CN113109849A - Auxiliary flight navigation method and system based on Beidou/GPS dual-channel differential prediction - Google Patents
Auxiliary flight navigation method and system based on Beidou/GPS dual-channel differential prediction Download PDFInfo
- Publication number
- CN113109849A CN113109849A CN202110522713.4A CN202110522713A CN113109849A CN 113109849 A CN113109849 A CN 113109849A CN 202110522713 A CN202110522713 A CN 202110522713A CN 113109849 A CN113109849 A CN 113109849A
- Authority
- CN
- China
- Prior art keywords
- navigation
- gps
- beidou
- flight
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an auxiliary flight navigation method and system based on Beidou/GPS double-channel differential alarm, wherein the system comprises a Beidou receiver, a GPS receiver and a flight management computing terminal; the Beidou and the GPS are used as a dual-channel satellite positioning data source, and meanwhile, the hot backup work is carried out to send navigation data to the flight management computing terminal; the flight management computing terminal is provided with a display screen, a control panel and a large-capacity memory, runs a multi-task real-time operating system, can store a navigation database, runs a flight plan management task and a double-channel horizontal/vertical navigation task, performs double-channel horizontal and vertical navigation computation by utilizing double-channel satellite positioning data, and provides error data and alarm data of flight navigation parameters. The method is based on the satellite data of the double channels and the established flight plan, calculates the real-time errors of the Beidou and GPS navigation sources and the flight navigation parameter errors, provides accurate flight reference for pilots, and improves the flight safety.
Description
Technical Field
The invention belongs to the field of satellite navigation, and particularly relates to a method and a system for aircraft flight management and navigation based on a satellite.
Background
Currently, the current state of the art commonly used in the industry is such that:
modern aircraft navigation is based on radio navigation equipment and GPS equipment, and navigation calculation is completed through a flight management computer. For areas lacking roadbed navigation facilities, GPS navigation can be relied on only. And with the development of satellite navigation technology, the airplane gradually transits to the PBN navigation mainly based on satellite navigation. However, only the GPS navigation system cannot fully meet the requirements of the PBN navigation technology in terms of accuracy, integrity, consistency and usability. And the GPS navigation system is controlled abroad, and the stability and the safety of the GPS navigation system in other regions of the world cannot be ensured. With the continuous improvement of the positioning accuracy of the Beidou system, the application of the Beidou in the field of aviation is developed, and the Beidou can be used as a satellite navigation means to provide navigation service for the airplane, so that the airplane can have two satellite navigation means of the Beidou and the GPS. However, the airborne avionics equipment is a complete system which is certified by seaworthiness, and a Beidou communication interface is not reserved, so that a Beidou navigation system cannot be directly added to an airplane.
In summary, the problems of the prior art are as follows:
the existing airplane only has GPS (global positioning system) satellite navigation technology, and cannot completely meet the requirements of PBN (personal computer network) navigation technology in the aspects of precision, integrity, consistency and usability.
For areas lacking roadbed navigation facilities, the navigation system can only rely on GPS navigation, and has poor stability and safety performance. The stability and safety of the GPS navigation system in other regions around the world cannot be guaranteed.
The Beidou navigation system cannot be added to civil aircraft airborne equipment due to the limitation of foreign technologies, so that the Beidou navigation system cannot be applied to civil aviation navigation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an auxiliary flight navigation method and system based on Beidou/GPS dual-channel differential prediction.
An auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction comprises the following steps:
1) forming a target route according to the flight plan, and establishing a flight plan resolving model;
2) simultaneously acquiring Beidou positioning data and GPS positioning data;
3) the system is defaulted to work in a Beidou navigation mode; according to the established flight plan resolving model, performing horizontal and vertical navigation resolving by respectively using Beidou positioning data and GPS positioning data, and calculating current horizontal and vertical navigation parameters;
4) comparing the Beidou positioning data with the GPS positioning data, and determining and monitoring the working mode of the system; the working modes of the system are divided into a Beidou navigation mode and a GPS error correction mode;
when the positioning errors of the two are within a set threshold range, a Beidou navigation mode is kept, the navigation calculation is mainly based on Beidou positioning data, and horizontal and vertical navigation parameters based on a flight plan are calculated and used as backup of the aircraft navigation capacity;
when the positioning errors of the two devices exceed the set threshold range, entering a GPS error correction mode, and calculating the error prediction, correction value and credibility of the GPS navigation parameters based on the Beidou navigation parameters;
5) and displaying the navigation parameters and the error analysis data of the two navigation modes according to different working modes.
