CN113919184A - Optical landing-assistant modeling simulation method and landing-assistant system for Fresnel lens lamp - Google Patents
Optical landing-assistant modeling simulation method and landing-assistant system for Fresnel lens lamp Download PDFInfo
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Abstract
The invention discloses a Fresnel lens lamp optical landing-assistant modeling simulation method and a landing-assistant system, and concretely comprises the following steps of S1, obtaining modeling simulation parameters under the current environment; s2, determining the coordinates of virtual image points of the Fresnel lens aiming lamp; s3, determining the current roll angle and pitch angle of the Fresnel lens aiming lamp to the ground, and adjusting the Fresnel lens aiming lamp; s4, determining an initial glide-slope and an ideal glide-slope; s5, when the ship-borne aircraft lands along the ideal glide slope, correcting the current posture of the ship-borne aircraft according to the working range of the Fresnel lens lamp, and ensuring that the ship-borne aircraft lands along the ideal glide slope; s6, judging whether the carrier-based aircraft lands along the ideal lower slideway or not, and S7, if the carrier-based aircraft lands along the ideal lower slideway, continuously executing until landing; and S8, if the carrier-based aircraft does not land along the ideal lower slideway, returning to S1. The method can accurately and quickly assist pilots to judge the transverse and longitudinal deviation when landing the ship, and normal landing is carried out.
Description
Technical Field
The invention belongs to the technical field of aviation control, and particularly relates to a Fresnel lens lamp optical landing-assistant modeling simulation method and a Fresnel lens lamp optical landing-assistant system.
Background
The existing radar landing assistant system for aircraft carriers has the inherent defect of being easily interfered by electrons. Therefore, the auxiliary device needs to be matched with auxiliary devices such as a television landing aid device and a laser landing aid device system, and the like to make up for deficiencies of the auxiliary devices, but the auxiliary devices make the landing aid system more complex in structure and more complicated and inefficient in control process.
At present, the field provides that a Fresnel lens lamp optical landing assistant system is adopted to carry out shipboard aircraft landing assistant, the Fresnel lens lamp optical landing assistant system is composed of a landing assistant system, a pilot and a flight control system, the function of the Fresnel lens lamp optical landing assistant system is to provide a stable gliding reference beam under the condition that a deck moves, and the pilot completes a landing task through the flight control system under the guidance of the reference beam. Under the action of sea waves and sea surges, the aircraft carrier generates random pitching motion, rolling motion and sinking and floating motion. Under the movement of the aircraft carrier deck, the gliding reference light beam can also fluctuate along with the movement of the aircraft carrier, so that the landing assistant operation is hindered. The glide beam must be stabilized in some way to eliminate the deck motion effects as much as possible.
Disclosure of Invention
The invention aims to provide a Fresnel lens lamp optical landing-assistant modeling simulation method which can accurately and quickly assist pilots to judge transverse and longitudinal deviation during landing to perform normal landing.
The invention also aims to provide an optical landing aid system of the Fresnel lens lamp.
The invention adopts a first technical scheme that an optical landing-assistant modeling simulation method for a Fresnel lens lamp comprises the following specific operation steps:
s1, obtaining modeling simulation parameters under the current environment;
s2, determining the coordinates of virtual image points of the aiming lamp of the Fresnel lens according to the modeling simulation parameters;
s3, according to the modeling simulation parameters, determining the current roll angle and pitch angle of the Fresnel lens aiming lamp to the ground, and adjusting the Fresnel lens aiming lamp;
s4, determining an initial glide-slope and an ideal glide-slope according to the current position of the carrier-based aircraft and the modeling simulation parameters;
s5, when the ship-borne aircraft descends along the ideal glide slope, correcting the current posture of the ship-borne aircraft according to the working range of the Fresnel lens lamp, and ensuring that the ship-borne aircraft descends along the ideal glide slope;
s6, judging whether the carrier-based aircraft lands along the ideal glide slope;
s7, if the carrier-based aircraft lands along the ideal glide path, the landing is continuously executed until the carrier-based aircraft lands;
and S8, if the carrier-based aircraft does not land along the ideal lower slideway, returning to S1.
