CN111007555A - General aircraft airborne integrated navigation system and navigation method - Google Patents
General aircraft airborne integrated navigation system and navigation method Download PDFInfo
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- CN111007555A CN111007555A CN201911193733.0A CN201911193733A CN111007555A CN 111007555 A CN111007555 A CN 111007555A CN 201911193733 A CN201911193733 A CN 201911193733A CN 111007555 A CN111007555 A CN 111007555A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention relates to a general airplane airborne combined navigation system and a navigation method, which solve the problems that the existing general airplane has single navigation mode, low navigation precision and reliability and can not realize autonomous navigation function, and the system comprises a navigation data receiving module, a navigation mode judging module and a navigation positioning resolving module; the navigation data receiving module is used for receiving real-time information sent by airborne receiving equipment, and the airborne receiving equipment comprises a GPS/Beidou satellite receiver, a VOR receiver, a DME receiver and an atmospheric attitude and heading system; the navigation mode judging module is used for judging which navigation mode is adopted for carrying out comprehensive positioning, and the navigation modes comprise a GPS/Beidou satellite navigation mode, a radio DME/DME navigation mode, a radio VOR/DME navigation mode and a dead reckoning navigation mode; and the navigation positioning resolving module calculates the position information of the current airplane according to the selected navigation mode.
Description
Technical Field
The invention belongs to the field of airborne avionics systems, and relates to an airborne combined navigation system and a navigation method of a general aircraft.
Background
The general airplane airborne integrated navigation equipment is a part of an airborne integrated electronic system, and provides navigation positioning results for the navigation function of a flight management system. For a civil airplane, a combined navigation mode of GPS/INS and GPS/radio/INS is mainly adopted, wherein the inertial navigation INS is used as autonomous navigation equipment without participation of external equipment, and the INS is used as a main navigation mode in the navigation process so as to avoid autonomous navigation under the conditions of GPS interference failure, radio navigation signal shielding and the like when the airplane flies in a high-altitude airspace in a long distance, but the inertial navigation cost is high and the airplane is not suitable for a general airplane.
In a low-cost general airplane comprehensive electronic system, a GPS is mainly adopted for navigation or a radio navigation mode is adopted for independent navigation, however, interference exists in the independent navigation of the GPS, once the GPS fails, the airplane cannot perform autonomous navigation, and the navigation precision and reliability are low; the radio navigation mode is independently adopted, namely the VOR and DME navigation station signals are resolved to carry out real-time positioning, and currently, the mode that a pilot manually selects a navigation station is mainly adopted to carry out positioning calculation, so that autonomous navigation cannot be realized.
Disclosure of Invention
Aiming at the problems that the current general-purpose aircraft has single navigation mode, low navigation precision and reliability and can not realize the autonomous navigation function, the invention provides a general-purpose aircraft airborne combined navigation system and a navigation method.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a general airplane airborne integrated navigation system, which comprises a navigation data receiving module, a navigation mode judging module and a navigation positioning resolving module; the navigation data receiving module is used for receiving real-time information sent by airborne receiving equipment, and the airborne receiving equipment comprises a GPS/Beidou satellite receiver, a VOR receiver, a DME receiver and an atmospheric attitude and heading reference system; the navigation mode judging module is used for judging which navigation mode is adopted for comprehensive positioning, and the navigation modes comprise a GPS/Beidou satellite navigation mode, a radio DME/DME navigation mode, a radio VOR/DME navigation mode and a dead reckoning navigation mode; and the navigation positioning resolving module calculates the position information of the current airplane according to the selected navigation mode.