Further, the horizontal and vertical navigation parameters include track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical velocity, and vertical deviation.
Further, in step 4), the monitoring system operating mode specifically includes the following steps:
4.1) calculating real-time errors in the GPS data in latitude, speed, height and track direction by taking the Beidou positioning data as a reference;
4.2) when the GPS data error exceeds a first threshold level1, starting to count an error distribution curve and predicting an error distribution trend;
4.3) counting error data in a period of time T, giving an error value D with a 95% probability, and calculating the reliability;
4.4) when the error value D of the GPS data exceeds a second threshold level2, the system enters a GPS error correction mode and gives an alarm;
4.5) continuously monitoring the GPS data error, and when the GPS data error is smaller than a second threshold level2, returning the system to the Beidou navigation mode;
4.6) continuously monitoring the GPS data error, and when the GPS data error is less than a first threshold level1, stopping the error statistics and analysis function.
Further, in step 4.2), the error continuous path is also displayed on the electronic map pushed to the flight management computing terminal.
Further, in step 4.4), the GPS correction mode navigation calculation step is specifically as follows:
4.4.1) according to the established flight plan, respectively executing horizontal navigation and vertical navigation resolving according to the Beidou and GPS data;
4.4.2) calculating the current track direction, track direction deviation, azimuth angle, distance, horizontal deviation, vertical speed, vertical deviation and other parameter errors of the GPS by taking the Beidou navigation parameter as a reference, and giving a correction value;
4.4.3) establishing a two-dimensional graphical interface by taking the horizontal deviation value as an x axis and the vertical deviation value as a y axis, marking the horizontal deviation value and the vertical deviation value of the GPS and the Beidou horizontal deviation value and the vertical deviation value by taking the target navigation line position as a central point, and marking a correction value.
Further, in step 3), horizontal navigation calculation is performed, and the specific steps of calculating the current horizontal navigation parameter are as follows:
a1) establishing a flight plan formed by connecting a plurality of route points in a front-back manner to form a route;
a2) the method comprises the following steps of forming a flight section by route points connected in front and back, and calculating a required flight path angle, a required distance, a required arrival time and a required flight time of the next route point from the previous route point to serve as flight references;
a3) selecting a first section as a current flight section at the initial moment;
a4) extracting the current position information of the airplane from the satellite receiver, wherein the current position information comprises longitude and latitude, altitude, ground speed and track direction information;
a5) extracting longitude and latitude information of front and back route points from a flight plan, and calculating and displaying a required track angle, a real-time azimuth angle and a required distance between the current route point and the previous route point one by one;
a6) calculating and displaying the distance and the azimuth angle between the current position of the airplane and the destination, as well as flight path angle error, horizontal flight path deviation, predicted arrival time and predicted flight time in real time;
a7) periodically executing the steps a4) to a6) to guide the airplane to fly in real time.
Further, in step 3), vertical navigation calculation is performed, and the specific steps of calculating the current vertical navigation parameter are as follows:
b1) extracting an altitude target value from the current execution flight segment, and extracting the aircraft altitude from a satellite receiver;
b2) determining a vertical lifting speed, a climbing/descending starting point and climbing/descending time according to the vertical performance of the airplane;
b3) and adjusting the horizontal speed and the vertical lifting speed of the target in real time according to the real-time lifting speed and the climbing/descending path of the airplane, and guiding the airplane to fly.
b4) And c) periodically executing b1) to b3) to guide the climbing or descending of the airplane in the vertical direction in real time.
Correspondingly, the invention also provides an auxiliary flight navigation system based on the Beidou/GPS double-channel differential prediction, which comprises a Beidou receiver, a GPS receiver and a flight management computing terminal; the Beidou receiver and the GPS receiver are used as a dual-channel satellite positioning data source, and meanwhile, the hot backup works to send navigation data to the flight management computing terminal; the flight management computing terminal is provided with a display screen, a control panel and a memory, runs a multi-task real-time operating system, can store a navigation database, and runs a flight plan management task and a double-channel horizontal/vertical navigation task; the method specifically comprises the following program modules:
the calculation model establishing module is used for forming a target air route according to the flight plan and establishing a flight plan calculation model;
the positioning data acquisition module is used for acquiring Beidou positioning data and GPS positioning data simultaneously;
the navigation calculation module is used for executing horizontal and vertical navigation calculation by respectively utilizing Beidou positioning data and GPS positioning data according to the established flight plan calculation model and calculating current horizontal and vertical navigation parameters;
the working mode determining and monitoring module is used for comparing the Beidou positioning data and the GPS positioning data and determining and monitoring the working mode of the system; the working modes of the system are divided into a Beidou navigation mode and a GPS error correction mode;
when the positioning errors of the two are within a set threshold range, a Beidou navigation mode is kept, the navigation calculation is mainly based on Beidou positioning data, and horizontal and vertical navigation parameters based on a flight plan are calculated and used as backup of the aircraft navigation capacity;
when the positioning errors of the two devices exceed the set threshold range, entering a GPS error correction mode, and calculating the error prediction, correction value and credibility of the GPS navigation parameters based on the Beidou navigation parameters;
and the navigation display module is used for displaying the navigation parameters and the error analysis data of the two navigation modes according to different working modes.