The modeling simulation parameters include:
the machine length;
sinking and floating of the ship are positive downwards;
the height of the lens aiming lamp group;
ideal beam glide angle;
the position coordinates of the Fresnel lens lamp under the deck system;
the virtual image point rolling change angle of the Fresnel lens lamp is 0 when the line is not added for stable control;
the angle range between the lower layer and the upper layer of the lamp group and the reference light beam;
the position coordinates of the eye position of the airplane;
aircraft tail hook position coordinates;
the pitching angle of the aircraft during landing;
an initial yaw angle of the inclined deck;
the angle between the connecting line of the eye position and the tail hook and the x axis of the machine body;
ideal landing point position coordinates;
the sum of the pitch angle of the aircraft during landing and the included angle between the eye position and the connecting line of the tail hook and the x axis of the aircraft body.
Step S2 includes:
s21, determining the height difference between the bottom end of the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp according to the height of the lamp set, the sliding angle of an ideal light beam, the rolling change angle of the virtual image point of the Fresnel lens lamp and the angle range between the lower layer and the upper layer of the lamp set and the reference light beam;
s22, determining the horizontal distance between the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp under a deck system according to the height difference between the bottom end of the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp, the ideal light beam downward sliding angle, the rolling change angle of the virtual image point of the Fresnel lens lamp and the angle range between the lower layer and the upper layer of the lamp group and the reference light beam;
s23, determining the coordinates of the virtual image points of the Fresnel lens aiming lamp according to the height difference between the bottom end of the Fresnel lens lamp and the virtual image points of the Fresnel lens aiming lamp, the horizontal distance between the Fresnel lens lamp and the virtual image points of the Fresnel lens aiming lamp under a deck system and the position coordinates of the Fresnel lens lamp under the deck system.
Step S3 includes:
s31, determining an initial Euler angle and an inclined deck changing Euler angle of the virtual image point of the Fresnel lens aiming lamp according to the modeling simulation parameters;
s32, determining the Euler angle of the virtual image point of the Fresnel lens aiming lamp according to the initial Euler angle of the virtual image point of the Fresnel lens aiming lamp and the changed Euler angle of the inclined deck;
s33, determining the current height change of the Fresnel lens lamp according to a line stability control theory, wherein the current height change of the Fresnel lens lamp is equal to the sinking and floating of a ship;
and S34, determining the current roll angle of the Fresnel lens aiming lamp to the ground and the current pitch angle of the Fresnel lens aiming lamp to the ground according to the modeling simulation parameters and the Euler angle of the virtual image point of the Fresnel lens aiming lamp, and adjusting the angle of the Fresnel lens aiming lamp.
Step S31 includes:
s311, determining a hook eye distance according to a pitch angle when the aircraft lands on a ship, an included angle between an eye position and a tail hook connecting line and an X axis of the aircraft body;
s312, determining an initial rolling angle of a virtual image point of the Fresnel lens aiming lamp according to the sum of the aircraft length, the ideal light beam downward sliding angle, the height from the virtual image point to a deck, the pitch angle of an aircraft during landing, the included angle between the eye position and the x axis of the aircraft body and the included angle between the tail hook connecting line and the aircraft body, the hook eye distance, the horizontal distance from the virtual image point to the ideal landing point and the vertical distance from the virtual image point to the central line of the deck;
s313, determining an initial Euler angle of a virtual image point of the Fresnel lens aiming lamp according to an ideal light beam downward sliding angle, an inclined deck initial yaw angle and an initial rolling angle of the virtual image point of the Fresnel lens aiming lamp;
s314, selecting two points on the center line of the deck, namely coordinates of the stern under the aircraft carrier system and coordinates of an ideal landing point under the aircraft carrier system, and determining the change of the pitch angle of the inclined deck;
s315, selecting coordinates of the aiming lamp in the aircraft mother system and coordinates of a mapping point of the aiming lamp in the middle line of the runway in the aircraft mother system for relevant conversion, and determining the change of the rolling angle of the inclined deck;
and S316, determining the changed Euler angle of the inclined deck according to the change of the pitch angle of the inclined deck and the change of the roll angle of the inclined deck.
S34 includes:
s341, calculating a rolling change angle of a virtual image point of the Fresnel lens aiming lamp and a pitching change angle of the virtual image point of the Fresnel lens aiming lamp according to the modeling simulation parameters and the Euler angle of the virtual image point of the Fresnel lens aiming lamp;
s342, determining the actual ground roll angle of the Fresnel lens aiming lamp and the actual ground pitch angle of the Fresnel lens aiming lamp according to the roll change angle of the virtual image point of the Fresnel lens aiming lamp, the virtual image point pitch change angle of the Fresnel lens aiming lamp and the Euler angle of the virtual image point of the Fresnel lens aiming lamp;
and S343, adjusting the Fresnel lens aiming lamp according to the actual rolling angle of the Fresnel lens aiming lamp to the ground and the actual pitching angle of the Fresnel lens aiming lamp to the ground.