The invention provides a general airplane airborne combined navigation method, which comprises the following steps:
the method comprises the following steps that firstly, a navigation data receiving module receives real-time information sent by airborne receiving equipment;
secondly, a navigation mode judging module selects a navigation mode for positioning according to the real-time information acquired in the first step, and a navigation positioning resolving module acquires the position information of the current airplane according to the selected navigation mode;
2.1) judging whether the GPS/Beidou equipment is available or not according to the real-time information obtained in the first step, if so, entering the step 2.2), and if not, entering the step 2.6);
2.2) judging whether the GPS/Beidou data is abnormal or not, if not, selecting a GPS/Beidou satellite navigation mode, and calculating the current position information of the airplane; if the abnormal situation exists, sending unreliable GPS/Beidou satellite positioning to the display module, and entering the step 2.3);
2.3) judging whether the radio navigation equipment is available, if so, entering a step 2.4), and if not, entering a step 2.5);
2.4) selecting a GPS/Beidou satellite navigation mode and a radio navigation mode, carrying out comprehensive positioning of the GPS/Beidou satellite navigation and the radio navigation, and acquiring the position information of the current airplane;
2.5) judging whether the precision of the navigation station is completely unreliable, if so, carrying out comprehensive positioning by combining GPS/Beidou satellite navigation and dead reckoning to obtain the position information of the current airplane; if not, selecting a pair of radio stations with the highest effectiveness, and performing comprehensive positioning by combining GPS/Beidou satellite navigation, radio navigation and dead reckoning to obtain the position information of the current airplane;
2.6) sending GPS/Beidou satellite positioning unavailable information to a display module, judging whether radio navigation equipment is available, if so, entering the step 2.7), and if not, acquiring the position information of the current airplane by adopting dead reckoning;
2.7) judging whether a ground station meeting the precision exists, if so, positioning in a radio navigation mode to obtain the position information of the current airplane, and if not, performing comprehensive positioning by combining radio navigation and dead reckoning to obtain the position information of the current airplane.
Further, in step 2.4), the step of performing comprehensive positioning of GPS/beidou satellite navigation and radio navigation to acquire the current position information of the airplane comprises the following steps:
2.41) inputting the estimated airplane position of the current GPS/Beidou satellite navigation positioning
Radio navigation positioning pre-estimated airplane position
2.42) acquiring the actual navigation precision of the current GPS/Beidou satellite navigation and the radio navigation, wherein α is the actual navigation precision of the current GPS/Beidou satellite navigation, and β is the actual navigation precision of the radio navigation;
2.43) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
Further, in step 2.5), the step of judging whether the accuracy of the navigation station is completely unreliable is as follows:
a) judging whether the number of DME stations selected within the range of 200NM from the current position of the airplane is less than 3, and if the number of DME stations selected within the range of 200NM from the current position of the airplane is more than 3, the DME stations are reliable; if the number is less than 3, entering the step b);
b) judging whether the included angle between the DME station and the current position of the airplane is larger than 30 degrees or smaller than 150 degrees, if so, indicating reliability, and if not, entering the step c);
c) and judging whether the distance between the VOR/DME station and the current position of the airplane exceeds 100NM, if not, indicating reliability, and if so, indicating unreliability.
Further, in the step 2.5), the step of performing comprehensive positioning by combining GPS/Beidou satellite navigation and dead reckoning to acquire the position information of the current airplane comprises the following steps:
2.511) input estimated aircraft position of current GPS/Beidou satellite navigation positioning
Estimated aircraft position using position estimation
2.512) acquiring the actual navigation precision of the current GPS/Beidou satellite navigation and the dead reckoning, wherein α is the actual navigation precision of the current GPS/Beidou satellite navigation, and gamma is the actual navigation precision of the dead reckoning;
2.513) current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
Further, in the step 2.5), the comprehensive positioning is carried out by combining the GPS/Beidou satellite navigation, the radio navigation and the dead reckoning, and the step of obtaining the position information of the current airplane comprises the following steps:
2.521) input estimated aircraft position of current GPS/Beidou satellite navigation positioning
Radio navigation positioning pre-estimated airplane position
Estimated aircraft position by position estimation
2.522) acquiring the actual navigation precision of current GPS/Beidou satellite navigation, radio navigation and dead reckoning, wherein α is the actual navigation precision of the current GPS/Beidou satellite navigation, β is the actual navigation precision of the radio navigation, and gamma is the actual navigation precision of the dead reckoning;
2.523) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
Further, in step 2.7), the step of performing comprehensive positioning by combining radio navigation and dead reckoning to acquire the position information of the current airplane comprises the following steps:
2.71) estimated aircraft position of current radio navigation position
Estimated aircraft position using position estimation
2.72) obtaining the actual navigation precision of the current radio navigation and the dead reckoning, β being the actual navigation precision of the radio navigation, and gamma being the actual navigation precision of the dead reckoning;
2.73) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
Compared with the prior art, the invention has the following beneficial effects:
1. the general airplane airborne combined navigation method provided by the invention can effectively solve the problem of low reliability of a single navigation mode, and the system and the method can ensure the problem of the current positioning reliability of the airplane as far as possible under the condition that one or two navigation sources are failed or unreliable in the modes of GPS/Beidou satellite navigation positioning, radio navigation positioning and dead reckoning.
