\contentsline {chapter}{\numberline {1}航电系统介绍}{1}{chapter.1}%
\contentsline {section}{\numberline {1.1}航电系统的组成}{1}{section.1.1}%
\contentsline {subsection}{\numberline {1.1.1}航电系统的十大组成部分:}{1}{subsection.1.1.1}%
\contentsline {subsubsection}{显示器($Display$)}{1}{section*.2}%
\contentsline {subsubsection}{通信系统($communication$)}{1}{section*.3}%
\contentsline {subsubsection}{数据输入与控制($Data Entry and Control$)}{1}{section*.4}%
\contentsline {subsubsection}{飞行控制系统($Flight Control System$)}{2}{section*.5}%
\contentsline {subsubsection}{飞机状态感测系统($Aircraft State Sensor Systems$)}{2}{section*.6}%
\contentsline {subsubsection}{导航系统}{2}{section*.7}%
\contentsline {subsubsection}{机外环境感测系统($External World Sensor Systems$)}{3}{section*.8}%
\contentsline {subsubsection}{功能自动化系统($Task Automation Systems$)}{3}{section*.9}%
\contentsline {subsubsection}{引擎控制与管理($Engine Control and Management$)}{3}{section*.10}%
\contentsline {subsubsection}{舱内常态管理($House Keeping Management$)}{3}{section*.11}%
\contentsline {section}{\numberline {1.2}航空电子的操作环境}{3}{section.1.2}%
\contentsline {section}{\numberline {1.3}国内航电系统发展趋势与市场分析}{3}{section.1.3}%
\contentsline {section}{\numberline {1.4}微软模拟飞行软件简介}{3}{section.1.4}%
\contentsline {chapter}{\numberline {2}飞行运动的描述}{4}{chapter.2}%
\contentsline {section}{\numberline {2.1}机翼的特性与功能}{4}{section.2.1}%
\contentsline {subsection}{\numberline {2.1.1}机翼的几何外形}{4}{subsection.2.1.1}%
\contentsline {subsection}{\numberline {2.1.2}翼剖面的外型}{5}{subsection.2.1.2}%
\contentsline {subsection}{\numberline {2.1.3}副翼(aileron)和襟翼(flap)}{7}{subsection.2.1.3}%
\contentsline {subsection}{\numberline {2.1.4}方向舵(rudder)和升降舵(elevator)}{7}{subsection.2.1.4}%
\contentsline {section}{\numberline {2.2}基本空气动力特性}{8}{section.2.2}%
\contentsline {subsection}{\numberline {2.2.1}升力与阻力}{8}{subsection.2.2.1}%
\contentsline {subsubsection}{升力}{9}{section*.12}%
\contentsline {subparagraph}{升力系数$C_L$}{9}{section*.13}%
\contentsline {subparagraph}{动压$Q$}{10}{section*.14}%
\contentsline {subparagraph}{翼面积$S$}{10}{section*.15}%
\contentsline {subsubsection}{阻力}{10}{section*.16}%
\contentsline {subsection}{\numberline {2.2.2}俯仰力矩(pitching moment)}{11}{subsection.2.2.2}%
\contentsline {section}{\numberline {2.3}飞机的稳定性}{12}{section.2.3}%
\contentsline {subsection}{\numberline {2.3.1}稳定性的定义}{12}{subsection.2.3.1}%
\contentsline {subsection}{\numberline {2.3.2}静态稳定边际}{13}{subsection.2.3.2}%
\contentsline {subsection}{\numberline {2.3.3}静态不稳定飞机}{13}{subsection.2.3.3}%
\contentsline {section}{\numberline {2.4}描述飞机运动的物理量}{14}{section.2.4}%
\contentsline {subsection}{\numberline {2.4.1}运动自由度与坐标系统}{14}{subsection.2.4.1}%
\contentsline {subsubsection}{线加速度与力的关系}{15}{section*.17}%
\contentsline {subsubsection}{惯性坐标与机体坐标}{16}{section*.18}%
