CN107784866A - A kind of flight management system transverse direction navigation accuracy is taken a flight test AIRSPACE PLANNING method - Google Patents

A kind of flight management system transverse direction navigation accuracy is taken a flight test AIRSPACE PLANNING method Download PDF

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CN107784866A
CN107784866A CN201610728233.2A CN201610728233A CN107784866A CN 107784866 A CN107784866 A CN 107784866A CN 201610728233 A CN201610728233 A CN 201610728233A CN 107784866 A CN107784866 A CN 107784866A
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dme
aircraft
formula
omn
navigation
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汤恒仁
张少莉
肖妮
赵俊茹
李超
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Chinese Flight Test Establishment
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    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0095—Aspects of air-traffic control not provided for in the other subgroups of this main group

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Abstract

Taken a flight test AIRSPACE PLANNING method the invention provides a kind of flight management system transverse direction navigation accuracy, its feature comprises the following steps：It is determined that region tentatively to be flown, count correlation navigation platform position of the electromagnetism coverage in terminal airspace, including longitude, latitude and height, according to the intervisibility of each flying height guidance station signal in the spatial domain of terrain analysis check machine field, it is determined that the region that at least 2 guidance station radio signals cover is preliminary region to be flown simultaneously.

Description

A kind of flight management system transverse direction navigation accuracy is taken a flight test AIRSPACE PLANNING method
Technical field
The invention belongs to civil aircraft and airplane in transportation category navigation system seaworthiness authorization Flight Test Technique, and in particular to Yi Zhongfei Row management system transverse direction navigation accuracy is taken a flight test AIRSPACE PLANNING method.
Background technology
It is that the airborne navigational system based on area navigation (RNAV) navigates essence in the horizontal direction that FMS transverse direction navigation accuracys, which are taken a flight test, The checking of degree.RNAV is proposed that multisensor input can be used in RNAV navigation equipments, automatically by the U.S. in the seventies and eighties in 20th century Aircraft position is determined, lifting airborne vehicle operational efficiency that can be big, International Civil Aviation Organization (ICAO) and Federal Aviation Office (FAA) etc. mechanism put into effect in succession substantial amounts of operations specification and guide file come guide RNA V technologies in the operation in the whole world and Promote.China introduced RNAV technologies in 2005, was classified as the core technology that China builds air transport system of new generation One of, and promulgated in October, 2009《Navigation Implementation Roadmap of the CAAC based on performance》.
Laterally the available navigation sources of navigation include four kinds of VOR/DME, DME/DME, INS or IRS, GNSS etc. to RNAV.Wherein INS/IRS is self-aid navigation source, and other factorses of its navigation accuracy not outside by navigation equipment itself are influenceed, and mistake is positioned to it Poor Forecasting Methodology relative maturity.The domestic research on RNAV transverse direction navigation accuracys at present is concentrated mainly on GNSS error analyses neck Domain, and the analysis for VOR/DME, DME/DME navigation accuracy is relatively fewer.However, VOR/DME and DME/ is based at this stage DME RNAV navigation is still the navigation mode that China mainly uses, as China's seating plane and bulk transport class fly in recent years The fast development of machine, it receives for the Certification work of RNAV transverse direction navigation accuracys and paid close attention to.
Laterally navigation needs the support of the navigational facility such as continental rise navigation platform/equipment to RNAV, therefore is laterally led carrying out RNAV Before boat precision is taken a flight test, navigation signal coverage condition and navigation accuracy in designated flying zone are predicted and judge whether it meets RNAV Navigation performance will seem particularly significant.Many countries are numerous and confused in the world is proposed the analysis of RNAV transverse directions navigation accuracy, wherein applying It is most commonly used be exactly FAA commission Air Traffic Emulation Co., Ltd of the U.S. exploitation dedicated for RNAV Track Designs and assessment Software systems --- RNAV-Pro.In China, because the RNAV air routes opened at present are also considerably less, and mostly all in very Busy trunk air route, it is not easy to us and carries out RNAV transverse direction navigation accuracy proving flights, therefore carries out RNAV laterally navigation essences The AIRSPACE PLANNING of proving flight is spent, verifies that selected navigational facility precision meets corresponding RNAV runnabilities by predicting means It is required that it is very necessary.
The content of the invention
The purpose of the present invention is：
It is wireless for civil aircraft and bulk transport class flight management system transverse direction navigation accuracy AIRSPACE PLANNING, selection Electric navigation signal covering is good and meets the spatial domain of taking a flight test of RNAV navigation accuracys requirement, and authorizing Flight for system seaworthiness provides Data supporting and technical support.
