Method, system and device for measuring aircraft ground speed during hand wheel control

Abstract

The present invention belongs to the field of data analysis, specifically to a method, system and device for measuring an aircraft's ground speed when operating the hand wheel, and aims to solve the problem that the prior art only focuses on the nose wheel steering system itself, and does not take into account the operational influence of the nose wheel steering system, and therefore cannot check the actual operating status when the aircraft is moving. The present invention includes: collecting handwheel parameter data and runway data segments of an airplane as initial data; performing data cleansing and standardization based on the initial data to obtain pre-processed data; locating key handwheel control parameter points based on the pre-processed data, obtaining ground speeds corresponding to the key handwheel control parameter points, and recording them as key point ground speeds. The present invention can accurately evaluate the safety operating state during the runway phase of an aircraft, and provide a basis for aviation safety incident investigation.

Description

[Technical field]

[0001] The present invention is in the field of data analysis, and more particularly, relates to a method, system and apparatus for measuring aircraft ground speed during hand wheel steering. [Background technology]

[0002] The nosewheel steering system of an airplane is one of the main forms of directional control when the airplane runs on the ground. If there is a problem with the nosewheel steering system, it will directly affect the directional control of the airplane running and steering, and the airplane will deviate from the runway. Based on the safety of the airplane, the nosewheel steering system is usually designed to perform small-angle correction at high speed and large-angle steering at low speed. The steering hand wheel, as the main component of the nosewheel steering system, can only be controlled when the airplane is running at low speed. If the hand wheel is used at the high-speed running stage, the direction will be distorted and the risk of deviation from the runway will be increased. In order to ensure the stable running of the airplane, it is very meaningful to analyze the ground speed when the steering hand wheel of the airplane is used in combination with the design features of the nosewheel steering system of the airplane to reduce the safety risk of the airplane deviating from the runway. Summary of the Invention [Problem to be solved by the invention]

[0003] In the prior art, a steering control unit of an aircraft's nose wheel steering system executes a control law switching logic for large and small angles according to a received airplane wheel speed signal or ground speed signal to achieve the purpose of controlling the steering angle of the nose wheel steering system. This method starts from the nose wheel steering system itself, does not take into account the operational influence of the nose wheel steering system, and cannot check the actual operating situation when the aircraft is running. [Means for solving the problem]

[0004] In order to solve the above problems in the prior art, that is, the prior art only focuses on the nose wheel steering system itself, does not consider the operational influence of the nose wheel steering system, and cannot check the actual operating status when the aircraft is running, the present invention provides the following: 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 notating them as key point ground speeds, Based on the pre-processed data, calculate the standard difference std of the handwheel parameter for the entire taxiing process of the target flight and the maximum stroke value val_max_abs of the handwheel parameter for the entire taxiing process of the target flight; 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 stroke maximum value val_max_abs is calculated to obtain the maximum value by absolute value calculation, 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 in handwheel parameters during the entire taxiing process of the subject flight is less than 1 degree, set 1 degree as the judgment threshold for handwheel operation; Step S302: if the standard difference of the hand wheel parameters of the entire runway of the target flight is ≧1 degree, set the standard difference of 1 as the judgment threshold of the hand wheel operation; Step S3, which is as follows: 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 if the critical point ground speed exceeds the reference interval of the ground speed of the hand wheel operation set; Including, To provide a method for measuring airplane ground speed during hand wheel control.

[0005] Furthermore, the data cleansing and standardization includes: based on the initial data, performing cleansing, deletion and replacement on abnormal data through a data cleansing algorithm to obtain cleansed data; The method is configured to obtain pre-processed data by performing interpolation, smoothing, and fitting based on the cleansed data.

[0006] The standard difference in the handwheel stroke during the taxiing phase of an operational flight is close to 0. If the standard difference is set to 0 degrees as the condition for determining whether the handwheel is in use, the range is too small, which may lead to erroneous determination. To avoid such a situation, a standard difference limit is set for correction.

