CN103979117A - Lens type optical landing-assisting system modeling and simulating method - Google Patents

Abstract

The invention discloses a lens type optical landing-assisting system modeling and simulating method, which belongs to the technical field of aircraft flight control. The invention particularly relates to a lens type optical landing-assisting system modeling and simulating method which is characterized by comprising the following steps: 1) setting the initial installation position of a lens type optical landing-assisting system; 2) calculating the compensation amount to an attitude angle and a roll angle, which is required for stabilizing the pitch angle and the roll angle of the lens type optical landing-assisting system; 3) calculating the coordinate of the eye position of a pilot under the coordinate system of the optical landing-assisting system; 4) driving the output of an optical landing-assisting system model, and guiding lens light to change according to an output result. According to the lens type optical landing-assisting system modeling and simulating method disclosed by the invention, the mathematic simulation model of the optical landing-assisting system is accurately established, and the color of lens lamps can be driven to change on a flight quality simulator and a flight training simulator so as to assist the pilot in intuitively and quickly analyzing and judging the track deviation and azimuth deviation of a runway under the relatively ideal condition in the motion platform landing stage.

Description

A kind of lens type optics helps and falls system modeling and simulation method

Technical field

The invention belongs to aviation flight control technology field, be specifically related to a kind of optics and help and fall system modeling and simulation method.

Background technology

Lens type optics helps the system of falling, and is the landing auxiliary device of modern high precision landing task indispensability, and this system, by forming downslide track guide lamp battle array, provides the lower landslide surface of a light in order to guide downslide process aloft.Aviator utilizes this lamp battle array can ensure that aircraft glides along downslide air route with certain angle of attack and height.

The structure of lens lamp is the benchmark lamp that there is row's green at lamp group middle part, and central vertical setting of types has the lamp box of 5 segmentations, and scioptics send 5 layers of light beam, and light beam is parallel with landing runway, and sea level is kept at an angle, form 5 layers domatic.Positive stage casing is green, is upwards yellow, redness downwards time.In the time of aircraft landing, if glide paths are correct, aviator can see that green photosphere is in the central authorities of green benchmark lamp; Yellow photosphere that what if aviator saw is and on green benchmark lamp, aviator should revise aircraft glidepath trace in time by the high situation of range estimation, and aircraft is returned on normal track.Red photosphere that what if aviator saw is and under green benchmark lamp, aviator should revise in time by the low situation of range estimation.

Lens type optics helps that to fall system applies be to instruct aviator to adjust the important means of aircraft landing track, is the guiding device of motion platform indispensability.Its appearance makes aircraft, and at night, precision landing becomes possibility at motion platform, and has greatly alleviated the nervous psychology that aviator lands on dark and short and small platform, has greatly improved the accuracy rate of aircraft landing.

Summary of the invention

The object of the invention is: the present invention, mainly for aircraft flight analogue test, provides a kind of lens type optics to help and falls system modeling and simulation method

Technical scheme of the present invention is: a kind of lens type optics helps and falls system modeling and simulation method, it is characterized in that, comprises the steps:

First, the initial installation site that lens type optics helps the system of falling is set: taking runway centerline coideal landing point as benchmark, measure lens type optics and help the actual installation position of the system of falling on motion platform, determine that with this take off data optics helps the initial installation site of the system of falling;

The second, calculate lens type optics and help and fall system pitch angle and roll angle line stabilization is required to attitude angle and roll angle compensation rate; Motion stabilization platform model input: pitch angle and the leaning angle of motion platform motion; Motion stabilization platform model output: optics helps and falls system pitch angle and roll angle line stabilization is required to attitude angle and roll angle compensation rate.

If the angle of motion platform axon and landing runway is a, by motion platform pitch angle cause that optics helps the pitch angle and the roll angle variable quantity that fall the relative earth's axis of system erecting stage to be respectively: φ ₁.

$\sin ({\mathrm{\θ}}_1/57.3)=\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

$\sin ({\mathrm{\θ}}_1/57.3)=-\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

By motion platform roll angle φ _ccause that optics helps the pitch angle and the roll angle variable quantity that fall the relative earth's axis of system erecting stage to be respectively: φ ₂.

By motion platform pitch angle roll angle φ _ccause that optics helps the pitch angle and the roll angle that fall the relative earth's axis of system erecting stage to change resultant and φ ₀can approximate expression be:

Optics after motion stabilization platform compensation helps the pitch angle of the relative runway system of axes of the system of falling roll angle φ _lbe respectively:

${\mathrm{\θ}}_L=b-{\mathrm{\θ}}_0$

Wherein aircraft b is glissade angle.