2. Compared with the traditional navigation mode, the general aircraft airborne combined navigation system provided by the invention comprises three types of navigation modes, the problem of low reliability of a single navigation source is effectively solved, the automatic selection of a multi-source sensor can be realized, the general aircraft airborne combined navigation function can perform navigation positioning data fusion under the condition that one or two navigation sources are in fault or unreliable, and the normal operation of the navigation function is kept.
3. The general airplane airborne integrated navigation system provided by the invention is lower in cost than an integrated navigation mode adopting inertial navigation, and is suitable for the requirement of low cost of the general airplane.
Drawings
FIG. 1 is a schematic diagram of the components of a general aircraft onboard integrated navigation system of the present invention;
FIG. 2 is a schematic view of an onboard integrated navigation mode of the general purpose aircraft;
FIG. 3 is a flow chart of the general aircraft onboard integrated navigation method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
With the continuous development of navigation technology, various types of navigation equipment and navigation modes are added to the airborne platform of the general-purpose aircraft, including satellite navigation, radio navigation, position estimation and the like. Each type of navigation device can work independently under certain conditions and provide the position information of the current flying position of the airplane. In the integrated navigation system, a single navigation system only corresponds to one sensor, and the redundancy technology of the single navigation system only corresponds to the redundancy of the sensor level in the integrated navigation system. Modern airplanes have higher and higher requirements on both the precision and the reliability of a navigation system, and the precision and the reliability which are required by improving the design and the manufacture of parts are very limited, so that the integration of various navigation modes is an important means for ensuring the flight precision and the flight reliability. The aircraft position is continuously calculated by a multi-sensor position update algorithm and the guidance algorithm seeks to bring the aircraft within this tolerance range to achieve a reliable, repeatable aircraft trajectory with tolerance limits.
Currently, there are three main ways of general aviation navigation, each with its own features: the satellite navigation mode composed of the GPS/Beidou has the highest precision, but can be interfered, so that the satellite navigation mode fails. The radio navigation mode composed of radio navigation equipment VOR and DME has a little low precision, but is greatly influenced by the position of a ground navigation station; typically, one uses DME/DME to calculate the current position of the aircraft, i.e., by receiving dual DME station distances, and the other uses VOR/DME to calculate the current position of the aircraft, i.e., by receiving a VOR angle value and a DME distance value at a location, the accuracy of DME/DME positioning is generally higher than the accuracy of VOR/DME because the error of VOR angle increases with distance. The current flying position is calculated according to the flying speed, the pitching and the azimuth of the airplane by taking the position of a certain specific moment as a standard through equipment such as the attitude and the atmosphere, the precision is the lowest, but the method can be used as a beneficial supplement after the two navigation modes fail, and the validity of the results of the two navigation modes can be judged through the calculation result.
The specific mode of position estimation is as follows: given that the aircraft position at a particular time T0 is (Lng0, Lat0), ground speed is M knots, and pitch angle is
The azimuth is α, and the proportional relationship (k, l) of longitude and latitude to ground length at the current latitude region, the aircraft position at time T1 is as follows:
the general airplane airborne combined navigation positioning module acquires satellite navigation positioning data, radio navigation positioning data and position calculation data in each application operation period, and determines the type of the selected data by judging the validity of the data. The data is prioritized into satellite navigation data and radio navigation data is further prioritized into position calculation data, wherein the radio navigation modes include a DME/DME navigation mode and a DME/VOR navigation mode, in most cases, the radio data and the position calculation data are used for evaluating the validity of the satellite navigation data, and a general airplane onboard integrated navigation positioning architecture schematic diagram is shown in FIG. 2.