[0007] In step S303, a key hand wheel steering parameter point is located, and a ground speed corresponding to the key hand wheel steering parameter point is obtained.

[0008] Furthermore, in step S303, specifically, 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 control after the subject flight touches down, step S3031; The method includes step S3032 of obtaining ground speeds corresponding to key hand wheel steering parameter points.

[0009] Furthermore, step S3032 includes a ground speed corresponding to the case where there is no hand wheel operation, a ground speed corresponding to the case where the hand wheel parameter maximum value val_max_abs for the entire runway process of the target flight is equal to or smaller than the hand wheel operation threshold value thr, or a ground speed corresponding to the case where the hand wheel parameter maximum value val_max_abs for the entire runway process of the target flight is greater than the hand wheel operation threshold value thr.

[0010] Furthermore, the method of obtaining the ground speed corresponding to the case without the hand wheel operation 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 end_index1=kp_l.time1, end_gs1 = GS[end_index1], last_val1=abs(param[end_index1]), The landing run calculation is: start_index1=kp_r.time1, start_gs1 = GS[start_index1], It looks like this: first_val1=abs(param[start_index1]), param is a 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 at the takeoff origin position, first_val1 represents the hand wheel parameter data at the landing end position, and abs represents the absolute value.

[0011] Furthermore, 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 target 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 stroke maximum value list_idx[-1] of key points in the takeoff runway phase, and handwheel parameter stroke maximum value list_idx[0] of key points in the landing runway phase are collected. Takeoff run calculation, end_index2 = list_idx[-1], end_gs 2 = GS[end_index2], last_val 2=abs(param[end_index2]), For landing run calculation, start_index2=list_idx[0], start_gs 2 = GS[start_index2], It is as follows: first_val2=abs(param[start_index2]), param is a handwheel parameter data set, end_index2 represents the position of the maximum value of the handwheel parameter stroke in the final takeoff run, start_index2 represents the position of the maximum value of the handwheel parameter stroke in the first takeoff run, 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 final takeoff run, first_val2 represents the handwheel parameter data corresponding to the position of the maximum value of the handwheel parameter stroke in the first takeoff run, start_gs2 represents the ground speed of the handwheel parameter in the first takeoff run, end_gs2 represents the ground speed of the handwheel parameter in the final takeoff run, and abs represents the absolute value.

[0012] Furthermore, the method of acquiring 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: The super-threshold positions are located, the consecutive super-threshold segments list_rp and list_lp are collected, the maximum travel value list_val for each super-threshold segment is recorded, the super-threshold positions of the key points in the takeoff run phase list_rp[-1] are recorded, and the super-threshold positions of the key points in the landing run phase list_lp[0] are recorded. Takeoff run calculation is end_index3=list_rp[-1], end_gs3=GS[end_index3], last_val3=list_val[-1], For landing run calculation, 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 final 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 final 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 final 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 maximum throw value of the over threshold of the key point of the takeoff run phase.

[0013] In another aspect of the present invention, 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, specifically comprising: Based on the pre-processed data, calculate the standard difference std of the handwheel parameter for the entire taxiing process of the target flight and the maximum stroke value val_max_abs of the handwheel parameter for the entire taxiing process of the target flight; 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, 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 in handwheel parameters during the entire taxiing process of the subject flight is less than 1 degree, set 1 degree as the judgment threshold for handwheel operation; If the standard difference in handwheel parameters during the entire taxiing process of the subject flight is ≥ 1 degree, set 1x the standard difference as the judgment threshold for handwheel operation; A key point ground speed acquisition module is configured to locate a key hand wheel steering parameter point and acquire a ground speed corresponding to the key hand wheel steering parameter point in step S303; an alarm 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 an alarm when the critical point ground speed exceeds the set hand wheel steering ground speed reference interval; Equipped with A system is presented to measure aircraft ground speed during hand wheel control.