Step S4 includes:
s41, determining the current position coordinate of the carrier-based aircraft according to the coordinate of the virtual image point of the Fresnel lens aiming lamp, the rolling change angle of the virtual image point of the Fresnel lens aiming lamp, the actual ground pitching angle of the Fresnel lens aiming lamp, the eye position coordinate of the aircraft and the current height of the Fresnel lens aiming lamp;
s42, connecting virtual image points of a Fresnel lens aiming lamp and the current position of the carrier-based aircraft to form an initial glide path;
and S43, forming an ideal glide slope according to the initial glide slope and the ideal light beam glide angle.
Step S4 is followed by:
and adjusting the carrier-based aircraft to gradually adjust from the initial glidepath to the ideal glidepath.
The working range of a fresnel lens lamp includes a longitudinal range and a lateral range:
the longitudinal range is the longitudinal range from the emitted light beam of each lamp in the Fresnel lens lamp aiming lamp set to the ideal light beam;
the lateral range is determined by the x-axis distance from the eye position of the carrier-based aircraft to the lower part of the lens deck system and the horizontal visual angle of the Fresnel sighting lamp.
According to a second technical scheme adopted by the invention, the optical landing assistant system of the Fresnel lens lamp comprises:
a modeling simulation parameter obtaining module for executing step S1,
a virtual image point coordinate obtaining module of the Fresnel aiming lamp, which is used for executing the step S2,
a Fresnel lamp virtual image point Euler angle calculation module for executing step S3,
a Fresnel lamp stabilization control module for performing the step S3,
a glidepath calculation module for performing step S4,
the carrier-based aircraft landing and correcting module is used for executing the step S5,
and the carrier-based aircraft position judging module is used for executing the step S6.
The optical landing-assistant modeling simulation method for the Fresnel lens lamp has the advantages that the optical landing-assistant modeling simulation method for the Fresnel lens lamp ensures that gliding light beams are not influenced by pitching and rolling of an aircraft carrier and are relatively stable in an inertial space, so that the maneuvering of an aircraft is greatly reduced, and the manipulation burden of a driver is also relieved.
The invention utilizes a line stability control method of a Fresnel lens lamp to convert the pitching and rolling postures of a ship into the ground pitching and rolling angles of the Fresnel lens lamp, and utilizes the angle of the rotary Fresnel lens lamp to inhibit the change of guide light beams caused by ship body movement; in a visual range specified by the Fresnel lens lamp, calculating the height of each layer of light beams of the Fresnel lens lamp by utilizing the geometric relation of the relative distance between a carrier-based aircraft and a ship and the pitching and rolling compensation angles of the Fresnel lens lamp to the ground to obtain the height range of the light beams of the Fresnel lens lamp; in the visible range of the Fresnel lens lamp, the relative height of the carrier-based aircraft and the ship is compared with the height area of each layer of light beam of the Fresnel lens, the lamp layer of the Fresnel lens lamp is determined to be seen by a pilot, and the carrier-based aircraft lands along an ideal glide slope. The method can accurately and quickly assist pilots to judge the transverse and longitudinal deviation when landing the ship, and normal landing is carried out.
Drawings
FIG. 1 is a flow chart of an optical landing-aid modeling simulation method for a Fresnel lens lamp according to the present invention;
FIG. 2 is a diagram of a hook-eye distance calculation method of the Fresnel lens lamp optical landing-assistant modeling simulation method of the present invention;
FIG. 3 is a schematic diagram of the calculation of the initial roll angle of a lens according to the optical landing-assistant modeling simulation method for a Fresnel lens lamp of the present invention;
fig. 4 is a schematic diagram of a light beam longitudinal range of a fresnel aiming lamp according to the optical landing-assistant modeling simulation method for a fresnel lens lamp of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a Fresnel lens lamp optical landing-assistant modeling simulation method, which is further described in detail by combining specific implementation forms of algorithms with the combination of the following specific steps as shown in figures 1-4:
s1, acquiring basic parameters of Fresnel lens lamp optical landing assistant system simulation;
the basic parameters required in this system are: ship sinking and floating
Downward is positive, the lens aims at the height of the lamp group
Ideal light beam glide
Position coordinates of lens lamp under deck system
The angle of the rolling change of the virtual image point of the lens lamp
And the angular range of the lower and upper layers of the lens group from the reference beam
The Eye position coordinate Eye of the airplane, the tail Hook position coordinate Hook of the airplane,
is the pitch angle when the aircraft is landing on a ship,
is an included angle between the connecting line of the eye position and the tail hook and the x axis of the machine body,
is an ideal position of a carrier landing point,
is the sum of a pitch angle and an included angle between an eye position when the aircraft lands on a ship and an x axis of the aircraft body and a tail hook connecting line,
is the engine length.
