CN109115241A - Vector data source integrity monitoring method - Google Patents
Vector data source integrity monitoring method Download PDFInfo
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- CN109115241A CN109115241A CN201810892480.5A CN201810892480A CN109115241A CN 109115241 A CN109115241 A CN 109115241A CN 201810892480 A CN201810892480 A CN 201810892480A CN 109115241 A CN109115241 A CN 109115241A
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- magnetic
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- backup instrument
- data source
- field intensity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The invention discloses a kind of vector data source integrity monitoring methods comprising the steps of: 1, calculating aircraft current location three-dimensional geomagnetic field intensity and magnetic variation；2, true course is converted by the magnetic heading that backup instrument exports using magnetic variation；3, backup instrument measurement three-dimensional geomagnetic field intensity is utilized；4, detection aircraft whether there is motor-driven, if carrying out step 5 without motor-driven；If the dimensionally magnetic field strength differences of the 5 three-dimensional geomagnetic field intensities calculated and backup instrument measurement are less than the thresholding of setting, then it is assumed that the magnetic heading of backup instrument output is correct, carries out step 6；6 true course obtained using the true course and step 2 of inertial navigation system output, generate course residual error, and test to residual error, to determine whether the course of inertial navigation system meets integrity requirement.The present invention improves the integrity of vector data source under the premise of not increasing hardware cost, and then improves the safety of aircraft.
Description
Technical field
The present invention relates to Aircraft Cockpit Display Systems, and in particular to the integrity prison of course data source in cockpit display system
Control.
Background technique
The course of aircraft is generally shown on primary flight display and navigation indicator, is that pilot controls aircraft and progress
The key message of navigation.The course of mistake, which is shown, may cause serious accident, for airplane in transportation category, it is desirable that main driving and pair
The probability of mistake occurs simultaneously for the course of driving less than 10-7/ hour.
Course data is generally from inertial navigation system.In order to improve the integrity that course is shown, usual way is logical
The method for increasing hardware redundancy is crossed, Design of inertial navigation system is improved, improves the integrity of data source, but this method will increase
Aircraft development cost.
Summary of the invention
Goal of the invention of the invention is to provide a kind of vector data source integrity monitoring method, utilizes world magnetic
Field model WMM and aircraft backup instrument, are monitored the integrity of inertial navigation system, in the premise for not increasing hardware cost
Under, the integrity of vector data source is improved,
Goal of the invention of the invention is achieved through the following technical solutions:
Step (1) calculates aircraft current location three-dimensional geomagnetic field intensity and magnetic variation；
Step (2) converts true course for the magnetic heading that backup instrument exports using magnetic variation；
Step (3) utilizes backup instrument measurement three-dimensional geomagnetic field intensity；
Step (4), detection aircraft are with the presence or absence of motor-driven, if carrying out step (5), otherwise return step without motor-driven
(1)；
Step (5) is if the three-dimensional geomagnetic field intensity of step (1) calculating and the three-dimensional earth magnetism of step (3) backup instrument measurement
Field intensity difference is less than the thresholding of setting, then it is assumed that the magnetic heading of backup instrument output is correct, carries out step (6), otherwise returns
Step (1)；
The true course that step (6) is obtained using the true course and step (2) of inertial navigation system output, it is residual to generate course
Difference, and test to residual error, to determine whether the course of inertial navigation system meets integrity requirement.
Preferably, in step (1), longitude, the latitude, height, temporal information provided according to airborne GPS receiver, and
World magnetic model WMM calculates the three-dimensional geomagnetic field intensity and magnetic variation of aircraft current location.
Preferably, it in step (3), if the three-dimensional geomagnetic field intensity that backup instrument measurement goes out is carrier coordinate system, will carry
Body coordinate system is converted to geographic coordinate system.
Preferably, detection aircraft adds with the presence or absence of the three-dimensional that motor-driven method is judgement backup instrument measurement in step (4)
Velocity vector and whether be equal to acceleration of gravity.
Detailed description of the invention
Fig. 1 is the flow diagram of vector data source integrity monitoring method.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
In order to reduce aircraft development cost, vector data source integrity monitoring method shown in the present embodiment is to utilize
The course of aircraft backup instrument output carries out integrity monitoring, but aircraft backup instrument to the course of inertial navigation system output
The course of output is interfered vulnerable to external magnetic field, needs to test to it, with the influence in exclusive PCR magnetic field.World magnetic mould
Type WMM can be used to examine the correctness of backup instrument magnetic heading.World magnetic model WMM is the mathematical modulo of geomagnetic main field
Type can calculate the earth's magnetic field characteristic quantity of global any position point using the model.Due in the change in long term of geomagnetic main field
Containing uncertain nonlinear change, therefore world magnetic model WMM will do primary update every 5 years, update result by
American National Geophysical Data Center is announced.