The 3rd, calculate aviator's eye position and help the coordinate falling under system coordinate system at optics; Help and fall the coordinate of system coordinate system initial point under motion platform runway system of axes by aviator's eye position and optics, obtain the relative optics in aviator's eye position and help the position that falls system coordinate system initial point.Concrete steps are as follows:

A) obtain under ground axis coordinate system the position (coordinate of coordinate-motion platform barycenter of aviator's eye position in the earth's axis in the earth's axis) of aviator's eye position relative motion platform barycenter;

B) coordinate values of required eye site relative motion platform barycenter being converted to initial point is that motion platform barycenter, X-axis are the projection on the ground of motion platform axon, on the right-hand rule system of axes (being the projection on the ground of motion platform body-axis coordinate system) in the Z-axis direction right side, Y-axis.

$\left[\begin{array}{ccc}\cos \left(a\right)& 0& \sin \left(a\right)\\ 0& 1& 0\\ -\sin \left(a\right)& 0& \cos \left(a\right)\end{array}\right]$

Transition matrix is:

C) according to the pitch angle of known motion platform motion roll angle γ, course angle ψ, the transition matrix that required coordinate values in b) is converted to motion platform body-axis coordinate system is:

$\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}& -\sin \mathrm{\ψ}\cos \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\γ}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\ψ}\sin \mathrm{\γ}+\sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \\ \sin \mathrm{\ψ}\cos \mathrm{\γ}+\cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}& -\cos \mathrm{\θ}\sin \mathrm{\γ}& \cos \mathrm{\ψ}\cos \mathrm{\γ}-\sin \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}\end{array},\mathrm{\γ}\right]$

D) through above-mentioned conversion, obtained the coordinate values of a site under motion platform body-axis coordinate system.Landing runway XZ plane and motion platform body-axis coordinate system XZ plane parallel, and the X of two system of axess, Z axis differ respectively a degree.Obtain the coordinate of a site under landing runway system of axes if want, can first obtain a site is motion platform barycenter at origin of coordinate, and X, Y, Z axis is respectively with the coordinate on the parallel system of axes of runway.Motion platform body-axis coordinate system is to through the motion platform barycenter system of axes transformational relation matrix parallel with runway coordinate system being:

$\left[\begin{array}{ccc}\cos \left(a\right)& 0& -\sin \left(a\right)\\ 0& 1& 0\\ \sin \left(a\right)& 0& \cos \left(a\right)\end{array}\right]$

E) coordinate figure of eye site on runway system of axes is that on aircraft, each point is motion platform barycenter at origin of coordinate, coordinate axle adds [xpk0 with the coordinate figure on the parallel system of axes of runway, ypk0, zpk0] (coordinate of motion platform barycenter on runway coordinate system).

The 4th, drive optics to help the output of falling system model, can show that according to above step aviator's eye position helps the coordinate [xop, yop, zop] falling under system coordinate system at optics, according to

$\mathrm{eps}=\frac{\mathrm{yop}}{\left|\mathrm{xop}\right|}*57.3$

Output rusults guides lens light to change.

Advantage of the present invention is:

The present invention has accurately set up lens type optics and has helped the mathematic simulated mode of the system of falling, can on flying quality simulation device and flight training simulator, drive the change color of lens lamp, landing period with this assisting in flying person at motion platform directly perceived, analyze rapidly cross track error and the azimuth deviation of judging relative ideal glide path.

Detailed description of the invention

Below by the modeling process of introducing real data, the present invention is described in further detail:

First, the initial installation site that lens type optics helps the system of falling is set: taking runway centerline coideal landing point as benchmark, measure lens type optics and help the actual installation position of the system of falling on motion platform, determine that with this take off data optics helps the initial installation site of the system of falling;

The second, calculate lens type optics and help and fall system pitch angle and roll angle line stabilization is required to attitude angle and roll angle compensation rate; Motion stabilization platform model input: pitch angle and the leaning angle of motion platform motion; Motion stabilization platform model output: optics helps and falls system pitch angle and roll angle line stabilization is required to attitude angle and roll angle compensation rate.

Getting motion platform axon is 7 ° with the angle of warship runway, by motion platform pitch angle cause that optics helps the pitch angle and the roll angle variable quantity that fall the relative earth's axis of system erecting stage to be respectively: φ ₁.

