阅读说明：本技术 一种基于三轴过载矢量和的过载启动方法 (Overload starting method based on triaxial overload vector sum ) 是由 杨丽 肖爱农 张群 冯友权 周春晓 李建平 贾晓迪 陈林 夏雨 于 2019-10-30 设计创作，主要内容包括：本发明公开了一种基于三轴过载矢量和的过载启动方法,包括以下步骤：通过三轴过载传感器采集飞机三轴向单分量的加速度信号；对信号进行采样；通过信号的范围对信号进行有效性判定,判定是否为有效过载信号；对有效过载信号进行滤波,将采样信号中高于指定的振动频率的信号滤除,得到低频过载信号；通过低频过载信号计算变换得到三轴向分量加速度的实际物理值；将三轴向分量加速度根据合成矢量和运算方法,合成矢量和加速度信号；当合成的加速度信号达到启动脉宽条件且满足阈值判断条件时,启动信号输出。本发明能及时触发应急定位系统,使飞机应急救生定位过载触发更加完善和及时,提高了识别过载状态的准确性,提高了飞机的安全性。(The invention discloses an overload starting method based on triaxial overload vector sum, which comprises the following steps: acquiring acceleration signals of three axial single components of the airplane through a three-axis overload sensor; sampling the signal; judging the validity of the signal according to the range of the signal, and judging whether the signal is a valid overload signal; filtering the effective overload signal, and filtering out signals with higher than specified vibration frequency in the sampling signal to obtain a low-frequency overload signal; calculating and converting the low-frequency overload signal to obtain an actual physical value of the triaxial component acceleration; synthesizing the three-axial component acceleration into a vector sum acceleration signal according to a synthetic vector sum operation method; and when the synthesized acceleration signal reaches a starting pulse width condition and meets a threshold judgment condition, starting signal output. The invention can trigger the emergency positioning system in time, so that the aircraft emergency lifesaving positioning overload triggering is more perfect and timely, the accuracy of identifying the overload state is improved, and the safety of the aircraft is improved.)

1. An overload starting method based on triaxial overload vector sum is characterized by comprising the following steps:

1) acceleration signals of three-axial single component of airplane X, Y, Z are acquired through three-axis overload sensors

2) Sampling the signal;

3) judging the validity of the signal according to the range of the signal, and judging whether the signal is a valid overload signal;

4) filtering the effective overload signal, and filtering out signals with higher than specified vibration frequency in the sampling signal to obtain a low-frequency overload signal;

5) calculating and converting the low-frequency overload signal to obtain an actual physical value of the triaxial component acceleration;

6) synthesizing the three-axial component acceleration into a vector sum acceleration signal according to a synthetic vector sum operation method;

7) and when the synthesized acceleration signal reaches a starting pulse width condition and meets a threshold judgment condition, starting signal output.

2. The overload starting method based on the triaxial overload vector sum according to claim 1, wherein in the step 7), the specific process that the synthesized acceleration signal reaches the starting pulse width condition and satisfies the threshold judgment condition is as follows: when the synthesized acceleration signal is larger than the starting initial threshold value, the counter starts counting, if the counting of the continuous counter reaches the starting pulse width, the condition of starting the pulse width is judged to be reached, the signal output can be started at the moment, and if the synthesized acceleration signal is smaller than the starting initial threshold value in the counting, the counter stops counting and returns to zero, and the signal output is not started.

3. The overload starting method based on the triaxial overload vector sum according to claim 1, wherein the triaxial overload sensor is connected with two redundancy control boards, the triaxial overload sensor transmits the acquired signal to the two redundancy control boards simultaneously, and each redundancy control board performs sampling, validity judgment, filtering, signal physical quantity transformation, synthesis operation and judgment of a starting threshold value and a pulse width on the acquired signal in sequence.

4. The overload starting method based on the triaxial overload vector sum according to claim 1, wherein the redundancy control board comprises a sampling processor, a filter and an operation controller which are connected in sequence.

5. The overload starting method based on the triaxial overload vector sum according to claim 4, wherein the filter is an IIR filter.

6. The tri-axial overload vector sum-based overload starting method according to claim 4, wherein the sampling processor is a DSP sampling processor.