[0014] In a third aspect of the present invention, At least one processor; a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the processor, the instructions being executed by the processor to implement the above-mentioned method for measuring aircraft ground speed during hand wheel operation. Effect of the Invention

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

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

[0017] (2) In the present invention, the handwheel parameter data and runway data segments of an aircraft are pre-processed through data standardization and data cleansing algorithms to improve the validity of the data and provide a database for subsequent determination of the handwheel control threshold and maximum values.

[0018] (3) The method of the present invention can calculate and monitor the operations of pilots during flight operations, quantify pilot skill deficiencies, understand pilot hand wheel steering habits while driving, and find pilots who do not use the hand wheel regularly so that they can improve their skills.

[0019] (4) The method of the present invention can accurately evaluate the safety operating condition during the taxiing phase of an operational flight, providing a basis for aviation safety incident investigation. [Brief description of the drawings]

[0020] [Figure 1] FIG. 2 is a flow diagram of a method for measuring an aircraft ground speed during hand wheel operation according to an embodiment of the present invention. [Diagram 2] FIG. 4 is a flow diagram of a method for performing data checking to determine whether an aircraft ground speed exceeds a threshold when operating a hand wheel according to an embodiment of the present invention. [Diagram 3] FIG. 4 is a flow diagram illustrating a setting process for a hand wheel steering threshold according to an embodiment of the present invention; [Figure 4] FIG. 4 is a flow diagram illustrating obtaining ground speeds corresponding to key hand wheel steering parameter points according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Other features, objects and advantages of the present application will become more apparent upon reading and referring to the following detailed description of the non-limiting embodiments in the drawings, in which:

[0022] The present application will be described in more detail below in conjunction with the drawings and examples. It is understood that the specific examples described herein are merely for the purpose of illustrating the relevant invention, and are not intended to limit the invention. Furthermore, for ease of description, only parts related to the relevant invention are shown in the drawings.

[0023] In addition, where no contradiction exists, the embodiments and features in the embodiments in the present application may be combined with each other. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present application will be described in detail in conjunction with the embodiments with reference to the drawings.

[0024] In order to more clearly explain the method for measuring aircraft ground speed during hand wheel operation of the present invention, each step in the embodiment of the present invention will be developed and described in detail below in conjunction with FIG.

[0025] The method for measuring an airplane ground speed during hand wheel operation according to the first embodiment of the present invention includes steps S1 to S4, and a detailed description of each step is given below.

[0026] The present invention is intended to provide a quantitative assessment and prediction of whether the aircraft ground speed is within the speed range for correct use of the hand wheel, and to provide early prevention and post-flight reversal analysis for the aircraft running off the runway.

[0027] In step S1, the handwheel parameter data and the runway data segment of the aircraft are collected as initial data; In this embodiment, the method further includes a step of checking the initial data to see if the required standard parameters are present.

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

[0029] In this embodiment, the data cleansing and standardization includes: based on the initial data, performing cleansing, outlier removal and replacement on the abnormal data through a data cleansing algorithm to obtain cleansed data; The method is configured to obtain pre-processed data by performing interpolation, smoothing, and fitting based on the cleansed data.

[0030] As shown in FIG. 2, in the outlier removal, the method of determining whether the data is an outlier is as follows: It is determined that there is hopping in the hand wheel parameter value when the difference between adjacent recorded values ​​of the hand wheel parameter exceeds 50 degrees; If the hand wheel parameter travel at the touchdown time is greater than 5 degrees, it is determined that there is a deviation in the hand wheel parameter; When the absolute value of the hand wheel parameter is greater than 75 degrees, it is determined that the hand wheel parameter has exceeded the valid range; If an abnormal value appears, the corresponding flight data is deleted.

[0031] In step S3, based on the pre-processed data, the key hand wheel steering parameter points are located, and the ground speeds corresponding to the key hand wheel steering parameter points are obtained and noted as the key point ground speeds.