$\sin ({\mathrm{\θ}}_1/57.3)=\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

$\sin ({\mathrm{\θ}}_1/57.3)=-\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

By motion platform roll angle φ _ccause that optics helps the pitch angle and the roll angle variable quantity that fall the relative earth's axis of system erecting stage to be respectively: φ ₂.

By motion platform pitch angle roll angle φ _ccause that optics helps the pitch angle and the roll angle that fall the relative earth's axis of system erecting stage to change resultant and φ ₀can approximate expression be:

Optics after motion stabilization platform compensation helps the pitch angle of the relative runway system of axes of the system of falling roll angle φ _lbe respectively:

${\mathrm{\θ}}_L=b-{\mathrm{\θ}}_0$

Wherein-5 for aircraft is by-5 ° of glissade angles landings.

The 3rd, calculate aviator's eye position and help the coordinate falling under system coordinate system at optics; Help and fall the coordinate of system coordinate system initial point under warship flight deck system of axes by aviator's eye position and optics, obtain the relative optics in aviator's eye position and help the position that falls system coordinate system initial point.Concrete steps are as follows:

A) obtain under ground axis coordinate system the position (coordinate of coordinate-motion platform barycenter of aviator's eye position in the earth's axis in the earth's axis) of aviator's eye position relative motion platform barycenter;

B) coordinate values of required eye site relative motion platform barycenter being converted to initial point is that motion platform barycenter, X-axis are the projection on the ground of motion platform axon, on the right-hand rule system of axes (being the projection on the ground of motion platform body-axis coordinate system) in the Z-axis direction right side, Y-axis.Transition matrix is:

$\left[\begin{array}{ccc}\cos \left(7\right)& 0& \sin \left(7\right)\\ 0& 1& 0\\ -\sin \left(7\right)& 0& \cos \left(7\right)\end{array}\right]$

C) according to the pitch angle of known motion platform motion roll angle γ, course angle ψ, the transition matrix that required coordinate values in b) is converted to motion platform body-axis coordinate system is:

$\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}& -\sin \mathrm{\ψ}\cos \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\γ}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\ψ}\sin \mathrm{\γ}+\sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \\ \sin \mathrm{\ψ}\cos \mathrm{\γ}+\cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}& -\cos \mathrm{\θ}\sin \mathrm{\γ}& \cos \mathrm{\ψ}\cos \mathrm{\γ}-\sin \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}\end{array},\mathrm{\γ}\right]$

D) through above-mentioned conversion, obtained the coordinate values of a site under motion platform body-axis coordinate system.Landing runway XZ plane and motion platform body-axis coordinate system XZ plane parallel, and the X of two system of axess, Z axis differ respectively 7 degree.Obtain the coordinate of a site under landing runway system of axes if want, can first obtain a site is motion platform barycenter at origin of coordinate, and X, Y, Z axis is respectively with the coordinate on the parallel system of axes of runway.Motion platform body-axis coordinate system is to through the motion platform barycenter system of axes transformational relation matrix parallel with runway coordinate system being:

$\left[\begin{array}{ccc}\cos \left(7\right)& 0& -\sin \left(7\right)\\ 0& 1& 0\\ \sin \left(7\right)& 0& \cos \left(7\right)\end{array}\right]$

E) coordinate figure of eye site on runway system of axes is that on aircraft, each point is motion platform barycenter at origin of coordinate, coordinate axle adds [xpk0 with the coordinate figure on the parallel system of axes of runway, ypk0, zpk0] (coordinate of motion platform barycenter on runway coordinate system).

The 4th, optics helps the output of falling system model, can show that according to above step aviator's eye position helps the coordinate [xop, yop, zop] falling under system coordinate system at optics, according to

$\mathrm{eps}=\frac{\mathrm{yop}}{\left|\mathrm{xop}\right|}*57.3$

Output rusults guides lens light to change, taking 5 groups of lens light as example, by difference called after one signal lamp, two signal lamps, three signal lamps, four signal lamps and five signal lamps under upper.According to-5 ° of glide paths, every group of light mean allocation, the mode that drives light is as following table:

Eps value	eps≥5.6	5.6>eps≥5.2	5.2>eps≥4.8	4.8>eps≥4.4	4.4>eps
						Lamp name	One signal lamp	Two signal lamps	Three signal lamps	Four signal lamps	Five signal lamps

Claims (1)

1. lens type optics helps and falls a system modeling and simulation method, it is characterized in that, comprises the steps:

First, the initial installation site that lens type optics helps the system of falling is set: taking runway centerline coideal landing point as benchmark, measure lens type optics and help the actual installation position of the system of falling on motion platform, determine that with this take off data optics helps the initial installation site of the system of falling;