7. The overload starting method based on the triaxial overload vector sum according to claim 4, wherein an identification validity judging module is connected between the sampling processor and the filter.

8. The overload starting method based on the triaxial overload vector sum according to claim 3, wherein the triaxial overload sensor is connected with a data storage board.

9. The overload starting method based on the triaxial overload vector sum according to claim 8, wherein the data storage board is connected with a power supply circuit board, and the power supply circuit board is respectively connected with the triaxial overload sensor and the two redundancy control boards.

10. The overload starting method based on the triaxial overload vector sum according to claim 1, wherein in the step 2), the signal is sampled as a DSP sample of the signal.

Technical Field

The invention relates to an overload starting method based on a triaxial overload vector sum.

Background

An overseas airborne emergency positioning and transmitting device (ELT) is provided with an overload starting switch, and when an airplane falls in emergency, the ELT can be automatically triggered according to the overload condition. The traditional helicopter satellite emergency positioning system in China is manually started in a soaking mode and is started in an overload mode, and the overload starting mode is single-axial starting.

Disclosure of Invention

The invention aims to solve the technical problem that aiming at the defects in the prior art, the invention provides the overload starting method based on the triaxial overload vector sum, and the emergency positioning system can be triggered in time when an emergency accident occurs to the airplane, so that the emergency lifesaving positioning overload triggering of the airplane is more complete and timely, the accuracy of identifying the overload state is improved, and the safety of the airplane is improved.

The technical scheme adopted by the invention for solving the technical problems is as follows:

an overload starting method based on triaxial overload vector sum comprises the following steps:

1) acquiring acceleration signals of three axial single components of the airplane X, Y, Z through a three-axis overload sensor;

2) performing DSP sampling on the signals;

3) judging the validity of the signal according to the range of the signal, and judging whether the signal is a valid overload signal;

4) filtering the effective overload signal, and filtering out signals with higher than specified vibration frequency in the sampling signal to obtain a low-frequency overload signal;

5) according to the conversion relation between the actual physical dimension and AD conversion, calculating and converting through a low-frequency overload signal to obtain an actual physical value of the triaxial component acceleration;

6) synthesizing the three-axial component acceleration into a vector sum acceleration signal according to a synthetic vector sum operation method;

7) and when the synthesized acceleration signal reaches a starting pulse width condition and meets a threshold judgment condition, starting signal output.

According to the above technical solution, in the step 7), the specific process that the synthesized acceleration signal reaches the start pulse width condition and satisfies the threshold judgment condition is as follows: when the synthesized acceleration signal is larger than the starting initial threshold value, the counter starts counting, if the counting of the continuous counter reaches the starting pulse width, the condition of starting the pulse width is judged to be reached, the signal output can be started at the moment, and if the synthesized acceleration signal is smaller than the starting initial threshold value in the counting, the counter stops counting and returns to zero, and the signal output is not started.

According to the technical scheme, the triaxial overload sensor is connected with two redundancy control panels, the triaxial overload sensor transmits the collected signals to the two redundancy control panels simultaneously, and each redundancy control panel sequentially carries out DSP sampling, effectiveness judgment, filtering, signal physical quantity transformation, synthesis operation and judgment of a starting threshold value and a pulse width on the collected signals.

According to the technical scheme, the redundancy control board comprises a sampling processor, a filter and an operation controller which are connected in sequence.

According to the technical scheme, the filter is an IIR filter.

According to the technical scheme, the sampling processor is a DSP sampling processor.

According to the technical scheme, an identification effectiveness judging module is connected between the sampling processor and the filter.

According to the technical scheme, the triaxial overload sensor is connected with a data storage board.

According to the technical scheme, the data storage board is connected with the power supply circuit board, and the power supply circuit board is respectively connected with the triaxial overload sensor and the two redundancy control boards.

According to the technical scheme, the triaxial overload sensor is a three-redundancy overload sensor.

According to the technical scheme, the airplane emergency lifesaving positioning overload starting device capable of recording high-capacity data automatically further comprises a box body, and the three-axis overload sensor, the power circuit board, the two redundancy control boards and the data storage board are fixedly arranged in the box body.