As shown in fig. 1, the general aircraft airborne integrated navigation system provided by the invention comprises three sub-functional modules, namely a navigation data receiving module, a navigation mode judging module and a navigation positioning resolving module.
The navigation data receiving module is used for receiving real-time information sent by the airborne receiving equipment, judging the validity of the state and the positioning parameters of the receiver and performing smoothing processing by adopting a filtering algorithm to ensure the validity and the reliability of data. The airborne receiving equipment comprises a GPS/Beidou satellite receiver, a VOR receiver, a DME receiver and an atmospheric attitude and heading system.
The navigation mode judging module is used for judging which navigation modes are adopted for comprehensive positioning, and the satellite navigation priority is highest under the condition of ensuring effectiveness. The navigation modes comprise a GPS/Beidou satellite navigation mode, a radio DME/DME navigation mode, a radio VOR/DME navigation mode and a dead reckoning navigation mode. From the single navigation mode, satellite navigation takes priority over radio navigation mode and over dead reckoning. Therefore, when any one of the navigation modes is unavailable due to a receiver failure or the like, the navigation mode with a lower priority is adopted as the main navigation mode. If the navigation data of any single navigation mode has larger error and is unreliable, a mode of carrying out integrated navigation with a lower-level navigation mode is adopted. If the GPS/Beidou receiver is unavailable, the positioning calculation is directly carried out by adopting a radio navigation mode; and if the GPS/Beidou is unavailable and the radio navigation receiver is unavailable, performing positioning calculation in a dead reckoning mode. If the GPS/Beidou data is unreliable, combining the GPS/Beidou and radio navigation to comprehensively give a positioning result; if the GPS/Beidou data is unreliable and the radio navigation data is unreliable, the GPS/Beidou data and the radio navigation data are combined to comprehensively give a positioning result according to the dead reckoning, and the navigation mode judging module is the most core function in the integrated navigation system, and the flow chart is shown in fig. 3.
And the navigation positioning resolving module calculates the position information of the current airplane according to the selected navigation mode and outputs the position information to the flight management system or the display control computer. Taking GPS as an example, the GPS navigation can reach the precision of 0.3NM, the radio DME/DME can reach the navigation precision of 1NM, and the VOR/DME can reach the navigation precision of 2 NM. Therefore, when the GPS data is unreliable, the GPS data can be used as a reference, and the GPS data and the radio navigation data are fused by adopting weighted average, so that the navigation precision is improved.
The navigation mode judging module determines which fusion mode is adopted to carry out combined navigation currently according to the monitored state data and the positioning parameters of the receiver through mode judgment, and the process is as follows:
if a GPS/beidou satellite receiver is available,
1) when the data of the GPS/Beidou satellite is reliable, the GPS/Beidou satellite is adopted for positioning;
2) when the GPS/Beidou satellite data is unreliable, the radio navigation receiver can be used, and a ground navigation station meeting the precision requirement is provided, and the GPS/Beidou satellite integrated radio navigation mode is adopted for positioning;
3) when the GPS/Beidou satellite data is unreliable, the radio navigation receiver can be used, no proper ground navigation station exists, and the GPS/Beidou satellite, the radio navigation mode and the dead reckoning fusion mode are adopted for positioning;
4) when the GPS/Beidou satellite data is unreliable, the radio navigation receiver is unavailable or the navigation station is too sparse, the radio positioning precision is completely unreliable, and the GPS/Beidou satellite fusion is adopted for positioning in a dead reckoning mode;
if the GPS/beidou satellite receiver is not available,
1) the radio navigation receiver is available, and a ground navigation station meeting the precision requirement is arranged, and the positioning is carried out by adopting a radio navigation mode;
2) the radio navigation receiver is available, but no proper ground navigation station is available, and the positioning is carried out by adopting radio fusion according to a dead reckoning mode;
3) the radio receiver is not available and the positioning is carried out by adopting a dead reckoning mode.