The second, calculate lens type optics and help and fall system pitch angle and roll angle line stabilization is required to attitude angle and roll angle compensation rate; Motion stabilization platform model input: pitch angle and the leaning angle of motion platform motion; Motion stabilization platform model output: optics helps and falls system pitch angle and roll angle line stabilization is required to attitude angle and roll angle compensation rate;

If the angle of motion platform axon and landing runway is a, by motion platform pitch angle cause that optics helps the pitch angle and the roll angle variable quantity that fall the relative earth's axis of system erecting stage to be respectively: φ ₁;

$\sin ({\mathrm{\θ}}_1/57.3)=\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

$\sin ({\mathrm{\θ}}_1/57.3)=-\sin ({\mathrm{\θ}}_C/57.3)*\cos (a/57.3)$

By motion platform roll angle φ _ccause that optics helps the pitch angle and the roll angle variable quantity that fall the relative earth's axis of system erecting stage to be respectively: φ ₂;

By motion platform pitch angle roll angle φ _ccause that optics helps the pitch angle and the roll angle that fall the relative earth's axis of system erecting stage to change resultant and φ ₀can approximate expression be:

Optics after motion stabilization platform compensation helps the pitch angle of the relative runway system of axes of the system of falling roll angle φ _lbe respectively:

${\mathrm{\θ}}_L=b-{\mathrm{\θ}}_0$

Wherein aircraft b is glissade angle;

The 3rd, calculate aviator's eye position and help the coordinate falling under system coordinate system at optics; Helped and fallen the coordinate of system coordinate system initial point under motion platform runway system of axes by aviator's eye position and optics, obtain the relative optics in aviator's eye position and help the position that falls system coordinate system initial point, concrete steps are as follows:

A) obtain under ground axis coordinate system the position (coordinate of coordinate-motion platform barycenter of aviator's eye position in the earth's axis in the earth's axis) of aviator's eye position relative motion platform barycenter;

B) coordinate values of required eye site relative motion platform barycenter being converted to initial point is that motion platform barycenter, X-axis are the projection on the ground of motion platform axon, on the right-hand rule system of axes (being the projection on the ground of motion platform body-axis coordinate system) in the Z-axis direction right side, Y-axis;

$\left[\begin{array}{ccc}\cos \left(a\right)& 0& \sin \left(a\right)\\ 0& 1& 0\\ -\sin \left(a\right)& 0& \cos \left(a\right)\end{array}\right]$

Transition matrix is:

C) according to the pitch angle of known motion platform motion roll angle γ, course angle ψ, the transition matrix that required coordinate values in b) is converted to motion platform body-axis coordinate system is:

$\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}& -\sin \mathrm{\ψ}\cos \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\γ}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\θ}\cos \mathrm{\γ}& \cos \mathrm{\ψ}\sin \mathrm{\γ}+\sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \\ \sin \mathrm{\ψ}\cos \mathrm{\γ}+\cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}& -\cos \mathrm{\θ}\sin \mathrm{\γ}& \cos \mathrm{\ψ}\cos \mathrm{\γ}-\sin \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\γ}\end{array},\mathrm{\γ}\right]$

D) through above-mentioned conversion, obtained the coordinate values of a site under motion platform body-axis coordinate system; Landing runway XZ plane and motion platform body-axis coordinate system XZ plane parallel, and the X of two system of axess, Z axis differ respectively a degree; Obtain the coordinate of a site under landing runway system of axes if want, can first obtain a site is motion platform barycenter at origin of coordinate, and X, Y, Z axis is respectively with the coordinate on the parallel system of axes of runway; Motion platform body-axis coordinate system is to through the motion platform barycenter system of axes transformational relation matrix parallel with runway coordinate system being:

$\left[\begin{array}{ccc}\cos \left(a\right)& 0& -\sin \left(a\right)\\ 0& 1& 0\\ \sin \left(a\right)& 0& \cos \left(a\right)\end{array}\right]$

E) coordinate figure of eye site on runway system of axes is that on aircraft, each point is motion platform barycenter at origin of coordinate, and coordinate axle adds with the coordinate figure on the parallel system of axes of runway

[xpk0, ypk0, zpk0] (motion platform barycenter coordinate on runway coordinate system);

The 4th, drive optics to help the output of falling system model, show that according to above step aviator's eye position helps the coordinate [xop, yop, zop] falling under system coordinate system at optics, according to

$\mathrm{eps}=\frac{\mathrm{yop}}{\left|\mathrm{xop}\right|}*57.3$

Output rusults guides lens light to change.