The invention also provides a computer device comprising a memory for storing computer instructions and a processor; the auxiliary flight navigation method based on the Beidou/GPS dual-channel differential prediction is characterized in that the processor is used for operating the computer instructions stored in the memory to realize the auxiliary flight navigation method based on the Beidou/GPS dual-channel differential prediction.
The invention also provides a computer readable storage medium which stores computer instructions, and is characterized in that the computer instructions are used for realizing the auxiliary flight navigation method based on the Beidou/GPS dual-channel differential prediction.
The invention has the following advantages:
the auxiliary flight navigation method based on the Beidou/GPS double-channel differential prediction can enable an airplane to have two satellite navigation modes of the Beidou and the GPS without influencing the original airborne system. Under the normal condition, the original airborne GPS navigation equipment is taken as the main part, and the added Beidou navigation is taken as the auxiliary part; under special conditions, the airborne GPS positioning accuracy and the navigation parameter error can be monitored in real time according to the Beidou navigation capability of China, the airborne GPS positioning accuracy and the navigation parameter error are compared, the reliability is increased, the airborne GPS navigation parameter is corrected, and the flight safety is improved.
The auxiliary flight navigation system device based on the Beidou/GPS double-channel differential prediction can enable an airplane to have Beidou navigation capability under the condition that an original airborne system is not influenced, and the device is high in integration level, small in size, simple in structure, convenient to install and maintain and convenient to modify the existing airplane.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a block diagram of a flight navigation operation provided by an embodiment of the present invention;
fig. 2 is a block diagram of a Beidou navigation system provided by the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment provides a method and a system for adding a Beidou/GPS navigation system under the condition of not changing an original aircraft system, so that the aircraft has two satellite navigation means of GPS and Beidou, and meanwhile, by comparing Beidou satellite positioning data and GPS satellite positioning data, real-time errors of the GPS satellite positioning data and air route navigation parameters are calculated and error distribution trends are predicted, navigation parameter correction is given, and the safety of the aircraft is greatly improved. The Beidou navigation system enables the airplane in China to use Beidou navigation, gets rid of the constraint of foreign GPS, and meanwhile improves the navigation performance.
The system comprises a Beidou data receiving unit, a GPS data receiving unit, a dual-channel satellite data processing unit, a flight plan management unit, an electronic map processing unit, a Beidou navigation calculation unit, a GPS navigation calculation unit, an error monitoring and parameter correcting unit and a man-machine interaction management unit. The schematic block diagram is shown in fig. 1.
The Beidou data receiving unit and the GPS data receiving unit are respectively used for receiving Beidou positioning data and GPS positioning data. The Beidou positioning data comes from a Beidou receiver, and the GPS positioning data comes from a GPS receiver. The Beidou and GPS integrated positioning mode is not selected by the system, and errors of the Beidou and the GPS integrated positioning mode cannot be distinguished.
The dual-channel satellite data processing unit is used for resolving Beidou and GPS positioning data simultaneously. The Beidou and GPS satellite positioning are realized through different satellites, the longitude and latitude, speed and course information of the airplane can be given, and the embodiment can simultaneously receive and resolve two satellite navigation data.
The flight plan management unit is used for editing the plane plan and establishing a navigation calculation model through a man-machine interaction interface based on a built-in navigation database.
The electronic map processing unit generates an electronic map interface based on the built-in navigation database and the geographic model, and displays the position of the airplane, the air route and various alarm signals.
The Beidou navigation calculation unit and the GPS navigation calculation unit are dual-channel navigation calculation modules, and respectively execute horizontal and vertical navigation calculation according to the established flight plan model and satellite positioning data to calculate navigation parameters of two navigation sources.
The error monitoring and parameter correcting unit works in two aspects, namely monitoring errors of Beidou and GPS positioning data, executing error analysis and prediction and controlling a system working mode; and on the other hand, errors and correction values of the GPS navigation parameters are calculated by taking the Beidou navigation parameters as the reference.