Based on the above description, the general aircraft airborne integrated navigation method provided by the invention is as follows: firstly, initializing the current position of the airplane to be the position before the last power failure. The navigation data receiving module respectively acquires positioning information received from a GPS/Beidou satellite, distance information received from a DME receiver and angle information received from a VOR receiver, judges whether the receiver fails or not, judges whether data are available or not and carries out filtering processing on the received data. The navigation mode judging module judges the navigation mode according to the positioning parameter information fed back by the navigation data receiving module and the state information, judges which mode should be adopted by the current navigation positioning calculation, and adopts the single GPS/Beidou satellite positioning data, or adopts the VOR/DME data, or adopts the mode of fusing the two. Based on the decision made by the navigation mode judging module, the navigation positioning resolving module performs positioning resolving according to the received navigation parameters and the integrated navigation fusion algorithm, and sends a positioning result.
As shown in fig. 3, the general aircraft airborne integrated navigation method provided by the invention specifically includes the following steps:
the method comprises the following steps that firstly, a navigation data receiving module receives real-time information sent by airborne receiving equipment;
secondly, a navigation mode judging module selects a navigation mode for positioning according to the real-time information acquired in the first step, and a navigation positioning resolving module acquires the position information of the current airplane according to the selected navigation mode;
2.1) judging whether the GPS/Beidou equipment is available or not according to the real-time information obtained in the first step, if so, entering the step 2.2), and if not, entering the step 2.6);
2.2) judging whether the GPS/Beidou information data is abnormal or not, if not, selecting a GPS/Beidou satellite navigation mode, and calculating the current position information of the airplane; if the abnormal situation exists, sending unreliable GPS/Beidou satellite positioning to the display module, and entering the step 2.3);
2.3) judging whether the radio navigation equipment is available, if so, entering a step 2.4), and if not, entering a step 2.5);
2.4) selecting a GPS/Beidou satellite navigation mode and a radio navigation mode, carrying out comprehensive positioning of the GPS/Beidou satellite navigation and the radio navigation, and acquiring the position information of the current airplane;
2.41) estimated aircraft position of current GPS/Beidou satellite navigation positioning under the condition that GPS/Beidou satellite is unreliable
Radio navigation positioning pre-estimated airplane position
α is the actual navigation precision of the current GPS/Beidou satellite navigation, β is the actual navigation precision of the radio navigation, and the higher the current actual navigation precision is, the larger the positioning ratio is;
2.43) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
representing the latitude;
the radio navigation may be DME/DME or VOR/DME, depending on the number of radio navigation stations in the area, and VOR/DME is used for navigation if the DME navigation stations are sparse.
2.5) judging whether the precision of the navigation station is completely unreliable, if so, carrying out comprehensive positioning by combining GPS/Beidou satellite navigation and dead reckoning to obtain the position information of the current airplane; if not, selecting a pair of radio stations with the highest effectiveness, and performing comprehensive positioning by combining GPS/Beidou satellite navigation, radio station navigation and dead reckoning to obtain the position information of the current airplane;
in the step 2.5), the step of judging whether the accuracy of the navigation station is completely unreliable is as follows:
a) judging whether the number of DME stations selected within the range of 200NM from the current position of the airplane is less than 3, and if the number of DME stations selected within the range of 200NM from the current position of the airplane is more than 3, the DME stations are reliable; if the number is less than 3, entering the step b);
b) judging whether the included angle between the DME station and the current position of the airplane is larger than 30 degrees or smaller than 150 degrees, if so, indicating reliability, and if not, entering the step c);
c) and judging whether the distance between the VOR/DME station and the current position of the airplane exceeds 100NM, if not, indicating reliability, and if so, indicating unreliability.
