CN113109849B - Beidou/GPS (Global positioning System) double-channel differential prediction-based auxiliary flight navigation method and system - Google Patents
Beidou/GPS (Global positioning System) double-channel differential prediction-based auxiliary flight navigation method and system Download PDFInfo
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- CN113109849B CN113109849B CN202110522713.4A CN202110522713A CN113109849B CN 113109849 B CN113109849 B CN 113109849B CN 202110522713 A CN202110522713 A CN 202110522713A CN 113109849 B CN113109849 B CN 113109849B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
The invention discloses an auxiliary flight navigation method and system based on Beidou/GPS double-channel differential warning, wherein the system comprises a Beidou receiver, a GPS receiver and a flight management computing terminal; the Beidou and the GPS serve as dual-channel satellite positioning data sources, and meanwhile, the hot backup work is carried out, and navigation data are sent 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 multitasking real-time operation system, can store a navigation database, runs a flight plan management task and a dual-channel horizontal/vertical navigation task, utilizes dual-channel satellite positioning data to perform dual-channel horizontal and vertical navigation computation, and gives 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 flight safety.
Description
Technical Field
The invention belongs to the field of satellite navigation, and particularly relates to an aircraft flight management and navigation method and system based on satellites.
Background
Currently, the current state of the art commonly used in the industry is as follows:
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, only GPS navigation can be relied upon. And with the development of satellite navigation technology, the aircraft gradually transitions to PBN navigation which is mainly satellite navigation. However, the GPS navigation system alone cannot fully meet the requirements of the PBN navigation technology in terms of accuracy, integrity, consistency and availability. And the GPS navigation system is controlled by abroad, so that the stability and the safety of the GPS navigation system in other regions of the world can not be ensured. Along with the continuous improvement of the positioning precision of the Beidou system, the application of the Beidou in the aviation field is developed, and the Beidou system can serve as a satellite navigation means to provide navigation service for an aircraft, so that the aircraft can be provided with the Beidou satellite navigation means and the GPS satellite navigation means. However, since the airborne avionics equipment is a complete system which is subjected to seaworthiness authentication, no Beidou communication interface is reserved, and therefore, a Beidou navigation system cannot be directly added on an aircraft.
In summary, the problems of the prior art are:
the existing aircraft only adopts a satellite navigation technology of GPS, but can not completely meet the requirements of PBN navigation technology in terms of precision, integrity, consistency and availability.
For areas lacking roadbed navigation facilities, the method only depends on GPS navigation, and has poor stability and safety performance. The stability and safety of the GPS navigation system in other regions of the world cannot be guaranteed.
Due to the limitation of foreign technology, the Beidou navigation system cannot be added on the civil aircraft-mounted equipment, so that the Beidou 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 double-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 calculation model;
2) Simultaneously acquiring Beidou positioning data and GPS positioning data;
3) The system works in the Beidou navigation mode by default; according to the established flight plan resolving model, respectively utilizing Beidou positioning data and GPS positioning data to execute horizontal and vertical navigation resolving, 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 system working mode is divided into a Beidou navigation mode and a GPS error correction mode;
when the positioning errors of the two are within the set threshold range, the Beidou navigation mode is maintained, the Beidou positioning data is used as the main basis for navigation calculation, and the horizontal and vertical navigation parameters based on the flight plan are calculated and used as the backup of the navigation capability of the airplane;
when the positioning errors of the two are beyond the set threshold range, entering a GPS error correction mode, and calculating GPS navigation parameter error prediction, correction value and credibility based on Beidou navigation parameters;
5) And displaying navigation parameters and 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, distance, horizontal offset, vertical velocity, and vertical offset.
Further, in step 4), the monitoring system working mode specifically includes the following steps:
4.1 Calculating real-time errors of longitude and latitude, speed, altitude and track direction in GPS data by taking 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 probability of 95%, and calculating the reliability;
4.4 When the GPS data error value D exceeds a second threshold value level2, the system enters a GPS error correction mode and gives an alarm;
4.5 Continuously monitoring GPS data errors, and returning the system to the Beidou navigation mode when the GPS data errors are smaller than a second threshold level 2;
4.6 The system stops the error statistics and analysis function when the GPS data error is continuously monitored and is smaller than a first threshold level 1.