S2, determining coordinates of virtual image points of the Fresnel lens aiming lamp according to the modeling simulation parameters, wherein the coordinates are as follows:
s21, as shown in FIG. 4, determining the height difference between the bottom end of the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp according to the height of the lens aiming lamp set, the sliding angle of the ideal light beam, the rolling change angle of the virtual image point of the Fresnel lens lamp and the angle range between the lower layer and the upper layer of the lamp set and the reference light beam
；
S22, according to the height difference between the bottom end of the Fresnel lens lamp and the virtual image point of the aiming lamp of the Fresnel lens as shown in figure 4
Determining the horizontal distance between the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp under the deck system through the ideal beam downward sliding angle, the Fresnel lens lamp virtual image point rolling change angle and the angle range between the lower layer and the upper layer of the lamp set and the reference light beam
；
S23, according to the height difference between the bottom end of the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp
Horizontal distance between Fresnel lens lamp and virtual image point of Fresnel lens aiming lamp under deck system
And the position coordinates of the Fresnel lens lamp under the deck system
、
、
Determining the coordinates of the virtual image point of the aiming lamp of the Fresnel lens, as shown in the following formula (3)
S3, according to the modeling simulation parameters, determining the current roll angle and pitch angle of the Fresnel lens aiming lamp to the ground, and adjusting the Fresnel lens aiming lamp, which comprises the following steps:
s31, according to the modeling simulation parameters, determining an initial Euler angle and an oblique deck changing Euler angle of the virtual image point of the Fresnel lens aiming lamp, and specifically comprising the following steps:
s311, determining the distance between the hook and the eye according to the pitch angle when the aircraft lands on the ship, the included angle between the eye position and the tail hook connecting line and the x axis of the aircraft body
As shown in fig. 2:
s312. according to the machine length, the sliding angle of the ideal light beam and the height from the virtual image point to the deck as shown in figure 3
The sum of the pitch angle and the included angle between the eye position of the aircraft during landing and the X-axis of the aircraft body of the tail hook connecting line, and the horizontal distance from the hook eye distance and the virtual image point to the ideal landing point
The vertical distance from the virtual image point to the center line of the deck
Determining the initial roll angle of the virtual image point of the aiming lamp of the Fresnel lens
；
Wherein,
is an ideal position of a carrier landing point,
the position of a virtual image point of the lens lamp is determined;
s313, determining the initial Euler angle of the virtual image point of the aiming lamp of the Fresnel lens according to the downward slip angle of the ideal light beam, the initial yaw angle of the inclined deck and the initial roll angle of the virtual image point of the aiming lamp of the Fresnel lens
；
Wherein,
is the inclined angle of the inclined deck;
s314, selecting two points on the center line of the deck, and respectively taking coordinates of the stern under the aircraft carrier system
And coordinates of ideal carrier landing point in aircraft carrier system
Determining changes in pitch angle of the pitched deck
；
First, the respective coordinate systems related to the present invention are explained:
a terrestrial system (G): the x axis is the north direction, the y axis is the east direction, and the z axis is the north direction;
aircraft carrier system (C): the gravity center of the aircraft carrier is taken as the origin of coordinates, the x axis is the line of the fore and the aft of the aircraft carrier pointing to the bow of the ship, the y axis is the right rotation of the ship, and the z axis is downward (wherein the roll angle, the pitch angle and the yaw angle of the ship are respectively
）；
Aircraft carrier ground (G Yaw): taking the gravity center of an aircraft carrier as the origin of coordinates, the x axis as the north direction, the y axis as the right rotation of a ship and the z axis as the downward direction;
deck system (D): the gravity center of an aircraft carrier is taken as the origin of coordinates, the x axis is the direction of the runway center line pointing to the ship bow, the y axis is the right direction perpendicular to the x axis, and the z axis is downward (the included angle between an inclined deck and a straight deck is
）；
Machine system (B): the origin is positioned at the reference gravity center position of the aircraft, and the x axis is in the symmetrical plane of the aircraft, is parallel to the fuselage axis or the average aerodynamic chord line of the wing and points forwards; the z axis is in the symmetrical plane of the machine body, is vertical to the x axis and points downwards; the y-axis is perpendicular to the plane OXZ and points downward.