[0032] In this embodiment, in step S3, Based on the pre-processed data, calculate the standard difference std of the handwheel parameter for the entire taxiing process of the target flight and the maximum stroke value val_max_abs of the handwheel parameter for the entire taxiing process of the target flight; 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 stroke maximum value val_max_abs is calculated to obtain the maximum value by absolute value calculation, 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 in handwheel parameters during the entire taxiing process of the subject flight is less than 1 degree, set 1 degree as the judgment threshold for handwheel operation; Step S302: if the standard difference of the handwheel parameters during the entire runway of the target flight is ≧1 degree, set the standard difference of 1 as the judgment threshold of the handwheel operation; and S303 locating key hand wheel steering parameter points and obtaining ground speeds corresponding to the key hand wheel steering parameter points.

[0033] In this embodiment, in step S303, specifically, 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 control after the subject flight touches down, step S3031; and obtaining ground speeds corresponding to the key hand wheel steering parameter points S3032.

[0034] In this embodiment, step S3032 includes a ground speed corresponding to the case where there is no hand wheel operation, a ground speed corresponding to the case where the hand wheel parameter maximum value val_max_abs for the entire runway process of the target flight is equal to or smaller than the hand wheel operation threshold value thr, or a ground speed corresponding to the case where the hand wheel parameter maximum value val_max_abs for the entire runway process of the target flight is greater than the hand wheel operation threshold value thr.

[0035] In this embodiment, the method of obtaining the ground speed corresponding to the case without the hand wheel operation 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 end_index1=kp_l.time1, end_gs1 = GS[end_index1], last_val1=abs(param[end_index1]), The landing run calculation is: start_index1=kp_r.time1, start_gs1 = GS[start_index1], It looks like this: first_val1=abs(param[start_index1]), param is a 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 at the takeoff origin position, first_val1 represents the hand wheel parameter data at the landing end position, and abs represents the absolute value.

[0036] In this embodiment, the method of acquiring 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 equal to or less than the hand wheel operation threshold value thr is as follows: All maximum value positions list_idx of the target flight, handwheel parameter stroke maximum value list_idx[-1] of key points in the takeoff runway phase, and handwheel parameter stroke maximum value list_idx[0] of key points in the landing runway phase are collected. In this embodiment, all maximum value positions list_idx represents a set of positions of all hand wheel parameter maximum values ​​during the entire taxiing process of the target flight.

[0037] Takeoff run calculation, end_index2 = list_idx[-1], end_gs2 = GS[end_index2], last_val2=abs(param[end_index2]), For landing run calculation, start_index2=list_idx[0], start_gs2=GS[start_index2], first_val2=abs(param[start_index2]), param is a handwheel parameter data set, end_index2 represents the position of the maximum value of the handwheel parameter stroke in the final takeoff run, start_index2 represents the position of the maximum value of the handwheel parameter stroke in the first takeoff run, 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 final takeoff run, first_val2 represents the handwheel parameter data corresponding to the position of the maximum value of the handwheel parameter stroke in the first takeoff run, start_gs2 represents the ground speed of the handwheel parameter in the first takeoff run, end_gs2 represents the ground speed of the handwheel parameter in the final takeoff run, and abs represents the absolute value.

[0038] In this embodiment, the method of acquiring 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: The super-threshold positions are located, the consecutive super-threshold segments list_rp and list_lp are collected, the maximum travel value list_val for each super-threshold segment is recorded, the super-threshold positions of the key points in the takeoff run phase list_rp[-1] are recorded, and the super-threshold positions of the key points in the landing run phase list_lp[0] are recorded. Takeoff run calculation is end_index3=list_rp[-1], end_gs3=GS[end_index3], last_val3=list_val[-1], For landing run calculation, 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 super-threshold position of the last wave of the takeoff run, start_index3 represents the super-threshold position of the first wave of the landing run, GS represents the ground speed, last_val3 represents the maximum throw value of the super-threshold position of the last wave of the takeoff run, first_val3 represents the maximum throw value of the super-threshold position of the first wave of the landing run, list_val[0] represents the maximum throw value of the super-threshold segment of the key point of the landing run phase, end_gs3 represents the ground speed of the super-threshold position of the last wave of the takeoff run, start_gs3 represents the ground speed corresponding to the super-threshold position of the first wave of the landing run, and list_val[-1] represents the maximum throw value of the super-threshold of the key point of the takeoff run phase.