According to the technical scheme, the output ends of the two redundancy control panels are connected with the overload starting device.

According to the technical scheme, in the step 4), the specified vibration frequency is the vibration frequency of the installation position.

The invention has the following beneficial effects:

the invention provides an overload starting method based on triaxial overload signal vector sum, which can realize that when the aircraft has complex environmental accidents such as emergency collision falling, water surface forced landing and the like in any stress direction, an emergency positioning system can be triggered in time when the aircraft has an emergency accident by monitoring triaxial synthesis overload condition, so that the triggering of emergency lifesaving positioning overload of the aircraft is more perfect and timely, the accuracy of identifying the overload state is improved, and the safety of the aircraft is improved; the overload starting method of the triaxial vector sum based on the energy principle is applied to an overload starting device of an airplane emergency lifesaving positioning system; the method can also be applied to other triggering systems based on energy principle, such as signal processing and design, automobile collision avoidance and the like, and has good application prospect.

Drawings

FIG. 1 is a flow chart of an overload starting method based on a triaxial overload vector sum according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an overload starting apparatus based on a triaxial overload vector sum according to an embodiment of the present invention;

in the figure, 1-a three-axis overload sensor, 2-a redundancy control B board, 3-a redundancy control A board, 4-a power supply circuit board and 5-a data storage board.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Referring to fig. 1 to 2, in an embodiment of the present invention, an overload starting method based on a triaxial overload vector sum includes the following steps:

1) acquiring acceleration signals of three axial single components of the airplane X, Y, Z through a three-axis overload sensor;

2) performing DSP sampling on the signals;

3) judging the validity of the signal according to the range of the signal, and judging whether the signal is a valid overload signal;

4) filtering the effective overload signal, and filtering a signal with a vibration frequency higher than the installation position in the sampling signal to obtain a low-frequency overload signal;

5) according to the conversion relation between the actual physical dimension and AD conversion, calculating and converting through a low-frequency overload signal to obtain an actual physical value of the triaxial component acceleration;

6) synthesizing the three-axial component acceleration into a vector sum acceleration signal according to a synthetic vector sum operation method;

7) and when the synthesized acceleration signal reaches a starting pulse width condition and meets a threshold judgment condition, starting signal output.

Further, in the step 7), the specific process that the synthesized acceleration signal reaches the start pulse width condition and satisfies the threshold judgment condition is as follows: when the synthesized acceleration signal is larger than the starting initial threshold value, the counter starts counting, if the counting of the continuous counter reaches the starting pulse width, the condition of starting the pulse width is judged to be reached, the signal output can be started at the moment, and if the synthesized acceleration signal is smaller than the starting initial threshold value in the counting, the counter stops counting and returns to zero, and the signal output is not started.

Furthermore, the triaxial overload sensor is connected with two redundancy control panels, the triaxial overload sensor transmits the acquired signal to the two redundancy control panels simultaneously, each redundancy control panel sequentially performs DSP sampling, effectiveness judgment, filtering, signal physical quantity transformation, synthesis operation and judgment of a starting threshold value and a pulse width on the acquired signal, namely, each redundancy control panel implements the processes of steps 2) to 7) in the overload starting method based on the triaxial overload vector sum.

Furthermore, the redundancy control board comprises a sampling processor, a filter and an operation controller which are connected in sequence.

Further, the filter is an IIR filter.

Further, the sampling processor is a DSP sampling processor.

Furthermore, an identification effectiveness judging module is connected between the sampling processor and the filter.

Further, the triaxial overload sensor is connected with a data storage board.

Furthermore, the data storage board is connected with a power supply circuit board, and the power supply circuit board is respectively connected with the three-axis overload sensor and the two redundancy control boards; the triaxial overload sensor, the two redundancy control panels, the power supply circuit board and the data storage board form an overload starting device based on triaxial overload vector sum.

The overload starting device based on the triaxial overload vector sum further comprises a box body, and the triaxial overload sensor, the power circuit board, the two redundancy control boards and the data storage board are all fixedly arranged in the box body.

Further, the triaxial overload sensor is a three-redundancy overload sensor.

Further, the output ends of the two redundancy control panels are connected with an overload starting device.

Furthermore, power supply circuit board is triaxial overload sensor, two redundancy control panels and data storage board power supply, triaxial overload sensor gathers X, Y, Z triaxial axial single component's acceleration value to transmit the signal of gathering simultaneously for two redundancy control panels, the output of two redundancy control panels all is connected with overload starting drive, only judges overload state when two redundancy control panels are all according to the signal of gathering, and exports for overload starting drive, overload starting drive just can start.

Further, the two redundancy control boards are a redundancy control A board and a redundancy control B board respectively.

Furthermore, a military overload sensor is used as a control input source, and the military overload sensor senses an external acceleration signal, converts the external acceleration signal into an electric signal and inputs the electric signal into the control panel and the data storage panel assembly; the overload signal monitoring and processing technology is adopted to collect and filter signals in the control circuit assembly; the effectiveness judgment of the redundancy sensor signal is realized by adopting a sensor three-redundancy signal processing technology; the safety control and output of the output signal are started by the dual-redundancy control monitoring technology through the two redundancy control panels; the judgment of accident states such as collision, forced landing and the like is realized by adopting an overload starting threshold value and starting pulse width condition judgment technology; the invention has a special data storage board, can realize the collection of a 4-channel overload sensor with a sampling rate of 1KHz, records data, realizes data downloading according to requirements and provides data storage for the analysis of airplane flight data and event data. The starting output signal of the invention reports the overload starting information to the positioning system by combining the communication with the signal of the redundancy of the hardware signal, thereby improving the safety of the system and realizing the safe and reliable output of the starting signal when the airplane has an emergency accident.

The working principle of the invention is as follows:

after power-on, the power supply circuit board finishes power supply filtering, power supply conversion and isolation, and provides electric energy for the sensor, the redundancy control board and the data storage board, the triple-redundancy overload sensor senses triple-redundancy triaxial overload in real time, the dual-redundancy control board collects triple-redundancy triple-axial overload data, redundancy signal effectiveness judgment, redundancy voting, sensor signal filtering and starting condition monitoring are carried out on overload signals, and when the overload signal value meets a starting threshold value and a pulse width condition, starting signals are immediately output; and the redundancy control board carries out self-checking of the overload starting device in the overload signal monitoring process and is communicated with the emergency positioning system to report overload data and a self-checking state at regular time. The data storage board collects the triaxial overload sensor in real time and stores the triaxial overload sensor in the data storage.

And (3) adopting an energy principle-based triaxial vector sum overload starting method, and carrying out vector value operation through a vector sum algorithm of triaxial overload signals to judge whether the overload starting condition is met. The following strategy was used: the three-axis acceleration sensor senses X, Y, Z triaxial acceleration values in real time, outputs a simulated three-axis sensor value, converts the acceleration value into a three-axis effective acceleration value through AD acquisition, sensor signal effectiveness judgment, low-pass digital filtering and physical quantity conversion of a processor, obtains a synthesized acceleration value through a vector synthesis algorithm, compares and judges the synthesized acceleration signal with a given overload starting condition, and outputs a starting signal when the synthesized acceleration starting condition is reached.

Can provide the start input source based on overload for lifesaving positioning system through this device, can monitor aircraft triaxial six to overload, realize two redundancy control monitoring technique through two redundancy control panels and start the safety control and the output of output signal, when realizing that the aircraft takes place emergency, safe and reliable's output start signal, when the aircraft takes place the crash and falls, surface of water is forced to descend the scheduling accident, realize in time triggering emergency positioning system and start overload emergency measures through overload situation, positioning system's search and rescue means improves, can record aircraft flight whole journey overload data in real time simultaneously, for aircraft flight and the important foundation of overload data analysis afterwards, the device is domestic novel based on aircraft overload signal, possess the starting drive of the emergent location emitter of large capacity data self-recording. According to the equipment requirements, the method can be expanded and applied to overload monitoring of other emergency positioning and rescue systems and systems for automobile collision avoidance and the like through binding of starting conditions, and has a good application prospect.

The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.