S315, selecting coordinates of the aiming lamp in the aircraft mother system
And the coordinates of the mapping point of the aiming lamp on the middle line of the runway under the aircraft-mother system
Performing correlation transformation to determine the change of the roll angle of the inclined deck
；
Wherein,
the transformation matrix for the aircraft carrier system to the deck system is:
；
conversion matrix from aircraft carrier system to aircraft carrier ground system
Comprises the following steps:
s316, determining the changed Euler angle of the inclined deck as the angle of the inclined deck according to the change of the pitch angle of the inclined deck and the change of the roll angle of the inclined deck
；
S32, determining the Euler angle of the virtual image point of the Fresnel lens aiming lamp according to the initial Euler angle of the virtual image point of the Fresnel lens aiming lamp and the changed Euler angle of the inclined deck;
s33, determining the current height change of the Fresnel lens lamp according to a line stability control theory, wherein the current height change of the Fresnel lens lamp is equal to the sinking and floating of a ship;
s34, according to the modeling simulation parameters and the Euler angle of the virtual image point of the Fresnel lens aiming lamp, determining the current rolling angle of the Fresnel lens aiming lamp to the ground and the current pitching angle of the Fresnel lens aiming lamp to the ground, and adjusting the angle of the Fresnel lens aiming lamp, specifically comprising the following steps:
s341, calculating a rolling change angle of a virtual image point of the Fresnel lens aiming lamp and a pitching change angle of the virtual image point of the Fresnel lens aiming lamp according to the modeling simulation parameters and the Euler angle of the virtual image point of the Fresnel lens aiming lamp;
wherein,
the rolling angle of the virtual image point following ship movement;
the change angle of the pitch of the virtual image point,
the height of the virtual image point in the z direction under the ground system,
the initial height of the virtual image point in the z direction under the ground system is positive downwards;
s342, determining the actual ground roll angle of the Fresnel lens aiming lamp and the actual ground pitch angle of the Fresnel lens aiming lamp according to the roll change angle of the virtual image point of the Fresnel lens aiming lamp, the virtual image point pitch change angle of the Fresnel lens aiming lamp and the Euler angle of the virtual image point of the Fresnel lens aiming lamp;
wherein,
aiming the fresnel lens at the actual elevation angle of the lamp to ground,
the actual roll angle of the lamp to ground is aimed at for the fresnel lens.
And S343, adjusting the Fresnel lens aiming lamp according to the actual rolling angle of the Fresnel lens aiming lamp to the ground and the actual pitching angle of the Fresnel lens aiming lamp to the ground.
S4, determining an initial glide-slope and an ideal glide-slope according to the current position of the carrier-based aircraft and the modeling simulation parameters, and specifically comprising the following steps:
s41, according to the coordinates of the virtual image points of the Fresnel lens aiming lamp, the rolling change angle of the virtual image points of the Fresnel lens aiming lamp, the actual ground pitching angle of the Fresnel lens aiming lamp, the coordinates of the eye position of the airplane and the current height of the Fresnel lens aiming lamp
Determining the current position coordinates of the carrier-based aircraft, wherein
、
、
The components of the current position of the carrier-based aircraft on the x, y and z axes under the deck system are respectively;
S42, connecting virtual image points of a Fresnel lens aiming lamp and the current position of the carrier-based aircraft to form an initial glide path;
and S43, forming an ideal glide slope according to the initial glide slope and the ideal light beam glide angle.
And adjusting the carrier-based aircraft to gradually adjust from the initial glidepath to the ideal glidepath.
S5, when the ship-borne aircraft descends along the ideal glide slope, correcting the current posture of the ship-borne aircraft according to the working range of the Fresnel lens lamp, and ensuring that the ship-borne aircraft descends along the ideal glide slope;
the working range of the Fresnel lens lamp comprises a longitudinal range and a lateral range
1) The light beam longitudinal extent of the fresnel sighting lamp is as follows:
wherein,
a boundary angle for each meat ball location;
the longitudinal range is the longitudinal range from the emitted light beam of each lamp in the Fresnel lens lamp aiming lamp set to the ideal light beam;
the total number of aiming lamps of the Fresnel lens is 12, and the longitudinal height of the 13-side boundary light beam is calculated according to the formula and the angle between the emitted light beam of each lamp and the ideal light beam angle.
2) Lateral extent
The lateral range is determined by the x-axis distance from the eye position of the carrier-based aircraft to the lower part of the lens deck system and the horizontal visual angle of the Fresnel sighting lamp.
