Attitude determination method of mini-aircraft inertial integrated navigation system

Abstract

This invention relates to a kind of attitude definition method of micro inertia mixed navigation system of microminiature aero craft, belongs to microminiature vehicle attitude definition method. The method utilize guidance information, control Kalman filter noise matrices, to realize self-adapting adjust according to flight status; through parameter adjust to realize attitude definition of micro inertia mixed navigation system on dynamic airborne conditions; the specific process: through GNC closed loop circuit guidance algorithm, to gain aero craft barrel angle; through sensor picking, obtain vehicle rate and specific force; by strap inertial navigation algorithm to resolve out vehicle attitude, velocity and position information; by accelerometer and GPS data to count pose and position measurement information of aero craft; real-time compute horizontal attitude variance of Kalman filter observation noise matrices, through Kalman filter to estimate error of strap inertial guidance system; Amend above acquired pose, velocity and position information, and took as feedback information to import in control system.

Description

1. Technical field [0001] The invention belongs to the technical field of a motion parameter measurement system for a miniature aircraft. 2. Background technology [0002] Micro-aircraft has special value and broad prospects in the fields of short-distance military reconnaissance, target search, and disaster monitoring. The core function of the closed-loop circuit composed of the navigation, guidance and control systems of the micro-aircraft is to measure and control the state of the micro-aircraft, so that it can achieve the purpose of autonomous flight. The micro-aircraft attitude determination system is a subsystem of the micro-navigation system, which is used to measure the attitude of the micro-aircraft in real time, and feed back the measured attitude information to the controller of the micro-aircraft. The micro-aircraft attitude determination system provides the attitude information of the micro-aircraft for attitude stabilization and flight control algorithms. It i...

AI Technical Summary

Problems solved by technology

[0005] The accelerometer inclination sensor is affected by the dynamics of the carrier. The conventional thinking in the existing literature is to restrict the use of the accelerometer inclination sensor, and judge the dynamic process of the carrier according to the information of the inertial measurement unit IMU and the attitude system. When the dynamic process of the carrier After exceeding a certain range, the accelerometer inclination sensor is no longer used for attitude measurement. Since the micro-aircraft has a small moment of inertia, maneuverability, and is seriously affected by airflow, the range and rate of attitude changes are much larger than those of ordinary drones. Suitable for micro aircraft

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