The man-machine interaction management unit is used for managing the man-machine interaction interface and realizing the display and operation of the graphical interface.
The embodiment provides a human-computer interaction interface, which can establish a flight plan, execute navigation calculation according to a flight route, determine a working mode and execute error prediction and alarm functions. The system comprises the following working steps:
firstly, establishing a flight plan, forming a target route, and establishing a resolving model;
secondly, collecting Beidou positioning data and GPS positioning data;
thirdly, according to the established flight plan resolving model, respectively utilizing Beidou positioning data and GPS positioning data to execute horizontal navigation and vertical navigation resolving, and calculating the current track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical speed and vertical deviation;
fourthly, determining and continuously monitoring the working mode of the system according to the error ranges of the Beidou positioning data and the GPS positioning data;
and fifthly, displaying the navigation parameters and the error analysis data of the two navigation modes according to different working modes.
The system working mode monitoring method comprises the following steps:
the first step is as follows: the system firstly works in a Beidou navigation mode;
secondly, acquiring Beidou satellite and GPS satellite data, and calculating real-time errors in the GPS data in latitude, speed, height and track direction by taking Beidou positioning data as a reference;
thirdly, when the GPS data error exceeds a threshold level1, counting an error distribution curve and predicting an error distribution trend; displaying the error continuous path on the electronic map;
and fourthly, counting error data in a period of time T, giving an error value D with a 95% probability, and calculating the reliability.
And fifthly, when the GPS data error D exceeds the threshold level2, the system enters a GPS error correction mode and gives an alarm.
Sixthly, continuously monitoring the GPS data error, and when the GPS data error is smaller than a threshold level2, returning the system to the Beidou navigation mode;
and seventhly, continuously monitoring the GPS data error, and stopping the error statistics and analysis function when the GPS data error is smaller than a threshold level 1.
The Beidou navigation mode navigation calculation steps are as follows:
the first step, judging that the Beidou and GPS positioning errors are within a threshold range;
secondly, according to the established flight plan, executing horizontal navigation and vertical navigation parameters, and calculating the current track direction, track direction errors, azimuth angles, distances, horizontal deviation, vertical speed and vertical deviation; the navigation calculation comprises two parts of horizontal navigation and vertical navigation:
the horizontal navigation steps are as follows:
1) establishing a flight plan formed by connecting a plurality of route points in a front-back manner to form a route;
2) the method comprises the following steps of forming a flight section by route points connected in front and back, and calculating a required flight path angle, a required distance, a required arrival time and a required flight time of the next route point from the previous route point to serve as flight references;
3) selecting a first section as a current flight section at the initial moment;
4) extracting the current position information of the airplane from the satellite receiver, wherein the current position information comprises longitude and latitude, altitude, ground speed and track direction information;
5) extracting longitude and latitude information of front and back route points from a flight plan, and calculating and displaying a required track angle, a real-time azimuth angle and a required distance between the current route point and the previous route point one by one;
6) calculating and displaying the distance and the azimuth angle between the current position of the airplane and the destination, as well as flight path angle error, horizontal flight path deviation, predicted arrival time and predicted flight time in real time;
7) and 4-6 processes are executed periodically, and the airplane is guided to fly in real time.
Each waypoint in the flight plan has height information, and vertical navigation is executed according to the vertical section of the route, and the method comprises the following steps:
extracting an altitude target value from the current execution flight segment, and extracting the aircraft altitude from a satellite receiver;
determining a vertical lifting speed, a climbing/descending starting point and climbing/descending time according to the vertical performance of the airplane;
and adjusting the horizontal speed and the vertical lifting speed of the target in real time according to the real-time lifting speed and the climbing/descending path of the airplane, and guiding the airplane to fly.
And (4) periodically executing a process 1-3, and guiding the climbing or descending of the airplane in the vertical direction in real time.
The GPS correction mode navigation calculation steps are as follows:
the first step, judging that the Beidou and GPS positioning errors exceed the threshold range
Secondly, according to the established flight plan, respectively according to the Beidou and the GPS data, executing horizontal navigation and vertical navigation parameters, and calculating the current track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical speed and vertical deviation;
thirdly, calculating errors and correction values of the navigation parameters based on the GPS according to the navigation parameters based on the Beidou;
and fourthly, calculating the reliability according to the error, dividing the reliability into three levels, wherein the first level represents safety, the second level represents that the correction is needed, and the third level is serious in a controllable range, so that the correction cannot be performed, and the method is very dangerous. And gives an alarm.
