Carrier attitude measurement method

A measurement method and carrier technology, which can be used in navigation through velocity/acceleration measurement, space navigation vehicle guidance devices, ground navigation, etc., can solve problems such as attitude angle error, and achieve the effect of excellent attitude dynamic accuracy and stability

Inactive Publication Date: 2008-07-23
TSINGHUA UNIV
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Problems solved by technology

However, when the carrier moves with acceleration or is disturbed during the movement, for example, when the aircraft is affected by the airflow during flight and has a certain acceleration, the acceleration measured by the triaxial accelerometer includes both the gravitational acceleration and the acceleration of the carrier. motion acceleration, at this time, the attitude angle calculated by this method has a considerable error

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0033] In an exemplary embodiment, the coordinate system is established as figure 1 Shown. figure 1 (a) The geographic coordinate system North-East-Earth (NED) consisting of three orthogonal axes is established based on the location of the carrier as the origin, where the N-axis points to the true north from the carrier and the E-axis points to the true east from the carrier. The D axis points from the carrier to the center of the earth. figure 1 (b) is a three-axis orthogonal carrier coordinate system XYZ fixedly connected to the carrier 100, where the X-axis is in the carrier's symmetry plane, and the carrier's center of mass points to the forward movement of the carrier, and the Y-axis is perpendicular to the carrier's symmetry plane and points to the right; Z The axis is in the symmetry plane of the carrier and is perpendicular to the X axis an...

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Abstract

The invention discloses a method and system of measuring carrier attitude, which comprises data processing device and sensor composed of three axis accelerometer, three axis flux meter, three axis rate gyroscope for measuring acceleration of gravity, earth magnetic flux density, the component of the carrier's angular speed on the coordinate system individually. When processing the signal, use the component of the carrier's angular speed to Kalman filtering the measured acceleration of gravity and earth magnetic flux density and get the estimated value by which resolve the carrier attitude. The invention can reduce the impact of the system causing by acceleration through stabilizing gyroscope signal and do not have the problem of integral float, the sensor using MEMS integrated chip technology.

Description

Technical field [0001] The present invention relates to the field of attitude measurement. More specifically, the present invention relates to an attitude measurement for carriers such as aircraft. Background technique [0002] Attitude measurement refers to the use of various sensors to perform measurement and analysis to obtain the attitude data of aircraft and other carriers relative to a reference datum. The attitude data mentioned here usually refers to the attitude angle of the carrier, including heading angle ψ, pitch angle θ and roll angle γ. The existing attitude measurement methods mainly include the following two: [0003] (1) The sensor is composed of a three-axis rate gyroscope. The rate gyroscope measures the angular velocity of the carrier's motion, and it must be integrated to obtain the attitude angle. However, the MEMS rate gyroscope has a serious zero-point drift problem, so the attitude angle obtained by the integral calculation will no longer be accurate, and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/08G01C21/10B64G1/36
Inventor 周兆英朱荣王鼎渠王晓浩宋宇宁王劲东
Owner TSINGHUA UNIV
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