[0039] In step S4, the critical point ground speed is compared with a reference interval of the set ground speed for hand wheel operation based on the critical point ground speed, and an alarm is issued if the critical point ground speed exceeds the reference interval of the set ground speed for hand wheel operation.

[0040] In the above embodiment, each step is described in the above-mentioned order, but as can be understood by those skilled in the art, in order to achieve the effect of this embodiment, different steps do not necessarily have to be executed in such order, and may be executed simultaneously (in parallel) or in the reverse order, and all of these simple variations are within the scope of protection of the present invention.

[0041] Regarding the system for measuring the ground speed of an aircraft during hand wheel operation according to the second embodiment of the present invention, the system includes: 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, specifically comprising: Based on the pre-processed data, calculate the standard difference std of the handwheel parameter for the entire taxiing process of the target flight and the maximum stroke value val_max_abs of the handwheel parameter for the entire taxiing process of the target flight; 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, 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 in handwheel parameters during the entire taxiing process of the subject flight is less than 1 degree, set 1 degree as the judgment threshold for handwheel operation; If the standard difference in handwheel parameters during the entire taxiing process of the subject flight is ≥ 1 degree, set 1x the standard difference as the judgment threshold for handwheel operation; A key point ground speed acquisition module is configured to locate a key hand wheel steering parameter point and acquire a ground speed corresponding to the key hand wheel steering parameter point in step S303; and an alarm 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 an alarm when the critical point ground speed exceeds the set hand wheel steering ground speed reference interval.

[0042] As will be clearly understood by those skilled in the art, for ease and brevity of description, the specific operating processes and related descriptions of the system described above may refer to the corresponding processes in the above method embodiments, and will not be described repeatedly here.

[0043] It should be noted that the system for measuring the ground speed of an aircraft when operating a hand wheel according to the above embodiment is merely an example of the allocation of the above functional modules, and in actual applications, the above functions may be assigned to different functional modules as necessary, that is, the modules or steps in the embodiments of the present invention may be re-decomposed or combined, for example, the modules in the above embodiment may be merged into one module or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps in the embodiments of the present invention are merely intended to distinguish each module or step, and are not to be considered as inappropriately limiting the present invention.

[0044] An electronic device according to a third embodiment of the present invention includes: At least one processor; a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the processor which, when executed by the processor, implement the method for measuring aircraft ground speed during hand wheel manipulation described above.

[0045] In a fourth embodiment of the present invention, Step A1: creating a pilot personal training file, the personal training file including pilot behavior data, personal characteristics, and flight environment data, etc., the behavior data including hand wheel use speed, hand wheel use intensity, hand wheel operation time, hand wheel operation type, and operation on other flight control devices, the personal characteristics including age, years of service, number of flight hours, psychological quality, and stress coping ability, the flight environment data including, but not limited to, flight mission, weather, aircraft status, etc.; Step A2 of acquiring ground speeds at key points of the target pilot's past flights by the method described in steps S1 to S4; An LSTM model is constructed using the Keras library, and the LSTM model includes an input layer, an LSTM layer, a fully connected layer, and an activation function; A method for training pilots based on the method for measuring aircraft ground speed under hand wheel control as described above is provided, the method including: step A3: training the LSTM model with a training set, setting a batch size and a number of training iterations, calculating a predicted output to calculate a loss value, training the model with a stochastic gradient descent algorithm according to the loss value, and repeating the iterations to obtain a trained LSTM model until the loss function is lower than a preset threshold.