The embodiment also designs an auxiliary flight navigation system based on Beidou/GPS double-channel differential prediction, which adopts integration, miniaturization and large-scale software technology to design an integrated navigation system with high integration level, and integrates a Beidou receiver, a GPS receiver and a flight management computing terminal;
the Beidou receiver and the GPS receiver are used as two-channel satellite positioning data sources which operate independently, and meanwhile, the hot backup work is carried out to send navigation data to the flight management computing terminal;
the flight management computing terminal is provided with a display screen, a control panel and a large-capacity memory, runs a multi-task real-time operating system, can store a navigation database, and runs a double-channel satellite positioning data processing task, a flight plan management task and a double-channel horizontal/vertical navigation task.
The system composition diagram is shown in fig. 2.
The flight management computing terminal adopts an embedded processor, runs a multi-task real-time processing system, and can run a double-channel satellite positioning data resolving software module, a flight plan management software module, a human-computer interaction software module, a double-channel horizontal/vertical guiding software module and an error analysis and correction software module.
The flight management computing terminal has a display capable of providing a flight plan entry window and a navigation parameter display window.
The flight plan management process is as follows:
1) the flight management computing terminal has a flight plan management window. The navigation computer builds a flight plan based on the navigation database. The flight plan window provides editing functions of the flight plan, including add, delete, activate, invert, etc. In the flight plan, a flight section is formed by two route points which are connected in front and back, and a flight plan is formed by a plurality of route points.
2) Flight plans are entered and controlled via the control panel. The waypoint code of the waypoint in the flight plan can be input through the control panel, the waypoint adopts the ID or code composed of characters for input, and the input window automatically retrieves according to the input characters. The longitude and latitude adopt WGS-84 coordinate system.
And the navigation parameters, the error analysis data and the correction data are displayed on a display through a graphical interface and are provided for the pilot to view and use.
Thus, the embodiment has described an auxiliary flight navigation method and system based on the Beidou/GPS dual-channel differential prediction, compared with the existing aircraft navigation system, the system has the advantages that the Beidou system is easily added, the flight planning function and the navigation calculation function are realized through the integrated navigation computer, the satellite-based navigation is executed, and the airborne GPS error monitoring and the navigation parameter correction are realized through the comparison of the Beidou and GPS dual-channel satellite data. The airplane provided with the system is provided with a GPS and BDS double set of satellite navigation equipment, when the GPS has errors, especially errors added artificially, alarms and correction data are given in time, and the flight safety is improved.
According to the embodiment, the Beidou/GPS navigation system is added under the condition that the original aircraft system is not changed, and the aircraft without the GPS navigation capability can have two satellite navigation means of GPS and Beidou. For the airplane with the GPS navigation capability, the airplane with the GPS navigation capability can not only have extra GPS navigation capability and Beidou navigation capability, but also can calculate the real-time error of the GPS satellite positioning data and the air route navigation parameter and predict the error distribution trend by comparing the Beidou satellite positioning data and the GPS satellite positioning data, give the navigation parameter correction amount and greatly improve the safety of the airplane. The Beidou navigation system enables the airplane in China to use Beidou navigation, gets rid of the constraint of foreign GPS, and meanwhile improves the navigation performance.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. An auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction is characterized by comprising the following steps:
1) forming a target route according to the flight plan, and establishing a flight plan resolving model;
2) simultaneously acquiring Beidou positioning data and GPS positioning data;
3) the system is defaulted to work in a Beidou navigation mode; according to the established flight plan resolving model, performing horizontal and vertical navigation resolving by respectively using Beidou positioning data and GPS positioning data, and calculating current horizontal and vertical navigation parameters;
4) comparing the Beidou positioning data with the GPS positioning data, and determining and monitoring the working mode of the system; the working modes of the system are divided into a Beidou navigation mode and a GPS error correction mode;
when the positioning errors of the two are within a set threshold range, a Beidou navigation mode is kept, the navigation calculation is mainly based on Beidou positioning data, and horizontal and vertical navigation parameters based on a flight plan are calculated and used as backup of the aircraft navigation capacity;
when the positioning errors of the two devices exceed the set threshold range, entering a GPS error correction mode, and calculating the error prediction, correction value and credibility of the GPS navigation parameters based on the Beidou navigation parameters;
5) and displaying the navigation parameters and the error analysis data of the two navigation modes according to different working modes.
2. The method of claim 1, wherein the horizontal and vertical navigation parameters include track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical speed and vertical deviation.