Further, in step 4.2), the error duration 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 according to Beidou and GPS data, performing horizontal navigation and vertical navigation calculation;
4.4.2 Calculating parameter errors such as the current track direction, track direction deviation, azimuth angle, distance, horizontal deviation, vertical speed, vertical deviation and the like of the GPS by taking the Beidou navigation parameter as a reference, and giving a correction value;
4.4.3 With the horizontal deviation value as the x axis and the vertical deviation value as the y axis, a two-dimensional graphical interface is established, the target route position as the center point is marked with the GPS horizontal deviation value, the vertical deviation value, the Beidou horizontal deviation value and the vertical deviation value, and the correction value is marked.
Further, in step 3), horizontal navigation calculation is performed, and the specific steps of calculating the current horizontal navigation parameter are as follows:
a1 A flight plan formed by connecting a plurality of route points in front and behind is established to form a route;
a2 A flight section is formed by the front and back connected route points, and the needed track angle, the distance, the expected arrival time and the expected flight time of the next route point from the last route point are calculated and used as flight references;
a3 Selecting a first section as a current flight section at the initial moment;
a4 Extracting current position information of the aircraft from a 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 a front route point and a rear route point from a flight plan, and calculating and displaying a required track angle, a real-time azimuth angle and a distance of the current route point from the last route point one by one;
a6 Calculating and displaying the distance and azimuth angle of the current position of the airplane from the destination in real time, and the error of the track angle, the deviation of the horizontal track, the expected arrival time and the expected flight time;
a7 Steps a 4) to a 6) are periodically performed to guide the aircraft to fly in real time.
Further, in step 3), the specific steps of performing the vertical navigation solution and calculating the current vertical navigation parameter are as follows:
b1 Extracting an altitude target value from the currently executed flight segment and extracting the aircraft altitude from the satellite receiver;
b2 Determining a vertical lifting speed, a climbing/descending starting point and a climbing/descending time according to the vertical performance of the aircraft;
b3 According to the real-time lifting speed and the climbing/descending path of the airplane, the target horizontal speed and the target vertical lifting speed are adjusted in real time, and the airplane is guided to fly.
b4 Periodically performing b 1) to b 3), and guiding the ascent or descent of the aircraft in the vertical direction in real time.
Correspondingly, the invention also provides an auxiliary flight navigation system based on 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 dual-channel satellite positioning data sources, 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 memory, runs a multitasking real-time operating system, can store a navigation database, and runs a flight plan management task and a dual-channel horizontal/vertical navigation task; the method specifically comprises the following program modules:
the calculation model building module is used for forming a target route according to the flight plan and building a flight plan calculation model;
the positioning data acquisition module is used for simultaneously acquiring Beidou positioning data and GPS positioning data;
the navigation calculation module is used for respectively executing horizontal and vertical navigation calculation by using the Beidou positioning data and the 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 with the GPS positioning data and determining and monitoring the working mode of the system; the system working mode is divided into a Beidou navigation mode and a GPS error correction mode;
when the positioning errors of the two are within the set threshold range, the Beidou navigation mode is maintained, the Beidou positioning data is used as the main basis for navigation calculation, and the horizontal and vertical navigation parameters based on the flight plan are calculated and used as the backup of the navigation capability of the airplane;
when the positioning errors of the two are beyond the set threshold range, entering a GPS error correction mode, and calculating GPS navigation parameter error prediction, correction value and credibility based on Beidou navigation parameters;
and the navigation display module is used for displaying navigation parameters and error analysis data of the two navigation modes according to different working modes.
The invention also provides a computer device comprising a memory and a processor, the memory for storing computer instructions; the auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction is characterized in that the processor is used for running computer instructions stored in the memory to realize the auxiliary flight navigation method based on Beidou/GPS double-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 double-channel differential prediction.
The invention has the following advantages:
the auxiliary flight navigation method based on the Beidou/GPS double-channel differential prediction provided by the invention can enable an aircraft to have two satellite navigation modes of Beidou and GPS under the condition of not affecting the original airborne system. In the normal case, the original onboard GPS navigation equipment is taken as the main part, and the additionally installed Beidou navigation is taken as the auxiliary part; under special conditions, the positioning accuracy of the onboard GPS and the error of the navigation parameters can be monitored in real time according to the Beidou navigation capability of China, and compared with each other, the reliability is increased, the navigation parameters of the onboard GPS are corrected, and the flight safety is improved.