[0046] The pilot personal training file and the key point ground speeds of the target pilot's past flights are input into the trained LSTM model to obtain the probability that the target pilot will exceed the set hand wheel control ground speed reference interval when steering the airplane's hand wheel during the runway phase.

[0047] According to the probability that the target pilot exceeds the set reference interval of the ground speed of the hand wheel operation when steering the hand wheel of the airplane in the runway phase, actual training authentication is performed, the probability of exceeding the actually trained and authenticated reference interval is determined, and the model is adjusted.

[0048] As will be clearly understood by those skilled in the art, for ease and brevity of description, the specific operating processes and related descriptions of the storage device and processing device described above may refer to the corresponding processes in the above method embodiments, and will not be described repeatedly here.

[0049] As should be appreciated by those skilled in the art, each example module, method step described in connection with the embodiments disclosed herein can be realized by electronic hardware, computer software, or a combination of the two, and the programs corresponding to the software modules, method steps may be located in a random access memory (RAM), an internal memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. In order to clearly describe the compatibility of electronic hardware and software, the above description has already generally described each example configuration and step according to its function. Whether these functions are ultimately implemented in the form of electronic hardware or software is determined by the specific application and design constraints of the technical solution. Those skilled in the art can realize the described functions by using different methods for each specific application, but such realization should not be considered to go beyond the scope of the present invention.

[0050] The terms "first," "second," etc. are used to distinguish between similar objects, and are not intended to describe or represent a particular order or chronology.

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

[0052] Up to now, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings, but as can be easily understood by those skilled in the art, the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent modifications or replacements to the relevant technical features, and the technical solutions after these modifications or replacements all fall within the protection scope of the present invention.

Claims

1. Step S1 of collecting hand wheel steering parameter data and aircraft ground speed data 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 aircraft ground speeds corresponding to the key hand wheel steering parameter points, and recording them as aircraft ground speeds at the key points; in particular, Calculate a standard difference std of the hand wheel control parameter for the entire taxiing process of the target flight and a maximum stroke value val_max_abs of the hand wheel control parameter for the entire taxiing process of the target flight based on the pre-processed data; Wherein, the hand wheel steering 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 operation parameter stroke 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 hand wheel steering threshold value thr is set based on a standard difference std of the hand wheel steering parameters during the entire taxiing process of the target flight and a maximum stroke value of the hand wheel steering parameters during the entire taxiing process of the target flight; If the standard difference of the hand wheel control parameters during the entire taxiing process of the subject flight is less than 1 degree, set 1 degree as the hand wheel control threshold value thr; Step S302: if the standard difference of the hand wheel operation parameters during the entire taxiing process of the target flight is ≧1 degree, set the standard difference of 1 as the hand wheel operation threshold value thr; Step S3, such as: step S303 of locating key hand wheel steering parameter points and obtaining airplane ground speeds corresponding to the key hand wheel steering parameter points; and step S4 of comparing the aircraft ground speed of the key point with an aircraft ground speed corresponding to a set hand wheel steering threshold thr based on the aircraft ground speed of the key point, and issuing an alarm if the aircraft ground speed of the key point is equal to or lower than the aircraft ground speed corresponding to the set hand wheel steering threshold thr, or issuing an alarm if the aircraft ground speed of the key point is higher than the aircraft ground speed corresponding to the set hand wheel steering threshold thr. 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; and obtaining an aircraft ground speed corresponding to the key hand wheel steering parameter points.