In the step 2.5), the GPS/Beidou satellite navigation and the dead reckoning are combined to carry out comprehensive positioning, and the step of obtaining the position information of the current airplane comprises the following steps:
2.511) input of estimated aircraft position for current GPS/Beidou satellite navigation position, such as in case of GPS/Beidou satellite unreliability, and sparse navigation stations, without suitable VOR or DME stations
Estimated aircraft position by position estimation
α represents the actual navigation precision of the current GPS/Beidou satellite navigation, gamma represents the actual navigation precision of position estimation, and the higher the current actual navigation precision, the larger the positioning ratio;
2.513) current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
In the step 2.5), the comprehensive positioning is carried out by combining GPS/Beidou satellite navigation, radio navigation and dead reckoning, and the position information of the current airplane is acquired by the following steps:
2.521) in the event of unreliable GPS/Beidou satellite, unavailable radio receiver or too sparse navigation station, completely unreliable radio positioning accuracy, and estimated aircraft position of current GPS/Beidou satellite navigation positioning
Radio navigation positioning pre-estimated airplane position
Estimated aircraft position using position estimation
2.522) acquiring the actual navigation precision of current GPS/Beidou satellite navigation, radio navigation and dead reckoning, α is the actual navigation precision of the current GPS/Beidou satellite navigation, β is the actual navigation precision of the radio navigation, gamma is the actual navigation precision of the dead reckoning navigation, the higher the current actual navigation precision, the larger the positioning ratio,
2.523) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
2.6) sending GPS/Beidou satellite positioning unavailable information to a display module, judging whether radio navigation equipment is available, if so, entering the step 2.7), and if not, acquiring the position information of the current airplane by adopting dead reckoning;
2.7) judging whether a ground station meeting the precision exists, if so, positioning in a radio navigation mode to obtain the position information of the current airplane, and if not, performing comprehensive positioning by combining radio navigation and a dead reckoning mode to obtain the position information of the current airplane;
2.71) when the GPS/Beidou satellite receiver is unavailable, the navigation stations are sparse, and no VOR or DME station meeting the precision requirement exists, the estimated airplane position of the current radio navigation positioning is
Position calculation pre-estimated airplaneIs positioned as
2.72) obtaining the actual navigation precision of the current radio and the dead reckoning, β is the actual navigation precision of the radio navigation, gamma is the actual navigation precision of the dead reckoning navigation, and the higher the current actual navigation precision is, the larger the positioning ratio is;
2.73) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
The physical architecture of the general airplane airborne integrated navigation system provided by the invention meets the requirement of a general airplane airborne electronic system on low cost, solves the problem of instability of a single sensor integrated navigation source, and ensures the accuracy and reliability of navigation positioning. The system integrates three navigation modes, improves the navigation positioning precision and lays a foundation for the airborne flight management system to realize autonomous navigation.
Claims (7)
1. The utility model provides a general aircraft machine carries integrated navigation which characterized in that: the navigation system comprises a navigation data receiving module, a navigation mode judging module and a navigation positioning resolving module;
the navigation data receiving module is used for receiving real-time information sent by airborne receiving equipment, and the airborne receiving equipment comprises a GPS/Beidou satellite receiver, a VOR receiver, a DME receiver and an atmospheric attitude and heading reference system;
the navigation mode judging module is used for selecting a navigation mode for positioning, and the navigation mode comprises a GPS/Beidou satellite navigation mode, a radio DME/DME navigation mode, a radio VOR/DME navigation mode and a dead reckoning navigation mode;
and the navigation positioning resolving module calculates the position information of the current airplane according to the selected navigation mode.
2. An airborne combined navigation method of a general-purpose aircraft is characterized by comprising the following steps:
the method comprises the following steps that firstly, a navigation data receiving module receives real-time information sent by airborne receiving equipment;
secondly, a navigation mode judging module selects a navigation mode for positioning according to the real-time information acquired in the first step, and a navigation positioning resolving module acquires the position information of the current airplane according to the selected navigation mode;
2.1) judging whether the GPS/Beidou equipment is available or not according to the real-time information obtained in the first step, if so, entering the step 2.2), and if not, entering the step 2.6);
2.2) judging whether the GPS/Beidou data is abnormal or not, if not, selecting a GPS/Beidou satellite navigation mode, and calculating the current position information of the airplane; if the abnormal situation exists, sending unreliable GPS/Beidou satellite positioning to the display module, and entering the step 2.3);
2.3) judging whether the radio navigation equipment is available, if so, entering a step 2.4), and if not, entering a step 2.5);
2.4) selecting a GPS/Beidou satellite navigation mode and a radio navigation mode, carrying out comprehensive positioning of the GPS/Beidou satellite navigation and the radio navigation, and acquiring the position information of the current airplane;
2.5) judging whether the precision of the navigation station is completely unreliable, if so, carrying out comprehensive positioning by combining GPS/Beidou satellite navigation and dead reckoning to obtain the position information of the current airplane; if not, selecting a pair of radio stations with the highest effectiveness, and performing comprehensive positioning by combining GPS/Beidou satellite navigation, radio navigation and dead reckoning to obtain the position information of the current airplane;
2.6) sending GPS/Beidou satellite positioning unavailable information to a display module, judging whether radio navigation equipment is available, if so, entering the step 2.7), and if not, acquiring the position information of the current airplane by adopting dead reckoning;
2.7) judging whether a ground station meeting the precision exists, if so, positioning in a radio navigation mode to obtain the position information of the current airplane, and if not, performing comprehensive positioning by combining radio navigation and dead reckoning to obtain the position information of the current airplane.