Because the horizontal visual angle of the Fresnel aiming lamp is
From this, the visible range of the level can be found as follows:
s6, judging whether the carrier-based aircraft lands along the ideal glide slope;
s7, if the carrier-based aircraft lands along the ideal glide path, the landing is continuously executed until the carrier-based aircraft lands;
and S8, if the carrier-based aircraft does not land along the ideal lower slideway, returning to S1.
The invention relates to a Fresnel lens lamp optical landing assisting system which comprises a modeling simulation parameter acquisition module, a Fresnel aiming lamp virtual image point coordinate acquisition module, a Fresnel lamp virtual image point Euler angle calculation module, a Fresnel lamp stability control module, a lower slideway calculation module, a shipboard aircraft landing and correction module and a shipboard aircraft position judgment module, wherein the Fresnel lamp virtual image point coordinate acquisition module is used for acquiring a virtual image point coordinate of a Fresnel lamp;
the modeling simulation parameter acquisition module is used for acquiring modeling simulation parameters in the current environment;
the Fresnel aiming lamp virtual image point coordinate acquisition module is used for determining the coordinates of the virtual image points of the Fresnel lens aiming lamp;
the Fresnel lens aiming lamp comprises a Fresnel lens virtual image point Euler angle calculation module and a Fresnel lens stability control module, wherein the Fresnel lens virtual image point Euler angle calculation module and the Fresnel lens stability control module are used for determining the current rolling angle and pitching angle of the Fresnel lens aiming lamp to the ground and adjusting the Fresnel lens aiming lamp;
the lower slideway calculation module determines an initial lower slideway and an ideal lower slideway according to the current position of the carrier-based aircraft and modeling simulation parameters;
when the ship-borne aircraft lands along the ideal glide slope, the ship-borne aircraft landing and correcting module corrects the current posture of the ship-borne aircraft according to the working range of the Fresnel lens lamp, and the ship-borne aircraft lands along the ideal glide slope;
and the carrier-based aircraft landing and correcting module is used for judging whether the carrier-based aircraft lands along the ideal glide path.
In the invention, the actual height of the lower slideway, the longitudinal distance of each layer of light beams of the Fresnel lens and the height of the visible range of the Fresnel lens lamp are calculated according to the principle of calculating the height from a certain point in a deck system to the virtual image point of the Fresnel lens lamp. The actual height of the glide slope is the height from a carrier-based aircraft in the deck system to the virtual image point of the Fresnel lens lamp. Each layer of light beams of the Fresnel lens is formed by respectively connecting and extending 12 aiming lamps in the Fresnel lens lamp by taking a virtual image point of the Fresnel lens lamp as an original point. The Fresnel lens lamp visual range is divided into a longitudinal direction and a transverse direction, the longitudinal direction is calculated according to the x coordinate absolute value of the Fresnel lens lamp virtual image point under a deck system at the current point, the height difference between each aiming lamp light beam under the deck system and the Fresnel lens virtual image point can be seen, and the transverse visual range is according to the x coordinate absolute value of the Fresnel lens lamp virtual image point under the deck system at the current point, and the lateral difference between each aiming lamp light beam point and the Fresnel lens lamp virtual image point under the deck system.
The invention is based on a modeling and simulation method of a Fresnel lens lamp optical landing assistant system, and further discusses the stable control relation of the Fresnel lens lamp according to the movement of an aircraft carrier through the analysis of the movement characteristics of the aircraft carrier. And then according to the aircraft carrier motion characteristic model and the Fresnel lens lamp structure, a response model simulating the Fresnel lens lamp optical landing assistant system is built under the MATLAB/Simulink environment, the control stability of the Fresnel lens lamp and the response condition displayed by the Fresnel lens lamp are respectively considered in the landing process, and the landing stability of the carrier-based aircraft is analyzed.
Through calculation and simulation, when the Fresnel lens lamp optical landing assistant system is not connected, the carrier-based aircraft cannot accurately perform landing alignment in the landing process due to shaking of the ship body in the landing process, and particularly has quite high requirements on pilots at night and in poor weather. A Fresnel lens lamp optical landing assistant system is required to be introduced, and the vertical angle and the roll angle of the Fresnel lens lamp to the ship are changed to ensure that the Fresnel lens lamp and the ship are opposite to the sea surface from the final control response; when the line is not added for stable control, the virtual image point rolls and changes the angle
(ii) a If line stability control is added, the gliding light beam can keep stable relative to pitching and rolling motions of the aircraft carrier, but vertically moves along with the aircraft carrier in a sinking and floating mode, so that the maneuvering of the aircraft is greatly reduced when the carrier-based aircraft lands on the aircraft, and the operation burden of a driver is also relieved.
Claims (10)
1. An optical landing-assistant modeling simulation method for a Fresnel lens lamp is characterized by comprising the following steps of:
s1, obtaining modeling simulation parameters in the current environment;
s2, determining the coordinates of virtual image points of the aiming lamp of the Fresnel lens according to the modeling simulation parameters;
s3, determining the current roll angle and pitch angle of the Fresnel lens aiming lamp to the ground according to the modeling simulation parameters, and adjusting the Fresnel lens aiming lamp;
s4, determining an initial glide-slope and an ideal glide-slope according to the current position of the carrier-based aircraft and the modeling simulation parameters;
s5, when the ship-borne aircraft lands along the ideal glide slope, correcting the current posture of the ship-borne aircraft according to the working range of the Fresnel lens lamp, and ensuring that the ship-borne aircraft lands along the ideal glide slope;
s6, judging whether the carrier-based aircraft lands along an ideal glide slope or not;
s7, if the carrier-based aircraft lands along the ideal lower slideway, the process is continuously executed until landing;
and S8, if the carrier-based aircraft does not land along the ideal lower slideway, returning to S1.
2. The Fresnel lens lamp optical landing-assistant modeling simulation method according to claim 1, wherein the modeling simulation parameters comprise:
the machine length;
sinking and floating of the ship are positive downwards;
the height of the lens aiming lamp group;
ideal beam glide angle;
the position coordinates of the Fresnel lens lamp under the deck system;
the virtual image point rolling change angle of the Fresnel lens lamp is 0 when the line is not added for stable control;
the angle range between the lower layer and the upper layer of the lamp group and the reference light beam;
the position coordinates of the eye position of the airplane;
aircraft tail hook position coordinates;
the pitching angle of the aircraft during landing;
an initial yaw angle of the inclined deck;
the angle between the connecting line of the eye position and the tail hook and the x axis of the machine body;
ideal landing point position coordinates;
the sum of the pitch angle of the aircraft during landing and the included angle between the eye position and the connecting line of the tail hook and the x axis of the aircraft body.
3. The fresnel lens lamp optical landing-assistant modeling and simulation method according to claim 2, wherein the step S2 includes:
s21, determining the height difference between the bottom end of the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp according to the height of the lamp set, the sliding angle of the ideal light beam, the rolling change angle of the virtual image point of the Fresnel lens lamp and the angle range between the lower layer and the upper layer of the lamp set and the reference light beam;
s22, determining the horizontal distance between the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp in a deck system according to the height difference between the bottom end of the Fresnel lens lamp and the virtual image point of the Fresnel lens aiming lamp, the sliding angle of the ideal light beam, the rolling change angle of the virtual image point of the Fresnel lens lamp and the angle range between the lower layer and the upper layer of the lamp set and the reference light beam;
s23, determining the coordinates of the virtual image points of the Fresnel lens aiming lamp according to the height difference between the bottom end of the Fresnel lens lamp and the virtual image points of the Fresnel lens aiming lamp, the horizontal distance between the Fresnel lens lamp and the virtual image points of the Fresnel lens aiming lamp under a deck system and the position coordinates of the Fresnel lens lamp under the deck system.
4. The Fresnel lens lamp optical landing aid modeling simulation method according to claim 3, wherein the step S3 comprises the following steps:
s31, determining an initial Euler angle and an inclined deck changing Euler angle of the virtual image point of the Fresnel lens aiming lamp according to the modeling simulation parameters;
s32, determining the Euler angle of the virtual image point of the Fresnel lens aiming lamp according to the initial Euler angle of the virtual image point of the Fresnel lens aiming lamp and the changed Euler angle of the inclined deck;
s33, determining the current height change of the Fresnel lens lamp according to a line stability control theory, wherein the current height change of the Fresnel lens lamp is equal to the sinking and floating of a ship;
and S34, determining the current rolling angle of the Fresnel lens aiming lamp to the ground and the current pitching angle of the Fresnel lens aiming lamp to the ground according to the modeling simulation parameters and the Euler angle of the virtual image point of the Fresnel lens aiming lamp, and adjusting the angle of the Fresnel lens aiming lamp.