The auxiliary flight navigation system device based on the Beidou/GPS double-channel differential prediction provided by the invention can enable an aircraft to have Beidou navigation capability under the condition of not affecting the original airborne system, and is high in integration level, small in size, simple in structure, convenient to install and maintain and convenient to retrofit the existing aircraft.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a functional block diagram of a flight navigation system according to an embodiment of the present invention;
fig. 2 is a block diagram of a beidou navigation system provided by an embodiment of the present invention.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without making any inventive effort, are intended to be within the 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 an aircraft is provided with two satellite navigation means of GPS and Beidou, and meanwhile, by comparing Beidou satellite positioning data with GPS satellite positioning data, real-time errors of the GPS satellite positioning data and navigation parameters of a route are calculated, error distribution trend is predicted, navigation parameter correction quantity is given, and the safety of the aircraft is greatly improved. The aircraft in China can use Beidou navigation, the constraint of foreign GPS is eliminated, and the navigation performance is improved.
The system comprises a Beidou data receiving unit, a GPS data receiving unit, a double-channel satellite data processing unit, a flight plan management unit, an electronic map processing unit, a Beidou navigation computing unit, a GPS navigation computing 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 come from a Beidou receiver, and the GPS positioning data come from a GPS receiver. The system does not select the Beidou and GPS fusion positioning mode, and errors of the Beidou and GPS fusion positioning mode cannot be distinguished.
The double-channel satellite data processing unit is used for simultaneously resolving Beidou and GPS positioning data. The Beidou satellite positioning and the GPS satellite positioning are realized through different satellites, longitude and latitude, speed and heading information of the airplane can be given, and the embodiment can simultaneously receive and decode two satellite navigation data.
The flight plan management unit realizes the editing of the plane plan based on the built-in navigation database through a man-machine interaction interface, and establishes a navigation resolving model.
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, the route and various alarm signals of the airplane.
The Beidou navigation computing unit and the GPS navigation computing unit are dual-channel navigation computing modules, respectively execute horizontal navigation computing and vertical navigation computing according to the established flight plan model and satellite positioning data, and calculate navigation parameters of the two navigation sources.
The error monitoring and parameter correcting unit comprises two working aspects, namely, on one hand, monitoring Beidou and GPS positioning data errors, executing error analysis and prediction, and controlling a system working mode; on the other hand, the error and the correction value of the GPS navigation parameter are calculated by taking the Beidou navigation parameter as a 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 man-machine 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, acquiring 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 a system working mode according to the error range of the Beidou positioning data and the GPS positioning data;
and fifthly, displaying navigation parameters and error analysis data of the two navigation modes according to different working modes.
The monitoring steps of the system working mode are as follows:
the first step: the system works in the Beidou navigation mode firstly;
secondly, acquiring Beidou and GPS satellite data, and calculating real-time errors of longitude and latitude, speed, altitude and track direction in the GPS data by taking Beidou positioning data as a reference;
thirdly, when the GPS data error exceeds a threshold level1, starting to count an error distribution curve and predicting an error distribution trend; displaying an 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 probability of 95%, 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 GPS data errors, and returning the system to the Beidou navigation mode when the GPS data errors are smaller than a threshold level 2;
and seventhly, continuously monitoring the GPS data errors, and stopping the error statistics and analysis function when the GPS data errors are smaller than a threshold level 1.
The navigation calculation steps of the Beidou navigation mode are as follows:
firstly, judging that the Beidou and GPS positioning errors are in a threshold range;
step two, according to the established flight plan, horizontal navigation and vertical navigation parameters are executed, and the current track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical speed and vertical deviation are calculated; 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 front and behind to form a route;
2) Forming a flight section by the front and back connected route points, and calculating a required track angle, a distance, an expected arrival time and an expected flight time of the next route point from the last route point to be used as flight references;
3) Selecting a first section as a current flight section at the initial moment;
4) Extracting current position information of the aircraft from a 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 a front waypoint and a rear waypoint from a flight plan, and calculating and displaying a required track angle, a real-time azimuth angle and a distance of the current waypoint from the last waypoint one by one;
6) Calculating and displaying the distance and azimuth angle of the current position of the airplane from the destination, and the track angle error, the horizontal track deviation, the expected arrival time and the expected flight time in real time;
7) And (4) periodically executing the process 4-6 to guide the aircraft to fly in real time.
Each waypoint in the flight plan has altitude information, and vertical navigation is executed according to the vertical section of the route, and the steps are as follows:
extracting an altitude target value from a currently executed 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 aircraft;
and adjusting the target horizontal speed and the target vertical lifting speed in real time according to the real-time lifting speed and the climbing/descending path of the aircraft, and guiding the aircraft to fly.
