基于陆基导航系统的航空器定位三维约束平差算法及其仿真计算
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摘要
对航空器实施高精度连续定位是实现可指引其沿任意路径航行的区域导航(RNAV)的关键问题之一。提出了一种利用现有陆基导航设备(VOR/DME)的方位角和斜距测量值,依据最小二乘原理,进行三维约束平差计算的定位点坐标求解算法。该算法将已知点坐标作为约束条件,以各测量值间的立体几何关系为基础开列误差方程,可实现定位点的高精度三维坐标求解。通过理论推导和飞行模拟仿真计算,验证了三维约束平差算法在充分利用多个陆基导航台测量值的基础上,可消除以斜距近似代替水平距离进行坐标求解的局限性,从而实现更高精度的定位点坐标解算;且能通过定位点的坐标中误差和点位中误差,对航空器的定位进行精度评定。
High-precision continuous positioning for aircraft is one of critical issues of area navigation( RNAV),which can guide the aircraft in flying along any intended route. The three-dimensional constraint adjustment algorithm according to least-square principle that can figure out the coordinate of fixed point by using azimuth and slope distance of existing ground-based aeronautical stations was derived.This algorithm which can figure out higher-precision three-dimensional coordinates values,regarding the coordinates of known points as constraint conditions,and build the error equations by the solid geometry relations of each measured value. Based on theoretical derivation and emulation calculation of flight simulation,it was validated that the algorithm can take full advantage of measurement values by varies aeronautical stations to solve the precision limitation as a result of using slope distance instead of horizontal distance by the traditional method. Therefore,higher-precision coordinate of fixed point can be figured out. Furthermore,it also can assess the precision of aircraft positioning according to mean square error of the point and the coordinate values.
High-precision continuous positioning for aircraft is one of critical issues of area navigation( RNAV),which can guide the aircraft in flying along any intended route. The three-dimensional constraint adjustment algorithm according to least-square principle that can figure out the coordinate of fixed point by using azimuth and slope distance of existing ground-based aeronautical stations was derived.This algorithm which can figure out higher-precision three-dimensional coordinates values,regarding the coordinates of known points as constraint conditions,and build the error equations by the solid geometry relations of each measured value. Based on theoretical derivation and emulation calculation of flight simulation,it was validated that the algorithm can take full advantage of measurement values by varies aeronautical stations to solve the precision limitation as a result of using slope distance instead of horizontal distance by the traditional method. Therefore,higher-precision coordinate of fixed point can be figured out. Furthermore,it also can assess the precision of aircraft positioning according to mean square error of the point and the coordinate values.
引文
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[2]张明月.区域导航环境下空域容量评估技术研究[D].南京:南京航空航天大学,2012:7-8.
[3]马航帅,王丹,孙晓敏.基于DR/陆基无线电导航的区域导航方法[J].火力与指挥控制,2017,42(10):162-166.
[4]王丹,马航帅,孙晓敏.陆基区域导航系统完好性和连续性分析[J].航空电子技术,2016,47(3):1-6,12.
[5]王磊,刘成龙,杨雪峰,等.高速铁路自由设站3维整体平差计算及精度评定[J].测绘科学技术学报,2011,28(4):258-261.
[6]施健.满足区域导航性能的陆基导航技术研究[D].南京:南京航空航天大学,2010:15-19.
[7]武汉大学测绘学院测量平差学科组.误差理论与测量平差基础[M].武汉:武汉大学出版社,2015:130-132.
[8]刘波,李建国,贝亮.新支线飞机RNAV飞行操作程序的设计与验证[J].科技创新导报,2016,13(22):7-10,13.
[9]黄金明,王立文,郑淑涛.飞行模拟器综合导航系统建模与仿真[J].系统仿真学报,2006,18(S2):664-668.
[10]国瑞.地图学[M].武汉:武汉大学出版社,2008:68-70.
[11]潘瑞鸿,徐胜红.基于几何特性的多无人机协同导航算法[J].兵器装备工程学报,2017,38(10):55-59,96.
[12] AC-91-FS-2008-09,在航路和终端区实施RNAV1和RNAV2的运行指南[S].北京:中国民用航空局飞行标准司,2008:6-7.