3. The auxiliary flight navigation method based on the Beidou/GPS two-channel differential prediction as set forth in claim 1, wherein in the step 4), the monitoring system working mode specifically comprises the following steps:
4.1) calculating real-time errors in the GPS data in latitude, speed, height and track direction by taking the Beidou positioning data as a reference;
4.2) when the GPS data error exceeds a first threshold level1, starting to count an error distribution curve and predicting an error distribution trend;
4.3) counting error data in a period of time T, giving an error value D with a 95% probability, and calculating the reliability;
4.4) when the error value D of the GPS data exceeds a second threshold level2, the system enters a GPS error correction mode and gives an alarm;
4.5) continuously monitoring the GPS data error, and when the GPS data error is smaller than a second threshold level2, returning the system to the Beidou navigation mode;
4.6) continuously monitoring the GPS data error, and when the GPS data error is less than a first threshold level1, stopping the error statistics and analysis function.
4. The auxiliary flight navigation method based on the Beidou/GPS two-channel differential prediction as claimed in claim 3, wherein in the step 4.2), the error continuous path is also displayed on an electronic map pushed to a flight management computing terminal.
5. The auxiliary flight navigation method based on the Beidou/GPS two-channel differential prediction as claimed in claim 3, wherein in the step 4.4), the GPS correction mode navigation calculation step is as follows:
4.4.1) according to the established flight plan, respectively executing horizontal navigation and vertical navigation resolving according to the Beidou and GPS data;
4.4.2) calculating the current track direction, track direction deviation, azimuth angle, distance, horizontal deviation, vertical speed, vertical deviation and other parameter errors of the GPS by taking the Beidou navigation parameter as a reference, and giving a correction value;
4.4.3) establishing a two-dimensional graphical interface by taking the horizontal deviation value as an x axis and the vertical deviation value as a y axis, marking the horizontal deviation value and the vertical deviation value of the GPS and the Beidou horizontal deviation value and the vertical deviation value by taking the target navigation line position as a central point, and marking a correction value.
6. The auxiliary flight navigation method based on the Beidou/GPS dual-channel differential prediction as recited in claim 1, wherein in the step 3), horizontal navigation solution is executed, and the specific steps of calculating the current horizontal navigation parameters are as follows:
a1) establishing a flight plan formed by connecting a plurality of route points in a front-back manner to form a route;
a2) the method comprises the following steps of forming a flight section by route points connected in front and back, and calculating a required flight path angle, a required distance, a required arrival time and a required flight time of the next route point from the previous route point to serve as flight references;
a3) selecting a first section as a current flight section at the initial moment;
a4) extracting the current position information of the airplane from the satellite receiver, wherein the current position information comprises longitude and latitude, altitude, ground speed and track direction information;
a5) extracting longitude and latitude information of front and back route points from a flight plan, and calculating and displaying a required track angle, a real-time azimuth angle and a required distance between the current route point and the previous route point one by one;
a6) calculating and displaying the distance and the azimuth angle between the current position of the airplane and the destination, as well as flight path angle error, horizontal flight path deviation, predicted arrival time and predicted flight time in real time;
a7) periodically executing the steps a4) to a6) to guide the airplane to fly in real time.
7. The auxiliary flight navigation method based on the Beidou/GPS dual-channel differential prediction as recited in claim 1, wherein in the step 3), vertical navigation calculation is performed, and the specific steps of calculating the current vertical navigation parameters are as follows:
b1) extracting an altitude target value from the current execution flight segment, and extracting the aircraft altitude from a satellite receiver;
b2) determining a vertical lifting speed, a climbing/descending starting point and climbing/descending time according to the vertical performance of the airplane;
b3) and adjusting the horizontal speed and the vertical lifting speed of the target in real time according to the real-time lifting speed and the climbing/descending path of the airplane, and guiding the airplane to fly.
b4) And c) periodically executing b1) to b3) to guide the climbing or descending of the airplane in the vertical direction in real time.
