1], end_gs3=GS[end_index3], last_val3 = list_val[-1], The landing run calculation is as follows: start_index3 = list_lp[0], start_gs3=GS[start_index3], first_val3 = list_val[0], param is the handwheel parameter data set, end_index3 represents the over-threshold position of the last wave of the takeoff run, start_index3 represents the over-threshold position of the first wave of the landing run, GS represents the ground speed, last_val3 represents the maximum throw value of the over-threshold position of the last wave of the takeoff run, first_val3 represents the maximum throw value of the over-threshold position of the first wave of the landing run, list_val[0] represents the maximum throw value of the over-threshold segment of the key point of the landing run phase, end_gs3 represents the ground speed of the over-threshold position of the last wave of the takeoff run, start_gs3 represents the ground speed corresponding to the over-threshold position of the first wave of the landing run, and list_val[-1] represents the over-threshold maximum throw value of the key point of the takeoff run phase, 5. The method for measuring aircraft ground speed during hand wheel steering as claimed in claim 4.

8. a data acquisition module configured to collect handwheel parameter data and runway data segments of the aircraft as initial data; a data pre-processing module configured to perform data cleansing and standardization based on the initial data to obtain pre-processed data; a key point ground speed acquisition module configured to locate key hand wheel steering parameter points based on the pre-processed data, obtain ground speeds corresponding to the key hand wheel steering parameter points, and note them as key point ground speeds, in particular, Calculate the standard difference std of the handwheel parameter for the entire taxiing process of the target flight and the maximum value val_max_abs of the handwheel parameter for the entire taxiing process of the target flight based on the pre-processed data; Among them, the hand wheel parameter stroke maximum value val_max_abs is: val_max_abs=max(abs(val_max), abs(val_min)), val_max represents the maximum value of the input angle of the hand wheel in the left direction, val_min represents the maximum value of the input angle of the hand wheel in the right direction, and the hand wheel parameter stroke maximum value val_max_abs is calculated as the absolute value and takes the maximum value, where max represents the maximum value and abs represents the absolute value; A handwheel operation threshold value thr is set based on the handwheel parameter standard difference std of the entire taxiing process of the target flight and the handwheel parameter stroke maximum value of the entire taxiing process of the target flight; If the standard difference of the handwheel parameters during the entire runway of the target flight is less than 1 degree, set 1 degree as the judgment threshold of the handwheel operation; If the standard difference of the handwheel parameters during the entire taxiing process of the subject flight is ≧1 degree, set 1 times the standard difference as the judgment threshold of the handwheel operation; a key point ground speed acquisition module configured to locate key hand wheel steering parameter points and acquire ground speeds corresponding to the key hand wheel steering parameter points; and a warning module configured to compare the critical point ground speed with a set hand wheel steering ground speed reference interval based on the critical point ground speed, and to issue a warning when the critical point ground speed exceeds the set hand wheel steering ground speed reference interval.

1. A system for measuring aircraft ground speed during hand wheel operation.

9. At least one processor; a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the processor, and when the instructions are executed by the processor, the method for measuring an aircraft ground speed during hand wheel operation according to any one of claims 1 to 7 is realized.

1. An electronic device comprising:

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