\contentsline {paragraph}{\small {补充关于坐标系旋转及旋转矩阵的内容}}{17}{section*.19}%
\contentsline {section}{\numberline {2.5}飞机运动方程式的建立}{19}{section.2.5}%
\contentsline {subsection}{\numberline {2.5.1}平移运动方程式}{19}{subsection.2.5.1}%
\contentsline {paragraph}{\small {补充关于固定坐标系下微分转换到动坐标系下的内容}}{20}{section*.20}%
\contentsline {subsection}{\numberline {2.5.2}旋转运动方程式}{21}{subsection.2.5.2}%
\contentsline {section}{\numberline {2.6}运动方程的线性化}{23}{section.2.6}%
\contentsline {subsection}{\numberline {2.6.1}线性化与气动力偏导数}{23}{subsection.2.6.1}%
\contentsline {subsection}{\numberline {2.6.2}纵向偏导数的物理意义}{23}{subsection.2.6.2}%
\contentsline {subsubsection}{$X_u$,$Z_u$,$X_w$,$Z_w$物理意义}{23}{section*.21}%
\contentsline {subsubsection}{$M_w$物理意义}{24}{section*.22}%
\contentsline {subsubsection}{$Z_q$,$M_q$物理意义}{24}{section*.23}%
\contentsline {subsubsection}{$Z_{\dot {w}}$,$M_{\dot {w}}$物理意义}{24}{section*.24}%
\contentsline {subsubsection}{$Z_{\eta }$,$M_{\eta }$物理意义}{24}{section*.25}%
\contentsline {subsubsection}{综合}{24}{section*.26}%
\contentsline {subsection}{\numberline {2.6.3}横向偏导数的物理意义}{25}{subsection.2.6.3}%
\contentsline {subsubsection}{$Y_v$物理意义}{25}{section*.27}%
\contentsline {subsubsection}{$N_v$物理意义}{25}{section*.28}%
\contentsline {subsubsection}{$L_v$物理意义}{26}{section*.29}%
\contentsline {subsubsection}{$L_p$物理意义}{26}{section*.30}%
\contentsline {subsubsection}{$N_p$物理意义}{26}{section*.31}%
\contentsline {subsubsection}{$N_r$物理意义}{27}{section*.32}%
\contentsline {subsubsection}{$L_r$物理意义}{27}{section*.33}%
\contentsline {subsubsection}{$L_{\xi }$,$N_{\xi }$物理意义}{27}{section*.34}%
\contentsline {subsubsection}{综合}{28}{section*.35}%
\contentsline {subsection}{\numberline {2.6.4}飞机的线性化运动方程}{28}{subsection.2.6.4}%
\contentsline {section}{\numberline {2.7}运动方程的计算范例}{30}{section.2.7}%
\contentsline {subsection}{\numberline {2.7.1}纵向运动方程}{30}{subsection.2.7.1}%
\contentsline {subsubsection}{长周期运动组}{31}{section*.36}%
\contentsline {subsubsection}{短周期运动组}{31}{section*.37}%
\contentsline {subsection}{\numberline {2.7.2}横向运动方程}{31}{subsection.2.7.2}%
\contentsline {chapter}{\numberline {3}飞行动态响应与增稳控制}{33}{chapter.3}%
\contentsline {section}{\numberline {3.1}操纵杆与飞机的运动关系}{33}{section.3.1}%
\contentsline {subsection}{\numberline {3.1.1}改变飞机运动的机制}{33}{subsection.3.1.1}%
\contentsline {subsection}{\numberline {3.1.2}驾驶的推杆力}{33}{subsection.3.1.2}%
\contentsline {subsection}{\numberline {3.1.3}虚拟感觉}{33}{subsection.3.1.3}%
\contentsline {section}{\numberline {3.2}纵向运动响应}{33}{section.3.2}%
\contentsline {subsection}{\numberline {3.2.1}长短周期运动}{33}{subsection.3.2.1}%
\contentsline {subsection}{\numberline {3.2.2}方块图的建立}{34}{subsection.3.2.2}%
\contentsline {subsection}{\numberline {3.2.3}由实验数据建立俯仰动态方程}{37}{subsection.3.2.3}%
\contentsline {section}{\numberline {3.3}横向运动响应}{37}{section.3.3}%
\contentsline {subsection}{\numberline {3.3.1}副翼的控制}{37}{subsection.3.3.1}%
\contentsline {subsection}{\numberline {3.3.2}方向舵的控制}{38}{subsection.3.3.2}%
\contentsline {subsection}{\numberline {3.3.3}偏航运动响应}{38}{subsection.3.3.3}%
\contentsline {subsection}{\numberline {3.3.4}侧滚-偏航-侧滑的综合响应}{39}{subsection.3.3.4}%
\contentsline {section}{\numberline {3.4}自动稳定系统}{39}{section.3.4}%
\contentsline {section}{\numberline {3.5}增稳系统(Stability\ Augmentation\ System)的设计}{41}{section.3.5}%
\contentsline {subsubsection}{俯仰运动方程}{41}{section*.38}%
\contentsline {subsubsection}{致动器}{41}{section*.39}%
\contentsline {subsubsection}{感测器}{41}{section*.40}%
\contentsline {subsubsection}{控制器}{42}{section*.41}%
\contentsline {chapter}{\numberline {4}线传飞行控制}{44}{chapter.4}%
\contentsline {section}{\numberline {4.1}线传飞控的组成与运作}{44}{section.4.1}%
\contentsline {subsection}{\numberline {4.1.1}线传飞控的基本架构}{44}{subsection.4.1.1}%
\contentsline {subsection}{\numberline {4.1.2}线传飞控系统的闭环特性}{44}{subsection.4.1.2}%
\contentsline {subsubsection}{例题:侧滚回路的FBW控制}{44}{section*.42}%
\contentsline {section}{\numberline {4.2}PID飞行控制率的设计}{45}{section.4.2}%
\contentsline {subsection}{\numberline {4.2.1}P控制}{45}{subsection.4.2.1}%
\contentsline {subsection}{\numberline {4.2.2}PD控制}{46}{subsection.4.2.2}%
\contentsline {subsection}{\numberline {4.2.3}PI控制}{47}{subsection.4.2.3}%
\contentsline {subsection}{\numberline {4.2.4}人的个性与控制率之间的对比}{48}{subsection.4.2.4}%
\contentsline {section}{\numberline {4.3}纵向运动的线传飞控}{48}{section.4.3}%
\contentsline {subsection}{\numberline {4.3.1}俯仰控制回路}{48}{subsection.4.3.1}%
\contentsline {subsection}{\numberline {4.3.2}攻角测量的可行性}{50}{subsection.4.3.2}%
\contentsline {subsection}{\numberline {4.3.3}FBW设计举例}{50}{subsection.4.3.3}%
\contentsline {section}{\numberline {4.4}横向运动的线传飞控}{50}{section.4.4}%
\contentsline {section}{\numberline {4.5}多变量飞行控制率的设计}{51}{section.4.5}%
\contentsline {subsection}{\numberline {4.5.1}极点与动态响应}{51}{subsection.4.5.1}%
\contentsline {subsection}{\numberline {4.5.2}极点位置的选择}{53}{subsection.4.5.2}%
\contentsline {subsubsection}{三项性能指标}{53}{section*.43}%
\contentsline {subsection}{\numberline {4.5.3}可控性与可观性}{54}{subsection.4.5.3}%
\contentsline {subsubsection}{可控性举例}{54}{section*.44}%
\contentsline {subsubsection}{模态空间分析}{55}{section*.45}%
\contentsline {subsubsection}{可控性和可观性的数学条件}{56}{section*.46}%
\contentsline {subsection}{\numberline {4.5.4}多变量控制器的设计}{56}{subsection.4.5.4}%
\contentsline {subsection}{\numberline {4.5.5}多变量飞行控制的实例探讨}{59}{subsection.4.5.5}%
\contentsline {section}{\numberline {4.6}线性二次最佳飞行控制(LQR)}{59}{section.4.6}%
\contentsline {subsection}{\numberline {4.6.1}线性二次调整期(LQR)的理论基础}{59}{subsection.4.6.1}%
\contentsline {subsection}{\numberline {4.6.2}线性二次最佳飞行控制}{60}{subsection.4.6.2}%
\contentsline {section}{\numberline {4.7}余度设计}{60}{section.4.7}%
\contentsline {subsection}{\numberline {4.7.1}余度设计的动机与策略}{60}{subsection.4.7.1}%
\contentsline {subsection}{\numberline {4.7.2}故障的种类与判定}{60}{subsection.4.7.2}%
\contentsline {subsection}{\numberline {4.7.3}共同故障模式}{61}{subsection.4.7.3}%
\contentsline {section}{\numberline {4.8}数位实现}{61}{section.4.8}%
\contentsline {subsubsection}{信号失真现象}{61}{section*.47}%
\contentsline {subsubsection}{数位延迟}{61}{section*.48}%
\contentsline {section}{\numberline {4.9}线传飞控的软件设计}{62}{section.4.9}%
\contentsline {section}{\numberline {4.10}光传飞控系统}{62}{section.4.10}%
\contentsline {chapter}{\numberline {5}大气数据的测量与计算}{63}{chapter.5}%
\contentsline {section}{\numberline {5.1}大气环境的量测}{63}{section.5.1}%
\contentsline {subsubsection}{总压$\bm {P_T}$}{63}{section*.49}%
\contentsline {subsubsection}{静压$\bm {P_S}$}{63}{section*.50}%
\contentsline {subsubsection}{动压$\bm {Q_C}$}{63}{section*.51}%
\contentsline {subsubsection}{飞机高度$\bm {H_T}$}{64}{section*.52}%
\contentsline {section}{\numberline {5.2}大气状态对飞行的影响}{64}{section.5.2}%
\contentsline {subsubsection}{矫正速度$V_C$}{64}{section*.53}%
\contentsline {subsubsection}{压力高度}{64}{section*.54}%
\contentsline {subsubsection}{真实空速}{64}{section*.55}%
\contentsline {subsubsection}{马赫数}{64}{section*.56}%
\contentsline {subsubsection}{爬升率}{64}{section*.57}%
\contentsline {subsubsection}{攻角}{65}{section*.58}%
\contentsline {section}{\numberline {5.3}大气数据的应用}{65}{section.5.3}%
\contentsline {section}{\numberline {5.4}大气数据的计算}{65}{section.5.4}%
\contentsline {subsection}{\numberline {5.4.1}物理单位}{65}{subsection.5.4.1}%
\contentsline {subsection}{\numberline {5.4.2}高度与压力之间的函数关系}{66}{subsection.5.4.2}%
\contentsline {subsection}{\numberline {5.4.3}大气密度的计算}{67}{subsection.5.4.3}%
\contentsline {subsection}{\numberline {5.4.4}声速的计算}{67}{subsection.5.4.4}%
\contentsline {subsection}{\numberline {5.4.5}马赫数的计算}{67}{subsection.5.4.5}%
\contentsline {subsection}{\numberline {5.4.6}矫正速度的计算}{68}{subsection.5.4.6}%
\contentsline {subsection}{\numberline {5.4.7}静温的计算}{68}{subsection.5.4.7}%
\contentsline {subsection}{\numberline {5.4.8}真实风速的计算}{68}{subsection.5.4.8}%
\contentsline {chapter}{\numberline {6}飞行感测元件}{70}{chapter.6}%
\contentsline {section}{\numberline {6.1}加速度仪}{70}{section.6.1}%
\contentsline {section}{\numberline {6.2}机械式陀螺仪}{70}{section.6.2}%
\contentsline {subsection}{\numberline {6.2.1}工作原理}{70}{subsection.6.2.1}%
\contentsline {subsection}{\numberline {6.2.2}自由陀螺}{70}{subsection.6.2.2}%
\contentsline {subsection}{\numberline {6.2.3}速率陀螺}{71}{subsection.6.2.3}%
\contentsline {section}{\numberline {6.3}光学陀螺仪}{72}{section.6.3}%
\contentsline {section}{\numberline {6.4}多普勒雷达}{72}{section.6.4}%
\contentsline {subsection}{\numberline {6.4.1}雷达的定义与功能}{72}{subsection.6.4.1}%
\contentsline {subsection}{\numberline {6.4.2}以雷达测速}{72}{subsection.6.4.2}%
\contentsline {chapter}{\numberline {7}惯性导航技术}{74}{chapter.7}%
\contentsline {section}{\numberline {7.1}导航技术的分类及比较}{74}{section.7.1}%
\contentsline {section}{\numberline {7.2}定义在地面坐标上的导航路径}{74}{section.7.2}%
\contentsline {section}{\numberline {7.3}多普勒导航}{74}{section.7.3}%
\contentsline {subsubsection}{$V_N$和$V_E$由多普勒雷达测得}{75}{section*.59}%
\contentsline {subsubsection}{$V_N$和$V_E$由大气环境感测器测得}{75}{section*.60}%
\contentsline {section}{\numberline {7.4}环架平台式惯性导航}{76}{section.7.4}%
\contentsline {subsection}{\numberline {7.4.1}环架平台的工作原理}{76}{subsection.7.4.1}%
\contentsline {subsection}{\numberline {7.4.2}感测器误差的影响}{76}{subsection.7.4.2}%
\contentsline {subsubsection}{加速度仪的误差}{76}{section*.61}%
\contentsline {subsubsection}{陀螺仪的误差}{77}{section*.62}%
\contentsline {subsection}{\numberline {7.4.3}环架锁定现象}{77}{subsection.7.4.3}%
\contentsline {section}{\numberline {7.5}固装式惯性导航}{77}{section.7.5}%
\contentsline {subsection}{\numberline {7.5.1}四元数坐标的计算}{78}{subsection.7.5.1}%
\contentsline {subsection}{\numberline {7.5.2}固装式导航的演算流程}{79}{subsection.7.5.2}%
\contentsline {subsubsection}{0.预备起飞时,先根据初始姿态的欧拉角,计算出四元数的初始值}{79}{section*.63}%
\contentsline {subsubsection}{1.三个单轴陀螺测得沿体轴旋转的三个角速度$\bm {p,q,r}$}{79}{section*.64}%
\contentsline {subsubsection}{2.三个加速度仪量得沿体轴的三个线加速度$\bm {a_x,a_y,a_z}$}{79}{section*.65}%
\contentsline {subsubsection}{3.根据四元数的值计算欧拉角}{79}{section*.66}%
\contentsline {subsubsection}{4.根据欧拉角计算重力分量}{79}{section*.67}%
\contentsline {subsubsection}{5.对加速度积分计算速度}{79}{section*.68}%
\contentsline {subsubsection}{6.由$U,V,W$求经纬度和高度}{80}{section*.69}%
\contentsline {subsubsection}{7.由体轴角速度积分计算四元数}{80}{section*.70}%
\contentsline {subsubsection}{8. 回到步骤1,开始计算下一瞬间的$\bm {U,V,W}$}{80}{section*.71}%
\contentsline {subsubsection}{流程图}{80}{section*.72}%
\contentsline {section}{\numberline {7.6}姿态/航向参考系统(AHRS)的对准}{80}{section.7.6}%
\contentsline {subsection}{\numberline {7.6.1}地球自转的对准}{81}{subsection.7.6.1}%
\contentsline {subsection}{\numberline {7.6.2}飞机运动的对准}{81}{subsection.7.6.2}%
\contentsline {subsection}{\numberline {7.6.3}水平面对准的补偿回路}{82}{subsection.7.6.3}%
\contentsline {section}{\numberline {7.7}陀螺仪与加速度仪的交互作用}{83}{section.7.7}%
\contentsline {section}{\numberline {7.8}环架平台的水平性监控}{83}{section.7.8}%
\contentsline {subsection}{\numberline {7.8.1}重力监控法}{84}{subsection.7.8.1}%
\contentsline {subsection}{\numberline {7.8.2}速度监控法}{84}{subsection.7.8.2}%
\contentsline {chapter}{\numberline {8}GPS卫星导航}{85}{chapter.8}%
\contentsline {section}{\numberline {8.1}GPS简介}{85}{section.8.1}%
\contentsline {section}{\numberline {8.2}GPS的组成}{85}{section.8.2}%
\contentsline {subsection}{\numberline {8.2.1}GPS的太空组成部分}{85}{subsection.8.2.1}%
\contentsline {subsection}{\numberline {8.2.2}GPS的控制站部分}{85}{subsection.8.2.2}%
\contentsline {subsection}{\numberline {8.2.3}GPS的使用者部分}{86}{subsection.8.2.3}%
\contentsline {section}{\numberline {8.3}GPS的精度及误差来源}{86}{section.8.3}%
\contentsline {subsection}{\numberline {8.3.1}GPS的误差来源}{86}{subsection.8.3.1}%
\contentsline {subparagraph}{真实距离$D_i$}{86}{section*.73}%
\contentsline {subparagraph}{真实虚拟距离$\rho _{iT}$}{86}{section*.74}%
\contentsline {subparagraph}{量测虚拟距离$\rho _i$}{87}{section*.75}%
\contentsline {subsection}{\numberline {8.3.2}大气层对GPS信号的影响}{87}{subsection.8.3.2}%
\contentsline {subsection}{\numberline {8.3.3}卫星观察仰角的影响}{87}{subsection.8.3.3}%
\contentsline {subsection}{\numberline {8.3.4}对流层的影响}{87}{subsection.8.3.4}%
\contentsline {subsection}{\numberline {8.3.5}多路径效应}{87}{subsection.8.3.5}%
\contentsline {section}{\numberline {8.4}差分GPS(DGPS)的工作原理}{87}{section.8.4}%
\contentsline {subparagraph}{大范围的$DGPS$}{88}{section*.76}%
\contentsline {subparagraph}{载波相位$DGPS$}{88}{section*.77}%
\contentsline {chapter}{\numberline {9}不同导航技术的结合}{89}{chapter.9}%
\contentsline {section}{\numberline {9.1}互补滤波的原理}{89}{section.9.1}%
\contentsline {section}{\numberline {9.2}大气数据系统与惯性系统的结合}{90}{section.9.2}%
\contentsline {section}{\numberline {9.3}地磁航向与陀螺仪航线的结合}{92}{section.9.3}%
\contentsline {section}{\numberline {9.4}以卡尔曼滤波器结合不同导航信号}{93}{section.9.4}%
\contentsline {chapter}{\numberline {10}自动驾驶与飞行管理系统}{95}{chapter.10}%
\contentsline {section}{\numberline {10.1}自动驾驶的基本原理}{95}{section.10.1}%
\contentsline {subsection}{\numberline {10.1.1}定高度自动驾驶}{95}{subsection.10.1.1}%
\contentsline {subsection}{\numberline {10.1.2}定方向自动驾驶}{96}{subsection.10.1.2}%
\contentsline {subsubsection}{外回路}{96}{section*.78}%
\contentsline {subsubsection}{中回路}{96}{section*.79}%
\contentsline {subsubsection}{内回路}{96}{section*.80}%
\contentsline {subsection}{\numberline {10.1.3}定速度自动驾驶}{97}{subsection.10.1.3}%
\contentsline {section}{\numberline {10.2}自动驾驶的设计例题}{97}{section.10.2}%
\contentsline {section}{\numberline {10.3}自动导引降落}{97}{section.10.3}%
\contentsline {subsection}{\numberline {10.3.1}降落导引信标}{97}{subsection.10.3.1}%
\contentsline {subsection}{\numberline {10.3.2}降落能见度等级}{98}{subsection.10.3.2}%
\contentsline {subsection}{\numberline {10.3.3}下滑导引回路}{98}{subsection.10.3.3}%
\contentsline {subsection}{\numberline {10.3.4}航向导引回路}{99}{subsection.10.3.4}%
\contentsline {subsection}{\numberline {10.3.5}最高等级的自动降落回路}{100}{subsection.10.3.5}%
\contentsline {section}{\numberline {10.4}飞行管理系统}{101}{section.10.4}%
\contentsline {chapter}{\numberline {11}无人自动飞行载具的设计举例\\飞控软硬件设计与制作\\飞控硬件整合测试}{102}{chapter.11}%