3. The general aircraft airborne combined navigation method according to claim 2, wherein in the step 2.4), the comprehensive positioning of the GPS/Beidou satellite navigation and the radio navigation is carried out, and the step of obtaining the position information of the current aircraft comprises the following steps:
2.41) inputting the estimated airplane position of the current GPS/Beidou satellite navigation positioning
Radio navigation positioning pre-estimated airplane position
2.42) acquiring the actual navigation precision of the current GPS/Beidou satellite navigation and the radio navigation, wherein α is the actual navigation precision of the current GPS/Beidou satellite navigation, and β is the actual navigation precision of the radio navigation;
2.43) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
4. The general aircraft onboard combination navigation method as claimed in claim 3, wherein in step 2.5), the step of judging whether the accuracy of the navigation station is completely unreliable is as follows:
a) judging whether the number of DME stations selected within the range of 200NM from the current position of the airplane is less than 3, and if the number of DME stations selected within the range of 200NM from the current position of the airplane is more than 3, the DME stations are reliable; if the number is less than 3, entering the step b);
b) judging whether the included angle between the DME station and the current position of the airplane is larger than 30 degrees or smaller than 150 degrees, if so, indicating reliability, and if not, entering the step c);
c) and judging whether the distance between the VOR/DME station and the current position of the airplane exceeds 100NM, if not, indicating reliability, and if so, indicating unreliability.
5. The general aircraft airborne combined navigation method according to claim 2, 3 or 4, wherein in the step 2.5), the step of performing comprehensive positioning by combining GPS/Beidou satellite navigation and dead reckoning to acquire the position information of the current aircraft comprises the following steps:
2.511) input estimated aircraft position of current GPS/Beidou satellite navigation positioning
Estimated aircraft position using position estimation
2.512) acquiring the actual navigation precision of the current GPS/Beidou satellite navigation and the dead reckoning, wherein α is the actual navigation precision of the current GPS/Beidou satellite navigation, and gamma is the actual navigation precision of the dead reckoning;
2.513) current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
6. The general aircraft airborne combined navigation method according to claim 5, wherein in the step 2.5), the step of performing comprehensive positioning by combining GPS/Beidou satellite navigation, radio navigation and dead reckoning to obtain the position information of the current aircraft comprises the following steps:
2.521) input estimated aircraft position of current GPS/Beidou satellite navigation positioning
Radio navigation positioning pre-estimated airplane position
Estimated aircraft position by position estimation
2.522) acquiring the actual navigation precision of current GPS/Beidou satellite navigation, radio navigation and dead reckoning, wherein α is the actual navigation precision of the current GPS/Beidou satellite navigation, β is the actual navigation precision of the radio navigation, and gamma is the actual navigation precision of the dead reckoning;
2.523) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
7. The general aircraft onboard combined navigation method according to claim 6, wherein the step 2.7) of performing comprehensive positioning by combining radio navigation and dead reckoning to obtain the position information of the current aircraft comprises the following steps:
2.71) estimated aircraft position of current radio navigation position
Estimated aircraft position using position estimation
2.72) obtaining the actual navigation precision of the current radio navigation and the dead reckoning, β being the actual navigation precision of the radio navigation, and gamma being the actual navigation precision of the dead reckoning;
2.73) Current aircraft position
Comprises the following steps:
wherein, the lambda represents the longitude and the latitude,
indicating the latitude.
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