And (3) periodically executing a 1-3 process to guide the climbing or descending of the aircraft 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 a threshold range
Secondly, according to the established flight plan, horizontal navigation and vertical navigation parameters are executed according to Beidou and GPS data respectively, and the current track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical speed and vertical deviation are calculated;
thirdly, calculating errors and correction values of navigation parameters based on a GPS according to the navigation parameters based on the Beidou;
and fourthly, calculating the reliability according to the error, dividing the reliability into three stages, wherein the first stage is safe, the second stage is required to be corrected, and the third stage is serious and cannot be corrected within a controllable range, so that the reliability 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 integrated, miniaturized 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 independent double-channel satellite positioning data sources, and simultaneously, 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 multitasking real-time operation system, can store a navigation database, and runs a dual-channel satellite positioning data processing task, a flight plan management task and a dual-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 multitasking real-time processing system, and can run a dual-channel satellite positioning data resolving software module, a flight plan management software module, a man-machine interaction software module, a dual-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 input 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 establishes a flight plan based on the navigation database. The flight plan window provides editing functions of the flight plan including adding, deleting, activating, inverting, etc. In the flight plan, two waypoints connected front and back form a flight section, and a plurality of waypoints form a flight plan.
2) The flight plan is entered and controlled by the control panel. The route points in the flight plan can be input with route point codes through the control panel, the route points are input with IDs or codes composed of characters, and the input window is automatically searched according to the input characters. The longitude and latitude adopt a WGS-84 coordinate system.
The navigation parameters, the error analysis data and the correction data are displayed on a display through a graphical interface and provided for a pilot to view and use.
In this way, the embodiment has described a auxiliary flight navigation method and system based on Beidou/GPS double-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 navigation parameter correction are realized through the comparison of Beidou and GPS double-channel satellite data. The aircraft provided with the system is provided with the GPS and BDS double satellite navigation equipment, when the GPS has errors, particularly errors added manually, alarming and correction data are timely given, 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 for an aircraft without GPS navigation capability, the aircraft can be provided with two satellite navigation means of GPS and Beidou. For the aircraft with GPS navigation capability, the aircraft not only has additional GPS navigation capability and Beidou navigation capability, but also can calculate the real-time errors of GPS satellite positioning data and navigation parameters of a route and predict the error distribution trend by comparing the Beidou satellite positioning data and the GPS satellite positioning data, and navigation parameter correction quantity is given, so that the safety of the aircraft is greatly improved. The aircraft in China can use Beidou navigation, the constraint of foreign GPS is eliminated, and the navigation performance is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction is characterized by comprising the following steps of:
1) Forming a target route according to the flight plan, and establishing a flight plan calculation model;
2) Simultaneously acquiring Beidou positioning data and GPS positioning data;
3) The system works in the Beidou navigation mode by default; according to the established flight plan resolving model, respectively utilizing Beidou positioning data and GPS positioning data to execute horizontal and vertical navigation resolving, and calculating current horizontal and vertical navigation parameters;
4) Comparing the Beidou positioning data with the GPS positioning data, and determining the working mode of the monitoring system; the system working mode is divided into a Beidou navigation mode and a GPS error correction mode;
when the positioning errors of the two are within the set threshold range, the Beidou navigation mode is maintained, the Beidou positioning data is used as the main basis for navigation calculation, and the horizontal and vertical navigation parameters based on the flight plan are calculated and used as the backup of the navigation capability of the airplane;
when the positioning errors of the two are beyond the set threshold range, entering a GPS error correction mode, and calculating GPS navigation parameter error prediction, correction value and credibility based on Beidou navigation parameters;
5) According to different working modes, displaying navigation parameters and error analysis data of two navigation modes;
the monitoring system working mode specifically comprises the following steps:
4.1 Calculating real-time errors of longitude and latitude, speed, altitude and track direction in GPS data by taking 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 probability of 95%, and calculating the reliability;
4.4 When the GPS data error value D exceeds a second threshold value level2, the system enters a GPS error correction mode and gives an alarm;
4.5 Continuously monitoring GPS data errors, and returning the system to the Beidou navigation mode when the GPS data errors are smaller than a second threshold level 2;
4.6 The system stops the error statistics and analysis function when the GPS data error is continuously monitored and is smaller than a first threshold level 1.
2. The assisted flight navigation method based on Beidou/GPS dual channel differential prediction according to claim 1, wherein the horizontal and vertical navigation parameters include track direction, track direction error, azimuth angle, distance, horizontal deviation, vertical velocity and vertical deviation.
3. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction according to claim 1, wherein in the step 4.2), an error continuous path is further displayed on an electronic map pushed to a flight management computing terminal.
4. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction according to claim 1, wherein in the step 4.4), the GPS error correction mode navigation calculation step is specifically as follows:
4.4.1 According to the established flight plan, respectively according to Beidou and GPS data, performing horizontal navigation and vertical navigation calculation;
4.4.2 Calculating parameter errors such as the current track direction, track direction deviation, azimuth angle, distance, horizontal deviation, vertical speed, vertical deviation and the like of the GPS by taking the Beidou navigation parameter as a reference, and giving a correction value;
4.4.3 With the horizontal deviation value as the x axis and the vertical deviation value as the y axis, a two-dimensional graphical interface is established, the target route position as the center point is marked with the GPS horizontal deviation value, the vertical deviation value, the Beidou horizontal deviation value and the vertical deviation value, and the correction value is marked.
5. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction according to claim 1, wherein in the step 3), horizontal navigation calculation is performed, and the specific steps of calculating the current horizontal navigation parameters are as follows:
a1 A flight plan formed by connecting a plurality of route points in front and behind is established to form a route;
a2 A flight section is formed by the front and back connected route points, and the needed track angle, the distance, the expected arrival time and the expected flight time of the next route point from the last route point are calculated and used as flight references;
a3 Selecting a first section as a current flight section at the initial moment;
a4 Extracting current position information of the aircraft from a 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 a front route point and a rear route point from a flight plan, and calculating and displaying a required track angle, a real-time azimuth angle and a distance of the current route point from the last route point one by one;
a6 Calculating and displaying the distance and azimuth angle of the current position of the airplane from the destination in real time, and the error of the track angle, the deviation of the horizontal track, the expected arrival time and the expected flight time;
a7 Steps a 4) to a 6) are periodically performed to guide the aircraft to fly in real time.
6. The auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction according to claim 1, wherein in the step 3), vertical navigation calculation is executed, and the specific steps of calculating current vertical navigation parameters are as follows:
b1 Extracting an altitude target value from the currently executed flight segment and extracting the aircraft altitude from the satellite receiver;
b2 Determining a vertical lifting speed, a climbing/descending starting point and a climbing/descending time according to the vertical performance of the aircraft;
b3 According to the real-time lifting speed and the climbing/descending path of the airplane, the target horizontal speed and the target vertical lifting speed are adjusted in real time, and the airplane is guided to fly;
b4 Periodically performing b 1) to b 3), and guiding the ascent or descent of the aircraft in the vertical direction in real time.
7. An auxiliary flight navigation system based on Beidou/GPS double-channel differential prediction, which uses the auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction as set forth in claim 1, and 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 dual-channel satellite positioning data sources, 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 memory, runs a multitasking real-time operating system, can store a navigation database, and runs a flight plan management task and a dual-channel horizontal/vertical navigation task; the method specifically comprises the following program modules:
the calculation model building module is used for forming a target route according to the flight plan and building a flight plan calculation model;
the positioning data acquisition module is used for simultaneously acquiring Beidou positioning data and GPS positioning data;
the navigation calculation module is used for respectively executing horizontal and vertical navigation calculation by using the Beidou positioning data and the 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 with the GPS positioning data and determining and monitoring the working mode of the system; the system working mode is divided into a Beidou navigation mode and a GPS error correction mode;
when the positioning errors of the two are within the set threshold range, the Beidou navigation mode is maintained, the Beidou positioning data is used as the main basis for navigation calculation, and the horizontal and vertical navigation parameters based on the flight plan are calculated and used as the backup of the navigation capability of the airplane;
when the positioning errors of the two are beyond the set threshold range, entering a GPS error correction mode, and calculating GPS navigation parameter error prediction, correction value and credibility based on Beidou navigation parameters;
and the navigation display module is used for displaying navigation parameters and error analysis data of the two navigation modes according to different working modes.
8. A computer device comprising a memory and a processor, the memory for storing computer instructions; the auxiliary flight navigation method based on Beidou/GPS double-channel differential prediction is characterized in that the processor is used for running computer instructions stored in the memory to realize the auxiliary flight navigation method based on any one of claims 1 to 6.
9. A computer readable storage medium storing computer instructions for implementing a Beidou/GPS dual channel differential prediction based assisted flight navigation method according to any one of claims 1 to 6.
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