The technical scheme is that：
The present invention provides a kind of flight management system transverse direction navigation accuracy and taken a flight test AIRSPACE PLANNING method, and its feature includes following Step：
It is determined that region tentatively to be flown, correlation navigation platform position of the statistics electromagnetism coverage in terminal airspace, including warp Degree, latitude and height, according to the intervisibility of each flying height guidance station signal in the spatial domain of terrain analysis check machine field, it is determined that at least The region that 2 guidance station radio signals cover simultaneously is preliminary region to be flown.
Further, it is determined that the step of guidance station more new district：
Under DME/DME navigation patterns,
It is required that Aircraft Flight Test spatial domain is in 2 DME guidance stations more in new district,
Interior requirement is " (1) aircraft must be positioned within the public coverage of 2 DME platforms；(2) aircraft and two is ensured Angle between the individual DME stations must be waited to fly between 30 ° to 150 ° according to what requirements above pre-selection DME/DME navigation was taken a flight test Region；
Further：According to the VOR/DME simulator locatings taken a flight test in advance, the step of obtaining position error：
Taken a flight test in advance in preliminary spatial domain to be flown, simulator locating is carried out to aircraft position according to simulator locating algorithm, flown When machine is using VOR/DME navigation patterns, simulator locating is carried out to aircraft using VOR/DME simulator locatings algorithm,
VOR/DME simulator locating algorithms, the distance and bearing information of earth station is reached by continuously recording aircraft, by orientation With range information carry out it is reverse be derived from aircraft position observation, mathematics realizes simulator locating according to interative computation, and model is as follows：
Interative computation aircraft position initial value：Guidance station position,
Iterated revision amount：
Lat_err=| ρ × cos (θ)/60 |
Lon_err=| ρ × sin (θ)/(60 × cos (lat)) | (formula -1)
Wherein Lat_err and Lon_err is aircraft physical location and the latitude and longitude error of VOR/DME guidance stations, and ρ is The distance of aircraft actual position and current iteration value, its computational methods are shown in formula -2, θ for aircraft actual position and current iteration position Relative bearing, with the vector of VOR/DME platforms to iterative position for X-axis, with the vectorial for Y-axis of iterative position to real north Establish coordinate system, the second quadrant of the coordinate system is I areas, and first quartile is II areas, three, four-quadrant be limited to III areas, when aircraft is actual Position falls at I, II, III area, and the computational methods at θ angles are shown in (formula -3), (formula -4), (formula -5) respectively, and wherein DME is that aircraft is defeated The DME distances gone out, VOR are the VOR orientation of aircraft output, and BEARING is the true bearing of current iteration position, and RANGE is current The distance of iterative position and guidance station,
θ=180-BEARING-acos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (Ith area) (formula -3)
θ=- 180+BEARING+acos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (IIth area) (formula -4)
θ=180+BEARING-acos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (IIIth area) (formula -5)
Iteration termination condition：Terminate iteration when ρ is less than setting, this algorithm can be as accurate as ρ≤0.0001m
Result of calculation：Lat_err and Lon_err at the end of iteration are modified to VOR/DME positions, you can are obtained pre- The aircraft position of survey；
Calculate aircraft and realize that the distance of position and simulator locating position must obtain position error.
Further：According to the DME/DME simulator locatings taken a flight test in advance, the step of obtaining position error：
Taken a flight test in advance in preliminary spatial domain to be flown, simulator locating is carried out to aircraft position according to simulator locating algorithm, flown When machine is using DME/DME navigation patterns, simulator locating is carried out to aircraft using DME/DME simulator locatings algorithm,
DME/DME simulator locating algorithms, the range information of 2 different DME guidance stations is reached by continuously recording aircraft, by The relative bearing of one of guidance station is calculated in range information to 2 DME guidance stations, is drawn further according to algorithm in 3 The simulator locating of aircraft current location：
The azimuth calculation method that carrier aircraft reaches any DME platforms is shown in formula -6,
θ2=acos ((DME12+RANGE2-DME222 × DME1 of)/(× RANGE)) (formula -6)
Wherein：
DME1 is carrier aircraft to the distance of 1#DME guidance stations, unit：Nm,
DME2 is carrier aircraft to the distance of 2#DME guidance stations, unit：Nm,
RANGE is distance of the 1#DME platforms away from 2#DME guidance stations, unit：Nm,
Position error must be obtained by calculating the distance of aircraft physical location and simulator locating position.