Shown in Figure 1, specific step is as follows for vector data source integrity monitoring method:
Step (1) calculates aircraft current location three-dimensional geomagnetic field intensity and magnetic variation.It is provided according to airborne GPS receiver
The world magnetic model WMM that longitude, latitude, height, temporal information and American National Geophysical Data Center are announced,
Calculate the three-dimensional geomagnetic field intensity M of aircraft current locationE,MN, MUWith magnetic variation D.
Step (2), the magnetic heading ψ for being exported backup instrument using magnetic variation DMIt is converted into true course ψ:
ψ=ψM-D。
Step (3) utilizes backup instrument measurement three-dimensional geomagnetic field intensity.If the three-dimensional earth's magnetic field that backup instrument measurement goes out is strong
Degree is carrier coordinate system three-dimensional geomagnetic field intensity MX,MY, MZ, then carrier coordinate system is converted to the three-dimensional earth magnetism of geographic coordinate system
Field intensity M 'E,M’N, M 'U:
Wherein, θ, γ, ψ are the pitch angle, roll angle, the magnetic heading turn exported by backup instrument of backup instrument output respectively
Change obtained true course.
Step (4), detection aircraft are with the presence or absence of motor-driven, if carrying out step (5), otherwise return step without motor-driven
(1).If the three-dimensional acceleration vector sum of backup instrument measurement is equal to acceleration of gravity, i.e.,
Then aircraft is not motor-driven.ax,ay,azFor the three-dimensional acceleration of backup instrument measurement, g is acceleration of gravity, σx,σy,
σzIt is that backup instrument three-dimensional acceleration measurement noise criteria is poor respectively.
Step (5) is if the three-dimensional geomagnetic field intensity of step (1) calculating and the three-dimensional earth magnetism of step (3) backup instrument measurement
Field intensity difference is less than the thresholding of setting:
|ME-M’E|<3σE
|MN-M’N|<3σN
|MU-M’U|<3σU
Then think that the magnetic heading of backup instrument output is correct, carries out step (6), otherwise return step (1).σE、σN、σUPoint
Be not backup instrument three-dimensional geomagnetic sensor measurement noise criteria it is poor.
Step (6) is residual using the true course calculating course that the true course ψ ' and step (2) of inertial navigation system output are obtained
Poor Δ ψ:
Δ ψ=ψ '-ψ
If
Then determine that the course data of inertial navigation system is wrong, while issuing and alerting to unit.Wherein It is the noise variance of inertial navigation system and backup instrument output course respectively.
Claims (4)
1. a kind of vector data source integrity monitoring method comprising the steps of:
Step (1) calculates aircraft current location three-dimensional geomagnetic field intensity and magnetic variation；
Step (2) converts true course for the magnetic heading that backup instrument exports using magnetic variation；
Step (3) utilizes backup instrument measurement three-dimensional geomagnetic field intensity；
Step (4), detection aircraft are with the presence or absence of motor-driven, if carrying out step (5), otherwise return step (1) without motor-driven；
Step (5) is if the three-dimensional earth's magnetic field of three-dimensional geomagnetic field intensity and step (3) backup instrument measurement that step (1) calculates is strong
Spend the thresholding that difference is less than setting, then it is assumed that the magnetic heading of backup instrument output is correct, carries out step (6), otherwise return step
(1)；
The true course that step (6) is obtained using the true course and step (2) of inertial navigation system output, generates course residual error, and
It tests to residual error, to determine whether the course of inertial navigation system meets integrity requirement.
2. a kind of vector data source integrity monitoring method according to claim 1, it is characterised in that the step
(1) in, according to longitude, latitude, height, temporal information and world magnetic model WMM that airborne GPS receiver provides, meter
Calculate the three-dimensional geomagnetic field intensity and magnetic variation of aircraft current location.
3. a kind of vector data source integrity monitoring method according to claim 1, it is characterised in that the step
(3) in, if the three-dimensional geomagnetic field intensity that backup instrument measurement goes out is carrier coordinate system, carrier coordinate system is converted into geographical seat
Mark system.
4. a kind of vector data source integrity monitoring method according to claim 1, it is characterised in that the step
(4) detection aircraft is to judge whether the three-dimensional acceleration vector sum of backup instrument measurement is equal to weight with the presence or absence of motor-driven method in
Power acceleration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810892480.5A CN109115241A (en) | 2018-08-07 | 2018-08-07 | Vector data source integrity monitoring method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810892480.5A CN109115241A (en) | 2018-08-07 | 2018-08-07 | Vector data source integrity monitoring method |
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Application publication date: 20190101 |