8. An auxiliary flight navigation system based on Beidou/GPS double-channel differential prediction is characterized by comprising a Beidou receiver, a GPS receiver and a flight management computing terminal; the Beidou receiver and the GPS receiver are used as a dual-channel satellite positioning data source, and meanwhile, the hot backup works to send navigation data to the flight management computing terminal; the flight management computing terminal is provided with a display screen, a control panel and a memory, runs a multi-task real-time operating system, can store a navigation database, and runs a flight plan management task and a double-channel horizontal/vertical navigation task; the method specifically comprises the following program modules:
the calculation model establishing module is used for forming a target air route according to the flight plan and establishing a flight plan calculation model;
the positioning data acquisition module is used for acquiring Beidou positioning data and GPS positioning data simultaneously;
the navigation calculation module is used for executing horizontal and vertical navigation calculation by respectively utilizing Beidou positioning data and GPS positioning data according to the established flight plan calculation model and calculating current horizontal and vertical navigation parameters;
the working mode determining and monitoring module is used for comparing the Beidou positioning data and the GPS positioning data and determining and monitoring the working mode of the system; the working modes of the system are divided into a Beidou navigation mode and a GPS error correction mode;
when the positioning errors of the two are within a set threshold range, a Beidou navigation mode is kept, the navigation calculation is mainly based on Beidou positioning data, and horizontal and vertical navigation parameters based on a flight plan are calculated and used as backup of the aircraft navigation capacity;
when the positioning errors of the two devices exceed the set threshold range, entering a GPS error correction mode, and calculating the error prediction, correction value and credibility of the GPS navigation parameters based on the Beidou navigation parameters;
and the navigation display module is used for displaying the navigation parameters and the error analysis data of the two navigation modes according to different working modes.
9. A computer device comprising a memory and a processor, the memory for storing computer instructions; the processor is used for executing the computer instructions stored in the memory to realize the auxiliary flight navigation method based on the Beidou/GPS two-channel differential prediction as set forth in any one of claims 1 to 7.
10. A computer readable storage medium storing computer instructions for implementing a method for assisted flight navigation based on the beidou/GPS dual-channel differential prediction according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110522713.4A CN113109849B (en) | 2021-05-13 | 2021-05-13 | Beidou/GPS (Global positioning System) double-channel differential prediction-based auxiliary flight navigation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110522713.4A CN113109849B (en) | 2021-05-13 | 2021-05-13 | Beidou/GPS (Global positioning System) double-channel differential prediction-based auxiliary flight navigation method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113109849A true CN113109849A (en) | 2021-07-13 |
| CN113109849B CN113109849B (en) | 2023-08-01 |
Family
ID=76722542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110522713.4A Active CN113109849B (en) | 2021-05-13 | 2021-05-13 | Beidou/GPS (Global positioning System) double-channel differential prediction-based auxiliary flight navigation method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113109849B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114360099A (en) * | 2022-01-25 | 2022-04-15 | 中南大学 | System and method for fire balloon flight navigation, state monitoring and early warning |
| CN117268405A (en) * | 2023-11-23 | 2023-12-22 | 中国民航科学技术研究院 | Calculation method for airborne vertical navigation deviation monitoring based on navigation path of navigation database |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103487822A (en) * | 2013-09-27 | 2014-01-01 | 南京理工大学 | BD/DNS/IMU autonomous integrated navigation system and method thereof |
| CN104794213A (en) * | 2015-04-27 | 2015-07-22 | 清华大学 | Flight track forecast method based on flight plan and navigation database |
| CN106940447A (en) * | 2017-04-17 | 2017-07-11 | 桂林电子科技大学 | A kind of Big Dipper/GPS dual-mode navigation positional device and method |
| CN107976697A (en) * | 2017-11-30 | 2018-05-01 | 中国铁路总公司 | Train safe positioning method and system of the one kind based on the Big Dipper/GPS combinations |
| CN108680936A (en) * | 2018-05-21 | 2018-10-19 | 中国人民解放军战略支援部队信息工程大学 | Beidou satellite navigation system integrity monitoring appraisal procedure |
| CN109557572A (en) * | 2018-12-14 | 2019-04-02 | 西安索格亚航空科技有限公司 | A kind of flight navigation system and method based on Beidou |
| US20200025936A1 (en) * | 2017-12-20 | 2020-01-23 | Shanghai Astronomical Observatory, Chinese Academy Of Sciences | Satellite Positioning Method and Satellite Positioning System |