Further, in addition to：RNAV navigation accuracy predictions are carried out according to simulator locating result and real aircraft data Step：
The prediction of RNAV navigation accuracys includes Navigation system error (NSE) and Flight technical error (FTE) two parts, NSE with FTE is mainly the low of the position error for the positional information that simulation positions obtained positional information and actual carrier aircraft differential GPS measures Frequency component and high fdrequency component to the position error obtained in 3 or 4, it is necessary to carry out low pass and high-pass filtering, filter design method It is as follows：
a)NSE
With reference to the system function of ICAO angle error simulation low-pass filters：
Using Bilinear transformation method, following difference equation is converted into：
Yi=Apfe × (Xi+2 × Xi (n-1)+Xi (n-2))+Bpfe × Yi (n-1)+Cpfe × Yi (n-2) (formula -8)
Wherein：
Omn=Om0/0.64
Apfe=Omn2/(K2+2×Omn×K+Omn2)
Bpfe=(2 × K2-2×Omn2)/(K2+2×Omn×K+Omn2)
Cpfe=- (K2-2×Omn×K+Omn2)/(K2+2×Omn×K+Omn2)
K=Omn/tg (Omn × T/2)
Wherein, Xi (n-1) is the position error of previous moment, and Yi is current NSE values, and T is the Chief Signal Boatswain continuously measured Degree, provided with reference to ICAO, horizontal 0.5rad/s error, will not result in carrier aircraft and deviate predetermined navigation channel.Therefore filter cutoff Frequency Om0 takes 0.5；
b)FTE
High-pass filter initial frequency Om1 selections 0.3, the swing characteristic of estimated location is carried out by using the wave filter Analysis, the influence to FTE further being calculated, formula is shown in formula -9,
Using Bilinear transformation method, formula -9 is converted into difference equation：
Zi=Dcmn × (Xi-Xi (n-1))+Ecmn × Zi (n-1) (formula -10)
Wherein,
Dcmn=1/ (1+K × Om1)
Ecmn=(1-K × Om1)/(1+K × Om1)
K=tg (Om1 × T/2)/Om1
Wherein, Xi (n-1) is the position error of previous moment, and Zi is current FTE values, and Zi (n-1) is previous moment FTE values, T are the signal length continuously measured, and filtering above is carried out to position error and can obtain corresponding prediction NSE and FTE values, Error meets index request and can determine that spatial domain of taking a flight test.
It is an advantage of the invention that：
During the prediction of spatial domain landform and radio coverage area are predicted into being applied to horizontal navigation accuracy takes a flight test first at home, Using VOR/DME, DME/DME simulator locating and navigation accuracy Predicting Technique, to taking a flight test, spatial domain carries out primary election, and the technology can be applied In the spatial domain selection taken a flight test to radio communication navigation subject, efficiency of taking a flight test can be greatly improved.
RNAV navigation accuracy inspections have been carried out to spatial domain of taking a flight test in advance before RNAV takes a flight test, it is horizontal to have selected suitable RNAV Navigation accuracy is taken a flight test spatial domain, and this method can be used for the screening in unpub spatial domain to meet the air route that RNAV takes a flight test, and widen significantly The spatial domain resource that China RNAV takes a flight test, overcomes that China RNAV air routes are less, and is navigated mostly all in very busy trunk Road or remote western air route, the difficulty of inconvenient RNAV navigation accuracys proving flight, carry out RNAV correlation navigation precision to be follow-up Proving flight provides a feasible, effective method.
Brief description of the drawings
Accompanying drawing 1 is double DME guidance stations more new districts；
Accompanying drawing 2 is that VOR/DME simulator locatings iterate to calculate schematic diagram；
Accompanying drawing 3 is DME/DME simulator locating algorithm schematic diagrames；
Accompanying drawing 4 is position error prediction result.
Embodiment
The first step, determine preliminary region to be flown：
It is determined that region tentatively to be flown, correlation navigation platform position of the statistics electromagnetism coverage in terminal airspace, including warp Degree, latitude and height, according to the intervisibility of each flying height guidance station signal in the spatial domain of terrain analysis check machine field, it is determined that at least The region that 2 guidance station radio signals cover simultaneously is preliminary region to be flown.