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

4. Step S3032 includes an aircraft ground speed corresponding to a case where there is no hand wheel operation, an aircraft ground speed corresponding to a case where the hand wheel operation parameter maximum value val_max_abs of the entire taxiing process of the target flight is equal to or smaller than the hand wheel operation threshold value thr, or an aircraft ground speed corresponding to a case where the hand wheel operation parameter maximum value val_max_abs of the entire taxiing process 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 aircraft ground speed corresponding to the case without hand wheel operation, the method of obtaining the ground speed is as follows: The hand wheel steering parameter of the target flight during the entire taxiing process is less than or equal to 1 degree, and the hand wheel steering parameter deduplication value is less than 3, the hand wheel steering parameter maximum value is less than or equal to 5, and the hand wheel steering parameter standard difference std of the target flight during the entire taxiing process is less than or equal to 5; The corresponding aircraft ground speed without hand wheel control is: the hand wheel operation parameter data of the takeoff start point kp_l is last_val1, the hand wheel operation parameter data of the landing end point kp_r is first_val1, the aircraft ground speed of the takeoff start point kp_l is end_gs1, and the aircraft 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 a hand wheel steering 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 aircraft ground speed, last_val1 represents the hand wheel steering parameter data of the takeoff origin position, first_val1 represents the hand wheel steering 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 aircraft ground speed corresponding to the case where the hand wheel operation parameter stroke maximum value val_max_abs of the entire taxiing process of the target flight is equal to or less than the hand wheel operation threshold value thr is as follows: All maximum value positions list_idx of the target flight, hand wheel control parameter stroke maximum value list_idx[-1] of the key points of the takeoff run phase, and hand wheel control parameter stroke maximum value list_idx[0] of the key points of 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 steering parameter data set, end_index2 represents the position of the maximum value of the hand wheel steering parameter stroke in the final takeoff run, start_index2 represents the position of the maximum value of the hand wheel steering parameter stroke in the first takeoff run, GS represents the aircraft ground speed, last_val2 represents the hand wheel steering parameter data corresponding to the position of the maximum value of the hand wheel steering parameter stroke in the final takeoff run, first_val2 represents the hand wheel steering parameter data corresponding to the position of the maximum value of the hand wheel steering parameter stroke in the first takeoff run, start_gs2 represents the aircraft ground speed of the hand wheel steering parameter in the first takeoff run, end_gs2 represents the aircraft ground speed of the hand wheel steering 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 aircraft ground speed corresponding to the case where the hand wheel operation 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 hand wheel steering 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 aircraft 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 aircraft ground speed of the over-threshold position of the last wave of the takeoff run, start_gs3 represents the aircraft 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 hand wheel steering parameter data and aircraft ground speed data 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 critical point aircraft ground speed acquisition module configured to locate critical hand wheel steering parameter points based on the pre-processed data, obtain aircraft ground speeds corresponding to the critical hand wheel steering parameter points, and note them as critical point aircraft ground speeds, in particular, Calculate a standard difference std of the hand wheel control parameter for the entire taxiing process of the target flight and a maximum stroke value val_max_abs of the hand wheel control parameter for the entire taxiing process of the target flight based on the pre-processed data; Wherein, the hand wheel steering 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 operation 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 hand wheel steering threshold value thr is set based on a standard difference std of the hand wheel steering parameters during the entire taxiing process of the target flight and a maximum stroke value of the hand wheel steering parameters during the entire taxiing process of the target flight; If the standard difference of the hand wheel control parameters during the entire taxiing process of the subject flight is less than 1 degree, set 1 degree as the hand wheel control threshold value thr; If the standard difference of the hand wheel operation parameters during the entire taxiing process of the target flight is ≧1 degree, set the standard difference of 1 as the hand wheel operation threshold value thr; In step S303, an aircraft ground speed acquisition module for locating a key hand wheel steering parameter point and acquiring an aircraft ground speed corresponding to the key hand wheel steering parameter point; and a warning module configured to compare the aircraft ground speed of the critical point with an aircraft ground speed corresponding to a set hand wheel steering threshold thr based on the aircraft ground speed of the critical point, and to issue a warning if the aircraft ground speed of the critical point is equal to or lower than the aircraft ground speed corresponding to the set hand wheel steering threshold thr, or to issue a warning if the aircraft ground speed of the critical point is higher than the aircraft ground speed corresponding to the set hand wheel steering threshold thr.

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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