| CN111007555A (en) * | 2019-11-28 | 2020-04-14 | 中国航空工业集团公司西安航空计算技术研究所 | General aircraft airborne integrated navigation system and navigation method |
| CN111650616A (en) * | 2020-05-12 | 2020-09-11 | 烟台南山学院 | High-precision Beidou navigation positioning system navigation positioning parameter calculation method |
-
2021
- 2021-05-13 CN CN202110522713.4A patent/CN113109849B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103487822A (en) * | 2013-09-27 | 2014-01-01 | 南京理工大学 | BD/DNS/IMU autonomous integrated navigation system and method thereof |
| CN104794213A (en) * | 2015-04-27 | 2015-07-22 | 清华大学 | Flight track forecast method based on flight plan and navigation database |
| CN106940447A (en) * | 2017-04-17 | 2017-07-11 | 桂林电子科技大学 | A kind of Big Dipper/GPS dual-mode navigation positional device and method |
| CN107976697A (en) * | 2017-11-30 | 2018-05-01 | 中国铁路总公司 | Train safe positioning method and system of the one kind based on the Big Dipper/GPS combinations |
| US20200025936A1 (en) * | 2017-12-20 | 2020-01-23 | Shanghai Astronomical Observatory, Chinese Academy Of Sciences | Satellite Positioning Method and Satellite Positioning System |
| CN108680936A (en) * | 2018-05-21 | 2018-10-19 | 中国人民解放军战略支援部队信息工程大学 | Beidou satellite navigation system integrity monitoring appraisal procedure |
| CN109557572A (en) * | 2018-12-14 | 2019-04-02 | 西安索格亚航空科技有限公司 | A kind of flight navigation system and method based on Beidou |
| CN111007555A (en) * | 2019-11-28 | 2020-04-14 | 中国航空工业集团公司西安航空计算技术研究所 | General aircraft airborne integrated navigation system and navigation method |
| CN111650616A (en) * | 2020-05-12 | 2020-09-11 | 烟台南山学院 | High-precision Beidou navigation positioning system navigation positioning parameter calculation method |
Non-Patent Citations (1)
| Title |
|---|
| 白俊强 等: "飞机导航***中多套惯导融合方案仿真分析研究", 《无人***技术》, vol. 3, no. 6, pages 79 - 91 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114360099A (en) * | 2022-01-25 | 2022-04-15 | 中南大学 | System and method for fire balloon flight navigation, state monitoring and early warning |
| CN117268405A (en) * | 2023-11-23 | 2023-12-22 | 中国民航科学技术研究院 | Calculation method for airborne vertical navigation deviation monitoring based on navigation path of navigation database |
| CN117268405B (en) * | 2023-11-23 | 2024-01-23 | 中国民航科学技术研究院 | Calculation method for airborne vertical navigation deviation monitoring based on navigation path of navigation database |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113109849B (en) | 2023-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2362289B1 (en) | Methods and systems for displaying predicted downpath parameters in a vertical profile display | |
| US8731810B2 (en) | Aircraft path conformance monitoring | |
| CN104049636B (en) | Navigation altitude obtaining method combining relative altitude and absolute altitude | |
| CN113109849B (en) | Beidou/GPS (Global positioning System) double-channel differential prediction-based auxiliary flight navigation method and system | |
| US20100152931A1 (en) | Meteorological Modelling Method for Calculating an Aircraft Flight Plan | |
| US10154096B2 (en) | Method for integrating a new service into an avionics onboard system with open architecture of client-server type, in particular for an FIM manoeuvre service | |
| US20100198433A1 (en) | Flight Management System with Optimization of the Lateral Flight Plan | |
| US20100131124A1 (en) | Methods and system for time of arrival control using time of arrival uncertainty | |
| US20090204277A1 (en) | Method of Estimating Atmospheric Data at Any Point of a Path of an Aircraft | |
| US10460608B2 (en) | System and method for determining uncertainty in a predicted flight path for an aerial vehicle | |
| US20130110388A1 (en) | Terminal Aircraft Sequencing and Conflict Resolution | |
| US20190027048A1 (en) | Landing system for an aerial vehicle | |
| CN112099508A (en) | Data management method and device for automatic driving vehicle | |
| CN111007555A (en) | General aircraft airborne integrated navigation system and navigation method | |
| CN108153980A (en) | Synthesis display method based on ADS-B Yu TCAS data fusions | |
| US9410807B2 (en) | Method for determining an offset lateral trajectory for an aircraft | |
| CN114964274A (en) | Map updating method, path planning method, device, electronic equipment and medium | |
| EP3657471A1 (en) | Method and system for engaging a vertical navigation descent mode for an aircraft | |
| CN112669571B (en) | Real-time landslide prediction early warning system based on three-dimensional GIS | |
| RU7755U1 (en) | PILOT AND NAVIGATION COMPLEX | |
| CN104850130A (en) | Method and system for calculating flight parameters | |
| US11830373B2 (en) | Systems and methods for alerting descent below altitude | |
| CN114442651A (en) | Method for judging working mode of airborne flight management system by using cloud flight management system | |
| EP4239293A1 (en) | Systems and methods for constructing terrain deconflicted custom procedures | |
| US20230282123A1 (en) | Systems and methods for constructing terrain deconflicted custom procedures |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |