CN114827952A - Aircraft and emergency navigation communication system based on Beidou short message - Google Patents

Aircraft and emergency navigation communication system based on Beidou short message Download PDF

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Publication number
CN114827952A
CN114827952A CN202210025455.3A CN202210025455A CN114827952A CN 114827952 A CN114827952 A CN 114827952A CN 202210025455 A CN202210025455 A CN 202210025455A CN 114827952 A CN114827952 A CN 114827952A
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China
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communication
positioning
instruction
beidou
satellite
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Chinese (zh)
Inventor
王志鹏
朱衍波
王洪文
方堃
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Beihang University
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Beihang University
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Priority to CN202210025455.3A priority Critical patent/CN114827952A/en
Priority to PCT/CN2022/082759 priority patent/WO2023134018A1/en
Publication of CN114827952A publication Critical patent/CN114827952A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Signal Processing (AREA)
  • Astronomy & Astrophysics (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Radio Relay Systems (AREA)

Abstract

The invention discloses an aircraft based on Beidou short messages and an emergency navigation communication system, wherein the aircraft comprises a front electronic cabin and a rear passenger cabin; the front electronic cabin comprises an airborne interface device, an inertia measurement unit, a flight management system, an electronic flight bag, a multi-mode receiver and a communication management unit/air traffic service unit; the rear passenger compartment comprises a positioning module; the positioning module determines the final position of the aircraft by adopting an automatic positioning mode selection method based on the multi-constellation and multi-frequency point signals; and the flight management system formulates an optimal flight plan according to the first positioning parameter or the second positioning parameter. The invention upgrades the positioning module, determines the final position of the aircraft by adopting a positioning mode automatic selection method based on multi-constellation multi-frequency point signals, realizes accurate positioning of a second positioning parameter by the multi-frequency point, and simultaneously provides a scheme for making an optimal flight plan and realizing automatic control of a flight task under special conditions.

Description

Aircraft and emergency navigation communication system based on Beidou short message
Technical Field
The invention relates to the technical field of aviation navigation communication, in particular to an aircraft based on Beidou short messages and an emergency navigation communication system.
Background
The Beidou short message communication means that bidirectional information transmission can be directly carried out between the satellite positioning terminal and the Beidou satellite or the Beidou ground monitoring center through satellite signals, three basic functions of position reporting, emergency search and rescue and message communication are achieved, and the Beidou system self-innovation and communication navigation integration innovation feature service is achieved. The BeiDou No. three system short message communication service comprises a Global Short Message Communication (GSMC) service and a Regional Short Message Communication (RSMC) service. The GSMC service meets the two-way communication requirement of 40 Chinese characters with the maximum length of a single message of a global user through links between 14 medium-circle earth orbit (MEO) satellites and a Beidou Ka satellite; the RSMC service provides a communication service with a maximum single message length of 1000 Chinese characters and an average time delay of better than 2 seconds to the earth surface of China and surrounding areas and a user in a near area with a height of 1000 kilometers in the air through the bidirectional data transmission capability of 3 geostationary orbit (GEO) satellites. The Beidou short message service can help a ground monitoring center to monitor and track information such as flight states of aircrafts, plays an increasingly remarkable role in monitoring and tracking general aviation aircrafts, but application value in the aspect of emergency navigation communication of aircrafts still needs to be mined.
The emergency navigation communication system of the aircraft is used for transmitting monitoring tracking information of the aircraft to a ground monitoring center and temporarily providing navigation position information to electronic cabin equipment in the front of the aircraft under emergency conditions such as communication interruption or natural disasters, so that the aircraft can safely arrive at a designated position, and the safety of the aircraft and people's lives and properties is guaranteed. At present, a multimode receiver (MMR) and an Inertia Measurement Unit (IMU) in an electronic cabin at the front part of an aircraft are main navigation sources of a cockpit, a communication management unit/air traffic service unit (CMU/ATSU) acquires instructions such as aircraft monitoring, operation command, aircraft important component state monitoring and ground service support through a satellite/Very High Frequency (VHF) communication unit, and realizes unidirectional transmission of an Air Traffic Control (ATC) instruction, an Aviation Operation Control (AOC) instruction, an airline management control (AAC) instruction and a satellite communication (SATCOM) instruction with an Airborne Interface Device (AID), and realizes unidirectional transmission of the ATC instruction, the AOC instruction and the AAC instruction with a Flight Management System (FMS). The equipment and the communication mode can only provide navigation and communication services during normal operation for the aircraft, and cannot provide emergency navigation communication services for the aircraft under special operation conditions, particularly when the MMR and the IMU cannot work normally. In addition, although the Beidou position tracking terminal with the Beidou short message communication function can continuously transmit parameters such as the position, the speed and the time of an aircraft and large-scale data with a ground monitoring center, a Beidou open service signal received by a positioning module in the terminal is single, and multi-frequency positioning service cannot be provided. Therefore, the position tracking terminal with the Beidou third short message communication function needs to be upgraded urgently, and an airborne emergency navigation communication system based on the Beidou short message is perfected.
Disclosure of Invention
The invention aims to provide an aircraft based on Beidou short messages and an emergency navigation communication system, so as to realize multi-satellite multi-frequency point positioning to obtain the final positioning position of the aircraft and realize emergency navigation under special conditions.
In order to achieve the above object, the present invention provides an aircraft based on beidou short message, the aircraft comprising:
a front electronics compartment and a rear passenger compartment;
the front electronic compartment includes: the system comprises airborne interface equipment, an inertia measurement unit, a flight management system, an electronic flight bag, a multi-mode receiver and a communication management unit/air traffic service unit;
the inertia measurement unit is respectively connected with the airborne interface device and a flight management system, the flight management system is respectively connected with the multimode receiver and the communication management unit/air traffic service unit, the multimode receiver and the electronic flight packet are all connected with the airborne interface device;
the aft passenger compartment includes: the Beidou position tracking terminal and the GNSS antenna; the Beidou position tracking terminal comprises a positioning module and a communication module; the positioning module is respectively connected with the airborne interface equipment and the GNSS antenna; the communication module is respectively connected with the positioning module and the GNSS antenna;
the GNSS antenna is used for receiving multi-constellation multi-frequency point signals;
the positioning module is used for receiving multi-constellation multi-frequency point signals, determining the final position of the aircraft by adopting a positioning mode automatic selection method based on the multi-constellation multi-frequency point signals, and sending second positioning parameters to the airborne interface equipment for storage; the second positioning parameters include: final position, time and speed of the aircraft.
The inertial measurement unit is used for measuring IMU attitude data of an aircraft and transmitting the IMU attitude data to the flight management system and the airborne interface equipment;
the multimode receiver is used for calculating MMR navigation data of an aircraft and transmitting the MMR navigation data to the flight management system and the airborne interface equipment;
the airborne interface device is further configured to store the first positioning parameter; the first positioning parameters comprise IMU attitude data and MMR navigation data;
when the situation is normal, the airborne interface equipment sends the first positioning parameter to the electronic flight bag for displaying; the flight management system makes an optimal flight plan according to the first positioning parameters and realizes automatic control of a flight task;
when the electronic flight bag is in a special condition, the airborne interface equipment sends the second positioning parameter to the electronic flight bag for displaying; the airborne interface equipment sends the second positioning parameters to the flight management system through the communication management unit/air traffic service unit so that the flight management system can make an optimal flight plan according to the second positioning parameters and realize automatic control of a flight task; the special condition is that the multimode receiver and/or the inertia measurement unit can not work;
the communication module is used for receiving the second positioning parameters sent by the positioning module and forwarding the second positioning parameters to the GNSS antenna in the form of short messages so that the GNSS antenna can be sent to a ground monitoring center through a Beidou third satellite.
Optionally, the communication management unit/air traffic service unit is configured to generate an ACARS + command, and send the ACARS + command to the ground monitoring center sequentially through the airborne interface device, the communication module, the GNSS antenna, and the beidou third satellite; when the ground monitoring center receives the ACARS + instruction, transmitting ACARS + data to the airborne interface equipment for storage through a Beidou third satellite, the GNSS antenna and the communication module in sequence; the ACARS + instruction is an instruction for requesting the unit to upload large data to the ground; the ACARS + data is data greater than a set data amount.
Optionally, the front electronic compartment further comprises: the satellite/very high frequency communication unit is respectively connected with the ground monitoring center and the communication management unit/air traffic service unit;
the satellite/very high frequency communication unit is used for receiving a downloading instruction and an uploading instruction; the download instruction is generated by the communication management unit/air traffic service unit; the downloading instruction comprises the following steps: an ATC request instruction, a short-distance data downloading instruction and a satellite communication SATCOM request instruction are controlled by air traffic; the ATC request instruction is an instruction for requesting release from the unit to the ground; the short-distance data downloading instruction is an instruction for issuing data downloading to the ground by a short-distance unit; the SATCOM request instruction is an instruction for requesting data from a remote unit to the ground;
the uploading instruction is generated by the ground monitoring center; the uploading instruction comprises: an ATC approval instruction, a short-distance data uploading instruction and a satellite communication SATCOM broadcasting instruction are sent to the air traffic control system; the ATC approval instruction is an instruction for ground-oriented unit approval and release; the short-distance data uploading instruction is an instruction for issuing uploading data to the unit in a short-distance manner; the SATCOM broadcast instruction is data broadcast to the unit from a remote ground;
the satellite/very high frequency communication unit sends the download instruction to the ground monitoring center and sends the upload instruction to the communication management unit/air traffic service unit; the communication management unit/air traffic service unit sends an ATC request instruction, an ATC approval instruction, a short-distance data downloading instruction and a short-distance data uploading instruction to the flight management system, so that the flight management system formulates an optimal flight plan according to the first positioning parameter, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction and realizes automatic control of a flight mission; or making an optimal flight plan according to the second positioning parameter, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction and realizing automatic control of the flight mission; or making an optimal flight plan according to the third positioning parameters, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction and realizing the automatic control of the flight mission;
and the communication management unit/air traffic service unit sends the uploading instruction and the downloading instruction to the airborne interface equipment for storage.
Optionally, the determining the final position of the aircraft by using the automatic positioning mode selection method includes:
step S1: firstly, carrying out standard single-point positioning by using single-frequency point signals in each constellation to obtain a standard single-point positioning result;
step S2: judging whether the area of the aircraft is in a precise single-point positioning service area or not according to the standard single-point positioning result; if the aircraft is in the precise single-point positioning service area, judging whether a precise single-point positioning signal is available; if the precise single-point positioning signal is available, selecting a precise single-point positioning mode for positioning, and outputting a precise single-point positioning result as a final positioning position; if no precise single point positioning signal is available, go to step S3; if the aircraft is outside the precise single point location service area, executing step S3;
step S3: judging whether the area where the aircraft is located is in a satellite-based enhanced service area or not; if the aircraft is in the satellite-based enhanced service area, judging whether a satellite-based enhanced service signal is available; if the satellite-based enhanced signal is available, selecting a satellite-based enhanced positioning mode for positioning, and outputting a satellite-based enhanced positioning result as a final positioning position; if no satellite-based enhanced signal is available, perform "step S4"; if the aircraft is outside the satellite based augmentation service area, performing step S4;
step S4: judging whether a dual-frequency signal is available, if so, selecting a dual-frequency ionosphere-free positioning mode for positioning, and outputting a dual-frequency ionosphere-free positioning result as a final positioning position; and if no dual-frequency signal is available, selecting a standard single-point positioning mode, and outputting a standard single-point positioning result as a final positioning position.
Optionally, the communication module includes an international search and rescue module, a global short message communication module, an iridium satellite communication module and a beidou region short message module, the communication module performs satellite communication by using an automatic switching communication method, and the automatic switching communication method specifically includes:
step S5: judging whether the current communication working module works as an international search and rescue module; if the current communication working module works as the international search and rescue module, closing the regional short message communication module, the global short message communication module and the iridium communication module, and continuing to perform satellite communication only by using the international search and rescue module; if the current communication working module does not work for the international search and rescue module, executing the step S6;
step S6: judging whether the area where the aircraft is located is in a Beidou area short message service area or not according to the final positioning position; if the short message service area is in the Beidou area, executing the step S7; if the Beidou region short message service area is not available, executing step S8;
step S7: judging whether the current communication working module works as a Beidou region short message communication module; if the current communication working module works as a Beidou regional short message communication module, closing the international search and rescue module, the global short message communication module and the iridium communication module, and continuing to perform satellite communication only by using the Beidou regional short message module; if the current communication working module does not work for the Beidou regional short message communication module, the global short message communication module is used for satellite communication;
step S8: judging whether the current communication working module works for the iridium communication module; if the current communication working module works as the iridium communication module, closing the international search and rescue module, the global short message communication module and the regional short message communication module, and continuing to perform satellite communication only by using the iridium communication module; and if the current communication working module does not work for the iridium communication module, using the global short message communication module to carry out satellite communication.
Optionally, the communication module sends data to the beidou three-number satellite in a packet synchronous forwarding mode.
Optionally, the data sub-packets obtained after the packetization include: session ID, packetization identification, number of packetization, packetization ID, packetization satellite PRN number, and packetization information.
The invention also provides an emergency navigation communication system of the Beidou short message, which comprises the aircraft, the Beidou satellite III and a ground monitoring center;
and the communication module of the aircraft synchronously forwards the second positioning parameters to a ground monitoring center through the Beidou third satellite sub-packet.
Optionally, each satellite in the third beidou satellite is additionally provided with a regional short message load and antenna, a global short message load and antenna and an international search and rescue load and antenna.
Optionally, the ground monitoring center includes: the system comprises a director antenna, a director, a ground monitoring terminal and a VHF ground end; the commander antenna is connected with the ground monitoring terminal through the commander, and the VHF ground end is connected with the satellite/very high frequency communication unit.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses an aircraft and an emergency navigation communication system based on Beidou short messages, wherein a positioning module is upgraded, the final position of the aircraft is determined by adopting an automatic positioning mode selection method based on multi-satellite multi-frequency point signals, the multi-frequency point positioning is realized, a second positioning parameter is accurately obtained, meanwhile, a scheme that a flight management system formulates an optimal flight plan and realizes the automatic control of a flight task under special conditions is provided, and the defects that the prior technical scheme cannot provide multi-frequency positioning service and emergency navigation communication service is provided for the aircraft under special operating conditions are overcome.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a GNSS antenna receiving multiple satellites in accordance with the present invention;
FIG. 2 is a flow chart of a method for automatic selection of a positioning mode according to the present invention;
FIG. 3 is a schematic view of the front electronic compartment and rear passenger compartment communication link connections of the present invention;
FIG. 4 is a schematic view of the load composition of the Beidou third satellite added in the invention;
FIG. 5 is a flow chart of an automatic communication switching method according to the present invention;
FIG. 6 is a schematic diagram of the B2B signal textual layout of the present invention;
FIG. 7 is a diagram of a multi-satellite synchronous forwarding packetized data queue according to the present invention;
FIG. 8 is a schematic view of an installation location of a GNSS antenna according to the present invention;
FIG. 9 is a schematic diagram of an onboard emergency navigation communication system architecture according to the present invention;
description of the symbols:
the method comprises the following steps of 1-a front electronic cabin, 2-a rear passenger cabin, 3-an inertial measurement unit, 4-a flight management system, 5-a multimode receiver, 6-a satellite/very high frequency communication unit, 7-a communication management unit/an air traffic service unit, 8-airborne interface equipment, 9-GNSS (global navigation satellite system) antenna, 10-a Beidou position tracking terminal, 11-an electronic flight bag, 12-a ground monitoring center, 13-a director antenna, 14-a director, 15-a ground monitoring terminal, 16-a VHF (very high frequency) ground station, 17-a Beidou third satellite and 18-other equipment.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
The invention aims to provide an aircraft based on Beidou short messages and an emergency navigation communication system, so as to realize multi-satellite multi-frequency point positioning to obtain the final positioning position of the aircraft and realize emergency navigation under special conditions.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The technical problems mainly solved by the scheme disclosed by the invention comprise that:
1. positioning module upgrading in Beidou position tracking terminal
The Beidou third global satellite navigation system completes global networking, and a positioning module used for aircraft tracking can receive Beidou B1I signals, and also has the capability of receiving other constellation signals and Beidou new system signals and automatically selecting a positioning mode. Aiming at the problem of low precision and reliability of single-point positioning only by using B1I signals, the invention needs to upgrade the positioning module which can only use B1I signals to position the aircraft, replace a high-performance board card and then receive multi-frequency point navigation positioning signals, and increase the modes of double-frequency non-ionosphere positioning, satellite-based enhanced positioning and precise single-point positioning on the basis of standard single-point positioning; aiming at the problems that increasing service signals can cause more occupied terminal channels, high complexity of positioning mode selection and high difficulty of positioning algorithm design, the positioning mode automatic selection method is established according to service areas and signal availability, and a positioning module can use the method to automatically preferentially use a positioning mode with higher precision in different service areas, so that the high precision and high reliability of the upgraded Beidou position tracking terminal 10 are ensured.
2. The communication mechanism of the front electronic cabin 1 and the rear passenger cabin 2 of the aircraft is established
The equipment such as AID, electronic flight bag 11(EFB) and communication management unit/air traffic service unit 7 (CMU/ATSU) located in the front electronic cabin 1 (front cabin for short) of the aircraft, and the equipment such as big dipper position tracking terminal 10 of the rear cabin 2 (rear cabin for short) of the aircraft can respectively complete the transmission work of front cabin data and rear cabin data by utilizing a single communication link, and also have the capability of one-way communication and two-way communication of the front cabin and the rear cabin. Aiming at the problem that an airborne communication system of an aircraft lacks a front cabin and rear cabin communication mechanism, the invention needs to establish a communication link between the front cabin and the rear cabin, not only can meet the requirements of storage and post-evaluation of parameters such as an aircraft identification number, a position and a speed under a normal operation condition, but also can meet the requirement of using the stored position information as a navigation reference by the front cabin under an emergency condition, and can also assist A Communication Addressing and Reporting System (ACARS) to accelerate the two-way transmission of data such as an airborne entertainment system database, a navigation database and a large number of voice images of the aircraft and the ground, thereby ensuring the high-speed reliable transmission of the aircraft data and the front cabin and the rear cabin broadband, increasing the source of the aircraft navigation data and improving the passenger experience of riding the aircraft.
3. Communication module upgrading in Beidou position tracking terminal
The short message load and the search and rescue load of the Beidou third satellite 17 do not reach the full constellation configuration state, and the satellite utilization rate is not maximized. The Beidou short message service and the Iridium communication service have frequency overlapping, so that the priority of the Beidou short message service is lower than that of the Iridium communication service when the Beidou short message service and the Iridium communication service generate interference. Aiming at the problem that the Beidou No. three system cannot provide short message service and international search and rescue service for a full constellation, the invention provides an additional loading scheme for a Beidou No. three satellite 17 and an additional loading scheme for a communication module of a Beidou position tracking terminal 10, so that the service coverage is expanded, the number of satellite-borne repeaters and the system capacity are increased, and more optional communication modes are provided for users; aiming at the compatibility problem of the Beidou short message service and the Iridium communication service and the communication mode selection problem after loading, the invention establishes a switching method of the short message communication module, the international search and rescue module and the Iridium communication module in the Beidou position tracking terminal 10, and reduces the time delay and the frequency interference of a return link in a communication mode switching mode.
4. Data forwarding strategy of communication module in Beidou position tracking terminal
In order to meet the ACARS + function of voice image and airborne navigation information and other large data transmission, the communication module needs to frequently interact with the ground monitoring center 12 data, the data length exceeds the capacity of a single short message, and the communication task of a large amount of data can be completed only by performing packet transmission on the data. Aiming at the problems of long sub-packet transmission time, large service response delay and low distress report frequency of a single Beidou satellite, the invention provides a communication data forwarding strategy for synchronously transmitting different sub-packets by using a plurality of Beidou satellites, selects a plurality of user uplink satellites and downlink satellites according to the number and elevation angles of visible satellites, and designs data sub-packet parameters and a return communication B2B signal message formatting format.
5. Airborne emergency navigation communication system architecture
Aiming at the problem that the front cabin navigation communication equipment of the aircraft possibly fails under special conditions, the invention provides a novel architecture of an airborne emergency navigation communication system of the aircraft based on Beidou short message communication service and a front cabin and rear cabin communication link, and the architecture of the system realizes the transmission of large-scale data and the emergency navigation communication function under special operating conditions by using the front cabin and rear cabin communication links on the basis of meeting the data instruction transmission and rear cabin short message communication among various equipment of the front cabin of the aircraft under normal conditions.
The following is a detailed discussion of various points of technology:
as shown in fig. 9, the present invention provides an aircraft based on the beidou short message, and the aircraft includes: a front electronics compartment 1 and a rear passenger compartment 2.
The front electronic compartment 1 includes therein: the system comprises an airborne interface device 8 (AID for short), an inertial measurement unit 3 (IMU for short), a flight management system 4(FMS for short), an electronic flight bag 11(EFB for short), a multi-mode receiver 5 (MMR for short) and a communication management unit/air traffic service unit 7 (CMU/ATSU for short); the inertial measurement unit 3 is respectively connected with an airborne interface device 8 and a flight management system 4, the flight management system 4 is respectively connected with a multimode receiver 5 and a communication management unit/air traffic service unit 7, and the communication management unit/air traffic service unit 7, the multimode receiver 5 and an electronic flight bag 11 are all connected with the airborne interface device 8; the rear passenger compartment 2 includes: the Beidou position tracking terminal 10 and the GNSS antenna 9; the Beidou position tracking terminal 10 comprises a positioning module and a communication module; the positioning module is respectively connected with the airborne interface equipment 8 and the GNSS antenna 9; the communication module is respectively connected with the positioning module and the GNSS antenna 9.
The GNSS antenna 9 is used for receiving multi-constellation multi-frequency point signals; in this embodiment, the multi-constellation multi-frequency signal includes: the frequency bands of the Beidou B1, the B2 and the B3, the frequency bands of the GPS L1, the L2 and the L5, the frequency bands of the GLONASS L1 and the L2, and the frequency bands of the Galileo E1 and the frequency bands of the Galileo E5.
The positioning module is used for receiving the multi-constellation multi-frequency point signals, determining the final position of the aircraft by adopting a positioning mode automatic selection method based on the multi-constellation multi-frequency point signals, and sending second positioning parameters to the airborne interface device 8 for storage; the second positioning parameters include: final position, time and speed of the aircraft.
The inertial measurement unit 3 is used for measuring IMU attitude data of the aircraft and transmitting the IMU attitude data to the flight management system 4 and the airborne interface device 8; the IMU pose data includes three-axis pose angles, angular velocities, and angular accelerations.
The multimode receiver 5 is used for calculating MMR navigation data of the aircraft and transmitting the MMR navigation data to the flight management system 4 and the airborne interface device 8; the MMR navigation data includes the location, speed, and time of the aircraft; the multimode receiver 5 includes navigation devices including an ILS receiver, an MLS receiver, a GNSS receiver, a data broadcast receiver, and the like.
The airborne interface device 8 is further configured to store the first positioning parameter; the first positioning parameters comprise IMU attitude data and MMR navigation data;
when the situation is normal, the airborne interface device 8 sends the first positioning parameter to the electronic flight bag 11 for displaying; the flight management system 4 makes an optimal flight plan according to the first positioning parameters and realizes automatic control of flight tasks.
In a special case, the airborne interface device 8 sends the second positioning parameter to the electronic flight bag 11 for display; the airborne interface equipment 8 sends the second positioning parameters to the flight management system 4 through the communication management unit/air traffic service unit 7, so that the flight management system 4 formulates an optimal flight plan according to the second positioning parameters and realizes automatic control of a flight task; in this embodiment, the special situation is that when the multimode receiver 5 and/or the inertial measurement unit 3 cannot work, that is, the navigation device of the front cockpit is damaged or fails, the required navigation information cannot be provided to the flight management system 4 normally.
The communication module is used for receiving the second positioning parameters sent by the positioning module, and forwarding the second positioning parameters to the GNSS antenna 9 in a fixed period and short message form, so that the GNSS antenna 9 sends the second positioning parameters to the ground monitoring center 12 through the beidou third satellite 17.
In the above embodiment, the GNSS antenna 9 may also be utilized to receive the third positioning parameter; the third positioning parameters are the initial position, time and speed of the aircraft, and are sent to the airborne interface device 8 through the communication module or the positioning module in sequence; in a special case, the airborne interface device 8 may further send the third positioning parameter to the electronic flight bag 11 for display; the airborne interface device 8 sends the third positioning parameter to the flight management system 4 through the communication management unit/air traffic service unit 7, so that the flight management system 4 formulates an optimal flight plan according to the third positioning parameter and realizes automatic control of a flight mission. The communication module receives the third positioning parameter sent by the positioning module or the GNSS antenna 9, and forwards the third positioning parameter to the GNSS antenna 9 in a form of a fixed period and a short message, so that the GNSS antenna 9 sends the third positioning parameter to the ground monitoring center 12 through the beidou third satellite 17.
Under the condition of normal operation, MMR and IMU in the front electronic cabin 1 are used as main navigation sources of a cockpit, and first positioning parameters are sent to the electronic flight bag 11 to be displayed; in special cases, the GNSS antenna 9 or the positioning module in the rear passenger cabin 2 is used as a main navigation source of the cockpit, and the second positioning parameter or the third positioning parameter is sent to the electronic flight bag 11 for display.
As an optional implementation manner, the communication management unit/air traffic service unit 7CMU/ATSU of the present invention is configured to generate an ACARS + instruction, and send the ACARS + instruction to the ground monitoring center 12 via the airborne interface device 8, the communication module, the GNSS antenna 9, and the beidou No. three satellite 17 in sequence; when the ground monitoring center 12 receives the ACARS + instruction, sending the ACARS + data to the airborne interface device 8 through the beidou No. three satellite 17, the GNSS antenna 9 and the communication module in sequence for storage; the ACARS + instruction is an instruction for requesting the unit to upload large data to the ground; ACARS + data is data larger than a set data amount. The data larger than the set data amount can be a large amount of characters, pictures, images, voice and other contents, and can also be large data such as a navigation database, obstacle data, entertainment system data and the like.
As an alternative embodiment, the front electronic compartment 1 of the present invention further comprises: a satellite/very high frequency communication unit 6 (VHF for short) which is respectively connected with the ground monitoring center 12 and the communication management unit/air traffic service unit 7; the satellite/very high frequency communication unit 6 is used for receiving a downloading instruction and an uploading instruction; the download instruction is generated by the communication management unit/air traffic service unit 7; the downloading instruction comprises the following steps: an ATC request instruction, a short-distance data downloading instruction and a satellite communication SATCOM request instruction are controlled by air traffic; the ATC request instruction is an instruction for requesting release from the unit to the ground; the short-distance data downloading instruction is an instruction for issuing data downloading to the ground by a short-distance unit; the SATCOM request instruction is an instruction for requesting data from a remote unit to the ground; the upload instructions are generated by the ground monitoring center 12; the uploading instruction comprises the following steps: an ATC approval instruction, a short-distance uploading data instruction and a satellite communication SATCOM broadcasting instruction are set; the ATC approval instruction is an instruction for approving the machine set to pass on the ground; the short-distance data uploading instruction is an instruction for issuing data uploading to the unit on the short-distance ground; SATCOM broadcast commands are remote unit-oriented broadcast data. The broadcast data is used for updating airborne audio and video content and providing voice communication service.
The satellite/very high frequency communication unit 6 sends the download instruction to the ground monitoring center 12, and sends the upload instruction to the communication management unit/air traffic service unit 7; the communication management unit/air traffic service unit 7 sends the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction to the flight management system 4, so that the flight management system 4 formulates an optimal flight plan according to the first positioning parameter, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction and realizes automatic control of a flight mission; or making an optimal flight plan according to the second positioning parameter, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction and realizing automatic control of the flight mission; or making an optimal flight plan and realizing automatic control of the flight mission according to the third positioning parameter, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction. And the FMS manages the flight plan and the navigation notice according to the ATC request instruction, the ATC approval instruction, the short-distance downloading data instruction and the short-distance uploading data instruction.
The communication management unit/air traffic service unit 7 sends the uploading instruction and the downloading instruction to the onboard interface device 8 for storage. The communication management unit/air traffic service unit 7 is also used to receive ACARS + data transmitted by AID.
In this embodiment, the satellite/Very High Frequency (VHF) communication unit includes a satellite communication (SATCOM) antenna, a SATCOM communication terminal, a Very High Frequency (VHF) antenna, and a VHF communication station. The SATCOM communication terminal is connected to the VHF ground station 16 via a SATCOM antenna and a SATCOM satellite, the SATCOM communication terminal is connected to the CMU/ATSU, and the VHF communication station is connected to the VHF ground station 16 via a VHF antenna.
The SATCOM communication terminal can send a data access request to the SATCOM satellite through the SATCOM antenna according to the SATCOM request instruction sent by the CMU/ATSU, and can return the received SATCOM broadcast instruction sent by the SATCOM satellite to the CMU/ATSU through the SATCOM antenna and the SATCOM communication terminal.
An Air Traffic Control (ATC) request instruction, a short-distance data downloading instruction, an Air Traffic Control (ATC) approval instruction and a short-distance data uploading instruction are mutually transmitted between a Very High Frequency (VHF) antenna and a VHF communication radio station and a VHF ground station 16.
In this embodiment, the electronic flight bag 11(EFB), which is a display control system assisting a driver in flying, may send a data retrieval control instruction to the AID, receive navigation data such as IMU attitude data, MMR navigation data, short-distance download data instruction, ATC instruction, first positioning parameter, second positioning parameter, third positioning parameter, and ARCARS + data forwarded by the AID in real time, and display the data in a supporting display for the pilot to read and refer to.
In this embodiment, the Beidou position tracking terminal 10 can utilize the additionally installed regional short message communication module, the global short message communication module, the international search and rescue module and the iridium communication module to realize Beidou regional short message communication, global short message communication, international search and rescue communication and iridium communication; the upgraded high-performance receiver board card and the full frequency point satellite navigation antenna can be utilized to realize standard single-point positioning, double-frequency ionosphere-free positioning, satellite-based enhanced positioning and precise single-point positioning; aircraft parameters including positions can be sent to AID for storage through the rear passenger cabin 2 unidirectional communication link, and ACARS + data are sent to AID for storage and forwarding through the rear passenger cabin 2 bidirectional communication link; the short message communication module can be used for continuously sending the aircraft parameters to the ground monitoring center 12, and the aircraft parameters and the ground monitoring center 12 mutually transmit ACARS + data.
As shown in fig. 9, the other devices 18 include a display unit and an on-board printer.
Under the condition of normal operation, the MMR and the IMU in the electronic cabin 1 at the front part of the aircraft are main navigation sources of a cockpit, and navigation data output by the MMR and attitude data output by the IMU are transmitted with AID and FMS in a one-way mode; the CMU/ATSU acquires information such as aircraft monitoring, operation command, aircraft important component (namely wings, a fuselage, an empennage, a landing gear and a power device) state monitoring and ground service support and the like through a satellite/VHF communication unit, unidirectionally transmits a short-distance uploading data instruction, a short-distance downloading data instruction, an ATC request instruction, an ATC approval instruction, an SATCOM request instruction, an SATCOM broadcast instruction and an ACARS + instruction to the AID, and unidirectionally transmits the short-distance uploading data instruction, the short-distance downloading data instruction, the ATC request instruction and the ATC approval instruction to the FMS; the EFB is used as a pilot display control unit to provide reference for a driver and is transmitted with AID in a bidirectional mode; the AID (such as FOMAX or Teledyne) is responsible for receiving and storing the positioning parameters transmitted by the IMU, MMR and the beidou position tracking terminal 10, besides bidirectionally transmitting data with the CMU/ATSU and EFB, and implementing ACARS + function when ACARS cannot implement large-scale data transmission task; the Beidou position tracking terminal 10 of the aircraft rear cabin 2 continuously sends parameters such as an aircraft identification number, a position, a speed and time to the ground monitoring center 12 in the form of short messages to prevent the aircraft from losing contact, and also transmits second positioning parameters, third positioning parameters and bidirectional ACARS + data of the aircraft in a unidirectional mode through a communication link of the rear cabin 2 and the front electronic cabin 1 AID. In particular, the aircraft parameters (in particular the position parameters) transmitted by the rear passenger cabin 2 to the front electronic cabin 1 are not displayed to the crew and cannot be used as a basis for air traffic control personnel to make air control decisions.
Under the special operating condition (namely the condition that the navigation equipment of the front cockpit suffers artificial damage or equipment fails), mainly when MMR and IMU can not provide normal navigation positioning service, the working modes of other equipment such as AID of the front electronic cabin 1 are the same as those under the normal operating condition, but the second positioning parameter or the third positioning parameter which are transmitted to the AID in a one-way mode by the rear passenger cabin 2 through a communication link can be transmitted to the FMS, and the third-order emergent navigation function of the Beidou can be realized temporarily as a navigation source. In addition, although the current domestic MMR equipment is limited by international industrial standards and the airworthiness period, and the current foreign-produced airborne MMR equipment is difficult to replace in a short period, the domestic MMR equipment can be used as backup/emergency navigation equipment to be installed in the electronic cabin 1 in the front of the aircraft, is crosslinked with AID and displays results on EFB, provides reference for a pilot, accumulates flight data, continuously iterates and improves the development level of the domestic MMR equipment, can also be used as backup navigation equipment, and can be temporarily used as a navigation source to realize the Beidou third-order emergency navigation function under special conditions.
In order to prevent poor antenna receiving signal quality caused by the inclination of the aircraft, one or more satellite communication antennas (namely, GNSS antennas 9) can be installed in the installation area between the rear passenger cabin 2 and the wings and connected with the Beidou position terminal in the rear passenger cabin 2, and if only one antenna is installed, the terminal is directly connected with the antenna through a radio frequency cable; if multiple antennas are installed, an additional antenna control system is required to adjust, control and select the communication antennas. The invention ensures that short message communication is not interrupted by installing the satellite communication antenna.
The invention realizes the emergency navigation of the aircraft by utilizing the one-way communication of the rear passenger cabin 2: the position, speed, time and other parameters output by the Beidou position tracking terminal 10 are forwarded to the ground monitoring center 12 through a medium circular earth orbit (MEO) satellite/geostationary orbit (GEO) satellite in a short message form, and are also transmitted to the airborne interface device 8 in a one-way mode through a communication link of the rear cabin 2 for storage and standby, and data transmission with devices such as CMU/ATSU and EFB is not performed under the normal operation condition, and the parameters are only used as aircraft emergency navigation under the special operation condition. The special case is that the navigation equipment of the front cockpit is damaged or fails to provide the required navigation information to the flight management system 4 normally.
The Beidou position tracking terminal 10 with the Beidou third short message communication function is carried on aircrafts such as civil airliners and the like, the positioning module and the communication module of the Beidou position tracking terminal 10 are upgraded, the positioning mode, the communication mode, the short message forwarding strategy, the message formatting, the front and back cabin communication mechanism and the navigation communication system framework are optimally designed, the navigation positioning precision, the data transmission frequency and the communication service range are improved, the airborne communication mechanism and the emergency navigation communication framework of the aircrafts are refined, the aircrafts can still provide reliable monitoring tracking and emergency navigation communication services under special conditions such as communication interruption, natural disasters and emergency events, and the safety of the aircrafts and the lives and properties of people is guaranteed.
The GNSS antenna receives multi-constellation multi-frequency point signals: the standard of the Beidou satellite navigation System (BDS) airborne equipment used only for aircraft tracking stipulates that a BDS airborne equipment positioning unit only realizing the aircraft tracking function should be capable of receiving B1I Beidou public service signals and providing an aircraft identification number, position information (longitude and latitude and height), ground speed information and time information based on coordinated Universal Time (UTC) under a BDCS coordinate system. The Beidou third-grade global satellite navigation system completes global networking, and a positioning module used for tracking the aircraft can receive Beidou B1I signals, and also has the capabilities of receiving other constellation signals and Beidou new system signals and automatically selecting a positioning mode, so that the positioning module has the advantages of being simple in structure, convenient to use and capable of being used for automatically positioning the satellite. Aiming at the problem of low precision and reliability of single-point positioning only by using B1I signals, the invention needs to upgrade the positioning module which can only use B1I signals to position the aircraft, and the positioning is realized by using multi-frequency point navigation positioning signals after replacing the high-performance board card.
The invention upgrades the positioning module in the Beidou position tracking terminal 10, realizes multi-frequency multi-constellation positioning, and replaces a high-performance receiver board card for the terminal, so that the terminal positioning module can receive and process a plurality of navigation constellation multi-frequency point signals sent by a GNSS antenna 9 in real time, including but not limited to the constellation and the signals given in figure 1. Taking the navigation signals of three frequency bands of B1, B2 and B3 in the Beidou satellite navigation system BDS as an example, standard single-point positioning and double-frequency non-ionosphere positioning can be carried out by using frequency point signals of B1I, B2I and B3I, satellite-based enhanced positioning can be carried out by using frequency point signals of B1C and B2a, precise single-point positioning can be carried out by using frequency point signals of B2B, and the signal frequency points of the navigation constellation of the GLONASS, the GPS of the global positioning system of the United states and the Galileo of the Galileo satellite positioning system of Europe are basically consistent with the positioning mode and the Beidou, and are not discussed one by one.
Automatic selection of the positioning mode: on the basis of a standard single-point positioning mode, a double-frequency ionosphere-free positioning mode, a satellite-based enhanced positioning mode and a precise single-point positioning mode are added; aiming at the problems of more occupied terminal channels, high complexity of positioning mode selection and high difficulty of positioning algorithm design caused by increasing service signals, the invention establishes an automatic positioning mode selection method to select a positioning mode with higher precision according to a positioning mode automatic selection flow given by a figure 2 and service areas and signal availability on the basis that a positioning module can receive and process multi-constellation multi-frequency point signals, so that the positioning module automatically uses the method to preferentially use the positioning mode with higher precision in different service areas, thereby ensuring the high precision and high reliability of the updated Beidou position tracking terminal 10.
As shown in fig. 2, assuming that there is at least one available frequency point signal, the specific steps of the automatic selection method for positioning mode are as follows:
step S1: the positioning module firstly uses the single frequency point signals (such as B1I) in each constellation to perform standard single point positioning, so as to obtain a standard single point positioning result.
Step S2: judging whether the area of the aircraft is in the precise single-point positioning service area or not according to the standard single-point positioning result; if the aircraft is in the precise single point positioning service area, judging whether a precise single point positioning signal exists or not (such as B2B); if the precise single-point positioning signal is available, selecting a precise single-point positioning mode for positioning, and outputting a precise single-point positioning result as a final positioning position; if no precise single point positioning signal is available, go to step S3; if the aircraft is outside the fine single point location service area, step S3 is performed.
Step S3: judging whether the area where the aircraft is located is in a satellite-based enhanced service area or not; if the aircraft is in the satellite-based augmentation service area, judging whether satellite-based augmentation service signals (such as B1C and B2a) are available; if the satellite-based enhanced signal is available, selecting a satellite-based enhanced positioning mode for positioning, and outputting a satellite-based enhanced positioning result as a final positioning position; if no satellite-based enhancement signal is available, "step S4" is performed; if the aircraft is outside the satellite based augmentation service area, step S4 is executed.
Step S4: judging whether a dual-frequency signal (such as B1I and B3I) is available or not, if so, selecting a dual-frequency ionosphere-free positioning mode for positioning, and outputting a dual-frequency ionosphere-free positioning result as a final positioning position; and if no dual-frequency signal is available, selecting a standard single-point positioning mode, and outputting a standard single-point positioning result as a final positioning position.
Establishing a communication link between the front cabin and the rear cabin of the aircraft: the AIDs, the electronic flight bag 11, the communication management unit/air traffic service unit 7 and other devices located in the front electronic cabin 1 of the aircraft, and the beidou position tracking terminal 10 and other devices located in the rear passenger cabin 2 can respectively complete the transmission work of the data of the front electronic cabin 1 and the data of the rear passenger cabin 2 by using separate communication links, and the equipment also has the capability of one-way communication and two-way communication of the rear passenger cabin 2. Aiming at the problem that an airborne communication system of an aircraft lacks a communication mechanism of a rear passenger cabin 2, a communication link between a front electronic cabin 1 and the rear passenger cabin 2 needs to be established, so that the requirements of storage and post-evaluation of parameters such as an aircraft identification number, position and speed and the like under a normal operation condition can be met, the requirement that the front electronic cabin 1 uses stored position information as a navigation reference under an emergency condition can also be met, A Communication Addressing and Reporting System (ACARS) can be assisted to accelerate the bidirectional transmission of data such as an airborne entertainment system database, a navigation database, a large number of voice images and the like between the aircraft and the ground, the broadband reliable transmission of the aircraft data and the rear passenger cabin 2 is ensured, the navigation data source of the aircraft is increased, and the passenger riding experience is improved.
As shown in fig. 3, the present invention establishes both unidirectional communication for transmitting aircraft parameters and bidirectional communication for transmitting large-scale service data; the aircraft parameters comprise aircraft identification numbers, positions, speeds, time and other parameters, and the large-scale service data comprise a large amount of civil aviation user information, characters, pictures, images, voice and other contents. Specifically, the method utilizes cables or optical fibers to establish a wired communication link between an airborne interface device 8 in the front electronic cabin 1 and a Beidou position tracking terminal 10 in the rear passenger cabin 2 so as to realize unidirectional data transmission of aircraft parameters; or a wireless communication link between the AID in the front electronic cabin 1 and the Beidou position tracking terminal 10 in the rear passenger cabin 2 is established by utilizing space electromagnetic waves so as to realize bidirectional data transmission of large-scale service data.
The Beidou position tracking terminal 10 ensures that the short message communication function normally operates, namely on the premise that the output aircraft parameters are forwarded to the ground monitoring center 12 through the MEO/GEO satellite in a short message form, the Beidou position tracking terminal 10 further transmits the aircraft parameters to the AID in the front electronic cabin 1 in a one-way mode through a communication link for storage and standby. The aircraft parameters are not displayed to the aircrew under normal conditions, and cannot be used as the basis for air traffic control personnel to implement air control decisions, and only under special conditions (namely, when the navigation equipment of the front electronic cabin 1 is artificially damaged or equipment fails, and cannot normally provide required navigation information to the flight management system 4), the aircraft parameters are temporarily used as a navigation source, and are transmitted to the electronic flight bag 11EFB by the AID to display positioning results to the aircrew, and are transmitted to the CMU/ATSU to be used as the basis for flight management system 4(FMS) decisions.
On the premise of ensuring the basic communication and navigation functions, when a large amount of text, pictures, images, voice and other contents need to be transmitted, or a navigation database, barrier data, entertainment system data updating and other big data transmission need to be supported, the communication management unit/air traffic service unit 7 of the front electronic cabin 1 can perform bidirectional communication with the Beidou position tracking module of the rear passenger cabin 2 through the airborne interface device 8, and then bidirectional transmission of the information and the data is completed by utilizing the GNSS antenna 9 in the rear passenger cabin 2 and the ground-air data link of the ground monitoring center 12, so that the ACARS + function is realized.
Communication module for upgrading Beidou third-order satellite load and Beidou position tracking terminal
At present, the Beidou RSMC service is provided through L-band signals and S-band signals of 3 GEO satellites in a Beidou third-grade nominal space constellation, and can provide RSMC service for the earth surface of China and surrounding areas (areas with east longitude from 75 degrees to 135 degrees and north latitude from 10 degrees to 55 degrees) and users in a near-ground area which is extended to the air by 1000 kilometers in height. The Beidou GSMC service provides message communication service for global users by using L frequency bands and B2B signals of 14 MEO satellites. The Beidou international search and rescue (SAR) service is provided by 6 MEO satellites carrying search and rescue loads, which are uniformly distributed on 3 orbital planes in a Beidou third-order nominal space constellation, the return link is provided by 24 MEO satellites and 3 IGSO satellites in the Beidou third-order nominal space constellation, and the SAR service is provided for all users on the earth surface in the global range and in a near area which is extended to the air by 50 kilometers in height by utilizing the inter-satellite link. Therefore, the utilization rate of the Beidou third space constellation is not maximized.
According to a load composition schematic diagram of a Beidou third satellite 17 shown in FIG. 4, aiming at a Beidou GEO satellite only provided with a Beidou region short message load and an antenna, a Beidou global short message load and an antenna, an international search and rescue load and an iridium load and an antenna are additionally provided; aiming at an MEO satellite only provided with a Beidou global short message load and an antenna, a Beidou regional short message load and an antenna, an international search and rescue load and an iridium load and an antenna are additionally arranged; aiming at an IGSO satellite and an MEO satellite which are only provided with a Beidou international search and rescue load and an antenna, a Beidou regional short message load and an antenna, a Beidou global short message load and an antenna and an iridium satellite load and an antenna are additionally arranged. Correspondingly, in order to match and fuse the satellite load and the terminal communication mode, a global short message communication module, a national search and rescue module and an iridium satellite communication module are additionally arranged for the Beidou position tracking terminal 10 only provided with the regional short message communication module; aiming at the Beidou position tracking terminal 10 only provided with the global short message communication module, a regional short message communication module, an international search and rescue module and an iridium communication module are additionally arranged. The same satellite communications antenna may be preferred when the communications frequency and bandwidth are the same.
After the Beidou position tracking terminal 10 completes the communication module installation, the communication mode is automatically switched among the Beidou region short message, the global short message, the international search and rescue and the iridium communication according to the automatic switching communication method shown in fig. 5. Assuming that all communication modules are available, the steps of automatically switching the communication method are as follows:
step S5: judging whether the current communication working module works as an international search and rescue module; if the current communication working module works as the international search and rescue module, closing the regional short message communication module, the global short message communication module and the iridium communication module, and continuing to perform satellite communication only by using the international search and rescue module; if the current communication operation module does not operate as the international search and rescue module, the step S6 is executed.
Step S6: judging whether the area where the aircraft is located is in the short message service area of the Beidou area or not according to the final positioning position or the initial position; if the short message service area is in the Beidou area, executing the step S7; if the Beidou region short message service area is not available, the step S8 is executed.
Step S7: judging whether the current communication working module works as a Beidou region short message communication module; if the current communication working module works as the Beidou regional short message communication module, the international search and rescue module, the global short message communication module and the iridium communication module are closed, and satellite communication is continued and only the Beidou regional short message module is used; and if the current communication working module does not work for the Beidou regional short message communication module, the global short message communication module is used for satellite communication.
Step S8: judging whether the current communication working module works for the iridium communication module; if the current communication working module works as the iridium communication module, closing the international search and rescue module, the global short message communication module and the regional short message communication module, and continuing to perform satellite communication only by using the iridium communication module; and if the current communication working module does not work for the iridium communication module, using the global short message communication module to carry out satellite communication.
Multi-Beidou satellite synchronous forwarding communication data
The data to be transmitted is subjected to sub-packaging to obtain a plurality of data sub-packages, and each data sub-package comprises: "session ID", "sub-packet identification", "number of sub-packets", "sub-packet ID", "sub-packet satellite PRN number", and "sub-packet information", etc. For multiple forwarding satellites and multiple data sub-packets, according to the data queue diagram shown in fig. 7, the satellites 1 to n synchronously forward the sub-packets 1 to n first, and then synchronously forward the sub-packets n +1 to 2n until all sub-packets are transmitted.
For the Beidou region short message communication service, 2 to 3 GEO satellites can be generally observed at the same time in China and surrounding areas, in a mode of evenly distributing the number of sub-packets, a region short message communication module in the terminal distributes idle channels to transmit message data with different sub-packet IDs to all visible GEO satellites, if the number of sub-packets exceeds the number of visible GEO satellites, the rest sub-packets are added into a queue to be transmitted of the corresponding GEO satellites, and the rest sub-packets are sequentially transmitted after the transmission of the last sub-packet is finished; if the sub-packet content contains a transmission canceling instruction, the short message communication module empties all channels to-be-transmitted queues, otherwise, the short message communication module continues to transmit until all data are transmitted. And the Beidou region short message return communication selects a GEO satellite corresponding to a 'PRN (repeating satellite) number' in the forward communication sub-packet to transmit all return data in a mode of average distribution and queue addition, and the forward communication and the return communication are ensured to use the same Beidou satellite to forward the region short message data as much as possible.
For the Beidou global short message communication service and the international search and rescue service, a plurality of Beidou IGSO satellites and MEO satellites can be observed at the same time in a global range generally, the global short message communication module and the international search and rescue module in the terminal select a visible satellite as a data forwarding satellite according to a satellite elevation mask (5 degrees, 10 degrees, 15 degrees or higher optionally), or select the forwarding satellite according to a self-defined satellite elevation constraint (such as 30 degrees) and then transmit all data in a mode of average distribution and queue adding, and the terminal communicates with the domestic ground monitoring center 12 through a Beidou Ka inter-satellite link. Beidou global short message return communication transmits the sub-packaged return data (the sub-packaged quantity is unchanged) to an MEO satellite corresponding to a 'PRN (Transpondsatellite) number' in a forward communication sub-package in a mode of average distribution and queue addition, and then the MEO satellite completes the work of returning the data to a global short message module; and the international search and rescue return communication transmits data back through the IGSO and MEO satellites corresponding to the 'PRN (repeating satellite) number' in the forward communication sub-packet. If the Beidou third satellite 17 load and the Beidou position tracking terminal 10 communication module are additionally installed, the Beidou regional short message, the global short message and the international search and rescue service, even the forward communication and the backward communication of the iridium communication service can adopt the strategy to select a plurality of satellites to synchronously forward the communication data, and the data transmission efficiency is improved.
B2B signal text parameter and formatting design
The text formatting of the short message single packet data is different due to broadcasting signals (an uplink signal of a regional short message user adopts an L wave band, a downlink signal of the user adopts an S wave band, an uplink signal of a global short message user adopts an L wave band, a downlink signal of the user adopts a B2B signal, an uplink signal of an international search and rescue user adopts ultrahigh frequency, a downlink signal of a load adopts an L wave band, and a downlink signal of a reverse link/user adopts a B2B signal), but the overall structural form and the content are the same and different, and the text parameters and the formatting design result are given by taking a B2B downlink signal as an example.
The downlink signals of the Beidou global short message service and the international search and rescue service are broadcasted by Beidou satellite three IGSO and MEO satellite B2B signals, return communication data are carried by B-CNAV3 format navigation messages defined by B2B interface files, the length of each frame of message is 1000 sign bits, the symbol rate is 1000sps, and the broadcasting period is 1 second. The length of each frame of text before error correction coding is 486 bits, including information type (6 bits), week second (20 bits), text data (436 bits), and cyclic redundancy check (24 bits). The information type, the time of week and the telegraph text data all participate in the cyclic redundancy check calculation. After being coded by 64-system LDPC (162,81), the length is 972 sign bits.
The type of valid information in the message with the B-CNAV3 format is defined as 50 (or may be defined as other values), and the message is specially used for the beidou global short message return communication, and the formatting is shown in fig. 6. The 436 bit text data parameters and the bit number are: session ID (19 bits, unique identifier generated after transmission is confirmed by the transmitting and receiving ends), packet identifier (1 bit, 0 indicates no packet transmission, 1 indicates packet transmission), packet number (2 bits, only 4 satellite transmission message information is temporarily considered, at most, is used), packet satellite PRN number (32 bits, each satellite allocates 8 bits to support multi-constellation satellites), and packet information (382 bits, short message information including contents of chinese characters, numbers, english, characters, and the like is transmitted by self-definition). The message parameters and the arrangement format special for the Beidou regional short message return communication and the international search and rescue service return communication can be used for reference.
As shown in fig. 9, the invention discloses an emergency navigation communication system of a beidou short message, which comprises an aircraft, a beidou third satellite 17 and a ground monitoring center 12 in embodiment 1; and the communication module of the aircraft transmits the second positioning parameters to the ground monitoring center 12 through the Beidou third satellite 17 in a subpackage and synchronous mode.
As an alternative embodiment, the ground monitoring center 12 of the present invention includes: a director antenna 13, a director 14, a ground monitoring terminal 15 and a VHF ground end; the director antenna 13 is connected with a ground monitoring terminal 15 through a director 14, and the VHF ground end is connected with the satellite/very high frequency communication unit 6. The VHF ground station 16 is configured to receive and transmit an ATC request instruction, an ATC approval instruction, an AOC and a close-range upload data instruction, and perform air traffic control on the aircraft. The commander antenna 13 receives the second positioning parameter, the third positioning parameter and the ACARS + data transmission instruction in the short message form forwarded by the Beidou third satellite 17, and sends the parameters to the ground monitoring terminal 15 through the commander 14, and the ground monitoring terminal 15 forwards the ACARS + data in the short message form sequentially through the commander 14, the commander antenna and the Beidou third satellite 17, so that large-scale data transmission between the aircraft and the ground monitoring center 12 is completed.
As an optional implementation manner, each satellite in the beidou No. three satellite 17 of the present invention is additionally provided with a regional short message load and antenna, a global short message load and antenna, and an international search and rescue load and antenna, which are specifically shown in fig. 4.
In summary, the present invention discloses the following technical points:
1. positioning module upgrading in Beidou position tracking terminal
The receiver board card in the Beidou position tracking terminal 10 is used for bearing a program of a positioning module, and the positioning module only capable of processing Beidou satellite signals is upgraded to the positioning module capable of capturing and tracking all navigation constellations simultaneously; meanwhile, the satellite navigation antenna which only supports signals of the L1 frequency band is replaced by a full-frequency-point satellite navigation antenna (namely a GNSS antenna 9) which can work in the L1, the L2 and the L5 frequency bands simultaneously; the upgraded positioning module can simultaneously receive and process Beidou (B1, B2 and B3), GPS (L1, L2 and L5), GLONASS (L1 and L2) and Galileo (E1 and E5) multi-constellation multi-frequency point signals, and has multiple positioning modes such as standard single-point positioning, dual-frequency ionosphere-free positioning, satellite-based enhanced positioning, precise single-point positioning and the like.
2. Automatic selection method for positioning mode in Beidou position tracking terminal
The invention judges the area of the aircraft according to the standard single-point positioning result output by the positioning module in the Beidou position tracking terminal 10, establishes the positioning mode preference sequence of the positioning module by combining the signal availability, preferentially selects the precise single-point positioning mode in the area providing precise single-point positioning service according to the sequence of precise single-point positioning, double-frequency non-ionosphere positioning, star-based enhanced positioning and standard single-point positioning, the method selects a satellite-based enhanced positioning mode preferentially in an area providing satellite-based enhanced services, selects a dual-frequency ionospheric-free positioning mode preferentially in other areas (i.e., a precise point positioning service area and an area outside the area providing satellite-based enhanced services) and in the case where precise point positioning signals and satellite-based enhanced services are unavailable, a standard single-point positioning mode is selected in the event that none of the above-described precision single-point positioning signals, satellite-based enhanced positioning signals, and dual-frequency ionosphere-free positioning signals are available. In this embodiment, the precise single-point location service area is officially defined as the earth surface and its near-ground area extending 1000 km high into the air in china and peripheral areas (areas with east longitude 75-135 degrees and north latitude 10-55 degrees); a satellite based enhanced service area is an area on earth where three GEO satellites B1C and B2a with PRNs 130, 143, and 144 can be received.
3. Aircraft emergency navigation realized by utilizing one-way communication of front cabin and rear cabin
The communication module forwards the second positioning parameters output by the positioning module and the third positioning parameters acquired by the GNSS antenna 9 to the ground monitoring center 12 through a medium-circle earth orbit (MEO) satellite/geostationary orbit (GEO) satellite in the beidou third satellite 17 in the form of short messages, and also transmits the short messages to the onboard interface device 8 for storage and standby through a front cabin communication link and a rear cabin communication link, and under the normal operation condition, the short messages are not transmitted with devices such as CMU/ATSU and EFB, and only under the special operation condition (namely, the front cockpit navigation device is artificially damaged or the device fails to normally provide required navigation information to the flight management system 4), the short messages serve as temporary navigation sources and are provided for front cabin devices and crew members as references, so that emergency navigation of the aircraft is realized.
4. Aircraft ACARS + function realized by using bidirectional communication of front and rear cabins
Under the condition that the ACARS cannot transmit a large amount of text, pictures, images, voice and other information contents urgently needed by civil aviation users, particularly cannot support the security service scene of big data application such as data transmission of a wireless Quick Access Recorder (QAR), an EFB system, a navigation database, barrier data, entertainment system data updating and the like, the CMU/ATSU of the front cabin of the aircraft can complete bidirectional transmission of the data contents between the aircraft and the ground through the AID and front and rear cabin communication links, the transmission frequency of key information of security services is improved, and the ACARS + function is realized.
5. Beidou third satellite load and Beidou position tracking terminal communication module installing scheme
In order to improve the utilization rate of the Beidou third space constellation, the Beidou third satellite 17 except the Beidou short message load is additionally provided with the international search and rescue load, and the Beidou third satellite 17 except the Beidou short message load is additionally provided with the Beidou short message load. Correspondingly, the Beidou position tracking terminal 10 is provided with a necessary short message communication module and an antenna, and also needs to be additionally provided with an international search and rescue module and an antenna, and an iridium communication module and an antenna in order to provide international search and rescue service and iridium communication service, so that matching and fusion between a satellite communication load and a terminal communication mode are realized.
6. Beidou position tracking terminal communication mode switching method
Meanwhile, the Beidou position tracking terminal 10 provided with the short message communication module, the international search and rescue module and the iridium communication module needs to establish an automatic switching method of a communication mode by taking a Beidou region short message service region as a boundary according to aircraft position information output by the terminal positioning module and working states of the short message communication module, the international search and rescue module and the iridium communication module in the terminal. The communication priority of each module outside the Beidou region short message service region is defined as an international search and rescue module, an iridium communication module and a Beidou global short message communication module in sequence, and the communication priority of each module inside the Beidou region short message service region is defined as an international search and rescue module, a Beidou region short message communication module and an iridium communication module in sequence. The communication mode is selected by the method of switching the working modules, so that the problem of frequency interference among different communication services can be effectively reduced while the quality of the communication services is ensured.
7. Selecting Beidou short message communication satellite according to the number of visible satellites and satellite elevation angles
In China and surrounding areas, the short message communication module of the Beidou position tracking terminal 10 uses all GEO satellites meeting the requirement of elevation mask to complete the forwarding of short message communication data of the Beidou region; in a global range, the Beidou position tracking terminal 10 short message communication module completes Beidou global short message communication data forwarding by using n MEO satellites with the largest elevation angle (assuming that the number of satellites meeting the requirement of an elevation mask code is k, n is less than or equal to k). The Beidou return communication satellite preferentially uses the same satellite to complete return data forwarding of the ground monitoring center 12. The international search and rescue service can also use the method to select an MEO satellite for transmitting the user uplink signal and the load downlink signal, an MEO satellite for transmitting the return link signal or the user downlink signal and an inclined geosynchronous orbit (IGSO) satellite, and is even suitable for the selection of the communication satellite after the communication load is added on the satellite and the communication module is added on the terminal.
8. Forwarding strategy for synchronously transmitting communication data by using multiple Beidou satellites
When the single transmission data of the communication module and the ground monitoring center 12 exceeds the maximum length of a single message, the data to be transmitted must be split into a plurality of data sub-packets, and a forwarding strategy for synchronously transmitting the communication data by using a plurality of Beidou satellites (MEO, IGSO and GEO) can be used. And the data sub-packets are evenly distributed with transmission tasks according to available satellites, and then the data to be transmitted to each satellite is added into a queue buffer area, so that synchronous forwarding of a plurality of satellites is realized on the basis of serial forwarding of a single satellite, the data transmission and service response time is reduced, and higher-frequency unidirectional position report and bidirectional service transmission are realized.
9. Beidou global short message and international search and rescue return communication B2B downlink signal message parameter and arrangement format design scheme
The invention designs a short message parameter definition and formatting scheme based on a B-CNAV3 format navigation message, which carries out parameter definition and bit quantity division on 486-bit data of each sub-packet message before error correction coding. The Beidou regional short message uplink signal and downlink signal, the Beidou global short message uplink signal, the international search and rescue user uplink signal and the load downlink signal can be designed by adopting the scheme.
10. Aircraft using front and rear cabin communication link and Beidou short message function
After the Beidou position tracking terminal 10 is installed on an aircraft and a front cabin and rear cabin communication link is established, the positioning function and the short message function of the terminal and the one-way and two-way communication modes of the communication link are utilized, information such as the position of the aircraft and the like stored in the front cabin and the output result of a domestic multi-mode receiver (MMR) of the front cabin are transmitted to the rear cabin terminal, and the information is displayed on an EFB device through AID to serve as a standby navigation source of the aircraft, so that Beidou third-number emergency navigation communication reference is provided for an aircraft unit.
The technical scheme disclosed by the invention has the following advantages:
1. the invention provides an upgrading scheme of a positioning module and a communication module of a Beidou position tracking terminal 10, which comprises the following steps: the positioning module upgrading scheme can utilize a plurality of frequency point navigation signals to position the aircraft in real time, the limitation that the aircraft can only be tracked by using a B1I signal is eliminated, and the positioning accuracy and reliability of the Beidou position tracking terminal 10 are greatly improved; the communication module upgrading scheme can preferentially select a working communication module according to whether the working communication module is in the Beidou region short message communication service region or not under the condition of ensuring the highest priority degree of international search and rescue service, so that the problem of frequency interference among different communication services is reduced or even avoided; from technical points 1, 2, 5 and 6.
2. The invention provides a Beidou short message communication service message arrangement scheme and a data forwarding strategy, wherein the Beidou short message communication service message arrangement scheme comprises the following steps: effective information types (50) and message data (session parameters and bit numbers) of B-CNAV3 format navigation messages broadcasted by global short message service Beidou B2B users in downlink signals are designed, and reference is provided for formulation and updating of Beidou regional short messages and ICD (interface control document) files of global short message communication service users; a multi-satellite synchronous forwarding strategy of short message packet data based on a visual satellite elevation angle is designed, so that the transmission time and the service response time delay are reduced, and the use frequency and the data transmission efficiency are improved; from technical points 7, 8 and 9.
3. The invention provides a design scheme of communication links of front and rear cabins 2 of an aircraft and an airborne emergency navigation communication system architecture: establishing a communication link between the airborne interface equipment 8 in the front electronic cabin and the Beidou position tracking terminal 10 in the rear passenger cabin 2, and realizing the functions of aircraft parameter and large-scale data transmission under normal conditions and emergency navigation under emergency conditions through the communication link; an airborne emergency navigation communication system architecture based on the Beidou short message communication service is established, and the Beidou aircraft tracking standard formulation, equipment development and civil aviation ACARS + service landing process are accelerated; from points 3, 4 and 10.
4. The Beidou position tracking terminal 10 with the Beidou third-number short message communication function is carried on aircrafts such as civil airliners and the like, the positioning module and the communication module of the Beidou position tracking terminal 10 are upgraded, the positioning mode, the communication mode, the short message forwarding strategy, the telegraph formatting, the rear cabin 2 communication mechanism and the navigation communication system framework are optimally designed, the navigation positioning precision, the data transmission frequency and the communication service range are improved, the aircraft airborne communication mechanism and the emergency navigation communication framework are refined, the aircrafts can still provide reliable monitoring tracking and emergency navigation communication services under special conditions such as communication interruption, natural disasters and emergency events, and the safety of the aircrafts and the lives and properties of people is guaranteed.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

Claims (10)

1. The utility model provides an aircraft based on big dipper short message which characterized in that, the aircraft includes:
a front electronics compartment and a rear passenger compartment;
the front electronic compartment includes: the system comprises airborne interface equipment, an inertia measurement unit, a flight management system, an electronic flight bag, a multi-mode receiver and a communication management unit/air traffic service unit;
the inertia measurement unit is respectively connected with the airborne interface equipment and a flight management system, the flight management system is respectively connected with the multimode receiver and the communication management unit/air traffic service unit, the multimode receiver and the electronic flight bag are all connected with the airborne interface equipment;
the rear passenger compartment includes: the Beidou position tracking terminal and the GNSS antenna; the Beidou position tracking terminal comprises a positioning module and a communication module; the positioning module is respectively connected with the airborne interface equipment and the GNSS antenna; the communication module is respectively connected with the positioning module and the GNSS antenna;
the GNSS antenna is used for receiving multi-constellation multi-frequency point signals;
the positioning module is used for receiving multi-constellation multi-frequency point signals, determining the final position of the aircraft by adopting a positioning mode automatic selection method based on the multi-constellation multi-frequency point signals, and sending second positioning parameters to the airborne interface equipment for storage; the second positioning parameters include: final position, time and speed of the aircraft.
The inertial measurement unit is used for measuring IMU attitude data of an aircraft and transmitting the IMU attitude data to the flight management system and the airborne interface equipment;
the multimode receiver is used for calculating MMR navigation data of an aircraft and transmitting the MMR navigation data to the flight management system and the airborne interface equipment;
the airborne interface device is further configured to store the first positioning parameter; the first positioning parameters comprise IMU attitude data and MMR navigation data;
when the situation is normal, the airborne interface equipment sends the first positioning parameter to the electronic flight bag for displaying; the flight management system makes an optimal flight plan according to the first positioning parameters and realizes automatic control of a flight task;
when the electronic flight bag is in a special condition, the airborne interface equipment sends the second positioning parameter to the electronic flight bag for displaying; the airborne interface equipment sends the second positioning parameters to the flight management system through the communication management unit/air traffic service unit so that the flight management system can make an optimal flight plan according to the second positioning parameters and realize automatic control of a flight task; the special condition is that the multimode receiver and/or the inertia measurement unit can not work;
the communication module is used for receiving the second positioning parameters sent by the positioning module and forwarding the second positioning parameters to the GNSS antenna in a short message mode, so that the GNSS antenna can be sent to a ground monitoring center through a Beidou third satellite.
2. The Beidou short message-based aircraft according to claim 1, wherein the communication management unit/air traffic service unit is configured to generate an ACARS + command and send the ACARS + command to the ground monitoring center sequentially through the airborne interface device, the communication module, the GNSS antenna and a Beidou satellite III; when the ground monitoring center receives the ACARS + instruction, ACARS + data are sequentially sent to the airborne interface equipment through the Beidou third satellite, the GNSS antenna and the communication module to be stored; the ACARS + instruction is an instruction for requesting the unit to upload large data to the ground; the ACARS + data is data larger than a set data amount.
3. The beidou short message-based aircraft of claim 1, wherein the front electronic compartment further comprises: the satellite/very high frequency communication unit is respectively connected with the ground monitoring center and the communication management unit/air traffic service unit;
the satellite/very high frequency communication unit is used for receiving a downloading instruction and an uploading instruction; the download instruction is generated by the communication management unit/air traffic service unit; the downloading instruction comprises the following steps: an ATC request instruction, a short-distance data downloading instruction and a satellite communication SATCOM request instruction are controlled by air traffic; the ATC request instruction is an instruction for requesting release from the unit to the ground; the short-distance data downloading instruction is an instruction for issuing data downloading to the ground by a short-distance unit; the SATCOM request instruction is an instruction for requesting data from a remote unit to the ground;
the uploading instruction is generated by the ground monitoring center; the uploading instruction comprises: an ATC approval instruction, a short-distance uploading data instruction and a satellite communication SATCOM broadcasting instruction are set; the ATC approval instruction is an instruction for ground-oriented unit approval and release; the close-range uploading data instruction is an instruction for issuing an instruction of uploading data to the unit in a close-range manner; the SATCOM broadcast instruction is an instruction for broadcasting data to a unit from a long distance;
the satellite/very high frequency communication unit sends the download instruction to the ground monitoring center and sends the upload instruction to the communication management unit/air traffic service unit; the communication management unit/air traffic service unit sends an ATC request instruction, an ATC approval instruction, a short-distance data downloading instruction and a short-distance data uploading instruction to the flight management system, so that the flight management system formulates an optimal flight plan according to the first positioning parameter, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction and realizes automatic control of a flight mission; or making an optimal flight plan according to the second positioning parameter, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction and realizing automatic control of the flight mission; or making an optimal flight plan according to the third positioning parameter, the ATC request instruction, the ATC approval instruction, the short-distance data downloading instruction and the short-distance data uploading instruction and realizing automatic control of the flight mission;
and the communication management unit/air traffic service unit sends the uploading instruction and the downloading instruction to the airborne interface equipment for storage.
4. The Beidou short message-based aircraft according to claim 1, wherein the method for automatically selecting the positioning mode is used for determining the final position of the aircraft, and comprises the following specific steps:
step S1: firstly, carrying out standard single-point positioning by using single-point frequency signals in each constellation to obtain a standard single-point positioning result;
step S2: judging whether the area of the aircraft is in a precise single-point positioning service area or not according to the standard single-point positioning result; if the aircraft is in the precise single-point positioning service area, judging whether a precise single-point positioning signal is available; if the precise single-point positioning signal is available, selecting a precise single-point positioning mode for positioning, and outputting a precise single-point positioning result as a final positioning position; if no precise single point positioning signal is available, go to step S3; if the aircraft is outside the precise single point location service area, executing step S3;
step S3: judging whether the area where the aircraft is located is in a satellite-based enhanced service area or not; if the aircraft is in the satellite-based enhanced service area, judging whether a satellite-based enhanced service signal is available; if the satellite-based enhanced signal is available, selecting a satellite-based enhanced positioning mode for positioning, and outputting a satellite-based enhanced positioning result as a final positioning position; if no satellite-based enhanced signal is available, perform "step S4"; if the aircraft is outside the satellite based augmentation service area, performing step S4;
step S4: judging whether a dual-frequency signal is available, if so, selecting a dual-frequency ionosphere-free positioning mode for positioning, and outputting a dual-frequency ionosphere-free positioning result as a final positioning position; and if no dual-frequency signal is available, selecting a standard single-point positioning mode, and outputting a standard single-point positioning result as a final positioning position.
5. The Beidou short message-based aircraft according to claim 2, wherein the communication module comprises an international search and rescue module, a global short message communication module, an iridium satellite communication module and a Beidou regional short message module, the communication module performs satellite communication by adopting an automatic switching communication method, and the automatic switching communication method specifically comprises the following steps:
step S5: judging whether the current communication working module works as an international search and rescue module; if the current communication working module works as the international search and rescue module, closing the regional short message communication module, the global short message communication module and the iridium communication module, and continuing to perform satellite communication only by using the international search and rescue module; if the current communication working module does not work for the international search and rescue module, executing the step S6;
step S6: judging whether the area where the aircraft is located is in a Beidou area short message service area or not according to the final positioning position; if the short message service area is in the Beidou area, executing the step S7; if the Beidou region short message service area is not available, executing step S8;
step S7: judging whether the current communication working module works as a Beidou region short message communication module; if the current communication working module works as a Beidou regional short message communication module, closing the international search and rescue module, the global short message communication module and the iridium communication module, and continuing to perform satellite communication by only using the Beidou regional short message module; if the current communication working module does not work for the Beidou regional short message communication module, the global short message communication module is used for satellite communication;
step S8: judging whether the current communication working module works for the iridium communication module; if the current communication working module works as the iridium communication module, the international search and rescue module, the global short message communication module and the regional short message communication module are closed, and satellite communication is continued and is carried out only by using the iridium communication module; and if the current communication working module does not work for the iridium communication module, using the global short message communication module to carry out satellite communication.
6. The aircraft based on the Beidou short message according to claim 2, characterized in that the communication module transmits data to the Beidou third satellite in a packet synchronous forwarding mode.
7. The Beidou short message-based aircraft according to claim 6, wherein the data sub-packets obtained after sub-packets comprise: session ID, packetization identification, number of packetization, packetization ID, packetization satellite PRN number, and packetization information.
8. An emergency navigation communication system of Beidou short messages is characterized by comprising the aircraft, the Beidou third satellite and a ground monitoring center according to any one of claims 1 to 7;
and the communication module of the aircraft synchronously forwards the second positioning parameters to a ground monitoring center through the Beidou third satellite sub-packet.
9. The Beidou short message emergency navigation communication system according to claim 8, wherein each satellite in the Beidou third satellite is additionally provided with a regional short message load and antenna, a global short message load and antenna and an international search and rescue load and antenna.
10. The beidou short message emergency navigation communication system of claim 8, wherein the ground monitoring center comprises: the system comprises a director antenna, a director, a ground monitoring terminal and a VHF ground end; the commander antenna is connected with the ground monitoring terminal through the commander, and the VHF ground end is connected with the satellite/very high frequency communication unit.
CN202210025455.3A 2022-01-11 2022-01-11 Aircraft and emergency navigation communication system based on Beidou short message Pending CN114827952A (en)

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