5. The Fresnel lens lamp optical landing aid modeling simulation method according to claim 4, wherein the step S31 comprises the following steps:
s311, determining a hook eye distance according to the pitch angle when the aircraft lands on the ship, and the included angle between the eye position and the tail hook connecting line and the x axis of the aircraft body;
s312, determining an initial rolling angle of a virtual image point of the Fresnel lens aiming lamp according to the aircraft length, the ideal light beam downward sliding angle, the height from the virtual image point to a deck, the sum of a pitch angle and an included angle between an eye position when the aircraft lands on a ship and an x axis of an engine body and the sum of included angles between a tail hook connecting line and the x axis of the aircraft body, the hook eye distance, the horizontal distance from the virtual image point to the ideal landing point and the vertical distance from the virtual image point to the central line of the deck;
s313, determining an initial Euler angle of a virtual image point of the Fresnel lens aiming lamp according to the ideal light beam downward sliding angle, the inclined deck initial yaw angle and the Fresnel lens aiming lamp virtual image point initial rolling angle;
s314, selecting two points on the center line of the deck, namely coordinates of the stern under the aircraft carrier system and coordinates of an ideal landing point under the aircraft carrier system, and determining the change of the pitch angle of the inclined deck;
s315, selecting coordinates of the aiming lamp in the aircraft mother system and coordinates of a mapping point of the aiming lamp in the middle line of the runway in the aircraft mother system for relevant conversion, and determining the change of the rolling angle of the inclined deck;
s316, determining the changed Euler angle of the inclined deck according to the change of the pitch angle of the inclined deck and the change of the roll angle of the inclined deck.
6. The Fresnel lens lamp optical landing aid modeling simulation method according to claim 4, wherein the step S34 comprises the following steps:
s341, calculating a rolling change angle of a virtual image point of the Fresnel lens aiming lamp and a pitching change angle of the virtual image point of the Fresnel lens aiming lamp according to the modeling simulation parameters and the Euler angles of the virtual image points of the Fresnel lens aiming lamp;
s342, determining the actual ground-to-ground roll angle of the Fresnel lens aiming lamp and the actual ground-to-ground pitch angle of the Fresnel lens aiming lamp according to the roll change angle of the virtual image point of the Fresnel lens aiming lamp, the virtual image point pitch change angle of the Fresnel lens aiming lamp and the Euler angle of the virtual image point of the Fresnel lens aiming lamp;
and S343, adjusting the Fresnel lens aiming lamp according to the actual ground-to-ground rolling angle of the Fresnel lens aiming lamp and the actual ground-to-ground pitching angle of the Fresnel lens aiming lamp.
7. The Fresnel lens lamp optical landing aid modeling simulation method according to claim 4, wherein the step S4 comprises the following steps:
s41, determining the current position coordinate of the carrier-based aircraft according to the coordinate of the virtual image point of the Fresnel lens aiming lamp, the rolling change angle of the virtual image point of the Fresnel lens aiming lamp, the actual ground-to-ground pitch angle of the Fresnel lens aiming lamp, the eye position coordinate of the aircraft and the current height of the Fresnel lens aiming lamp;
s42, connecting the virtual image point of the Fresnel lens aiming lamp and the current position of the shipboard aircraft to form an initial downslide;
and S43, forming an ideal glide slope according to the initial glide slope and the ideal light beam glide angle.
8. The Fresnel lens lamp optical landing aid modeling simulation method according to claim 4, wherein the step S4 is followed by steps of:
and adjusting the carrier-based aircraft to gradually adjust from the initial glidepath to the ideal glidepath.
9. The Fresnel lens lamp optical landing aid modeling and simulation method according to claim 4, wherein the working range of the Fresnel lens lamp comprises a longitudinal range and a lateral range:
the longitudinal range is the longitudinal range from the light beam emitted by each lamp in the Fresnel lens lamp aiming lamp set to the ideal light beam;
the lateral range is determined by the x-axis distance from the ship-borne aircraft eye position to the lower portion of the lens deck system and the horizontal visual angle of the Fresnel sighting lamp.
10. A fresnel lens lamp optical landing aid system based on the fresnel lens lamp optical landing aid modeling simulation method according to any one of claims 1 to 9, comprising:
a modeling simulation parameter obtaining module for executing step S1,
a virtual image point coordinate obtaining module of the Fresnel aiming lamp, which is used for executing the step S2,
a Fresnel lamp virtual image point Euler angle calculation module for executing step S3,
a Fresnel lamp stabilization control module for performing the step S3,
a glidepath calculation module for performing step S4,
the carrier-based aircraft landing and correcting module is used for executing the step S5,
and the carrier-based aircraft position judging module is used for executing the step S6.
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