Second step, determine guidance station more new district：
Under DME/DME navigation patterns, it is desirable to which Aircraft Flight Test spatial domain is in 2 DME guidance stations more in new district, and " (1) aircraft must Must be within the public coverage of 2 DME platforms；(2) ensure that the angle between aircraft and two DME stations must be at 30 ° To between 150 °, the region to be flown taken a flight test of being navigated according to requirements above pre-selection DME/DME, Fig. 1 is seen；
The VOR/DME simulator locatings that 3rd step, basis are taken a flight test in advance obtain position error：
Taken a flight test in advance in preliminary spatial domain to be flown, simulator locating is carried out to aircraft position according to simulator locating algorithm, flown When machine is using VOR/DME navigation patterns, simulator locating is carried out to aircraft using VOR/DME simulator locatings algorithm,
VOR/DME simulator locating algorithms, the distance and bearing information of earth station is reached by continuously recording aircraft, by orientation The reverse aircraft position that is derived from is carried out with range information to observe, mathematics realizes simulator locating according to interative computation, sees that Fig. 2, θ are Aircraft actual position and the relative bearing of current iteration position, with the vector of VOR/DME platforms to iterative position for X-axis, with repeatedly Subrogate and put the vector of real north and establish coordinate system for Y-axis, coordinate system can be orthogonal coordinate system, or nonopiate seat Mark system, the second quadrant of the coordinate system are I areas, and first quartile is II areas, three, four-quadrant be limited to III areas, when aircraft physical location falls At I, II, III area.Model is as follows：
Interative computation aircraft position initial value：Guidance station position,
Iterated revision amount：
Lat_err=| ρ × cos (θ)/60 |
Lon_err=| ρ × sin (θ)/(60 × cos (lat)) | (formula -1)
θ=180-BEARING-acos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (Ith area) (formula -3)
θ=- 180+BEARING+acos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (IIth area) (formula -4)
θ=180+BEARING-acos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (IIIth area) (formula -5)
Iteration termination condition：Terminate iteration when ρ is less than setting, this algorithm can be as accurate as ρ≤0.0001m
Result of calculation：Lat_err and Lon_err at the end of iteration are modified to VOR/DME positions, you can are obtained pre- The aircraft position of survey；
Calculate aircraft and realize that the distance of position and simulator locating position must obtain position error.
The DME/DME simulator locatings that 4th step, basis are taken a flight test in advance obtain position error：
Taken a flight test in advance in preliminary spatial domain to be flown, simulator locating is carried out to aircraft position according to simulator locating algorithm, flown When machine is using DME/DME navigation patterns, simulator locating is carried out to aircraft using DME/DME simulator locatings algorithm, sees Fig. 3,
DME/DME simulator locating algorithms, the range information of 2 different DME guidance stations is reached by continuously recording aircraft, by The relative bearing of one of guidance station is calculated in range information to 2 DME guidance stations, is drawn further according to algorithm in 3 The simulator locating of aircraft current location：
The azimuth calculation method that carrier aircraft reaches any DME platforms is shown in formula -7.
θ2=acos ((DME12+RANGE2-DME222 × DME1 of)/(× RANGE)) (formula -7)
Position error must be obtained by calculating the distance of aircraft physical location and simulator locating position.
5th step：RNAV navigation accuracy predictions are carried out according to simulator locating result and real aircraft data
The prediction of RNAV navigation accuracys includes Navigation system error (NSE) and Flight technical error (FTE) two parts.NSE and FTE is mainly the low of the position error of the positional information that simulator locating obtains and the positional information that actual carrier aircraft differential GPS measures Frequency component and high fdrequency component to the position error obtained in 3 or 4, it is necessary to carry out low pass and high-pass filtering, filter design method It is as follows.
c)NSE
With reference to the system function of ICAO angle error simulation low-pass filters：
Using Bilinear transformation method, following difference equation is converted into：
Yi=Apfe × (Xi+2 × Xi (n-1)+Xi (n-2))+Bpfe × Yi (n-1)+Cpfe × Yi (n-2) (formula -4)
Wherein：
Omn=Om0/0.64
Apfe=Omn2/(K2+2×Omn×K+Omn2)
Bpfe=(2 × K2-2×Omn2)/(K2+2×Omn×K+Omn2)
Cpfe=- (K2-2×Omn×K+Omn2)/(K2+2×Omn×K+Omn2)
K=Omn/tg (Omn × T/2)
Provided with reference to ICAO, horizontal 0.5rad/s error, will not result in carrier aircraft and deviate predetermined navigation channel.Therefore wave filter Cut-off frequency Om0 takes 0.5.
d)FTE
High-pass filter initial frequency selection 0.3, is divided the swing characteristic of estimated location by using the wave filter Analysis, further calculates the influence to FTE, and formula is shown in formula 5.
Using Bilinear transformation method, formula -5 is converted into difference equation：
Zi=Dcmn × (Xi-Xi (n-1))+Ecmn × Zi (n-1) (formula -6)
Wherein,
Dcmn=1/ (1+K × Om1)
Ecmn=(1-K × Om1)/(1+K × Om1)
K=tg (Om1 × T/2)/Om1
Filtering more than being carried out to position error can obtain corresponding prediction NSE and FTE values, and error meets index request It is determined that spatial domain of taking a flight test, Fig. 4 is the error prediction result that certain seating plane is taken a flight test in airport RNAV transverse direction navigation accuracys.

Claims (5)

  1. A kind of AIRSPACE PLANNING method 1. flight management system transverse direction navigation accuracy is taken a flight test, its feature comprise the following steps：
    It is determined that region tentatively to be flown, correlation navigation platform position of the statistics electromagnetism coverage in terminal airspace, including longitude, latitude Degree and height, according to the intervisibility of each flying height guidance station signal in the spatial domain of terrain analysis check machine field, it is determined that at least 2 are led The region that platform radio signal of navigating covers simultaneously is preliminary region to be flown.
  2. The AIRSPACE PLANNING method 2. a kind of flight management system transverse direction navigation accuracy according to claim 1 is taken a flight test, its feature It is, in addition to：The step of determining guidance station more new district：
    Under DME/DME navigation patterns,
    It is required that Aircraft Flight Test spatial domain is in 2 DME guidance stations more in new district,
    Interior requirement is " (1) aircraft must be positioned within the public coverage of 2 DME platforms；(2) aircraft and two DME are ensured Angle between the station must be between 30 ° to 150 °, the region to be flown taken a flight test of being navigated according to requirements above pre-selection DME/DME.
  3. The AIRSPACE PLANNING method 3. a kind of flight management system transverse direction navigation accuracy according to claim 1 is taken a flight test, its feature It is, in addition to：According to the VOR/DME simulator locatings taken a flight test in advance, the step of obtaining position error：
    Taken a flight test in advance in preliminary spatial domain to be flown, simulator locating is carried out to aircraft position according to simulator locating algorithm, aircraft is adopted During with VOR/DME navigation patterns, simulator locating is carried out to aircraft using VOR/DME simulator locatings algorithm,
    VOR/DME simulator locating algorithms, the distance and bearing information of earth station is reached by continuously recording aircraft, by azran From information carry out it is reverse be derived from aircraft position observation, mathematics realizes simulator locating according to interative computation, and model is as follows：
    Interative computation aircraft position initial value：Guidance station position,
    Iterated revision amount：
    Lat_err=| ρ × cos (θ)/60 |
    Lon_err=| ρ × sin (θ)/(60 × cos (lat)) | (formula -1)
    Wherein Lat_err and Lon_err is aircraft physical location and the latitude and longitude error of VOR/DME guidance stations, and ρ is aircraft The distance of actual position and current iteration value, its computational methods are shown in that formula -2, θ is aircraft actual position and the phase of current iteration position Azimuthal, with the vector of VOR/DME platforms to iterative position for X-axis, established by Y-axis of the vector of iterative position to real north Coordinate system, the second quadrant of the coordinate system are I areas, and first quartile is II areas, three, four-quadrant be limited to III areas, when aircraft physical location Fall at I, II, III area, the computational methods at θ angles are shown in (formula -3), (formula -4), (formula -5) respectively, and wherein DME is aircraft output DME distances, VOR are the VOR orientation of aircraft output, and BEARING is the true bearing of current iteration position, and RANGE is current iteration Position and the distance of guidance station,
    θ=180-BEARING-a cos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (Ith area) (formula -3)
    θ=- 180+BEARING+a cos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (IIth area) (formula -4)
    θ=180+BEARING-a cos ((RANGE2+ρ2-DME22 × ρ of)/(× DME)) (IIIth area) (formula -5)
    Iteration termination condition：Terminate iteration when ρ is less than setting, this algorithm can be as accurate as ρ≤0.0001m
    Result of calculation：Lat_err and Lon_err at the end of iteration are modified to VOR/DME positions, you can are predicted Aircraft position；
    Calculate aircraft and realize that the distance of position and simulator locating position must obtain position error.
  4. The AIRSPACE PLANNING method 4. a kind of flight management system transverse direction navigation accuracy according to claim 1 or 2 is taken a flight test, it is special Sign is, in addition to：According to the DME/DME simulator locatings taken a flight test in advance, the step of obtaining position error：
    Taken a flight test in advance in preliminary spatial domain to be flown, simulator locating is carried out to aircraft position according to simulator locating algorithm, aircraft is adopted During with DME/DME navigation patterns, simulator locating is carried out to aircraft using DME/DME simulator locatings algorithm,
    DME/DME simulator locating algorithms, the range information of 2 different DME guidance stations is reached by continuously recording aircraft, by 2 The relative bearing of one of guidance station is calculated in the range information of individual DME guidance stations, and aircraft is drawn further according to algorithm in 3 The simulator locating of current location：
    The azimuth calculation method that carrier aircraft reaches any DME platforms is shown in formula -6,
    θ2=acos ((DME12+RANGE2-DME222 × DME1 of)/(× RANGE)) (formula -6)
    Wherein：
    DME1 is carrier aircraft to the distance of 1#DME guidance stations, unit：Nm,
    DME2 is carrier aircraft to the distance of 2#DME guidance stations, unit：Nm,
    RANGE is distance of the 1#DME platforms away from 2#DME guidance stations, unit：Nm,
    Position error must be obtained by calculating the distance of aircraft physical location and simulator locating position.
  5. The AIRSPACE PLANNING method 5. a kind of flight management system transverse direction navigation accuracy according to claim 3 or 4 is taken a flight test, it is special Sign is, in addition to：The step of prediction of RNAV navigation accuracys being carried out according to simulator locating result and real aircraft data：
    The prediction of RNAV navigation accuracys includes Navigation system error (NSE) and Flight technical error (FTE) two parts, NSE and FTE masters If the low frequency component of the position error for the positional information that positional information and actual carrier aircraft differential GPS that simulator locating obtains measure It is with high fdrequency component, it is necessary to as follows to the position error progress low pass and high-pass filtering, filter design method obtained in 3 or 4：
    a)NSE
    With reference to the system function of ICAO angle error simulation low-pass filters：
    Using Bilinear transformation method, following difference equation is converted into：
    Yi=Apfe × (Xi+2 × Xi (n-1)+Xi (n-2))+Bpfe × Yi (n-1)+Cpfe × Yi (n-2) (formula -8)
    Wherein：
    Omn=Om0/0.64
    Apfe=Omn2/(K2+2×Omn×K+Omn2)
    Bpfe=(2 × K2-2×Omn2)/(K2+2×Omn×K+Omn2)
    Cpfe=- (K2-2×Omn×K+Omn2)/(K2+2×Omn×K+Omn2)
    K=Omn/tg (Omn × T/2)
    Wherein, Xi (n-1) is the position error of previous moment, and Yi is current NSE values, and T is the signal length continuously measured, is joined Provided according to ICAO, horizontal 0.5rad/s error, will not result in carrier aircraft and deviate predetermined navigation channel.Therefore filter cutoff frequency Om0 takes 0.5；
    b)FTE
    High-pass filter initial frequency selection 0.3, is analyzed the swing characteristic of estimated location by using the wave filter, entered One step calculates the influence to FTE, and formula is shown in formula -9,
    Using Bilinear transformation method, formula -9 is converted into difference equation：
    Zi=Dcmn × (Xi-Xi (n-1))+Ecmn × Zi (n-1) (formula -10)
    Wherein,
    Dcmn=1/ (1+K × Om1)
    Ecmn=(1-K × Om1)/(1+K × Om1)
    K=tg (Om1 × T/2)/Om1
    Wherein, Xi (n-1) is the position error of previous moment, and Zi is current FTE values, and Zi (n-1) is the FTE of previous moment Value, T are the signal length continuously measured, and filtering above is carried out to position error and can obtain corresponding prediction NSE and FTE values, by mistake Difference meets index request and can determine that spatial domain of taking a flight test.
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CN111025363A (en) * 2019-11-28 2020-04-17 中国航空工业集团公司西安航空计算技术研究所 General airplane full-track autonomous navigation method meeting PBN
CN112729340A (en) * 2020-12-24 2021-04-30 中国飞行试验研究院 Flight test method for searching positioning capability
CN113470441A (en) * 2021-06-30 2021-10-01 成都飞机工业（集团）有限责任公司 Real-time intelligent collision prevention detection method for high-mobility test flight aircraft
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